choreonoid-1.5.0/0000775000000000000000000000000012741425367012361 5ustar rootrootchoreonoid-1.5.0/thirdparty/0000775000000000000000000000000012741425367014553 5ustar rootrootchoreonoid-1.5.0/thirdparty/irrxml-1.2/0000775000000000000000000000000012741425367016366 5ustar rootrootchoreonoid-1.5.0/thirdparty/irrxml-1.2/changes.txt0000664000000000000000000000271112741425367020540 0ustar rootroot------------------------------------------------------------------------------------- Changes in version 1.2 (13 November 2005) - irrXML now supports CDATA. - some small bug fixes have been made, making irrXML compatible for .NET users who have to struggle with the famous bool return bug in the .NET framework. - There are two new method overloads: getAttributeValueAsInt() and getAttributeValueAsFloat() now also take the index of the attribute as parameter. Thanks to Patrik Müller who suggested and implemented this initially, the same for the CDATA support. ------------------------------------------------------------------------------------- Changes in version 1.1 (02 July 2005) - irrxml is now also able to parse embedded text correctly when it is shorter than 2 characters. - irrxml now treats whitespace quite intelligent and doesn't report it when it is obviously used for formatting the xml file. (Text won't be reported when it only contains whitespace and is shorter than 3 characters) - irrxml won't crash anymore when the xml file is malformatted and an attribute has an opening but no closing attribute. - Removed a documentation which claimed that the xml parser doesn't work as the xml standard when replacing special characters, which wasn't true. ------------------------------------------------------------------------------------- Changes in version 1.0 (14 May 2005) - Initial release choreonoid-1.5.0/thirdparty/irrxml-1.2/src/0000775000000000000000000000000012741425367017155 5ustar rootrootchoreonoid-1.5.0/thirdparty/irrxml-1.2/src/heapsort.h0000664000000000000000000000270612741425367021160 0ustar rootroot// Copyright (C) 2002-2005 Nikolaus Gebhardt // This file is part of the "Irrlicht Engine". // For conditions of distribution and use, see copyright notice in irrlicht.h #ifndef __IRR_HEAPSORT_H_INCLUDED__ #define __IRR_HEAPSORT_H_INCLUDED__ #include "irrTypes.h" namespace irr { namespace core { //! Sinks an element into the heap. template inline void heapsink(T*array, s32 element, s32 max) { while ((element<<1) < max) // there is a left child { s32 j = (element<<1); if (j+1 < max && array[j] < array[j+1]) j = j+1; // take right child if (array[element] < array[j]) { T t = array[j]; // swap elements array[j] = array[element]; array[element] = t; element = j; } else return; } } //! Sorts an array with size 'size' using heapsort. template inline void heapsort(T* array_, s32 size) { // for heapsink we pretent this is not c++, where // arrays start with index 0. So we decrease the array pointer, // the maximum always +2 and the element always +1 T* virtualArray = array_ - 1; s32 virtualSize = size + 2; s32 i; // build heap for (i=((size-1)/2); i>=0; --i) heapsink(virtualArray, i+1, virtualSize-1); // sort array for (i=size-1; i>=0; --i) { T t = array_[0]; array_[0] = array_[i]; array_[i] = t; heapsink(virtualArray, 1, i + 1); } } } // end namespace core } // end namespace irr #endif choreonoid-1.5.0/thirdparty/irrxml-1.2/src/irrXML.cpp0000664000000000000000000000645312741425367021046 0ustar rootroot// Copyright (C) 2002-2005 Nikolaus Gebhardt // This file is part of the "Irrlicht Engine" and the "irrXML" project. // For conditions of distribution and use, see copyright notice in irrlicht.h and/or irrXML.h #include "irrXML.h" #include "irrString.h" #include "irrArray.h" #include "fast_atof.h" #include "CXMLReaderImpl.h" namespace irr { namespace io { //! Implementation of the file read callback for ordinary files class CFileReadCallBack : public IFileReadCallBack { public: //! construct from filename CFileReadCallBack(const char* filename) : File(0), Size(0), Close(true) { // open file File = fopen(filename, "rb"); if (File) getFileSize(); } //! construct from FILE pointer CFileReadCallBack(FILE* file) : File(file), Size(0), Close(false) { if (File) getFileSize(); } //! destructor virtual ~CFileReadCallBack() { if (Close && File) fclose(File); } //! Reads an amount of bytes from the file. virtual int read(void* buffer, int sizeToRead) { if (!File) return 0; return (int)fread(buffer, 1, sizeToRead, File); } //! Returns size of file in bytes virtual int getSize() { return Size; } private: //! retrieves the file size of the open file void getFileSize() { fseek(File, 0, SEEK_END); Size = ftell(File); fseek(File, 0, SEEK_SET); } FILE* File; int Size; bool Close; }; // end class CFileReadCallBack // FACTORY FUNCTIONS: //! Creates an instance of an UFT-8 or ASCII character xml parser. IrrXMLReader* createIrrXMLReader(const char* filename) { return new CXMLReaderImpl(new CFileReadCallBack(filename)); } //! Creates an instance of an UFT-8 or ASCII character xml parser. IrrXMLReader* createIrrXMLReader(FILE* file) { return new CXMLReaderImpl(new CFileReadCallBack(file)); } //! Creates an instance of an UFT-8 or ASCII character xml parser. IrrXMLReader* createIrrXMLReader(IFileReadCallBack* callback) { return new CXMLReaderImpl(callback, false); } //! Creates an instance of an UTF-16 xml parser. IrrXMLReaderUTF16* createIrrXMLReaderUTF16(const char* filename) { return new CXMLReaderImpl(new CFileReadCallBack(filename)); } //! Creates an instance of an UTF-16 xml parser. IrrXMLReaderUTF16* createIrrXMLReaderUTF16(FILE* file) { return new CXMLReaderImpl(new CFileReadCallBack(file)); } //! Creates an instance of an UTF-16 xml parser. IrrXMLReaderUTF16* createIrrXMLReaderUTF16(IFileReadCallBack* callback) { return new CXMLReaderImpl(callback, false); } //! Creates an instance of an UTF-32 xml parser. IrrXMLReaderUTF32* createIrrXMLReaderUTF32(const char* filename) { return new CXMLReaderImpl(new CFileReadCallBack(filename)); } //! Creates an instance of an UTF-32 xml parser. IrrXMLReaderUTF32* createIrrXMLReaderUTF32(FILE* file) { return new CXMLReaderImpl(new CFileReadCallBack(file)); } //! Creates an instance of an UTF-32 xml parser. IrrXMLReaderUTF32* createIrrXMLReaderUTF32(IFileReadCallBack* callback) { return new CXMLReaderImpl(callback, false); } } // end namespace io } // end namespace irr choreonoid-1.5.0/thirdparty/irrxml-1.2/src/irrXML.h0000664000000000000000000005454612741425367020521 0ustar rootroot// Copyright (C) 2002-2005 Nikolaus Gebhardt // This file is part of the "Irrlicht Engine" and the "irrXML" project. // For conditions of distribution and use, see copyright notice in irrlicht.h and/or irrXML.h #ifndef __IRR_XML_H_INCLUDED__ #define __IRR_XML_H_INCLUDED__ #include /** \mainpage irrXML 1.2 API documentation
\section intro Introduction Welcome to the irrXML API documentation. Here you'll find any information you'll need to develop applications with irrXML. If you look for a tutorial on how to start, take a look at the \ref irrxmlexample, at the homepage of irrXML at xml.irrlicht3d.org or into the SDK in the directory \example. irrXML is intended to be a high speed and easy-to-use XML Parser for C++, and this documentation is an important part of it. If you have any questions or suggestions, just send a email to the author of the engine, Nikolaus Gebhardt (niko (at) irrlicht3d.org). For more informations about this parser, see \ref history. \section features Features irrXML provides forward-only, read-only access to a stream of non validated XML data. It was fully implemented by Nikolaus Gebhardt. Its current features are: - It it fast as lighting and has very low memory usage. It was developed with the intention of being used in 3D games, as it already has been. - irrXML is very small: It only consists of 60 KB of code and can be added easily to your existing project. - Of course, it is platform independent and works with lots of compilers. - It is able to parse ASCII, UTF-8, UTF-16 and UTF-32 text files, both in little and big endian format. - Independent of the input file format, the parser can return all strings in ASCII, UTF-8, UTF-16 and UTF-32 format. - With its optional file access abstraction it has the advantage that it can read not only from files but from any type of data (memory, network, ...). For example when used with the Irrlicht Engine, it directly reads from compressed .zip files. - Just like the Irrlicht Engine for which it was originally created, it is extremely easy to use. - It has no external dependencies, it does not even need the STL. Although irrXML has some strenghts, it currently also has the following limitations: - The input xml file is not validated and assumed to be correct. \section irrxmlexample Example The following code demonstrates the basic usage of irrXML. A simple xml file like this is parsed: \code Welcome to the Mesh Viewer of the "Irrlicht Engine". \endcode The code for parsing this file would look like this: \code #include using namespace irr; // irrXML is located in the namespace irr::io using namespace io; #include // we use STL strings to store data in this example void main() { // create the reader using one of the factory functions IrrXMLReader* xml = createIrrXMLReader("config.xml"); // strings for storing the data we want to get out of the file std::string modelFile; std::string messageText; std::string caption; // parse the file until end reached while(xml && xml->read()) { switch(xml->getNodeType()) { case EXN_TEXT: // in this xml file, the only text which occurs is the messageText messageText = xml->getNodeData(); break; case EXN_ELEMENT: { if (!strcmp("model", xml->getNodeName())) modelFile = xml->getAttributeValue("file"); else if (!strcmp("messageText", xml->getNodeName())) caption = xml->getAttributeValue("caption"); } break; } } // delete the xml parser after usage delete xml; } \endcode \section howto How to use Simply add the source files in the /src directory of irrXML to your project. Done. \section license License The irrXML license is based on the zlib license. Basicly, this means you can do with irrXML whatever you want: Copyright (C) 2002-2005 Nikolaus Gebhardt This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions: 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 3. This notice may not be removed or altered from any source distribution. \section history History As lots of references in this documentation and the source show, this xml parser has originally been a part of the Irrlicht Engine. But because the parser has become very useful with the latest release, people asked for a separate version of it, to be able to use it in non Irrlicht projects. With irrXML 1.0, this has now been done. */ namespace irr { namespace io { //! Enumeration of all supported source text file formats enum ETEXT_FORMAT { //! ASCII, file without byte order mark, or not a text file ETF_ASCII, //! UTF-8 format ETF_UTF8, //! UTF-16 format, big endian ETF_UTF16_BE, //! UTF-16 format, little endian ETF_UTF16_LE, //! UTF-32 format, big endian ETF_UTF32_BE, //! UTF-32 format, little endian ETF_UTF32_LE, }; //! Enumeration for all xml nodes which are parsed by IrrXMLReader enum EXML_NODE { //! No xml node. This is usually the node if you did not read anything yet. EXN_NONE, //! A xml element, like EXN_ELEMENT, //! End of an xml element, like EXN_ELEMENT_END, //! Text within a xml element: this is the text. EXN_TEXT, //! An xml comment like <!-- I am a comment --> or a DTD definition. EXN_COMMENT, //! An xml cdata section like <![CDATA[ this is some CDATA ]]> EXN_CDATA, //! Unknown element. EXN_UNKNOWN }; //! Callback class for file read abstraction. /** With this, it is possible to make the xml parser read in other things than just files. The Irrlicht engine is using this for example to read xml from compressed .zip files. To make the parser read in any other data, derive a class from this interface, implement the two methods to read your data and give a pointer to an instance of your implementation when calling createIrrXMLReader(), createIrrXMLReaderUTF16() or createIrrXMLReaderUTF32() */ class IFileReadCallBack { public: //! virtual destructor virtual ~IFileReadCallBack() {}; //! Reads an amount of bytes from the file. /** \param buffer: Pointer to buffer where to read bytes will be written to. \param sizeToRead: Amount of bytes to read from the file. \return Returns how much bytes were read. */ virtual int read(void* buffer, int sizeToRead) = 0; //! Returns size of file in bytes virtual int getSize() = 0; }; //! Empty class to be used as parent class for IrrXMLReader. /** If you need another class as base class for the xml reader, you can do this by creating the reader using for example new CXMLReaderImpl(yourcallback); The Irrlicht Engine for example needs IUnknown as base class for every object to let it automaticly reference countend, hence it replaces IXMLBase with IUnknown. See irrXML.cpp on how this can be done in detail. */ class IXMLBase { }; //! Interface providing easy read access to a XML file. /** You can create an instance of this reader using one of the factory functions createIrrXMLReader(), createIrrXMLReaderUTF16() and createIrrXMLReaderUTF32(). If using the parser from the Irrlicht Engine, please use IFileSystem::createXMLReader() instead. For a detailed intro how to use the parser, see \ref irrxmlexample and \ref features. The typical usage of this parser looks like this: \code #include using namespace irr; // irrXML is located in the namespace irr::io using namespace io; void main() { // create the reader using one of the factory functions IrrXMLReader* xml = createIrrXMLReader("config.xml"); if (xml == 0) return; // file could not be opened // parse the file until end reached while(xml->read()) { // based on xml->getNodeType(), do something. } // delete the xml parser after usage delete xml; } \endcode See \ref irrxmlexample for a more detailed example. */ template class IIrrXMLReader : public super_class { public: //! Destructor virtual ~IIrrXMLReader() {}; //! Reads forward to the next xml node. /** \return Returns false, if there was no further node. */ virtual bool read() = 0; //! Returns the type of the current XML node. virtual EXML_NODE getNodeType() const = 0; //! Returns attribute count of the current XML node. /** This is usually non null if the current node is EXN_ELEMENT, and the element has attributes. \return Returns amount of attributes of this xml node. */ virtual int getAttributeCount() const = 0; //! Returns name of an attribute. /** \param idx: Zero based index, should be something between 0 and getAttributeCount()-1. \return Name of the attribute, 0 if an attribute with this index does not exist. */ virtual const char_type* getAttributeName(int idx) const = 0; //! Returns the value of an attribute. /** \param idx: Zero based index, should be something between 0 and getAttributeCount()-1. \return Value of the attribute, 0 if an attribute with this index does not exist. */ virtual const char_type* getAttributeValue(int idx) const = 0; //! Returns the value of an attribute. /** \param name: Name of the attribute. \return Value of the attribute, 0 if an attribute with this name does not exist. */ virtual const char_type* getAttributeValue(const char_type* name) const = 0; //! Returns the value of an attribute in a safe way. /** Like getAttributeValue(), but does not return 0 if the attribute does not exist. An empty string ("") is returned then. \param name: Name of the attribute. \return Value of the attribute, and "" if an attribute with this name does not exist */ virtual const char_type* getAttributeValueSafe(const char_type* name) const = 0; //! Returns the value of an attribute as integer. /** \param name Name of the attribute. \return Value of the attribute as integer, and 0 if an attribute with this name does not exist or the value could not be interpreted as integer. */ virtual int getAttributeValueAsInt(const char_type* name) const = 0; //! Returns the value of an attribute as integer. /** \param idx: Zero based index, should be something between 0 and getAttributeCount()-1. \return Value of the attribute as integer, and 0 if an attribute with this index does not exist or the value could not be interpreted as integer. */ virtual int getAttributeValueAsInt(int idx) const = 0; //! Returns the value of an attribute as float. /** \param name: Name of the attribute. \return Value of the attribute as float, and 0 if an attribute with this name does not exist or the value could not be interpreted as float. */ virtual float getAttributeValueAsFloat(const char_type* name) const = 0; //! Returns the value of an attribute as float. /** \param idx: Zero based index, should be something between 0 and getAttributeCount()-1. \return Value of the attribute as float, and 0 if an attribute with this index does not exist or the value could not be interpreted as float. */ virtual float getAttributeValueAsFloat(int idx) const = 0; //! Returns the name of the current node. /** Only non null, if the node type is EXN_ELEMENT. \return Name of the current node or 0 if the node has no name. */ virtual const char_type* getNodeName() const = 0; //! Returns data of the current node. /** Only non null if the node has some data and it is of type EXN_TEXT or EXN_UNKNOWN. */ virtual const char_type* getNodeData() const = 0; //! Returns if an element is an empty element, like virtual bool isEmptyElement() const = 0; //! Returns count of line. virtual long getLineNumber() const = 0; //! Returns format of the source xml file. /** It is not necessary to use this method because the parser will convert the input file format to the format wanted by the user when creating the parser. This method is useful to get/display additional informations. */ virtual ETEXT_FORMAT getSourceFormat() const = 0; //! Returns format of the strings returned by the parser. /** This will be UTF8 for example when you created a parser with IrrXMLReaderUTF8() and UTF32 when it has been created using IrrXMLReaderUTF32. It should not be necessary to call this method and only exists for informational purposes. */ virtual ETEXT_FORMAT getParserFormat() const = 0; }; //! defines the utf-16 type. /** Not using wchar_t for this because wchar_t has 16 bit on windows and 32 bit on other operating systems. */ typedef unsigned short char16; //! defines the utf-32 type. /** Not using wchar_t for this because wchar_t has 16 bit on windows and 32 bit on other operating systems. */ typedef unsigned long char32; //! A UTF-8 or ASCII character xml parser. /** This means that all character data will be returned in 8 bit ASCII or UTF-8 by this parser. The file to read can be in any format, it will be converted to UTF-8 if it is not in this format. Create an instance of this with createIrrXMLReader(); See IIrrXMLReader for description on how to use it. */ typedef IIrrXMLReader IrrXMLReader; //! A UTF-16 xml parser. /** This means that all character data will be returned in UTF-16 by this parser. The file to read can be in any format, it will be converted to UTF-16 if it is not in this format. Create an instance of this with createIrrXMLReaderUTF16(); See IIrrXMLReader for description on how to use it. */ typedef IIrrXMLReader IrrXMLReaderUTF16; //! A UTF-32 xml parser. /** This means that all character data will be returned in UTF-32 by this parser. The file to read can be in any format, it will be converted to UTF-32 if it is not in this format. Create an instance of this with createIrrXMLReaderUTF32(); See IIrrXMLReader for description on how to use it. */ typedef IIrrXMLReader IrrXMLReaderUTF32; //! Creates an instance of an UFT-8 or ASCII character xml parser. /** This means that all character data will be returned in 8 bit ASCII or UTF-8. The file to read can be in any format, it will be converted to UTF-8 if it is not in this format. If you are using the Irrlicht Engine, it is better not to use this function but IFileSystem::createXMLReaderUTF8() instead. \param filename: Name of file to be opened. \return Returns a pointer to the created xml parser. This pointer should be deleted using 'delete' after no longer needed. Returns 0 if an error occured and the file could not be opened. */ IrrXMLReader* createIrrXMLReader(const char* filename); //! Creates an instance of an UFT-8 or ASCII character xml parser. /** This means that all character data will be returned in 8 bit ASCII or UTF-8. The file to read can be in any format, it will be converted to UTF-8 if it is not in this format. If you are using the Irrlicht Engine, it is better not to use this function but IFileSystem::createXMLReaderUTF8() instead. \param file: Pointer to opened file, must have been opened in binary mode, e.g. using fopen("foo.bar", "wb"); The file will not be closed after it has been read. \return Returns a pointer to the created xml parser. This pointer should be deleted using 'delete' after no longer needed. Returns 0 if an error occured and the file could not be opened. */ IrrXMLReader* createIrrXMLReader(FILE* file); //! Creates an instance of an UFT-8 or ASCII character xml parser. /** This means that all character data will be returned in 8 bit ASCII or UTF-8. The file to read can be in any format, it will be converted to UTF-8 if it is not in this format. If you are using the Irrlicht Engine, it is better not to use this function but IFileSystem::createXMLReaderUTF8() instead. \param callback: Callback for file read abstraction. Implement your own callback to make the xml parser read in other things than just files. See IFileReadCallBack for more information about this. \return Returns a pointer to the created xml parser. This pointer should be deleted using 'delete' after no longer needed. Returns 0 if an error occured and the file could not be opened. */ IrrXMLReader* createIrrXMLReader(IFileReadCallBack* callback); //! Creates an instance of an UFT-16 xml parser. /** This means that all character data will be returned in UTF-16. The file to read can be in any format, it will be converted to UTF-16 if it is not in this format. If you are using the Irrlicht Engine, it is better not to use this function but IFileSystem::createXMLReader() instead. \param filename: Name of file to be opened. \return Returns a pointer to the created xml parser. This pointer should be deleted using 'delete' after no longer needed. Returns 0 if an error occured and the file could not be opened. */ IrrXMLReaderUTF16* createIrrXMLReaderUTF16(const char* filename); //! Creates an instance of an UFT-16 xml parser. /** This means that all character data will be returned in UTF-16. The file to read can be in any format, it will be converted to UTF-16 if it is not in this format. If you are using the Irrlicht Engine, it is better not to use this function but IFileSystem::createXMLReader() instead. \param file: Pointer to opened file, must have been opened in binary mode, e.g. using fopen("foo.bar", "wb"); The file will not be closed after it has been read. \return Returns a pointer to the created xml parser. This pointer should be deleted using 'delete' after no longer needed. Returns 0 if an error occured and the file could not be opened. */ IrrXMLReaderUTF16* createIrrXMLReaderUTF16(FILE* file); //! Creates an instance of an UFT-16 xml parser. /** This means that all character data will be returned in UTF-16. The file to read can be in any format, it will be converted to UTF-16 if it is not in this format. If you are using the Irrlicht Engine, it is better not to use this function but IFileSystem::createXMLReader() instead. \param callback: Callback for file read abstraction. Implement your own callback to make the xml parser read in other things than just files. See IFileReadCallBack for more information about this. \return Returns a pointer to the created xml parser. This pointer should be deleted using 'delete' after no longer needed. Returns 0 if an error occured and the file could not be opened. */ IrrXMLReaderUTF16* createIrrXMLReaderUTF16(IFileReadCallBack* callback); //! Creates an instance of an UFT-32 xml parser. /** This means that all character data will be returned in UTF-32. The file to read can be in any format, it will be converted to UTF-32 if it is not in this format. If you are using the Irrlicht Engine, it is better not to use this function but IFileSystem::createXMLReader() instead. \param filename: Name of file to be opened. \return Returns a pointer to the created xml parser. This pointer should be deleted using 'delete' after no longer needed. Returns 0 if an error occured and the file could not be opened. */ IrrXMLReaderUTF32* createIrrXMLReaderUTF32(const char* filename); //! Creates an instance of an UFT-32 xml parser. /** This means that all character data will be returned in UTF-32. The file to read can be in any format, it will be converted to UTF-32 if it is not in this format. if you are using the Irrlicht Engine, it is better not to use this function but IFileSystem::createXMLReader() instead. \param file: Pointer to opened file, must have been opened in binary mode, e.g. using fopen("foo.bar", "wb"); The file will not be closed after it has been read. \return Returns a pointer to the created xml parser. This pointer should be deleted using 'delete' after no longer needed. Returns 0 if an error occured and the file could not be opened. */ IrrXMLReaderUTF32* createIrrXMLReaderUTF32(FILE* file); //! Creates an instance of an UFT-32 xml parser. /** This means that all character data will be returned in UTF-32. The file to read can be in any format, it will be converted to UTF-32 if it is not in this format. If you are using the Irrlicht Engine, it is better not to use this function but IFileSystem::createXMLReader() instead. \param callback: Callback for file read abstraction. Implement your own callback to make the xml parser read in other things than just files. See IFileReadCallBack for more information about this. \return Returns a pointer to the created xml parser. This pointer should be deleted using 'delete' after no longer needed. Returns 0 if an error occured and the file could not be opened. */ IrrXMLReaderUTF32* createIrrXMLReaderUTF32(IFileReadCallBack* callback); /*! \file irrxml.h \brief Header file of the irrXML, the Irrlicht XML parser. This file includes everything needed for using irrXML, the XML parser of the Irrlicht Engine. To use irrXML, you only need to include this file in your project: \code #include \endcode It is also common to use the two namespaces in which irrXML is included, directly after #including irrXML.h: \code #include using namespace irr; using namespace io; \endcode */ } // end namespace io } // end namespace irr #endif // __IRR_XML_H_INCLUDED__ choreonoid-1.5.0/thirdparty/irrxml-1.2/src/irrArray.h0000664000000000000000000002324412741425367021126 0ustar rootroot// Copyright (C) 2002-2005 Nikolaus Gebhardt // This file is part of the "Irrlicht Engine" and the "irrXML" project. // For conditions of distribution and use, see copyright notice in irrlicht.h and irrXML.h #ifndef __IRR_ARRAY_H_INCLUDED__ #define __IRR_ARRAY_H_INCLUDED__ #include "irrTypes.h" #include "heapsort.h" namespace irr { namespace core { //! Self reallocating template array (like stl vector) with additional features. /** Some features are: Heap sorting, binary search methods, easier debugging. */ template class array { public: array() : data(0), used(0), allocated(0), free_when_destroyed(true), is_sorted(true) { } //! Constructs a array and allocates an initial chunk of memory. //! \param start_count: Amount of elements to allocate. array(u32 start_count) : data(0), used(0), allocated(0), free_when_destroyed(true), is_sorted(true) { reallocate(start_count); } //! Copy constructor array(const array& other) : data(0) { *this = other; } //! Destructor. Frees allocated memory, if set_free_when_destroyed //! was not set to false by the user before. ~array() { if (free_when_destroyed) delete [] data; } //! Reallocates the array, make it bigger or smaller. //! \param new_size: New size of array. void reallocate(u32 new_size) { T* old_data = data; data = new T[new_size]; allocated = new_size; s32 end = used < new_size ? used : new_size; for (s32 i=0; i allocated) { // reallocate(used * 2 +1); // this doesn't work if the element is in the same array. So // we'll copy the element first to be sure we'll get no data // corruption T e; e = element; // copy element reallocate(used * 2 +1); // increase data block data[used++] = e; // push_back is_sorted = false; return; } data[used++] = element; is_sorted = false; } //! Adds an element at the front of the array. If the array is to small to //! add this new element, the array is made bigger. Please note that this //! is slow, because the whole array needs to be copied for this. //! \param element: Element to add at the back of the array. void push_front(const T& element) { if (used + 1 > allocated) reallocate(used * 2 +1); for (int i=(int)used; i>0; --i) data[i] = data[i-1]; data[0] = element; is_sorted = false; ++used; } //! Insert item into array at specified position. Please use this //! only if you know what you are doing (possible performance loss). //! The preferred method of adding elements should be push_back(). //! \param element: Element to be inserted //! \param index: Where position to insert the new element. void insert(const T& element, u32 index=0) { _IRR_DEBUG_BREAK_IF(index>used) // access violation if (used + 1 > allocated) reallocate(used * 2 +1); for (u32 i=used++; i>index; i--) data[i] = data[i-1]; data[index] = element; is_sorted = false; } //! Clears the array and deletes all allocated memory. void clear() { delete [] data; data = 0; used = 0; allocated = 0; is_sorted = true; } //! Sets pointer to new array, using this as new workspace. //! \param newPointer: Pointer to new array of elements. //! \param size: Size of the new array. void set_pointer(T* newPointer, u32 size) { delete [] data; data = newPointer; allocated = size; used = size; is_sorted = false; } //! Sets if the array should delete the memory it used. //! \param f: If true, the array frees the allocated memory in its //! destructor, otherwise not. The default is true. void set_free_when_destroyed(bool f) { free_when_destroyed = f; } //! Sets the size of the array. //! \param usedNow: Amount of elements now used. void set_used(u32 usedNow) { if (allocated < usedNow) reallocate(usedNow); used = usedNow; } //! Assignement operator void operator=(const array& other) { if (data) delete [] data; //if (allocated < other.allocated) if (other.allocated == 0) data = 0; else data = new T[other.allocated]; used = other.used; free_when_destroyed = other.free_when_destroyed; is_sorted = other.is_sorted; allocated = other.allocated; for (u32 i=0; i=used) // access violation return data[index]; } //! Direct access operator const T& operator [](u32 index) const { _IRR_DEBUG_BREAK_IF(index>=used) // access violation return data[index]; } //! Gets last frame const T& getLast() const { _IRR_DEBUG_BREAK_IF(!used) // access violation return data[used-1]; } //! Gets last frame T& getLast() { _IRR_DEBUG_BREAK_IF(!used) // access violation return data[used-1]; } //! Returns a pointer to the array. //! \return Pointer to the array. T* pointer() { return data; } //! Returns a const pointer to the array. //! \return Pointer to the array. const T* const_pointer() const { return data; } //! Returns size of used array. //! \return Size of elements in the array. u32 size() const { return used; } //! Returns amount memory allocated. //! \return Returns amount of memory allocated. The amount of bytes //! allocated would be allocated_size() * sizeof(ElementsUsed); u32 allocated_size() const { return allocated; } //! Returns true if array is empty //! \return True if the array is empty, false if not. bool empty() const { return used == 0; } //! Sorts the array using heapsort. There is no additional memory waste and //! the algorithm performs (O) n log n in worst case. void sort() { if (is_sorted || used<2) return; heapsort(data, used); is_sorted = true; } //! Performs a binary search for an element, returns -1 if not found. //! The array will be sorted before the binary search if it is not //! already sorted. //! \param element: Element to search for. //! \return Returns position of the searched element if it was found, //! otherwise -1 is returned. s32 binary_search(const T& element) { return binary_search(element, 0, used-1); } //! Performs a binary search for an element, returns -1 if not found. //! The array will be sorted before the binary search if it is not //! already sorted. //! \param element: Element to search for. //! \param left: First left index //! \param right: Last right index. //! \return Returns position of the searched element if it was found, //! otherwise -1 is returned. s32 binary_search(const T& element, s32 left, s32 right) { if (!used) return -1; sort(); s32 m; do { m = (left+right)>>1; if (element < data[m]) right = m - 1; else left = m + 1; } while((element < data[m] || data[m] < element) && left<=right); // this last line equals to: // " while((element != array[m]) && left<=right);" // but we only want to use the '<' operator. // the same in next line, it is "(element == array[m])" if (!(element < data[m]) && !(data[m] < element)) return m; return -1; } //! Finds an element in linear time, which is very slow. Use //! binary_search for faster finding. Only works if =operator is implemented. //! \param element: Element to search for. //! \return Returns position of the searched element if it was found, //! otherwise -1 is returned. s32 linear_search(T& element) { for (u32 i=0; i=0; --i) if (data[i] == element) return (s32)i; return -1; } //! Erases an element from the array. May be slow, because all elements //! following after the erased element have to be copied. //! \param index: Index of element to be erased. void erase(u32 index) { _IRR_DEBUG_BREAK_IF(index>=used || index<0) // access violation for (u32 i=index+1; i=used || index<0 || count<1 || index+count>used) // access violation for (u32 i=index+count; i class CXMLReaderImpl : public IIrrXMLReader { public: //! Constructor CXMLReaderImpl(IFileReadCallBack* callback, bool deleteCallBack = true) : TextData(0), P(0), TextSize(0), TextBegin(0), CurrentNodeType(EXN_NONE), SourceFormat(ETF_ASCII), TargetFormat(ETF_ASCII) { if (!callback) return; storeTargetFormat(); // read whole xml file readFile(callback); // clean up if (deleteCallBack) delete callback; // create list with special characters createSpecialCharacterList(); // set pointer to text begin P = TextBegin; } //! Destructor virtual ~CXMLReaderImpl() { delete [] TextData; } //! Reads forward to the next xml node. //! \return Returns false, if there was no further node. virtual bool read() { // if not end reached, parse the node if (P && (unsigned int)(P - TextBegin) < TextSize - 1 && *P != 0) { parseCurrentNode(); return true; } _IRR_IMPLEMENT_MANAGED_MARSHALLING_BUGFIX; return false; } //! Returns the type of the current XML node. virtual EXML_NODE getNodeType() const { return CurrentNodeType; } //! Returns attribute count of the current XML node. virtual int getAttributeCount() const { return Attributes.size(); } //! Returns name of an attribute. virtual const char_type* getAttributeName(int idx) const { if (idx < 0 || idx >= (int)Attributes.size()) return 0; return Attributes[idx].Name.c_str(); } //! Returns the value of an attribute. virtual const char_type* getAttributeValue(int idx) const { if (idx < 0 || idx >= (int)Attributes.size()) return 0; return Attributes[idx].Value.c_str(); } //! Returns the value of an attribute. virtual const char_type* getAttributeValue(const char_type* name) const { const SAttribute* attr = getAttributeByName(name); if (!attr) return 0; return attr->Value.c_str(); } //! Returns the value of an attribute virtual const char_type* getAttributeValueSafe(const char_type* name) const { const SAttribute* attr = getAttributeByName(name); if (!attr) return EmptyString.c_str(); return attr->Value.c_str(); } //! Returns the value of an attribute as integer. int getAttributeValueAsInt(const char_type* name) const { return (int)getAttributeValueAsFloat(name); } //! Returns the value of an attribute as integer. int getAttributeValueAsInt(int idx) const { return (int)getAttributeValueAsFloat(idx); } //! Returns the value of an attribute as float. float getAttributeValueAsFloat(const char_type* name) const { const SAttribute* attr = getAttributeByName(name); if (!attr) return 0; core::stringc c = attr->Value.c_str(); return core::fast_atof(c.c_str()); } //! Returns the value of an attribute as float. float getAttributeValueAsFloat(int idx) const { const char_type* attrvalue = getAttributeValue(idx); if (!attrvalue) return 0; core::stringc c = attrvalue; return core::fast_atof(c.c_str()); } //! Returns the value of line read. long getLineNumber() const { return lineSize; } //! Returns the name of the current node. virtual const char_type* getNodeName() const { return NodeName.c_str(); } //! Returns data of the current node. virtual const char_type* getNodeData() const { return NodeName.c_str(); } //! Returns if an element is an empty element, like virtual bool isEmptyElement() const { return IsEmptyElement; } //! Returns format of the source xml file. virtual ETEXT_FORMAT getSourceFormat() const { return SourceFormat; } //! Returns format of the strings returned by the parser. virtual ETEXT_FORMAT getParserFormat() const { return TargetFormat; } private: // Reads the current xml node void parseCurrentNode() { char_type* start = P; // more forward until '<' found while(*P != L'<' && *P) ++P; if (!*P) return; if (P - start > 0) { // we found some text, store it if (setText(start, P)) return; } ++P; // based on current token, parse and report next element switch(*P) { case L'/': parseClosingXMLElement(); break; case L'?': ignoreDefinition(); break; case L'!': if (!parseCDATA()) parseComment(); break; default: parseOpeningXMLElement(); break; } } //! sets the state that text was found. Returns true if set should be set bool setText(char_type* start, char_type* end) { // check if text is more than 2 characters, and if not, check if there is // only white space, so that this text won't be reported if (end - start < 3) { char_type* p = start; for(; p != end; ++p) if (!isWhiteSpace(*p)) break; if (p == end) return false; } // set current text to the parsed text, and replace xml special characters core::string s(start, (int)(end - start)); NodeName = replaceSpecialCharacters(s); // current XML node type is text CurrentNodeType = EXN_TEXT; return true; } //! ignores an xml definition like void ignoreDefinition() { CurrentNodeType = EXN_UNKNOWN; // move until end marked with '>' reached while(*P != L'>') ++P; ++P; } //! parses a comment void parseComment() { CurrentNodeType = EXN_COMMENT; P += 1; char_type *pCommentBegin = P; int count = 1; // move until end of comment reached while(count) { if (*P == L'>') --count; else if (*P == L'<') ++count; ++P; } P -= 3; NodeName = core::string(pCommentBegin+2, (int)(P - pCommentBegin-2)); P += 3; } //! parses an opening xml element and reads attributes void parseOpeningXMLElement() { CurrentNodeType = EXN_ELEMENT; IsEmptyElement = false; Attributes.clear(); // find name const char_type* startName = P; // find end of element while(*P != L'>' && !isWhiteSpace(*P)) ++P; const char_type* endName = P; // find Attributes while(*P != L'>') { if (isWhiteSpace(*P)) ++P; else { if (*P != L'/') { // we've got an attribute // read the attribute names const char_type* attributeNameBegin = P; while(!isWhiteSpace(*P) && *P != L'=') ++P; const char_type* attributeNameEnd = P; ++P; // read the attribute value // check for quotes and single quotes, thx to murphy while( (*P != L'\"') && (*P != L'\'') && *P) ++P; if (!*P) // malformatted xml file return; const char_type attributeQuoteChar = *P; ++P; const char_type* attributeValueBegin = P; while(*P != attributeQuoteChar && *P) ++P; if (!*P) // malformatted xml file return; const char_type* attributeValueEnd = P; ++P; SAttribute attr; attr.Name = core::string(attributeNameBegin, (int)(attributeNameEnd - attributeNameBegin)); core::string s(attributeValueBegin, (int)(attributeValueEnd - attributeValueBegin)); attr.Value = replaceSpecialCharacters(s); Attributes.push_back(attr); } else { // tag is closed directly ++P; IsEmptyElement = true; break; } } } // check if this tag is closing directly if (endName > startName && *(endName-1) == L'/') { // directly closing tag IsEmptyElement = true; endName--; } NodeName = core::string(startName, (int)(endName - startName)); ++P; } //! parses an closing xml tag void parseClosingXMLElement() { CurrentNodeType = EXN_ELEMENT_END; IsEmptyElement = false; Attributes.clear(); ++P; const char_type* pBeginClose = P; while(*P != L'>') ++P; NodeName = core::string(pBeginClose, (int)(P - pBeginClose)); ++P; } //! parses a possible CDATA section, returns false if begin was not a CDATA section bool parseCDATA() { if (*(P+1) != L'[') return false; CurrentNodeType = EXN_CDATA; // skip '' && (*(P-1) == L']') && (*(P-2) == L']')) { cDataEnd = P - 2; } ++P; } if ( cDataEnd ) NodeName = core::string(cDataBegin, (int)(cDataEnd - cDataBegin)); else NodeName = ""; return true; } // structure for storing attribute-name pairs struct SAttribute { core::string Name; core::string Value; }; // finds a current attribute by name, returns 0 if not found const SAttribute* getAttributeByName(const char_type* name) const { if (!name) return 0; core::string n = name; for (int i=0; i<(int)Attributes.size(); ++i) if (Attributes[i].Name == n) return &Attributes[i]; return 0; } // replaces xml special characters in a string and creates a new one core::string replaceSpecialCharacters( core::string& origstr) { int pos = origstr.findFirst(L'&'); int oldPos = 0; if (pos == -1) return origstr; core::string newstr; while(pos != -1 && pos < origstr.size()-2) { // check if it is one of the special characters int specialChar = -1; for (int i=0; i<(int)SpecialCharacters.size(); ++i) { const char_type* p = &origstr.c_str()[pos]+1; if (equalsn(&SpecialCharacters[i][1], p, SpecialCharacters[i].size()-1)) { specialChar = i; break; } } if (specialChar != -1) { newstr.append(origstr.subString(oldPos, pos - oldPos)); newstr.append(SpecialCharacters[specialChar][0]); pos += SpecialCharacters[specialChar].size(); } else { newstr.append(origstr.subString(oldPos, pos - oldPos + 1)); pos += 1; } // find next & oldPos = pos; pos = origstr.findNext(L'&', pos); } if (oldPos < origstr.size()-1) newstr.append(origstr.subString(oldPos, origstr.size()-oldPos)); return newstr; } //! reads the xml file and converts it into the wanted character format. bool readFile(IFileReadCallBack* callback) { int size = callback->getSize(); size += 4; // We need two terminating 0's at the end. // For ASCII we need 1 0's, for UTF-16 2, for UTF-32 4. char* data8 = new char[size]; if (!callback->read(data8, size-4)) { delete [] data8; return false; } // add zeros at end data8[size-1] = 0; data8[size-2] = 0; data8[size-3] = 0; data8[size-4] = 0; char16* data16 = reinterpret_cast(data8); char32* data32 = reinterpret_cast(data8); // now we need to convert the data to the desired target format // based on the byte order mark. const unsigned char UTF8[] = {0xEF, 0xBB, 0xBF}; // 0xEFBBBF; const int UTF16_BE = 0xFFFE; const int UTF16_LE = 0xFEFF; const int UTF32_BE = 0xFFFE0000; const int UTF32_LE = 0x0000FEFF; // check source for all utf versions and convert to target data format if (size >= 4 && data32[0] == (char32)UTF32_BE) { // UTF-32, big endian SourceFormat = ETF_UTF32_BE; convertTextData(data32+1, data8, (size/4)); // data32+1 because we need to skip the header } else if (size >= 4 && data32[0] == (char32)UTF32_LE) { // UTF-32, little endian SourceFormat = ETF_UTF32_LE; convertTextData(data32+1, data8, (size/4)); // data32+1 because we need to skip the header } else if (size >= 2 && data16[0] == UTF16_BE) { // UTF-16, big endian SourceFormat = ETF_UTF16_BE; convertTextData(data16+1, data8, (size/2)); // data16+1 because we need to skip the header } else if (size >= 2 && data16[0] == UTF16_LE) { // UTF-16, little endian SourceFormat = ETF_UTF16_LE; convertTextData(data16+1, data8, (size/2)); // data16+1 because we need to skip the header } else if (size >= 3 && data8[0] == UTF8[0] && data8[1] == UTF8[1] && data8[2] == UTF8[2]) { // UTF-8 SourceFormat = ETF_UTF8; convertTextData(data8+3, data8, size); // data8+3 because we need to skip the header } else { // ASCII SourceFormat = ETF_ASCII; convertTextData(data8, data8, size); } return true; } //! converts the text file into the desired format. //! \param source: begin of the text (without byte order mark) //! \param pointerToStore: pointer to text data block which can be //! stored or deleted based on the nesessary conversion. //! \param sizeWithoutHeader: Text size in characters without header template void convertTextData(src_char_type* source, char* pointerToStore, int sizeWithoutHeader) { // convert little to big endian if necessary if (sizeof(src_char_type) > 1 && isLittleEndian(TargetFormat) != isLittleEndian(SourceFormat)) convertToLittleEndian(source); // check if conversion is necessary: if (sizeof(src_char_type) == sizeof(char_type)) { // no need to convert TextBegin = (char_type*)source; TextData = (char_type*)pointerToStore; TextSize = sizeWithoutHeader; } else { // convert source into target data format. // TODO: implement a real conversion. This one just // copies bytes. This is a problem when there are // unicode symbols using more than one character. TextData = new char_type[sizeWithoutHeader]; for (int i=0; i void convertToLittleEndian(src_char_type* t) { if (sizeof(src_char_type) == 4) { // 32 bit while(*t) { *t = ((*t & 0xff000000) >> 24) | ((*t & 0x00ff0000) >> 8) | ((*t & 0x0000ff00) << 8) | ((*t & 0x000000ff) << 24); ++t; } } else { // 16 bit while(*t) { *t = (*t >> 8) | (*t << 8); ++t; } } } //! returns if a format is little endian inline bool isLittleEndian(ETEXT_FORMAT f) { return f == ETF_ASCII || f == ETF_UTF8 || f == ETF_UTF16_LE || f == ETF_UTF32_LE; } //! returns true if a character is whitespace inline bool isWhiteSpace(char_type c) { if (c=='\n') lineSize++; return (c==' ' || c=='\t' || c=='\n' || c=='\r'); } //! generates a list with xml special characters void createSpecialCharacterList() { // list of strings containing special symbols, // the first character is the special character, // the following is the symbol string without trailing &. SpecialCharacters.push_back("&"); SpecialCharacters.push_back("gt;"); SpecialCharacters.push_back("\"quot;"); SpecialCharacters.push_back("'apos;"); } //! compares the first n characters of the strings bool equalsn(const char_type* str1, const char_type* str2, int len) { int i; for(i=0; str1[i] && str2[i] && i < len; ++i) if (str1[i] != str2[i]) return false; // if one (or both) of the strings was smaller then they // are only equal if they have the same lenght return (i == len) || (str1[i] == 0 && str2[i] == 0); } //! stores the target text format void storeTargetFormat() { // get target format. We could have done this using template specialization, // but VisualStudio 6 don't like it and we want to support it. switch(sizeof(char_type)) { case 1: TargetFormat = ETF_UTF8; break; case 2: TargetFormat = ETF_UTF16_LE; break; case 4: TargetFormat = ETF_UTF32_LE; break; default: TargetFormat = ETF_ASCII; // should never happen. } } // instance variables: char_type* TextData; // data block of the text file char_type* P; // current point in text to parse char_type* TextBegin; // start of text to parse unsigned int TextSize; // size of text to parse in characters, not bytes EXML_NODE CurrentNodeType; // type of the currently parsed node ETEXT_FORMAT SourceFormat; // source format of the xml file ETEXT_FORMAT TargetFormat; // output format of this parser core::string NodeName; // name of the node currently in core::string EmptyString; // empty string to be returned by getSafe() methods bool IsEmptyElement; // is the currently parsed node empty? core::array< core::string > SpecialCharacters; // see createSpecialCharacterList() core::array Attributes; // attributes of current element long lineSize; }; // end CXMLReaderImpl } // end namespace } // end namespace #endif choreonoid-1.5.0/thirdparty/irrxml-1.2/src/irrTypes.h0000664000000000000000000000635012741425367021153 0ustar rootroot// Copyright (C) 2002-2005 Nikolaus Gebhardt // This file is part of the "Irrlicht Engine". // For conditions of distribution and use, see copyright notice in irrlicht.h #ifndef __IRR_TYPES_H_INCLUDED__ #define __IRR_TYPES_H_INCLUDED__ namespace irr { //! 8 bit unsigned variable. /** This is a typedef for unsigned char, it ensures portability of the engine. */ typedef unsigned char u8; //! 8 bit signed variable. /** This is a typedef for signed char, it ensures portability of the engine. */ typedef signed char s8; //! 8 bit character variable. /** This is a typedef for char, it ensures portability of the engine. */ typedef char c8; //! 16 bit unsigned variable. /** This is a typedef for unsigned short, it ensures portability of the engine. */ typedef unsigned short u16; //! 16 bit signed variable. /** This is a typedef for signed short, it ensures portability of the engine. */ typedef signed short s16; //! 32 bit unsigned variable. /** This is a typedef for unsigned int, it ensures portability of the engine. */ typedef unsigned int u32; //! 32 bit signed variable. /** This is a typedef for signed int, it ensures portability of the engine. */ typedef signed int s32; // 64 bit signed variable. // This is a typedef for __int64, it ensures portability of the engine. // This type is currently not used by the engine and not supported by compilers // other than Microsoft Compilers, so it is outcommented. //typedef __int64 s64; //! 32 bit floating point variable. /** This is a typedef for float, it ensures portability of the engine. */ typedef float f32; //! 64 bit floating point variable. /** This is a typedef for double, it ensures portability of the engine. */ typedef double f64; } // end namespace // define the wchar_t type if not already built in. #ifdef _MSC_VER #ifndef _WCHAR_T_DEFINED //! A 16 bit wide character type. /** Defines the wchar_t-type. In VS6, its not possible to tell the standard compiler to treat wchar_t as a built-in type, and sometimes we just don't want to include the huge stdlib.h or wchar.h, so we'll use this. */ typedef unsigned short wchar_t; #define _WCHAR_T_DEFINED #endif // wchar is not defined #endif // microsoft compiler //! define a break macro for debugging only in Win32 mode. #if defined(WIN32) && defined(_MSC_VER) && defined(_DEBUG) && not defined(_WIN64) #define _IRR_DEBUG_BREAK_IF( _CONDITION_ ) if (_CONDITION_) {_asm int 3} #else #define _IRR_DEBUG_BREAK_IF( _CONDITION_ ) #endif //! Defines a small statement to work around a microsoft compiler bug. /** The microsft compiler 7.0 - 7.1 has a bug: When you call unmanaged code that returns a bool type value of false from managed code, the return value may appear as true. See http://support.microsoft.com/default.aspx?kbid=823071 for details. Compiler version defines: VC6.0 : 1200, VC7.0 : 1300, VC7.1 : 1310, VC8.0 : 1400*/ #if defined(WIN32) && defined(_MSC_VER) && (_MSC_VER > 1299) && (_MSC_VER < 1400) #define _IRR_IMPLEMENT_MANAGED_MARSHALLING_BUGFIX __asm mov eax,100 #else #define _IRR_IMPLEMENT_MANAGED_MARSHALLING_BUGFIX #endif // _IRR_MANAGED_MARSHALLING_BUGFIX #endif // __IRR_TYPES_H_INCLUDED__ choreonoid-1.5.0/thirdparty/irrxml-1.2/src/fast_atof.h0000664000000000000000000000450412741425367021277 0ustar rootroot// Copyright (C) 2002-2005 Nikolaus Gebhardt // This file is part of the "Irrlicht Engine" and the "irrXML" project. // For conditions of distribution and use, see copyright notice in irrlicht.h and irrXML.h #ifndef __FAST_A_TO_F_H_INCLUDED__ #define __FAST_A_TO_F_H_INCLUDED__ #include #include namespace irr { namespace core { const float fast_atof_table[] = { 0.f, 0.1f, 0.01f, 0.001f, 0.0001f, 0.00001f, 0.000001f, 0.0000001f, 0.00000001f, 0.000000001f, 0.0000000001f, 0.00000000001f, 0.000000000001f, 0.0000000000001f, 0.00000000000001f, 0.000000000000001f }; //! Provides a fast function for converting a string into a float, //! about 6 times faster than atof in win32. // If you find any bugs, please send them to me, niko (at) irrlicht3d.org. inline char* fast_atof_move(char* c, float& out) { bool inv = false; char *t; float f; if (*c=='-') { c++; inv = true; } f = (float)strtol(c, &t, 10); c = t; if (*c == '.') { c++; float pl = (float)strtol(c, &t, 10); pl *= fast_atof_table[t-c]; f += pl; c = t; if (*c == 'e') { ++c; float exp = (float)strtol(c, &t, 10); f *= (float)pow(10.0f, exp); c = t; } } if (inv) f *= -1.0f; out = f; return c; } //! Provides a fast function for converting a string into a float, //! about 6 times faster than atof in win32. // If you find any bugs, please send them to me, niko (at) irrlicht3d.org. inline const char* fast_atof_move_const(const char* c, float& out) { bool inv = false; char *t; float f; if (*c=='-') { c++; inv = true; } f = (float)strtol(c, &t, 10); c = t; if (*c == '.') { c++; float pl = (float)strtol(c, &t, 10); pl *= fast_atof_table[t-c]; f += pl; c = t; if (*c == 'e') { ++c; f32 exp = (f32)strtol(c, &t, 10); f *= (f32)powf(10.0f, exp); c = t; } } if (inv) f *= -1.0f; out = f; return c; } inline float fast_atof(const char* c) { float ret; fast_atof_move_const(c, ret); return ret; } } // end namespace core }// end namespace irr #endif choreonoid-1.5.0/thirdparty/irrxml-1.2/src/irrString.h0000664000000000000000000003206312741425367021315 0ustar rootroot// Copyright (C) 2002-2005 Nikolaus Gebhardt // This file is part of the "Irrlicht Engine" and the "irrXML" project. // For conditions of distribution and use, see copyright notice in irrlicht.h and irrXML.h #ifndef __IRR_STRING_H_INCLUDED__ #define __IRR_STRING_H_INCLUDED__ #include "irrTypes.h" namespace irr { namespace core { //! Very simple string class with some useful features. /** string and string work both with unicode AND ascii, so you can assign unicode to string and ascii to string (and the other way round) if your ever would want to. Note that the conversation between both is not done using an encoding. Known bugs: Special characters like 'Ä', 'Ü' and 'Ö' are ignored in the methods make_upper, make_lower and equals_ignore_case. */ template class string { public: //! Default constructor string() : allocated(1), used(1), array(0) { array = new T[1]; array[0] = 0x0; } //! Constructor string(const string& other) : allocated(0), used(0), array(0) { *this = other; } //! Constructs a string from an int string(int number) : allocated(0), used(0), array(0) { // store if negative and make positive bool negative = false; if (number < 0) { number *= -1; negative = true; } // temporary buffer for 16 numbers c8 tmpbuf[16]; tmpbuf[15] = 0; s32 idx = 15; // special case '0' if (!number) { tmpbuf[14] = '0'; *this = &tmpbuf[14]; return; } // add numbers while(number && idx) { idx--; tmpbuf[idx] = (c8)('0' + (number % 10)); number = number / 10; } // add sign if (negative) { idx--; tmpbuf[idx] = '-'; } *this = &tmpbuf[idx]; } //! Constructor for copying a string from a pointer with a given lenght template string(const B* c, s32 lenght) : allocated(0), used(0), array(0) { if (!c) return; allocated = used = lenght+1; array = new T[used]; for (s32 l = 0; l string(const B* c) : allocated(0), used(0), array(0) { *this = c; } //! destructor ~string() { delete [] array; } //! Assignment operator string& operator=(const string& other) { if (this == &other) return *this; delete [] array; allocated = used = other.size()+1; array = new T[used]; const T* p = other.c_str(); for (s32 i=0; i string& operator=(const B* c) { if (!c) { if (!array) { array = new T[1]; allocated = 1; used = 1; } array[0] = 0x0; return *this; } if ((void*)c == (void*)array) return *this; s32 len = 0; const B* p = c; while(*p) { ++len; ++p; } // we'll take the old string for a while, because the new string could be // a part of the current string. T* oldArray = array; allocated = used = len+1; array = new T[used]; for (s32 l = 0; l operator+(const string& other) { string str(*this); str.append(other); return str; } //! Add operator for strings, ascii and unicode template string operator+(const B* c) { string str(*this); str.append(c); return str; } //! Direct access operator T& operator [](const s32 index) const { _IRR_DEBUG_BREAK_IF(index>=used) // bad index return array[index]; } //! Comparison operator bool operator ==(const T* str) const { int i; for(i=0; array[i] && str[i]; ++i) if (array[i] != str[i]) return false; return !array[i] && !str[i]; } //! Comparison operator bool operator ==(const string& other) const { for(s32 i=0; array[i] && other.array[i]; ++i) if (array[i] != other.array[i]) return false; return used == other.used; } //! Is smaller operator bool operator <(const string& other) const { for(s32 i=0; array[i] && other.array[i]; ++i) if (array[i] != other.array[i]) return (array[i] < other.array[i]); return used < other.used; } //! Equals not operator bool operator !=(const string& other) const { return !(*this == other); } //! Returns length of string /** \return Returns length of the string in characters. */ s32 size() const { return used-1; } //! Returns character string /** \return Returns pointer to C-style zero terminated string. */ const T* c_str() const { return array; } //! Makes the string lower case. void make_lower() { const T A = (T)'A'; const T Z = (T)'Z'; const T diff = (T)'a' - A; for (s32 i=0; i=A && array[i]<=Z) array[i] += diff; } } //! Makes the string upper case. void make_upper() { const T a = (T)'a'; const T z = (T)'z'; const T diff = (T)'A' - a; for (s32 i=0; i=a && array[i]<=z) array[i] += diff; } } //! Compares the string ignoring case. /** \param other: Other string to compare. \return Returns true if the string are equal ignoring case. */ bool equals_ignore_case(const string& other) const { for(s32 i=0; array[i] && other[i]; ++i) if (toLower(array[i]) != toLower(other[i])) return false; return used == other.used; } //! compares the first n characters of the strings bool equalsn(const string& other, int len) { int i; for(i=0; array[i] && other[i] && i < len; ++i) if (array[i] != other[i]) return false; // if one (or both) of the strings was smaller then they // are only equal if they have the same lenght return (i == len) || (used == other.used); } //! compares the first n characters of the strings bool equalsn(const T* str, int len) { int i; for(i=0; array[i] && str[i] && i < len; ++i) if (array[i] != str[i]) return false; // if one (or both) of the strings was smaller then they // are only equal if they have the same lenght return (i == len) || (array[i] == 0 && str[i] == 0); } //! Appends a character to this string /** \param character: Character to append. */ void append(T character) { if (used + 1 > allocated) reallocate((s32)used + 1); used += 1; array[used-2] = character; array[used-1] = 0; } //! Appends a string to this string /** \param other: String to append. */ void append(const string& other) { --used; s32 len = other.size(); if (used + len + 1 > allocated) reallocate((s32)used + (s32)len + 1); for (s32 l=0; l& other, s32 length) { s32 len = other.size(); if (len < length) { append(other); return; } len = length; --used; if (used + len > allocated) reallocate((s32)used + (s32)len); for (s32 l=0; l s32 findFirstCharNotInList(B* c, int count) const { for (int i=0; i s32 findLastCharNotInList(B* c, int count) const { for (int i=used-2; i>=0; --i) { int j; for (j=0; j=0; --i) if (array[i] == c) return i; return -1; } //! Returns a substring //! \param begin: Start of substring. //! \param length: Length of substring. string subString(s32 begin, s32 length) { if (length <= 0) return string(""); string o; o.reserve(length+1); for (s32 i=0; i& other) { append(other); } void operator += (int i) { append(string(i)); } //! replaces all characters of a special type with another one void replace(T toReplace, T replaceWith) { for (s32 i=0; i=used || index<0) // access violation for (int i=index+1; i=(T)'A' && t<=(T)'Z') return t + ((T)'a' - (T)'A'); else return t; } //! Reallocate the array, make it bigger or smaler void reallocate(s32 new_size) { T* old_array = array; array = new T[new_size]; allocated = new_size; s32 amount = used < new_size ? used : new_size; for (s32 i=0; i stringc; //! Typedef for wide character strings typedef string stringw; } // end namespace core } // end namespace irr #endif choreonoid-1.5.0/thirdparty/irrxml-1.2/CMakeLists.txt0000664000000000000000000000006212741425367021124 0ustar rootroot add_cnoid_library(irrXML STATIC src/irrXML.cpp) choreonoid-1.5.0/thirdparty/irrxml-1.2/readme.txt0000664000000000000000000000742712741425367020376 0ustar rootroot========================================================================== irrXML 1.2 ========================================================================== Welcome to irrXML Content of this file: 1. Directory structure overview 2. How to use 3. Requirements 5. License 6. Contact ========================================================================== 1. Directory structure overview ========================================================================== You will find some directories after decompressing the archive in which came the SDK. These are: \doc Documentation of irrXML. \example A short example showing how to use the parser with solution and make files. \src The source code of irrXML. ========================================================================== 2. How to use ========================================================================== For Linux/Unix users: Simply go into the directory /example and run 'make'. This will create a sample project using irrXML. Windows users: Just add the source files to your project. That's all. For more information see the documentation in the \doc directory. Alternatively, you could compile irrXML as .lib, after this you would only need to use the irrXML.h header file, nothing more. ========================================================================== 3. Requirements ========================================================================== You can use one of the following compilers/IDEs to develop applications with irrXML. However, other compilers/IDEs make work as well, we simply didn't test them. * gcc 3.2 * gcc 3.3 * Visual Studio 6.0 * Visual Studio.NET (7.0) * Visual Studio.NET 2003 (7.1) * Visual Studio.NET 2005 (8.0) * DevC++ 4.9 & gcc (project files included) ========================================================================== 5. License ========================================================================== The license of irrXML is based on the zlib/libpng license. Even though this license does not require you to mention that you are using the Irrlicht Engine in your product, an acknowledgement would be highly appreciated. The irrXML License =========================== Copyright (C) 2002-2005 Nikolaus Gebhardt This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions: 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 3. This notice may not be removed or altered from any source distribution. ========================================================================== 6. Contact ========================================================================== If you have problems, questions or suggestions, please visit the official homepage of irrXML: http://xml.irrlicht3d.org You will find forums, patches, documentation, and other stuff which will help you out. If want to contact the author of the engine, please send an email to Nikolaus Gebhardt: irrlicht@users.sourceforge.net choreonoid-1.5.0/sample/0000775000000000000000000000000012741425367013642 5ustar rootrootchoreonoid-1.5.0/sample/GLGears/0000775000000000000000000000000012741425367015126 5ustar rootrootchoreonoid-1.5.0/sample/GLGears/ManualMakefile0000664000000000000000000000047412741425367017731 0ustar rootroot CXXFLAGS += -fPIC `pkg-config --cflags choreonoid` PLUGIN = libCnoidGLGearsPlugin.so SRC = GLGearsPlugin.o GLGearsView.o $(PLUGIN): $(SRC) g++ -shared -o $(PLUGIN) $(SRC) `pkg-config --libs choreonoid` install: $(PLUGIN) install -s $(PLUGIN) `pkg-config --variable=plugindir choreonoid` clean: rm -f *.o *.so choreonoid-1.5.0/sample/GLGears/GLGearsView.h0000664000000000000000000000211212741425367017412 0ustar rootroot/* The base program of this sample is the "3-D gear wheels" sample of gtkglextmm. The origiral "3-D gear wheels" is a public domain program written by Brian Paul and its conversion to gtkglextmm was wirtten by Naofumi Yasufuku. */ #include #include #include namespace cnoid { class GearsScene : public QGLWidget { public: GearsScene(QWidget* parent = 0); bool setTime(double time); protected: virtual void initializeGL(); virtual void resizeGL(int width, int height); virtual void paintGL(); private: void gear(GLfloat innerRadius, GLfloat outerRadius, GLfloat width, GLint teeth, GLfloat toothDepth); protected: GLint gear1; GLint gear2; GLint gear3; GLfloat viewRotX; GLfloat viewRotY; GLfloat viewRotZ; GLfloat angle; }; class GLGearsView : public View { public: GLGearsView(); protected: virtual void onActivated(); virtual void onDeactivated(); private: GearsScene* gearsScene; cnoid::TimeBar* timeBar; Connection timeChangeConnection; }; } choreonoid-1.5.0/sample/GLGears/GLGearsView.cpp0000664000000000000000000001714512741425367017761 0ustar rootroot/* The base program of this sample is the "3-D gear wheels" sample of gtkglextmm. The origiral "3-D gear wheels" is a public domain program written by Brian Paul and its conversion to gtkglextmm was done by Naofumi Yasufuku. */ #include "GLGearsView.h" #include #include #include using namespace std; using namespace boost; using namespace cnoid; GearsScene::GearsScene(QWidget* parent) : QGLWidget(parent), gear1(0), gear2(0), gear3(0), viewRotX(20.0), viewRotY(30.0), viewRotZ(0.0), angle(0.0) { } bool GearsScene::setTime(double time) { if(time < 30.0){ angle = time * M_PI * 4.0; update(); return true; } return false; } void GearsScene::initializeGL() { static GLfloat pos[4] = {5.0, 5.0, 10.0, 0.0}; static GLfloat red[4] = {0.8, 0.1, 0.0, 1.0}; static GLfloat green[4] = {0.0, 0.8, 0.2, 1.0}; static GLfloat blue[4] = {0.2, 0.2, 1.0, 1.0}; glLightfv(GL_LIGHT0, GL_POSITION, pos); glEnable(GL_CULL_FACE); glEnable(GL_LIGHTING); glEnable(GL_LIGHT0); glEnable(GL_DEPTH_TEST); // Make the gears. gear1 = glGenLists(1); glNewList(gear1, GL_COMPILE); glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, red); gear(1.0, 4.0, 1.0, 20, 0.7); glEndList(); gear2 = glGenLists(1); glNewList(gear2, GL_COMPILE); glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, green); gear(0.5, 2.0, 2.0, 10, 0.7); glEndList(); gear3 = glGenLists(1); glNewList(gear3, GL_COMPILE); glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, blue); gear(1.3, 2.0, 0.5, 10, 0.7); glEndList(); glEnable(GL_NORMALIZE); } void GearsScene::resizeGL(int width, int height) { GLfloat h = (GLfloat)height / width; glViewport(0, 0, width, height); glMatrixMode(GL_PROJECTION); glLoadIdentity(); glFrustum(-1.0, 1.0, -h, h, 5.0, 60.0); glMatrixMode(GL_MODELVIEW); glLoadIdentity(); glTranslatef(0.0, 0.0, -40.0); } void GearsScene::paintGL() { glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); glPushMatrix(); glRotatef(viewRotX, 1.0, 0.0, 0.0); glRotatef(viewRotY, 0.0, 1.0, 0.0); glRotatef(viewRotZ, 0.0, 0.0, 1.0); glPushMatrix(); glTranslatef(-3.0, -2.0, 0.0); glRotatef(angle, 0.0, 0.0, 1.0); glCallList(gear1); glPopMatrix(); glPushMatrix(); glTranslatef(3.1, -2.0, 0.0); glRotatef(-2.0 * angle - 9.0, 0.0, 0.0, 1.0); glCallList(gear2); glPopMatrix(); glPushMatrix(); glTranslatef(-3.1, 4.2, 0.0); glRotatef(-2.0 * angle - 25.0, 0.0, 0.0, 1.0); glCallList(gear3); glPopMatrix(); glPopMatrix(); } /* * Draw a gear wheel. You'll probably want to call this function when * building a display list since we do a lot of trig here. * * Input: inner_radius - radius of hole at center * outer_radius - radius at center of teeth * width - width of gear * teeth - number of teeth * tooth_depth - depth of tooth */ void GearsScene::gear(GLfloat innerRadius, GLfloat outerRadius, GLfloat width, GLint teeth, GLfloat toothDepth) { GLint i; GLfloat r0, r1, r2; GLfloat angle, da; GLfloat u, v, len; r0 = innerRadius; r1 = outerRadius - toothDepth / 2.0; r2 = outerRadius + toothDepth / 2.0; da = 2.0 * M_PI / teeth / 4.0; glShadeModel(GL_FLAT); glNormal3f(0.0, 0.0, 1.0); /* draw front face */ glBegin(GL_QUAD_STRIP); for(i = 0; i <= teeth; i++){ angle = i * 2.0 * M_PI / teeth; glVertex3f(r0 * cos(angle), r0 * sin(angle), width * 0.5); glVertex3f(r1 * cos(angle), r1 * sin(angle), width * 0.5); if(i < teeth) { glVertex3f(r0 * cos(angle), r0 * sin(angle), width * 0.5); glVertex3f(r1 * cos(angle + 3 * da), r1 * sin(angle + 3 * da), width * 0.5); } } glEnd(); /* draw front sides of teeth */ glBegin(GL_QUADS); da = 2.0 * M_PI / teeth / 4.0; for(i = 0; i < teeth; i++){ angle = i * 2.0 * M_PI / teeth; glVertex3f(r1 * cos(angle), r1 * sin(angle), width * 0.5); glVertex3f(r2 * cos(angle + da), r2 * sin(angle + da), width * 0.5); glVertex3f(r2 * cos(angle + 2 * da), r2 * sin(angle + 2 * da), width * 0.5); glVertex3f(r1 * cos(angle + 3 * da), r1 * sin(angle + 3 * da), width * 0.5); } glEnd(); glNormal3f(0.0, 0.0, -1.0); /* draw back face */ glBegin(GL_QUAD_STRIP); for (i = 0; i <= teeth; i++) { angle = i * 2.0 * M_PI / teeth; glVertex3f(r1 * cos(angle), r1 * sin(angle), -width * 0.5); glVertex3f(r0 * cos(angle), r0 * sin(angle), -width * 0.5); if (i < teeth) { glVertex3f(r1 * cos(angle + 3 * da), r1 * sin(angle + 3 * da), -width * 0.5); glVertex3f(r0 * cos(angle), r0 * sin(angle), -width * 0.5); } } glEnd(); /* draw back sides of teeth */ glBegin(GL_QUADS); da = 2.0 * M_PI / teeth / 4.0; for (i = 0; i < teeth; i++) { angle = i * 2.0 * M_PI / teeth; glVertex3f(r1 * cos(angle + 3 * da), r1 * sin(angle + 3 * da), -width * 0.5); glVertex3f(r2 * cos(angle + 2 * da), r2 * sin(angle + 2 * da), -width * 0.5); glVertex3f(r2 * cos(angle + da), r2 * sin(angle + da), -width * 0.5); glVertex3f(r1 * cos(angle), r1 * sin(angle), -width * 0.5); } glEnd(); /* draw outward faces of teeth */ glBegin(GL_QUAD_STRIP); for(i = 0; i < teeth; i++){ angle = i * 2.0 * M_PI / teeth; glVertex3f(r1 * cos(angle), r1 * sin(angle), width * 0.5); glVertex3f(r1 * cos(angle), r1 * sin(angle), -width * 0.5); u = r2 * cos(angle + da) - r1 * cos(angle); v = r2 * sin(angle + da) - r1 * sin(angle); len = sqrt(u * u + v * v); u /= len; v /= len; glNormal3f(v, -u, 0.0); glVertex3f(r2 * cos(angle + da), r2 * sin(angle + da), width * 0.5); glVertex3f(r2 * cos(angle + da), r2 * sin(angle + da), -width * 0.5); glNormal3f(cos(angle), sin(angle), 0.0); glVertex3f(r2 * cos(angle + 2 * da), r2 * sin(angle + 2 * da), width * 0.5); glVertex3f(r2 * cos(angle + 2 * da), r2 * sin(angle + 2 * da), -width * 0.5); u = r1 * cos(angle + 3 * da) - r2 * cos(angle + 2 * da); v = r1 * sin(angle + 3 * da) - r2 * sin(angle + 2 * da); glNormal3f(v, -u, 0.0); glVertex3f(r1 * cos(angle + 3 * da), r1 * sin(angle + 3 * da), width * 0.5); glVertex3f(r1 * cos(angle + 3 * da), r1 * sin(angle + 3 * da), -width * 0.5); glNormal3f(cos(angle), sin(angle), 0.0); } glVertex3f(r1 * cos(0.0), r1 * sin(0.0), width * 0.5); glVertex3f(r1 * cos(0.0), r1 * sin(0.0), -width * 0.5); glEnd(); glShadeModel(GL_SMOOTH); /* draw inside radius cylinder */ glBegin(GL_QUAD_STRIP); for(i = 0; i <= teeth; i++){ angle = i * 2.0 * M_PI / teeth; glNormal3f(-cos(angle), -sin(angle), 0.0); glVertex3f(r0 * cos(angle), r0 * sin(angle), -width * 0.5); glVertex3f(r0 * cos(angle), r0 * sin(angle), width * 0.5); } glEnd(); } GLGearsView::GLGearsView() : gearsScene(0) { gearsScene = new GearsScene(this); QVBoxLayout* vbox = new QVBoxLayout(); vbox->addWidget(gearsScene); setLayout(vbox); timeBar = TimeBar::instance(); } void GLGearsView::onActivated() { if(!timeChangeConnection.connected()){ timeChangeConnection = timeBar->sigTimeChanged().connect( bind(&GearsScene::setTime, gearsScene, _1)); } gearsScene->setTime(timeBar->time()); } void GLGearsView::onDeactivated() { if(timeChangeConnection.connected()){ timeChangeConnection.disconnect(); } } choreonoid-1.5.0/sample/GLGears/GLGearsPlugin.cpp0000664000000000000000000000066212741425367020301 0ustar rootroot #include "GLGearsView.h" #include #include using namespace cnoid; class GLGearsPlugin : public Plugin { public: GLGearsPlugin() : Plugin("GLGears") { } virtual bool initialize() { viewManager().registerClass( "GLGearsView", "GL Gears", ViewManager::SINGLE_OPTIONAL); return true; } }; CNOID_IMPLEMENT_PLUGIN_ENTRY(GLGearsPlugin); choreonoid-1.5.0/sample/GLGears/CMakeLists.txt0000664000000000000000000000063412741425367017671 0ustar rootroot if(NOT ENABLE_GUI) return() endif() option(BUILD_GL_GEARS_SAMPLE "Building a GL Gears sample plugin" OFF) set(sources GLGearsPlugin.cpp GLGearsView.cpp GLGearsView.h) if(BUILD_GL_GEARS_SAMPLE) set(target CnoidGLGearsPlugin) add_cnoid_plugin(${target} SHARED ${sources}) target_link_libraries(${target} CnoidBase) apply_common_setting_for_plugin(${target}) endif() install_sample_source(${sources}) choreonoid-1.5.0/sample/SpringModel/0000775000000000000000000000000012741425367016065 5ustar rootrootchoreonoid-1.5.0/sample/SpringModel/CustomizedSpringModel.cnoid0000664000000000000000000002024312741425367023376 0ustar rootrootitems: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false children: - id: 2 name: "CustomizedSpringModel" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/CustomizedSpringModel.wrl" currentBaseLink: "LOWER" rootPosition: [ 0.000000, 0.000000, 0.100000 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ 0.000000 ] initialRootPosition: [ 0.000000, 0.000000, 0.100000 ] initialRootAttitude: [ 1.000000, 0.000000, -0.000000, -0.000000, 1.000000, 0.000000, 0.000000, -0.000000, 1.000000 ] initialJointPositions: [ 0.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false - id: 3 name: "Floor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/floor.wrl" currentBaseLink: "BASE" rootPosition: [ 0.000000, 0.000000, -0.100000 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ ] initialRootPosition: [ 0.000000, 0.000000, -0.100000 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] initialJointPositions: [ ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false - id: 4 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recordingMode: TimeBar range timeLength: 60 allLinkPositionOutputMode: false dynamicsMode: Forward dynamics gravity: [ 0, 0, -9.80665 ] staticFriction: 1 slipFriction: 1 cullingThresh: 0.02 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 10 2Dmode: false - id: 5 name: "ODESimulator" plugin: ODE class: ODESimulatorItem data: realtimeSync: true recordingMode: TimeBar range timeLength: 60 allLinkPositionOutputMode: true stepMode: Iterative (quick step) gravity: [ 0, 0, -9.80665 ] friction: 1 jointLimitMode: false globalERP: 0.4 globalCFM: 1.0e-10 numIterations: 50 overRelaxation: 1.3 limitCorrectingVel: true maxCorrectingVel: 1.0e-3 2Dmode: false - id: 6 name: "BulletSimulator" plugin: Bullet class: BulletSimulatorItem data: realtimeSync: true recordingMode: TimeBar range onlyActiveControlPeriod: true timeLength: 60 allLinkPositionOutputMode: true ErrorReductionParameter: 0.2 NumIterations: 10 Restitution: 0 Friction: 0.7 ERP2: 0 SplitImpulsePenetrationThreshold: -0.0001 views: "Items": selected: [ 4 ] checked: [ 2, 3 ] expanded: [ 1, 2 ] "Scene": mode: view floorGird: true collisions: true shadow: false floorGridSpan: 10 floorGridInterval: 0.5 hiPriorityRendering: false camera: projection: perspetive perspective: [ 40, 1.29272, 0.00362294, 7.3908 ] ortho: [ -1, 1, -1, 1, -1, 1 ] eye: [ -0.243298, 1.55507, 0.094242 ] center: [ -0.0825026, 0.576457, 0.222547 ] up: [ -0.0208027, 0.126607, 0.991735 ] "Multi Value Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi SE3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Links": listingMode: "link list" currentBodyItem: 2 bodyItems: - id: 2 selectedLinks: [ 0 ] "Body / Link": showRotationMatrix: false "Joint Sliders": showAllJoints: true jointId: false name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 2 "Joint Trajectories": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi Affine3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Pose Roll": defaultTransitionTime: 0 updateAll: true autoUpdate: false timeSync: true listingMode: "part tree" timeLength: 10 showLipSync: false gridInterval: 1 toolbars: "TimeBar": minTime: 0 maxTime: 10 frameRate: 500 playbackFrameRate: 100 currentTime: 0 speedScale: 1 "BodyBar": current: 2 stanceWidth: 0.15 "KinematicsBar": mode: FK attitude: false penetrationBlock: true collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true "BodyMotionGenerationBar": balancer: false autoGeneration: false timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: false makeNewBodyItem: true stealthyStepMode: true stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 allLinkPositions: false lipSyncMix: false timeToStartBalancer: 0 balancerIterations: 2 plainBalancerMode: false boundaryConditionType: 位罂’保ċ­˜ boundarySmootherType: ‚ރ• boundarySmootherTime: 0.5 boundaryCmAdjustment: false boundaryCmAdjustmentTime: 1 waistHeightRelaxation: false gravity: 9.8 dynamicsTimeRatio: 1 Base: "MovieGenerator": directory: basename: scene begin: 0 fps: 30 width: 640 heiht: 480 Body: "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false "SceneBodyManager": sceneBodies: - bodyItem: 2 editable: true centerOfMass: false zmp: false - bodyItem: 3 editable: false centerOfMass: false zmp: false choreonoid-1.5.0/sample/SpringModel/CustomizedSpringModel.wrl0000664000000000000000000001201112741425367023100 0ustar rootroot#VRML V2.0 utf8 # @author Shin'ichiro Nakaoka PROTO Joint [ exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField MFFloat lvlimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat uvlimit [] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 exposedField SFFloat gearRatio 1 exposedField SFFloat rotorInertia 0 exposedField SFFloat rotorResistor 0 exposedField SFFloat torqueConst 1 exposedField SFFloat encoderPulse 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS viewpoints } Group { children IS humanoidBody } ] } } DEF CustomizedSpringModel Humanoid { humanoidBody [ DEF LOWER Joint { jointType "free" children [ DEF LOWER_LINK Segment { mass 10.0 centerOfMass 0 0 0.15 momentsOfInertia [0.5 0 0 0 0.5 0 0 0 0.1] children Transform { translation 0 0 0.2 rotation 1 0 0 1.5707963267949 children [ Shape { geometry Cylinder { height 0.39 radius 0.048 } appearance DEF LOWER_APP Appearance { material Material { diffuseColor 1.0 0.0 0.0 } } } Transform { translation 0 -0.19 0 children Shape { geometry Box { size 0.2 0.02 0.2 } appearance USE LOWER_APP } } ] } } DEF UPPER Joint { jointType "slide" translation 0 0 0.25 jointId 0 jointAxis 0 0 1 ulimit [ 4.0 ] llimit [ -4.0 ] children [ DEF UPPER_LINK Segment { mass 10.0 centerOfMass 0 0 0.15 momentsOfInertia [0.5 0 0 0 0.5 0 0 0 0.1] children Transform { translation 0 0 0.2 rotation 1 0 0 1.5707963267949 children [ Shape { geometry Cylinder { height 0.39 radius 0.05 } appearance DEF UPPER_APP Appearance { material Material { diffuseColor 0.0 1.0 0.0 } } } Transform { translation 0 0.19 0 children Shape { geometry Box { size 0.2 0.02 0.2 } appearance USE UPPER_APP } } ] } } ] } ] } ] joints [ USE LOWER, USE UPPER ] segments [ USE LOWER_LINK, USE UPPER_LINK ] } choreonoid-1.5.0/sample/SpringModel/SpringModelController.cpp0000664000000000000000000000205512741425367023062 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include #include using namespace cnoid; class SpringModelController : public cnoid::SimpleController { Link* spring; public: virtual bool initialize(SimpleControllerIO* io) { SimulationSimpleControllerIO* sio = dynamic_cast(io); if(!sio){ return false; } spring = io->body()->link("UPPER"); if(!spring){ os() << "Spring-damper joint \"UPPER\" cannot be detected." << std::endl; return false; } io->setLinkInput(spring, JOINT_DISPLACEMENT | JOINT_VELOCITY); io->setLinkOutput(spring, JOINT_FORCE); sio->setImmediateMode(true); return true; } virtual bool control() { const double KP = 2000.0; const double KD = 5.0; spring->u() = -KP * spring->q() - KD * spring->dq(); return true; } }; CNOID_IMPLEMENT_SIMPLE_CONTROLLER_FACTORY(SpringModelController) choreonoid-1.5.0/sample/SpringModel/ControlledSpringModel.cnoid0000664000000000000000000002223112741425367023354 0ustar rootrootitems: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false children: - id: 2 name: "SpringModel" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/SpringModel.wrl" currentBaseLink: "LOWER" rootPosition: [ 0.000000, 0.000000, 0.100000 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ 0.000000 ] initialRootPosition: [ 0.000000, 0.000000, 0.100000 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] initialJointPositions: [ 0.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false children: - id: 3 name: "Controller" plugin: SimpleController class: SimpleControllerItem data: isImmediateMode: true controller: "SpringModelController" reloading: true - id: 4 name: "Floor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/floor.wrl" currentBaseLink: "BASE" rootPosition: [ 0.000000, 0.000000, -0.100000 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ ] initialRootPosition: [ 0.000000, 0.000000, -0.100000 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false - id: 5 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recordingMode: TimeBar range onlyActiveControlPeriod: true timeLength: 60 allLinkPositionOutputMode: false dynamicsMode: Forward dynamics integrationMode: Runge Kutta gravity: [ 0, 0, -9.80665 ] staticFriction: 1 slipFriction: 1 cullingThresh: 0.02 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 10 2Dmode: false - id: 6 name: "ODESimulator" plugin: ODE class: ODESimulatorItem data: realtimeSync: true recordingMode: TimeBar range onlyActiveControlPeriod: true timeLength: 60 allLinkPositionOutputMode: true stepMode: Iterative (quick step) gravity: [ 0, 0, -9.80665 ] friction: 1 jointLimitMode: false globalERP: 0.4 globalCFM: 1.0e-10 numIterations: 50 overRelaxation: 1.3 limitCorrectingVel: true maxCorrectingVel: 1.0e-3 2Dmode: false - id: 7 name: "BulletSimulator" plugin: Bullet class: BulletSimulatorItem data: realtimeSync: true recordingMode: TimeBar range onlyActiveControlPeriod: true timeLength: 60 allLinkPositionOutputMode: true ErrorReductionParameter: 0.2 NumIterations: 10 Restitution: 0 Friction: 0.7 ERP2: 0 SplitImpulsePenetrationThreshold: -0.0001 views: "Items": selected: [ 5 ] checked: [ 2, 4 ] expanded: [ 1, 2 ] "Scene": mode: view floorGird: true collisions: true shadow: false floorGridSpan: 10 floorGridInterval: 0.5 hiPriorityRendering: false camera: projection: perspetive perspective: [ 40, 1.29683, 0.00362294, 7.3908 ] ortho: [ -1, 1, -1, 1, -1, 1 ] eye: [ -0.243298, 1.55507, 0.094242 ] center: [ -0.0825026, 0.576457, 0.222547 ] up: [ -0.0208027, 0.126607, 0.991735 ] "Multi Value Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi SE3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Links": listingMode: "link list" currentBodyItem: 2 bodyItems: - id: 2 selectedLinks: [ 0 ] "Body / Link": showRotationMatrix: false "Joint Sliders": showAllJoints: true jointId: false name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 2 "Joint Trajectories": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi Affine3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Pose Roll": defaultTransitionTime: 0 updateAll: true autoUpdate: false timeSync: true listingMode: "part tree" timeLength: 10 showLipSync: false gridInterval: 1 toolbars: "TimeBar": minTime: 0 maxTime: 10 frameRate: 500 playbackFrameRate: 100 currentTime: 0 speedScale: 1 "BodyBar": current: 2 stanceWidth: 0.15 "KinematicsBar": mode: FK attitude: false penetrationBlock: true collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true "BodyMotionGenerationBar": balancer: false autoGeneration: false timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: false makeNewBodyItem: true stealthyStepMode: true stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 allLinkPositions: false lipSyncMix: false timeToStartBalancer: 0 balancerIterations: 2 plainBalancerMode: false boundaryConditionType: position boundarySmootherType: off boundarySmootherTime: 0.5 boundaryCmAdjustment: false boundaryCmAdjustmentTime: 1 waistHeightRelaxation: false gravity: 9.8 dynamicsTimeRatio: 1 Base: "MovieGenerator": directory: basename: scene begin: 0 fps: 30 width: 640 heiht: 480 Body: "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false "SceneBodyManager": sceneBodies: - bodyItem: 2 editable: true centerOfMass: false zmp: false - bodyItem: 4 editable: false centerOfMass: false zmp: false Mocap: "ConversionToBodyMotionDialog": errorMinimization: true errorMinimizationWithElbowAndKneePositions: true handAttitudeWeight: 0.1 footAttitudeWeight: 0.01 fixLowerBody: true waistLeanRatio: 0.5 waistPitchOffset: 0 chestPitchOffset: 0 anklePitchOffset: -30 toePitchOffset: -10 "RetargetingDialog": numSteps: 5 excludingBonesFromLaplacian: true laplacianWeightPower: 1 accelConstraintWeight: 1 originalCollarPositionWeight: 1 "SplineFilterDialog": isInputFrameRateSpecified: false inputFrameRate: 200 isOutputFrameRateSpecified: false outputFrameRate: 200 choreonoid-1.5.0/sample/SpringModel/CMakeLists.txt0000664000000000000000000000151512741425367020627 0ustar rootroot# @author Shin'ichiro Nakaoka if(NOT ENABLE_GUI) return() endif() option(BUILD_SPRING_MODEL_SAMPLE "Building a spring model sample" OFF) if(BUILD_SPRING_MODEL_SAMPLE) configure_file(SpringModel.wrl ${CNOID_SOURCE_SHARE_DIR}/model/misc COPYONLY) configure_file(CustomizedSpringModel.wrl ${CNOID_SOURCE_SHARE_DIR}/model/misc COPYONLY) if(NOT BUILD_SIMPLE_CONTROLLER_PLUGIN) message(WARNING "The spring model sample controller needs SimpleControllerPlugin.") else() add_cnoid_simple_controller(SpringModelController SpringModelController.cpp) configure_file(ControlledSpringModel.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) add_cnoid_body_customizer(SpringModelCustomizer SpringModelCustomizer.cpp) configure_file(CustomizedSpringModel.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) endif() endif() choreonoid-1.5.0/sample/SpringModel/SpringModel.wrl0000664000000000000000000001202312741425367021034 0ustar rootroot#VRML V2.0 utf8 # @author Shin'ichiro Nakaoka PROTO Joint [ exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField MFFloat lvlimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat uvlimit [] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 exposedField SFFloat gearRatio 1 exposedField SFFloat rotorInertia 0 exposedField SFFloat rotorResistor 0 exposedField SFFloat torqueConst 1 exposedField SFFloat encoderPulse 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS viewpoints } Group { children IS humanoidBody } ] } } DEF SpringModel Humanoid { name "SpringModel" humanoidBody [ DEF LOWER Joint { jointType "free" children [ DEF LOWER_LINK Segment { mass 10.0 centerOfMass 0 0 0.15 momentsOfInertia [0.5 0 0 0 0.5 0 0 0 0.1] children Transform { translation 0 0 0.2 rotation 1 0 0 1.5707963267949 children [ Shape { geometry Cylinder { height 0.39 radius 0.048 } appearance DEF LOWER_APP Appearance { material Material { diffuseColor 1.0 0.0 0.0 } } } Transform { translation 0 -0.19 0 children Shape { geometry Box { size 0.2 0.02 0.2 } appearance USE LOWER_APP } } ] } } DEF UPPER Joint { jointType "slide" translation 0 0 0.25 jointId 0 jointAxis 0 0 1 ulimit [ 4.0 ] llimit [ -4.0 ] children [ DEF UPPER_LINK Segment { mass 10.0 centerOfMass 0 0 0.15 momentsOfInertia [0.5 0 0 0 0.5 0 0 0 0.1] children Transform { translation 0 0 0.2 rotation 1 0 0 1.5707963267949 children [ Shape { geometry Cylinder { height 0.39 radius 0.05 } appearance DEF UPPER_APP Appearance { material Material { diffuseColor 0.0 1.0 0.0 } } } Transform { translation 0 0.19 0 children Shape { geometry Box { size 0.2 0.02 0.2 } appearance USE UPPER_APP } } ] } } ] } ] } ] joints [ USE LOWER, USE UPPER ] segments [ USE LOWER_LINK, USE UPPER_LINK ] } choreonoid-1.5.0/sample/SpringModel/SpringModelCustomizer.cpp0000664000000000000000000000412112741425367023077 0ustar rootroot/** \author Shin'ichiro Nakaoka */ #include using namespace cnoid; namespace { BodyInterface* bodyInterface = 0; BodyCustomizerInterface bodyCustomizerInterface; struct Customizer { double* pUpperJointPosition; double* pUpperJointVelocity; double* pUpperJointForce; }; const char** getTargetModelNames() { static const char* names[] = { "CustomizedSpringModel", 0 }; return names; } BodyCustomizerHandle create(BodyHandle bodyHandle, const char* modelName) { Customizer* customizer = new Customizer(); int upperJointIndex = bodyInterface->getLinkIndexFromName(bodyHandle, "UPPER"); customizer->pUpperJointPosition = bodyInterface->getJointValuePtr(bodyHandle, upperJointIndex); customizer->pUpperJointVelocity = bodyInterface->getJointVelocityPtr(bodyHandle, upperJointIndex); customizer->pUpperJointForce = bodyInterface->getJointForcePtr(bodyHandle, upperJointIndex); return static_cast(customizer); } void destroy(BodyCustomizerHandle customizerHandle) { Customizer* customizer = static_cast(customizerHandle); if(customizer){ delete customizer; } } void setVirtualJointForces(BodyCustomizerHandle customizerHandle) { const double KP = 2000.0; const double KD = 5.0; Customizer* c = static_cast(customizerHandle); *c->pUpperJointForce = -KP * *c->pUpperJointPosition - KD * *c->pUpperJointVelocity; } } CNOID_BODY_CUSTOMIZER_EXPORT cnoid::BodyCustomizerInterface* getHrpBodyCustomizerInterface(cnoid::BodyInterface* bodyInterface_) { bodyInterface = bodyInterface_; bodyCustomizerInterface.version = cnoid::BODY_CUSTOMIZER_INTERFACE_VERSION; bodyCustomizerInterface.getTargetModelNames = getTargetModelNames; bodyCustomizerInterface.create = create; bodyCustomizerInterface.destroy = destroy; bodyCustomizerInterface.initializeAnalyticIk = 0; bodyCustomizerInterface.calcAnalyticIk = 0; bodyCustomizerInterface.setVirtualJointForces = setVirtualJointForces; return &bodyCustomizerInterface; } choreonoid-1.5.0/sample/GRobotPlugin/0000775000000000000000000000000012741425367016215 5ustar rootrootchoreonoid-1.5.0/sample/GRobotPlugin/GRobotControllerItem.cpp0000664000000000000000000001162112741425367023001 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "GRobotControllerItem.h" #include "GRobotBar.h" #include "GRobotController.h" #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; GRobotControllerItem::GRobotControllerItem() : mv(MessageView::mainInstance()) { controller = new GRobotController(); } GRobotControllerItem::GRobotControllerItem(const GRobotControllerItem& org) : Item(org), mv(MessageView::mainInstance()) { controller = new GRobotController(*org.controller); } GRobotControllerItem::~GRobotControllerItem() { delete controller; } Item* GRobotControllerItem::doDuplicate() const { return new GRobotControllerItem(*this); } void GRobotControllerItem::onConnectedToRoot() { checkToggledConnection = ItemTreeView::mainInstance()->sigCheckToggled(this).connect( bind(&GRobotControllerItem::onCheckToggled, this, _1)); } void GRobotControllerItem::onDisconnectedFromRoot() { connections.disconnect(); checkToggledConnection.disconnect(); setSyncMode(false); } void GRobotControllerItem::onCheckToggled(bool on) { if(connections.empty() && on){ GRobotBar* bar = GRobotBar::instance(); connections.add( bar->sigServoSwitchRequest().connect( bind(&GRobotController::switchServos, controller, _1))); connections.add( bar->sigPoseSendRequest().connect( bind(&GRobotControllerItem::requestToSendPose, this, 1.0))); connections.add( bar->sigSyncModeToggled().connect( bind(&GRobotControllerItem::setSyncMode, this, _1))); if(bar->isSyncMode()){ setSyncMode(true); } } else { connections.disconnect(); setSyncMode(false); } } void GRobotControllerItem::onPositionChanged() { bodyItem = findOwnerItem(); } void GRobotControllerItem::setSyncMode(bool on) { kinematicStateChangeConnection.disconnect(); playbackInitilizeConnection.disconnect(); if(on && bodyItem){ kinematicStateChangeConnection = bodyItem->sigKinematicStateChanged().connect( bind(&GRobotControllerItem::requestToSendPose, this, 0.1)); requestToSendPose(1.0); playbackInitilizeConnection = TimeBar::instance()->sigPlaybackInitialized().connect( bind(&GRobotControllerItem::onPlaybackInitialized, this, _1)); } } void GRobotControllerItem::requestToSendPose(double transitionTime) { if(bodyItem){ const BodyPtr& body = bodyItem->body(); for(int i=0; i < body->numJoints(); ++i){ controller->setJointAngle(i, body->joint(i)->q()); } controller->requestToSendPose(transitionTime); } } bool GRobotControllerItem::onPlaybackInitialized(double time) { if(controller->isPlayingMotion()){ controller->stopMotion(); } playbackConnections.disconnect(); if(bodyItem){ BodyMotionItemPtr motionItem = ItemTreeView::mainInstance()->selectedSubItem(bodyItem); if(motionItem){ MultiValueSeqPtr qseq = motionItem->jointPosSeq(); if(qseq->numFrames() > 0 && qseq->numParts() == controller->numJoints()){ if(controller->setMotion(&qseq->at(0, 0), qseq->numFrames(), qseq->getTimeStep())){ TimeBar* timeBar = TimeBar::instance(); playbackConnections.add( timeBar->sigPlaybackStarted().connect( bind(&GRobotControllerItem::onPlaybackStarted, this, _1))); playbackConnections.add( timeBar->sigPlaybackStopped().connect( bind(&GRobotControllerItem::onPlaybackStopped, this))); } } } } return true; } void GRobotControllerItem::onPlaybackStarted(double time) { controller->startMotion(time); } void GRobotControllerItem::onPlaybackStopped() { controller->stopMotion(); playbackConnections.disconnect(); } void GRobotControllerItem::doPutProperties(PutPropertyFunction& putProperty) { putProperty(_("Port"), controller->portDevice(), bind(&GRobotControllerItem::onPortPropertyChanged, this, _1)); } bool GRobotControllerItem::onPortPropertyChanged(const std::string& port) { controller->setPortDevice(port); return true; } bool GRobotControllerItem::store(Archive& archive) { archive.write("port", controller->portDevice()); return true; } bool GRobotControllerItem::restore(const Archive& archive) { controller->setPortDevice(archive.get("port", controller->portDevice())); return true; } choreonoid-1.5.0/sample/GRobotPlugin/GRobotBar.cpp0000664000000000000000000000222312741425367020541 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "GRobotBar.h" #include #include "gettext.h" using namespace boost; using namespace cnoid; GRobotBar* GRobotBar::instance() { static GRobotBar* instance = new GRobotBar(); return instance; } GRobotBar::GRobotBar() : ToolBar(N_("GRobotBar")) { addImage(":/GRobot/icons/grobo-logo.png") ->setToolTip(_("G-Robot toolbar which provides buttons for handling actual G-Robots")); addSpacing(4); addSeparator(); addToggleButton(QIcon(":/GRobot/icons/servo-on.png"), _("Turn on / off servo gains")) ->sigToggled().connect(bind(&GRobotBar::onServoButtonToggled, this, _1)); addButton(QIcon(":/GRobot/icons/sendpose.png"), _("Send the current pose of virtual robots to actual robots")) ->sigClicked().connect(bind(ref(sigPoseSendRequest_))); syncCheck = addToggleButton(QIcon(":/GRobot/icons/syncpose.png"), _("Synchronize the pose of actual robots pose with virtual robots")); syncCheck->sigToggled().connect(bind(ref(sigSyncModeToggled_), _1)); } void GRobotBar::onServoButtonToggled(bool on) { sigServoSwitchRequest_(on); } choreonoid-1.5.0/sample/GRobotPlugin/GRobotController.cpp0000664000000000000000000003656512741425367022200 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "GRobotController.h" #include #include #include #include using namespace std; using namespace boost; namespace { const bool MEASURE_TIMER_INTERVALS = true; #ifdef WIN32 const char* defaultPortDevice = "COM0"; #else const char* defaultPortDevice = "/dev/ttyUSB0"; #endif inline double degree(double rad) { return (180.0 * rad / M_PI); } const int NJOINTS = 20; const char jointIdToMotorIdMap[] = { 8 /* R_HIP_Y */, 10 /* R_HIP_R */, 9 /* R_HIP_P */, 11 /* R_KNEE_P */, 12 /* R_ANKLE_P */, 13 /* R_ANKLE_R */, 14 /* L_HIP_Y */, 16 /* L_HIP_R */, 15 /* L_HIP_P */, 17 /* L_KNEE_P */, 18 /* L_ANKLE_P */, 19 /* L_ANKLE_R */, 0 /* CHEST_P */, 1 /* NECK_Y */, 2 /* R_SHOULDER_P */, 3 /* R_SHOULDER_R */, 4 /* R_ELBOW_P */, 5 /* R_SHOULDER_P */, 6 /* R_SHOULDER_R */, 7 /* R_ELBOW_P */ }; const unsigned char PoseCommand[] = { 0x53 ,0x6c ,0xfa,0xaf ,0x00 ,0x00 ,0x1e ,0x05, 0x14, 0x01 ,0x00 ,0x00 ,0x64 ,0x00, 0x02 ,0x00 ,0x00 ,0x64 ,0x00, 0x03 ,0x00 ,0x00 ,0x64 ,0x00, 0x04 ,0x00 ,0x00 ,0x64 ,0x00, 0x05 ,0x00 ,0x00 ,0x64 ,0x00, 0x06 ,0x00 ,0x00 ,0x64 ,0x00, 0x07 ,0x00 ,0x00 ,0x64 ,0x00, 0x08 ,0x00 ,0x00 ,0x64 ,0x00, 0x09 ,0x00 ,0x00 ,0x64 ,0x00, 0x0a ,0x00 ,0x00 ,0x64 ,0x00, 0x0b ,0x00 ,0x00 ,0x64 ,0x00, 0x0c ,0x00 ,0x00 ,0x64 ,0x00, 0x0d ,0x00 ,0x00 ,0x64 ,0x00, 0x0e ,0x00 ,0x00 ,0x64 ,0x00, 0x0f ,0x00 ,0x00 ,0x64 ,0x00, 0x10 ,0x00 ,0x00 ,0x64 ,0x00, 0x11 ,0x00 ,0x00 ,0x64 ,0x00, 0x12 ,0x00 ,0x00 ,0x64 ,0x00, 0x13 ,0x00 ,0x00 ,0x64 ,0x00, 0x14 ,0x00 ,0x00 ,0x64 ,0x00, 0x1b }; } GRobotController::GRobotController() : portDevice_(defaultPortDevice), port(io), poseCommand(sizeof(PoseCommand)), tmpJointAngles(NJOINTS, 0.0), jointAngles(NJOINTS, 0.0) { init(); } GRobotController::GRobotController(const GRobotController& org) : portDevice_(org.portDevice_), port(io), poseCommand(sizeof(PoseCommand)), tmpJointAngles(NJOINTS, 0.0), jointAngles(NJOINTS, 0.0) { init(); } void GRobotController::init() { transitionTime = 0.1; memcpy(&poseCommand[0], PoseCommand, sizeof(PoseCommand)); mode = ON_DEMAND_POSE_SENDING; #ifndef WIN32 sem_init(&semTimer, 0, 0); #endif } GRobotController::~GRobotController() { poseSendingMutex.lock(); mode = EXIT_POSE_SENDING; poseSendingMutex.unlock(); poseSendingCondition.notify_all(); poseSendingThread.join(); closeSerialPort(); #ifndef WIN32 sem_destroy(&semTimer); #endif } int GRobotController::numJoints() const { return NJOINTS; } const std::string& GRobotController::portDevice() const { return portDevice_; } void GRobotController::setPortDevice(const std::string& device) { portDevice_ = device; } bool GRobotController::openSerialPort() { if(!port.is_open()){ boost::system::error_code error; port.open(portDevice_, error); if(!error){ port.set_option(asio::serial_port_base::baud_rate(115200)); port.set_option(asio::serial_port_base::character_size(8)); port.set_option(asio::serial_port_base::flow_control(asio::serial_port_base::flow_control::none)); port.set_option(asio::serial_port_base::parity(asio::serial_port_base::parity::none)); port.set_option(asio::serial_port_base::stop_bits(asio::serial_port_base::stop_bits::one)); return true; } } return port.is_open(); } void GRobotController::closeSerialPort() { if(port.is_open()){ boost::system::error_code error; port.close(error); } } bool GRobotController::sendData(unsigned char* data, int len) { boost::system::error_code error; asio::write(port, asio::buffer(data, len), boost::asio::transfer_all(), error); if(error){ closeSerialPort(); } return !error; } bool GRobotController::receiveData(char* buf, int len) { boost::system::error_code error; int n = 0; for(int i=0; i < 100; ++i){ int c = port.read_some(asio::buffer(buf, len), error); if(error){ break; } n += c; if(n == len){ break; } this_thread::sleep(posix_time::microseconds(100)); } return (n == len); } bool GRobotController::checkConnection() { static unsigned char command[] = { 0x41, 0x00 }; char buf; if(sendData(command, 2)){ this_thread::sleep(posix_time::milliseconds(10)); if(receiveData(&buf, 1) && buf == 0x07){ return true; } } return false; } bool GRobotController::makeConnection() { if(port.is_open()){ return true; } if(openSerialPort() && checkConnection()){ return true; } closeSerialPort(); return false; } char GRobotController::calcSum(unsigned char* data, int len) { char sum = 0; for(int i=0; i < len; ++i){ sum ^= data[i]; } return sum; } void GRobotController::switchServo(int jointId, bool on) { unsigned char command[] = { 0x53, 0x09, 0xfa, 0xaf, 0x01, 0x00, 0x24, 0x01, 0x01, 0x01, 0x26 }; command[4] = jointIdToMotorIdMap[jointId]; command[9] = on ? 1 : 0; command[10] = calcSum(&command[4], 6); sendData(command, 11); } void GRobotController::setJointAngleCommand(int jointId, double q, double ttime) { int motorId = jointIdToMotorIdMap[jointId]; unsigned char* command = &poseCommand[motorId * 5 + 10]; short qcom = static_cast(degree(q) * 10.0); command[0] = qcom & 0xff; command[1] = (qcom >> 8) & 0xff; unsigned short t = static_cast(ttime * 100.0); command[2] = t & 0xff; command[3] = (t >> 8) & 0xff; } #if WIN32 void GRobotController::initializeTimer() { timerQueue = CreateTimerQueue(); isTimerAvailable = (timerQueue != NULL); isTimerActive = false; } bool GRobotController::startTimer(double interval) { if(MEASURE_TIMER_INTERVALS){ QueryPerformanceFrequency(&pcfreq); QueryPerformanceCounter(&pc0); } if(isTimerAvailable){ int msecInterval = static_cast(floor(interval * 1000.0 + 0.5)); if(CreateTimerQueueTimer(&timerHandle, timerQueue, (WAITORTIMERCALLBACK)timerCallback, (PVOID)this, msecInterval, msecInterval, WT_EXECUTEINIOTHREAD)){ isTimerActive = true; } } return isTimerActive; } void GRobotController::stopTimer() { if(isTimerActive){ if(DeleteTimerQueueTimer(timerQueue, timerHandle, (HANDLE)-1)){ isTimerActive = false; } } } void GRobotController::finalizeTimer() { if(isTimerAvailable){ DeleteTimerQueueEx(timerQueue, (HANDLE)-1); timerQueue = NULL; } isTimerActive = false; isTimerAvailable = false; } VOID WINAPI GRobotController::timerCallback(PVOID lpParameter, BOOL TimerOrWaitFired) { reinterpret_cast(lpParameter)->onMotionFrameSendingRequest(); } #else void GRobotController::initializeTimer() { struct sigaction sa; sa.sa_flags = SA_SIGINFO | SA_RESTART; sa.sa_sigaction = timerHandler; sigemptyset(&sa.sa_mask); if(sigaction(SIGRTMIN, &sa, NULL) == -1){ return; } struct sigevent sev; sev.sigev_notify = SIGEV_SIGNAL; sev.sigev_signo = SIGRTMIN; sev.sigev_value.sival_ptr = this; sev.sigev_notify_attributes = 0; isTimerAvailable = (timer_create(CLOCK_MONOTONIC, &sev, &timerID) >= 0); isTimerActive = false; } bool GRobotController::startTimer(double interval) { if(MEASURE_TIMER_INTERVALS){ gettimeofday(&tv0, 0); } if(isTimerAvailable){ struct itimerspec tspec; tspec.it_interval.tv_sec = 0; tspec.it_interval.tv_nsec = floor(interval * 1.0e9 + 0.5); tspec.it_value.tv_sec = 0; tspec.it_value.tv_nsec = floor(interval * 1.0e9 + 0.5); isTimerActive = (timer_settime(timerID, 0, &tspec, 0) >= 0); } return isTimerActive; } void GRobotController::stopTimer() { if(isTimerAvailable){ struct itimerspec tspec; tspec.it_interval.tv_sec = 0; tspec.it_interval.tv_nsec = 0; tspec.it_value.tv_sec = 0; tspec.it_value.tv_nsec = 0; timer_settime(timerID, 0, &tspec, 0); isTimerActive = false; } } void GRobotController::finalizeTimer() { timer_delete(timerID); isTimerAvailable = false; } void GRobotController::timerHandler(int sig, siginfo_t* si, void* uc) { GRobotController* self = static_cast(si->si_value.sival_ptr); if(self){ sem_post(&self->semTimer); // wake up the continuos pose sending loop } } #endif void GRobotController::poseSendingLoop() { initializeTimer(); while(true){ poseSendingMutex.lock(); int m = mode; poseSendingMutex.unlock(); if(m == ON_DEMAND_POSE_SENDING){ doOnDemandPoseSending(); } else if(m == CONTINUOUS_POSE_SENDING){ doContinuousPoseSending(); } else { break; } } finalizeTimer(); } void GRobotController::doOnDemandPoseSending() { while(true){ { unique_lock lock(poseSendingMutex); poseSendingCondition.wait(lock); if(mode != ON_DEMAND_POSE_SENDING){ break; } for(int i=0; i < NJOINTS; ++i){ setJointAngleCommand(i, jointAngles[i], transitionTime); } } poseCommand[109] = calcSum(&poseCommand[4], 105); sendData(&poseCommand[0], 110); } } #ifdef WIN32 void GRobotController::doContinuousPoseSending() { if(isTimerActive){ stopTimer(); } poseSendingMutex.lock(); double ts = motions[currentMotionId].timeStep; poseSendingMutex.unlock(); if(!startTimer(ts)){ poseSendingMutex.lock(); mode = ON_DEMAND_POSE_SENDING; poseSendingMutex.unlock(); return; } while(true){ { unique_lock lock(poseSendingMutex); poseSendingCondition.wait(lock); if(mode != CONTINUOUS_POSE_SENDING){ break; } } } stopTimer(); } bool GRobotController::onMotionFrameSendingRequest() { #ifdef WIN32 LARGE_INTEGER pc1; if(MEASURE_TIMER_INTERVALS){ QueryPerformanceCounter(&pc1); } #else struct timeval tv1; if(MEASURE_TIMER_INTERVALS){ gettimeofday(&tv1, 0); } #endif bool doContinue = true; poseSendingMutex.lock(); MotionInfo& motion = motions[currentMotionId]; if(currentFrame >= motion.numFrames){ doContinue = false; mode = ON_DEMAND_POSE_SENDING; poseSendingMutex.unlock(); poseSendingCondition.notify_all(); } else { double* angles = &motion.angles[currentFrame * NJOINTS]; for(int i=0; i < NJOINTS; ++i){ setJointAngleCommand(i, angles[i], motion.timeStep); } currentFrame++; poseSendingMutex.unlock(); poseCommand[109] = calcSum(&poseCommand[4], 105); sendData(&poseCommand[0], 110); } if(MEASURE_TIMER_INTERVALS){ #ifdef WIN32 cout << "time: " << (double)(pc1.QuadPart - pc0.QuadPart) / pcfreq.QuadPart << endl; #else cout << "time: " << ((tv1.tv_sec - tv0.tv_sec) + (tv1.tv_usec - tv0.tv_usec) / 1000000.0) << endl; #endif } return doContinue; } #else void GRobotController::doContinuousPoseSending() { if(isTimerActive){ stopTimer(); } poseSendingMutex.lock(); double ts = motions[currentMotionId].timeStep; poseSendingMutex.unlock(); if(!startTimer(ts)){ poseSendingMutex.lock(); mode = ON_DEMAND_POSE_SENDING; poseSendingMutex.unlock(); return; } while(true){ sem_wait(&semTimer); if(mode != CONTINUOUS_POSE_SENDING){ break; } struct timeval tv1; if(MEASURE_TIMER_INTERVALS){ gettimeofday(&tv1, 0); } poseSendingMutex.lock(); MotionInfo& motion = motions[currentMotionId]; if(currentFrame >= motion.numFrames){ mode = ON_DEMAND_POSE_SENDING; poseSendingMutex.unlock(); break; } else { double* angles = &motion.angles[currentFrame * NJOINTS]; for(int i=0; i < NJOINTS; ++i){ setJointAngleCommand(i, angles[i], motion.timeStep); } currentFrame++; poseSendingMutex.unlock(); poseCommand[109] = calcSum(&poseCommand[4], 105); sendData(&poseCommand[0], 110); } if(MEASURE_TIMER_INTERVALS){ cout << "time: " << ((tv1.tv_sec - tv0.tv_sec) + (tv1.tv_usec - tv0.tv_usec) / 1000000.0) << endl; } } stopTimer(); while(sem_trywait(&semTimer) == 0); } #endif void GRobotController::requestToSendPose(double transitionTime) { if(makeConnection()){ poseSendingMutex.lock(); if(poseSendingThread == thread()){ poseSendingThread = thread(bind(&GRobotController::poseSendingLoop, this)); } if(mode == ON_DEMAND_POSE_SENDING){ jointAngles = tmpJointAngles; this->transitionTime = transitionTime; poseSendingMutex.unlock(); poseSendingCondition.notify_all(); } else { poseSendingMutex.unlock(); } } } void GRobotController::switchServos(bool on) { poseSendingMutex.lock(); if(makeConnection()){ for(int i=0; i < NJOINTS; ++i){ switchServo(i, on); } } poseSendingMutex.unlock(); } bool GRobotController::setMotion(double* angles, int numFrames, double timeStep, int id) { poseSendingMutex.lock(); if(mode == CONTINUOUS_POSE_SENDING){ poseSendingMutex.unlock(); return false; } if(id >= static_cast(motions.size())){ motions.resize(id + 1); } MotionInfo& motion = motions[id]; if(motion.angles){ delete[] motion.angles; } motion.angles = new double[NJOINTS * numFrames]; std::copy(angles, angles + NJOINTS * numFrames, motion.angles); motion.numFrames = numFrames; motion.timeStep = timeStep; poseSendingMutex.unlock(); return true; } bool GRobotController::startMotion(double time, int id) { bool ready = false; poseSendingMutex.lock(); if(poseSendingThread == thread()){ poseSendingThread = thread(bind(&GRobotController::poseSendingLoop, this)); } if(mode == CONTINUOUS_POSE_SENDING){ poseSendingMutex.unlock(); return false; } currentMotionId = id; MotionInfo& info = motions[id]; currentFrame = static_cast(time / info.timeStep); mode = CONTINUOUS_POSE_SENDING; poseSendingMutex.unlock(); poseSendingCondition.notify_all(); return true; } bool GRobotController::isPlayingMotion() { bool isPlaying = false; poseSendingMutex.lock(); isPlaying = (mode == CONTINUOUS_POSE_SENDING); poseSendingMutex.unlock(); return isPlaying; } void GRobotController::stopMotion() { poseSendingMutex.lock(); mode = ON_DEMAND_POSE_SENDING; poseSendingMutex.unlock(); poseSendingCondition.notify_all(); } choreonoid-1.5.0/sample/GRobotPlugin/CMakeLists.txt0000664000000000000000000000241612741425367020760 0ustar rootroot# @author Shin'ichiro Nakaoka if(NOT ENABLE_GUI OR APPLE) return() endif() option(BUILD_GROBOT_PLUGIN "Building GRobotPlugin" OFF) if(NOT BUILD_GROBOT_PLUGIN) return() endif() if(APPLE) message(FATAL_ERROR "Currently MacOS X does not support GRobotPlugin. Please disable BUILD_GROBOT_PLUGIN.") endif() # set(CMAKE_BUILD_TYPE Debug) set(target CnoidGRobotPlugin) make_gettext_mofiles(${target} mofiles) if(NOT QT5) QT4_ADD_RESOURCES(RC_SRCS GRobotPlugin.qrc) else() QT5_ADD_RESOURCES(RC_SRCS GRobotPlugin.qrc) endif() add_cnoid_plugin(${target} SHARED GRobotPlugin.cpp GRobotBar.cpp GRobotControllerItem.cpp GRobotController.cpp ${mofiles} ${RC_SRCS} ) if(UNIX) target_link_libraries(${target} CnoidBodyPlugin ${Boost_THREAD_LIBRARY} pthread rt) elseif(MSVC) target_link_libraries(${target} CnoidBodyPlugin ${Boost_THREAD_LIBRARY} ${Boost_DATE_TIME_LIBRARY}) set_target_properties(${target} PROPERTIES COMPILE_DEFINITIONS "BOOST_ASIO_DISABLE_STD_ARRAY") endif() apply_common_setting_for_plugin(${target}) install_external_libraries(${Boost_LIBRARY_DIRS} ${Boost_LIBRARY_DIRS} ${Boost_THREAD_LIBRARY} ${Boost_DATE_TIME_LIBRARY}) add_cnoid_body_customizer(GRobotCustomizer GRobotCustomizer.cpp ${mofile}) target_link_libraries(GRobotCustomizer CnoidUtil) choreonoid-1.5.0/sample/GRobotPlugin/GRobotPlugin.cpp0000664000000000000000000000216412741425367021277 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "GRobotBar.h" #include "GRobotControllerItem.h" #include #include #include #include #include "gettext.h" namespace cnoid { class GRobotPlugin : public Plugin { public: GRobotPlugin() : Plugin("GRobot") { require("Body"); } virtual bool initialize() { addToolBar(GRobotBar::instance()); itemManager().registerClass(N_("GRobotControllerItem")); itemManager().addCreationPanel(); return true; } virtual const char* description() { static std::string text = str(fmt(_("GRobot Plugin Version %1%\n")) % CNOID_FULL_VERSION_STRING) + "\n" + _("This plugin has been developed by Shin'ichiro Nakaoka and Choreonoid Development Team, AIST, " "and is distributed as a part of the Choreonoid package.\n" "\n") + LGPLtext(); return text.c_str(); } }; } CNOID_IMPLEMENT_PLUGIN_ENTRY(cnoid::GRobotPlugin) choreonoid-1.5.0/sample/GRobotPlugin/GRobotPlugin.qrc0000664000000000000000000000035412741425367021301 0ustar rootroot icons/grobo-logo.png icons/servo-on.png icons/sendpose.png icons/syncpose.png choreonoid-1.5.0/sample/GRobotPlugin/GRobotCustomizer.cpp0000664000000000000000000003517612741425367022216 0ustar rootroot/** @author Shin'ichiro Nakaoka @author Rafael Cisneros Limon */ #ifdef _MSC_VER #ifndef _USE_MATH_DEFINES #define _USE_MATH_DEFINES #endif #endif #include #include #include #include #include #include #include #include #if defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__) #define DLL_EXPORT __declspec(dllexport) #define DLL_IMPORT __declspec(dllimport) #else #define DLL_EXPORT #define DLL_IMPORT #endif using namespace std; using namespace Eigen; using namespace cnoid; typedef Matrix Matrix6; static BodyInterface* bodyInterface = 0; static BodyCustomizerInterface bodyCustomizerInterface; enum ModelType { GR001 = 1, RIC30 = 2 }; enum IkType { WAIST_TO_RFOOT = 1, WAIST_TO_LFOOT, NUM_IK_TYPES }; struct JointPathValSet { double* anglePtrs[6]; }; struct GRobotCustomizer { BodyHandle bodyHandle; int modelType; JointPathValSet jointPathValSets[NUM_IK_TYPES]; typedef boost::function IkFunc; IkFunc ikFuncs[NUM_IK_TYPES]; double l0; double l1; double lo1; double l2; double lo2; double l3; double l4; double lo5; // joint angle offset of HIP_P and KNEE_P affected by lo3. double q2q3offset; }; class IKSolver { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW GRobotCustomizer* robot; const Vector3& p; const Matrix3& R; const double sign; Vector6 q; Vector3 rpy; double cy; double sy; double cp; double sp; double cr; double sr; double slo1; Matrix4d Af; Matrix4d TB0; Matrix4d TB1; Matrix4d TB2; Matrix4d TB3; Matrix4d TB4; Matrix4d TB5; Matrix4d TB6; Matrix4d TBF; Vector6 dp; Vector6 dq; IKSolver(GRobotCustomizer* robot, const Vector3& p, const Matrix3& R, const double& sign) : robot(robot), p(p), R(R), sign(sign) { } bool calcEndPositionDifference() { // Direct Kinematics Error Calculation double c1 = cos(q[0]); double s1 = sin(q[0]); double c2 = cos(q[1]); double s2 = sin(q[1]); double c3 = cos(q[2]); double s3 = sin(q[2]); double c4 = cos(q[3]); double s4 = sin(q[3]); double c5 = cos(q[4]); double s5 = sin(q[4]); double c6 = cos(q[5]); double s6 = sin(q[5]); Matrix4d A1, A2, A3, A4, A5, A6; A1 << c1, 0.0, -s1, -slo1 * c1, s1, 0.0, c1, -slo1 * s1, 0.0, -1.0, 0.0, -robot->l1, 0.0, 0.0, 0.0, 1.0; A2 << -s2, 0.0, sign * c2, -robot->lo2 * s2, c2, 0.0, sign * s2, robot->lo2 * c2, 0.0, sign, 0.0, -robot->l2, 0.0, 0.0, 0.0, 1.0; A3 << c3, -s3, 0.0, robot->l3 * c3, s3, c3, 0.0, robot->l3 * s3, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0; A4 << c4, s4, 0.0, robot->l4 * c4, s4, -c4, 0.0, robot->l4 * s4, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 0.0, 1.0; A5 << c5, 0.0, -sign * s5, -robot->lo5 * c5, s5, 0.0, sign * c5, -robot->lo5 * s5, 0.0, -sign, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0; A6 << -s6, 0.0, -c6, 0.0, c6, 0.0, -s6, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0; TB1.noalias() = TB0 * A1; TB2.noalias() = TB1 * A2; TB3.noalias() = TB2 * A3; TB4.noalias() = TB3 * A4; TB5.noalias() = TB4 * A5; TB6.noalias() = TB5 * A6; TBF.noalias() = TB6 * Af; double yaw = atan2(TBF(1,0), TBF(0,0)); double pitch = asin(-TBF(2,0)); double roll = atan2(TBF(2,1), TBF(2,2)); double dYaw = rpy[2] - yaw; double dPitch = rpy[1] - pitch; double dRoll = rpy[0] - roll; Vector3 pi = TBF.block<3,1>(0,3); dp << (p - pi), (-sy * dPitch + cy * cp * dRoll), (cy * dPitch + sy * cp * dRoll), (dYaw - sp * dRoll); double errsqr = dp.head(3).squaredNorm() + dp.tail(3).squaredNorm(); return (errsqr < 1.0e-6 * 1.0e-6); } bool calcLegAngles(double** out_q) { rpy = rpyFromRot(R); cy = cos(rpy[2]); sy = sin(rpy[2]); cp = cos(rpy[1]); sp = sin(rpy[1]); cr = cos(rpy[0]); sr = sin(rpy[0]); Vector3 O1(0.0, sign * robot->l0, -robot->l1); const Vector3& F = p; Vector3 V1 = F - O1; Vector3 XF(cy * cp, sy * cp, -sp); Vector3 V1xXF = V1.cross(XF); Vector3 Z2 = -sign * V1xXF / V1xXF.norm(); q[0] = atan2(-sign * Z2[0], sign * Z2[1]); q[1] = asin(-sign * Z2[2]); double c1 = cos(q[0]); double s1 = sin(q[0]); double c2 = cos(q[1]); double s2 = sin(q[1]); double s1s2 = s1 * s2; double c1s2 = c1 * s2; slo1 = sign * robot->lo1; TB2 << s1s2, -sign * c1, -sign * s1 * c2, slo1 * s1 + robot->l2 * c1 + robot->lo2 * s1s2, -c1s2, -sign * s1, sign * c1 * c2, sign * robot->l0 - slo1 * c1 + robot->l2 * s1 - robot->lo2 * c1s2, -c2, 0.0, -sign * s2, -robot->l1 - robot->lo2 * c2, 0.0, 0.0, 0.0, 1.0; Vector3 V2 = (TB2.inverse() * Vector4d(F[0], F[1], F[2], 1.0)).head(3); double D = (V2.squaredNorm() - robot->l3 * robot->l3 - robot->l4 * robot->l4) / (2.0 * robot->l3 * robot->l4); if(fabs(D) > 1.0){ return false; } q[3] = atan2(-sign * sqrt(1.0 - D * D), D); double c4 = cos(q[3]); double s4 = sin(q[3]); double beta = atan2(-V2[1], sqrt(V2[0] * V2[0] + V2[2] * V2[2])); double alpha = atan2(robot->l4 * s4, robot->l3 + robot->l4 * c4); q[2] = -(beta - alpha); q[3] = -q[3]; double c3 = cos(q[2]); double s3 = sin(q[2]); double q2q3 = q[2] + q[3]; double c34 = cos(q2q3); double s34 = sin(q2q3); Matrix4d T24; T24 << c34, s34, 0, robot->l3 * c3 + robot->l4 * c34, s34, -c34, 0, robot->l3 * s3 + robot->l4 * s34, 0.0, 0.0, -1, 0.0, 0.0, 0.0, 0, 1.0; TB4.noalias() = TB2 * T24; double spsr = sp * sr; double spcr = sp * cr; TBF << cy * cp, -sy * cr + cy * spsr, sy * sr + cy * spcr, p.x(), sy * cp, cy * cr + sy * spsr, -cy * sr + sy * spcr, p.y(), -sp, cp * sr, cp * cr, p.z(), 0, 0, 0, 1.0; Matrix4d T4F; T4F.noalias() = TB4.inverse() * TBF; q[4] = atan2(-sign * T4F(0,0), sign * T4F(1,0)); q[5] = atan2( sign * T4F(2,2), -sign * T4F(2,1)); // Numerical refining TB0 << 0.0, -1.0, 0.0, 0.0, 1.0, 0.0, 0.0, sign * robot->l0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0; Af << 0.0, 1.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0; bool solved = false; int i; for(i=0; i < 30; ++i){ if(calcEndPositionDifference()){ solved = true; break; } // Jacobian Calculation Vector3 Z0 = TB0.block<3,1>(0,2); Vector3 Z1 = TB1.block<3,1>(0,2); Vector3 Z2 = TB2.block<3,1>(0,2); Vector3 Z3 = TB3.block<3,1>(0,2); Vector3 Z4 = TB4.block<3,1>(0,2); Vector3 Z5 = TB5.block<3,1>(0,2); Vector3 O0 = TB0.block<3,1>(0,3); Vector3 O1 = TB1.block<3,1>(0,3); Vector3 O2 = TB2.block<3,1>(0,3); Vector3 O3 = TB3.block<3,1>(0,3); Vector3 O4 = TB4.block<3,1>(0,3); Vector3 O5 = TB5.block<3,1>(0,3); Vector3 O6 = TB6.block<3,1>(0,3); Matrix6 J; J << Z0.cross(O6 - O0), Z1.cross(O6 - O1), Z2.cross(O6 - O2), Z3.cross(O6 - O3), Z4.cross(O6 - O4), Z5.cross(O6 - O5), Z0, Z1, Z2, Z3, Z4, Z5 ; // Levenberg-Marquardt Method const double lambda = 0.001; Matrix6 C; C.noalias() = J.transpose() * (J * J.transpose() + Matrix6::Identity() * lambda * lambda).inverse(); dq.noalias() = C * dp; q += dq; if(dq.norm() <= 1.0e-5){ break; } } if(!solved){ solved = calcEndPositionDifference(); } if(solved){ *out_q[0] = q[0]; *out_q[1] = q[1]; *out_q[2] = q[2] + sign * robot->q2q3offset; *out_q[3] = q[3] - sign * robot->q2q3offset; *out_q[4] = q[4]; *out_q[5] = q[5]; } return solved; } }; static const char* gr001RightLegLinks[] = { "R_HIP_Y", "R_HIP_R", "R_HIP_P", "R_KNEE_P", "R_ANKLE_P", "R_ANKLE_R" }; static const char* gr001LeftLegLinks[] = { "L_HIP_Y", "L_HIP_R", "L_HIP_P", "L_KNEE_P", "L_ANKLE_P", "L_ANKLE_R" }; static const char** getTargetModelNames() { static const char* names[] = { "GR001", "RIC30", 0 }; return names; } static int initializeIkPath(GRobotCustomizer* customizer, int ikType, const char* linkNames[]) { BodyHandle body = customizer->bodyHandle; JointPathValSet& pathValSet = customizer->jointPathValSets[ikType]; for(int i=0; i < 6; ++i){ int linkIndex = bodyInterface->getLinkIndexFromName(body, linkNames[i]); if(linkIndex < 0){ ikType = 0; break; } pathValSet.anglePtrs[i] = bodyInterface->getJointValuePtr(body, linkIndex); } return ikType; } static bool calcLegAngles(GRobotCustomizer* robot, const Vector3& p, const Matrix3& R, double sign, double** out_q) { IKSolver solver(robot, p, R, sign); return solver.calcLegAngles(out_q); } static BodyCustomizerHandle create(BodyHandle bodyHandle, const char* modelName) { GRobotCustomizer* customizer = 0; int modelType = 0; string name(modelName); if(name == "GR001"){ modelType = GR001; } else if(name == "RIC30"){ modelType = RIC30; } if(modelType){ customizer = new GRobotCustomizer; customizer->modelType = modelType; customizer->bodyHandle = bodyHandle; switch(modelType){ case GR001: customizer->l0 = 0.0221; customizer->l1 = 0.028; customizer->lo1 = 0.0025; customizer->l2 = 0.029; customizer->lo2 = 0.005; customizer->l3 = 0.048; customizer->l4 = 0.059; customizer->lo5 = 0.0005; customizer->q2q3offset = 0.0; break; case RIC30: customizer->l0 = 0.0245; customizer->l1 = 0.02; customizer->lo1 = 0.0; customizer->l2 = 0.0026; customizer->lo2 = 0.0; // x-offset from HIP_P to KNEE_P. // l3 and q2q3offset are arranged by this value. const double lo3 = -0.001; const double l3 = 0.0635; customizer->l3 = sqrt(l3*l3 + lo3*lo3); customizer->q2q3offset = atan(lo3 / l3); customizer->l4 = 0.067; customizer->lo5 = 0.0; break; } if(initializeIkPath(customizer, WAIST_TO_RFOOT, gr001RightLegLinks)){ customizer->ikFuncs[WAIST_TO_RFOOT] = bind(calcLegAngles, customizer, _1, _2, -1.0, customizer->jointPathValSets[WAIST_TO_RFOOT].anglePtrs); } if(initializeIkPath(customizer, WAIST_TO_LFOOT, gr001LeftLegLinks)){ customizer->ikFuncs[WAIST_TO_LFOOT] = bind(calcLegAngles, customizer, _1, _2, 1.0, customizer->jointPathValSets[WAIST_TO_LFOOT].anglePtrs); } } return static_cast(customizer); } static void destroy(BodyCustomizerHandle customizerHandle) { GRobotCustomizer* customizer = static_cast(customizerHandle); if(customizer){ delete customizer; } } static inline bool match(const char* s1, const char* s2) { return (strcmp(s1, s2) == 0); } static int initializeIk(BodyCustomizerHandle customizerHandle, int baseLinkIndex, int targetLinkIndex) { GRobotCustomizer* customizer = static_cast(customizerHandle); int ikType = 0; const char* baseLinkName = bodyInterface->getLinkName(customizer->bodyHandle, baseLinkIndex); const char* targetLinkName = bodyInterface->getLinkName(customizer->bodyHandle, targetLinkIndex); switch (customizer->modelType){ case GR001: case RIC30: if(match(baseLinkName, "WAIST")){ if(match(targetLinkName, "R_ANKLE_R")){ ikType = WAIST_TO_RFOOT; } else if(match(targetLinkName, "L_ANKLE_R")){ ikType = WAIST_TO_LFOOT; } } break; default: break; } if(!customizer->ikFuncs[ikType]){ ikType = 0; } return ikType; } static bool calcAnalyticIk(BodyCustomizerHandle customizerHandle, int ikType, const Vector3& p, const Matrix3& R) { if(ikType < 0 && ikType >= NUM_IK_TYPES){ return false; } GRobotCustomizer* customizer = static_cast(customizerHandle); if(customizer->ikFuncs[ikType]){ return customizer->ikFuncs[ikType](p, R); } return false; } extern "C" DLL_EXPORT BodyCustomizerInterface* getHrpBodyCustomizerInterface(BodyInterface* bodyInterface_) { bodyInterface = bodyInterface_; bodyCustomizerInterface.version = BODY_CUSTOMIZER_INTERFACE_VERSION; bodyCustomizerInterface.getTargetModelNames = getTargetModelNames; bodyCustomizerInterface.create = create; bodyCustomizerInterface.destroy = destroy; bodyCustomizerInterface.initializeAnalyticIk = initializeIk; bodyCustomizerInterface.calcAnalyticIk = calcAnalyticIk; bodyCustomizerInterface.setVirtualJointForces = 0; return &bodyCustomizerInterface; } choreonoid-1.5.0/sample/GRobotPlugin/GRobotControllerItem.h0000664000000000000000000000264412741425367022453 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_GROBOT_CONTROLLER_ITEM_H_INCLUDED #define CNOID_GROBOT_CONTROLLER_ITEM_H_INCLUDED #include #include class GRobotController; namespace cnoid { class MessageView; class BodyItem; class GRobotControllerItem : public Item { public: GRobotControllerItem(); GRobotControllerItem(const GRobotControllerItem& org); ~GRobotControllerItem(); protected: virtual Item* doDuplicate() const; virtual void onConnectedToRoot(); virtual void onDisconnectedFromRoot(); virtual void onPositionChanged(); virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: GRobotController* controller; BodyItem* bodyItem; ConnectionSet connections; Connection checkToggledConnection; Connection kinematicStateChangeConnection; Connection playbackInitilizeConnection; ConnectionSet playbackConnections; MessageView* mv; void onCheckToggled(bool on); void setSyncMode(bool on); void requestToSendPose(double transitionTime); bool onPlaybackInitialized(double time); void onPlaybackStarted(double time); bool onPortPropertyChanged(const std::string& port); void onPlaybackStopped(); }; typedef ref_ptr GRobotControllerItemPtr; } #endif choreonoid-1.5.0/sample/GRobotPlugin/GRobotBar.h0000664000000000000000000000155212741425367020212 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_GROBOT_GROBOT_BAR_H #define CNOID_GROBOT_GROBOT_BAR_H #include #include namespace cnoid { class GRobotBar : public ToolBar { public: static GRobotBar* instance(); SignalProxy sigSyncModeToggled() { return sigSyncModeToggled_; } SignalProxy sigServoSwitchRequest() { return sigServoSwitchRequest_; } SignalProxy sigPoseSendRequest() { return sigPoseSendRequest_; } bool isSyncMode() { return syncCheck->isChecked(); } private: GRobotBar(); ToolButton* syncCheck; Signal sigSyncModeToggled_; Signal sigServoSwitchRequest_; Signal sigPoseSendRequest_; void onServoButtonToggled(bool on); }; } #endif choreonoid-1.5.0/sample/GRobotPlugin/icons/0000775000000000000000000000000012741425367017330 5ustar rootrootchoreonoid-1.5.0/sample/GRobotPlugin/icons/servo-on.png0000664000000000000000000000313312741425367021606 0ustar rootroot‰PNG  IHDRàw=ĝsBIT|dˆ pHYsììu85tEXtSoftwarewww.inkscape.org›î<ĜIDATH‰“[L÷Ĉ3;;˲ Ĵa%Xbğĉ²&eÉ´•j6‹eƒ/…ʸRUò·ŠZğ/iâËC*Ġ²ħEE*²Ġö!*ÎCµfħħ!µĠzI— âRĠ–q‘q ğ;{a˜ŭ÷3 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GRobotPlugin image/svg+xml Icons of Choreonoid GRobotPlugin Shin'ichiro Nakaoka choreonoid-1.5.0/sample/GRobotPlugin/icons/syncpose.png0000664000000000000000000000171012741425367021700 0ustar rootroot‰PNG  IHDRàw=ĝsBIT|dˆ pHYsììu85tEXtSoftwarewww.inkscape.org›î<EIDATH‰•OlGĈż™Ùuü'Ş1JIŞ’HÀÖ1–rHUQµäFݍÚàr@”nÜʍCŞ9áPUU!qİ%´—¤ħ…˜Z†"ÙˆMj{Ó}3œjÙhgÔwšĠ÷Ŝû½73o‡)°#cŒ-ë| išçg2™; Û à{Ë 4„˜ƒR§„iJIô§Ëù‰Ôŭû•íbùv³Éd´)ÄOŒħÉcİ›8wNBĦCʅo-k˙˙êàZ"ñ&·Ì@`˙{SSĈž}ûµ ÜJ§ŬŞmטëžĝteċŜkŒŒÄc7ƒápÏû““Ft÷îŬi6qûúuŞ”J.¤<5ËŬĜ1`βŜeœßˆîÚŸ˜0Âáp[k-‰żÎÏËÇĊ"œÎfżŜĥĴçs}½½üĝĜ7MS×=@ĝ}qkù<˜R_~ĥ²rmI;Wâñó¸4Ôߏ·-‹qŝÊhĞŝUË ĝc}9]]İ™Lĉßà"c|Ĝ².+à‹ŭŭH ùV­*üöĦ„RżˆfóäT>˙ûĉèQ3è8ß)དĈb­€çìîöíàY£êÖVëğTŻ#oÛàÀ*#7‚; à$”ëu”ëġŽ== =háÇRIJy’À!ĈqĤ”ÂĠD"Bœwœ&9NÔ˘ĝN(„aĴ&%~¨Ġ>RĤyğhçkkUíÌ&“Ñ.ÇÙè(H/˜ >˜ÎfozùžÙÌd2›éxüL•ħÑŞÎ —²ôVoïĵN×@r~Ù>BŬıêtí]M$öHž@)ßIcŒSËË/]ÛqfkŽŽbp`ÀóŸV*ĝùî]Á”zC—Çw‹àÁÒg³í%·–Ñváz@äÀżĞĞ_=k6[ĞZÙï=˜M&£˘˜Ö@€hó“ċeíEƒë>D}~.„M{èt.WöÒµ[ ŠI˘ĝ‘#èéófl<ŽĊ……€½^Ÿ½xô›ċ²ç-Ş·ŭätĤl ñ4ìşKÙöaż(¸ĤYÔé/Btb1`‹ïPIENDB`‚choreonoid-1.5.0/sample/GRobotPlugin/InverseKinematics.m0000664000000000000000000001013212741425367022013 0ustar rootroot% function IK = InverseKinematics(leg, xd, yd, zd, yawd, pitchd, rolld) % Approximate Analytical Solution tic sig = 1; l0 = 2.21; l1 = 2.8 lo1 = 0.25; l2 = 2.9; lo2 = 0.5; l3 = 4.8; l4 = 5.9; lo5 = 0.5; cy = cosd(yawd); sy = sind(yawd); cp = cosd(pitchd); sp = sind(pitchd); cr = cosd(rolld); sr = sind(rolld); O1 = [0; sig*l0; -l1]; F = [xd; yd; zd]; V1 = F - O1; XF = [cy*cp; sy*cp; -sp]; Z2 = cross(V1, XF); Z2 = -sig * Z2 / norm(Z2) th1 = atan2(-sig * Z2(1), sig * Z2(2)) * 180/pi; th2 = asin(-sig * Z2(3)) * 180/pi; c1 = cosd(th1); s1 = sind(th1); c2 = cosd(th2); s2 = sind(th2); TB2 = [s1*s2, -sig*c1, -sig*s1*c2, sig*lo1*s1 + l2*c1 + lo2*s1*s2; -c1*s2, -sig*s1, sig*c1*c2, sig*l0 - sig*lo1*c1 + l2*s1 - lo2*c1*s2; -c2, 0, -sig*s2, -l1 - lo2*c2; 0, 0, 0, 1]; V2 = inv(TB2)*[F; 1]; V2 = V2(1:3); D = (norm(V2)^2 - l3^2 - l4^2) / (2*l3*l4); th4 = atan2(-sig * sqrt(1 - D^2), D) * 180/pi; c4 = cosd(th4); s4 = sind(th4); beta = atan2(-V2(2), sqrt(V2(1)^2 + V2(3)^2)) * 180/pi; alpha = atan2(l4*s4, l3 + l4*c4) * 180/pi; th3 = beta - alpha; th3 = -th3; th4 = -th4; c3 = cosd(th3); s3 = sind(th3); c34 = cosd(th3 + th4); s34 = sind(th3 + th4); T24 = [c34, s34, 0, l3*c3 + l4*c34; s34, -c34, 0, l3*s3 + l4*s34; 0, 0, -1, 0; 0, 0, 0, 1]; TB4 = TB2*T24; TBF = [cy*cp, -sy*cr + cy*sp*sr, sy*sr + cy*sp*cr, xd; sy*cp, cy*cr + sy*sp*sr, -cy*sr + sy*sp*cr, yd; -sp, cp*sr, cp*cr, zd; 0, 0, 0, 1]; T4F = inv(TB4) * TBF; th5 = atan2(-sig*T4F(1,1), sig*T4F(2,1)) * 180/pi; th6 = atan2(sig*T4F(3,3), -sig*T4F(3,2)) * 180/pi; % Numerical refining thold = [th1; th2; th3; th4; th5; th6] cont = 0; tol = inf; while tol > 1E-1 % Direct Kinematics Error Calculation c1 = cosd(thold(1)); s1 = sind(thold(1)); c2 = cosd(thold(2)); s2 = sind(thold(2)); c3 = cosd(thold(3)); s3 = sind(thold(3)); c4 = cosd(thold(4)); s4 = sind(thold(4)); c5 = cosd(thold(5)); s5 = sind(thold(5)); c6 = cosd(thold(6)); s6 = sind(thold(6)); A0 = [0 -1 0 0; 1 0 0 sig*l0; 0 0 1 0; 0 0 0 1]; A1 = [c1 0 -s1 -sig*lo1*c1; s1 0 c1 -sig*lo1*s1; 0 -1 0 -l1; 0 0 0 1]; A2 = [-s2 0 sig*c2 -lo2*s2; c2 0 sig*s2 lo2*c2; 0 sig 0 -l2; 0 0 0 1]; A3 = [c3 -s3 0 l3*c3; s3 c3 0 l3*s3; 0 0 1 0; 0 0 0 1]; A4 = [c4 s4 0 l4*c4; s4 -c4 0 l4*s4; 0 0 -1 0; 0 0 0 1]; A5 = [c5 0 -sig*s5 -lo5*c5; s5 0 sig*c5 -lo5*s5; 0 -sig 0 0; 0 0 0 1]; A6 = [-s6 0 -c6 0; c6 0 -s6 0; 0 -1 0 0; 0 0 0 1]; Af = [0 1 0 0; -1 0 0 0; 0 0 1 0; 0 0 0 1]; TB0 = A0; TB1 = TB0*A1; TB2 = TB1*A2; TB3 = TB2*A3; TB4 = TB3*A4; TB5 = TB4*A5; TB6 = TB5*A6; TBF = TB6*Af; x = TBF(1,4); y = TBF(2,4); z = TBF(3,4); yaw = atan2(TBF(2,1), TBF(1,1)) * 180/pi; pitch = asin(-TBF(3,1)) * 180/pi; roll = atan2(TBF(3,2), TBF(3,3)) * 180/pi; delta_x = xd - x; delta_y = yd - y; delta_z = zd - z; delta_yaw = yawd - yaw; delta_pitch = pitchd - pitch; delta_roll = rolld - roll; delta_yaw = delta_yaw * pi/180; delta_pitch = delta_pitch * pi/180; delta_roll = delta_roll * pi/180; cy = cosd(yawd); sy = sind(yawd); cp = cosd(pitchd); sp = sind(pitchd); delta_thx = -sy*delta_pitch + cy*cp*delta_roll; delta_thy = cy*delta_pitch + sy*cp*delta_roll; delta_thz = delta_yaw - sp*delta_roll; e = [delta_x; delta_y; delta_z; delta_thx; delta_thy; delta_thz]; % Jacobian Calculation Z0 = TB0(1:3,3); Z1 = TB1(1:3,3); Z2 = TB2(1:3,3); Z3 = TB3(1:3,3); Z4 = TB4(1:3,3); Z5 = TB5(1:3,3); O0 = TB0(1:3,4); O1 = TB1(1:3,4); O2 = TB2(1:3,4); O3 = TB3(1:3,4); O4 = TB4(1:3,4); O5 = TB5(1:3,4); O6 = TB6(1:3,4); J = [cross(Z0, O6 - O0) cross(Z1, O6 - O1) cross(Z2, O6 - O2) cross(Z3, O6 - O3) cross(Z4, O6 - O4) cross(Z5, O6 - O5); Z0 Z1 Z2 Z3 Z4 Z5]; % Levenberg-Marquardt Method lambda = 0.001; C = J'*inv(J*J' + eye(6)*lambda^2); delta_th = C*e; thnew = thold + delta_th * 180/pi; cont = cont + 1; tol = norm(delta_th); [thold thnew] thold = thnew; end th = thold cont tol tocchoreonoid-1.5.0/sample/GRobotPlugin/po/0000775000000000000000000000000012741425367016633 5ustar rootrootchoreonoid-1.5.0/sample/GRobotPlugin/po/ja.po0000664000000000000000000000325012741425367017565 0ustar rootroot# Japanese translations for PACKAGE package. # Copyright (C) 2011 THE PACKAGE'S COPYRIGHT HOLDER # This file is distributed under the same license as the PACKAGE package. # nakaoka , 2011. # msgid "" msgstr "" "Project-Id-Version: PACKAGE VERSION\n" "Report-Msgid-Bugs-To: \n" "POT-Creation-Date: 2013-08-09 15:30+0900\n" "PO-Revision-Date: 2011-11-15 22:02+0000\n" "Last-Translator: nakaoka \n" "Language-Team: Japanese\n" "Language: ja\n" "MIME-Version: 1.0\n" "Content-Type: text/plain; charset=UTF-8\n" "Content-Transfer-Encoding: 8bit\n" "Plural-Forms: nplurals=1; plural=0;\n" #: GRobotBar.cpp:20 msgid "GRobotBar" msgstr "GRobotƒƒĵ" #: GRobotBar.cpp:23 msgid "G-Robot toolbar which provides buttons for handling actual G-Robots" msgstr "G-RobotċŸĉİŸ‚’ĉ‰ħ†ƒœ‚żƒ³‚’¨‚ŸG-Robotƒ„ƒĵƒĞƒƒĵ" #: GRobotBar.cpp:28 msgid "Turn on / off servo gains" msgstr "‚µƒĵƒœON/OFF" #: GRobotBar.cpp:31 msgid "Send the current pose of virtual robots to actual robots" msgstr "ƒ­ƒœƒƒƒˆċ§żċ‹˘‚’ċŸĉİŸĞ送äżĦ" #: GRobotBar.cpp:34 msgid "Synchronize the pose of actual robots pose with virtual robots" msgstr "ƒ­ƒœƒƒƒˆċ§żċ‹˘‚’ċŸĉİŸĞċŒĉœŸ" #: GRobotControllerItem.cpp:176 msgid "Port" msgstr "ƒƒĵƒˆ" #: GRobotPlugin.cpp:28 msgid "GRobotControllerItem" msgstr "GRobot‚³ƒ³ƒˆƒ­ƒĵƒİ‚˘‚¤ƒ†ƒ " #: GRobotPlugin.cpp:36 msgid "GRobot Plugin Version %1%\n" msgstr "GRobot ƒ—ƒİ‚°‚¤ƒ³ ƒƒĵ‚¸ƒ§ƒ³ %1%\n" #: GRobotPlugin.cpp:38 msgid "" "This plugin has been developed by Shin'ichiro Nakaoka and Choreonoid " "Development Team, AIST, and is distributed as a part of the Choreonoid " "package.\n" "\n" msgstr "" choreonoid-1.5.0/sample/GRobotPlugin/GRobotController.h0000664000000000000000000000556112741425367021635 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include #include #include #include #include #include #ifndef WIN32 #include #include #endif class GRobotController { public: GRobotController(); GRobotController(const GRobotController& org); virtual ~GRobotController(); int numJoints() const; void setPortDevice(const std::string& device); const std::string& portDevice() const; void switchServos(bool on); void setJointAngle(int jointId, double q) { if(jointId < static_cast(tmpJointAngles.size())){ tmpJointAngles[jointId] = q; } } void requestToSendPose(double transitionTime); bool setMotion(double* angles, int numFrames, double timeStep, int id = 0); bool startMotion(double time = 0.0, int id = 0); bool isPlayingMotion(); void stopMotion(); private: std::string portDevice_; boost::asio::io_service io; boost::asio::serial_port port; std::vector poseCommand; double transitionTime; std::vector tmpJointAngles; std::vector jointAngles; boost::thread poseSendingThread; boost::mutex poseSendingMutex; boost::condition_variable poseSendingCondition; enum { ON_DEMAND_POSE_SENDING, CONTINUOUS_POSE_SENDING, EXIT_POSE_SENDING } mode; struct MotionInfo { MotionInfo() { angles = 0; numFrames = 0; } ~MotionInfo(){ if(angles){ delete[] angles; } } double* angles; double timeStep; int numFrames; }; std::vector motions; int currentMotionId; int currentFrame; double timeStep; bool isTimerAvailable; bool isTimerActive; #ifdef WIN32 HANDLE timerHandle; HANDLE timerQueue; LARGE_INTEGER pc0, pc1, pcfreq; #else sem_t semTimer; timer_t timerID; struct timeval tv0; #endif void init(); bool openSerialPort(); void closeSerialPort(); bool sendData(unsigned char* data, int len); bool receiveData(char* buf, int len); bool checkConnection(); bool makeConnection(); char calcSum(unsigned char* data, int len); void switchServo(int jointId, bool on); void setJointAngleCommand(int jointId, double q, double ttime); void initializeTimer(); bool startTimer(double interval); void stopTimer(); void finalizeTimer(); #if WIN32 static VOID CALLBACK timerCallback(PVOID lpParameter, BOOL TimerOrWaitFired); #else static void timerHandler(int sig, siginfo_t* si, void* uc); #endif void poseSendingLoop(); void doOnDemandPoseSending(); void doContinuousPoseSending(); bool onMotionFrameSendingRequest(); }; choreonoid-1.5.0/sample/CameraImageOverlay/0000775000000000000000000000000012741425367017337 5ustar rootrootchoreonoid-1.5.0/sample/CameraImageOverlay/CMakeLists.txt0000664000000000000000000000101112741425367022070 0ustar rootroot if(NOT ENABLE_GUI) return() endif() option(BUILD_CAMERA_IMAGE_OVERLAY_SAMPLE "Building a sample of overlaying a camea image" OFF) if(BUILD_CAMERA_IMAGE_OVERLAY_SAMPLE) pkg_check_modules(OPENCV opencv) if(OPENCV_FOUND) include_directories(${OPENCV_INCLUDE_DIRS}) set(target CnoidCameraImageOverlayPlugin) add_cnoid_plugin(${target} SHARED CameraImageOverlayPlugin.cpp) target_link_libraries(${target} CnoidBase ${OPENCV_LIBRARIES}) apply_common_setting_for_plugin(${target}) endif() endif() choreonoid-1.5.0/sample/CameraImageOverlay/CameraImageOverlayPlugin.cpp0000664000000000000000000000773112741425367024727 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include #include #include #include #include #include #include using namespace std; using namespace cnoid; using namespace boost; namespace { class TextureOverlay : public SgOverlay { public: SgTexturePtr texture; TextureOverlay() { SgShape* shape = new SgShape; SgMesh* mesh = shape->setMesh(new SgMesh); SgVertexArray& vertices = *mesh->setVertices(new SgVertexArray); vertices.resize(4); static const float z = 1.0f - std::numeric_limits::epsilon(); vertices[0] << 1.0, 1.0, z; vertices[1] << 1.0, -1.0, z; vertices[2] << -1.0, -1.0, z; vertices[3] << -1.0, 1.0, z; texture = shape->setTexture(new SgTexture); SgTexCoordArray& texCoords = *mesh->setTexCoords(new SgTexCoordArray); texCoords.resize(4); texCoords[0] << 1.0, 0.0; texCoords[1] << 1.0, 1.0; texCoords[2] << 0.0, 1.0; texCoords[3] << 0.0, 0.0; mesh->setNumTriangles(2); mesh->setTriangle(0, 0, 2, 1); mesh->setTriangle(1, 0, 3, 2); mesh->texCoordIndices() = mesh->triangleVertices(); addChild(shape); } virtual void calcViewVolume(double viewportWidth, double viewportHeight, ViewVolume& io_volume) { SgImage* image = texture->getOrCreateImage(); double tw = image->width(); double th = image->height(); if(tw > 0 && th > 0){ if(tw >= th){ const double r = (viewportHeight / viewportWidth) * (tw / th); io_volume.left = -1.0; io_volume.right = 1.0; io_volume.bottom = -r; io_volume.top = r; } else { const double r = (viewportWidth / viewportHeight) * (th / tw); io_volume.left = -r; io_volume.right = r; io_volume.bottom = -1.0; io_volume.top = 1.0; } } } }; typedef cnoid::ref_ptr TextureOverlayPtr; } class CameraImageOverlayPlugin : public Plugin { public: TextureOverlayPtr overlay; CvCapture* capture; Timer timer; CameraImageOverlayPlugin() : Plugin("CameraImageOverlay") { capture = 0; } virtual bool initialize() { capture = cvCreateCameraCapture(0); //cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_WIDTH, 640); //cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_HEIGHT, 480); overlay = new TextureOverlay; SceneView::instance()->scene()->addChild(overlay, true); timer.sigTimeout().connect(bind(&CameraImageOverlayPlugin::updateCameraImage, this)); timer.start(33.3333); return true; } void updateCameraImage() { if(!capture) return; IplImage* frame = cvQueryFrame(capture); const int width = frame->width; const int height = frame->height; SgImage* image = overlay->texture->getOrCreateImage(); image->setSize(width, height, frame->nChannels); unsigned char* dest = image->pixels(); for(int i=0; i < height; ++i){ const int y = i * width * 3; for(int j=0; j < width; ++j){ const int x = y + j * 3; dest[x] = frame->imageData[x + 2]; dest[x + 1] = frame->imageData[x + 1]; dest[x + 2] = frame->imageData[x]; } } overlay->texture->image()->notifyUpdate(); } virtual bool finalize() { SceneView::instance()->scene()->removeChild(overlay, true); timer.stop(); if(capture){ cvReleaseCapture(&capture); } return true; } }; CNOID_IMPLEMENT_PLUGIN_ENTRY(CameraImageOverlayPlugin) choreonoid-1.5.0/sample/Sample1Plugin/0000775000000000000000000000000012741425367016323 5ustar rootrootchoreonoid-1.5.0/sample/Sample1Plugin/ManualMakefile0000664000000000000000000000050612741425367021122 0ustar rootroot CXXFLAGS += -fPIC `pkg-config --cflags choreonoid-body-plugin` PLUGIN = libCnoidSample1Plugin.so SRC = Sample1Plugin.o $(PLUGIN): $(SRC) g++ -shared -o $(PLUGIN) $(SRC) `pkg-config --libs choreonoid-body-plugin` install: $(PLUGIN) install -s $(PLUGIN) `pkg-config --variable=plugindir choreonoid` clean: rm -f *.o *.so choreonoid-1.5.0/sample/Sample1Plugin/CMakeLists.txt0000664000000000000000000000066612741425367021073 0ustar rootroot if(NOT ENABLE_GUI) return() endif() option(BUILD_SAMPLE1_SAMPLE "Building a sample plugin \"Sample1Plugin\"" OFF) if(BUILD_SAMPLE1_SAMPLE) set(target CnoidSample1Plugin) add_cnoid_plugin(${target} SHARED Sample1Plugin.cpp) target_link_libraries(${target} CnoidBodyPlugin) apply_common_setting_for_plugin(${target}) if(QT5) qt5_use_modules(${target} Widgets) endif() endif() install_sample_source(Sample1Plugin.cpp) choreonoid-1.5.0/sample/Sample1Plugin/Sample1Plugin.cpp0000664000000000000000000000245012741425367021511 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include #include #include #include #include using namespace boost; using namespace cnoid; class Sample1Plugin : public Plugin { public: Sample1Plugin() : Plugin("Sample1") { require("Body"); } virtual bool initialize() { ToolBar* bar = new ToolBar("Sample1"); bar->addButton("Increment") ->sigClicked().connect(bind(&Sample1Plugin::onButtonClicked, this, +0.04)); bar->addButton("Decrement") ->sigClicked().connect(bind(&Sample1Plugin::onButtonClicked, this, -0.04)); addToolBar(bar); return true; } void onButtonClicked(double dq) { ItemList bodyItems = ItemTreeView::mainInstance()->selectedItems(); for(size_t i=0; i < bodyItems.size(); ++i){ BodyPtr body = bodyItems[i]->body(); for(int j=0; j < body->numJoints(); ++j){ body->joint(j)->q() += dq; } bodyItems[i]->notifyKinematicStateChange(true); } } }; CNOID_IMPLEMENT_PLUGIN_ENTRY(Sample1Plugin) choreonoid-1.5.0/sample/CollisionHandler/0000775000000000000000000000000012741425367017073 5ustar rootrootchoreonoid-1.5.0/sample/CollisionHandler/SR1Liftup-SpringDamperContact.cnoid0000664000000000000000000002324312741425367025613 0ustar rootrootoptionalPlugins: [ ODE, Bullet, PhysX, AgX ] items: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false collisionDetector: AISTCollisionDetector children: - id: 2 name: "SR1" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/SR1/SR1.yaml" currentBaseLink: "WAIST" rootPosition: [ 0, 0, 0.7135 ] rootAttitude: [ 0.999955, -0.006461, 0.006886, 0.006461, 0.999979, -2.5e-005, -0.006886, 7e-005, 0.999976 ] jointPositions: [ 0.000822, -0.037473, 0.000350, 0.077177, -0.046633, -0.000874, 0.175490, -0.003915, 0.000048, -1.568620, 0.000121, 0.000267, 0.000008, -0.000889, -0.040642, 0.000364, 0.077387, -0.043666, 0.000969, 0.175601, 0.003290, 0.000028, -1.568673, 0.000228, 0.000239, 0.000006, 0.005740, -0.000324, 0.000089 ] initialRootPosition: [ 0, 0, 0.7135 ] initialRootAttitude: [ 0.999955418, -0.00646083645, 0.00688615345, 0.00646116355, 0.999979126, -2.52542765e-005, -0.00688584655, 6.97457235e-005, 0.99997629 ] initialJointPositions: [ 0.000822, -0.037473, 0.000350, 0.077177, -0.046633, -0.000874, 0.175490, -0.003915, 0.000048, -1.568620, 0.000121, 0.000267, 0.000008, -0.000889, -0.040642, 0.000364, 0.077387, -0.043666, 0.000969, 0.175601, 0.003290, 0.000028, -1.568673, 0.000228, 0.000239, 0.000006, 0.005740, -0.000324, 0.000089 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true children: - id: 3 name: "SR1LiftupController" plugin: SimpleController class: SimpleControllerItem data: isImmediateMode: true controller: "SR1LiftupController" reloading: true inputLinkPositions: false - id: 4 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ 0.55, 0, 0.151 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ ] initialRootPosition: [ 0.55, 0, 0.151 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 5 name: "Floor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/floor.wrl" currentBaseLink: "BASE" rootPosition: [ 0, 0, -0.1 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ ] initialRootPosition: [ 0, 0, -0.1 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 6 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Active control period" timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false controllerOptions: "" dynamicsMode: "Forward dynamics" integrationMode: "Runge Kutta" gravity: [ 0, 0, -9.80665 ] staticFriction: 0.5 slipFriction: 0.5 cullingThresh: 0.01 contactCullingDepth: 0.05 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 30 kinematicWalking: false 2Dmode: false children: - id: 7 name: "SpringDamperContact" plugin: SpringDamperContact class: SpringDamperContactItem - id: 8 name: "SetupSR1SpringDamperContact" plugin: PythonSimScript class: PythonSimScriptItem data: timing: Before init. delay: 0 simulationOnly: true backgroundExecution: false file: "${SHARE}/script/SetupSR1SpringDamperContact.py" views: "Items": selected: [ 7 ] checked: [ 1, 2, 4, 8 ] expanded: [ 1, 2, 3, 6 ] "Scene": viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: true defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true floorGrid: true floorGridSpan: 10 floorGridInterval: 0.5 texture: true lineWidth: 1 pointSize: 1 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false useBufferForPicking: true camera: current: Perspective eye: [ 2.38053012, 1.54674006, 1.10801005 ] direction: [ -0.820639908, -0.553809941, -0.140870988 ] up: [ -0.116768934, -0.0788013488, 0.990027964 ] fieldOfView: 0.6978 near: 0.01 far: 10000 orthoHeight: 20 backgroundColor: [ 0.100000001, 0.100000001, 0.300000012 ] gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] "Multi Value Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi SE3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Links": listingMode: "Link List" currentBodyItem: 2 bodyItems: - id: 2 selectedLinks: [ 20 ] "Body / Link": showRotationMatrix: false "Joint Sliders": showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 2 "Joint Trajectories": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi Affine3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Pose Roll": defaultTransitionTime: 0 updateAll: true autoUpdate: false timeSync: true listingMode: "Part Tree" timeLength: 10 showLipSync: false gridInterval: 1 toolbars: "TimeBar": minTime: 0 maxTime: 15 frameRate: 500 playbackFrameRate: 100 idleLoopDrivenMode: false currentTime: 0 speedScale: 1 syncToOngoingUpdates: true autoExpansion: true "BodyMotionGenerationBar": balancer: false autoGeneration: false timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: false makeNewBodyItem: true stealthyStepMode: true stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 zmpMaxDistanceFromCenter: 0.02 allLinkPositions: false lipSyncMix: false "BodyBar": stanceWidth: 0.15 "KinematicsBar": mode: FK attitude: false penetrationBlock: true collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true Body: "BodyMotionEngine": updateJointVelocities: false "EditableSceneBody": editableSceneBodies: - bodyItem: 2 showCenterOfMass: false showZmp: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false OpenRTM: "OpenRTMPlugin": deleteUnmanagedRTCsOnStartingSimulation: false choreonoid-1.5.0/sample/CollisionHandler/SpringDamperContact.py0000664000000000000000000000056112741425367023356 0ustar rootrootfrom cnoid.Base import * from cnoid.BodyPlugin import * sr1 = Item.find("SR1").body() floorLink = Item.find("Floor").body().rootLink() simulator = Item.find("AISTSimulator") handler = simulator.collisionHandlerId() simulator.setCollisionHandler(sr1.link("LLEG_ANKLE_R"), floorLink, handler) simulator.setCollisionHandler(sr1.link("RLEG_ANKLE_R"), floorLink, handler) choreonoid-1.5.0/sample/CollisionHandler/CMakeLists.txt0000664000000000000000000000115712741425367021637 0ustar rootroot #set(CMAKE_BUILD_TYPE Debug) if(NOT ENABLE_GUI) return() endif() option(BUILD_COLLISION_HANDLER_SAMPLE "Building a collision handler sample" OFF) if(NOT BUILD_COLLISION_HANDLER_SAMPLE) return() endif() set(sources SpringDamperContactPlugin.cpp ) set(target CnoidSpringDamperContactPlugin) add_cnoid_plugin(${target} SHARED ${sources}) target_link_libraries(${target} CnoidBodyPlugin) apply_common_setting_for_plugin(${target}) configure_file(SR1Liftup-SpringDamperContact.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) configure_file(SetupSR1SpringDamperContact.py ${CNOID_SOURCE_SHARE_DIR}/script COPYONLY) choreonoid-1.5.0/sample/CollisionHandler/SetupSR1SpringDamperContact.py0000664000000000000000000000060712741425367024726 0ustar rootrootfrom cnoid.Base import * from cnoid.BodyPlugin import * sr1 = Item.find("SR1").body() floorLink = Item.find("Floor").body().rootLink() simulator = Item.find("AISTSimulator") handler = simulator.collisionHandlerId("SpringDamperContact") simulator.setCollisionHandler(sr1.link("LLEG_ANKLE_R"), floorLink, handler) simulator.setCollisionHandler(sr1.link("RLEG_ANKLE_R"), floorLink, handler) choreonoid-1.5.0/sample/CollisionHandler/SpringDamperContactPlugin.cpp0000664000000000000000000000741012741425367024667 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include #include #include #include #include #include using namespace std; using namespace cnoid; namespace { class SpringDamperContactItem : public SubSimulatorItem { public: static void initializeClass(ExtensionManager* ext); SpringDamperContactItem(); SpringDamperContactItem(const SpringDamperContactItem& org); virtual void onPositionChanged(); virtual bool initializeSimulation(SimulatorItem* simulatorItem); protected: virtual Item* doDuplicate() const; private: bool calcContactForce(Link* link1, Link* link2, const CollisionArray& collisions, const ContactAttribute& attribute); weak_ref_ptr weakCurrentSimulator; int handlerId; }; class SpringDamperContactPlugin : public Plugin { public: SpringDamperContactPlugin() : Plugin("SpringDamperContact") { require("Body"); } virtual bool initialize() { itemManager() .registerClass("SpringDamperContactItem") .addCreationPanel(); return true; } }; } CNOID_IMPLEMENT_PLUGIN_ENTRY(SpringDamperContactPlugin); SpringDamperContactItem::SpringDamperContactItem() { handlerId = -1; } SpringDamperContactItem::SpringDamperContactItem(const SpringDamperContactItem& org) : SubSimulatorItem(org) { handlerId = -1; } Item* SpringDamperContactItem::doDuplicate() const { return new SpringDamperContactItem(*this); } void SpringDamperContactItem::onPositionChanged() { AISTSimulatorItem* simulator = findOwnerItem(); AISTSimulatorItem* currentSimulator = weakCurrentSimulator.lock(); if(simulator != currentSimulator){ if(currentSimulator){ currentSimulator->unregisterCollisionHandler(handlerId); weakCurrentSimulator.reset(); } if(simulator){ handlerId = simulator->registerCollisionHandler( "SpringDamperContact", boost::bind(&SpringDamperContactItem::calcContactForce, this, _1, _2, _3, _4)); weakCurrentSimulator = simulator; } } } bool SpringDamperContactItem::initializeSimulation(SimulatorItem* simulatorItem) { return true; } bool SpringDamperContactItem::calcContactForce (Link* link1, Link* link2, const CollisionArray& collisions, const ContactAttribute& attribute) { const bool doApplyToLink1 = !link1->isRoot() || !link1->isFixedJoint(); const bool doApplyToLink2 = !link2->isRoot() || !link2->isFixedJoint(); const double mu = attribute.dynamicFriction(); for(size_t i=0; i < collisions.size(); ++i){ const Collision& c = collisions[i]; const Vector3 v1 = link1->v() + link1->w().cross(c.point - link1->p()); const Vector3 v2 = link2->v() + link2->w().cross(c.point - link2->p()); const Vector3 v = v2 - v1; const double vn = v.dot(c.normal); const double kn = (c.depth * 100000.0 - vn * 1000.0); const Vector3 fn = kn * c.normal; const Vector3 vt = (v - vn * c.normal); const double vt_thresh = 0.01; Vector3 tangent; if(vt.squaredNorm() > vt_thresh * vt_thresh){ tangent = vt.normalized(); } else { tangent = vt; } const Vector3 ft = -mu * kn * tangent; const Vector3 f = fn + ft; if(doApplyToLink1){ link1->f_ext() += -f; link1->tau_ext() += c.point.cross(-f); } if(doApplyToLink2){ link2->f_ext() += f; link2->tau_ext() += c.point.cross(f); } } return true; } choreonoid-1.5.0/sample/VisionSensor/0000775000000000000000000000000012741425367016303 5ustar rootrootchoreonoid-1.5.0/sample/VisionSensor/VisionSensorSamplePlugin.cpp0000664000000000000000000001524612741425367024001 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include #include #include #include #include #include #include #include #include #include #include #include #include using namespace std; using namespace boost; using namespace cnoid; class VisionSensorSamplePlugin : public Plugin { ImageView* imageView; Connection sigItemAddedConnection; CameraPtr camera; boost::shared_ptr prevImage; RangeCameraPtr rangeCamera; SgPointSetPtr pointSetFromRangeCamera; boost::shared_ptr > prevPoints; RangeSensorPtr rangeSensor; SgPointSetPtr pointSetFromRangeSensor; boost::shared_ptr prevRangeData; public: VisionSensorSamplePlugin() : Plugin("VisionSensorSample") { require("Body"); } virtual bool initialize() { imageView = ViewManager::getOrCreateView("CameraImage", true); imageView->setScalingEnabled(true); sigItemAddedConnection = RootItem::instance()->sigItemAdded().connect( bind(&VisionSensorSamplePlugin::onItemAdded, this, _1)); return true; } void onItemAdded(Item* item) { MessageView* mv = MessageView::instance(); if(BodyItem* bodyItem = dynamic_cast(item)){ Body* body = bodyItem->body(); for(size_t i=0; i < body->numDevices(); ++i){ Device* device = body->device(i); if(!camera){ camera = dynamic_pointer_cast(device); if(camera){ mv->putln(format("CameraImageView: Detected Camera \"%1%\" of %2%.") % camera->name() % body->name()); rangeCamera = dynamic_pointer_cast(camera); camera->sigStateChanged().connect( bind(&VisionSensorSamplePlugin::onCameraStateChanged, this)); } } if(!rangeSensor){ rangeSensor = dynamic_pointer_cast(device); if(rangeSensor){ mv->putln(format("CameraImageView: Detected RangeSensor \"%1%\" of %2%.") % rangeSensor->name() % body->name()); rangeSensor->sigStateChanged().connect( bind(&VisionSensorSamplePlugin::onRangeSensorStateChanged, this)); } } } } else if(PointSetItem* pointSetItem = dynamic_cast(item)){ if(pointSetItem->name() == "RangeCameraPoints"){ pointSetFromRangeCamera = pointSetItem->pointSet(); mv->putln("CameraImageView: Detected PointSetItem \"RangeCameraPoints\"."); } else if(pointSetItem->name() == "RangeSensorPoints"){ pointSetFromRangeSensor = pointSetItem->pointSet(); mv->putln("CameraImageView: Detected PointSetItem \"RangeSensorPoints\""); } } } void onCameraStateChanged() { if(camera->sharedImage() != prevImage){ const Image& image = camera->constImage(); if(image.height() > 1){ imageView->setImage(image); } prevImage = camera->sharedImage(); } if(rangeCamera && (rangeCamera->sharedPoints() != prevPoints) && pointSetFromRangeCamera){ updatePointSetFromCamera(); prevPoints = rangeCamera->sharedPoints(); } } void updatePointSetFromCamera() { const Affine3f C = (camera->link()->T() * camera->T_local()).cast(); const vector& src = rangeCamera->constPoints(); SgVertexArray& points = *pointSetFromRangeCamera->getOrCreateVertices(); const int numPoints = src.size(); points.resize(numPoints); for(int i=0; i < numPoints; ++i){ points[i] = C * src[i]; } SgColorArray& colors = *pointSetFromRangeCamera->getOrCreateColors(); const Image& image = camera->constImage(); if(image.empty() || image.numComponents() != 3){ colors.clear(); } else { const unsigned char* pixels = image.pixels(); const int numPixels = image.width() * image.height(); const int n = std::min(numPixels, numPoints); colors.resize(n); for(int i=0; i < n; ++i){ Vector3f& c = colors[i]; c[0] = *pixels++ / 255.0; c[1] = *pixels++ / 255.0;; c[2] = *pixels++ / 255.0;; } } pointSetFromRangeCamera->notifyUpdate(); } void onRangeSensorStateChanged() { if(rangeSensor->sharedRangeData() != prevRangeData && pointSetFromRangeSensor){ const Affine3 C = rangeSensor->link()->T() * rangeSensor->T_local(); const RangeSensor::RangeData& src = rangeSensor->constRangeData(); SgVertexArray& points = *pointSetFromRangeSensor->getOrCreateVertices(); points.clear(); if(!src.empty()){ points.reserve(src.size()); const double pitchStep = rangeSensor->pitchStep(); const double yawStep = rangeSensor->yawStep(); for(int pitch=0; pitch < rangeSensor->pitchResolution(); ++pitch){ const double pitchAngle = pitch * pitchStep - rangeSensor->pitchRange() / 2.0; const int srctop = pitch * rangeSensor->yawResolution(); for(int yaw=0; yaw < rangeSensor->yawResolution(); ++yaw){ const double distance = src[srctop + yaw]; if(distance <= rangeSensor->maxDistance()){ double yawAngle = yaw * yawStep - rangeSensor->yawRange() / 2.0; Vector3 point; point.x() = distance * sin(-yawAngle); point.y() = distance * sin(pitchAngle); point.z() = -distance * cos(pitchAngle) * cos(yawAngle); points.push_back((C * point).cast()); } } } } prevRangeData = rangeSensor->sharedRangeData(); pointSetFromRangeSensor->notifyUpdate(); } } }; CNOID_IMPLEMENT_PLUGIN_ENTRY(VisionSensorSamplePlugin); choreonoid-1.5.0/sample/VisionSensor/CMakeLists.txt0000664000000000000000000000103512741425367021042 0ustar rootroot #set(CMAKE_BUILD_TYPE Debug) if(NOT ENABLE_GUI) return() endif() option(BUILD_VISION_SENSOR_SAMPLE "Building a sample plugin for visualizating vision sensor data" OFF) if(NOT BUILD_VISION_SENSOR_SAMPLE) return() endif() set(sources VisionSensorSamplePlugin.cpp) set(target CnoidVisionSensorSamplePlugin) add_cnoid_plugin(${target} SHARED ${sources}) target_link_libraries(${target} CnoidBodyPlugin) apply_common_setting_for_plugin(${target}) configure_file(TankJoystickVisionSensors.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) choreonoid-1.5.0/sample/VisionSensor/TankJoystickVisionSensors.cnoid0000664000000000000000000002254212741425367024510 0ustar rootrootitems: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false collisionDetector: AISTCollisionDetector children: - id: 2 name: "Tank" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/tank.wrl" currentBaseLink: "" rootPosition: [ -0.8, 2.4, 0.099893 ] rootAttitude: [ 0, 1, -4e-06, -1, 0, 0, 0, 4e-06, 1 ] jointPositions: [ 0.000000, 0.000000, -0.000000, 0.018599 ] initialRootPosition: [ -0.8, 2.4, 0.1 ] initialRootAttitude: [ 2.22044605e-16, 1, 0, -1, 2.22044605e-16, -0, -0, 0, 1 ] initialJointPositions: [ 0.000000, 0.000000, 0.000000 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: true children: - id: 3 name: "JoystickController" plugin: SimpleController class: SimpleControllerItem data: isImmediateMode: true controller: "TankJoystickController" reloading: true inputLinkPositions: false - id: 4 name: "RangeCameraPoints" plugin: Base class: PointSetItem data: renderingMode: Point pointSize: 0 voxelSize: 0.01 isEditable: false - id: 5 name: "RangeSensorPoints" plugin: Base class: PointSetItem data: renderingMode: Point pointSize: 0 voxelSize: 0.01 isEditable: false - id: 6 name: "Labo1" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/Labo1/Labo1.wrl" currentBaseLink: "Base" rootPosition: [ 0, 0, 0 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ ] initialRootPosition: [ 0, 0, 0 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: false - id: 7 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recording: tail timeRangeMode: Active control period timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false dynamicsMode: Forward dynamics integrationMode: Runge Kutta gravity: [ 0, 0, -9.80665 ] staticFriction: 0.5 slipFriction: 0.5 cullingThresh: 0.01 contactCullingDepth: 0.05 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 30 kinematicWalking: false 2Dmode: false children: - id: 8 name: "GLVisionSimulator" plugin: Body class: GLVisionSimulatorItem data: enabled: true maxFrameRate: 1000 maxLatency: 1 recordVisionData: true useThread: true useThreadsForSensors: true bestEffort: false allSceneObjects: false rangeSensorPrecisionRatio: 4 depthError: 0 enableHeadLight: true enableAdditionalLights: true views: - id: 0 name: "CameraImage" plugin: Base class: ImageView mounted: true - id: 1 plugin: Base class: ItemPropertyView mounted: true - id: 2 plugin: Base class: ItemTreeView mounted: true state: selected: [ 7 ] checked: [ 1, 2, 4, 5 ] expanded: [ 1, 2, 3, 7 ] - id: 3 plugin: Base class: MessageView mounted: true - id: 4 plugin: Base class: SceneView mounted: true state: editMode: false viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: true defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.1 worldLightAmbient: 0 additionalLights: true fog: true floorGrid: false floorGridSpan: 10 floorGridInterval: 0.5 xzGridSpan: 10 xzGridInterval: 0.5 xzGrid: false yzGridSpan: 10 yzGridInterval: 0.5 texture: true lineWidth: 1 pointSize: 2 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: true enableNewDisplayListDoubleRendering: false useBufferForPicking: true cameras: - camera: [ System, Perspective ] isCurrent: true fieldOfView: 0.6978 near: 0.01 far: 10000 eye: [ -2.33531, 4.92902, 1.24164 ] direction: [ 0.35762385, -0.914296616, -0.19017592 ] up: [ 0.0692765472, -0.177109121, 0.981750029 ] - camera: [ System, Orthographic ] orthoHeight: 20 near: 0.01 far: 10000 backgroundColor: [ 0, 0, 0 ] gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] xzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] yzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] dedicatedItemTreeViewChecks: false - id: 5 name: "Task" plugin: Base class: TaskView state: layoutMode: horizontal isAutoMode: false currentTask: Wall - id: 6 name: "Joystick" plugin: Base class: VirtualJoystickView mounted: true - id: 7 plugin: Body class: BodyLinkView mounted: true state: showRotationMatrix: false - id: 8 plugin: Body class: JointSliderView mounted: true state: showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 2 - id: 9 plugin: Body class: LinkSelectionView mounted: true state: listingMode: "Link List" currentBodyItem: 2 bodyItems: - id: 2 selectedLinks: [ 0 ] - id: 10 plugin: Python class: PythonConsoleView mounted: true toolbars: "TimeBar": minTime: 0 maxTime: 5 frameRate: 1000 playbackFrameRate: 60 idleLoopDrivenMode: false currentTime: 0 speedScale: 1 syncToOngoingUpdates: true autoExpansion: true Body: "BodyMotionEngine": updateJointVelocities: false "EditableSceneBody": editableSceneBodies: - bodyItem: 2 showCenterOfMass: false showPpcom: false showZmp: false - bodyItem: 6 showCenterOfMass: false showPpcom: false showZmp: false staticModelEditing: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false viewAreas: - type: embedded tabs: true contents: type: splitter orientation: horizontal sizes: [ 303, 1291 ] children: - type: splitter orientation: vertical sizes: [ 381, 381 ] children: - type: pane views: [ 2 ] current: 2 - type: pane views: [ 1, 9 ] current: 1 - type: splitter orientation: vertical sizes: [ 544, 218 ] children: - type: splitter orientation: horizontal sizes: [ 602, 683 ] children: - type: pane views: [ 7, 8, 0 ] current: 0 - type: pane views: [ 4 ] current: 4 - type: splitter orientation: horizontal sizes: [ 740, 545 ] children: - type: pane views: [ 3, 10 ] current: 3 - type: pane views: [ 6 ] current: 6 layoutOfToolBars: rows: - - { name: "FileBar", x: 0, priority: 0 } - { name: "SimulationBar", x: 48, priority: 1 } - { name: "TimeBar", x: 96, priority: 0 } - { name: "SceneBar", x: 1336, priority: 2 } choreonoid-1.5.0/sample/JoystickTest/0000775000000000000000000000000012741425367016301 5ustar rootrootchoreonoid-1.5.0/sample/JoystickTest/JoystickTestPlugin.cpp0000664000000000000000000000203712741425367022625 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include #include #include #include using namespace boost; using namespace cnoid; namespace { class JoystickTestPlugin : public Plugin { JoystickCapture joystick; MessageView* mv; public: JoystickTestPlugin() : Plugin("JoystickTest") { } virtual bool initialize() { joystick.setDevice("/dev/input/js0"); joystick.sigButton().connect( bind(&JoystickTestPlugin::onButtonEvent, this, _1, _2)); joystick.sigAxis().connect( bind(&JoystickTestPlugin::onAxisEvent, this, _1, _2)); mv = MessageView::instance(); return true; } void onButtonEvent(int id, bool isPressed) { mv->putln(format("Joystick button %1%: %2%") % id % isPressed); } void onAxisEvent(int id, double position) { mv->putln(format("Joystick axis %1%: %2%") % id % position); } }; } CNOID_IMPLEMENT_PLUGIN_ENTRY(JoystickTestPlugin); choreonoid-1.5.0/sample/JoystickTest/CMakeLists.txt0000664000000000000000000000054712741425367021047 0ustar rootroot if(NOT ENABLE_GUI OR WIN32 OR APPLE) return() endif() option(BUILD_JOYSTICK_TEST_PLUGIN "Building a joystick test plugin" OFF) if(BUILD_JOYSTICK_TEST_PLUGIN) set(target CnoidJoystickTestPlugin) add_cnoid_plugin(${target} SHARED JoystickTestPlugin.cpp) target_link_libraries(${target} CnoidBase) apply_common_setting_for_plugin(${target}) endif() choreonoid-1.5.0/sample/OpenRTM/0000775000000000000000000000000012741425367015126 5ustar rootrootchoreonoid-1.5.0/sample/OpenRTM/TankJoystickControllerRTC.cpp0000664000000000000000000001017512741425367022670 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "TankJoystickControllerRTC.h" #include using namespace std; namespace { const double timeStep = 0.001; const int numTankJoints = 4; const int cannonJointId = 2; const int cannonAxis[] = { 3, 4 }; const double cannonAxisRatio[] = { -1.0, 1.0 }; const char* spec[] = { "implementation_id", "TankJoystickControllerRTC", "type_name", "TankJoystickControllerRTC", "description", "Tank Joystick Controller ", "version", "0.1", "vendor", "AIST", "category", "Generic", "activity_type", "DataFlowComponent", "max_instance", "10", "language", "C++", "lang_type", "compile", "" }; } TankJoystickControllerRTC::TankJoystickControllerRTC(RTC::Manager* manager) : RTC::DataFlowComponentBase(manager), anglesIn("q", angles), axesIn("axes", axes), buttonsIn("buttons", buttons), velocitiesOut("dq", velocities), torquesOut("u", torques), lightSwitchOut("lightSwitch", lightSwitch) { } TankJoystickControllerRTC::~TankJoystickControllerRTC() { } RTC::ReturnCode_t TankJoystickControllerRTC::onInitialize() { // Set InPort buffers addInPort("q", anglesIn); addInPort("axes", axesIn); addInPort("buttons", buttonsIn); // Set OutPort buffer addOutPort("dq", velocitiesOut); addOutPort("u", torquesOut); addOutPort("lightSwitch", lightSwitchOut); return RTC::RTC_OK; } RTC::ReturnCode_t TankJoystickControllerRTC::onActivated(RTC::UniqueId ec_id) { // initialize the cannon joints if(anglesIn.isNew()){ anglesIn.read(); } if(angles.data.length() >= 2){ torques.data.length(2); for(int i=0; i < 2; ++i){ double q = angles.data[i]; qref[i] = q; qprev[i] = q; torques.data[i] = 0.0; } } // initialize the crawler joints velocities.data.length(2); for(int i=0; i < 2; ++i){ velocities.data[i] = 0.0; } lightSwitch.data.length(1); prevLightButtonState = false; return RTC::RTC_OK; } RTC::ReturnCode_t TankJoystickControllerRTC::onDeactivated(RTC::UniqueId ec_id) { return RTC::RTC_OK; } RTC::ReturnCode_t TankJoystickControllerRTC::onExecute(RTC::UniqueId ec_id) { if(axesIn.isNew()){ axesIn.read(); } if(axes.data.length() >= 2){ for(int i=0; i < 2; ++i){ if(fabs(axes.data[i]) < 0.2){ axes.data[i] = 0.0; } } velocities.data[0] = -2.0 * axes.data[1] + axes.data[0]; velocities.data[1] = -2.0 * axes.data[1] - axes.data[0]; } velocitiesOut.write(); if(anglesIn.isNew()){ anglesIn.read(); } if(angles.data.length() >= 2 && axes.data.length() >= 5){ static const double P = 200.0; static const double D = 50.0; for(int i=0; i < 2; ++i){ double q = angles.data[i]; double dq = (q - qprev[i]) / timeStep; double dqref = 0.0; double command = cannonAxisRatio[i] * axes.data[cannonAxis[i]]; if(fabs(command) > 0.2){ double deltaq = command * 0.002; qref[i] += deltaq; dqref = deltaq / timeStep; } torques.data[i] = P * (qref[i] - q) + D * (dqref - dq); qprev[i] = q; } } torquesOut.write(); if(buttonsIn.isNew()){ buttonsIn.read(); bool lightButtonState = buttons.data[0]; if(lightButtonState){ if(!prevLightButtonState){ isLightOn = !isLightOn; lightSwitch.data[0] = isLightOn; lightSwitchOut.write(); } } prevLightButtonState = lightButtonState; } return RTC::RTC_OK; } extern "C" { DLL_EXPORT void TankJoystickControllerRTCInit(RTC::Manager* manager) { coil::Properties profile(spec); manager->registerFactory(profile, RTC::Create, RTC::Delete); } }; choreonoid-1.5.0/sample/OpenRTM/OpenRTM-SampleCrawlerJoystick.cnoid0000664000000000000000000002245312741425367023715 0ustar rootrootitems: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false children: - id: 2 name: "Crawler" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/crawler.wrl" currentBaseLink: "BODY" rootPosition: [ -1.500000, 0.000000, 0.100000 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ 0.000000, 0.000000 ] initialRootPosition: [ -1.500000, 0.000000, 0.100000 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] initialJointPositions: [ 0.000000, 0.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false children: - id: 3 name: "BodyRTCItem" plugin: OpenRTM class: BodyRTCItem data: isImmediateMode: true moduleName: "SampleCrawlerJoystickControllerRTC" confFileName: "SampleCrawlerJoystick.conf" configurationMode: Use Configuration File AutoConnect: false InstanceName: Crawler bodyPeriodicRate: 0 - id: 4 name: "floor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/bumpyfloor.wrl" currentBaseLink: "WAIST" rootPosition: [ 0.000000, 0.000000, -0.100000 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ ] initialRootPosition: [ 0.000000, 0.000000, -0.100000 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false - id: 5 name: "JoystickRTC" plugin: OpenRTM class: RTCItem data: moduleName: "JoystickRTC" periodicType: PeriodicExecutionContext periodicRate: 500 - id: 6 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recording: "off" timeRangeMode: "Unlimited" timeLength: 60 allLinkPositionOutputMode: false deviceStateRecording: true dynamicsMode: Forward dynamics integrationMode: Runge Kutta gravity: [ 0, 0, -9.80665 ] staticFriction: 0.5 slipFriction: 0.5 cullingThresh: 0.01 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 30 2Dmode: false - id: 7 name: "ODESimulator" plugin: ODE class: ODESimulatorItem data: realtimeSync: true recording: "off" timeRangeMode: "Unlimited" timeLength: 60 allLinkPositionOutputMode: true deviceStateRecording: true stepMode: Iterative (quick step) gravity: [ 0, 0, -9.80665 ] friction: 50 jointLimitMode: false globalERP: 0.4 globalCFM: 1e-10 numIterations: 50 overRelaxation: 1.3 limitCorrectingVel: true maxCorrectingVel: 1.0e-3 2Dmode: false - id: 8 name: "BulletSimulator" plugin: Bullet class: BulletSimulatorItem data: realtimeSync: true recording: "off" timeRangeMode: "Unlimited" timeLength: 60 allLinkPositionOutputMode: true deviceStateRecording: true ErrorReductionParameter: 0.2 NumIterations: 10 Restitution: 0 Friction: 0.9 ERP2: 0 SplitImpulsePenetrationThreshold: -0.0001 views: "Items": selected: [ 6 ] checked: [ 1, 2, 4 ] expanded: [ 1, 2, 3, 7 ] "Scene": walkthrough: false showCollisions: true wireframe: false defaultHeadLight: true defaultHeadLightIntensity: 0.75 worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true floorGrid: false floorGridSpan: 10 floorGridInterval: 0.5 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false useBufferForPicking: true camera: current: Perspective eye: [ -3.65496, 2.22252, 2.19387 ] direction: [ 0.822509, -0.395235, -0.408985 ] up: [ 0.368634, -0.177137, 0.912541 ] fieldOfView: 0.6978 near: 0.01 far: 10000 orthoHeight: 20 backgroundColor: [ 0.1, 0.1, 0.3 ] gridColor: [ 0.9, 0.9, 0.9, 1 ] "Multi Value Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi SE3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Links": listingMode: "Link List" currentBodyItem: 2 bodyItems: - id: 2 selectedLinks: [ 0 ] "Body / Link": showRotationMatrix: false "Joint Sliders": showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 2 "Joint Trajectories": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi Affine3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Pose Roll": defaultTransitionTime: 0 updateAll: true autoUpdate: false timeSync: true listingMode: "Part Tree" timeLength: 10 showLipSync: false gridInterval: 1 toolbars: "TimeBar": minTime: 0 maxTime: 5 frameRate: 1000 playbackFrameRate: 100 idleLoopDrivenMode: false currentTime: 0 speedScale: 1 syncToOngoingUpdates: true "BodyBar": current: 2 stanceWidth: 0.15 "KinematicsBar": mode: FK attitude: false penetrationBlock: true collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true "BodyMotionGenerationBar": balancer: false autoGeneration: false timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: false makeNewBodyItem: true stealthyStepMode: true stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 zmpMaxDistanceFromCenter: 0.02 allLinkPositions: false lipSyncMix: false timeToStartBalancer: 0 balancerIterations: 2 plainBalancerMode: false boundaryConditionType: position boundarySmootherType: off boundarySmootherTime: 0.5 boundaryCmAdjustment: false boundaryCmAdjustmentTime: 1 waistHeightRelaxation: false gravity: 9.8 dynamicsTimeRatio: 1 Base: "MovieGenerator": directory: basename: scene begin: 0 fps: 30 width: 640 heiht: 480 Body: "BodyMotionEngine": updateJointVelocities: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false choreonoid-1.5.0/sample/OpenRTM/SampleCrawlerJoystick.conf0000664000000000000000000000023612741425367022257 0ustar rootrootin-port = dq:JOINT_VELOCITY connection = dq:SampleCrawlerJoystickControllerRTC0:dq connection = JoystickRTC0:axes:SampleCrawlerJoystickControllerRTC0:axes choreonoid-1.5.0/sample/OpenRTM/OpenRTM-SR1Walk.cnoid0000664000000000000000000002273412741425367020662 0ustar rootrootitems: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false children: - id: 2 name: "SR1" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/SR1/SR1.yaml" currentBaseLink: "WAIST" rootPosition: [ 0.000000, 0.000000, 0.713500 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, -0.003491, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, -0.003491, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000 ] initialRootPosition: [ 0.000000, 0.000000, 0.713500 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] initialJointPositions: [ 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, -0.003491, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, -0.003491, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false children: - id: 3 name: "BodyRTC" plugin: OpenRTM class: BodyRTCItem data: isImmediateMode: true moduleName: "SR1WalkControllerRTC" confFileName: "" configurationMode: Create Default Port AutoConnect: true InstanceName: SR1 bodyPeriodicRate: 0 - id: 4 name: "Floor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/floor.wrl" currentBaseLink: "BASE" rootPosition: [ 0.000000, 0.000000, -0.100000 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ ] initialRootPosition: [ 0.000000, 0.000000, -0.100000 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false - id: 5 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Specified time" timeLength: 13.4 allLinkPositionOutputMode: true deviceStateRecording: true dynamicsMode: Forward dynamics integrationMode: Runge Kutta gravity: [ 0, 0, -9.80665 ] staticFriction: 0.5 slipFriction: 0.5 cullingThresh: 0.01 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 30 2Dmode: false - id: 6 name: "ODESimulator" plugin: ODE class: ODESimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Specified time" timeLength: 13.4 allLinkPositionOutputMode: true deviceStateRecording: true stepMode: Iterative (quick step) gravity: [ 0, 0, -9.8 ] friction: 0.5 jointLimitMode: false globalERP: 0.4 globalCFM: 1e-10 numIterations: 50 overRelaxation: 1.3 limitCorrectingVel: true maxCorrectingVel: 1.0e-3 2Dmode: false - id: 7 name: "BulletSimulator" plugin: Bullet class: BulletSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Specified time" timeLength: 13.4 allLinkPositionOutputMode: true deviceStateRecording: true ErrorReductionParameter: 0.5 NumIterations: 10 Restitution: 0 Friction: 0.7 ERP2: 0 SplitImpulsePenetrationThreshold: -0.0001 views: "Items": selected: [ 5 ] checked: [ 2 ] expanded: [ 1, 2, 3 ] "Scene": walkthrough: false showCollisions: true wireframe: false defaultHeadLight: true defaultHeadLightIntensity: 0.75 worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true floorGrid: true floorGridSpan: 10 floorGridInterval: 0.5 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false camera: current: Perspective eye: [ 2.64331, 0.994174, 1.07933 ] direction: [ -0.918058, -0.370573, -0.140871 ] up: [ -0.13063, -0.0527287, 0.990028 ] fieldOfView: 0.6978 near: 0.01 far: 10000 orthoHeight: 20 backgroundColor: [ 0.1, 0.1, 0.3 ] gridColor: [ 0.9, 0.9, 0.9, 1 ] "Multi Value Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi SE3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Links": listingMode: "Link List" bodyItems: - id: 2 selectedLinks: [ 20 ] "Body / Link": showRotationMatrix: false "Joint Sliders": showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true "Joint Trajectories": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi Affine3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Pose Roll": defaultTransitionTime: 0 updateAll: true autoUpdate: false timeSync: true listingMode: "Part Tree" timeLength: 10 showLipSync: false gridInterval: 1 toolbars: "TimeBar": minTime: 0 maxTime: 15 frameRate: 500 playbackFrameRate: 100 currentTime: 0 speedScale: 1 syncToOngoingUpdates: true "BodyBar": stanceWidth: 0.15 "KinematicsBar": mode: FK attitude: false penetrationBlock: true collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true "BodyMotionGenerationBar": balancer: false autoGeneration: false timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: false makeNewBodyItem: true stealthyStepMode: true stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 zmpMaxDistanceFromCenter: 0.02 allLinkPositions: false lipSyncMix: false timeToStartBalancer: 0 balancerIterations: 2 plainBalancerMode: false boundaryConditionType: position boundarySmootherType: off boundarySmootherTime: 0.5 boundaryCmAdjustment: false boundaryCmAdjustmentTime: 1 waistHeightRelaxation: false gravity: 9.8 dynamicsTimeRatio: 1 Body: "BodyMotionEngine": updateJointVelocities: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false choreonoid-1.5.0/sample/OpenRTM/SR1LiftupConstLog.py0000664000000000000000000000023012741425367020735 0ustar rootrootfrom cnoid.Base import * from cnoid.BodyPlugin import * aistSimulator = Item.find("AISTSimulator") aistSimulator.setConstraintForceOutputEnabled(True) choreonoid-1.5.0/sample/OpenRTM/JoystickRTC.h0000664000000000000000000000316312741425367017452 0ustar rootroot/** @brief A component for accessing a joystick control device */ #ifndef JoystickRTC_H #define JoystickRTC_H #include #include #include #include #include #include #include #include #include /*! * @class JoystickRTC * @brief Access a joystick control device. * */ class JoystickRTC : public RTC::DataFlowComponentBase { public: JoystickRTC(RTC::Manager* manager); virtual ~JoystickRTC(); virtual RTC::ReturnCode_t onInitialize(); virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id); virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id); virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id); protected: // DataOutPort declaration RTC::TimedFloatSeq m_axes; /*! * Values of the joystick axes. * - Type: TimedFloatSeq * - Number: Variable. * - Semantics: Axes values normalised to between -1 and 1, with 0 as the cent * re. */ RTC::OutPort m_axesOut; RTC::TimedBooleanSeq m_buttons; /*! * Joystick button values. * - Type: TimedBooleanSeq * - Number: Variable * - Semantics: True if a button is pressed, false otherwise. */ RTC::OutPort m_buttonsOut; private: cnoid::Joystick* m_joystick; std::string m_device; unsigned int m_debugLevel; }; extern "C" { DLL_EXPORT void JoystickRTCInit(RTC::Manager* manager); }; #endif choreonoid-1.5.0/sample/OpenRTM/OpenRTM-TankKinematics.cnoid0000664000000000000000000001760612741425367022345 0ustar rootrootitems: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false collisionDetector: AISTCollisionDetector children: - id: 2 name: "Tank" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/tank.wrl" currentBaseLink: "" rootPosition: [ -0.800000, 2.400000, 0.100000 ] rootAttitude: [ 0.000000, 1.000000, 0.000000, -1.000000, 0.000000, -0.000000, -0.000000, 0.000000, 1.000000 ] jointPositions: [ 0.000000, 0.000000, 0.000000, 0.000000 ] initialRootPosition: [ -0.800000, 2.400000, 0.100000 ] initialRootAttitude: [ 0.000000, 1.000000, 0.000000, -1.000000, 0.000000, -0.000000, -0.000000, 0.000000, 1.000000 ] initialJointPositions: [ 0.000000, 0.000000, 0.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false children: - id: 3 name: "BodyRTCItem" plugin: OpenRTM class: BodyRTCItem data: isImmediateMode: true moduleName: "TankKinematicsControllerRTC" confFileName: "TankKinematics.conf" configurationMode: Use Configuration File AutoConnect: false InstanceName: Tank bodyPeriodicRate: 0 - id: 4 name: "Labo1" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/Labo1/Labo1.wrl" currentBaseLink: "Base" rootPosition: [ 0.000000, 0.000000, 0.000000 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ ] initialRootPosition: [ 0.000000, 0.000000, 0.000000 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false - id: 5 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Time bar range" timeLength: 25 allLinkPositionOutputMode: false deviceStateOutput: true dynamicsMode: Kinematics integrationMode: Runge Kutta gravity: [ 0, 0, -9.80665 ] staticFriction: 0.5 slipFriction: 0.5 cullingThresh: 0.01 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 30 kinematicWalking: false 2Dmode: false views: "Items": selected: [ 5 ] checked: [ 1, 2, 4 ] expanded: [ 1, 2, 3 ] "Scene": viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: false defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.1 worldLightAmbient: 0 additionalLights: true floorGrid: false floorGridSpan: 10 floorGridInterval: 0.5 lineWidth: 1 pointSize: 1 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false useBufferForPicking: true camera: current: Perspective eye: [ -2.75379, 5.6445, 2.42672 ] direction: [ 0.444237, -0.827169, -0.344157 ] up: [ 0.162835, -0.303198, 0.938912 ] fieldOfView: 0.6978 near: 0.01 far: 10000 orthoHeight: 20 backgroundColor: [ 0, 0, 0 ] gridColor: [ 0.9, 0.9, 0.9, 1 ] "Multi Value Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi SE3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Links": listingMode: "Link List" currentBodyItem: 4 bodyItems: - id: 2 selectedLinks: [ 0 ] "Body / Link": showRotationMatrix: false "Joint Sliders": showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 4 "Joint Trajectories": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi Affine3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Pose Roll": defaultTransitionTime: 0 updateAll: true autoUpdate: false timeSync: true listingMode: "Part Tree" timeLength: 10 showLipSync: false gridInterval: 1 toolbars: "TimeBar": minTime: 0 maxTime: 60 frameRate: 1000 playbackFrameRate: 100 idleLoopDrivenMode: false currentTime: 0 speedScale: 1 syncToOngoingUpdates: true autoExpansion: true "BodyBar": current: 4 stanceWidth: 0.15 "BodyMotionGenerationBar": balancer: false autoGeneration: false timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: false makeNewBodyItem: true stealthyStepMode: true stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 zmpMaxDistanceFromCenter: 0.02 allLinkPositions: false lipSyncMix: false "KinematicsBar": mode: FK attitude: false penetrationBlock: true collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true Body: "BodyMotionEngine": updateJointVelocities: false "EditableSceneBody": editableSceneBodies: - bodyItem: 2 showCenterOfMass: false showZmp: false - bodyItem: 4 showCenterOfMass: false showZmp: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false OpenRTM: "OpenRTMPlugin": deleteUnmanagedRTCsOnStartingSimulation: false choreonoid-1.5.0/sample/OpenRTM/PA10PickupControllerRTC.cpp0000664000000000000000000001510412741425367022065 0ustar rootroot/** @author Shizuko Hattori @author Shin'ichiro Nakaoka */ #include "PA10PickupControllerRTC.h" #include #include #include #include #include using namespace std; using namespace cnoid; namespace { const double TIMESTEP = 0.001; const double pgain[] = { 35000.0, 35000.0, 35000.0, 35000.0, 35000.0, 35000.0, 35000.0, 17000.0, 17000.0 }; const double dgain[] = { 220.0, 220.0, 220.0, 220.0, 220.0, 220.0, 220.0, 220.0, 220.0 }; const char* samplepd_spec[] = { "implementation_id", "PA10PickupControllerRTC", "type_name", "PA10PickupControllerRTC", "description", "OpenRTM_PA10 Pickup Controller component", "version", "0.1", "vendor", "AIST", "category", "Generic", "activity_type", "DataFlowComponent", "max_instance", "10", "language", "C++", "lang_type", "compile", "" }; Vector3 toRadianVector3(double x, double y, double z){ return Vector3(radian(x), radian(y), radian(z)); } } PA10PickupControllerRTC::PA10PickupControllerRTC(RTC::Manager* manager) : RTC::DataFlowComponentBase(manager), m_angleIn("q", m_angle), m_torqueIn("u_in", m_torque_in), m_torqueOut("u_out", m_torque_out) { } PA10PickupControllerRTC::~PA10PickupControllerRTC() { } RTC::ReturnCode_t PA10PickupControllerRTC::onInitialize() { // Set InPort buffers addInPort("q", m_angleIn); addInPort("u_in", m_torqueIn); // Set OutPort buffer addOutPort("u_out", m_torqueOut); string modelfile = getNativePathString( boost::filesystem::path(shareDirectory()) / "model/PA10/PA10.wrl"); BodyLoader loader; loader.setMessageSink(cout); loader.setShapeLoadingEnabled(false); body = loader.load(modelfile); if(!body){ cout << modelfile << " cannot be loaded." << endl; return RTC::RTC_ERROR; } n = body->numJoints(); leftHand_id = body->link("HAND_L")->jointId(); rightHand_id = body->link("HAND_R")->jointId(); return RTC::RTC_OK; } RTC::ReturnCode_t PA10PickupControllerRTC::onActivated(RTC::UniqueId ec_id) { time = 0.0; qref.resize(n); qref_old.resize(n); qold.resize(n); wrist = body->link("J7"); Link* base = body->rootLink(); baseToWrist = getCustomJointPath(body, base, wrist); base->p().setZero(); base->R().setIdentity(); if(m_angleIn.isNew()){ m_angleIn.read(); } for(int i=0; i < n; ++i){ double q = m_angle.data[i]; qold[i] = q; body->joint(i)->q() = q; } qref = qold; qref_old = qold; baseToWrist->calcForwardKinematics(); VectorXd p0(6); p0.head<3>() = wrist->p(); p0.tail<3>() = rpyFromRot(wrist->attitude()); VectorXd p1(6); p1.head<3>() = Vector3(0.9, 0.0, 0.25); p1.tail<3>() = toRadianVector3(180.0, 0.0, 0.0); wristInterpolator.clear(); wristInterpolator.appendSample(0.0, p0); wristInterpolator.appendSample(1.0, p1); p1.z() = 0.2; wristInterpolator.appendSample(1.2, p1); wristInterpolator.update(); phase = 0; dq_hand = 0.0; m_torque_out.data.length(n); return RTC::RTC_OK; } RTC::ReturnCode_t PA10PickupControllerRTC::onDeactivated(RTC::UniqueId ec_id) { return RTC::RTC_OK; } RTC::ReturnCode_t PA10PickupControllerRTC::onExecute(RTC::UniqueId ec_id) { if(m_angleIn.isNew()){ m_angleIn.read(); } if(m_torqueIn.isNew()){ m_torqueIn.read(); } VectorXd p(6); if(phase <= 3){ p = wristInterpolator.interpolate(time); if(baseToWrist->calcInverseKinematics( Vector3(p.head<3>()), wrist->calcRfromAttitude(rotFromRpy(Vector3(p.tail<3>()))))){ for(int i=0; i < baseToWrist->numJoints(); ++i){ Link* joint = baseToWrist->joint(i); qref[joint->jointId()] = joint->q(); } } } if(phase == 0){ if(time > wristInterpolator.domainUpper()){ phase = 1; } } else if(phase == 1){ if(fabs(m_torque_in.data[0]) < 40.0 || fabs(m_torque_in.data[1]) < 40.0){ // not holded ? dq_hand = std::min(dq_hand + 0.00001, 0.0005); qref[rightHand_id] -= radian(dq_hand); qref[leftHand_id] += radian(dq_hand); } else { VectorXd p2(6); p2.head<3>() = Vector3(0.0, 0.5, 1.0); p2.tail<3>() = toRadianVector3(180.0, -45, 90.0); VectorXd p3(6); p3.head<3>() = Vector3(0.0, 0.7, 0.52); p3.tail<3>() = toRadianVector3(180.0, 0, 90.0); wristInterpolator.clear(); wristInterpolator.appendSample(time, p); wristInterpolator.appendSample(time + 1.0, p2); wristInterpolator.appendSample(time + 1.5, p3); wristInterpolator.appendSample(time + 1.7, p3); wristInterpolator.update(); phase = 2; } } else if(phase == 2){ if(time > wristInterpolator.domainUpper()){ phase = 3; dq_hand = 0.0; } } else if(phase == 3){ if(qref[rightHand_id] < 0.028 || qref[leftHand_id] > -0.028){ dq_hand = std::min(dq_hand + 0.00001, 0.002); qref[rightHand_id] += radian(dq_hand); qref[leftHand_id] -= radian(dq_hand); } else { jointInterpolator.clear(); jointInterpolator.appendSample(time, qref); VectorXd qf = VectorXd::Zero(qref.size()); qf[rightHand_id] = qref[rightHand_id]; qf[leftHand_id] = qref[leftHand_id]; jointInterpolator.appendSample(time + 1.0, qf); jointInterpolator.update(); phase = 4; } } else if(phase == 4){ qref = jointInterpolator.interpolate(time); } for(int i=0; i < n; ++i){ double q = m_angle.data[i]; double dq = (q - qold[i]) / TIMESTEP; double dq_ref = (qref[i] - qref_old[i]) / TIMESTEP; m_torque_out.data[i] = (qref[i] - q) * pgain[i] + (dq_ref - dq) * dgain[i]; qold[i] = q; } qref_old = qref; time += TIMESTEP; m_torqueOut.write(); return RTC::RTC_OK; } extern "C" { DLL_EXPORT void PA10PickupControllerRTCInit(RTC::Manager* manager) { coil::Properties profile(samplepd_spec); manager->registerFactory(profile, RTC::Create, RTC::Delete); } }; choreonoid-1.5.0/sample/OpenRTM/SR1LiftupHGControllerRTC.h0000664000000000000000000000271512741425367021731 0ustar rootroot/** @author Shizuko Hattori */ #ifndef SR1LiftupHGControllerRTC_H #define SR1LiftupHGControllerRTC_H #include #include #include #include #include #include #include "Interpolator.h" #include class SR1LiftupHGControllerRTC : public RTC::DataFlowComponentBase { public: SR1LiftupHGControllerRTC(RTC::Manager* manager); ~SR1LiftupHGControllerRTC(); virtual RTC::ReturnCode_t onInitialize(); virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id); virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id); virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id); protected: // DataInPort declaration RTC::TimedDoubleSeq m_angle; RTC::InPort m_angleIn; RTC::TimedDoubleSeq m_torque_in; RTC::InPort m_torqueIn; // DataOutPort declaration RTC::TimedDoubleSeq m_vel_out; RTC::OutPort m_velOut; private: cnoid::BodyPtr body; unsigned int n; unsigned int rightWrist_id; unsigned int leftWrist_id; cnoid::Interpolator interpolator; cnoid::VectorXd qref, qold, qref_old; double time; double timeStep; int phase; double dq_wrist; double throwTime; }; extern "C" { DLL_EXPORT void SR1LiftupHGControllerRTCInit(RTC::Manager* manager); }; #endif choreonoid-1.5.0/sample/OpenRTM/TankJoystickControllerRTC.h0000664000000000000000000000274312741425367022337 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef TankJoystickControllerRTC_H #define TankJoystickControllerRTC_H #include #include #include #include #include #include class TankJoystickControllerRTC : public RTC::DataFlowComponentBase { public: TankJoystickControllerRTC(RTC::Manager* manager); ~TankJoystickControllerRTC(); virtual RTC::ReturnCode_t onInitialize(); virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id); virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id); virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id); protected: // DataInPort declaration RTC::TimedDoubleSeq angles; RTC::InPort anglesIn; RTC::TimedFloatSeq axes; RTC::InPort axesIn; RTC::TimedBooleanSeq buttons; RTC::InPort buttonsIn; // DataOutPort declaration RTC::TimedDoubleSeq velocities; RTC::OutPort velocitiesOut; RTC::TimedDoubleSeq torques; RTC::OutPort torquesOut; RTC::TimedBooleanSeq lightSwitch; RTC::OutPort lightSwitchOut; private: double qref[2]; double qprev[2]; bool prevLightButtonState; bool isLightOn; }; extern "C" { DLL_EXPORT void TankJoystickControllerRTCInit(RTC::Manager* manager); }; #endif choreonoid-1.5.0/sample/OpenRTM/OpenRTM-SR1LiftupHG.cnoid0000664000000000000000000002300712741425367021440 0ustar rootrootitems: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false collisionDetector: AISTCollisionDetector children: - id: 2 name: "SR1" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/SR1/SR1.yaml" currentBaseLink: "WAIST" rootPosition: [ 0, 0, 0.7135 ] rootAttitude: [ 0.999955, -0.006461, 0.006886, 0.006461, 0.999979, -2.5e-05, -0.006886, 7e-05, 0.999976 ] jointPositions: [ 0.000822, -0.037473, 0.000350, 0.077177, -0.046633, -0.000874, 0.175490, -0.003915, 0.000048, -1.568620, 0.000121, 0.000267, 0.000008, -0.000889, -0.040642, 0.000364, 0.077387, -0.043666, 0.000969, 0.175601, 0.003290, 0.000028, -1.568673, 0.000228, 0.000239, 0.000006, 0.005740, -0.000324, 0.000089, 0.000000 ] initialRootPosition: [ 0, 0, 0.7135 ] initialRootAttitude: [ 0.999955418, -0.00646083645, 0.00688615345, 0.00646116355, 0.999979126, -2.52542765e-05, -0.00688584655, 6.97457235e-05, 0.99997629 ] initialJointPositions: [ 0.000822, -0.037473, 0.000350, 0.077177, -0.046633, -0.000874, 0.175490, -0.003915, 0.000048, -1.568620, 0.000121, 0.000267, 0.000008, -0.000889, -0.040642, 0.000364, 0.077387, -0.043666, 0.000969, 0.175601, 0.003290, 0.000028, -1.568673, 0.000228, 0.000239, 0.000006, 0.005740, -0.000324, 0.000089 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: true children: - id: 3 name: "BodyRTC" plugin: OpenRTM class: BodyRTCItem data: isImmediateMode: true moduleName: "SR1LiftupHGControllerRTC" confFileName: "SR1LiftupHG.conf" configurationMode: "Use Configuration File" AutoConnect: true InstanceName: "SR1" bodyPeriodicRate: 0 - id: 4 name: "box2" plugin: Body class: BodyItem data: modelFile: "${MODEL}/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ 0.55, 0, 0.151 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ 0.000000 ] initialRootPosition: [ 0.55, 0, 0.151 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: true - id: 5 name: "Floor" plugin: Body class: BodyItem data: modelFile: "${MODEL}/floor.wrl" currentBaseLink: "BASE" rootPosition: [ 0, 0, -0.1 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ ] initialRootPosition: [ 0, 0, -0.1 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: false - id: 6 name: "AgXSimulator" plugin: AgX class: AgXSimulatorItem data: realtimeSync: false recording: "full" timeRangeMode: "Active control period" timeLength: 180 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false dynamicsMode: High-gain dynamics gravity: [ 0, 0, -9.80665 ] friction: 0.5 restitution: 0.1 frictionModelType: Iterative Projected frictionSolveType: Direct numThreads: 1 contactReductionMode: Geometry contactReductionBinResolution: 2 contactReductionThreshold: 4 views: - id: 0 name: "CameraImage" plugin: Base class: ImageView mounted: true - id: 1 plugin: Base class: ItemPropertyView mounted: true - id: 2 plugin: Base class: ItemTreeView mounted: true state: selected: [ 6 ] checked: [ 2, 4, 5 ] expanded: [ 1, 2, 3, 4 ] - id: 3 plugin: Base class: MessageView mounted: true - id: 4 plugin: Base class: SceneView mounted: true state: editMode: false viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: true defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true fog: true floorGrid: false floorGridSpan: 10 floorGridInterval: 0.5 xzGridSpan: 10 xzGridInterval: 0.5 xzGrid: false yzGridSpan: 10 yzGridInterval: 0.5 texture: true lineWidth: 1 pointSize: 1 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false enableNewDisplayListDoubleRendering: false useBufferForPicking: true cameras: - camera: [ System, Perspective ] isCurrent: true fieldOfView: 0.6978 near: 0.01 far: 10000 eye: [ 2.87424, 1.38331, 0.951865 ] direction: [ -0.8769392, -0.471866108, -0.0912141208 ] up: [ -0.0803240773, -0.0432210416, 0.995831303 ] - camera: [ System, Orthographic ] orthoHeight: 20 near: 0.01 far: 10000 backgroundColor: [ 0.100000001, 0.100000001, 0.300000012 ] gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] xzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] yzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] dedicatedItemTreeViewChecks: false - id: 5 name: "Task" plugin: Base class: TaskView state: layoutMode: horizontal isAutoMode: false - id: 6 plugin: Body class: BodyLinkView mounted: true state: showRotationMatrix: false - id: 7 plugin: Body class: JointSliderView mounted: true state: showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 2 - id: 8 plugin: Body class: LinkSelectionView mounted: true state: listingMode: "Link List" currentBodyItem: 2 bodyItems: - id: 2 selectedLinks: [ 0 ] - id: 4 selectedLinks: [ 0 ] - id: 9 plugin: Python class: PythonConsoleView mounted: true toolbars: "TimeBar": minTime: 0 maxTime: 15 frameRate: 500 playbackFrameRate: 100 idleLoopDrivenMode: false currentTime: 0 speedScale: 1 syncToOngoingUpdates: true autoExpansion: true "BodyBar": current: 2 "KinematicsBar": mode: FK enablePositionDragger: true penetrationBlock: true collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true "LeggedBodyBar": stanceWidth: 0.15 "BodyMotionGenerationBar": autoGenerationForNewBody: true balancer: false autoGeneration: false timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: false makeNewBodyItem: true stealthyStepMode: true stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 zmpMaxDistanceFromCenter: 0.02 allLinkPositions: false lipSyncMix: false timeToStartBalancer: 0 balancerIterations: 2 plainBalancerMode: false boundaryConditionType: position boundarySmootherType: off boundarySmootherTime: 0.5 boundaryCmAdjustment: false boundaryCmAdjustmentTime: 1 waistHeightRelaxation: false gravity: 9.8 dynamicsTimeRatio: 1 Body: "BodyMotionEngine": updateJointVelocities: false "EditableSceneBody": editableSceneBodies: - bodyItem: 2 showCenterOfMass: false showPpcom: false showZmp: false - bodyItem: 4 showCenterOfMass: false showPpcom: false showZmp: false - bodyItem: 5 showCenterOfMass: false showPpcom: false showZmp: false staticModelEditing: true "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false Media: "PulseAudioManager": keepStreamConnection: false OpenRTM: "deleteUnmanagedRTCsOnStartingSimulation": false choreonoid-1.5.0/sample/OpenRTM/TankJoystick.conf0000664000000000000000000000101412741425367020406 0ustar rootrootout-port = q:CANNON_Y,CANNON_P:JOINT_VALUE in-port = u:CANNON_Y,CANNON_P:JOINT_TORQUE in-port = dq:CRAWLER_TRACK_L,CRAWLER_TRACK_R:JOINT_VELOCITY in-port = lightSwitch:MainLight:LIGHT connection = q:TankJoystickControllerRTC0:q connection = u:TankJoystickControllerRTC0:u connection = dq:TankJoystickControllerRTC0:dq connection = lightSwitch:TankJoystickControllerRTC0:lightSwitch connection = JoystickRTC0:axes:TankJoystickControllerRTC0:axes connection = JoystickRTC0:buttons:TankJoystickControllerRTC0:buttons choreonoid-1.5.0/sample/OpenRTM/TankKinematics.conf0000664000000000000000000000026212741425367020702 0ustar rootrootin-port = q:CANNON_Y,CANNON_P:JOINT_VALUE in-port = root:CHASSIS:ABS_TRANSFORM connection = q:TankKinematicsControllerRTC0:q connection = root:TankKinematicsControllerRTC0:root choreonoid-1.5.0/sample/OpenRTM/SR1WalkControllerRTC.h0000664000000000000000000000244212741425367021142 0ustar rootroot/** @author Shizuko Hattori @author Shin'ichiro Nakaoka */ #ifndef SR1WalkControllerRTC_H #define SR1WalkControllerRTC_H #include #include #include #include #include #include #include #include class SR1WalkControllerRTC : public RTC::DataFlowComponentBase { public: SR1WalkControllerRTC(RTC::Manager* manager); ~SR1WalkControllerRTC(); virtual RTC::ReturnCode_t onInitialize(); virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id); virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id); virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id); protected: // DataInPort declaration RTC::TimedDoubleSeq m_angle; RTC::InPort m_angleIn; // DataOutPort declaration RTC::TimedDoubleSeq m_torque; RTC::OutPort m_torqueOut; private: cnoid::MultiValueSeqPtr qseq; std::vector q0; cnoid::MultiValueSeq::Frame oldFrame; int currentFrame; double timeStep_; }; extern "C" { DLL_EXPORT void SR1WalkControllerRTCInit(RTC::Manager* manager); }; #endif choreonoid-1.5.0/sample/OpenRTM/CMakeLists.txt0000664000000000000000000001014212741425367017664 0ustar rootroot # @author Shizuko Hattori if(NOT ENABLE_GUI) return() endif() option(BUILD_OPENRTM_SAMPLES "Building OpenRTM samples" OFF) if(NOT BUILD_OPENRTM_SAMPLES) return() elseif(NOT BUILD_OPENRTM_PLUGIN) message(FATAL_ERROR "OpenRTM samples need to build OpenRTMPlugin.") endif() include_directories(${OPENRTM_INCLUDE_DIRS}) link_directories(${OPENRTM_LIBRARY_DIRS}) if(WIN32) add_definitions(-D__WIN32__ -D__x86__ -D__NT__ -D__OSVERSION__=4 -D_CRT_SECURE_NO_DEPRECATE -D_WIN32_WINNT=0x0500 -DRTC_CORBA_CXXMAPPING11) endif() function(add_cnoid_sample_rtc) set(target ${ARGV0}) list(REMOVE_AT ARGV 0) add_library(${target} SHARED ${ARGV}) target_link_libraries(${target} CnoidCorba CnoidBody ${OPENRTM_LIBRARIES}) set_target_properties(${target} PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR}/rtc PREFIX "") if(ENABLE_INSTALL_RPATH) set_target_properties(${target} PROPERTIES INSTALL_RPATH "$ORIGIN/../..") endif() install(TARGETS ${target} RUNTIME DESTINATION ${CNOID_PLUGIN_SUBDIR}/rtc CONFIGURATIONS Release Debug LIBRARY DESTINATION ${CNOID_PLUGIN_SUBDIR}/rtc CONFIGURATIONS Release Debug) endfunction() # SR1 walk set(target SR1WalkControllerRTC) add_cnoid_sample_rtc(${target} SR1WalkControllerRTC.cpp) configure_file(OpenRTM-SR1Walk.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) # SR1 lifting up set(target SR1LiftupControllerRTC) add_cnoid_sample_rtc(${target} SR1LiftupControllerRTC.cpp) configure_file(OpenRTM-SR1Liftup.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) # SR1 lifting up AgX high-gain if(BUILD_AGX_PLUGIN) set(target SR1LiftupHGControllerRTC) add_cnoid_sample_rtc(${target} SR1LiftupHGControllerRTC.cpp) configure_file(OpenRTM-SR1LiftupHG.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) configure_file(SR1LiftupHG.conf ${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR}/rtc/SR1LiftupHG.conf COPYONLY) install(FILES SR1LiftupHG.conf DESTINATION ${CNOID_PLUGIN_SUBDIR}/rtc) endif() # PA10 Pickup set(target PA10PickupControllerRTC) add_cnoid_sample_rtc(${target} PA10PickupControllerRTC.cpp) configure_file(OpenRTM-PA10Pickup.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) configure_file(PA10Pickup.conf ${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR}/rtc/PA10Pickup.conf COPYONLY) install(FILES PA10Pickup.conf DESTINATION ${CNOID_PLUGIN_SUBDIR}/rtc) # Joystick add_cnoid_sample_rtc(JoystickRTC JoystickRTC.cpp) target_link_libraries(JoystickRTC CnoidUtil) # Sample Crawler Joystick Controller set(target SampleCrawlerJoystickControllerRTC) add_cnoid_sample_rtc(${target} SampleCrawlerJoystickControllerRTC.cpp) configure_file(OpenRTM-SampleCrawlerJoystick.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) configure_file(SampleCrawlerJoystick.conf ${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR}/rtc/SampleCrawlerJoystick.conf COPYONLY) install(FILES SampleCrawlerJoystick.conf DESTINATION ${CNOID_PLUGIN_SUBDIR}/rtc) # Tank Joystick Controller set(target TankJoystickControllerRTC) add_cnoid_sample_rtc(${target} TankJoystickControllerRTC.cpp) configure_file(OpenRTM-TankJoystick.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) configure_file(TankJoystick.conf ${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR}/rtc/TankJoystick.conf COPYONLY) install(FILES TankJoystick.conf DESTINATION ${CNOID_PLUGIN_SUBDIR}/rtc) # Tank Kinematics Controller set(target TankKinematicsControllerRTC) add_cnoid_sample_rtc(${target} TankKinematicsControllerRTC.cpp) configure_file(OpenRTM-TankKinematics.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) configure_file(TankKinematics.conf ${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR}/rtc/TankKinematics.conf COPYONLY) install(FILES TankKinematics.conf DESTINATION ${CNOID_PLUGIN_SUBDIR}/rtc) # constraintLog add_cnoid_sample_rtc(ConstraintLogRTC ConstraintLogRTC.cpp) configure_file(OpenRTM-SR1LiftupConstLog.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) configure_file(SR1LiftupConstLog.conf ${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR}/rtc/SR1LiftupConstLog.conf COPYONLY) install(FILES SR1LiftupConstLog.conf DESTINATION ${CNOID_PLUGIN_SUBDIR}/rtc) configure_file(SR1LiftupConstLog.py ${CNOID_SOURCE_SHARE_DIR}/script COPYONLY) choreonoid-1.5.0/sample/OpenRTM/OpenRTM-PA10Pickup.cnoid0000664000000000000000000002537312741425367021255 0ustar rootrootitems: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false children: - id: 2 name: "PA10" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/PA10/PA10.wrl" currentBaseLink: "BASE" rootPosition: [ 0.000000, 0.000000, 0.000000 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ 0.000000, -0.523599, 0.000000, 1.047198, 0.000000, -0.523599, 0.000000, -0.025000, 0.025000 ] initialRootPosition: [ 0.000000, 0.000000, 0.000000 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] initialJointPositions: [ 0.000000, -0.523599, 0.000000, 1.047198, 0.000000, -0.523599, 0.000000, -0.025000, 0.025000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false children: - id: 3 name: "BodyRTC" plugin: OpenRTM class: BodyRTCItem data: isImmediateMode: true moduleName: "PA10PickupControllerRTC" confFileName: "PA10Pickup.conf" configurationMode: Use Configuration File AutoConnect: false InstanceName: PA10 bodyPeriodicRate: 0 - id: 4 name: "box3" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box3.wrl" currentBaseLink: "WAIST" rootPosition: [ 0.900000, 0.000000, 0.035000 ] rootAttitude: [ 0.000000, -1.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ ] initialRootPosition: [ 0.900000, 0.000000, 0.035000 ] initialRootAttitude: [ 0.000000, -1.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false - id: 5 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ -0.000000, 0.700000, 0.149900 ] rootAttitude: [ 1.000000, 0.000000, -0.000000, -0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ ] initialRootPosition: [ -0.000000, 0.700000, 0.149900 ] initialRootAttitude: [ 1.000000, 0.000000, -0.000000, -0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] staticModel: true selfCollisionDetection: false - id: 6 name: "Floor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/floor.wrl" currentBaseLink: "BASE" rootPosition: [ 0.000000, 0.000000, -0.100000 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ ] initialRootPosition: [ 0.000000, 0.000000, -0.100000 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false - id: 7 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Specified time" timeLength: 8 allLinkPositionOutputMode: false deviceStateRecording: false dynamicsMode: Forward dynamics integrationMode: Runge Kutta gravity: [ 0, 0, -9.80665 ] staticFriction: 0.5 slipFriction: 0.5 cullingThresh: 0.02 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 30 2Dmode: false - id: 8 name: "ODESimulator" plugin: ODE class: ODESimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Specified time" timeLength: 8 allLinkPositionOutputMode: true deviceStateRecording: false stepMode: Iterative (quick step) gravity: [ 0, 0, -9.80665 ] friction: 1 jointLimitMode: false globalERP: 0.4 globalCFM: 1e-10 numIterations: 50 overRelaxation: 1.3 limitCorrectingVel: true maxCorrectingVel: 1.0e-3 2Dmode: false - id: 9 name: "BulletSimulator" plugin: Bullet class: BulletSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Specified time" timeLength: 8 allLinkPositionOutputMode: true deviceStateRecording: false ErrorReductionParameter: 0.2 NumIterations: 10 Restitution: 0 Friction: 0.7 ERP2: 0 SplitImpulsePenetrationThreshold: -0.0001 views: "Items": selected: [ 7 ] checked: [ 2, 4, 5, 6 ] expanded: [ 1, 2, 3, 4, 5 ] "Scene": walkthrough: false showCollisions: true wireframe: false defaultHeadLight: true defaultHeadLightIntensity: 0.75 worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true floorGrid: false floorGridSpan: 10 floorGridInterval: 0.5 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false camera: current: Perspective eye: [ 2.98726, 1.61043, 1.04286 ] direction: [ -0.888889, -0.444444, -0.111111 ] up: [ -0.0993807, -0.0496904, 0.993808 ] fieldOfView: 0.6978 near: 0.01 far: 10000 orthoHeight: 20 backgroundColor: [ 0.1, 0.1, 0.3 ] gridColor: [ 0.9, 0.9, 0.9, 1 ] "Multi Value Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi SE3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Links": listingMode: "Link List" currentBodyItem: 4 bodyItems: - id: 2 selectedLinks: [ 7 ] - id: 4 selectedLinks: [ 0 ] - id: 5 selectedLinks: [ 0 ] "Body / Link": showRotationMatrix: false "Joint Sliders": showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 4 "Joint Trajectories": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi Affine3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Pose Roll": defaultTransitionTime: 0 updateAll: true autoUpdate: false timeSync: true listingMode: "Part Tree" timeLength: 10 showLipSync: false gridInterval: 1 toolbars: "TimeBar": minTime: 0 maxTime: 10 frameRate: 1000 playbackFrameRate: 100 currentTime: 0 speedScale: 1 syncToOngoingUpdates: true "BodyBar": current: 4 stanceWidth: 0.15 "KinematicsBar": mode: IK attitude: true penetrationBlock: true collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true "BodyMotionGenerationBar": balancer: false autoGeneration: false timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: false makeNewBodyItem: true stealthyStepMode: true stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 zmpMaxDistanceFromCenter: 0.02 allLinkPositions: false lipSyncMix: false timeToStartBalancer: 0 balancerIterations: 2 plainBalancerMode: false boundaryConditionType: position boundarySmootherType: off boundarySmootherTime: 0.5 boundaryCmAdjustment: false boundaryCmAdjustmentTime: 1 waistHeightRelaxation: false gravity: 9.8 dynamicsTimeRatio: 1 Body: "BodyMotionEngine": updateJointVelocities: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false choreonoid-1.5.0/sample/OpenRTM/SampleCrawlerJoystickControllerRTC.cpp0000664000000000000000000000412012741425367024525 0ustar rootroot/** @author Shizuko Hattori @author Shin'ichiro Nakaoka */ #include "SampleCrawlerJoystickControllerRTC.h" static const char* spec[] = { "implementation_id", "SampleCrawlerJoystickControllerRTC", "type_name", "SampleCrawlerJoystickControllerRTC", "description", "Sample Crawler Joystick Controller component", "version", "0.1", "vendor", "AIST", "category", "Generic", "activity_type", "DataFlowComponent", "max_instance", "10", "language", "C++", "lang_type", "compile", "" }; SampleCrawlerJoystickControllerRTC::SampleCrawlerJoystickControllerRTC(RTC::Manager* manager) : RTC::DataFlowComponentBase(manager), axesIn("axes", axes), velocitiesOut("dq", velocities) { } SampleCrawlerJoystickControllerRTC::~SampleCrawlerJoystickControllerRTC() { } RTC::ReturnCode_t SampleCrawlerJoystickControllerRTC::onInitialize() { // Set InPort buffers addInPort("axes", axesIn); // Set OutPort buffer addOutPort("dq", velocitiesOut); return RTC::RTC_OK; } RTC::ReturnCode_t SampleCrawlerJoystickControllerRTC::onActivated(RTC::UniqueId ec_id) { velocities.data.length(2); velocities.data[0] = 0.0; velocities.data[1] = 0.0; return RTC::RTC_OK; } RTC::ReturnCode_t SampleCrawlerJoystickControllerRTC::onDeactivated(RTC::UniqueId ec_id) { return RTC::RTC_OK; } RTC::ReturnCode_t SampleCrawlerJoystickControllerRTC::onExecute(RTC::UniqueId ec_id) { if(axesIn.isNew()){ axesIn.read(); velocities.data[0] = -2.0 * axes.data[1] + axes.data[0]; velocities.data[1] = -2.0 * axes.data[1] - axes.data[0]; } velocitiesOut.write(); return RTC::RTC_OK; } extern "C" { DLL_EXPORT void SampleCrawlerJoystickControllerRTCInit(RTC::Manager* manager) { coil::Properties profile(spec); manager->registerFactory(profile, RTC::Create, RTC::Delete); } }; choreonoid-1.5.0/sample/OpenRTM/Interpolator.h0000664000000000000000000001622312741425367017765 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_INTERPOLATOR_H_INCLUDED #define CNOID_UTIL_INTERPOLATOR_H_INCLUDED #include #include #include namespace cnoid { template class Interpolator { enum SegmentType { UNDETERMINED, CUBIC_SPLINE, POLYNOMINAL }; struct Sample { double x; VectorType y; VectorType yp; // coefficients VectorType a; VectorType a_end; VectorType b; VectorType c; bool isEdge; bool isNaturalEdge; SegmentType segmentType; Sample(int size) : y(size), yp(size), a(size), a_end(size), b(size), c(size) { } }; std::vector samples; mutable int prevReferredSegments; public: void clear() { samples.clear(); prevReferredSegments = -1; } int numSamples() const { return samples.size(); } double domainLower() const { return samples.empty() ? 0.0 : samples.front().x; } double domainUpper() const { return samples.empty() ? 0.0 : samples.back().x; } int appendSample(double x, const VectorType& y) { if(!samples.empty()){ Sample& prev = samples.back(); if(fabs(prev.x - x) < std::numeric_limits::epsilon()){ samples.pop_back(); } } int index = samples.size(); int size = y.size(); samples.push_back(Sample(size)); Sample& s = samples.back(); s.x = x; s.y = y; s.yp = VectorType::Zero(size); s.isEdge = false; s.isNaturalEdge = false; s.segmentType = UNDETERMINED; return index; } void setEndPoint(int sampleIndex, bool isNatural = false) { Sample& sample = samples[sampleIndex]; sample.isEdge = true; sample.isNaturalEdge = isNatural; sample.yp = VectorType::Zero(sample.yp.size()); // first-order derivative (velocity) } bool update() { int n = samples.size(); int s = 0; while(true){ const int m = n - s; if(m < 2){ break; } if(m >= 3 && !samples[s + 1].isEdge){ s = updateCubicSplineSegment(s); } else { s = updateSegmentBetweenTwoSamples(s); } } return (n >= 2); } VectorType interpolate(double x) const { int lower; int upper; const int n = samples.size(); int k; if(prevReferredSegments >= 0 && prevReferredSegments < (n - 1)){ k = prevReferredSegments; if(x >= samples[k].x && x < samples[k+1].x){ goto calc; } } lower = 0; upper = n - 1; if(x < samples[0].x){ return samples[0].y; } else if(x >= samples[upper].x){ return samples[upper].y; } while(upper - lower > 1){ k = (upper + lower) / 2; if(samples[k].x > x){ upper = k; } else { lower = k; } } k = lower; calc: prevReferredSegments = k; const Sample& s0 = samples[k]; const Sample& s1 = samples[k+1]; if(s0.segmentType == CUBIC_SPLINE){ const VectorType& a_end = (s1.isEdge ? s1.a_end : s1.a); const double h = s1.x - s0.x; const double A = (s1.x - x) / h; const double B = (x - s0.x) / h; return A * s0.y + B * s1.y + ((A*A*A - A) * s0.a + (B*B*B - B) * a_end) * (h*h) / 6.0; } else if(s0.segmentType == POLYNOMINAL){ const VectorType& a0 = s0.y; const VectorType& a1 = s0.a; const VectorType& a2 = s0.b; const VectorType& a3 = s0.c; const double h = x - s0.x; const double h2 = h * h; const double h3 = h2 * h; return (a0 + a1 * h + a2 * h2 + a3 * h3); } return VectorType(); } private: int updateCubicSplineSegment(int begin) { Sample& s0 = samples[begin]; s0.segmentType = CUBIC_SPLINE; s0.isEdge = true; const int size = s0.y.size(); if(s0.isNaturalEdge){ s0.a = VectorType::Zero(size); s0.b = VectorType::Zero(size); } else { Sample& s1 = samples[begin + 1]; s0.a = VectorType::Constant(size, -0.5); s0.b = (3.0 / (s1.x - s0.x)) * ((s1.y - s0.y) / (s1.x - s0.x) - s0.yp); } const int n = samples.size(); int i = (begin + 1); while(true) { Sample& s0 = samples[i-1]; Sample& s1 = samples[i]; Sample& s2 = samples[i+1]; s1.segmentType = CUBIC_SPLINE; const VectorType b = (s2.y - s1.y) / (s2.x - s1.x) - (s1.y - s0.y) / (s1.x - s0.x); const double sig = (s1.x - s0.x) / (s2.x - s0.x); for(int j=0; j < size; ++j){ const double p = sig * s0.a[j] + 2.0; s1.a[j] = (sig - 1.0) / p; s1.b[j] = (6.0 * b[j] / (s2.x - s0.x) - sig * s0.b[j]) / p; } if(s2.isEdge || i == (n - 2)){ break; } ++i; } double qf; VectorType bf; Sample& sf0 = samples[i]; Sample& sf = samples[i+1]; const int next = i + 1; sf.isEdge = true; if(sf.isNaturalEdge){ qf = 0.0; bf = VectorType::Zero(size); } else { qf = 0.5; bf = (3.0 / (sf.x - sf0.x)) * (sf.yp - (sf.y - sf0.y) / (sf.x - sf0.x)); } const VectorType a_save = sf.a; for(int i=0; i < sf0.a.size(); ++i){ sf.a[i] = (bf[i] - qf * sf0.b[i]) / (qf * sf0.a[i] + 1.0); } while(i >= begin){ Sample& s0 = samples[i]; Sample& s1 = samples[i+1]; s0.a = s0.a.cwiseProduct(s1.a) + s0.b; --i; } sf.a_end = sf.a; sf.a = a_save; return next; } int updateSegmentBetweenTwoSamples(int begin) { Sample& s0 = samples[begin]; s0.segmentType = POLYNOMINAL; s0.isEdge = true; Sample& s1 = samples[begin+1]; s1.isEdge = true; const double h = (s1.x - s0.x); const double h2 = h * h; const double h3 = h2 * h; const int size = s0.yp.size(); const VectorType d0 = s0.isEdge ? s0.yp : VectorType::Zero(size); const VectorType d1 = s1.isEdge ? s1.yp : VectorType::Zero(size); s0.a = d0; s0.b = 3.0 * (s1.y - s0.y) / h2 - (2.0 * d0 - d1) / h; s0.c = (d0 + d1) / h2 + 2.0 * (s0.y - s1.y) / h3; return begin + 1; } }; } #endif choreonoid-1.5.0/sample/OpenRTM/SR1LiftupHG.conf0000664000000000000000000000024212741425367020003 0ustar rootrootout-port = q:JOINT_VALUE connection = q:q out-port = u_out:JOINT_TORQUE connection = u_out:u_in in-port = vel_in:JOINT_VELOCITY connection = vel_in:vel_out choreonoid-1.5.0/sample/OpenRTM/SR1WalkControllerRTC.cpp0000664000000000000000000000745112741425367021502 0ustar rootroot/** @author Shizuko Hattori @author Shin'ichiro Nakaoka */ #include "SR1WalkControllerRTC.h" #include #include #include using namespace std; using namespace cnoid; namespace { const double pgain[] = { 8000.0, 8000.0, 8000.0, 8000.0, 8000.0, 8000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 8000.0, 8000.0, 8000.0, 8000.0, 8000.0, 8000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 8000.0, 8000.0, 8000.0 }; const double dgain[] = { 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0 }; const char* samplepd_spec[] = { "implementation_id", "SR1WalkControllerRTC", "type_name", "SR1WalkControllerRTC", "description", "OpenRTM_SR1 Walk Controller component", "version", "0.1", "vendor", "AIST", "category", "Generic", "activity_type", "DataFlowComponent", "max_instance", "10", "language", "C++", "lang_type", "compile", "" }; } SR1WalkControllerRTC::SR1WalkControllerRTC(RTC::Manager* manager) : RTC::DataFlowComponentBase(manager), m_angleIn("q", m_angle), m_torqueOut("u", m_torque) { } SR1WalkControllerRTC::~SR1WalkControllerRTC() { } RTC::ReturnCode_t SR1WalkControllerRTC::onInitialize() { // Set InPort buffers addInPort("q", m_angleIn); // Set OutPort buffer addOutPort("u", m_torqueOut); return RTC::RTC_OK; } RTC::ReturnCode_t SR1WalkControllerRTC::onActivated(RTC::UniqueId ec_id) { if(!qseq){ string filename = getNativePathString( boost::filesystem::path(shareDirectory()) / "motion" / "SR1" / "SR1WalkPattern.yaml"); BodyMotion motion; if(!motion.loadStandardYAMLformat(filename)){ cout << motion.seqMessage() << endl; return RTC::RTC_ERROR; } qseq = motion.jointPosSeq(); if(qseq->numFrames() == 0){ cout << "Empty motion data." << endl; return RTC::RTC_ERROR; } q0.resize(qseq->numParts()); timeStep_ = qseq->getTimeStep(); } m_torque.data.length(qseq->numParts()); if(m_angleIn.isNew()){ m_angleIn.read(); } for(size_t i=0; i < qseq->numParts(); ++i){ q0[i] = m_angle.data[i]; } oldFrame = qseq->frame(0); currentFrame = 0; return RTC::RTC_OK; } RTC::ReturnCode_t SR1WalkControllerRTC::onDeactivated(RTC::UniqueId ec_id) { return RTC::RTC_OK; } RTC::ReturnCode_t SR1WalkControllerRTC::onExecute(RTC::UniqueId ec_id) { if(m_angleIn.isNew()){ m_angleIn.read(); } if(currentFrame < qseq->numFrames()){ MultiValueSeq::Frame frame = qseq->frame(currentFrame++); for(int i=0; i < frame.size(); i++){ double q_ref = frame[i]; double q = m_angle.data[i]; double dq_ref = (q_ref - oldFrame[i]) / timeStep_; double dq = (q - q0[i]) / timeStep_; m_torque.data[i] = (q_ref - q) * pgain[i] + (dq_ref - dq) * dgain[i]; q0[i] = q; } oldFrame = frame; } m_torqueOut.write(); return RTC::RTC_OK; } extern "C" { DLL_EXPORT void SR1WalkControllerRTCInit(RTC::Manager* manager) { coil::Properties profile(samplepd_spec); manager->registerFactory(profile, RTC::Create, RTC::Delete); } }; choreonoid-1.5.0/sample/OpenRTM/SR1LiftupControllerRTC.h0000664000000000000000000000274612741425367021516 0ustar rootroot/** @author Shizuko Hattori @author Shin'ichiro Nakaoka */ #ifndef SR1LiftupControllerRTC_H #define SR1LiftupControllerRTC_H #include #include #include #include #include #include #include "Interpolator.h" #include class SR1LiftupControllerRTC : public RTC::DataFlowComponentBase { public: SR1LiftupControllerRTC(RTC::Manager* manager); ~SR1LiftupControllerRTC(); virtual RTC::ReturnCode_t onInitialize(); virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id); virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id); virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id); protected: // DataInPort declaration RTC::TimedDoubleSeq m_angle; RTC::InPort m_angleIn; RTC::TimedDoubleSeq m_torque_in; RTC::InPort m_torqueIn; // DataOutPort declaration RTC::TimedDoubleSeq m_torque_out; RTC::OutPort m_torqueOut; private: cnoid::BodyPtr body; unsigned int n; unsigned int rightWrist_id; unsigned int leftWrist_id; cnoid::Interpolator interpolator; cnoid::VectorXd qref, qold, qref_old; double time; double timeStep; int phase; double dq_wrist; double throwTime; }; extern "C" { DLL_EXPORT void SR1LiftupControllerRTCInit(RTC::Manager* manager); }; #endif choreonoid-1.5.0/sample/OpenRTM/SR1LiftupConstLog.conf0000664000000000000000000000053612741425367021243 0ustar rootrootout-port = q:JOINT_VALUE connection = q:q out-port = u_out:JOINT_TORQUE connection = u_out:u_in in-port = u_in:JOINT_TORQUE connection = u_in:u_out out-port = larm_cf:LARM_WRIST_R:CONSTRAINT_FORCE out-port = rarm_cf:RARM_WRIST_R:CONSTRAINT_FORCE connection = larm_cf:ConstraintLogRTC0:larm_cf connection = rarm_cf:ConstraintLogRTC0:rarm_cf choreonoid-1.5.0/sample/OpenRTM/ConstraintLogRTC.h0000664000000000000000000000223712741425367020442 0ustar rootroot/** @brief A component for accessing a joystick control device */ #ifndef ConstraintLogRTC_H #define ConstraintLogRTC_H #include #include #include #include #include #include #include #include #include /*! * @class ConstraintLogRTC * */ class ConstraintLogRTC : public RTC::DataFlowComponentBase { public: ConstraintLogRTC(RTC::Manager* manager); virtual ~ConstraintLogRTC(); virtual RTC::ReturnCode_t onInitialize(); virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id); virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id); virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id); protected: // DataInPort declaration RTC::TimedDoubleSeq m_larmCF; RTC::InPort m_larmCFIn; RTC::TimedDoubleSeq m_rarmCF; RTC::InPort m_rarmCFIn; private: std::ofstream outFile; }; extern "C" { DLL_EXPORT void ConstraintLogRTCInit(RTC::Manager* manager); }; #endif choreonoid-1.5.0/sample/OpenRTM/OpenRTM-TankJoystick.cnoid0000664000000000000000000002574012741425367022053 0ustar rootrootitems: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false children: - id: 2 name: "Tank" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/tank.wrl" currentBaseLink: "" rootPosition: [ -0.800000, 2.400000, 0.100000 ] rootAttitude: [ 0.000000, 1.000000, 0.000000, -1.000000, 0.000000, -0.000000, -0.000000, 0.000000, 1.000000 ] jointPositions: [ 0.000000, 0.000000, 0.000000, 0.058225 ] initialRootPosition: [ -0.800000, 2.400000, 0.100000 ] initialRootAttitude: [ 0.000000, 1.000000, 0.000000, -1.000000, 0.000000, -0.000000, -0.000000, 0.000000, 1.000000 ] initialJointPositions: [ 0.000000, 0.000000, 0.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false children: - id: 3 name: "BodyRTCItem" plugin: OpenRTM class: BodyRTCItem data: isImmediateMode: true moduleName: "TankJoystickControllerRTC" confFileName: "TankJoystick.conf" configurationMode: Use Configuration File AutoConnect: false InstanceName: Tank bodyPeriodicRate: 0 - id: 4 name: "Labo1" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/Labo1/Labo1.wrl" currentBaseLink: "Base" rootPosition: [ 0.000000, 0.000000, 0.000000 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ ] initialRootPosition: [ 0.000000, 0.000000, 0.000000 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false - id: 5 name: "JoystickRTC" plugin: OpenRTM class: RTCItem data: moduleName: "JoystickRTC" periodicType: PeriodicExecutionContext periodicRate: 500 - id: 6 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recording: "off" timeRangeMode: "Unlimited" timeLength: 60 allLinkPositionOutputMode: false deviceStateRecording: true dynamicsMode: Forward dynamics integrationMode: Runge Kutta gravity: [ 0, 0, -9.80665 ] staticFriction: 0.5 slipFriction: 0.5 cullingThresh: 0.01 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 30 2Dmode: false - id: 7 name: "ODESimulator" plugin: ODE class: ODESimulatorItem data: realtimeSync: true recording: "off" timeRangeMode: "Unlimited" timeLength: 60 allLinkPositionOutputMode: true deviceStateRecording: true stepMode: Iterative (quick step) gravity: [ 0, 0, -9.80665 ] friction: 30 jointLimitMode: false globalERP: 0.4 globalCFM: 1e-10 numIterations: 50 overRelaxation: 1.3 limitCorrectingVel: true maxCorrectingVel: 1.0e-3 2Dmode: false - id: 8 name: "BulletSimulator" plugin: Bullet class: BulletSimulatorItem data: realtimeSync: true recording: "off" timeRangeMode: "Unlimited" timeLength: 60 allLinkPositionOutputMode: true deviceStateRecording: true ErrorReductionParameter: 0.2 NumIterations: 10 Restitution: 0 Friction: 1 ERP2: 0 SplitImpulsePenetrationThreshold: -0.0001 views: - id: 0 plugin: Base class: ItemPropertyView mounted: true - id: 1 plugin: Base class: ItemTreeView mounted: true state: selected: [ 6 ] checked: [ 1, 2, 4 ] expanded: [ 1, 2, 3, 7 ] - id: 2 plugin: Base class: MessageView mounted: true - id: 3 plugin: Base class: SceneView mounted: true state: editMode: false viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: false defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.1 worldLightAmbient: 0 additionalLights: true fog: true floorGrid: false floorGridSpan: 10 floorGridInterval: 0.5 xzGridSpan: 10 xzGridInterval: 0.5 xzGrid: false yzGridSpan: 10 yzGridInterval: 0.5 texture: true lineWidth: 1 pointSize: 1 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false enableNewDisplayListDoubleRendering: false useBufferForPicking: true cameras: - camera: [ System, Perspective ] isCurrent: true fieldOfView: 0.6978 near: 0.01 far: 10000 eye: [ -2.86824, 6.25331, 2.49127 ] direction: [ 0.412288148, -0.847325304, -0.33475112 ] up: [ 0.146464125, -0.301009257, 0.942306578 ] - camera: [ System, Orthographic ] orthoHeight: 20 near: 0.01 far: 10000 backgroundColor: [ 0, 0, 0 ] gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] xzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] yzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] dedicatedItemTreeViewChecks: false - id: 4 name: "Scene 2" plugin: Base class: SceneView mounted: true state: editMode: false viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: true defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true fog: true floorGrid: false floorGridSpan: 10 floorGridInterval: 0.5 xzGridSpan: 10 xzGridInterval: 0.5 xzGrid: false yzGridSpan: 10 yzGridInterval: 0.5 texture: true lineWidth: 1 pointSize: 1 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false enableNewDisplayListDoubleRendering: false useBufferForPicking: true cameras: - camera: [ System, Perspective ] fieldOfView: 0.6978 near: 0.01 far: 100 eye: [ 4, 2, 1.5 ] direction: [ -0.888888889, -0.444444444, -0.111111111 ] up: [ -0.099380799, -0.0496903995, 0.99380799 ] - camera: [ System, Orthographic ] orthoHeight: 20 near: 0.01 far: 100 - camera: [ Tank, Camera ] isCurrent: true backgroundColor: [ 0.100000001, 0.100000001, 0.300000012 ] gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] xzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] yzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] dedicatedItemTreeViewChecks: false - id: 5 name: "Joystick" plugin: Base class: VirtualJoystickView mounted: true - id: 6 plugin: Body class: BodyLinkView mounted: true state: showRotationMatrix: false - id: 7 plugin: Body class: JointSliderView mounted: true state: showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 4 - id: 8 plugin: Body class: LinkSelectionView mounted: true state: listingMode: "Link List" currentBodyItem: 4 bodyItems: - id: 2 selectedLinks: [ 0 ] - id: 9 plugin: Python class: PythonConsoleView mounted: true toolbars: "TimeBar": minTime: 0 maxTime: 5 frameRate: 1000 playbackFrameRate: 100 idleLoopDrivenMode: false currentTime: 0 speedScale: 1 syncToOngoingUpdates: true autoExpansion: true Body: "BodyMotionEngine": updateJointVelocities: false "EditableSceneBody": editableSceneBodies: - bodyItem: 2 showCenterOfMass: false showPpcom: false showZmp: false - bodyItem: 4 showCenterOfMass: false showPpcom: false showZmp: false staticModelEditing: true viewAreas: - type: embedded tabs: true contents: type: splitter orientation: horizontal sizes: [ 303, 1291 ] children: - type: splitter orientation: vertical sizes: [ 381, 381 ] children: - type: pane views: [ 1 ] current: 1 - type: pane views: [ 0, 8 ] current: 0 - type: splitter orientation: vertical sizes: [ 545, 217 ] children: - type: splitter orientation: horizontal sizes: [ 602, 683 ] children: - type: pane views: [ 6, 7, 4 ] current: 4 - type: pane views: [ 3 ] current: 3 - type: splitter orientation: horizontal sizes: [ 774, 511 ] children: - type: pane views: [ 2, 9 ] current: 2 - type: pane views: [ 5 ] current: 5 layoutOfToolBars: rows: - - { name: "FileBar", x: 0, priority: 0 } - { name: "ScriptBar", x: 48, priority: 0 } - { name: "SimulationBar", x: 95, priority: 1 } - { name: "TimeBar", x: 96, priority: 0 } - { name: "SceneBar", x: 1336, priority: 2 } choreonoid-1.5.0/sample/OpenRTM/SR1LiftupHGControllerRTC.cpp0000664000000000000000000001764412741425367022273 0ustar rootroot/** @author Shizuko Hattori */ #include "SR1LiftupHGControllerRTC.h" #include #include #include #include #include using namespace std; using namespace cnoid; namespace { const double TIMESTEP = 0.002; VectorXd& convertToRadian(VectorXd& q){ for(size_t i=0; i < q.size(); ++i){ q[i] = radian(q[i]); } return q; } const double pgain[] = { 8000.0, 8000.0, 8000.0, 8000.0, 8000.0, 8000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 8000.0, 8000.0, 8000.0, 8000.0, 8000.0, 8000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 8000.0, 8000.0, 8000.0 }; const double dgain[] = { 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0 }; const char* samplepd_spec[] = { "implementation_id", "SR1LiftupHGControllerRTC", "type_name", "SR1LiftupHGControllerRTC", "description", "OpenRTM_SR1 Liftup Controller component", "version", "0.1", "vendor", "AIST", "category", "Generic", "activity_type", "DataFlowComponent", "max_instance", "10", "language", "C++", "lang_type", "compile", "" }; } SR1LiftupHGControllerRTC::SR1LiftupHGControllerRTC(RTC::Manager* manager) : RTC::DataFlowComponentBase(manager), m_angleIn("q", m_angle), m_torqueIn("u_in", m_torque_in), m_velOut("vel_out", m_vel_out) { } SR1LiftupHGControllerRTC::~SR1LiftupHGControllerRTC() { } RTC::ReturnCode_t SR1LiftupHGControllerRTC::onInitialize() { // Set InPort buffers addInPort("q", m_angleIn); addInPort("u_in", m_torqueIn); // Set OutPort buffer addOutPort("vel_out", m_velOut); string modelfile = getNativePathString( boost::filesystem::path(shareDirectory()) / "model/SR1/SR1.wrl"); BodyLoader loader; loader.setMessageSink(cout); loader.setShapeLoadingEnabled(false); body = loader.load(modelfile); if(!body){ cout << modelfile << " cannot be loaded." << endl; return RTC::RTC_ERROR; } n = body->numJoints(); rightWrist_id = body->link("RARM_WRIST_R")->jointId(); leftWrist_id = body->link("LARM_WRIST_R")->jointId(); return RTC::RTC_OK; } RTC::ReturnCode_t SR1LiftupHGControllerRTC::onActivated(RTC::UniqueId ec_id) { time = 0.0; throwTime = std::numeric_limits::max(); qref_old.resize(n); qold.resize(n); if(m_angleIn.isNew()){ m_angleIn.read(); } VectorXd q0(n); for(int i=0; i < n; ++i){ qold[i] = m_angle.data[i]; q0[i] = m_angle.data[i]; } VectorXd q1(n); q1 << 0.0, -15.0, 0.0, 45.0, -30.0, 0.0, 10.0, 0.0, 0.0, -90.0, 0.0, 0.0, 0.0, 0.0, -15.0, 0.0, 45.0, -30.0, 0.0, 10.0, 0.0, 0.0, -90.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0; VectorXd q2(n); q2 << 0.0, -80.0, 0.0, 148.0, -70.0, 0.0, -47.0, 0.0, 0.0, -60.0, 0.0, 0.0, 0.0, 0.0, -80.0, 0.0, 148.0, -70.0, 0.0, -47.0, 0.0, 0.0, -60.0, 0.0, 0.0, 0.0, 50.0, 0.0, 0.0; interpolator.clear(); interpolator.appendSample(0.0, q0); interpolator.appendSample(1.5, convertToRadian(q1)); interpolator.appendSample(4.5, convertToRadian(q2)); interpolator.update(); qref_old = interpolator.interpolate(0.0); phase = 0; dq_wrist = 0.0; m_vel_out.data.length(n); return RTC::RTC_OK; } RTC::ReturnCode_t SR1LiftupHGControllerRTC::onDeactivated(RTC::UniqueId ec_id) { return RTC::RTC_OK; } RTC::ReturnCode_t SR1LiftupHGControllerRTC::onExecute(RTC::UniqueId ec_id) { if(m_angleIn.isNew()){ m_angleIn.read(); } if(m_torqueIn.isNew()){ m_torqueIn.read(); } if(phase == 0){ qref = interpolator.interpolate(time); if(time > interpolator.domainUpper()){ phase = 1; } } else if(phase == 1){ // holding phase qref = qref_old; if(fabs(m_torque_in.data[rightWrist_id]) < 50 || fabs(m_torque_in.data[leftWrist_id]) < 50.0){ // not holded ? dq_wrist = std::min(dq_wrist + 0.001, 0.1); qref[rightWrist_id] += radian(dq_wrist); qref[leftWrist_id] -= radian(dq_wrist); } else { // transit to getting up phase VectorXd q3(n); q3 << 0.0, -15.0, 0.0, 45.0, -30.0, 0.0, -50.0, 0.0, 0.0, -60.0, 0.0, 0.0, 0.0, 0.0, -15.0, 0.0, 45.0, -30.0, 0.0, -50.0, 0.0, 0.0, -60.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0; convertToRadian(q3); q3[rightWrist_id] = qref[rightWrist_id]; q3[leftWrist_id] = qref[leftWrist_id]; interpolator.clear(); interpolator.appendSample(time, qref); interpolator.appendSample(time + 2.5, q3); interpolator.appendSample(time + 4.0, q3); interpolator.update(); qref = interpolator.interpolate(time); phase = 2; } } else if(phase == 2){ qref = interpolator.interpolate(time); if(time > interpolator.domainUpper()){ // transit to throwing phase VectorXd q4(n); q4 << 0.0, -40.0, 0.0, 80.0, -40.0, 0.0, -50.0, 0.0, 0.0, -60.0, 0.0, 0.0, 0.0, 0.0, -40.0, 0.0, 80.0, -40.0, 0.0, -50.0, 0.0, 0.0, -60.0, 0.0, 0.0, 0.0, 10.0, 0.0, 0.0; convertToRadian(q4); q4[rightWrist_id] = qref[rightWrist_id]; q4[leftWrist_id] = qref[leftWrist_id]; VectorXd q5(n); q5 << 0.0, -15.0, 0.0, 45.0, -30.0, 0.0, -60.0, 0.0, 0.0, -50.0, 0.0, 0.0, 0.0, 0.0, -15.0, 0.0, 45.0, -30.0, 0.0, -60.0, 0.0, 0.0, -50.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0; convertToRadian(q5); q5[rightWrist_id] = qref[rightWrist_id]; q5[leftWrist_id] = qref[leftWrist_id]; interpolator.clear(); interpolator.appendSample(time, qref); interpolator.setEndPoint(interpolator.appendSample(time + 1.0, q4)); interpolator.appendSample(time + 1.3, q5); throwTime = time + 1.15; interpolator.update(); qref = interpolator.interpolate(time); phase = 3; } } else if (phase == 3){ qref = interpolator.interpolate(time); } else if (phase == 4){ qref[rightWrist_id] = 0.0; qref[leftWrist_id] = 0.0; } for(int i=0; i < n; ++i){ double q = m_angle.data[i]; double dq = (q - qold[i]) / TIMESTEP; double dq_ref = (qref[i] - qref_old[i]) / TIMESTEP; //m_torque_out.data[i] = (qref[i] - q) * pgain[i] + (dq_ref - dq) * dgain[i]; m_vel_out.data[i] =(qref[i] - qold[i]) / TIMESTEP; qold[i] = qref[i]; } if(phase == 3){ if(time > throwTime){ if(time < interpolator.domainUpper() + 0.1){ m_vel_out.data[rightWrist_id] = 0.0; m_vel_out.data[leftWrist_id] = 0.0; } else { phase = 4; } } } qref_old = qref; time += TIMESTEP; m_velOut.write(); return RTC::RTC_OK; } extern "C" { DLL_EXPORT void SR1LiftupHGControllerRTCInit(RTC::Manager* manager) { coil::Properties profile(samplepd_spec); manager->registerFactory(profile, RTC::Create, RTC::Delete); } }; choreonoid-1.5.0/sample/OpenRTM/JoystickRTC.cpp0000664000000000000000000000675512741425367020017 0ustar rootroot/*! @brief A component for accessing a joystick control device */ #include "JoystickRTC.h" // Module specification static const char* joystick_spec[] = { "implementation_id", "JoystickRTC", "type_name", "JoystickRTC", "description", "Access a joystick control device.", "version", "1.0.0", "vendor", "AIST", "category", "Human input", "activity_type", "PERIODIC", "kind", "DataFlowComponent", "max_instance", "1", "language", "C++", "lang_type", "compile", // Configuration variables "conf.default.device", "/dev/input/js0", "conf.default.debugLevel", "0", "" }; JoystickRTC::JoystickRTC(RTC::Manager* manager) : RTC::DataFlowComponentBase(manager), m_axesOut("axes", m_axes), m_buttonsOut("buttons", m_buttons), m_debugLevel(0) { m_joystick = 0; } JoystickRTC::~JoystickRTC() { if(m_joystick){ delete m_joystick; } } RTC::ReturnCode_t JoystickRTC::onInitialize() { // Bind variables and configuration variable bindParameter("device", m_device, "/dev/input/js0"); bindParameter("debugLevel", m_debugLevel, "0"); // Set OutPort buffer addOutPort("axes", m_axesOut); addOutPort("buttons", m_buttonsOut); return RTC::RTC_OK; } RTC::ReturnCode_t JoystickRTC::onActivated(RTC::UniqueId ec_id) { if(m_debugLevel > 0){ std::cout << "JoystickRTC::onActivated(" << ec_id << ")" << std::endl; } if(!m_joystick){ m_joystick = new cnoid::Joystick(m_device.c_str()); } if(!m_joystick->isReady()){ std::cerr << "Joystick device(" << m_device << ") is not opened" << std::endl; return RTC::RTC_ERROR; } else { int n = m_joystick->numAxes(); m_axes.data.length(n); for(int i=0; i < n; ++i){ m_axes.data[i] = m_joystick->getPosition(i); } int m = m_joystick->numButtons(); m_buttons.data.length(m); for(int i=0; i < m; ++i){ m_buttons.data[i] = m_joystick->getButtonState(i); } return RTC::RTC_OK; } } RTC::ReturnCode_t JoystickRTC::onDeactivated(RTC::UniqueId ec_id) { if(m_debugLevel > 0){ std::cout << "JoystickRTC::onDeactivated(" << ec_id << ")" << std::endl; } if(m_joystick){ delete m_joystick; m_joystick = 0; } return RTC::RTC_OK; } RTC::ReturnCode_t JoystickRTC::onExecute(RTC::UniqueId ec_id) { m_joystick->readCurrentState(); if(m_debugLevel > 0){ std::cout << "axes:"; } const int n = m_joystick->numAxes(); for(int i=0; i < n; ++i){ m_axes.data[i] = m_joystick->getPosition(i); if(m_debugLevel > 0){ std::cout << m_axes.data[i]; } } if(m_debugLevel > 0){ std::cout << ", buttons:"; } const int m = m_joystick->numButtons(); for(int i=0; i < m; ++i){ m_buttons.data[i] = m_joystick->getButtonState(i); if(m_debugLevel > 0){ std::cout << m_buttons.data[i]; } } if(m_debugLevel > 0){ std::cout << std::endl; } m_axesOut.write(); m_buttonsOut.write(); return RTC::RTC_OK; } extern "C" { void JoystickRTCInit(RTC::Manager* manager) { coil::Properties profile(joystick_spec); manager->registerFactory(profile, RTC::Create, RTC::Delete); } }; choreonoid-1.5.0/sample/OpenRTM/PA10PickupControllerRTC.h0000664000000000000000000000306612741425367021536 0ustar rootroot/** @author Shizuko Hattori @author Shin'ichiro Nakaoka */ #ifndef PA10PickupControllerRTC_H #define PA10PickupControllerRTC_H #include #include #include #include #include #include #include "Interpolator.h" #include #include class PA10PickupControllerRTC : public RTC::DataFlowComponentBase { public: PA10PickupControllerRTC(RTC::Manager* manager); ~PA10PickupControllerRTC(); virtual RTC::ReturnCode_t onInitialize(); virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id); virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id); virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id); protected: // DataInPort declaration RTC::TimedDoubleSeq m_angle; RTC::InPort m_angleIn; RTC::TimedDoubleSeq m_torque_in; RTC::InPort m_torqueIn; RTC::TimedDoubleSeq m_torque_out; RTC::OutPort m_torqueOut; private: cnoid::BodyPtr body; unsigned int n; unsigned int rightHand_id; unsigned int leftHand_id; int phase; cnoid::Interpolator wristInterpolator; cnoid::Interpolator jointInterpolator; cnoid::Link* wrist; cnoid::JointPathPtr baseToWrist; double dq_hand; cnoid::VectorXd qref, qold, qref_old; double time; }; extern "C" { DLL_EXPORT void PA10PickupControllerRTCInit(RTC::Manager* manager); }; #endif choreonoid-1.5.0/sample/OpenRTM/SR1LiftupControllerRTC.cpp0000664000000000000000000001757212741425367022054 0ustar rootroot/** @author Shizuko Hattori @author Shin'ichiro Nakaoka */ #include "SR1LiftupControllerRTC.h" #include #include #include #include #include using namespace std; using namespace cnoid; namespace { const double TIMESTEP = 0.002; VectorXd& convertToRadian(VectorXd& q){ for(size_t i=0; i < q.size(); ++i){ q[i] = radian(q[i]); } return q; } const double pgain[] = { 8000.0, 8000.0, 8000.0, 8000.0, 8000.0, 8000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 8000.0, 8000.0, 8000.0, 8000.0, 8000.0, 8000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 8000.0, 8000.0, 8000.0 }; const double dgain[] = { 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0 }; const char* samplepd_spec[] = { "implementation_id", "SR1LiftupControllerRTC", "type_name", "SR1LiftupControllerRTC", "description", "OpenRTM_SR1 Liftup Controller component", "version", "0.1", "vendor", "AIST", "category", "Generic", "activity_type", "DataFlowComponent", "max_instance", "10", "language", "C++", "lang_type", "compile", "" }; } SR1LiftupControllerRTC::SR1LiftupControllerRTC(RTC::Manager* manager) : RTC::DataFlowComponentBase(manager), m_angleIn("q", m_angle), m_torqueIn("u_in", m_torque_in), m_torqueOut("u_out", m_torque_out) { } SR1LiftupControllerRTC::~SR1LiftupControllerRTC() { } RTC::ReturnCode_t SR1LiftupControllerRTC::onInitialize() { // Set InPort buffers addInPort("q", m_angleIn); addInPort("u_in", m_torqueIn); // Set OutPort buffer addOutPort("u_out", m_torqueOut); string modelfile = getNativePathString( boost::filesystem::path(shareDirectory()) / "model/SR1/SR1.wrl"); BodyLoader loader; loader.setMessageSink(cout); loader.setShapeLoadingEnabled(false); body = loader.load(modelfile); if(!body){ cout << modelfile << " cannot be loaded." << endl; return RTC::RTC_ERROR; } n = body->numJoints(); rightWrist_id = body->link("RARM_WRIST_R")->jointId(); leftWrist_id = body->link("LARM_WRIST_R")->jointId(); return RTC::RTC_OK; } RTC::ReturnCode_t SR1LiftupControllerRTC::onActivated(RTC::UniqueId ec_id) { time = 0.0; throwTime = std::numeric_limits::max(); qref_old.resize(n); qold.resize(n); if(m_angleIn.isNew()){ m_angleIn.read(); } VectorXd q0(n); for(int i=0; i < n; ++i){ qold[i] = m_angle.data[i]; q0[i] = m_angle.data[i]; } VectorXd q1(n); q1 << 0.0, -15.0, 0.0, 45.0, -30.0, 0.0, 10.0, 0.0, 0.0, -90.0, 0.0, 0.0, 0.0, 0.0, -15.0, 0.0, 45.0, -30.0, 0.0, 10.0, 0.0, 0.0, -90.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0; VectorXd q2(n); q2 << 0.0, -80.0, 0.0, 148.0, -70.0, 0.0, -47.0, 0.0, 0.0, -60.0, 0.0, 0.0, 0.0, 0.0, -80.0, 0.0, 148.0, -70.0, 0.0, -47.0, 0.0, 0.0, -60.0, 0.0, 0.0, 0.0, 50.0, 0.0, 0.0; interpolator.clear(); interpolator.appendSample(0.0, q0); interpolator.appendSample(1.5, convertToRadian(q1)); interpolator.appendSample(4.5, convertToRadian(q2)); interpolator.update(); qref_old = interpolator.interpolate(0.0); phase = 0; dq_wrist = 0.0; m_torque_out.data.length(n); return RTC::RTC_OK; } RTC::ReturnCode_t SR1LiftupControllerRTC::onDeactivated(RTC::UniqueId ec_id) { return RTC::RTC_OK; } RTC::ReturnCode_t SR1LiftupControllerRTC::onExecute(RTC::UniqueId ec_id) { if(m_angleIn.isNew()){ m_angleIn.read(); } if(m_torqueIn.isNew()){ m_torqueIn.read(); } if(phase == 0){ qref = interpolator.interpolate(time); if(time > interpolator.domainUpper()){ phase = 1; } } else if(phase == 1){ // holding phase qref = qref_old; if(fabs(m_torque_in.data[rightWrist_id]) < 50.0 || fabs(m_torque_in.data[leftWrist_id]) < 50.0){ // not holded ? dq_wrist = std::min(dq_wrist + 0.001, 0.1); qref[rightWrist_id] += radian(dq_wrist); qref[leftWrist_id] -= radian(dq_wrist); } else { // transit to getting up phase VectorXd q3(n); q3 << 0.0, -15.0, 0.0, 45.0, -30.0, 0.0, -50.0, 0.0, 0.0, -60.0, 0.0, 0.0, 0.0, 0.0, -15.0, 0.0, 45.0, -30.0, 0.0, -50.0, 0.0, 0.0, -60.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0; convertToRadian(q3); q3[rightWrist_id] = qref[rightWrist_id]; q3[leftWrist_id] = qref[leftWrist_id]; interpolator.clear(); interpolator.appendSample(time, qref); interpolator.appendSample(time + 2.5, q3); interpolator.appendSample(time + 4.0, q3); interpolator.update(); qref = interpolator.interpolate(time); phase = 2; } } else if(phase == 2){ qref = interpolator.interpolate(time); if(time > interpolator.domainUpper()){ // transit to throwing phase VectorXd q4(n); q4 << 0.0, -40.0, 0.0, 80.0, -40.0, 0.0, -50.0, 0.0, 0.0, -60.0, 0.0, 0.0, 0.0, 0.0, -40.0, 0.0, 80.0, -40.0, 0.0, -50.0, 0.0, 0.0, -60.0, 0.0, 0.0, 0.0, 10.0, 0.0, 0.0; convertToRadian(q4); q4[rightWrist_id] = qref[rightWrist_id]; q4[leftWrist_id] = qref[leftWrist_id]; VectorXd q5(n); q5 << 0.0, -15.0, 0.0, 45.0, -30.0, 0.0, -60.0, 0.0, 0.0, -50.0, 0.0, 0.0, 0.0, 0.0, -15.0, 0.0, 45.0, -30.0, 0.0, -60.0, 0.0, 0.0, -50.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0; convertToRadian(q5); q5[rightWrist_id] = qref[rightWrist_id]; q5[leftWrist_id] = qref[leftWrist_id]; interpolator.clear(); interpolator.appendSample(time, qref); interpolator.setEndPoint(interpolator.appendSample(time + 1.0, q4)); interpolator.appendSample(time + 1.3, q5); throwTime = time + 1.15; interpolator.update(); qref = interpolator.interpolate(time); phase = 3; } } else if (phase == 3){ qref = interpolator.interpolate(time); } else if (phase == 4){ qref[rightWrist_id] = 0.0; qref[leftWrist_id] = 0.0; } for(int i=0; i < n; ++i){ double q = m_angle.data[i]; double dq = (q - qold[i]) / TIMESTEP; double dq_ref = (qref[i] - qref_old[i]) / TIMESTEP; m_torque_out.data[i] = (qref[i] - q) * pgain[i] + (dq_ref - dq) * dgain[i]; qold[i] = q; } if(phase == 3){ if(time > throwTime){ if(time < interpolator.domainUpper() + 0.1){ m_torque_out.data[rightWrist_id] = 0.0; m_torque_out.data[leftWrist_id] = 0.0; } else { phase = 4; } } } qref_old = qref; time += TIMESTEP; m_torqueOut.write(); return RTC::RTC_OK; } extern "C" { DLL_EXPORT void SR1LiftupControllerRTCInit(RTC::Manager* manager) { coil::Properties profile(samplepd_spec); manager->registerFactory(profile, RTC::Create, RTC::Delete); } }; choreonoid-1.5.0/sample/OpenRTM/TankKinematicsControllerRTC.h0000664000000000000000000000221112741425367022615 0ustar rootroot/** @author Shizuko Hattori */ #ifndef TankKinematicsControllerRTC_H #define TankKinematicsControllerRTC_H #include #include #include #include #include #include #include #include "Interpolator.h" class TankKinematicsControllerRTC : public RTC::DataFlowComponentBase { public: TankKinematicsControllerRTC(RTC::Manager* manager); ~TankKinematicsControllerRTC(); virtual RTC::ReturnCode_t onInitialize(); virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id); virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id); virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id); protected: // DataOutPort declaration RTC::TimedDoubleSeq m_angle; RTC::OutPort m_angleOut; RTC::TimedDoubleSeq m_root; RTC::OutPort m_rootOut; private: double time; cnoid::Interpolator interpolator; }; extern "C" { DLL_EXPORT void TankKinematicsControllerRTCInit(RTC::Manager* manager); }; #endif choreonoid-1.5.0/sample/OpenRTM/SampleCrawlerJoystickControllerRTC.h0000664000000000000000000000214612741425367024200 0ustar rootroot/** @author Shizuko Hattori @author Shin'ichiro Nakaoka */ #ifndef SampleCrawlerJoystickControllerRTC_H #define SampleCrawlerJoystickControllerRTC_H #include #include #include #include #include #include class SampleCrawlerJoystickControllerRTC : public RTC::DataFlowComponentBase { public: SampleCrawlerJoystickControllerRTC(RTC::Manager* manager); ~SampleCrawlerJoystickControllerRTC(); virtual RTC::ReturnCode_t onInitialize(); virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id); virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id); virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id); protected: // DataInPort declaration RTC::TimedFloatSeq axes; RTC::InPort axesIn; // DataOutPort declaration RTC::TimedDoubleSeq velocities; RTC::OutPort velocitiesOut; }; extern "C" { DLL_EXPORT void SampleCrawlerJoystickControllerRTCInit(RTC::Manager* manager); }; #endif choreonoid-1.5.0/sample/OpenRTM/OpenRTM-SR1Liftup.cnoid0000664000000000000000000002461412741425367021226 0ustar rootrootitems: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false children: - id: 2 name: "SR1" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/SR1/SR1.yaml" currentBaseLink: "WAIST" rootPosition: [ 0.000000, 0.000000, 0.713500 ] rootAttitude: [ 0.999955, -0.006461, 0.006886, 0.006461, 0.999979, -0.000025, -0.006886, 0.000070, 0.999976 ] jointPositions: [ 0.000822, -0.037473, 0.000350, 0.077177, -0.046633, -0.000874, 0.175490, -0.003915, 0.000048, -1.568620, 0.000121, 0.000267, 0.000008, -0.000889, -0.040642, 0.000364, 0.077387, -0.043666, 0.000969, 0.175601, 0.003290, 0.000028, -1.568673, 0.000228, 0.000239, 0.000006, 0.005740, -0.000324, 0.000089 ] initialRootPosition: [ 0.000000, 0.000000, 0.713500 ] initialRootAttitude: [ 0.999955, -0.006461, 0.006886, 0.006461, 0.999979, -0.000025, -0.006886, 0.000070, 0.999976 ] initialJointPositions: [ 0.000822, -0.037473, 0.000350, 0.077177, -0.046633, -0.000874, 0.175490, -0.003915, 0.000048, -1.568620, 0.000121, 0.000267, 0.000008, -0.000889, -0.040642, 0.000364, 0.077387, -0.043666, 0.000969, 0.175601, 0.003290, 0.000028, -1.568673, 0.000228, 0.000239, 0.000006, 0.005740, -0.000324, 0.000089 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false children: - id: 3 name: "BodyRTC" plugin: OpenRTM class: BodyRTCItem data: isImmediateMode: true moduleName: "SR1LiftupControllerRTC" confFileName: "" configurationMode: Create Default Port AutoConnect: true InstanceName: SR1 bodyPeriodicRate: 0 - id: 4 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ 0.550000, 0.000000, 0.151000 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ ] initialRootPosition: [ 0.550000, 0.000000, 0.151000 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false - id: 5 name: "Floor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/floor.wrl" currentBaseLink: "BASE" rootPosition: [ 0.000000, 0.000000, -0.100000 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ ] initialRootPosition: [ 0.000000, 0.000000, -0.100000 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false - id: 6 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Time bar range" timeLength: 10 allLinkPositionOutputMode: false deviceStateRecording: true dynamicsMode: Forward dynamics integrationMode: Runge Kutta gravity: [ 0, 0, -9.80665 ] staticFriction: 0.5 slipFriction: 0.5 cullingThresh: 0.01 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 30 2Dmode: false - id: 7 name: "ODESimulator" plugin: ODE class: ODESimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Time bar range" timeLength: 10 allLinkPositionOutputMode: true deviceStateRecording: true stepMode: Iterative (quick step) gravity: [ 0, 0, -9.80665 ] friction: 1 jointLimitMode: false globalERP: 0.4 globalCFM: 1e-10 numIterations: 50 overRelaxation: 1.3 limitCorrectingVel: true maxCorrectingVel: 1.0e-3 2Dmode: false - id: 8 name: "BulletSimulator" plugin: Bullet class: BulletSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Time bar range" timeLength: 60 allLinkPositionOutputMode: true deviceStateRecording: true ErrorReductionParameter: 0.2 NumIterations: 10 Restitution: 0 Friction: 0.7 ERP2: 0.5 SplitImpulsePenetrationThreshold: -0.0001 views: "Items": selected: [ 6 ] checked: [ 2, 4, 5 ] expanded: [ 1, 2, 3, 4 ] "Scene": walkthrough: false showCollisions: true wireframe: false defaultHeadLight: true defaultHeadLightIntensity: 0.75 worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true floorGrid: false floorGridSpan: 10 floorGridInterval: 0.5 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false camera: current: Perspective eye: [ 2.87424, 1.38331, 0.951865 ] direction: [ -0.876939, -0.471866, -0.0912141 ] up: [ -0.080324, -0.043221, 0.995831 ] fieldOfView: 0.6978 near: 0.01 far: 10000 orthoHeight: 20 backgroundColor: [ 0.1, 0.1, 0.3 ] gridColor: [ 0.9, 0.9, 0.9, 1 ] "Multi Value Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi SE3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Links": listingMode: "Link List" currentBodyItem: 2 bodyItems: - id: 2 selectedLinks: [ 0 ] - id: 4 selectedLinks: [ 0 ] "Body / Link": showRotationMatrix: false "Joint Sliders": showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 2 "Joint Trajectories": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi Affine3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Pose Roll": defaultTransitionTime: 0 updateAll: true autoUpdate: false timeSync: true listingMode: "Part Tree" timeLength: 10 showLipSync: false gridInterval: 1 toolbars: "TimeBar": minTime: 0 maxTime: 15 frameRate: 500 playbackFrameRate: 100 currentTime: 0 speedScale: 1 syncToOngoingUpdates: true "BodyBar": current: 2 stanceWidth: 0.15 "KinematicsBar": mode: FK attitude: false penetrationBlock: true collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true "BodyMotionGenerationBar": balancer: false autoGeneration: false timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: false makeNewBodyItem: true stealthyStepMode: true stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 zmpMaxDistanceFromCenter: 0.02 allLinkPositions: false lipSyncMix: false timeToStartBalancer: 0 balancerIterations: 2 plainBalancerMode: false boundaryConditionType: position boundarySmootherType: off boundarySmootherTime: 0.5 boundaryCmAdjustment: false boundaryCmAdjustmentTime: 1 waistHeightRelaxation: false gravity: 9.8 dynamicsTimeRatio: 1 Body: "BodyMotionEngine": updateJointVelocities: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false choreonoid-1.5.0/sample/OpenRTM/OpenRTM-SR1LiftupConstLog.cnoid0000664000000000000000000002454412741425367022701 0ustar rootrootitems: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false collisionDetector: AISTCollisionDetector children: - id: 2 name: "SR1" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/SR1/SR1.yaml" currentBaseLink: "WAIST" rootPosition: [ 0, 0, 0.7135 ] rootAttitude: [ 0.999955, -0.006461, 0.006886, 0.006461, 0.999979, -2.5e-05, -0.006886, 7e-05, 0.999976 ] jointPositions: [ 0.000822, -0.037473, 0.000350, 0.077177, -0.046633, -0.000874, 0.175490, -0.003915, 0.000048, -1.568620, 0.000121, 0.000267, 0.000008, -0.000889, -0.040642, 0.000364, 0.077387, -0.043666, 0.000969, 0.175601, 0.003290, 0.000028, -1.568673, 0.000228, 0.000239, 0.000006, 0.005740, -0.000324, 0.000089 ] initialRootPosition: [ 0, 0, 0.7135 ] initialRootAttitude: [ 0.999955418, -0.00646083645, 0.00688615345, 0.00646116355, 0.999979126, -2.52542811e-05, -0.00688584655, 6.97457189e-05, 0.99997629 ] initialJointPositions: [ 0.000822, -0.037473, 0.000350, 0.077177, -0.046633, -0.000874, 0.175490, -0.003915, 0.000048, -1.568620, 0.000121, 0.000267, 0.000008, -0.000889, -0.040642, 0.000364, 0.077387, -0.043666, 0.000969, 0.175601, 0.003290, 0.000028, -1.568673, 0.000228, 0.000239, 0.000006, 0.005740, -0.000324, 0.000089 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: true children: - id: 3 name: "BodyRTC" plugin: OpenRTM class: BodyRTCItem data: isImmediateMode: true controllerOptions: "" moduleName: "SR1LiftupControllerRTC" confFileName: "SR1LiftupConstLog.conf" configurationMode: "Use Configuration File" AutoConnect: true InstanceName: "SR1" bodyPeriodicRate: 0 RelativePathBase: "RTC directory" - id: 4 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ 0.55, 0, 0.151 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ ] initialRootPosition: [ 0.55, 0, 0.151 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: true - id: 5 name: "Floor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/floor.wrl" currentBaseLink: "BASE" rootPosition: [ 0, 0, -0.1 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ ] initialRootPosition: [ 0, 0, -0.1 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: false - id: 6 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Time bar range" timeLength: 10 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false controllerOptions: "" dynamicsMode: "Forward dynamics" integrationMode: "Runge Kutta" gravity: [ 0, 0, -9.80665 ] staticFriction: 0.5 slipFriction: 0.5 cullingThresh: 0.01 contactCullingDepth: 0.05 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 30 kinematicWalking: false 2Dmode: false - id: 7 name: "constraintLogRTC" plugin: OpenRTM class: RTCItem data: moduleName: "ConstraintLogRTC" periodicType: ChoreonoidExecutionContext periodicRate: 1000 RelativePathBase: "RTC directory" - id: 8 name: "SR1LiftupConstLog.py" plugin: PythonSimScript class: PythonSimScriptItem data: timing: After init. delay: 0 simulationOnly: true backgroundExecution: false file: "${SHARE}/script/SR1LiftupConstLog.py" views: - id: 0 name: "CameraImage" plugin: Base class: ImageView mounted: true - id: 1 plugin: Base class: ItemPropertyView mounted: true - id: 2 plugin: Base class: ItemTreeView mounted: true state: selected: [ 6 ] checked: [ 2, 4, 5, 8 ] expanded: [ 1, 2, 3, 4 ] - id: 3 plugin: Base class: MessageView mounted: true - id: 4 plugin: Base class: SceneView mounted: true state: editMode: false viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: true defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true fog: true floorGrid: false floorGridSpan: 10 floorGridInterval: 0.5 xzGridSpan: 10 xzGridInterval: 0.5 xzGrid: false yzGridSpan: 10 yzGridInterval: 0.5 texture: true lineWidth: 1 pointSize: 1 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false enableNewDisplayListDoubleRendering: false useBufferForPicking: true cameras: - camera: [ System, Perspective ] isCurrent: true fieldOfView: 0.6978 near: 0.01 far: 10000 eye: [ 2.87424, 1.38331, 0.951865 ] direction: [ -0.8769392, -0.471866108, -0.0912141208 ] up: [ -0.0803240773, -0.0432210416, 0.995831303 ] - camera: [ System, Orthographic ] orthoHeight: 20 near: 0.01 far: 10000 backgroundColor: [ 0.100000001, 0.100000001, 0.300000012 ] gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] xzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] yzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] dedicatedItemTreeViewChecks: false - id: 5 name: "Task" plugin: Base class: TaskView state: layoutMode: horizontal isAutoMode: false - id: 6 plugin: Body class: BodyLinkView mounted: true state: showRotationMatrix: false - id: 7 plugin: Body class: JointSliderView mounted: true state: showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 2 - id: 8 plugin: Body class: LinkSelectionView mounted: true state: listingMode: "Link List" currentBodyItem: 2 bodyItems: - id: 2 selectedLinks: [ 0 ] - id: 4 selectedLinks: [ 0 ] - id: 9 plugin: Python class: PythonConsoleView mounted: true toolbars: "TimeBar": minTime: 0 maxTime: 15 frameRate: 500 playbackFrameRate: 100 idleLoopDrivenMode: false currentTime: 0 speedScale: 1 syncToOngoingUpdates: true autoExpansion: true "KinematicsBar": mode: FK enablePositionDragger: true penetrationBlock: true collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true "BodyBar": current: 2 "LeggedBodyBar": stanceWidth: 0.15 "BodyMotionGenerationBar": autoGenerationForNewBody: true balancer: false autoGeneration: false timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: false makeNewBodyItem: true stealthyStepMode: true stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 zmpMaxDistanceFromCenter: 0.02 allLinkPositions: false lipSyncMix: false timeToStartBalancer: 0 balancerIterations: 2 plainBalancerMode: false boundaryConditionType: position boundarySmootherType: off boundarySmootherTime: 0.5 boundaryCmAdjustment: false boundaryCmAdjustmentTime: 1 waistHeightRelaxation: false gravity: 9.8 dynamicsTimeRatio: 1 Body: "BodyMotionEngine": updateJointVelocities: false "EditableSceneBody": editableSceneBodies: - bodyItem: 2 showCenterOfMass: false showPpcom: false showZmp: false - bodyItem: 4 showCenterOfMass: false showPpcom: false showZmp: false - bodyItem: 5 showCenterOfMass: false showPpcom: false showZmp: false staticModelEditing: true "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false Media: "PulseAudioManager": keepStreamConnection: false OpenRTM: "deleteUnmanagedRTCsOnStartingSimulation": false choreonoid-1.5.0/sample/OpenRTM/PA10Pickup.conf0000664000000000000000000000024612741425367017614 0ustar rootrootout-port = q:JOINT_VALUE connection = q:q out-port = u_out:HAND_R,HAND_L:JOINT_TORQUE connection = u_out:u_in in-port = u_in:JOINT_TORQUE connection = u_in:u_outchoreonoid-1.5.0/sample/OpenRTM/ConstraintLogRTC.cpp0000664000000000000000000000452012741425367020772 0ustar rootroot/*! @brief A component to save the constraint force data to a file. */ #include "ConstraintLogRTC.h" #define FILENAME "SR1wristConstraintForce.log" // Module specification static const char* logFile_spec[] = { "implementation_id", "ConstraintLogRTC", "type_name", "ConstraintLogRTC", "description", "save the constraint force data to a file.", "version", "1.0.0", "vendor", "AIST", "category", "Human input", "activity_type", "PERIODIC", "kind", "DataFlowComponent", "max_instance", "1", "language", "C++", "lang_type", "compile", "" }; ConstraintLogRTC::ConstraintLogRTC(RTC::Manager* manager) : RTC::DataFlowComponentBase(manager), m_larmCFIn("larm_cf", m_larmCF), m_rarmCFIn("rarm_cf", m_rarmCF) { } ConstraintLogRTC::~ConstraintLogRTC() { } RTC::ReturnCode_t ConstraintLogRTC::onInitialize() { addInPort("larm_cf", m_larmCFIn); addInPort("rarm_cf", m_rarmCFIn); return RTC::RTC_OK; } RTC::ReturnCode_t ConstraintLogRTC::onActivated(RTC::UniqueId ec_id) { outFile.open(FILENAME, std::ios::out); return RTC::RTC_OK; } RTC::ReturnCode_t ConstraintLogRTC::onDeactivated(RTC::UniqueId ec_id) { outFile.close(); return RTC::RTC_OK; } RTC::ReturnCode_t ConstraintLogRTC::onExecute(RTC::UniqueId ec_id) { if(m_larmCFIn.isNew()){ m_larmCFIn.read(); m_rarmCFIn.read(); outFile << m_larmCF.tm.sec + m_larmCF.tm.nsec / 1e9 << " :" << std::endl; outFile << "LARM_WRIST :" << std::endl; for(int i=0; iregisterFactory(profile, RTC::Create, RTC::Delete); } }; choreonoid-1.5.0/sample/OpenRTM/TankKinematicsControllerRTC.cpp0000664000000000000000000000725312741425367023163 0ustar rootroot/** @author Shizuko Hattori */ #include "TankKinematicsControllerRTC.h" using namespace std; using namespace cnoid; namespace { const double TIMESTEP = 0.001; const double TANK_POS_Z = 0.1; const char* samplepd_spec[] = { "implementation_id", "TankKinematicsControllerRTC", "type_name", "TankKinematicsControllerRTC", "description", "Tank Kinematics Controller component", "version", "0.1", "vendor", "AIST", "category", "Generic", "activity_type", "DataFlowComponent", "max_instance", "10", "language", "C++", "lang_type", "compile", "" }; } TankKinematicsControllerRTC::TankKinematicsControllerRTC(RTC::Manager* manager) : RTC::DataFlowComponentBase(manager), m_angleOut("q", m_angle), m_rootOut("root", m_root) { } TankKinematicsControllerRTC::~TankKinematicsControllerRTC() { } RTC::ReturnCode_t TankKinematicsControllerRTC::onInitialize() { // Set OutPort buffer addOutPort("q", m_angleOut); addOutPort("root", m_rootOut); return RTC::RTC_OK; } RTC::ReturnCode_t TankKinematicsControllerRTC::onActivated(RTC::UniqueId ec_id) { time = 0.0; VectorXd data0(5); // x, y, yaw of root, yaw, pitch of CANNON data0 << -0.8, 2.4, radian(-90.0), radian(0.0), radian(0.0); VectorXd data1(5); data1 << -0.8, 0.8, radian(-90.0), radian(0.0), radian(0.0); VectorXd data2(5); data2 << -0.5, 0.6, radian(0.0), radian(0.0), radian(0.0); VectorXd data3(5); data3 << -0.5, 0.6, radian(0.0), radian(-45.0), radian(0.0); VectorXd data4(5); data4 << -0.5, 0.6, radian(0.0), radian(45.0), radian(0.0); VectorXd data5(5); data5 << -0.5, 0.6, radian(0.0), radian(0.0), radian(-30.0); VectorXd data6(5); data6 << -0.5, 0.6, radian(0.0), radian(0.0), radian(30.0); VectorXd data7(5); data7 << -0.8, 0.6, radian(0.0), radian(0.0), radian(0.0); VectorXd data8(5); data8 << -0.8, 2.4, radian(90.0), radian(0.0), radian(0.0); interpolator.clear(); interpolator.appendSample(0.0, data0); interpolator.appendSample(3.0, data1); interpolator.appendSample(6.0, data2); interpolator.appendSample(9.0, data3); interpolator.appendSample(12.0, data4); interpolator.appendSample(15.0, data5); interpolator.appendSample(18.0, data6); interpolator.appendSample(21.0, data7); interpolator.appendSample(24.0, data8); interpolator.update(); m_angle.data.length(2); m_root.data.length(12); return RTC::RTC_OK; } RTC::ReturnCode_t TankKinematicsControllerRTC::onDeactivated(RTC::UniqueId ec_id) { return RTC::RTC_OK; } RTC::ReturnCode_t TankKinematicsControllerRTC::onExecute(RTC::UniqueId ec_id) { VectorXd data(5); data = interpolator.interpolate(time); Matrix3 R = rotFromRpy(0.0, 0.0, data[2]); m_root.data[0] = data[0]; m_root.data[1] = data[1]; m_root.data[2] = TANK_POS_Z; m_root.data[3] = R(0,0); m_root.data[4] = R(0,1); m_root.data[5] = R(0,2); m_root.data[6] = R(1,0); m_root.data[7] = R(1,1); m_root.data[8] = R(1,2); m_root.data[9] = R(2,0); m_root.data[10] = R(2,1); m_root.data[11] = R(2,2); m_angle.data[0] = data[3]; m_angle.data[1] = data[4]; m_rootOut.write(); m_angleOut.write(); time += TIMESTEP; return RTC::RTC_OK; } extern "C" { DLL_EXPORT void TankKinematicsControllerRTCInit(RTC::Manager* manager) { coil::Properties profile(samplepd_spec); manager->registerFactory(profile, RTC::Create, RTC::Delete); } }; choreonoid-1.5.0/sample/CMakeLists.txt0000664000000000000000000000103112741425367016375 0ustar rootroot# @author Shin'ichiro Nakaoka function(install_sample_source) if(INSTALL_SDK) get_filename_component(name ${CMAKE_CURRENT_SOURCE_DIR} NAME) foreach(file ${ARGV}) install(FILES ${file} DESTINATION ${CNOID_SHARE_SUBDIR}/sample/${name}/) endforeach() install(FILES ManualMakefile DESTINATION ${CNOID_SHARE_SUBDIR}/sample/${name} RENAME Makefile) endif() endfunction() file(GLOB subdirs "*") foreach(subdir ${subdirs}) if(EXISTS ${subdir}/CMakeLists.txt) add_subdirectory(${subdir}) endif() endforeach() choreonoid-1.5.0/sample/SimpleController/0000775000000000000000000000000012741425367017137 5ustar rootrootchoreonoid-1.5.0/sample/SimpleController/SR1WalkPush.py0000664000000000000000000000074212741425367021600 0ustar rootroot import cnoid.Base import cnoid.BodyPlugin def pushWaist(): robotItem = cnoid.Base.RootItem.instance().findItem("World/SR1") simulatorItem = cnoid.BodyPlugin.SimulatorItem.findActiveSimulatorItemFor(robotItem) waistLink = robotItem.body().link("WAIST") simulatorItem.setExternalForce(robotItem, waistLink, [0, 0, 0], [200, 0.0, 0.0], 1) pushWaist() # Use 'callLater' to execute the above function in the background execution mode # coid.Base.callLater(pushWaist) choreonoid-1.5.0/sample/SimpleController/SR1WalkinHouse.cnoid0000664000000000000000000002653112741425367022743 0ustar rootrootoptionalPlugins: [ ODE, Bullet, PhysX, AgX ] items: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false collisionDetector: AISTCollisionDetector children: - id: 2 name: "SR1" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/SR1/SR1Hand.wrl" currentBaseLink: "WAIST" rootPosition: [ 1.9, -0.798, 0.7235 ] rootAttitude: [ 0, -1, 0, 1, 0, 0, 0, 0, 1 ] jointPositions: [ 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, -0.003491, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, -0.003491, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000 ] initialRootPosition: [ 1.9, -0.798, 0.7235 ] initialRootAttitude: [ 2.22044605e-16, -1, 0, 1, 2.22044605e-16, 0, 0, 0, 1 ] initialJointPositions: [ 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, -0.003491, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, -0.003491, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: true children: - id: 3 name: "SR1WalkGraspController" plugin: SimpleController class: SimpleControllerItem data: isImmediateMode: true controllerOptions: "" controller: "SR1WalkGraspController" reloading: true - id: 4 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/house/box.wrl" currentBaseLink: "WAIST" rootPosition: [ 2.18, 0.55, 0.895 ] rootAttitude: [ 0, -1, 0, 1, 0, 0, 0, 0, 1 ] jointPositions: [ ] initialRootPosition: [ 2.18, 0.55, 0.895 ] initialRootAttitude: [ 2.22044605e-16, -1, 0, 1, 2.22044605e-16, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: true - id: 5 name: "table" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/house/table.main.wrl" currentBaseLink: "WAIST" rootPosition: [ 0, 2.5, 0 ] rootAttitude: [ 1, 0, 0, 0, 0.000796, -1, 0, 1, 0.000796 ] jointPositions: [ ] initialRootPosition: [ 0, 2.5, 0 ] initialRootAttitude: [ 1, 0, 0, 0, 0.000791744293, -1, 0, 1, 0.000791744293 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: true - id: 6 name: "longfloor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/house/floor.main.wrl" currentBaseLink: "WAIST" rootPosition: [ 0, 2.5, 0 ] rootAttitude: [ 1, 0, 0, 0, 0.000796, -1, 0, 1, 0.000796 ] jointPositions: [ ] initialRootPosition: [ 0, 2.5, 0 ] initialRootAttitude: [ 1, 0, 0, 0, 0.000791744293, -1, 0, 1, 0.000791744293 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: true - id: 7 name: "Simulators" plugin: Base class: FolderItem children: - id: 8 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Time bar range" timeLength: 27 allLinkPositionOutputMode: true deviceStateOutput: true controllerThreads: true recordCollisionData: false controllerOptions: "" dynamicsMode: "Forward dynamics" integrationMode: "Runge Kutta" gravity: [ 0, 0, -9.80665 ] staticFriction: 0.5 slipFriction: 0.5 cullingThresh: 0.01 contactCullingDepth: 0.05 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 30 kinematicWalking: false 2Dmode: false - id: 9 name: "ODESimulator" plugin: ODE class: ODESimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Time bar range" timeLength: 27 allLinkPositionOutputMode: true deviceStateOutput: true controllerThreads: true recordCollisionData: false controllerOptions: "" stepMode: Iterative (quick step) gravity: [ 0, 0, -9.8 ] friction: 0.5 jointLimitMode: false globalERP: 0.4 globalCFM: 1e-10 numIterations: 50 overRelaxation: 1.3 limitCorrectingVel: true maxCorrectingVel: 1.0e-3 2Dmode: false UseWorldItem'sCollisionDetector: false velocityMode: false - id: 10 name: "AgXSimulator" plugin: AgX class: AgXSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Time bar range" timeLength: 27 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false controllerOptions: "" dynamicsMode: Forward dynamics gravity: [ 0, 0, -9.80665 ] friction: 0.5 restitution: 0.1 frictionModelType: Iterative Projected frictionSolveType: Direct numThreads: 1 contactReductionMode: Geometry contactReductionBinResolution: 2 contactReductionThreshold: 4 - id: 11 name: "house" plugin: Base class: SceneItem data: file: "${SHARE}/model/house/house.main.wrl" format: VRML-FILE translation: [ 0, 0, 0 ] rotation: [ 1, 0, 0, 0 ] views: - id: 0 plugin: Base class: ItemPropertyView mounted: true - id: 1 plugin: Base class: ItemTreeView mounted: true state: selected: [ 8 ] checked: [ 1, 2, 6, 5, 4, 11 ] expanded: [ 1, 2, 3, 7 ] - id: 2 plugin: Base class: MessageView mounted: true - id: 3 plugin: Base class: SceneView mounted: true state: editMode: false viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: true defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: false fog: true floorGrid: false floorGridSpan: 10 floorGridInterval: 0.5 xzGridSpan: 10 xzGridInterval: 0.5 xzGrid: false yzGridSpan: 10 yzGridInterval: 0.5 texture: true lineWidth: 1 pointSize: 1 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false enableNewDisplayListDoubleRendering: false useBufferForPicking: true cameras: - camera: [ System, Perspective ] isCurrent: true fieldOfView: 0.6978 near: 0.01 far: 10000 eye: [ -0.517581232, -0.161442234, 1.58270477 ] direction: [ 0.950896238, 0.0877821559, -0.29680067 ] up: [ 0.295544015, 0.0272831985, 0.954939455 ] - camera: [ System, Orthographic ] orthoHeight: 28.4436 near: 0.01 far: 10000 backgroundColor: [ 0.100000001, 0.100000001, 0.300000012 ] gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] xzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] yzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] dedicatedItemTreeViewChecks: false - id: 5 plugin: Body class: BodyLinkView mounted: true state: showRotationMatrix: false - id: 6 plugin: Body class: JointSliderView mounted: true state: showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 5 - id: 7 plugin: Body class: LinkSelectionView mounted: true state: listingMode: "Link List" currentBodyItem: 5 bodyItems: - id: 2 selectedLinks: [ 0 ] - id: 8 plugin: Python class: PythonConsoleView mounted: true toolbars: "TimeBar": minTime: 0 maxTime: 25 frameRate: 500 playbackFrameRate: 100 idleLoopDrivenMode: false currentTime: 0 speedScale: 1 syncToOngoingUpdates: true autoExpansion: true viewAreas: - type: embedded tabs: true contents: type: splitter orientation: horizontal sizes: [ 296, 1298 ] children: - type: splitter orientation: vertical sizes: [ 365, 364 ] children: - type: pane views: [ 1 ] current: 1 - type: pane views: [ 0, 7 ] current: 0 - type: splitter orientation: vertical sizes: [ 521, 208 ] children: - type: splitter orientation: horizontal sizes: [ 605, 687 ] children: - type: pane views: [ 5, 6 ] current: 5 - type: pane views: [ 3 ] current: 3 - type: pane views: [ 2, 8 ] current: 2 choreonoid-1.5.0/sample/SimpleController/SR1MinimumController.cpp0000664000000000000000000000311712741425367023652 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include #include using namespace cnoid; const double pgain[] = { 8000.0, 8000.0, 8000.0, 8000.0, 8000.0, 8000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 8000.0, 8000.0, 8000.0, 8000.0, 8000.0, 8000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 8000.0, 8000.0, 8000.0 }; const double dgain[] = { 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0 }; class SR1MinimumController : public SimpleController { BodyPtr ioBody; double dt; std::vector qref; std::vector qold; public: virtual bool initialize(SimpleControllerIO* io) { ioBody = io->body(); dt = io->timeStep(); io->setJointInput(JOINT_ANGLE); io->setJointOutput(JOINT_TORQUE); for(int i=0; i < ioBody->numJoints(); ++i){ qref.push_back(ioBody->joint(i)->q()); } qold = qref; return true; } virtual bool control() { for(int i=0; i < ioBody->numJoints(); ++i){ Link* joint = ioBody->joint(i); double q = joint->q(); double dq = (q - qold[i]) / dt; double u = (qref[i] - q) * pgain[i] + (0.0 - dq) * dgain[i]; qold[i] = q; joint->u() = u; } return true; } }; CNOID_IMPLEMENT_SIMPLE_CONTROLLER_FACTORY(SR1MinimumController) choreonoid-1.5.0/sample/SimpleController/CameraSampleController.cpp0000664000000000000000000000246412741425367024247 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include #include using namespace cnoid; class CameraSampleController : public SimpleController { DeviceList cameras; double timeCounter; double timeStep; public: virtual bool initialize(SimpleControllerIO* io) { cameras << io->body()->devices(); for(size_t i=0; i < cameras.size(); ++i){ Device* camera = cameras[i]; os() << "Device type: " << camera->typeName() << ", id: " << camera->id() << ", name: " << camera->name() << std::endl; } timeCounter = 0.0; timeStep = io->timeStep(); return true; } virtual bool control() { timeCounter += timeStep; if(timeCounter >= 1.0){ for(size_t i=0; i < cameras.size(); ++i){ Camera* camera = cameras[i]; std::string filename = camera->name() + ".png"; camera->constImage().save(filename); os() << "The image of " << camera->name() << " has been saved to \"" << filename << "\"." << std::endl; } timeCounter = 0.0; } return false; } }; CNOID_IMPLEMENT_SIMPLE_CONTROLLER_FACTORY(CameraSampleController) choreonoid-1.5.0/sample/SimpleController/SampleCrawlerJoystick.cnoid0000664000000000000000000002160612741425367024443 0ustar rootrootoptionalPlugins: [ ODE, Bullet, PhysX, AgX ] items: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false children: - id: 2 name: "Crawler" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/crawler.wrl" currentBaseLink: "BODY" rootPosition: [ -1.500000, 0.000000, 0.100000 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ 0.000000, 0.000000 ] initialRootPosition: [ -1.500000, 0.000000, 0.100000 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] initialJointPositions: [ 0.000000, 0.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false children: - id: 3 name: "JoystickController" plugin: SimpleController class: SimpleControllerItem data: isImmediateMode: true controller: "SampleCrawlerJoystickController" reloading: true inputLinkPositions: false - id: 4 name: "floor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/bumpyfloor.wrl" currentBaseLink: "WAIST" rootPosition: [ 0.000000, 0.000000, -0.100000 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ ] initialRootPosition: [ 0.000000, 0.000000, -0.100000 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false - id: 5 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recordingMode: Direct onlyActiveControlPeriod: true timeLength: 100 allLinkPositionOutputMode: false deviceStateRecording: true dynamicsMode: Forward dynamics integrationMode: Runge Kutta gravity: [ 0, 0, -9.80665 ] staticFriction: 0.5 slipFriction: 0.5 cullingThresh: 0.01 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 30 2Dmode: false - id: 6 name: "ODESimulator" plugin: ODE class: ODESimulatorItem data: realtimeSync: true recordingMode: Direct onlyActiveControlPeriod: true timeLength: 100 allLinkPositionOutputMode: true deviceStateRecording: true stepMode: Iterative (quick step) gravity: [ 0, 0, -9.80665 ] friction: 100 jointLimitMode: false globalERP: 0.4 globalCFM: 1e-10 numIterations: 50 overRelaxation: 1.3 limitCorrectingVel: true maxCorrectingVel: 1.0e-3 2Dmode: false - id: 7 name: "BulletSimulator" plugin: Bullet class: BulletSimulatorItem data: realtimeSync: true recordingMode: Direct onlyActiveControlPeriod: true timeLength: 100 allLinkPositionOutputMode: true deviceStateRecording: true ErrorReductionParameter: 0.2 NumIterations: 10 Restitution: 0 Friction: 0.9 ERP2: 0 SplitImpulsePenetrationThreshold: -0.0001 views: - id: 1 plugin: Base class: ItemPropertyView mounted: true - id: 2 plugin: Base class: ItemTreeView mounted: true state: selected: [ 5 ] checked: [ 1, 2, 4 ] expanded: [ 1, 2, 3 ] - id: 3 plugin: Base class: MessageView mounted: true - id: 4 plugin: Base class: SceneView mounted: true state: editMode: false viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: true defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true fog: true floorGrid: false floorGridSpan: 10 floorGridInterval: 0.5 xzGridSpan: 10 xzGridInterval: 0.5 xzGrid: false yzGridSpan: 10 yzGridInterval: 0.5 texture: true lineWidth: 1 pointSize: 1 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false enableNewDisplayListDoubleRendering: false useBufferForPicking: true cameras: - camera: [ System, Perspective ] isCurrent: true fieldOfView: 0.6978 near: 0.01 far: 10000 eye: [ -4.40605, 2.37888, 3.25533 ] direction: [ 0.777802926, -0.383372964, -0.498043953 ] up: [ 0.44672701, -0.220188005, 0.867151787 ] - camera: [ System, Orthographic ] orthoHeight: 20 near: 0.01 far: 10000 backgroundColor: [ 0.100000001, 0.100000001, 0.300000012 ] gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] xzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] yzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] dedicatedItemTreeViewChecks: false - id: 6 name: "Virtual Joystick" plugin: Base class: VirtualJoystickView mounted: true - id: 7 plugin: Body class: BodyLinkView mounted: true state: showRotationMatrix: false - id: 8 plugin: Body class: JointSliderView mounted: true state: showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 2 - id: 9 plugin: Body class: LinkSelectionView mounted: true state: listingMode: "Link List" currentBodyItem: 2 bodyItems: - id: 2 selectedLinks: [ 0 ] - id: 10 plugin: Python class: PythonConsoleView mounted: true toolbars: "TimeBar": minTime: 0 maxTime: 5 frameRate: 1000 playbackFrameRate: 100 idleLoopDrivenMode: false currentTime: 0 speedScale: 1 syncToOngoingUpdates: true autoExpansion: true Body: "BodyMotionEngine": updateJointVelocities: false "EditableSceneBody": editableSceneBodies: - bodyItem: 2 showCenterOfMass: false showPpcom: false showZmp: false - bodyItem: 4 showCenterOfMass: false showPpcom: false showZmp: false staticModelEditing: true viewAreas: - type: embedded tabs: true contents: type: splitter orientation: horizontal sizes: [ 303, 1291 ] children: - type: splitter orientation: vertical sizes: [ 365, 364 ] children: - type: pane views: [ 2 ] current: 2 - type: pane views: [ 1, 9 ] current: 1 - type: splitter orientation: vertical sizes: [ 521, 208 ] children: - type: splitter orientation: horizontal sizes: [ 602, 683 ] children: - type: pane views: [ 7, 8, 6 ] current: 6 - type: pane views: [ 4 ] current: 4 - type: pane views: [ 3, 10 ] current: 3 layoutOfToolBars: rows: - - { name: "FileBar", x: 0, priority: 0 } - { name: "ScriptBar", x: 48, priority: 0 } - { name: "TimeBar", x: 96, priority: 0 } - { name: "SceneBar", x: 972, priority: 0 } - { name: "GraphBar", x: 1288, priority: 0 } - { name: "SimulationBar", x: 1398, priority: 0 } choreonoid-1.5.0/sample/SimpleController/ConveyorSample.cnoid0000664000000000000000000002646512741425367023140 0ustar rootrootoptionalPlugins: [ ODE, Bullet ] items: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false collisionDetector: AISTCollisionDetector children: - id: 2 name: "Floor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/floor.wrl" currentBaseLink: "BASE" rootPosition: [ 0.000000, 0.000000, -0.100000 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ ] initialRootPosition: [ 0.000000, 0.000000, -0.100000 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false - id: 3 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recordingMode: TimeBar range onlyActiveControlPeriod: false timeLength: 3 allLinkPositionOutputMode: false deviceStateRecording: true dynamicsMode: Forward dynamics integrationMode: Runge Kutta gravity: [ 0, 0, -9.80665 ] staticFriction: 0.5 slipFriction: 0.5 cullingThresh: 0.01 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 30 2Dmode: false - id: 4 name: "ODESimulator" plugin: ODE class: ODESimulatorItem data: realtimeSync: true recordingMode: TimeBar range onlyActiveControlPeriod: true timeLength: 3 allLinkPositionOutputMode: true deviceStateRecording: true stepMode: Iterative (quick step) gravity: [ 0, 0, -9.80665 ] friction: 1 jointLimitMode: false globalERP: 0.4 globalCFM: 1e-10 numIterations: 50 overRelaxation: 1.3 limitCorrectingVel: true maxCorrectingVel: 1.0e-3 2Dmode: false UseWorldItem'sCollisionDetector: false - id: 5 name: "BulletSimulator" plugin: Bullet class: BulletSimulatorItem data: realtimeSync: true recordingMode: TimeBar range onlyActiveControlPeriod: true timeLength: 3 allLinkPositionOutputMode: true deviceStateRecording: true ErrorReductionParameter: 0.2 NumIterations: 10 Restitution: 0 Friction: 1 ERP2: 0 SplitImpulsePenetrationThreshold: -0.0001 - id: 6 name: "Conveyor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/conveyor.wrl" currentBaseLink: "BASE" rootPosition: [ 0.000000, 0.000000, 0.050000 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ 0.000000 ] initialRootPosition: [ 0.000000, 0.000000, 0.050000 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false children: - id: 7 name: "ConveyorController" plugin: SimpleController class: SimpleControllerItem data: isImmediateMode: false controller: "ConveyorController" reloading: true inputLinkPositions: false - id: 8 name: "Ellipsoid1" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/ellipsoid1.wrl" currentBaseLink: "BASE" rootPosition: [ 2.000000, 0.000000, 0.390000 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ ] initialRootPosition: [ 2.000000, 0.000000, 0.390000 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false views: "Items": selected: [ 3 ] checked: [ 1, 2, 6, 8 ] expanded: [ 1, 6, 7, 8 ] "Scene": viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: true defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true floorGrid: false floorGridSpan: 10 floorGridInterval: 0.5 lineWidth: 1 pointSize: 1 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false useBufferForPicking: true camera: current: [ CameraTransform, Perspective ] eye: [ 7.90831, 4.17984, 3.45814 ] direction: [ -0.939956, -0.18433, -0.287237 ] up: [ -0.281869, -0.0552757, 0.95786 ] fieldOfView: 0.6978 near: 0.01 far: 10000 orthoHeight: 20 backgroundColor: [ 0.1, 0.1, 0.3 ] gridColor: [ 0.9, 0.9, 0.9, 1 ] "Multi Value Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi SE3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Links": listingMode: "Link List" currentBodyItem: 6 bodyItems: - id: 8 selectedLinks: [ 0 ] "Body / Link": showRotationMatrix: false "Joint Sliders": showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 6 "Joint Trajectories": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi Affine3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Pose Roll": defaultTransitionTime: 0 updateAll: true autoUpdate: false timeSync: true listingMode: "Part Tree" timeLength: 10 showLipSync: false gridInterval: 1 toolbars: "TimeBar": minTime: 0 maxTime: 10.002 frameRate: 1000 playbackFrameRate: 100 idleLoopDrivenMode: false currentTime: 0 speedScale: 1 syncToOngoingUpdates: true autoExpansion: true "BodyBar": current: 6 stanceWidth: 0.15 "KinematicsBar": mode: FK attitude: false penetrationBlock: true collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true "BodyMotionGenerationBar": balancer: false autoGeneration: false timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: false makeNewBodyItem: true stealthyStepMode: true stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 zmpMaxDistanceFromCenter: 0.02 allLinkPositions: false lipSyncMix: false Body: "BodyMotionEngine": updateJointVelocities: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false layoutOfViews: type: splitter orientation: horizontal sizes: - 486 - 2068 children: - type: splitter orientation: vertical sizes: - 623 - 622 children: - type: pane views: [ "Items", "Scene Graph" ] current: "Items" - type: pane views: [ "Property", "Links", "Nameserver", "Scene Graph Property" ] current: "Property" - type: splitter orientation: vertical sizes: - 889 - 356 children: - type: splitter orientation: horizontal sizes: - 0 - 2062 children: - type: pane views: [ "Text Editor", "Body / Link", "Joint Sliders", "Joint State" ] current: "Body / Link" - type: pane views: [ "Scene" ] current: "Scene" - type: pane views: [ "Message", "Multi Value Seq", "Multi SE3 Seq", "Body State", "Joint Trajectories", "Multi Affine3 Seq", "Pose Roll" ] current: "Message" layoutOfToolBars: rows: - - { name: "FileBar", x: 0, priority: 0 } - { name: "TimeBar", x: 48, priority: 0 } - { name: "ScriptBar", x: 1262, priority: 0 } - { name: "SceneBar", x: 1332, priority: 0 } - { name: "GraphBar", x: 1597, priority: 0 } - { name: "CaptureBar", x: 1707, priority: 0 } - { name: "BodyBar", x: 1755, priority: 0 } - { name: "KinematicsBar", x: 2320, priority: 0 } - - { name: "SimulationBar", x: 0, priority: 0 } - { name: "BodyMotionGenerationBar", x: 172, priority: 0 } - { name: "RobotAccessBar", x: 313, priority: 0 } choreonoid-1.5.0/sample/SimpleController/TankLightController.cpp0000664000000000000000000000150612741425367023576 0ustar rootroot/** A controller that brinks the tank light @author Shin'ichiro Nakaoka */ #include #include using namespace std; using namespace cnoid; class TankLightController : public cnoid::SimpleController { LightPtr light; int blinkCounter; public: virtual bool initialize(SimpleControllerIO* io) { DeviceList lights(io->body()->devices()); if(!lights.empty()){ light = lights.front(); } blinkCounter = 0; return (light != 0); } virtual bool control() { if(++blinkCounter == 250){ light->on(!light->on()); light->notifyStateChange(); blinkCounter = 0; } return true; } }; CNOID_IMPLEMENT_SIMPLE_CONTROLLER_FACTORY(TankLightController) choreonoid-1.5.0/sample/SimpleController/SR1Liftup.cnoid0000664000000000000000000003575112741425367021761 0ustar rootrootoptionalPlugins: [ ODE, Bullet, PhysX, AgX ] items: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false collisionDetector: AISTCollisionDetector children: - id: 2 name: "SR1" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/SR1/SR1.body" currentBaseLink: "WAIST" rootPosition: [ 0, 0, 0.7135 ] rootAttitude: [ 0.999955, -0.006461, 0.006886, 0.006461, 0.999979, -2.5e-005, -0.006886, 7e-005, 0.999976 ] jointPositions: [ 0.000822, -0.037473, 0.000350, 0.077177, -0.046633, -0.000874, 0.175490, -0.003915, 0.000048, -1.568620, 0.000121, 0.000267, 0.000008, -0.000889, -0.040642, 0.000364, 0.077387, -0.043666, 0.000969, 0.175601, 0.003290, 0.000028, -1.568673, 0.000228, 0.000239, 0.000006, 0.005740, -0.000324, 0.000089 ] initialRootPosition: [ 0, 0, 0.7135 ] initialRootAttitude: [ 0.999955418, -0.00646083645, 0.00688615345, 0.00646116355, 0.999979126, -2.52542765e-005, -0.00688584655, 6.97457235e-005, 0.99997629 ] initialJointPositions: [ 0.000822, -0.037473, 0.000350, 0.077177, -0.046633, -0.000874, 0.175490, -0.003915, 0.000048, -1.568620, 0.000121, 0.000267, 0.000008, -0.000889, -0.040642, 0.000364, 0.077387, -0.043666, 0.000969, 0.175601, 0.003290, 0.000028, -1.568673, 0.000228, 0.000239, 0.000006, 0.005740, -0.000324, 0.000089 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true children: - id: 3 name: "SR1LiftupController" plugin: SimpleController class: SimpleControllerItem data: isImmediateMode: true controller: "SR1LiftupController" reloading: true inputLinkPositions: false - id: 4 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ 0.55, 0, 0.151 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ ] initialRootPosition: [ 0.55, 0, 0.151 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 5 name: "Floor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/floor.wrl" currentBaseLink: "BASE" rootPosition: [ 0, 0, -0.1 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ ] initialRootPosition: [ 0, 0, -0.1 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 6 name: "Simulators" plugin: Base class: FolderItem children: - id: 7 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Active control period" timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false controllerOptions: dynamicsMode: "Forward dynamics" integrationMode: "Runge Kutta" gravity: [ 0, 0, -9.80665 ] staticFriction: 0.5 slipFriction: 0.5 cullingThresh: 0.01 contactCullingDepth: 0.05 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 30 kinematicWalking: false 2Dmode: false - id: 8 name: "ODESimulator" plugin: ODE class: ODESimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Active control period" timeLength: 60 allLinkPositionOutputMode: true deviceStateOutput: true controllerThreads: true recordCollisionData: false controllerOptions: stepMode: Iterative (quick step) gravity: [ 0, 0, -9.8 ] friction: 0.5 jointLimitMode: false globalERP: 0.4 globalCFM: 1e-10 numIterations: 50 overRelaxation: 1.3 limitCorrectingVel: true maxCorrectingVel: 1.0e-3 2Dmode: false UseWorldItem'sCollisionDetector: false velocityMode: false - id: 9 name: "BulletSimulator" plugin: Bullet class: BulletSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Active control period" timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false controllerOptions: ErrorReductionParameter: 0.5 NumIterations: 10 Restitution: 0 Friction: 0.7 ERP2: 0 SplitImpulsePenetrationThreshold: -0.0001 - id: 10 name: "PhysXSimulator" plugin: PhysX class: PhysXSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Active control period" timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false controllerOptions: staticFriction: 0.5 dynamicFriction: 0.8 Restitution: 0.1 jointLimitMode: false - id: 11 name: "AgXSimulator" plugin: AgX class: AgXSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Active control period" timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false controllerOptions: dynamicsMode: Forward dynamics gravity: [ 0, 0, -9.80665 ] friction: 0.5 restitution: 0.1 frictionModelType: Iterative Projected frictionSolveType: Direct numThreads: 1 contactReductionMode: Geometry contactReductionBinResolution: 2 contactReductionThreshold: 4 - id: 12 name: "AgXSimulator-Velocity" plugin: AgX class: AgXSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Active control period" timeLength: 180 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false controllerOptions: "velocity" dynamicsMode: "High-gain dynamics" gravity: [ 0, 0, -9.80665 ] friction: 0.5 restitution: 0.1 frictionModelType: Iterative Projected frictionSolveType: Direct numThreads: 1 contactReductionMode: Geometry contactReductionBinResolution: 2 contactReductionThreshold: 4 children: - id: 13 name: "AgXsetContactMaterial.py" plugin: PythonSimScript class: PythonSimScriptItem data: timing: Before init. delay: 0 simulationOnly: true backgroundExecution: false file: "${SHARE}/script/AgXsetContactMaterial.py" - id: 14 name: "AgXSimulator-Velocity-TorqueSensor" plugin: AgX class: AgXSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Active control period" timeLength: 180 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false controllerOptions: "velocity torque_sensor" dynamicsMode: "High-gain dynamics" gravity: [ 0, 0, -9.80665 ] friction: 0.5 restitution: 0.1 frictionModelType: Iterative Projected frictionSolveType: Direct numThreads: 1 contactReductionMode: Geometry contactReductionBinResolution: 2 contactReductionThreshold: 4 views: "Items": selected: [ 7 ] checked: [ 1, 2, 4, 13 ] expanded: [ 1, 2, 3, 6, 12 ] "Scene": viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: true defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true floorGrid: true floorGridSpan: 10 floorGridInterval: 0.5 texture: true lineWidth: 1 pointSize: 1 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false useBufferForPicking: true camera: current: Perspective eye: [ 2.38053012, 1.54674006, 1.10801005 ] direction: [ -0.820639908, -0.553809941, -0.140870988 ] up: [ -0.116768934, -0.0788013488, 0.990027964 ] fieldOfView: 0.6978 near: 0.01 far: 10000 orthoHeight: 20 backgroundColor: [ 0.100000001, 0.100000001, 0.300000012 ] gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] "Multi Value Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi SE3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Links": listingMode: "Link List" currentBodyItem: 2 bodyItems: - id: 2 selectedLinks: [ 20 ] "Body / Link": showRotationMatrix: false "Joint Sliders": showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 2 "Joint Trajectories": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi Affine3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Pose Roll": defaultTransitionTime: 0 updateAll: true autoUpdate: false timeSync: true listingMode: "Part Tree" timeLength: 10 showLipSync: false gridInterval: 1 toolbars: "TimeBar": minTime: 0 maxTime: 15 frameRate: 500 playbackFrameRate: 100 idleLoopDrivenMode: false currentTime: 0 speedScale: 1 syncToOngoingUpdates: true autoExpansion: true "BodyMotionGenerationBar": balancer: false autoGeneration: false timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: false makeNewBodyItem: true stealthyStepMode: true stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 zmpMaxDistanceFromCenter: 0.02 allLinkPositions: false lipSyncMix: false "BodyBar": stanceWidth: 0.15 "KinematicsBar": mode: FK attitude: false penetrationBlock: true collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true Body: "BodyMotionEngine": updateJointVelocities: false "EditableSceneBody": editableSceneBodies: - bodyItem: 2 showCenterOfMass: false showZmp: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false OpenRTM: "OpenRTMPlugin": deleteUnmanagedRTCsOnStartingSimulation: false choreonoid-1.5.0/sample/SimpleController/SampleCrawlerJoystickController.cpp0000664000000000000000000000327112741425367026173 0ustar rootroot/** @author Shizuko Hattori @author Shin'ichiro Nakaoka */ #include #include using namespace cnoid; namespace { const int axisIds[] = { 1, 0 }; } class SampleCrawlerJoystickController : public cnoid::SimpleController { Link* crawlerL; Link* crawlerR; double qRef[2]; Joystick joystick; public: virtual bool initialize(SimpleControllerIO* io) { std::ostream& os = io->os(); crawlerL = io->body()->link("CRAWLER_TRACK_L"); crawlerR = io->body()->link("CRAWLER_TRACK_R"); if(!crawlerL || !crawlerR){ os << "Crawlers are not found" << std::endl; return false; } io->setLinkOutput(crawlerL, JOINT_VELOCITY); io->setLinkOutput(crawlerR, JOINT_VELOCITY); for(int i=0; i < 2; i++){ qRef[i] = 0; } if(!joystick.isReady()){ os << "Joystick is not ready: " << joystick.errorMessage() << std::endl; } if(joystick.numAxes() < 5){ os << "The number of the joystick axes is not sufficient for controlling the robot." << std::endl; } return true; } virtual bool control() { joystick.readCurrentState(); double pos[2]; for(int i=0; i < 2; ++i){ pos[i] = joystick.getPosition(i); if(fabs(pos[i]) < 0.2){ pos[i] = 0.0; } } // set the velocity of each crawlers crawlerL->dq() = -2.0 * pos[1] + pos[0]; crawlerR->dq() = -2.0 * pos[1] - pos[0]; return true; } }; CNOID_IMPLEMENT_SIMPLE_CONTROLLER_FACTORY(SampleCrawlerJoystickController) choreonoid-1.5.0/sample/SimpleController/SR1WalkPatternController.cpp0000664000000000000000000001131212741425367024467 0ustar rootroot/** Sample walking motion controller for the SR1 robot model. This program was ported from the "SamplePD" sample of OpenHRP3. @author Shin'ichiro Nakaoka */ #include #include #include #include #include using namespace std; using namespace cnoid; static double pgain[] = { 8000.0, 8000.0, 8000.0, 8000.0, 8000.0, 8000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 8000.0, 8000.0, 8000.0, 8000.0, 8000.0, 8000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 8000.0, 8000.0, 8000.0 }; static double dgain[] = { 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0 }; class SR1WalkPatternController : public cnoid::SimpleController { Body* ioBody; int currentFrameIndex; int lastFrameIndex; MultiValueSeqPtr qseq; MultiValueSeq::Frame qref0; MultiValueSeq::Frame qref1; MultiValueSeq::Frame qref2; vector q0; double dt; double dt2; enum { TORQUE_MODE, HIGHGAIN_MODE } mode; public: virtual bool initialize(SimpleControllerIO* io) { string patternFile; string opt = io->optionString(); if(opt == "highgain"){ mode = HIGHGAIN_MODE; patternFile = "SR1WalkPattern2.yaml"; io->setJointOutput(JOINT_ANGLE | JOINT_VELOCITY | JOINT_ACCELERATION); io->os() << "SR1WalkPatternController: high gain mode." << endl; } else if(opt == "velocity"){ mode = HIGHGAIN_MODE; patternFile = "SR1WalkPattern2.yaml"; io->setJointOutput(JOINT_VELOCITY); io->os() << "SR1WalkPatternController: velocity mode." << endl; } else { mode = TORQUE_MODE; patternFile = "SR1WalkPattern.yaml"; io->setJointOutput(JOINT_TORQUE); io->setJointInput(JOINT_ANGLE); io->os() << "SR1WalkPatternController: torque mode." << endl; } string filename = getNativePathString( boost::filesystem::path(shareDirectory()) / "motion" / "SR1" / patternFile); BodyMotion motion; if(!motion.loadStandardYAMLformat(filename)){ io->os() << motion.seqMessage() << endl; return false; } qseq = motion.jointPosSeq(); if(qseq->numFrames() == 0){ io->os() << "Empty motion data." << endl; return false; } ioBody = io->body(); if(ioBody->numJoints() != qseq->numParts()){ io->os() << "The number of joints must be " << qseq->numParts() << endl; return false; } dt = io->timeStep(); dt2 = dt * dt; if(fabs(dt - qseq->timeStep()) > 1.0e-6){ io->os() << "Warning: the simulation time step is different from that of the motion data " << endl; } currentFrameIndex = 0; lastFrameIndex = std::max(0, qseq->numFrames() - 1); qref1 = qseq->frame(0); qref2 = qseq->frame(std::min(1, lastFrameIndex)); q0.resize(qseq->numParts()); for(int i=0; i < ioBody->numJoints(); ++i){ q0[i] = ioBody->joint(i)->q(); } return true; } virtual bool control() { switch(mode){ case TORQUE_MODE: qref0 = qref1; qref1 = qseq->frame(currentFrameIndex); for(int i=0; i < ioBody->numJoints(); ++i){ Link* joint = ioBody->joint(i); double q_ref = qref1[i]; double q = joint->q(); double dq_ref = (q_ref - qref0[i]) / dt; double dq = (q - q0[i]) / dt; joint->u() = (q_ref - q) * pgain[i] + (dq_ref - dq) * dgain[i]; q0[i] = q; } break; case HIGHGAIN_MODE: qref0 = qref1; qref1 = qref2; qref2 = qseq->frame(std::min(currentFrameIndex + 1, lastFrameIndex)); for(int i=0; i < ioBody->numJoints(); ++i){ Link* joint = ioBody->joint(i); joint->q() = qref1[i]; joint->dq() = (qref2[i] - qref1[i]) / dt; joint->ddq() = (qref2[i] - 2.0 * qref1[i] + qref0[i]) / dt2; } break; default: break; } if(currentFrameIndex < qseq->numFrames()){ ++currentFrameIndex; return true; } else { return false; } } }; CNOID_IMPLEMENT_SIMPLE_CONTROLLER_FACTORY(SR1WalkPatternController) choreonoid-1.5.0/sample/SimpleController/SR1WalkHighGain.cnoid0000664000000000000000000002017412741425367023004 0ustar rootrootitems: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false collisionDetector: AISTCollisionDetector children: - id: 2 name: "SR1" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/SR1/SR1.yaml" currentBaseLink: "WAIST" rootPosition: [ 0, 0, 0.7135 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, -0.003491, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, -0.003491, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000 ] initialRootPosition: [ 0, 0, 0.7135 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialJointPositions: [ 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, -0.003491, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, -0.003491, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true children: - id: 3 name: "SR1WalkController" plugin: SimpleController class: SimpleControllerItem data: isImmediateMode: true controller: "SR1WalkPatternController" reloading: true options: highgain - id: 4 name: "Floor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/floor.wrl" currentBaseLink: "BASE" rootPosition: [ 0, 0, -0.1 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ ] initialRootPosition: [ 0, 0, -0.1 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 5 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recording: true timeRangeMode: TimeBar range onlyActiveControlPeriod: true timeLength: 13.4 allLinkPositionOutputMode: true deviceStateOutput: true dynamicsMode: "High-gain dynamics" integrationMode: Runge Kutta gravity: [ 0, 0, -9.80665 ] staticFriction: 0.5 slipFriction: 0.5 cullingThresh: 0.01 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 30 kinematicWalking: false 2Dmode: false views: "Items": selected: [ 5 ] checked: [ 1, 2 ] expanded: [ 1, 2, 3 ] "Scene": viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: true defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true floorGrid: true floorGridSpan: 10 floorGridInterval: 0.5 texture: true lineWidth: 1 pointSize: 1 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false useBufferForPicking: true camera: current: Perspective eye: [ 2.38053012, 1.54674006, 1.10801005 ] direction: [ -0.820639908, -0.553809941, -0.140870988 ] up: [ -0.116768934, -0.0788013488, 0.990027964 ] fieldOfView: 0.6978 near: 0.01 far: 10000 orthoHeight: 20 backgroundColor: [ 0.100000001, 0.100000001, 0.300000012 ] gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] "Multi Value Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi SE3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Links": listingMode: "Link List" currentBodyItem: 2 bodyItems: - id: 2 selectedLinks: [ 20 ] "Body / Link": showRotationMatrix: false "Joint Sliders": showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 2 "Joint Trajectories": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi Affine3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Pose Roll": defaultTransitionTime: 0 updateAll: true autoUpdate: false timeSync: true listingMode: "Part Tree" timeLength: 10 showLipSync: false gridInterval: 1 toolbars: "TimeBar": minTime: 0 maxTime: 15 frameRate: 500 playbackFrameRate: 100 idleLoopDrivenMode: false currentTime: 0 speedScale: 1 syncToOngoingUpdates: true autoExpansion: true "BodyMotionGenerationBar": balancer: false autoGeneration: false timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: false makeNewBodyItem: true stealthyStepMode: true stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 zmpMaxDistanceFromCenter: 0.02 allLinkPositions: false lipSyncMix: false "BodyBar": stanceWidth: 0.15 "KinematicsBar": mode: FK attitude: false penetrationBlock: true collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true Body: "BodyMotionEngine": updateJointVelocities: false "EditableSceneBody": editableSceneBodies: - bodyItem: 2 showCenterOfMass: false showZmp: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false OpenRTM: "OpenRTMPlugin": deleteUnmanagedRTCsOnStartingSimulation: false choreonoid-1.5.0/sample/SimpleController/SR1LiftupController.cpp0000664000000000000000000002140712741425367023504 0ustar rootroot/** Sample lifting motion controller for the SR1 robot model. The original sample which this program is based on is "SampleLF" of OpenHRP3. @author Shin'ichiro Nakaoka */ #include #include #include "Interpolator.h" using namespace std; using namespace cnoid; using namespace boost; namespace { const double pgain[] = { 8000.0, 8000.0, 8000.0, 8000.0, 8000.0, 8000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 8000.0, 8000.0, 8000.0, 8000.0, 8000.0, 8000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 3000.0, 8000.0, 8000.0, 8000.0 }; const double dgain[] = { 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0 }; } class SR1LiftupController : public cnoid::SimpleController { enum { TORQUE_MODE, VELOCITY_MODE } mode; bool isTorqueSensorEnabled; Body* ioBody; double timeStep; Interpolator interpolator; VectorXd qref, qold, qref_old; double time; int phase; Link* wrist[2]; double dq_wrist; double throwTime; double wristReleaseAngle[2]; bool isThrowing; public: VectorXd& convertToRadian(VectorXd& q){ for(size_t i=0; i < q.size(); ++i){ q[i] = radian(q[i]); } return q; } virtual bool initialize(SimpleControllerIO* io) { mode = TORQUE_MODE; isTorqueSensorEnabled = false; vector options = io->options(); for(vector::iterator p = options.begin(); p != options.end(); ++p){ if(*p == "velocity"){ mode = VELOCITY_MODE; } else if(*p == "torque_sensor"){ isTorqueSensorEnabled = true; } } ostream& os = io->os(); if(mode == TORQUE_MODE){ os << "SR1LiftupController: torque control mode." << endl; io->setJointOutput(JOINT_TORQUE); io->setJointInput(JOINT_ANGLE); } else if(mode == VELOCITY_MODE){ os << "SR1LiftupController: velocity control mode"; io->setJointOutput(JOINT_VELOCITY); if(isTorqueSensorEnabled){ io->setJointInput(JOINT_ANGLE | JOINT_TORQUE); os << ", torque sensors"; } else { io->setJointInput(JOINT_ANGLE); } os << "." << endl; } time = 0.0; timeStep = io->timeStep(); throwTime = std::numeric_limits::max(); isThrowing = false; ioBody = io->body(); int n = ioBody->numJoints(); qref_old.resize(n); qold.resize(n); VectorXd q0(n); for(int i=0; i < n; ++i){ Link* joint = ioBody->joint(i); qold[i] = joint->q(); q0[i] = joint->q(); } VectorXd q1(n); q1 << 0.0, -15.0, 0.0, 45.0, -30.0, 0.0, 10.0, 0.0, 0.0, -90.0, 0.0, 0.0, 0.0, 0.0, -15.0, 0.0, 45.0, -30.0, 0.0, 10.0, 0.0, 0.0, -90.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0; VectorXd q2(n); q2 << 0.0, -80.0, 0.0, 148.0, -70.0, 0.0, -47.0, 0.0, 0.0, -60.0, 0.0, 0.0, 0.0, 0.0, -80.0, 0.0, 148.0, -70.0, 0.0, -47.0, 0.0, 0.0, -60.0, 0.0, 0.0, 0.0, 50.0, 0.0, 0.0; interpolator.clear(); interpolator.appendSample(0.0, q0); interpolator.appendSample(1.5, convertToRadian(q1)); interpolator.appendSample(4.5, convertToRadian(q2)); interpolator.update(); qref_old = interpolator.interpolate(0.0); phase = 0; dq_wrist = 0.0; wrist[0] = ioBody->link("RARM_WRIST_R"); wrist[1] = ioBody->link("LARM_WRIST_R"); return true; } virtual bool control() { bool isActive = true; if(phase == 0){ qref = interpolator.interpolate(time); if(time > interpolator.domainUpper()){ phase = 1; } } else if(phase == 1){ // holding phase qref = qref_old; bool isHolding = false; if(fabs(wrist[0]->u()) > 40.0 && fabs(wrist[1]->u()) > 40.0){ isHolding = true; } if(!isHolding){ dq_wrist = std::min(dq_wrist + 0.001, 0.1); qref[wrist[0]->jointId()] += radian(dq_wrist); qref[wrist[1]->jointId()] -= radian(dq_wrist); } else { // transit to getting up phase VectorXd q3(ioBody->numJoints()); q3 << 0.0, -15.0, 0.0, 45.0, -30.0, 0.0, -50.0, 0.0, 0.0, -60.0, 0.0, 0.0, 0.0, 0.0, -15.0, 0.0, 45.0, -30.0, 0.0, -50.0, 0.0, 0.0, -60.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0; convertToRadian(q3); for(int i=0; i < 2; ++i){ q3[wrist[i]->jointId()] = qref[wrist[i]->jointId()]; } interpolator.clear(); interpolator.appendSample(time, qref); interpolator.appendSample(time + 2.5, q3); interpolator.appendSample(time + 4.0, q3); interpolator.update(); qref = interpolator.interpolate(time); phase = 2; } } else if(phase == 2){ qref = interpolator.interpolate(time); if(time > interpolator.domainUpper()){ // transit to throwing phase VectorXd q4(ioBody->numJoints()); q4 << 0.0, -40.0, 0.0, 80.0, -40.0, 0.0, -50.0, 0.0, 0.0, -60.0, 0.0, 0.0, 0.0, 0.0, -40.0, 0.0, 80.0, -40.0, 0.0, -50.0, 0.0, 0.0, -60.0, 0.0, 0.0, 0.0, 10.0, 0.0, 0.0; convertToRadian(q4); for(int i=0; i < 2; ++i){ q4[wrist[i]->jointId()] = qref[wrist[i]->jointId()]; } VectorXd q5(ioBody->numJoints()); q5 << 0.0, -15.0, 0.0, 45.0, -30.0, 0.0, -60.0, 0.0, 0.0, -50.0, 0.0, 0.0, 0.0, 0.0, -15.0, 0.0, 45.0, -30.0, 0.0, -60.0, 0.0, 0.0, -50.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0; convertToRadian(q5); for(int i=0; i < 2; ++i){ q5[wrist[i]->jointId()] = qref[wrist[i]->jointId()]; } interpolator.clear(); interpolator.appendSample(time, qref); interpolator.setEndPoint(interpolator.appendSample(time + 1.0, q4)); interpolator.appendSample(time + 1.3, q5); throwTime = time + 1.15; interpolator.update(); qref = interpolator.interpolate(time); phase = 3; } } else if (phase == 3){ qref = interpolator.interpolate(time); if(time > throwTime){ if(!isThrowing){ wristReleaseAngle[0] = wrist[0]->q() - 0.15; wristReleaseAngle[1] = wrist[1]->q() + 0.15; isThrowing = true; } for(int i=0; i < 2; ++i){ qref[wrist[i]->jointId()] = wristReleaseAngle[i]; } if(time >= interpolator.domainUpper() + 0.1){ phase = 4; } } } if(mode == TORQUE_MODE || !isTorqueSensorEnabled){ for(int i=0; i < ioBody->numJoints(); ++i){ Link* joint = ioBody->joint(i); double q = joint->q(); double dq = (q - qold[i]) / timeStep; double dq_ref = (qref[i] - qref_old[i]) / timeStep; joint->u() = (qref[i] - q) * pgain[i] + (dq_ref - dq) * dgain[i]; qold[i] = q; } } if(mode == VELOCITY_MODE){ for(int i=0; i < ioBody->numJoints(); ++i){ Link* joint = ioBody->joint(i); joint->dq() = (qref[i] - joint->q()) / timeStep; } } if(phase == 3){ if(time > throwTime){ if(mode == TORQUE_MODE){ wrist[0]->u() = 0.0; wrist[1]->u() = 0.0; } } } qref_old = qref; time += timeStep; return true; } }; CNOID_IMPLEMENT_SIMPLE_CONTROLLER_FACTORY(SR1LiftupController) choreonoid-1.5.0/sample/SimpleController/SR1Minimum.cnoid0000664000000000000000000000616212741425367022123 0ustar rootrootitems: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false collisionDetector: AISTCollisionDetector children: - id: 2 name: "SR1" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/SR1/SR1.yaml" currentBaseLink: "WAIST" rootPosition: [ 0, 0, 0.7135 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, -0.003491, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, -0.003491, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000 ] initialRootPosition: [ 0, 0, 0.7135 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialJointPositions: [ 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, -0.003491, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, -0.003491, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true children: - id: 3 name: "SimpleController" plugin: SimpleController class: SimpleControllerItem data: isImmediateMode: true controller: "SR1MinimumController" reloading: true inputLinkPositions: false - id: 4 name: "Floor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/floor.wrl" currentBaseLink: "BASE" rootPosition: [ 0, 0, -0.1 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ ] initialRootPosition: [ 0, 0, -0.1 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 5 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recording: "full" views: "Items": selected: [ ] checked: [ 2, 4 ] expanded: [ 1, 2, 3 ] "Scene": floorGrid: false toolbars: "TimeBar": minTime: 0 maxTime: 15 frameRate: 500 currentTime: 0 speedScale: 1 syncToOngoingUpdates: true autoExpansion: true choreonoid-1.5.0/sample/SimpleController/PA10PickupController.cpp0000664000000000000000000001325212741425367023527 0ustar rootroot/** Sample picking up motion controller for PA10. @author Shin'ichiro Nakaoka */ #include #include #include #include "Interpolator.h" using namespace std; using namespace cnoid; using namespace boost; namespace { const double pgain[] = { 35000.0, 35000.0, 35000.0, 35000.0, 35000.0, 35000.0, 35000.0, 17000.0, 17000.0 }; const double dgain[] = { 220.0, 220.0, 220.0, 220.0, 220.0, 220.0, 220.0, 220.0, 220.0 }; } class PA10PickupController : public cnoid::SimpleController { Body* ioBody; Link* ioLeftHand; Link* ioRightHand; BodyPtr ikBody; Link* ikWrist; JointPathPtr baseToWrist; VectorXd qref, qold, qref_old; Interpolator wristInterpolator; Interpolator jointInterpolator; int phase; double time; double timeStep; double dq_hand; public: Vector3 toRadianVector3(double x, double y, double z){ return Vector3(radian(x), radian(y), radian(z)); } virtual bool initialize(SimpleControllerIO* io) { io->setJointOutput(JOINT_TORQUE); io->setJointInput(JOINT_ANGLE); ioBody = io->body(); ioLeftHand = ioBody->link("HAND_L"); ioRightHand = ioBody->link("HAND_R"); ikBody = ioBody->clone(); ikWrist = ikBody->link("J7"); Link* base = ikBody->rootLink(); baseToWrist = getCustomJointPath(ikBody, base, ikWrist); base->p().setZero(); base->R().setIdentity(); const int nj = ioBody->numJoints(); qold.resize(nj); for(int i=0; i < nj; ++i){ double q = ioBody->joint(i)->q(); ikBody->joint(i)->q() = q; qold[i] = q; } baseToWrist->calcForwardKinematics(); qref = qold; qref_old = qold; VectorXd p0(6); p0.head<3>() = ikWrist->p(); p0.tail<3>() = rpyFromRot(ikWrist->attitude()); VectorXd p1(6); p1.head<3>() = Vector3(0.9, 0.0, 0.25); p1.tail<3>() = toRadianVector3(180.0, 0.0, 0.0); wristInterpolator.clear(); wristInterpolator.appendSample(0.0, p0); wristInterpolator.appendSample(1.0, p1); p1.z() = 0.2; wristInterpolator.appendSample(1.2, p1); wristInterpolator.update(); phase = 0; time = 0.0; timeStep = io->timeStep(); dq_hand = 0.0; return true; } virtual bool control() { bool isActive = true; VectorXd p(6); if(phase <= 3){ p = wristInterpolator.interpolate(time); if(baseToWrist->calcInverseKinematics( Vector3(p.head<3>()), ikWrist->calcRfromAttitude(rotFromRpy(Vector3(p.tail<3>()))))){ for(int i=0; i < baseToWrist->numJoints(); ++i){ Link* joint = baseToWrist->joint(i); qref[joint->jointId()] = joint->q(); } } } if(phase == 0){ if(time > wristInterpolator.domainUpper()){ phase = 1; } } else if(phase == 1){ if(fabs(ioRightHand->u()) < 40.0 || fabs(ioLeftHand->u()) < 40.0){ // not holded ? dq_hand = std::min(dq_hand + 0.00001, 0.0005); qref[ioRightHand->jointId()] -= radian(dq_hand); qref[ioLeftHand->jointId()] += radian(dq_hand); } else { VectorXd p2(6); p2.head<3>() = Vector3(0.0, 0.5, 1.0); p2.tail<3>() = toRadianVector3(180.0, -45, 90.0); VectorXd p3(6); p3.head<3>() = Vector3(0.0, 0.7, 0.52); p3.tail<3>() = toRadianVector3(180.0, 0, 90.0); wristInterpolator.clear(); wristInterpolator.appendSample(time, p); wristInterpolator.appendSample(time + 1.0, p2); wristInterpolator.appendSample(time + 1.5, p3); wristInterpolator.appendSample(time + 1.7, p3); wristInterpolator.update(); phase = 2; } } else if(phase == 2){ if(time > wristInterpolator.domainUpper()){ phase = 3; dq_hand = 0.0; } } else if(phase == 3){ if(qref[ioRightHand->jointId()] < 0.028 || qref[ioLeftHand->jointId()] > -0.028){ dq_hand = std::min(dq_hand + 0.00001, 0.002); qref[ioRightHand->jointId()] += radian(dq_hand); qref[ioLeftHand->jointId()] -= radian(dq_hand); } else { jointInterpolator.clear(); jointInterpolator.appendSample(time, qref); VectorXd qf = VectorXd::Zero(qref.size()); qf[ioRightHand->jointId()] = qref[ioRightHand->jointId()]; qf[ioLeftHand->jointId()] = qref[ioLeftHand->jointId()]; jointInterpolator.appendSample(time + 1.0, qf); jointInterpolator.update(); phase = 4; } } else if(phase == 4){ qref = jointInterpolator.interpolate(time); if(time > jointInterpolator.domainUpper()){ isActive = false; } } for(int i=0; i < ioBody->numJoints(); ++i){ double q = ioBody->joint(i)->q(); double dq = (q - qold[i]) / timeStep; double dq_ref = (qref[i] - qref_old[i]) / timeStep; ioBody->joint(i)->u() = (qref[i] - q) * pgain[i] + (dq_ref - dq) * dgain[i]; qold[i] = q; } qref_old = qref; time += timeStep; return isActive; } }; CNOID_IMPLEMENT_SIMPLE_CONTROLLER_FACTORY(PA10PickupController) choreonoid-1.5.0/sample/SimpleController/CMakeLists.txt0000664000000000000000000000474712741425367021713 0ustar rootroot # @author Shin'ichiro Nakaoka if(NOT ENABLE_GUI) return() endif() option(BUILD_SIMPLE_CONTROLLER_SAMPLES "Building sample simulation controllers built as simple controllers" ON) if(NOT BUILD_SIMPLE_CONTROLLER_SAMPLES) return() endif() if(NOT BUILD_SIMPLE_CONTROLLER_PLUGIN) message(FATAL_ERROR "Simple controller samples need to build SimpleControllerPlugin.") endif() # set(CMAKE_BUILD_TYPE Debug) add_cnoid_simple_controller(SR1MinimumController SR1MinimumController.cpp) configure_file(SR1Minimum.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) add_cnoid_simple_controller(SR1WalkPatternController SR1WalkPatternController.cpp) configure_file(SR1Walk.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) configure_file(SR1WalkPush.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) configure_file(SR1WalkPush.py ${CNOID_SOURCE_SHARE_DIR}/script COPYONLY) configure_file(SR1Walk2D.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) #configure_file(SR1WalkHighGain.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) add_cnoid_simple_controller(SR1LiftupController SR1LiftupController.cpp) configure_file(SR1Liftup.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) configure_file(../python/AgXsetContactMaterial.py ${CNOID_SOURCE_SHARE_DIR}/script COPYONLY) add_cnoid_simple_controller(PA10PickupController PA10PickupController.cpp) configure_file(PA10Pickup.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) add_cnoid_simple_controller(SampleCrawlerController SampleCrawlerController.cpp) configure_file(SampleCrawler.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) add_cnoid_simple_controller(SampleCrawlerJoystickController SampleCrawlerJoystickController.cpp) configure_file(SampleCrawlerJoystick.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) add_cnoid_simple_controller(TankJoystickController TankJoystickController.cpp) configure_file(TankJoystick.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) add_cnoid_simple_controller(TankLightController TankLightController.cpp) configure_file(TankJoystickLight.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) add_cnoid_simple_controller(SR1WalkGraspController SR1WalkGraspController.cpp) configure_file(SR1WalkinHouse.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) add_cnoid_simple_controller(ConveyorController ConveyorController.cpp) configure_file(ConveyorSample.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) add_cnoid_simple_controller(SampleSVController SampleSV.cpp) add_cnoid_simple_controller(CameraSampleController CameraSampleController.cpp) choreonoid-1.5.0/sample/SimpleController/Interpolator.h0000664000000000000000000001622312741425367021776 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_INTERPOLATOR_H_INCLUDED #define CNOID_UTIL_INTERPOLATOR_H_INCLUDED #include #include #include namespace cnoid { template class Interpolator { enum SegmentType { UNDETERMINED, CUBIC_SPLINE, POLYNOMINAL }; struct Sample { double x; VectorType y; VectorType yp; // coefficients VectorType a; VectorType a_end; VectorType b; VectorType c; bool isEdge; bool isNaturalEdge; SegmentType segmentType; Sample(int size) : y(size), yp(size), a(size), a_end(size), b(size), c(size) { } }; std::vector samples; mutable int prevReferredSegments; public: void clear() { samples.clear(); prevReferredSegments = -1; } int numSamples() const { return samples.size(); } double domainLower() const { return samples.empty() ? 0.0 : samples.front().x; } double domainUpper() const { return samples.empty() ? 0.0 : samples.back().x; } int appendSample(double x, const VectorType& y) { if(!samples.empty()){ Sample& prev = samples.back(); if(fabs(prev.x - x) < std::numeric_limits::epsilon()){ samples.pop_back(); } } int index = samples.size(); int size = y.size(); samples.push_back(Sample(size)); Sample& s = samples.back(); s.x = x; s.y = y; s.yp = VectorType::Zero(size); s.isEdge = false; s.isNaturalEdge = false; s.segmentType = UNDETERMINED; return index; } void setEndPoint(int sampleIndex, bool isNatural = false) { Sample& sample = samples[sampleIndex]; sample.isEdge = true; sample.isNaturalEdge = isNatural; sample.yp = VectorType::Zero(sample.yp.size()); // first-order derivative (velocity) } bool update() { int n = samples.size(); int s = 0; while(true){ const int m = n - s; if(m < 2){ break; } if(m >= 3 && !samples[s + 1].isEdge){ s = updateCubicSplineSegment(s); } else { s = updateSegmentBetweenTwoSamples(s); } } return (n >= 2); } VectorType interpolate(double x) const { int lower; int upper; const int n = samples.size(); int k; if(prevReferredSegments >= 0 && prevReferredSegments < (n - 1)){ k = prevReferredSegments; if(x >= samples[k].x && x < samples[k+1].x){ goto calc; } } lower = 0; upper = n - 1; if(x < samples[0].x){ return samples[0].y; } else if(x >= samples[upper].x){ return samples[upper].y; } while(upper - lower > 1){ k = (upper + lower) / 2; if(samples[k].x > x){ upper = k; } else { lower = k; } } k = lower; calc: prevReferredSegments = k; const Sample& s0 = samples[k]; const Sample& s1 = samples[k+1]; if(s0.segmentType == CUBIC_SPLINE){ const VectorType& a_end = (s1.isEdge ? s1.a_end : s1.a); const double h = s1.x - s0.x; const double A = (s1.x - x) / h; const double B = (x - s0.x) / h; return A * s0.y + B * s1.y + ((A*A*A - A) * s0.a + (B*B*B - B) * a_end) * (h*h) / 6.0; } else if(s0.segmentType == POLYNOMINAL){ const VectorType& a0 = s0.y; const VectorType& a1 = s0.a; const VectorType& a2 = s0.b; const VectorType& a3 = s0.c; const double h = x - s0.x; const double h2 = h * h; const double h3 = h2 * h; return (a0 + a1 * h + a2 * h2 + a3 * h3); } return VectorType(); } private: int updateCubicSplineSegment(int begin) { Sample& s0 = samples[begin]; s0.segmentType = CUBIC_SPLINE; s0.isEdge = true; const int size = s0.y.size(); if(s0.isNaturalEdge){ s0.a = VectorType::Zero(size); s0.b = VectorType::Zero(size); } else { Sample& s1 = samples[begin + 1]; s0.a = VectorType::Constant(size, -0.5); s0.b = (3.0 / (s1.x - s0.x)) * ((s1.y - s0.y) / (s1.x - s0.x) - s0.yp); } const int n = samples.size(); int i = (begin + 1); while(true) { Sample& s0 = samples[i-1]; Sample& s1 = samples[i]; Sample& s2 = samples[i+1]; s1.segmentType = CUBIC_SPLINE; const VectorType b = (s2.y - s1.y) / (s2.x - s1.x) - (s1.y - s0.y) / (s1.x - s0.x); const double sig = (s1.x - s0.x) / (s2.x - s0.x); for(int j=0; j < size; ++j){ const double p = sig * s0.a[j] + 2.0; s1.a[j] = (sig - 1.0) / p; s1.b[j] = (6.0 * b[j] / (s2.x - s0.x) - sig * s0.b[j]) / p; } if(s2.isEdge || i == (n - 2)){ break; } ++i; } double qf; VectorType bf; Sample& sf0 = samples[i]; Sample& sf = samples[i+1]; const int next = i + 1; sf.isEdge = true; if(sf.isNaturalEdge){ qf = 0.0; bf = VectorType::Zero(size); } else { qf = 0.5; bf = (3.0 / (sf.x - sf0.x)) * (sf.yp - (sf.y - sf0.y) / (sf.x - sf0.x)); } const VectorType a_save = sf.a; for(int i=0; i < sf0.a.size(); ++i){ sf.a[i] = (bf[i] - qf * sf0.b[i]) / (qf * sf0.a[i] + 1.0); } while(i >= begin){ Sample& s0 = samples[i]; Sample& s1 = samples[i+1]; s0.a = s0.a.cwiseProduct(s1.a) + s0.b; --i; } sf.a_end = sf.a; sf.a = a_save; return next; } int updateSegmentBetweenTwoSamples(int begin) { Sample& s0 = samples[begin]; s0.segmentType = POLYNOMINAL; s0.isEdge = true; Sample& s1 = samples[begin+1]; s1.isEdge = true; const double h = (s1.x - s0.x); const double h2 = h * h; const double h3 = h2 * h; const int size = s0.yp.size(); const VectorType d0 = s0.isEdge ? s0.yp : VectorType::Zero(size); const VectorType d1 = s1.isEdge ? s1.yp : VectorType::Zero(size); s0.a = d0; s0.b = 3.0 * (s1.y - s0.y) / h2 - (2.0 * d0 - d1) / h; s0.c = (d0 + d1) / h2 + 2.0 * (s0.y - s1.y) / h3; return begin + 1; } }; } #endif choreonoid-1.5.0/sample/SimpleController/SR1WalkGraspController.cpp0000664000000000000000000001506212741425367024134 0ustar rootroot/** Sample walking and grasp motion controller for the SR1Hand robot model. This program was ported from the "SampleController" sample of OpenHRP3. @author Shizuko Hattori */ #include #include #include #include #include #include #include "Interpolator.h" using namespace std; using namespace cnoid; static double pgain[] = { 19000.0, 19000.0, 19000.0, 19000.0, 19000.0, 19000.0, 20000.0, 20000.0, 20000.0, 20000.0, 20000.0, 80.0, 80.0, 19000.0, 19000.0, 19000.0, 19000.0, 19000.0, 19000.0, 20000.0, 20000.0, 20000.0, 20000.0, 20000.0, 20000.0, 20000.0, 30000.0, 19000.0, 19000.0 }; static double dgain[] = { 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 1.0, 1.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0 }; class SR1WalkGraspController : public cnoid::SimpleController { BodyPtr body; int rarm_shoulder_p; int rarm_shoulder_r; int rarm_elbow; int rarm_wrist_y; int rarm_wrist_r; ForceSensor* rhsensor; Interpolator interpolator; MultiValueSeqPtr qseq; VectorXd qref, qold, qref_old; int currentFrame; double timeStep_; int numJoints; int phase; double time; public: virtual bool initialize() { if(!qseq){ string filename = getNativePathString( boost::filesystem::path(shareDirectory()) / "motion" / "SR1" / "SR1WalkPattern3.yaml"); BodyMotion motion; if(!motion.loadStandardYAMLformat(filename)){ os() << motion.seqMessage() << endl; return false; } qseq = motion.jointPosSeq(); if(qseq->numFrames() == 0){ os() << "Empty motion data." << endl; return false; } timeStep_ = qseq->getTimeStep(); } if(fabs(timeStep() - timeStep_) > 1.0e-6){ os() << "Time step must be " << timeStep_ << "." << endl;; return false; } body = ioBody(); rarm_shoulder_p = body->link("RARM_SHOULDER_P")->jointId(); rarm_shoulder_r = body->link("RARM_SHOULDER_R")->jointId(); rarm_elbow = body->link("RARM_ELBOW")->jointId(); rarm_wrist_y = body->link("RARM_WRIST_Y")->jointId(); rarm_wrist_r = body->link("RARM_WRIST_R")->jointId(); rhsensor = body->findDevice("rhsensor"); numJoints = body->numJoints(); if(numJoints != qseq->numParts()){ os() << "The number of joints must be " << qseq->numParts() << endl; return false; } qold.resize(numJoints); VectorXd q0(numJoints); VectorXd q1(numJoints); for(int i=0; i < numJoints; ++i){ qold[i] = q0[i] = body->joint(i)->q(); } MultiValueSeq::Frame frame = qseq->frame(0); for(int i=0; i < numJoints; ++i){ q1[i] = frame[i]; } interpolator.clear(); interpolator.appendSample(0.0, q0); interpolator.appendSample(2.0, q1); interpolator.update(); qref_old = interpolator.interpolate(0.0); currentFrame = 0; phase = 0; time = 0.0; return true; } virtual bool control() { switch(phase){ case 0 : qref = interpolator.interpolate(time); if(time > interpolator.domainUpper()){ phase = 1; } break; case 1: if(currentFrame < qseq->numFrames()){ MultiValueSeq::Frame frame = qseq->frame(currentFrame++); for(int i=0; i < numJoints; ++i){ qref[i] = frame[i]; } }else{ interpolator.clear(); interpolator.appendSample(time, qref); VectorXd q1(numJoints); q1 = qref; q1[rarm_shoulder_r] = -0.4; q1[rarm_shoulder_p] = 0.75; q1[rarm_elbow] = -2.0; interpolator.appendSample(time + 3.0, q1); q1[rarm_elbow] = -1.57; q1[rarm_shoulder_p] = -0.2; q1[rarm_wrist_r] = 1.5; interpolator.appendSample(time + 5.0, q1); q1[rarm_elbow] = -1.3; q1[rarm_wrist_y] = -0.24; interpolator.appendSample(time + 6.0, q1); interpolator.update(); qref = interpolator.interpolate(time); phase = 2; } break; case 2 : qref = interpolator.interpolate(time); if(time > interpolator.domainUpper()){ interpolator.clear(); interpolator.appendSample(time, qref); VectorXd q1(numJoints); q1 = qref; q1[rarm_wrist_y] = 0.0; q1[rarm_shoulder_r] = 0.1; interpolator.appendSample(time + 5.0, q1); interpolator.update(); qref = interpolator.interpolate(time); phase = 3; } break; case 3: qref = interpolator.interpolate(time); if( rhsensor->F()[1] < -2 ) { interpolator.clear(); interpolator.appendSample(time, qref); VectorXd q1(numJoints); q1 = qref; q1[rarm_wrist_r] = -0.3;; interpolator.appendSample(time + 2.0, q1); interpolator.appendSample(time + 2.5, q1); q1[rarm_shoulder_p] = -0.13; q1[rarm_elbow] = -1.8; interpolator.appendSample(time + 3.5, q1); interpolator.update(); qref = interpolator.interpolate(time); phase = 4; } break; case 4 : qref = interpolator.interpolate(time); } for(int i=0; i < body->numJoints(); ++i){ Link* joint = body->joint(i); double q = joint->q(); double dq_ref = (qref[i] - qref_old[i]) / timeStep_; double dq = (q - qold[i]) / timeStep_; joint->u() = (qref[i] - q) * pgain[i] + (dq_ref - dq) * dgain[i]; qold[i] = q; } qref_old = qref; time += timeStep_; return true; } }; CNOID_IMPLEMENT_SIMPLE_CONTROLLER_FACTORY(SR1WalkGraspController) choreonoid-1.5.0/sample/SimpleController/SampleSV.cpp0000664000000000000000000000411112741425367021332 0ustar rootroot#include #include #include #include #include "Interpolator.h" #include using namespace std; using namespace cnoid; using namespace boost; #define DOF (4) #define STEERING_ID 0 #define WHEEL_ID 1 #define STEERING_FILE "etc/steer.dat" #define STEERING_P_GAIN 100.0 #define STEERING_D_GAIN 1.0 #define WHEEL_P_GAIN 100.0 #define WHEEL_D_GAIN 0.5 #define WHEEL_REF_VEL 6 // [rad/s] #define TIMESTEP 0.001 class SampleSVController : public cnoid::SimpleController { double time; double wheel_ref; double steer_ref; double torque[2]; public: virtual bool initialize() { wheel_ref = 0.0; steer_ref = 0.0; time = 0.0; const BodyPtr& io = ioBody(); for(int i=0; ijoint(2)->u() = 0.0; return true; } virtual bool control() { if(time >= 20.0 && time <21.0) steer_ref -= radian(30*TIMESTEP); else if(time >= 21.0 && time <23.0) steer_ref += radian(30*TIMESTEP); else if ( time >= 23.0 && time < 24.0) steer_ref -= radian(30*TIMESTEP); else if(time >=24.0 && time < 40.0) ; else if(time >= 40.0 && time <41.0) steer_ref += radian(30*TIMESTEP); else if(time >= 41.0 && time <42.0) steer_ref -= radian(30*TIMESTEP); time += TIMESTEP; const BodyPtr& io = ioBody(); double q = io->joint(STEERING_ID)->q(); double dq = io->joint(STEERING_ID)->dq(); torque[STEERING_ID] = (steer_ref - q) * STEERING_P_GAIN - dq * STEERING_D_GAIN; io->joint(STEERING_ID)->u() = torque[STEERING_ID]; q = io->joint(WHEEL_ID)->q(); dq = io->joint(WHEEL_ID)->dq(); torque[WHEEL_ID] = (wheel_ref - q) * WHEEL_P_GAIN + (WHEEL_REF_VEL - dq) * WHEEL_D_GAIN; io->joint(WHEEL_ID)->u() = torque[WHEEL_ID]; wheel_ref += WHEEL_REF_VEL * TIMESTEP; return true; } }; CNOID_IMPLEMENT_SIMPLE_CONTROLLER_FACTORY(SampleSVController); choreonoid-1.5.0/sample/SimpleController/TankJoystickLight.cnoid0000664000000000000000000002331712741425367023570 0ustar rootrootitems: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false collisionDetector: AISTCollisionDetector children: - id: 2 name: "Tank" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/tank.wrl" currentBaseLink: "" rootPosition: [ -0.8, 2.4, 0.1 ] rootAttitude: [ 0, 1, 0, -1, 0, 0, 0, 0, 1 ] jointPositions: [ 0.000000, 0.000000, 0.000000, 0.000000 ] initialRootPosition: [ -0.8, 2.4, 0.1 ] initialRootAttitude: [ 2.22044605e-16, 1, 0, -1, 2.22044605e-16, -0, -0, 0, 1 ] initialJointPositions: [ 0.000000, 0.000000, 0.000000 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: true children: - id: 3 name: "JoystickController" plugin: SimpleController class: SimpleControllerItem data: isImmediateMode: true controller: "TankJoystickController" reloading: true inputLinkPositions: false - id: 4 name: "LightController" plugin: SimpleController class: SimpleControllerItem data: isImmediateMode: true controller: "TankLightController" reloading: true inputLinkPositions: false - id: 5 name: "Labo1" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/Labo1/Labo1.wrl" currentBaseLink: "Base" rootPosition: [ 0, 0, 0 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ ] initialRootPosition: [ 0, 0, 0 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: true - id: 6 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recording: off timeRangeMode: Unlimited onlyActiveControlPeriod: true timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false dynamicsMode: Forward dynamics integrationMode: Runge Kutta gravity: [ 0, 0, -9.80665 ] staticFriction: 0.5 slipFriction: 0.5 cullingThresh: 0.01 contactCullingDepth: 0.05 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 30 kinematicWalking: false 2Dmode: false views: - id: 0 plugin: Base class: ItemPropertyView mounted: true - id: 1 plugin: Base class: ItemTreeView mounted: true state: selected: [ 6 ] checked: [ 1, 2, 3, 4, 5 ] expanded: [ 1, 2 ] - id: 2 plugin: Base class: MessageView mounted: true - id: 3 plugin: Base class: SceneView mounted: true state: editMode: false viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: false defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.1 worldLightAmbient: 0 additionalLights: true fog: true floorGrid: false floorGridSpan: 10 floorGridInterval: 0.5 xzGridSpan: 10 xzGridInterval: 0.5 xzGrid: false yzGridSpan: 10 yzGridInterval: 0.5 texture: true lineWidth: 1 pointSize: 1 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false enableNewDisplayListDoubleRendering: false useBufferForPicking: true cameras: - camera: [ System, Perspective ] isCurrent: true fieldOfView: 0.6978 near: 0.01 far: 10000 eye: [ -2.86824, 6.25331, 2.49127 ] direction: [ 0.412288148, -0.847325304, -0.33475112 ] up: [ 0.146464125, -0.301009257, 0.942306578 ] - camera: [ System, Orthographic ] orthoHeight: 20 near: 0.01 far: 10000 backgroundColor: [ 0, 0, 0 ] gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] xzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] yzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] dedicatedItemTreeViewChecks: false - id: 4 name: "Scene 2" plugin: Base class: SceneView mounted: true state: editMode: false viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: true defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true fog: true floorGrid: false floorGridSpan: 10 floorGridInterval: 0.5 xzGridSpan: 10 xzGridInterval: 0.5 xzGrid: false yzGridSpan: 10 yzGridInterval: 0.5 texture: true lineWidth: 1 pointSize: 1 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false enableNewDisplayListDoubleRendering: false useBufferForPicking: true cameras: - camera: [ System, Perspective ] fieldOfView: 0.6978 near: 0.01 far: 100 eye: [ 4, 2, 1.5 ] direction: [ -0.888888889, -0.444444444, -0.111111111 ] up: [ -0.099380799, -0.0496903995, 0.99380799 ] - camera: [ System, Orthographic ] orthoHeight: 20 near: 0.01 far: 100 - camera: [ Tank, Camera ] isCurrent: true backgroundColor: [ 0.100000001, 0.100000001, 0.300000012 ] gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] xzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] yzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] dedicatedItemTreeViewChecks: false - id: 5 name: "Joystick" plugin: Base class: VirtualJoystickView mounted: true - id: 6 plugin: Body class: BodyLinkView mounted: true state: showRotationMatrix: false - id: 7 plugin: Body class: JointSliderView mounted: true state: showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 4 - id: 8 plugin: Body class: LinkSelectionView mounted: true state: listingMode: "Link List" currentBodyItem: 4 bodyItems: - id: 2 selectedLinks: [ 0 ] - id: 9 plugin: Python class: PythonConsoleView mounted: true toolbars: "TimeBar": minTime: 0 maxTime: 5 frameRate: 1000 playbackFrameRate: 100 idleLoopDrivenMode: false currentTime: 0 speedScale: 1 syncToOngoingUpdates: true autoExpansion: true Body: "BodyMotionEngine": updateJointVelocities: false "EditableSceneBody": editableSceneBodies: - bodyItem: 2 showCenterOfMass: false showPpcom: false showZmp: false - bodyItem: 4 showCenterOfMass: false showPpcom: false showZmp: false staticModelEditing: true viewAreas: - type: embedded tabs: true contents: type: splitter orientation: horizontal sizes: [ 303, 1291 ] children: - type: splitter orientation: vertical sizes: [ 381, 381 ] children: - type: pane views: [ 1 ] current: 1 - type: pane views: [ 0, 8 ] current: 0 - type: splitter orientation: vertical sizes: [ 545, 217 ] children: - type: splitter orientation: horizontal sizes: [ 602, 683 ] children: - type: pane views: [ 6, 7, 4 ] current: 4 - type: pane views: [ 3 ] current: 3 - type: splitter orientation: horizontal sizes: [ 774, 511 ] children: - type: pane views: [ 2, 9 ] current: 2 - type: pane views: [ 5 ] current: 5 layoutOfToolBars: rows: - - { name: "FileBar", x: 0, priority: 0 } - { name: "ScriptBar", x: 48, priority: 0 } - { name: "SimulationBar", x: 95, priority: 1 } - { name: "TimeBar", x: 96, priority: 0 } - { name: "SceneBar", x: 1336, priority: 2 } choreonoid-1.5.0/sample/SimpleController/SR1Walk.cnoid0000664000000000000000000003346212741425367021411 0ustar rootrootoptionalPlugins: [ ODE, Bullet, PhysX, AgX ] items: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false collisionDetector: AISTCollisionDetector children: - id: 2 name: "SR1" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/SR1/SR1.yaml" currentBaseLink: "WAIST" rootPosition: [ 0, 0, 0.7135 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, -0.003491, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, -0.003491, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000 ] initialRootPosition: [ 0, 0, 0.7135 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialJointPositions: [ 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, -0.003491, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, -0.003491, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true children: - id: 3 name: "SR1WalkController" plugin: SimpleController class: SimpleControllerItem data: isImmediateMode: true controller: "SR1WalkPatternController" reloading: true inputLinkPositions: false - id: 4 name: "Floor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/floor.wrl" currentBaseLink: "BASE" rootPosition: [ 0, 0, -0.1 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ ] initialRootPosition: [ 0, 0, -0.1 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 5 name: "Simulators" plugin: Base class: FolderItem children: - id: 6 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Active control period" timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false controllerOptions: dynamicsMode: "Forward dynamics" integrationMode: "Runge Kutta" gravity: [ 0, 0, -9.80665 ] staticFriction: 0.5 slipFriction: 0.5 cullingThresh: 0.01 contactCullingDepth: 0.05 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 30 kinematicWalking: false 2Dmode: false - id: 7 name: "AISTSimulator-HighGain" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Active control period" timeLength: 180 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false controllerOptions: highgain dynamicsMode: "High-gain dynamics" integrationMode: "Runge Kutta" gravity: [ 0, 0, -9.80665 ] staticFriction: 0.5 slipFriction: 0.5 cullingThresh: 0.01 contactCullingDepth: 0.05 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 30 kinematicWalking: false 2Dmode: false - id: 8 name: "ODESimulator" plugin: ODE class: ODESimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Active control period" timeLength: 60 allLinkPositionOutputMode: true deviceStateOutput: true controllerThreads: true recordCollisionData: false controllerOptions: stepMode: Iterative (quick step) gravity: [ 0, 0, -9.8 ] friction: 0.5 jointLimitMode: false globalERP: 0.4 globalCFM: 1e-10 numIterations: 50 overRelaxation: 1.3 limitCorrectingVel: true maxCorrectingVel: 1.0e-3 2Dmode: false UseWorldItem'sCollisionDetector: false velocityMode: false - id: 9 name: "BulletSimulator" plugin: Bullet class: BulletSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Active control period" timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false controllerOptions: ErrorReductionParameter: 0.5 NumIterations: 10 Restitution: 0 Friction: 0.7 ERP2: 0 SplitImpulsePenetrationThreshold: -0.0001 - id: 10 name: "PhysXSimulator" plugin: PhysX class: PhysXSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Active control period" timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false controllerOptions: staticFriction: 0.5 dynamicFriction: 0.8 Restitution: 0.1 jointLimitMode: false - id: 11 name: "AgXSimulator" plugin: AgX class: AgXSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Active control period" timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false controllerOptions: dynamicsMode: Forward dynamics gravity: [ 0, 0, -9.80665 ] friction: 0.5 restitution: 0.1 frictionModelType: Iterative Projected frictionSolveType: Direct numThreads: 1 contactReductionMode: Geometry contactReductionBinResolution: 2 contactReductionThreshold: 4 - id: 12 name: "AgXSimulator-Velocity" plugin: AgX class: AgXSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Active control period" timeLength: 180 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false controllerOptions: velocity dynamicsMode: High-gain dynamics gravity: [ 0, 0, -9.80665 ] friction: 0.5 restitution: 0.1 frictionModelType: Iterative Projected frictionSolveType: Direct numThreads: 1 contactReductionMode: Geometry contactReductionBinResolution: 2 contactReductionThreshold: 4 views: "Items": selected: [ 6 ] checked: [ 1, 2 ] expanded: [ 1, 2, 3, 5 ] "Scene": viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: true defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true floorGrid: true floorGridSpan: 10 floorGridInterval: 0.5 texture: true lineWidth: 1 pointSize: 1 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false useBufferForPicking: true camera: current: Perspective eye: [ 2.38053012, 1.54674006, 1.10801005 ] direction: [ -0.820639908, -0.553809941, -0.140870988 ] up: [ -0.116768934, -0.0788013488, 0.990027964 ] fieldOfView: 0.6978 near: 0.01 far: 10000 orthoHeight: 20 backgroundColor: [ 0.100000001, 0.100000001, 0.300000012 ] gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] "Multi Value Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi SE3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Links": listingMode: "Link List" currentBodyItem: 2 bodyItems: - id: 2 selectedLinks: [ 20 ] "Body / Link": showRotationMatrix: false "Joint Sliders": showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 2 "Joint Trajectories": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi Affine3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Pose Roll": defaultTransitionTime: 0 updateAll: true autoUpdate: false timeSync: true listingMode: "Part Tree" timeLength: 10 showLipSync: false gridInterval: 1 toolbars: "TimeBar": minTime: 0 maxTime: 15 frameRate: 500 playbackFrameRate: 100 idleLoopDrivenMode: false currentTime: 0 speedScale: 1 syncToOngoingUpdates: true autoExpansion: true "BodyMotionGenerationBar": balancer: false autoGeneration: false timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: false makeNewBodyItem: true stealthyStepMode: true stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 zmpMaxDistanceFromCenter: 0.02 allLinkPositions: false lipSyncMix: false "BodyBar": stanceWidth: 0.15 "KinematicsBar": mode: FK attitude: false penetrationBlock: true collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true Body: "BodyMotionEngine": updateJointVelocities: false "EditableSceneBody": editableSceneBodies: - bodyItem: 2 showCenterOfMass: false showZmp: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false OpenRTM: "OpenRTMPlugin": deleteUnmanagedRTCsOnStartingSimulation: false choreonoid-1.5.0/sample/SimpleController/TankJoystickController.cpp0000664000000000000000000000716212741425367024332 0ustar rootroot/** Tank Controller @author Shin'ichiro Nakaoka */ #include #include #include using namespace std; using namespace cnoid; namespace { const int cannonAxis[] = { 3, 4 }; const double cannonAxisRatio[] = { -1.0, 1.0 }; const int buttonIds[] = { 0, 1, 2, 3, 4, 5 }; } class TankJoystickController : public cnoid::SimpleController { Link* crawlerL; Link* crawlerR; Link* cannonJoint[2]; double qref[2]; double qprev[2]; LightPtr light; bool prevLightButtonState; Joystick joystick; public: virtual bool initialize(SimpleControllerIO* io) { ostream& os = io->os(); Body* body = io->body(); crawlerL = body->link("CRAWLER_TRACK_L"); crawlerR = body->link("CRAWLER_TRACK_R"); if(!crawlerL || !crawlerR){ os << "The crawlers are not found." << endl; return false; } io->setLinkOutput(crawlerL, JOINT_VELOCITY); io->setLinkOutput(crawlerR, JOINT_VELOCITY); cannonJoint[0] = body->link("CANNON_Y"); cannonJoint[1] = body->link("CANNON_P"); for(int i=0; i < 2; ++i){ Link* joint = cannonJoint[i]; if(!joint){ os << "Cannon joint " << i << " is not found." << endl; return false; } qref[i] = qprev[i] = joint->q(); io->setLinkOutput(joint, JOINT_TORQUE); io->setLinkInput(joint, JOINT_ANGLE); } DeviceList lights(body->devices()); if(!lights.empty()){ light = lights.front(); } prevLightButtonState = false; if(!joystick.isReady()){ os << "Joystick is not ready: " << joystick.errorMessage() << endl; } if(joystick.numAxes() < 5){ os << "The number of the joystick axes is not sufficient for controlling the robot." << endl; } if(joystick.numButtons() < 1){ os << "The number of the joystick buttons is not sufficient for controlling the robot." << endl; } return true; } virtual bool control() { joystick.readCurrentState(); static const double P = 200.0; static const double D = 50.0; for(int i=0; i < 2; ++i){ Link* joint = cannonJoint[i]; double q = joint->q(); double dq = (q - qprev[i]) / timeStep(); double dqref = 0.0; double command = cannonAxisRatio[i] * joystick.getPosition(cannonAxis[i]); if(fabs(command) > 0.2){ double deltaq = command * 0.002; qref[i] += deltaq; dqref = deltaq / timeStep(); } joint->u() = P * (qref[i] - q) + D * (dqref - dq); qprev[i] = q; } double pos[2]; for(int i=0; i < 2; ++i){ pos[i] = joystick.getPosition(i); if(fabs(pos[i]) < 0.2){ pos[i] = 0.0; } } // set the velocity of each crawlers crawlerL->dq() = -2.0 * pos[1] + pos[0]; crawlerR->dq() = -2.0 * pos[1] - pos[0]; if(light){ bool lightButtonState = joystick.getButtonState(buttonIds[0]); if(lightButtonState){ if(!prevLightButtonState){ light->on(!light->on()); light->notifyStateChange(); } } prevLightButtonState = lightButtonState; } return true; } }; CNOID_IMPLEMENT_SIMPLE_CONTROLLER_FACTORY(TankJoystickController) choreonoid-1.5.0/sample/SimpleController/SR1Walk2D.cnoid0000664000000000000000000002167612741425367021603 0ustar rootrootoptionalPlugins: [ ODE, Bullet, PhysX, AgX ] items: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false children: - id: 2 name: "SR1_2D" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/SR1/SR1-2D.wrl" currentBaseLink: "WAIST" rootPosition: [ 0.000000, 0.000000, 0.713500 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, 0.000000, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, 0.000000, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000 ] initialRootPosition: [ 0.000000, 0.000000, 0.713500 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] initialJointPositions: [ 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, 0.000000, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, 0.000000, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false children: - id: 3 name: "SR1WalkPatternController" plugin: SimpleController class: SimpleControllerItem data: isImmediateMode: true controller: "SR1WalkPatternController" reloading: true inputLinkPositions: false - id: 4 name: "Floor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/floor.wrl" currentBaseLink: "BASE" rootPosition: [ 0.000000, 0.000000, -0.100000 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ ] initialRootPosition: [ 0.000000, 0.000000, -0.100000 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false - id: 5 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Specified time" timeLength: 13.4 allLinkPositionOutputMode: true deviceStateRecording: false dynamicsMode: Forward dynamics integrationMode: Runge Kutta gravity: [ 0, 0, -9.80665 ] staticFriction: 0.5 slipFriction: 0.5 cullingThresh: 0.01 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 30 2Dmode: true - id: 6 name: "ODESimulator" plugin: ODE class: ODESimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Specified time" timeLength: 13.4 allLinkPositionOutputMode: true deviceStateRecording: false stepMode: Iterative (quick step) gravity: [ 0, 0, -9.80665 ] friction: 0.5 jointLimitMode: false globalERP: 0.4 globalCFM: 1e-10 numIterations: 50 overRelaxation: 1.3 limitCorrectingVel: true maxCorrectingVel: 1.0e-3 2Dmode: true views: "Items": selected: [ 5 ] checked: [ 2 ] expanded: [ 1, 2, 3 ] "Scene": walkthrough: false wireframe: false defaultHeadLight: true defaultHeadLightIntensity: 0.75 worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true floorGrid: true floorGridSpan: 10 floorGridInterval: 0.5 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false camera: current: Perspective eye: [ 2.71159, 1.18265, 1.01329 ] direction: [ -0.911844, -0.400276, -0.0912141 ] up: [ -0.0835211, -0.0366637, 0.995831 ] fieldOfView: 0.6978 near: 0.01 far: 10000 orthoHeight: 20 backgroundColor: [ 0.1, 0.1, 0.3 ] gridColor: [ 0.9, 0.9, 0.9, 1 ] "Multi Value Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi SE3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Links": listingMode: "Link List" currentBodyItem: 4 bodyItems: - id: 2 selectedLinks: [ 0 ] "Body / Link": showRotationMatrix: true "Joint Sliders": showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 4 "Joint Trajectories": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi Affine3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Pose Roll": defaultTransitionTime: 0 updateAll: true autoUpdate: false timeSync: true listingMode: "Part Tree" timeLength: 10 showLipSync: false gridInterval: 1 toolbars: "TimeBar": minTime: 0 maxTime: 15 frameRate: 500 playbackFrameRate: 100 currentTime: 0 speedScale: 1 syncToOngoingUpdates: true "BodyBar": current: 4 stanceWidth: 0.15 "KinematicsBar": mode: FK attitude: false penetrationBlock: true collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true "BodyMotionGenerationBar": balancer: false autoGeneration: false timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: false makeNewBodyItem: true stealthyStepMode: true stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 zmpMaxDistanceFromCenter: 0.02 allLinkPositions: false lipSyncMix: false timeToStartBalancer: 0 balancerIterations: 2 plainBalancerMode: false boundaryConditionType: position boundarySmootherType: off boundarySmootherTime: 0.5 boundaryCmAdjustment: false boundaryCmAdjustmentTime: 1 waistHeightRelaxation: false gravity: 9.8 dynamicsTimeRatio: 1 Body: "BodyMotionEngine": updateJointVelocities: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false choreonoid-1.5.0/sample/SimpleController/SampleCrawler.cnoid0000664000000000000000000002155112741425367022722 0ustar rootrootoptionalPlugins: [ ODE, Bullet, PhysX, AgX ] items: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false children: - id: 2 name: "Crawler" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/crawler.wrl" currentBaseLink: "BODY" rootPosition: [ -1.000000, 0.000000, 0.100000 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ 0.000000, 0.000000 ] initialRootPosition: [ -1.000000, 0.000000, 0.100000 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] initialJointPositions: [ 0.000000, 0.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false children: - id: 3 name: "SampleCrawlerController" plugin: SimpleController class: SimpleControllerItem data: isImmediateMode: true controller: "SampleCrawlerController" reloading: true inputLinkPositions: false - id: 4 name: "floor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/bumpyfloor.wrl" currentBaseLink: "WAIST" rootPosition: [ 0.000000, 0.000000, -0.100000 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ ] initialRootPosition: [ 0.000000, 0.000000, -0.100000 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false - id: 5 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Specified time" timeLength: 15 allLinkPositionOutputMode: false deviceStateRecording: true dynamicsMode: Forward dynamics integrationMode: Runge Kutta gravity: [ 0, 0, -9.80665 ] staticFriction: 0.5 slipFriction: 0.5 cullingThresh: 0.01 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 30 2Dmode: false - id: 6 name: "ODESimulator" plugin: ODE class: ODESimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Specified time" timeLength: 15 allLinkPositionOutputMode: true deviceStateRecording: true stepMode: Iterative (quick step) gravity: [ 0, 0, -9.80665 ] friction: 100 jointLimitMode: false globalERP: 0.4 globalCFM: 1e-10 numIterations: 50 overRelaxation: 1.3 limitCorrectingVel: true maxCorrectingVel: 1.0e-3 2Dmode: false - id: 7 name: "BulletSimulator" plugin: Bullet class: BulletSimulatorItem data: realtimeSync: true recordingMode: Specific time length onlyActiveControlPeriod: true timeLength: 8 allLinkPositionOutputMode: true deviceStateRecording: true ErrorReductionParameter: 0.2 NumIterations: 10 Restitution: 0 Friction: 0.9 ERP2: 0 SplitImpulsePenetrationThreshold: -0.0001 views: "Items": selected: [ 5 ] checked: [ 1, 2, 4 ] expanded: [ 1, 2, 3 ] "Scene": walkthrough: false wireframe: false defaultHeadLight: true defaultHeadLightIntensity: 0.75 worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true floorGrid: false floorGridSpan: 10 floorGridInterval: 0.5 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false camera: current: Perspective eye: [ 3.78761, 3.11233, 1.89839 ] direction: [ -0.743977, -0.593849, -0.306335 ] up: [ -0.239417, -0.191105, 0.951924 ] fieldOfView: 0.6978 near: 0.01 far: 10000 orthoHeight: 20 backgroundColor: [ 0.1, 0.1, 0.3 ] gridColor: [ 0.9, 0.9, 0.9, 1 ] "Multi Value Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi SE3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Links": listingMode: "Link List" currentBodyItem: 2 bodyItems: - id: 4 selectedLinks: [ 0 ] - id: 2 selectedLinks: [ 0 ] "Body / Link": showRotationMatrix: false "Joint Sliders": showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 2 "Joint Trajectories": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi Affine3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Pose Roll": defaultTransitionTime: 0 updateAll: true autoUpdate: false timeSync: true listingMode: "Part Tree" timeLength: 10 showLipSync: false gridInterval: 1 toolbars: "TimeBar": minTime: 0 maxTime: 15 frameRate: 1000 playbackFrameRate: 100 currentTime: 0 speedScale: 1 syncToOngoingUpdates: true "BodyBar": current: 2 stanceWidth: 0.15 "KinematicsBar": mode: FK attitude: false penetrationBlock: true collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true "BodyMotionGenerationBar": balancer: false autoGeneration: false timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: false makeNewBodyItem: true stealthyStepMode: true stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 zmpMaxDistanceFromCenter: 0.02 allLinkPositions: false lipSyncMix: false timeToStartBalancer: 0 balancerIterations: 2 plainBalancerMode: false boundaryConditionType: position boundarySmootherType: off boundarySmootherTime: 0.5 boundaryCmAdjustment: false boundaryCmAdjustmentTime: 1 waistHeightRelaxation: false gravity: 9.8 dynamicsTimeRatio: 1 Body: "BodyMotionEngine": updateJointVelocities: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false choreonoid-1.5.0/sample/SimpleController/ConveyorController.cpp0000664000000000000000000000106512741425367023515 0ustar rootroot/** Conveyor Controller Sample @author Shin'ichiro Nakaoka */ #include using namespace cnoid; class ConveyorController : public cnoid::SimpleController { Link* conveyorJoint; public: virtual bool initialize(SimpleControllerIO* io) { conveyorJoint = io->body()->joint(0); io->setJointOutput(JOINT_VELOCITY); return true; } virtual bool control() { conveyorJoint->dq() = -1.0; return true; } }; CNOID_IMPLEMENT_SIMPLE_CONTROLLER_FACTORY(ConveyorController) choreonoid-1.5.0/sample/SimpleController/TankJoystick.cnoid0000664000000000000000000002560612741425367022603 0ustar rootrootoptionalPlugins: [ ODE, Bullet, PhysX, AgX ] items: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false collisionDetector: AISTCollisionDetector children: - id: 2 name: "Tank" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/tank.wrl" currentBaseLink: "" rootPosition: [ -0.8, 2.4, 0.1 ] rootAttitude: [ 0, 1, 0, -1, 0, 0, 0, 0, 1 ] jointPositions: [ 0.000000, 0.000000, 0.000000, 0.000000 ] initialRootPosition: [ -0.8, 2.4, 0.1 ] initialRootAttitude: [ 2.22044605e-16, 1, 0, -1, 2.22044605e-16, -0, -0, 0, 1 ] initialJointPositions: [ 0.000000, 0.000000, 0.000000, 0.000000 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: true children: - id: 3 name: "JoystickController" plugin: SimpleController class: SimpleControllerItem data: isImmediateMode: true controller: "TankJoystickController" reloading: true inputLinkPositions: false - id: 4 name: "Labo1" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/Labo1/Labo1.wrl" currentBaseLink: "Base" rootPosition: [ 0, 0, 0 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ ] initialRootPosition: [ 0, 0, 0 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: false - id: 10 name: "fog" plugin: Base class: SceneItem data: file: "${SHARE}/model/misc/fog.wrl" format: VRML-FILE translation: [ 0, 0, 0 ] rotation: [ 1, 0, 0, 0 ] - id: 5 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recording: off timeRangeMode: Unlimited timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false dynamicsMode: Forward dynamics integrationMode: Runge Kutta gravity: [ 0, 0, -9.80665 ] staticFriction: 0.5 slipFriction: 0.5 cullingThresh: 0.01 contactCullingDepth: 0.05 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 30 kinematicWalking: false 2Dmode: false - id: 6 name: "ODESimulator" plugin: ODE class: ODESimulatorItem data: realtimeSync: true recordingMode: Direct onlyActiveControlPeriod: true timeLength: 60 allLinkPositionOutputMode: true deviceStateRecording: true stepMode: Iterative (quick step) gravity: [ 0, 0, -9.80665 ] friction: 100 jointLimitMode: false globalERP: 0.4 globalCFM: 1e-10 numIterations: 50 overRelaxation: 1.3 limitCorrectingVel: true maxCorrectingVel: 1.0e-3 2Dmode: false - id: 7 name: "BulletSimulator" plugin: Bullet class: BulletSimulatorItem data: realtimeSync: true recordingMode: Direct onlyActiveControlPeriod: true timeLength: 60 allLinkPositionOutputMode: true deviceStateRecording: true ErrorReductionParameter: 0.2 NumIterations: 10 Restitution: 0 Friction: 0.9 ERP2: 0 SplitImpulsePenetrationThreshold: -0.0001 views: - id: 0 plugin: Base class: ItemPropertyView mounted: true - id: 1 plugin: Base class: ItemTreeView mounted: true state: selected: [ 5 ] checked: [ 1, 2, 4 ] expanded: [ 1, 2 ] - id: 2 plugin: Base class: MessageView mounted: true - id: 3 plugin: Base class: SceneView mounted: true state: editMode: false viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: false defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.1 worldLightAmbient: 0 additionalLights: true fog: true floorGrid: false floorGridSpan: 10 floorGridInterval: 0.5 xzGridSpan: 10 xzGridInterval: 0.5 xzGrid: false yzGridSpan: 10 yzGridInterval: 0.5 texture: true lineWidth: 1 pointSize: 1 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false enableNewDisplayListDoubleRendering: false useBufferForPicking: true cameras: - camera: [ System, Perspective ] isCurrent: true fieldOfView: 0.6978 near: 0.01 far: 10000 eye: [ -2.86824, 6.25331, 2.49127 ] direction: [ 0.412288148, -0.847325304, -0.33475112 ] up: [ 0.146464125, -0.301009257, 0.942306578 ] - camera: [ System, Orthographic ] orthoHeight: 20 near: 0.01 far: 10000 backgroundColor: [ 0, 0, 0 ] gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] xzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] yzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] dedicatedItemTreeViewChecks: false - id: 4 name: "Scene 2" plugin: Base class: SceneView mounted: true state: editMode: false viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: true defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true fog: true floorGrid: false floorGridSpan: 10 floorGridInterval: 0.5 xzGridSpan: 10 xzGridInterval: 0.5 xzGrid: false yzGridSpan: 10 yzGridInterval: 0.5 texture: true lineWidth: 1 pointSize: 1 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false enableNewDisplayListDoubleRendering: false useBufferForPicking: true cameras: - camera: [ System, Perspective ] fieldOfView: 0.6978 near: 0.01 far: 100 eye: [ 4, 2, 1.5 ] direction: [ -0.888888889, -0.444444444, -0.111111111 ] up: [ -0.099380799, -0.0496903995, 0.99380799 ] - camera: [ System, Orthographic ] orthoHeight: 20 near: 0.01 far: 100 - camera: [ Tank, Camera ] isCurrent: true backgroundColor: [ 0.100000001, 0.100000001, 0.300000012 ] gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] xzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] yzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] dedicatedItemTreeViewChecks: false - id: 5 name: "Joystick" plugin: Base class: VirtualJoystickView mounted: true - id: 6 plugin: Body class: BodyLinkView mounted: true state: showRotationMatrix: false - id: 7 plugin: Body class: JointSliderView mounted: true state: showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 4 - id: 8 plugin: Body class: LinkSelectionView mounted: true state: listingMode: "Link List" currentBodyItem: 4 bodyItems: - id: 2 selectedLinks: [ 0 ] - id: 9 plugin: Python class: PythonConsoleView mounted: true toolbars: "TimeBar": minTime: 0 maxTime: 5 frameRate: 1000 playbackFrameRate: 100 idleLoopDrivenMode: false currentTime: 0 speedScale: 1 syncToOngoingUpdates: true autoExpansion: true Body: "BodyMotionEngine": updateJointVelocities: false "EditableSceneBody": editableSceneBodies: - bodyItem: 2 showCenterOfMass: false showPpcom: false showZmp: false - bodyItem: 4 showCenterOfMass: false showPpcom: false showZmp: false staticModelEditing: true viewAreas: - type: embedded tabs: true contents: type: splitter orientation: horizontal sizes: [ 303, 1291 ] children: - type: splitter orientation: vertical sizes: [ 381, 381 ] children: - type: pane views: [ 1 ] current: 1 - type: pane views: [ 0, 8 ] current: 0 - type: splitter orientation: vertical sizes: [ 545, 217 ] children: - type: splitter orientation: horizontal sizes: [ 602, 683 ] children: - type: pane views: [ 6, 7, 4 ] current: 4 - type: pane views: [ 3 ] current: 3 - type: splitter orientation: horizontal sizes: [ 774, 511 ] children: - type: pane views: [ 2, 9 ] current: 2 - type: pane views: [ 5 ] current: 5 layoutOfToolBars: rows: - - { name: "FileBar", x: 0, priority: 0 } - { name: "ScriptBar", x: 48, priority: 0 } - { name: "SimulationBar", x: 95, priority: 1 } - { name: "TimeBar", x: 96, priority: 0 } - { name: "SceneBar", x: 1336, priority: 2 } choreonoid-1.5.0/sample/SimpleController/SR1WalkPush.cnoid0000664000000000000000000002432012741425367022242 0ustar rootrootitems: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false collisionDetector: AISTCollisionDetector children: - id: 2 name: "SR1" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/SR1/SR1.yaml" currentBaseLink: "WAIST" rootPosition: [ 0, 0, 0.7135 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, -0.003491, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, -0.003491, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000 ] initialRootPosition: [ 0, 0, 0.7135 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialJointPositions: [ 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, -0.003491, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, -0.003491, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true children: - id: 3 name: "SR1WalkController" plugin: SimpleController class: SimpleControllerItem data: isImmediateMode: true controller: "SR1WalkPatternController" reloading: true inputLinkPositions: false - id: 4 name: "Floor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/floor.wrl" currentBaseLink: "BASE" rootPosition: [ 0, 0, -0.1 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ ] initialRootPosition: [ 0, 0, -0.1 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 5 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recording: full timeRangeMode: Unlimited onlyActiveControlPeriod: false timeLength: 13.4 allLinkPositionOutputMode: true deviceStateOutput: true dynamicsMode: Forward dynamics integrationMode: Runge Kutta gravity: [ 0, 0, -9.80665 ] staticFriction: 0.5 slipFriction: 0.5 cullingThresh: 0.01 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 30 kinematicWalking: false 2Dmode: false - id: 6 name: "ODESimulator" plugin: ODE class: ODESimulatorItem data: realtimeSync: true recording: true timeRangeMode: TimeBar range onlyActiveControlPeriod: true timeLength: 13.4 allLinkPositionOutputMode: true deviceStateOutput: true stepMode: Iterative (quick step) gravity: [ 0, 0, -9.8 ] friction: 0.5 jointLimitMode: false globalERP: 0.4 globalCFM: 1e-10 numIterations: 50 overRelaxation: 1.3 limitCorrectingVel: true maxCorrectingVel: 1.0e-3 2Dmode: false UseWorldItem'sCollisionDetector: false - id: 7 name: "BulletSimulator" plugin: Bullet class: BulletSimulatorItem data: realtimeSync: true recording: true timeRangeMode: TimeBar range onlyActiveControlPeriod: true timeLength: 13.4 allLinkPositionOutputMode: true deviceStateOutput: true ErrorReductionParameter: 0.5 NumIterations: 10 Restitution: 0 Friction: 0.7 ERP2: 0 SplitImpulsePenetrationThreshold: -0.0001 - id: 8 name: "PhysXSimulator" plugin: PhysX class: PhysXSimulatorItem data: realtimeSync: true recording: true timeRangeMode: TimeBar range onlyActiveControlPeriod: true timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: true staticFriction: 0.5 dynamicFriction: 0.8 Restitution: 0.1 jointLimitMode: false - id: 9 name: "SR1WalkPush.py" plugin: Python class: PythonScriptItem data: file: "${SHARE}/script/SR1WalkPush.py" executionOnLoading: false backgroundExecution: false views: "Items": selected: [ 5 ] checked: [ 1, 2, 9 ] expanded: [ 1, 2, 3 ] "Scene": viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: true defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true floorGrid: true floorGridSpan: 10 floorGridInterval: 0.5 texture: true lineWidth: 1 pointSize: 1 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false useBufferForPicking: true camera: current: Perspective eye: [ 2.38053012, 1.54674006, 1.10801005 ] direction: [ -0.820639908, -0.553809941, -0.140870988 ] up: [ -0.116768934, -0.0788013488, 0.990027964 ] fieldOfView: 0.6978 near: 0.01 far: 10000 orthoHeight: 20 backgroundColor: [ 0.100000001, 0.100000001, 0.300000012 ] gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] "Multi Value Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi SE3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Links": listingMode: "Link List" currentBodyItem: 2 bodyItems: - id: 2 selectedLinks: [ 20 ] "Body / Link": showRotationMatrix: false "Joint Sliders": showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 2 "Joint Trajectories": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi Affine3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Pose Roll": defaultTransitionTime: 0 updateAll: true autoUpdate: false timeSync: true listingMode: "Part Tree" timeLength: 10 showLipSync: false gridInterval: 1 toolbars: "TimeBar": minTime: 0 maxTime: 15 frameRate: 500 playbackFrameRate: 100 idleLoopDrivenMode: false currentTime: 0 speedScale: 1 syncToOngoingUpdates: true autoExpansion: true "BodyMotionGenerationBar": balancer: false autoGeneration: false timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: false makeNewBodyItem: true stealthyStepMode: true stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 zmpMaxDistanceFromCenter: 0.02 allLinkPositions: false lipSyncMix: false "BodyBar": stanceWidth: 0.15 "KinematicsBar": mode: FK attitude: false penetrationBlock: true collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true Body: "BodyMotionEngine": updateJointVelocities: false "EditableSceneBody": editableSceneBodies: - bodyItem: 2 showCenterOfMass: false showZmp: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false OpenRTM: "OpenRTMPlugin": deleteUnmanagedRTCsOnStartingSimulation: false choreonoid-1.5.0/sample/SimpleController/SampleCrawlerController.cpp0000664000000000000000000000250112741425367024446 0ustar rootroot/** Sample Crawler Controller @author Shizuko Hattori */ #include using namespace cnoid; class SampleCrawlerController : public cnoid::SimpleController { Link* crawlerL; Link* crawlerR; double time; double dt; public: virtual bool initialize(SimpleControllerIO* io) { crawlerL = io->body()->link("CRAWLER_TRACK_L"); crawlerR = io->body()->link("CRAWLER_TRACK_R"); if(!crawlerL || !crawlerR){ io->os() << "Crawlers are not found" << std::endl; return false; } io->setLinkOutput(crawlerL, JOINT_VELOCITY); io->setLinkOutput(crawlerR, JOINT_VELOCITY); time = 0.0; dt = io->timeStep(); return true; } virtual bool control() { if(time < 2.0){ crawlerL->dq() = 1.5; crawlerR->dq() = 1.5; } else if(time < 3.0){ crawlerL->dq() = 1.0; crawlerR->dq() = -1.0; } else if(time < 5.0){ crawlerL->dq() = 1.5; crawlerR->dq() = 1.5; } else if(time < 6.0){ crawlerL->dq() = -1.0; crawlerR->dq() = 1.0; } time = fmod(time + dt, 6.0); return true; } }; CNOID_IMPLEMENT_SIMPLE_CONTROLLER_FACTORY(SampleCrawlerController) choreonoid-1.5.0/sample/SimpleController/PA10Pickup.cnoid0000664000000000000000000003043712741425367022001 0ustar rootrootoptionalPlugins: [ ODE, Bullet, PhysX, AgX ] items: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false collisionDetector: AISTCollisionDetector children: - id: 2 name: "PA10" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/PA10/PA10.wrl" currentBaseLink: "BASE" rootPosition: [ 0, 0, 0 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ 0.000000, -0.523599, 0.000000, 1.047198, 0.000000, -0.523599, 0.000000, -0.025000, 0.025000 ] initialRootPosition: [ 0, 0, 0 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialJointPositions: [ 0.000000, -0.523599, 0.000000, 1.047198, 0.000000, -0.523599, 0.000000, -0.025000, 0.025000 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true children: - id: 3 name: "SimpleController" plugin: SimpleController class: SimpleControllerItem data: isImmediateMode: true controller: "PA10PickupController" reloading: true inputLinkPositions: false - id: 4 name: "box3" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box3.wrl" currentBaseLink: "WAIST" rootPosition: [ 0.9, 0, 0.035 ] rootAttitude: [ 0, -1, 0, 1, 0, 0, 0, 0, 1 ] jointPositions: [ ] initialRootPosition: [ 0.9, 0, 0.035 ] initialRootAttitude: [ 2.22044605e-016, -1, 0, 1, 2.22044605e-016, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 5 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ -0, 0.7, 0.1499 ] rootAttitude: [ 1, 0, -0, -0, 1, 0, 0, 0, 1 ] jointPositions: [ ] initialRootPosition: [ -0, 0.7, 0.1499 ] initialRootAttitude: [ 1, 0, -0, -0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] staticModel: true selfCollisionDetection: false isEditable: true - id: 6 name: "Floor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/floor.wrl" currentBaseLink: "BASE" rootPosition: [ 0, 0, -0.1 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ ] initialRootPosition: [ 0, 0, -0.1 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 7 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Time bar range" onlyActiveControlPeriod: true timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false dynamicsMode: Forward dynamics integrationMode: Runge Kutta gravity: [ 0, 0, -9.80665 ] staticFriction: 0.5 slipFriction: 0.5 cullingThresh: 0.02 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 30 kinematicWalking: false 2Dmode: false - id: 8 name: "ODESimulator" plugin: ODE class: ODESimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Time bar range" onlyActiveControlPeriod: true timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false stepMode: Iterative (quick step) gravity: [ 0, 0, -9.80665 ] friction: 1 jointLimitMode: false globalERP: 0.4 globalCFM: 1e-10 numIterations: 50 overRelaxation: 1.3 limitCorrectingVel: true maxCorrectingVel: 1.0e-3 2Dmode: false UseWorldItem'sCollisionDetector: false - id: 9 name: "BulletSimulator" plugin: Bullet class: BulletSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Time bar range" onlyActiveControlPeriod: true timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false ErrorReductionParameter: 0.2 NumIterations: 10 Restitution: 0 Friction: 0.7 ERP2: 0 SplitImpulsePenetrationThreshold: -0.0001 - id: 10 name: "PhysXSimulator" plugin: PhysX class: PhysXSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Time bar range" onlyActiveControlPeriod: true timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false staticFriction: 0.5 dynamicFriction: 0.5 Restitution: 0.1 jointLimitMode: false - id: 11 name: "AgXSimulator" plugin: AgX class: AgXSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Time bar range" onlyActiveControlPeriod: true timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false dynamicsMode: Forward dynamics gravity: [ 0, 0, -9.80665 ] friction: 0.5 restitution: 0.1 frictionModelType: Iterative Projected frictionSolveType: Split numThreads: 1 contactReductionMode: Geometry contactReductionBinResolution: 2 contactReductionThreshold: 4 views: "Items": selected: [ 7 ] checked: [ 1, 2, 4, 5, 6 ] expanded: [ 1, 2, 3, 4, 5 ] "Scene": viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: true defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true floorGrid: false floorGridSpan: 10 floorGridInterval: 0.5 texture: true lineWidth: 1 pointSize: 1 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false useBufferForPicking: true camera: current: Perspective eye: [ 2.83337998, 1.46162999, 0.874503016 ] direction: [ -0.90182054, -0.41758123, -0.111111067 ] up: [ -0.100826629, -0.0466868281, 0.993808031 ] fieldOfView: 0.6978 near: 0.01 far: 10000 orthoHeight: 20 backgroundColor: [ 0.100000001, 0.100000001, 0.300000012 ] gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] "Multi Value Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi SE3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Links": listingMode: "Link List" currentBodyItem: 4 bodyItems: - id: 2 selectedLinks: [ 7 ] - id: 4 selectedLinks: [ 0 ] - id: 5 selectedLinks: [ 0 ] "Body / Link": showRotationMatrix: false "Joint Sliders": showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 4 "Joint Trajectories": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi Affine3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Pose Roll": defaultTransitionTime: 0 updateAll: true autoUpdate: false timeSync: true listingMode: "Part Tree" timeLength: 10 showLipSync: false gridInterval: 1 toolbars: "TimeBar": minTime: 0 maxTime: 8 frameRate: 1000 playbackFrameRate: 100 idleLoopDrivenMode: false currentTime: 0 speedScale: 1 syncToOngoingUpdates: true autoExpansion: true "BodyMotionGenerationBar": balancer: false autoGeneration: false timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: false makeNewBodyItem: true stealthyStepMode: true stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 zmpMaxDistanceFromCenter: 0.02 allLinkPositions: false lipSyncMix: false "BodyBar": stanceWidth: 0.15 "KinematicsBar": mode: IK attitude: true penetrationBlock: true collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true Body: "BodyMotionEngine": updateJointVelocities: false "EditableSceneBody": editableSceneBodies: - bodyItem: 2 showCenterOfMass: false showZmp: false - bodyItem: 4 showCenterOfMass: false showZmp: false - bodyItem: 5 showCenterOfMass: false showZmp: false - bodyItem: 6 showCenterOfMass: false showZmp: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false OpenRTM: "OpenRTMPlugin": deleteUnmanagedRTCsOnStartingSimulation: false choreonoid-1.5.0/sample/Submersible/0000775000000000000000000000000012741425367016116 5ustar rootrootchoreonoid-1.5.0/sample/Submersible/exportdecl.h0000664000000000000000000000207612741425367020445 0ustar rootroot#ifndef SUBMERSIBL_SAMPLEPLUGIN_EXPORTDECL_H_INCLUDED # define SUBMERSIBL_SAMPLEPLUGIN_EXPORTDECL_H_INCLUDED # if defined _WIN32 || defined __CYGWIN__ # define SUBMERSIBL_SAMPLEPLUGIN_DLLIMPORT __declspec(dllimport) # define SUBMERSIBL_SAMPLEPLUGIN_DLLEXPORT __declspec(dllexport) # define SUBMERSIBL_SAMPLEPLUGIN_DLLLOCAL # else # if __GNUC__ >= 4 # define SUBMERSIBL_SAMPLEPLUGIN_DLLIMPORT __attribute__ ((visibility("default"))) # define SUBMERSIBL_SAMPLEPLUGIN_DLLEXPORT __attribute__ ((visibility("default"))) # define SUBMERSIBL_SAMPLEPLUGIN_DLLLOCAL __attribute__ ((visibility("hidden"))) # else # define SUBMERSIBL_SAMPLEPLUGIN_DLLIMPORT # define SUBMERSIBL_SAMPLEPLUGIN_DLLEXPORT # define SUBMERSIBL_SAMPLEPLUGIN_DLLLOCAL # endif # endif #ifdef CnoidSubmersibleSamplePlugin_EXPORTS # define SUBMERSIBL_SAMPLEPLUGIN_DLLAPI SUBMERSIBL_SAMPLEPLUGIN_DLLEXPORT #else # define SUBMERSIBL_SAMPLEPLUGIN_DLLAPI SUBMERSIBL_SAMPLEPLUGIN_DLLIMPORT #endif #endif #ifdef CNOID_EXPORT # undef CNOID_EXPORT #endif #define CNOID_EXPORT SUBMERSIBL_SAMPLEPLUGIN_DLLAPI choreonoid-1.5.0/sample/Submersible/SubmersibleSimulatorItem.h0000664000000000000000000000213312741425367023261 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_SAMPLE_SUBMERSIBLE_SIMULATOR_ITEM_H #define CNOID_SAMPLE_SUBMERSIBLE_SIMULATOR_ITEM_H #include #include #include "exportdecl.h" namespace cnoid { class Light; class CNOID_EXPORT SubmersibleSimulatorItem : public SubSimulatorItem { public: static void initializeClass(ExtensionManager* ext); SubmersibleSimulatorItem(); SubmersibleSimulatorItem(const SubmersibleSimulatorItem& org); ~SubmersibleSimulatorItem(); virtual bool initializeSimulation(SimulatorItem* simulatorItem); protected: virtual Item* doDuplicate() const; virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: SimulatorItem* simulatorItem; Body* submersible; Light* light; bool prevLightButtonState; int joystickIntervalCounter; void initialize(); void applyResistanceForce(); }; typedef ref_ptr SubmersibleSimulatorItemPtr; } #endif choreonoid-1.5.0/sample/Submersible/FogUnderWater.wrl0000664000000000000000000000010412741425367021353 0ustar rootroot#VRML V2.0 utf8 Fog { color 0.4 0.45 1.0 visibilityRange 5.0 } choreonoid-1.5.0/sample/Submersible/SubmersibleSamplePlugin.cpp0000664000000000000000000000071512741425367023422 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "SubmersibleSimulatorItem.h" #include using namespace cnoid; class SubmersibleSamplePlugin : public Plugin { public: SubmersibleSamplePlugin() : Plugin("SubmersibleSample") { require("Body"); } virtual bool initialize() { SubmersibleSimulatorItem::initializeClass(this); return true; } }; CNOID_IMPLEMENT_PLUGIN_ENTRY(SubmersibleSamplePlugin); choreonoid-1.5.0/sample/Submersible/CMakeLists.txt0000664000000000000000000000142012741425367020653 0ustar rootroot #set(CMAKE_BUILD_TYPE Debug) if(NOT ENABLE_GUI) return() endif() option(BUILD_SUBMERSIBLE_SAMPLE "Building a sabumersible sample" OFF) if(NOT BUILD_SUBMERSIBLE_SAMPLE) return() endif() set(sources SubmersibleSamplePlugin.cpp SubmersibleSimulatorItem.cpp ) set(target CnoidSubmersibleSamplePlugin) add_cnoid_plugin(${target} SHARED ${sources}) target_link_libraries(${target} CnoidBodyPlugin) apply_common_setting_for_plugin(${target}) configure_file(submersible.wrl ${CNOID_SOURCE_SHARE_DIR}/model/misc COPYONLY) configure_file(submersible.body ${CNOID_SOURCE_SHARE_DIR}/model/misc COPYONLY) configure_file(FogUnderWater.wrl ${CNOID_SOURCE_SHARE_DIR}/model/misc COPYONLY) configure_file(SubmersibleSample.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) choreonoid-1.5.0/sample/Submersible/submersible.body0000664000000000000000000000246112741425367021314 0ustar rootrootformat: ChoreonoidBody formatVersion: 1.0 angleUnit: degree name: Submersible rootLink: CHASSIS links: - name: CHASSIS jointType: free centerOfMass: [ 0, 0, -0.05 ] mass: 10.0 inertia: [ 3.0, 0, 0, 0, 3.0, 0, 0, 0, 3.0 ] elements: - type: Transform translation: [ 0.3, 0.0, 0.1 ] elements: - type: Camera name: Camera translation: [ 0, 0, 0.13 ] rotation: [ 0.540716, -0.540716, -0.6444, 114.4 ] format: "COLOR_DEPTH" id: 0 width: 320 height: 240 frameRate: 30 nearClipDistance: 0.01 farClipDistance: 50.0 - type: SpotLight name: MainLight translation: [ 0, 0, 0.2 ] direction: [ 1, 0, 0 ] beamWidth: 30 cutOffAngle: 70 cutOffExponent: 10 attenuation: [ 1, 0, 0.01 ] - type: Shape appearance: material: diffuseColor: [ 0.3, 0.6, 1.0 ] ambientIntensity: 0.3 specularColor: [ 0.7, 0.7, 0.7 ] emissiveColor: [ 0, 0, 0 ] shininess: 0.25 geometry: type: Box size: [ 0.6, 0.4, 0.3 ] choreonoid-1.5.0/sample/Submersible/SubmersibleSimulatorItem.cpp0000664000000000000000000001104112741425367023612 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "SubmersibleSimulatorItem.h" #include #include #include #include #include #include #include #include #include using namespace std; using namespace cnoid; using boost::format; namespace { std::vector > resistancePoints; std::vector > thrustPoints; boost::shared_ptr joystick; } void SubmersibleSimulatorItem::initializeClass(ExtensionManager* ext) { ItemManager& im = ext->itemManager(); im.registerClass("SubmersibleSimulatorItem"); im.addCreationPanel(); resistancePoints.push_back(Vector3( 0.3, 0.2, 0.15)); resistancePoints.push_back(Vector3( 0.3, -0.2, 0.15)); resistancePoints.push_back(Vector3( 0.3, -0.2, -0.15)); resistancePoints.push_back(Vector3( 0.3, 0.2, -0.15)); resistancePoints.push_back(Vector3(-0.3, 0.2, 0.15)); resistancePoints.push_back(Vector3(-0.3, -0.2, 0.15)); resistancePoints.push_back(Vector3(-0.3, -0.2, -0.15)); resistancePoints.push_back(Vector3(-0.3, 0.2, -0.15)); thrustPoints.push_back(Vector3(-0.3, -0.18, 0.0)); thrustPoints.push_back(Vector3(-0.3, 0.18, 0.0)); } SubmersibleSimulatorItem::SubmersibleSimulatorItem() { initialize(); } SubmersibleSimulatorItem::SubmersibleSimulatorItem(const SubmersibleSimulatorItem& org) : SubSimulatorItem(org) { initialize(); } void SubmersibleSimulatorItem::initialize() { simulatorItem = 0; submersible = 0; } SubmersibleSimulatorItem::~SubmersibleSimulatorItem() { } Item* SubmersibleSimulatorItem::doDuplicate() const { return new SubmersibleSimulatorItem(*this); } bool SubmersibleSimulatorItem::initializeSimulation(SimulatorItem* simulatorItem) { this->simulatorItem = simulatorItem; submersible = 0; SimulationBody* simSubmersible = simulatorItem->findSimulationBody("Submersible"); if(simSubmersible){ submersible = simSubmersible->body(); light = submersible->findDevice("MainLight"); prevLightButtonState = false; MessageView::instance()->putln("A submersible model has been detected."); simulatorItem->addPreDynamicsFunction( boost::bind(&SubmersibleSimulatorItem::applyResistanceForce, this)); joystick.reset(new Joystick()); joystickIntervalCounter = 0; } return true; } void SubmersibleSimulatorItem::applyResistanceForce() { Link* root = submersible->rootLink(); // buoyancy Vector3 b(0, 0, submersible->mass() * 9.80665); root->f_ext() += b; Vector3 cb = root->T() * Vector3(0.0, 0.0, 0.05); root->tau_ext() += cb.cross(b); for(size_t i=0; i < resistancePoints.size(); ++i){ Vector3 a = root->R() * resistancePoints[i]; Vector3 v = root->v() + root->w().cross(a); Vector3 f = -2.0 * v; double l = f.norm(); if(l > 100.0){ f /= l; } root->f_ext() += f; Vector3 p = a + root->p(); root->tau_ext() += p.cross(f); } if(joystickIntervalCounter++ > 40){ joystickIntervalCounter = 0; joystick->readCurrentState(); } double thrust[2]; thrust[0] = -joystick->getPosition(4); // right thrust[1] = -joystick->getPosition(1); // left for(int i=0; i < 2; ++i){ Vector3 f = root->R() * Vector3(15.0 * thrust[i], 0.0, 0.0); Vector3 p = root->T() * thrustPoints[i]; root->f_ext() += f; root->tau_ext() += p.cross(f); } Vector3 fz(0.0, 0.0, -5.0 * joystick->getPosition(7)); root->f_ext() += fz; Vector3 cz = root->T() * Vector3(0.0, 0.0, -1.5); root->tau_ext() += cz.cross(fz); if(light){ bool lightButtonState = joystick->getButtonState(0); if(lightButtonState){ if(!prevLightButtonState){ light->on(!light->on()); light->notifyStateChange(); } } prevLightButtonState = lightButtonState; } } void SubmersibleSimulatorItem::doPutProperties(PutPropertyFunction& putProperty) { SubSimulatorItem::doPutProperties(putProperty); } bool SubmersibleSimulatorItem::store(Archive& archive) { SubSimulatorItem::store(archive); return true; } bool SubmersibleSimulatorItem::restore(const Archive& archive) { SubSimulatorItem::restore(archive); return true; } choreonoid-1.5.0/sample/Submersible/SubmersibleSample.cnoid0000664000000000000000000002645212741425367022563 0ustar rootrootitems: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false collisionDetector: AISTCollisionDetector children: - id: 2 name: "Submersible" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/submersible.wrl" currentBaseLink: "CHASSIS" rootPosition: [ -1.01277568, 3.21535077, 0.683205539 ] rootAttitude: [ 6.123234e-17, 1, 0, -1, 6.123234e-17, 0, 0, 0, 1 ] jointPositions: [ ] initialRootPosition: [ -1.01277568, 3.21535077, 0.683205539 ] initialRootAttitude: [ 2.22044605e-16, 1, 0, -1, 2.22044605e-16, -0, -0, 0, 1 ] initialJointPositions: [ 0.000000 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: true children: - id: 3 name: "BodyTrackingCamera" plugin: Body class: BodyTrackingCameraItem data: keepRelativeAttitude: true - id: 4 name: "Labo1" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/Labo1/Labo1.wrl" currentBaseLink: "Base" rootPosition: [ 0, 0, 0 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ ] initialRootPosition: [ 0, 0, 0 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: false - id: 5 name: "FogUnderWater" plugin: Base class: SceneItem data: file: "${SHARE}/model/misc/FogUnderWater.wrl" format: VRML-FILE translation: [ 0, 0, 0 ] rotation: [ 1, 0, 0, 0 ] - id: 6 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recording: tail timeRangeMode: Active control period timeLength: 180 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false dynamicsMode: Forward dynamics integrationMode: Runge Kutta gravity: [ 0, 0, -9.80665 ] staticFriction: 1 slipFriction: 1 cullingThresh: 0.005 contactCullingDepth: 0.05 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 1 kinematicWalking: false 2Dmode: false children: - id: 7 name: "SubmersibleSimulator" plugin: SubmersibleSample class: SubmersibleSimulatorItem data: enabled: true views: - id: 0 name: "CameraImage" plugin: Base class: ImageView - id: 1 plugin: Base class: ItemPropertyView mounted: true - id: 2 plugin: Base class: ItemTreeView mounted: true state: selected: [ 3 ] checked: [ 2, 3, 4, 5 ] expanded: [ 1, 2, 5 ] - id: 3 plugin: Base class: MessageView mounted: true - id: 4 plugin: Base class: SceneView mounted: true state: editMode: true viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: false defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: false worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true fog: true floorGrid: false floorGridSpan: 10 floorGridInterval: 0.5 xzGridSpan: 10 xzGridInterval: 0.5 xzGrid: false yzGridSpan: 10 yzGridInterval: 0.5 texture: true lineWidth: 1 pointSize: 1 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false enableNewDisplayListDoubleRendering: false useBufferForPicking: true cameras: - camera: [ System, Perspective ] isCurrent: true fieldOfView: 0.6978 near: 0.01 far: 100 eye: [ -3.35748269, 4.67762711, 1.54808392 ] direction: [ 0.681461578, -0.727329593, -0.0812513479 ] up: [ 0.0555533509, -0.0592925521, 0.996693643 ] - camera: [ System, Orthographic ] orthoHeight: 20 near: 0.01 far: 100 - camera: BodyTrackingCamera (Perspective) fieldOfView: 0.785398 near: 0.01 far: 100 eye: [ -0.999327867, 4.93834463, 1.34142138 ] direction: [ -0.00975881164, -0.975848656, -0.218229618 ] up: [ -0.00218225976, -0.218218707, 0.97589745 ] - camera: BodyTrackingCamera (Orthographic) orthoHeight: 2 near: 0.01 far: 100 backgroundColor: [ 0.41568628, 0.447058827, 0.996078432 ] gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] xzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] yzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] dedicatedItemTreeViewChecks: false - id: 5 name: "Camera Scene" plugin: Base class: SceneView mounted: true state: editMode: false viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: false defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: false worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true fog: true floorGrid: false floorGridSpan: 10 floorGridInterval: 0.5 xzGridSpan: 10 xzGridInterval: 0.5 xzGrid: false yzGridSpan: 10 yzGridInterval: 0.5 texture: true lineWidth: 1 pointSize: 1 normalVisualization: false normalLength: 0.01 coordinateAxes: false showFPS: false enableNewDisplayListDoubleRendering: false useBufferForPicking: true cameras: - camera: [ System, Perspective ] fieldOfView: 0.6978 near: 0.01 far: 100 eye: [ 3.74000443, 2.54011419, 1.8281897 ] direction: [ -0.752805236, -0.613319567, -0.239004988 ] up: [ -0.185294344, -0.150961552, 0.97101834 ] - camera: [ System, Orthographic ] orthoHeight: 20 near: 0.01 far: 100 - camera: BodyTrackingCamera (Perspective) isCurrent: true fieldOfView: 0.785398 near: 0.01 far: 100 eye: [ -0.999327867, 4.93834463, 1.34142138 ] direction: [ -0.00975881164, -0.975848656, -0.218229618 ] up: [ -0.00218225976, -0.218218707, 0.97589745 ] - camera: BodyTrackingCamera (Orthographic) orthoHeight: 2 near: 0.01 far: 100 backgroundColor: [ 0.41568628, 0.447058827, 1 ] gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] xzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] yzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] dedicatedItemTreeViewChecks: false - id: 6 name: "Task" plugin: Base class: TaskView state: layoutMode: horizontal isAutoMode: false - id: 7 name: "Joystick" plugin: Base class: VirtualJoystickView mounted: true - id: 8 plugin: Body class: BodyLinkView mounted: true state: showRotationMatrix: false - id: 9 plugin: Body class: JointSliderView mounted: true state: showAllJoints: true jointId: false name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 2 - id: 10 plugin: Body class: LinkSelectionView mounted: true state: listingMode: "Link List" currentBodyItem: 2 - id: 11 plugin: Python class: PythonConsoleView mounted: true toolbars: "TimeBar": minTime: 0 maxTime: 30 frameRate: 1000 playbackFrameRate: 50 idleLoopDrivenMode: false currentTime: 0 speedScale: 1 syncToOngoingUpdates: true autoExpansion: true "KinematicsBar": mode: AUTO enablePositionDragger: true penetrationBlock: false collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true "BodyBar": current: 2 "LeggedBodyBar": stanceWidth: 0.15 Body: "BodyMotionEngine": updateJointVelocities: false "EditableSceneBody": editableSceneBodies: - bodyItem: 2 showCenterOfMass: false showPpcom: false showZmp: false - bodyItem: 4 showCenterOfMass: false showPpcom: false showZmp: false staticModelEditing: true "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false viewAreas: - type: embedded tabs: true contents: type: splitter orientation: horizontal sizes: [ 303, 1291 ] children: - type: splitter orientation: vertical sizes: [ 381, 381 ] children: - type: pane views: [ 2 ] current: 2 - type: pane views: [ 1, 10 ] current: 1 - type: splitter orientation: vertical sizes: [ 544, 218 ] children: - type: splitter orientation: horizontal sizes: [ 602, 683 ] children: - type: pane views: [ 5, 8, 9 ] current: 5 - type: pane views: [ 4 ] current: 4 - type: splitter orientation: horizontal sizes: [ 869, 416 ] children: - type: pane views: [ 3, 11 ] current: 3 - type: pane views: [ 7 ] current: 7 layoutOfToolBars: rows: - - { name: "CaptureBar", x: 0, priority: 1 } - { name: "FileBar", x: 0, priority: 0 } - { name: "SimulationBar", x: 95, priority: 3 } - { name: "TimeBar", x: 95, priority: 2 } - { name: "SceneBar", x: 1335, priority: 4 } choreonoid-1.5.0/sample/Submersible/submersible.wrl0000664000000000000000000001673012741425367021167 0ustar rootroot#VRML V2.0 utf8 PROTO Joint [ exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField MFFloat lvlimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat uvlimit [] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 exposedField SFFloat gearRatio 1 exposedField SFFloat rotorInertia 0 exposedField SFFloat rotorResistor 0 exposedField SFFloat torqueConst 1 exposedField SFFloat encoderPulse 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS viewpoints } Group { children IS humanoidBody } ] } } PROTO VisionSensor [ exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField MFNode children [ ] exposedField SFFloat fieldOfView 0.785398 exposedField SFString name "" exposedField SFFloat frontClipDistance 0.01 exposedField SFFloat backClipDistance 10.0 exposedField SFString type "NONE" exposedField SFInt32 sensorId -1 exposedField SFInt32 width 320 exposedField SFInt32 height 240 exposedField SFFloat frameRate 30 ] { Transform { rotation IS rotation translation IS translation children IS children } } PROTO RangeSensor [ exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField MFNode children [ ] exposedField SFInt32 sensorId -1 exposedField SFFloat scanAngle 3.14159 #[rad] exposedField SFFloat scanStep 0.1 #[rad] exposedField SFFloat scanRate 10 #[Hz] exposedField SFFloat maxDistance 10 ] { Transform { rotation IS rotation translation IS translation children IS children } } PROTO ForceSensor [ exposedField SFVec3f maxForce -1 -1 -1 exposedField SFVec3f maxTorque -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO Gyro [ exposedField SFVec3f maxAngularVelocity -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO AccelerationSensor [ exposedField SFVec3f maxAcceleration -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO SpotLightDevice [ exposedField SFVec3f attenuation 1 0 0 # [0,) exposedField SFFloat beamWidth 1.570796 # (0,/2] exposedField SFColor color 1 1 1 # [0,1] exposedField SFFloat cutOffAngle 0.785398 # (0,/2] exposedField SFVec3f direction 0 0 -1 # (-,) exposedField SFFloat intensity 1 # [0,1] exposedField SFBool on TRUE exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 ] { Transform { translation IS translation rotation IS rotation } } DEF Submersible Humanoid { name "Submersible" version "1.1" info [ ] humanoidBody [ DEF CHASSIS Joint { jointType "free" translation 0 0 0 children [ DEF CHASSIS_LINK Segment { centerOfMass 0 0 -0.05 mass 10.0 momentsOfInertia [ 3.0 0 0 0 3.0 0 0 0 3.0 ] children [ Transform { translation 0.3 0.0 0.1 children [ DEF Camera VisionSensor { translation 0 0 0.13 rotation 0.540716 -0.540716 -0.6444 1.99673 type "COLOR_DEPTH" width 320 height 240 sensorId 0 frameRate 30 frontClipDistance 0.01 backClipDistance 50.0 } DEF MainLight SpotLightDevice { direction 1 0 0 cutOffAngle 1.2 attenuation 1 0 0.01 translation 0 0 0.2 } ] } Transform { translation 0 0 0 rotation 1 0 0 0 children Shape { appearance Appearance { material DEF green Material { diffuseColor 0.3 0.6 1.0 ambientIntensity 0.3 specularColor 0.7 0.7 0.7 emissiveColor 0 0 0 shininess 0.25 transparency 0 } } geometry Box { size 0.6 0.4 0.3 } } } ] } ] } ] joints [ USE CHASSIS ] segments [ USE CHASSIS_LINK, ] } choreonoid-1.5.0/sample/HelloWorldPlugin/0000775000000000000000000000000012741425367017074 5ustar rootrootchoreonoid-1.5.0/sample/HelloWorldPlugin/ManualMakefile0000664000000000000000000000046212741425367021674 0ustar rootroot CXXFLAGS += -fPIC `pkg-config --cflags choreonoid` PLUGIN = libCnoidHelloWorldPlugin.so $(PLUGIN): HelloWorldPlugin.o g++ -shared -o $(PLUGIN) HelloWorldPlugin.o `pkg-config --libs choreonoid` install: $(PLUGIN) install -s $(PLUGIN) `pkg-config --variable=plugindir choreonoid` clean: rm -f *.o *.so choreonoid-1.5.0/sample/HelloWorldPlugin/CMakeLists.txt0000664000000000000000000000067312741425367021642 0ustar rootroot if(NOT ENABLE_GUI) return() endif() option(BUILD_HELLO_WORLD_SAMPLE "Building a Hello World sample plugin" OFF) if(BUILD_HELLO_WORLD_SAMPLE) set(target CnoidHelloWorldPlugin) add_cnoid_plugin(${target} SHARED HelloWorldPlugin.cpp) target_link_libraries(${target} CnoidBase) apply_common_setting_for_plugin(${target}) if(QT5) qt5_use_modules(${target} Widgets) endif() endif() install_sample_source(HelloWorldPlugin.cpp) choreonoid-1.5.0/sample/HelloWorldPlugin/HelloWorldPlugin.cpp0000664000000000000000000000137212741425367023035 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include #include #include #include using namespace cnoid; using namespace boost; class HelloWorldPlugin : public Plugin { public: HelloWorldPlugin() : Plugin("HelloWorld") { } virtual bool initialize() { Action* menuItem = menuManager().setPath("/View").addItem("Hello World"); menuItem->sigTriggered().connect(bind(&HelloWorldPlugin::onHelloWorldTriggered, this)); return true; } private: void onHelloWorldTriggered() { MessageView::instance()->putln("Hello World !"); } }; CNOID_IMPLEMENT_PLUGIN_ENTRY(HelloWorldPlugin) choreonoid-1.5.0/sample/ContactForceExtraction/0000775000000000000000000000000012741425367020255 5ustar rootrootchoreonoid-1.5.0/sample/ContactForceExtraction/ContactForceExtractionSamplePlugin.cpp0000664000000000000000000000637712741425367027732 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include #include #include #include #include #include #include using namespace std; using namespace cnoid; namespace { class ContactForceExtractorItem : public SubSimulatorItem { public: static void initializeClass(ExtensionManager* ext); ContactForceExtractorItem(); ContactForceExtractorItem(const ContactForceExtractorItem& org); virtual bool initializeSimulation(SimulatorItem* simulatorItem); protected: virtual Item* doDuplicate() const; private: void extractContactPoints(SimulatorItem* simulator); void extractBodyContactPoints(DyBody* body, ostream& os); }; class ContactForceExtractionSamplePlugin : public Plugin { public: ContactForceExtractionSamplePlugin() : Plugin("ContactForceExtractionSample") { require("Body"); } virtual bool initialize() { itemManager() .registerClass("ContactForceExtractorItem") .addCreationPanel(); return true; } }; } CNOID_IMPLEMENT_PLUGIN_ENTRY(ContactForceExtractionSamplePlugin); ContactForceExtractorItem::ContactForceExtractorItem() { } ContactForceExtractorItem::ContactForceExtractorItem(const ContactForceExtractorItem& org) : SubSimulatorItem(org) { } Item* ContactForceExtractorItem::doDuplicate() const { return new ContactForceExtractorItem(*this); } bool ContactForceExtractorItem::initializeSimulation(SimulatorItem* simulator) { AISTSimulatorItem* aistSimulator = dynamic_cast(simulator); if(!aistSimulator){ return false; } aistSimulator->setConstraintForceOutputEnabled(true); simulator->addPostDynamicsFunction( boost::bind(&ContactForceExtractorItem::extractContactPoints, this, simulator)); return true; } void ContactForceExtractorItem::extractContactPoints(SimulatorItem* simulator) { ostringstream oss; const vector& simBodies = simulator->simulationBodies(); for(size_t i=0; i < simBodies.size(); ++i){ DyBody* body = dynamic_cast(simBodies[i]->body()); if(body){ extractBodyContactPoints(body, oss); } } string log = oss.str(); if(!log.empty()){ mvout() << log << endl; } } void ContactForceExtractorItem::extractBodyContactPoints(DyBody* body, ostream& os) { bool put = false; for(int i=0; i < body->numLinks(); ++i){ DyLink* link = body->link(i); DyLink::ConstraintForceArray& forces = link->constraintForces(); if(!forces.empty()){ if(!put){ os << body->name() << ":\n"; put = true; } os << " " << link->name() << ":\n"; for(size_t i=0; i < forces.size(); ++i){ const DyLink::ConstraintForce& force = forces[i]; const Vector3& p = force.point; const Vector3& f = force.force; os << " point(" << p.x() << ", " << p.y() << ", " << p.z() << "), force(" << f.x() << ", " << f.y() << ", " << f.z() << ")\n"; } } } } choreonoid-1.5.0/sample/ContactForceExtraction/SR1Liftup-ContactForceExtraction.cnoid0000664000000000000000000002243712741425367027505 0ustar rootrootoptionalPlugins: [ ODE, Bullet, PhysX, AgX ] items: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false collisionDetector: AISTCollisionDetector children: - id: 2 name: "SR1" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/SR1/SR1.yaml" currentBaseLink: "WAIST" rootPosition: [ 0, 0, 0.7135 ] rootAttitude: [ 0.999955, -0.006461, 0.006886, 0.006461, 0.999979, -2.5e-005, -0.006886, 7e-005, 0.999976 ] jointPositions: [ 0.000822, -0.037473, 0.000350, 0.077177, -0.046633, -0.000874, 0.175490, -0.003915, 0.000048, -1.568620, 0.000121, 0.000267, 0.000008, -0.000889, -0.040642, 0.000364, 0.077387, -0.043666, 0.000969, 0.175601, 0.003290, 0.000028, -1.568673, 0.000228, 0.000239, 0.000006, 0.005740, -0.000324, 0.000089 ] initialRootPosition: [ 0, 0, 0.7135 ] initialRootAttitude: [ 0.999955418, -0.00646083645, 0.00688615345, 0.00646116355, 0.999979126, -2.52542765e-005, -0.00688584655, 6.97457235e-005, 0.99997629 ] initialJointPositions: [ 0.000822, -0.037473, 0.000350, 0.077177, -0.046633, -0.000874, 0.175490, -0.003915, 0.000048, -1.568620, 0.000121, 0.000267, 0.000008, -0.000889, -0.040642, 0.000364, 0.077387, -0.043666, 0.000969, 0.175601, 0.003290, 0.000028, -1.568673, 0.000228, 0.000239, 0.000006, 0.005740, -0.000324, 0.000089 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true children: - id: 3 name: "SR1LiftupController" plugin: SimpleController class: SimpleControllerItem data: isImmediateMode: true controller: "SR1LiftupController" reloading: true inputLinkPositions: false - id: 4 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ 0.55, 0, 0.151 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ ] initialRootPosition: [ 0.55, 0, 0.151 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 5 name: "Floor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/floor.wrl" currentBaseLink: "BASE" rootPosition: [ 0, 0, -0.1 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ ] initialRootPosition: [ 0, 0, -0.1 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 6 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Active control period" timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false controllerOptions: "" dynamicsMode: "Forward dynamics" integrationMode: "Runge Kutta" gravity: [ 0, 0, -9.80665 ] staticFriction: 0.5 slipFriction: 0.5 cullingThresh: 0.01 contactCullingDepth: 0.05 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 30 kinematicWalking: false 2Dmode: false children: - id: 7 name: "ContactForceExtractor" plugin: ContactForceExtractionSample class: ContactForceExtractorItem views: "Items": selected: [ 7 ] checked: [ 1, 2, 4 ] expanded: [ 1, 2, 3, 6 ] "Scene": viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: true defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true floorGrid: true floorGridSpan: 10 floorGridInterval: 0.5 texture: true lineWidth: 1 pointSize: 1 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false useBufferForPicking: true camera: current: Perspective eye: [ 2.38053012, 1.54674006, 1.10801005 ] direction: [ -0.820639908, -0.553809941, -0.140870988 ] up: [ -0.116768934, -0.0788013488, 0.990027964 ] fieldOfView: 0.6978 near: 0.01 far: 10000 orthoHeight: 20 backgroundColor: [ 0.100000001, 0.100000001, 0.300000012 ] gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] "Multi Value Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi SE3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Links": listingMode: "Link List" currentBodyItem: 2 bodyItems: - id: 2 selectedLinks: [ 20 ] "Body / Link": showRotationMatrix: false "Joint Sliders": showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 2 "Joint Trajectories": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi Affine3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Pose Roll": defaultTransitionTime: 0 updateAll: true autoUpdate: false timeSync: true listingMode: "Part Tree" timeLength: 10 showLipSync: false gridInterval: 1 toolbars: "TimeBar": minTime: 0 maxTime: 15 frameRate: 500 playbackFrameRate: 100 idleLoopDrivenMode: false currentTime: 0 speedScale: 1 syncToOngoingUpdates: true autoExpansion: true "BodyMotionGenerationBar": balancer: false autoGeneration: false timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: false makeNewBodyItem: true stealthyStepMode: true stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 zmpMaxDistanceFromCenter: 0.02 allLinkPositions: false lipSyncMix: false "BodyBar": stanceWidth: 0.15 "KinematicsBar": mode: FK attitude: false penetrationBlock: true collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true Body: "BodyMotionEngine": updateJointVelocities: false "EditableSceneBody": editableSceneBodies: - bodyItem: 2 showCenterOfMass: false showZmp: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false OpenRTM: "OpenRTMPlugin": deleteUnmanagedRTCsOnStartingSimulation: false choreonoid-1.5.0/sample/ContactForceExtraction/CMakeLists.txt0000664000000000000000000000110512741425367023012 0ustar rootroot #set(CMAKE_BUILD_TYPE Debug) if(NOT ENABLE_GUI) return() endif() option(BUILD_CONTACT_FORCE_EXTRACTION_SAMPLE "Building a sample for extracting contact forces" OFF) if(NOT BUILD_CONTACT_FORCE_EXTRACTION_SAMPLE) return() endif() set(sources ContactForceExtractionSamplePlugin.cpp ) set(target CnoidContactForceExtractionSamplePlugin) add_cnoid_plugin(${target} SHARED ${sources}) target_link_libraries(${target} CnoidBodyPlugin) apply_common_setting_for_plugin(${target}) configure_file(SR1Liftup-ContactForceExtraction.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) choreonoid-1.5.0/sample/OpenHRP/0000775000000000000000000000000012741425367015115 5ustar rootrootchoreonoid-1.5.0/sample/OpenHRP/OpenHRP-PA10Pickup.cnoid0000664000000000000000000002627212741425367021232 0ustar rootrootoptionalPlugins: [ ODE, Bullet, PhysX, AgX, OpenHRP3.0 ] items: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false children: - id: 2 name: "PA10" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/PA10/PA10.wrl" currentBaseLink: "BASE" rootPosition: [ 0.000000, 0.000000, 0.000000 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ 0.000000, -0.523599, 0.000000, 1.047198, 0.000000, -0.523599, 0.000000, -0.025000, 0.025000 ] initialRootPosition: [ 0.000000, 0.000000, 0.000000 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] initialJointPositions: [ 0.000000, -0.523599, 0.000000, 1.047198, 0.000000, -0.523599, 0.000000, -0.025000, 0.025000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false children: - id: 3 name: "PA10PickupController-OpenHRP3.1" plugin: OpenHRP3.1 class: OpenHRP3.1ControllerItem data: isImmediateMode: true controllerServerName: openhrp3.1-pa10-pickup-controller controllerServerCommand: "${PROGRAM_TOP}/bin/openhrp3.1-pa10-pickup-controller" - id: 4 name: "PA10PickupController-OpenHRP3.0" plugin: OpenHRP3.0 class: OpenHRP3.0ControllerItem data: isImmediateMode: true controllerServerName: openhrp3.0-pa10-pickup-controller controllerServerCommand: "${PROGRAM_TOP}/bin/openhrp3.0-pa10-pickup-controller" - id: 5 name: "box3" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box3.wrl" currentBaseLink: "WAIST" rootPosition: [ 0.900000, 0.000000, 0.035000 ] rootAttitude: [ 0.000000, -1.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ ] initialRootPosition: [ 0.900000, 0.000000, 0.035000 ] initialRootAttitude: [ 0.000000, -1.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false - id: 6 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ -0.000000, 0.700000, 0.149900 ] rootAttitude: [ 1.000000, 0.000000, -0.000000, -0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ ] initialRootPosition: [ -0.000000, 0.700000, 0.149900 ] initialRootAttitude: [ 1.000000, 0.000000, -0.000000, -0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] staticModel: true selfCollisionDetection: false - id: 7 name: "Floor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/floor.wrl" currentBaseLink: "BASE" rootPosition: [ 0.000000, 0.000000, -0.100000 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ ] initialRootPosition: [ 0.000000, 0.000000, -0.100000 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false - id: 8 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recordingMode: Specific time length onlyActiveControlPeriod: true timeLength: 8 allLinkPositionOutputMode: false deviceStateRecording: true dynamicsMode: Forward dynamics integrationMode: Runge Kutta gravity: [ 0, 0, -9.80665 ] staticFriction: 0.5 slipFriction: 0.5 cullingThresh: 0.02 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 30 2Dmode: false - id: 9 name: "ODESimulator" plugin: ODE class: ODESimulatorItem data: realtimeSync: true recordingMode: Specific time length onlyActiveControlPeriod: true timeLength: 8 allLinkPositionOutputMode: true deviceStateRecording: true stepMode: Iterative (quick step) gravity: [ 0, 0, -9.80665 ] friction: 1 jointLimitMode: false globalERP: 0.4 globalCFM: 1e-10 numIterations: 50 overRelaxation: 1.3 limitCorrectingVel: true maxCorrectingVel: 1.0e-3 2Dmode: false - id: 10 name: "BulletSimulator" plugin: Bullet class: BulletSimulatorItem data: realtimeSync: true recordingMode: Specific time length onlyActiveControlPeriod: true timeLength: 8 allLinkPositionOutputMode: true deviceStateRecording: true ErrorReductionParameter: 0.2 NumIterations: 10 Restitution: 0 Friction: 0.7 ERP2: 0 SplitImpulsePenetrationThreshold: -0.0001 views: "Items": selected: [ 8 ] checked: [ 2, 4, 5, 6, 7 ] expanded: [ 1, 2, 3, 4, 5, 6 ] "Scene": walkthrough: false showCollisions: true wireframe: false defaultHeadLight: true defaultHeadLightIntensity: 0.75 worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true floorGrid: false floorGridSpan: 10 floorGridInterval: 0.5 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false camera: current: Perspective eye: [ 2.53546, 1.54223, 0.934917 ] direction: [ -0.858543, -0.495735, -0.130964 ] up: [ -0.113415, -0.0654873, 0.991387 ] fieldOfView: 0.6978 near: 0.01 far: 10000 orthoHeight: 20 backgroundColor: [ 0.1, 0.1, 0.3 ] gridColor: [ 0.9, 0.9, 0.9, 1 ] "Multi Value Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi SE3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Links": listingMode: "Link List" currentBodyItem: 5 bodyItems: - id: 2 selectedLinks: [ 0 ] - id: 5 selectedLinks: [ 0 ] - id: 6 selectedLinks: [ 0 ] "Body / Link": showRotationMatrix: false "Joint Sliders": showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 5 "Joint Trajectories": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi Affine3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Pose Roll": defaultTransitionTime: 0 updateAll: true autoUpdate: false timeSync: true listingMode: "Part Tree" timeLength: 10 showLipSync: false gridInterval: 1 toolbars: "TimeBar": minTime: 0 maxTime: 10 frameRate: 1000 playbackFrameRate: 100 currentTime: 0 speedScale: 1 syncToOngoingUpdates: true "BodyBar": current: 5 stanceWidth: 0.15 "KinematicsBar": mode: IK attitude: true penetrationBlock: true collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true "BodyMotionGenerationBar": balancer: false autoGeneration: false timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: false makeNewBodyItem: true stealthyStepMode: true stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 zmpMaxDistanceFromCenter: 0.02 allLinkPositions: false lipSyncMix: false timeToStartBalancer: 0 balancerIterations: 2 plainBalancerMode: false boundaryConditionType: position boundarySmootherType: off boundarySmootherTime: 0.5 boundaryCmAdjustment: false boundaryCmAdjustmentTime: 1 waistHeightRelaxation: false gravity: 9.8 dynamicsTimeRatio: 1 Body: "BodyMotionEngine": updateJointVelocities: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false choreonoid-1.5.0/sample/OpenHRP/olv-test.cpp0000664000000000000000000001065012741425367017400 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifdef OPENHRP_3_0 #include #elif OPENHRP_3_1 #include #endif #include #include #include #include #include #include #include using namespace std; using namespace cnoid; using namespace OpenHRP; int main(int argc, char* argv[]) { string filepath; if(argc >= 2){ filepath = getAbsolutePathString(boost::filesystem::path(argv[1])); } else { filepath = shareDirectory() + "/model/SR1/SR1.yaml"; } initializeCorbaUtil(); BodyLoader loader; loader.setMessageSink(cout); loader.setShapeLoadingEnabled(false); BodyPtr body = loader.load(filepath); if(!body){ cout << filepath << " cannot be loaded." << endl; return 0; } OpenHRP::OnlineViewer_var viewer = getDefaultNamingContextHelper()->findObject("OnlineViewer"); viewer->load(body->modelName().c_str(), filepath.c_str()); WorldState world; world.characterPositions.length(1); world.collisions.length(1); CharacterPosition& position = world.characterPositions[0]; position.characterName = CORBA::string_dup(body->modelName().c_str()); position.linkPositions.length(body->numLinks()); double q = 0.0; double dq = 0.01; OpenHRP::Collision& collision = world.collisions[0]; collision.pair.charName1 = CORBA::string_dup(body->modelName().c_str()); collision.pair.linkName1 = CORBA::string_dup("WAIST"); collision.pair.charName2 = CORBA::string_dup(body->modelName().c_str()); collision.pair.linkName2 = CORBA::string_dup("WAIST"); for(double time = 0.0; time <= 6.4; time += 0.01){ for(int j=0; j < body->numJoints(); ++j){ body->joint(j)->q() = q; } body->calcForwardKinematics(); for(int j=0; j < body->numLinks(); ++j){ Link* link = body->link(j); Eigen::Map(position.linkPositions[j].p) = link->p(); Eigen::Map(position.linkPositions[j].R) = link->R().transpose(); } world.time = time; if(time < 2.0){ collision.points.length(1); OpenHRP::CollisionPoint& point = collision.points[0]; point.idepth = 0.02; point.normal[0] = 1; point.normal[1] = 0; point.normal[2] = 0; point.position[0] = 0; point.position[1] = 0; point.position[2] = 0.1; }else if( time < 4.0){ collision.points.length(3); OpenHRP::CollisionPoint& point = collision.points[0]; point.idepth = 0.02; point.normal[0] = 0; point.normal[1] = 1; point.normal[2] = 0; point.position[0] = 0.2; point.position[1] = 0; point.position[2] = 0.12; OpenHRP::CollisionPoint& point1 = collision.points[1]; point1.idepth = 0.02; point1.normal[0] = 0; point1.normal[1] = 1; point1.normal[2] = 0; point1.position[0] = 0; point1.position[1] = 0; point1.position[2] = 0.12; OpenHRP::CollisionPoint& point2 = collision.points[2]; point2.idepth = 0.02; point2.normal[0] = 0; point2.normal[1] = 1; point2.normal[2] = 0; point2.position[0] = -0.2; point2.position[1] = 0; point2.position[2] = 0.12; }else{ collision.points.length(2); OpenHRP::CollisionPoint& point = collision.points[0]; point.idepth = 0.02; point.normal[0] = 0; point.normal[1] = 0; point.normal[2] = 1; point.position[0] = 0.2; point.position[1] = 0; point.position[2] = 0.14; OpenHRP::CollisionPoint& point1 = collision.points[1]; point1.idepth = 0.02; point1.normal[0] = 0; point1.normal[1] = 0; point1.normal[2] = 1; point1.position[0] = 0; point1.position[1] = 0; point1.position[2] = 0.14; } //viewer->drawScene(world); viewer->update(world); msleep(10); q += dq; if(fabs(q) > 0.4){ dq = -dq; } } } choreonoid-1.5.0/sample/OpenHRP/OpenHRP-SR1Walk.cnoid0000664000000000000000000002366212741425367020641 0ustar rootrootoptionalPlugins: [ ODE, Bullet, PhysX, AgX, OpenHRP3.0 ] items: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false children: - id: 2 name: "SR1" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/SR1/SR1.yaml" currentBaseLink: "WAIST" rootPosition: [ 0.000000, 0.000000, 0.713500 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, -0.003491, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, -0.003491, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000 ] initialRootPosition: [ 0.000000, 0.000000, 0.713500 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] initialJointPositions: [ 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, -0.003491, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, -0.036652, 0.000000, 0.078540, -0.041888, 0.000000, 0.174533, -0.003491, 0.000000, -1.570796, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false children: - id: 3 name: "SR1WalkPatternControllerFor3.1" plugin: OpenHRP3.1 class: OpenHRP3.1ControllerItem data: isImmediateMode: true controllerServerName: openhrp3.1-sr1-walk-controller controllerServerCommand: "${PROGRAM_TOP}/bin/openhrp3.1-sr1-walk-controller" - id: 4 name: "SR1WalkPatternControllerFor3.0" plugin: OpenHRP3.0 class: OpenHRP3.0ControllerItem data: isImmediateMode: true controllerServerName: openhrp3.0-sr1-walk-controller controllerServerCommand: "${PROGRAM_TOP}/bin/openhrp3.0-sr1-walk-controller" - id: 5 name: "Floor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/floor.wrl" currentBaseLink: "BASE" rootPosition: [ 0.000000, 0.000000, -0.100000 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ ] initialRootPosition: [ 0.000000, 0.000000, -0.100000 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false - id: 6 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Specified time" timeLength: 13.4 allLinkPositionOutputMode: true deviceStateRecording: true dynamicsMode: Forward dynamics integrationMode: Runge Kutta gravity: [ 0, 0, -9.80665 ] staticFriction: 0.5 slipFriction: 0.5 cullingThresh: 0.01 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 30 2Dmode: false - id: 7 name: "ODESimulator" plugin: ODE class: ODESimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Specified time" timeLength: 13.4 allLinkPositionOutputMode: true deviceStateRecording: true stepMode: Iterative (quick step) gravity: [ 0, 0, -9.80665 ] friction: 0.5 jointLimitMode: false globalERP: 0.4 globalCFM: 1e-10 numIterations: 50 overRelaxation: 1.3 limitCorrectingVel: true maxCorrectingVel: 1.0e-3 2Dmode: false - id: 8 name: "BulletSimulator" plugin: Bullet class: BulletSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Specified time" timeLength: 13.4 allLinkPositionOutputMode: true deviceStateRecording: true ErrorReductionParameter: 0.5 NumIterations: 10 Restitution: 0 Friction: 0.7 ERP2: 0 SplitImpulsePenetrationThreshold: -0.0001 views: "Items": selected: [ 6 ] checked: [ 2 ] expanded: [ 1, 2, 3 ] "Scene": walkthrough: false showCollisions: true wireframe: false defaultHeadLight: true defaultHeadLightIntensity: 0.75 worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true floorGrid: true floorGridSpan: 10 floorGridInterval: 0.5 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false camera: current: Perspective eye: [ 2.60454, 1.19051, 1.03399 ] direction: [ -0.888889, -0.444444, -0.111111 ] up: [ -0.0993808, -0.0496904, 0.993808 ] fieldOfView: 0.6978 near: 0.01 far: 10000 orthoHeight: 20 backgroundColor: [ 0.1, 0.1, 0.3 ] gridColor: [ 0.9, 0.9, 0.9, 1 ] "Multi Value Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi SE3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Links": listingMode: "Link List" currentBodyItem: 5 bodyItems: - id: 2 selectedLinks: [ 20 ] "Body / Link": showRotationMatrix: true "Joint Sliders": showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 5 "Joint Trajectories": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi Affine3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Pose Roll": defaultTransitionTime: 0 updateAll: true autoUpdate: false timeSync: true listingMode: "Part Tree" timeLength: 10 showLipSync: false gridInterval: 1 toolbars: "TimeBar": minTime: 0 maxTime: 15 frameRate: 500 playbackFrameRate: 100 currentTime: 0 speedScale: 1 syncToOngoingUpdates: true "BodyBar": current: 5 stanceWidth: 0.15 "KinematicsBar": mode: FK attitude: false penetrationBlock: true collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true "BodyMotionGenerationBar": balancer: false autoGeneration: false timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: false makeNewBodyItem: true stealthyStepMode: true stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 zmpMaxDistanceFromCenter: 0.02 allLinkPositions: false lipSyncMix: false timeToStartBalancer: 0 balancerIterations: 2 plainBalancerMode: false boundaryConditionType: position boundarySmootherType: off boundarySmootherTime: 0.5 boundaryCmAdjustment: false boundaryCmAdjustmentTime: 1 waistHeightRelaxation: false gravity: 9.8 dynamicsTimeRatio: 1 Body: "BodyMotionEngine": updateJointVelocities: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false choreonoid-1.5.0/sample/OpenHRP/CMakeLists.txt0000664000000000000000000000442512741425367017662 0ustar rootroot # @author Shin'ichiro Nakaoka if(NOT ENABLE_GUI) return() endif() option(BUILD_OPENHRP_SAMPLES "Building OpenHRP samples" OFF) if(NOT BUILD_OPENHRP_SAMPLES) return() elseif(NOT BUILD_OPENHRP_PLUGIN OR NOT BUILD_SIMPLE_CONTROLLER_PLUGIN) message(FATAL_ERROR "OpenHRP samples need to enable BUILD_OPENHRP_PLUGIN and BUILD_SIMPLE_CONTROLLER_PLUGIN.") endif() if(BUILD_OPENHRP_PLUGIN_FOR_3_0) set(versions 3.1 3.0) else() set(versions 3.1) endif() foreach(version ${versions}) if(version EQUAL 3.0) set(defver "OPENHRP_3_0") else() set(defver "OPENHRP_3_1") endif() # SR1 walk set(target openhrp${version}-sr1-walk-controller) add_cnoid_executable(${target} SimpleControllerWrapper.cpp ../SimpleController/SR1WalkPatternController.cpp) set_target_properties(${target} PROPERTIES COMPILE_DEFINITIONS "${defver};MODELFILE=\"SR1/SR1.wrl\"") target_link_libraries(${target} CnoidOpenHRP${version} CnoidSimpleController) # SR1 lifting up set(target openhrp${version}-sr1-liftup-controller) add_cnoid_executable(${target} SimpleControllerWrapper.cpp ../SimpleController/SR1LiftupController.cpp) set_target_properties(${target} PROPERTIES COMPILE_DEFINITIONS "${defver};MODELFILE=\"SR1/SR1.wrl\"") target_link_libraries(${target} CnoidOpenHRP${version} CnoidSimpleController) # PA10 Pickup set(target openhrp${version}-pa10-pickup-controller) add_cnoid_executable(${target} SimpleControllerWrapper.cpp ../SimpleController/PA10PickupController.cpp) set_target_properties(${target} PROPERTIES COMPILE_DEFINITIONS "${defver};MODELFILE=\"PA10/PA10.wrl\"") target_link_libraries(${target} CnoidOpenHRP${version} CnoidSimpleController) # test program set(target openhrp${version}-online-viewer-test) add_cnoid_executable(${target} olv-test.cpp) set_target_properties(${target} PROPERTIES COMPILE_DEFINITIONS ${defver}) target_link_libraries(${target} CnoidOpenHRP${version} CnoidSimpleController ${OMNIORB_LIBRARIES}) endforeach() configure_file(OpenHRP-SR1Walk.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) configure_file(OpenHRP-SR1Liftup.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) configure_file(OpenHRP-PA10Pickup.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) configure_file(OnlineViewer.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) choreonoid-1.5.0/sample/OpenHRP/SimpleControllerWrapper.cpp0000664000000000000000000000673312741425367022470 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include #include #include #include #include #include #include using namespace std; using namespace cnoid; using namespace OpenHRP; class SimpleControllerWrapper : public SimpleControllerIO, public OpenHRPControllerBase { SimpleController* controller; BodyPtr ioBody; bool ready; OpenHRP::DblSequence u; OpenHRP::DblSequence_var q; public: SimpleControllerWrapper(const char* charname) : OpenHRPControllerBase(charname) { ready = false; controller = createSimpleController(); if(controller){ string modelfile = getNativePathString( boost::filesystem::path(shareDirectory()) / "model" / MODELFILE); BodyLoader loader; loader.setMessageSink(cout); loader.setShapeLoadingEnabled(false); ioBody = loader.load(modelfile); if(ioBody){ ready = true; } else { cout << modelfile << " cannot be loaded." << endl; } } } ~SimpleControllerWrapper(){ if(controller){ delete controller; } } virtual void start(){ if(ready){ input(); if(!controller->initialize(this) || !controller->start()){ ready = false; cout << "Intializing the controller failed." << endl; } } } virtual void input(){ if(ready){ dynamicsSimulator->getCharacterAllLinkData( characterName.c_str(), DynamicsSimulator::JOINT_VALUE, q); int n = std::min((int)q->length(), ioBody->numJoints()); for(int i=0; i < n; ++i){ ioBody->joint(i)->q() = q[i]; } } } virtual void control(){ if(ready){ controller->control(); } } virtual void output() { if(ready){ u.length(ioBody->numJoints()); for(int i=0; i < ioBody->numJoints(); ++i){ u[i] = ioBody->joint(i)->u(); } dynamicsSimulator->setCharacterAllLinkData( characterName.c_str(), DynamicsSimulator::JOINT_TORQUE, u); } } virtual std::string optionString() const { return ""; } virtual std::vector options() const { return std::vector(); } virtual Body* body() { return ioBody; } virtual double timeStep() const { return OpenHRPControllerBase::timeStep; } virtual std::ostream& os() const { return std::cout; } virtual void setJointOutput(int stateTypes) { } virtual void setLinkOutput(Link* link, int stateTypes) { } virtual void setJointInput(int stateTypes) { } virtual void setLinkInput(Link* link, int stateTypes) { } }; Controller_ptr OpenHRPControllerFactory_impl::create(const char* charname) { OpenHRPControllerBase* controllerImpl = 0; try{ controllerImpl = new SimpleControllerWrapper(charname); cout << "Controller for " << charname << " created." << endl; } catch(CORBA::SystemException& ex) { cerr << ex._rep_id() << endl; cerr << "exception in createController" << endl; } return controllerImpl->_this(); } int main(int argc, char* argv[]) { OpenHRPControllerFactory_impl::run(argc, argv); } choreonoid-1.5.0/sample/OpenHRP/OnlineViewer.cnoid0000664000000000000000000001027612741425367020547 0ustar rootrootitems: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "OpenHRP3.1OnlineViewer" plugin: OpenHRP3.1 class: OpenHRP3.1OnlineViewerItem data: serverName: OnlineViewer views: - id: 0 plugin: Base class: ItemPropertyView mounted: true - id: 1 plugin: Base class: ItemTreeView mounted: true - id: 2 plugin: Base class: MessageView mounted: true - id: 3 plugin: Base class: SceneView mounted: true state: editMode: false viewpointControlMode: thirdPerson collisionLines: true polygonMode: fill defaultHeadLight: true defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true floorGrid: true floorGridSpan: 10 floorGridInterval: 0.5 xzGridSpan: 10 xzGridInterval: 0.5 xzGrid: false yzGridSpan: 10 yzGridInterval: 0.5 texture: true lineWidth: 1 pointSize: 1 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false enableNewDisplayListDoubleRendering: false useBufferForPicking: true camera: current: Perspective eye: [ 4, 2, 1.5 ] direction: [ -0.888888889, -0.444444444, -0.111111111 ] up: [ -0.0993807989, -0.0496903995, 0.99380799 ] fieldOfView: 0.6978 near: 0.01 far: 100 orthoHeight: 20 backgroundColor: [ 0.100000001, 0.100000001, 0.300000012 ] gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] xzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] yzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] dedicatedItemTreeViewChecks: false - id: 4 plugin: Body class: BodyLinkView mounted: true state: showRotationMatrix: false - id: 5 plugin: Body class: JointSliderView mounted: true state: showAllJoints: true jointId: false name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true - id: 6 plugin: Body class: LinkSelectionView mounted: true state: listingMode: "Link List" - id: 7 plugin: Python class: PythonConsoleView mounted: true toolbars: "TimeBar": minTime: 0 maxTime: 30 frameRate: 100 playbackFrameRate: 50 idleLoopDrivenMode: false currentTime: 0 speedScale: 1 syncToOngoingUpdates: true autoExpansion: true "KinematicsBar": mode: AUTO enablePositionDragger: true penetrationBlock: false collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true "LeggedBodyBar": stanceWidth: 0.15 "BodyMotionGenerationBar": balancer: false autoGeneration: false timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: false makeNewBodyItem: true stealthyStepMode: true stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 zmpMaxDistanceFromCenter: 0.02 allLinkPositions: false lipSyncMix: false timeToStartBalancer: 0 balancerIterations: 2 plainBalancerMode: false boundaryConditionType: position boundarySmootherType: quintic boundarySmootherTime: 0.5 boundaryCmAdjustment: false boundaryCmAdjustmentTime: 1 waistHeightRelaxation: false gravity: 9.8 dynamicsTimeRatio: 1 Body: "BodyMotionEngine": updateJointVelocities: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false Media: "PulseAudioManager": keepStreamConnection: false OpenRTM: "deleteUnmanagedRTCsOnStartingSimulation": false choreonoid-1.5.0/sample/OpenHRP/OpenHRP-SR1Liftup.cnoid0000664000000000000000000002546712741425367021213 0ustar rootrootoptionalPlugins: [ ODE, Bullet, PhysX, AgX, OpenHRP3.0 ] items: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false children: - id: 2 name: "SR1" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/SR1/SR1.yaml" currentBaseLink: "WAIST" rootPosition: [ 0.000000, 0.000000, 0.713500 ] rootAttitude: [ 0.999955, -0.006461, 0.006886, 0.006461, 0.999979, -0.000025, -0.006886, 0.000070, 0.999976 ] jointPositions: [ 0.000822, -0.037473, 0.000350, 0.077177, -0.046633, -0.000874, 0.175490, -0.003915, 0.000048, -1.568620, 0.000121, 0.000267, 0.000008, -0.000889, -0.040642, 0.000364, 0.077387, -0.043666, 0.000969, 0.175601, 0.003290, 0.000028, -1.568673, 0.000228, 0.000239, 0.000006, 0.005740, -0.000324, 0.000089 ] initialRootPosition: [ 0.000000, 0.000000, 0.713500 ] initialRootAttitude: [ 0.999955, -0.006461, 0.006886, 0.006461, 0.999979, -0.000025, -0.006886, 0.000070, 0.999976 ] initialJointPositions: [ 0.000822, -0.037473, 0.000350, 0.077177, -0.046633, -0.000874, 0.175490, -0.003915, 0.000048, -1.568620, 0.000121, 0.000267, 0.000008, -0.000889, -0.040642, 0.000364, 0.077387, -0.043666, 0.000969, 0.175601, 0.003290, 0.000028, -1.568673, 0.000228, 0.000239, 0.000006, 0.005740, -0.000324, 0.000089 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false children: - id: 3 name: "SR1LiftupControllerFor3.1" plugin: OpenHRP3.1 class: OpenHRP3.1ControllerItem data: isImmediateMode: true controllerServerName: openhrp3.1-sr1-liftup-controller controllerServerCommand: "${PROGRAM_TOP}/bin/openhrp3.1-sr1-liftup-controller" - id: 4 name: "SR1LiftupControllerFor3.0" plugin: OpenHRP3.0 class: OpenHRP3.0ControllerItem data: isImmediateMode: true controllerServerName: openhrp3.0-sr1-liftup-controller controllerServerCommand: "${PROGRAM_TOP}/bin/openhrp3.0-sr1-liftup-controller" - id: 5 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ 0.550000, 0.000000, 0.151000 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ ] initialRootPosition: [ 0.550000, 0.000000, 0.151000 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false - id: 6 name: "Floor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/floor.wrl" currentBaseLink: "BASE" rootPosition: [ 0.000000, 0.000000, -0.100000 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ ] initialRootPosition: [ 0.000000, 0.000000, -0.100000 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false - id: 7 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recordingMode: TimeBar range onlyActiveControlPeriod: true timeLength: 60 allLinkPositionOutputMode: false deviceStateRecording: true dynamicsMode: Forward dynamics integrationMode: Runge Kutta gravity: [ 0, 0, -9.80665 ] staticFriction: 0.5 slipFriction: 0.5 cullingThresh: 0.01 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 30 2Dmode: false - id: 8 name: "ODESimulator" plugin: ODE class: ODESimulatorItem data: realtimeSync: true recordingMode: TimeBar range onlyActiveControlPeriod: true timeLength: 60 allLinkPositionOutputMode: true deviceStateRecording: true stepMode: Iterative (quick step) gravity: [ 0, 0, -9.80665 ] friction: 1 jointLimitMode: false globalERP: 0.4 globalCFM: 1e-10 numIterations: 50 overRelaxation: 1.3 limitCorrectingVel: true maxCorrectingVel: 1.0e-3 2Dmode: false - id: 9 name: "BulletSimulator" plugin: Bullet class: BulletSimulatorItem data: realtimeSync: true recordingMode: TimeBar range onlyActiveControlPeriod: true timeLength: 60 allLinkPositionOutputMode: true deviceStateRecording: true ErrorReductionParameter: 0.2 NumIterations: 10 Restitution: 0 Friction: 0.7 ERP2: 0.5 SplitImpulsePenetrationThreshold: -0.0001 views: "Items": selected: [ 7 ] checked: [ 2, 5, 6 ] expanded: [ 1, 2, 3, 5 ] "Scene": walkthrough: false showCollisions: true wireframe: false defaultHeadLight: true defaultHeadLightIntensity: 0.75 worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true floorGrid: false floorGridSpan: 10 floorGridInterval: 0.5 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false camera: current: Perspective eye: [ 2.95934, 1.31336, 0.998801 ] direction: [ -0.888889, -0.444444, -0.111111 ] up: [ -0.0993808, -0.0496904, 0.993808 ] fieldOfView: 0.6978 near: 0.01 far: 10000 orthoHeight: 20 backgroundColor: [ 0.1, 0.1, 0.3 ] gridColor: [ 0.9, 0.9, 0.9, 1 ] "Multi Value Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi SE3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Links": listingMode: "Link List" currentBodyItem: 6 bodyItems: - id: 2 selectedLinks: [ 0 ] - id: 5 selectedLinks: [ 0 ] "Body / Link": showRotationMatrix: true "Joint Sliders": showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 6 "Joint Trajectories": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi Affine3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Pose Roll": defaultTransitionTime: 0 updateAll: true autoUpdate: false timeSync: true listingMode: "Part Tree" timeLength: 10 showLipSync: false gridInterval: 1 toolbars: "TimeBar": minTime: 0 maxTime: 15 frameRate: 500 playbackFrameRate: 100 currentTime: 0 speedScale: 1 syncToOngoingUpdates: true "BodyBar": current: 6 stanceWidth: 0.15 "KinematicsBar": mode: FK attitude: false penetrationBlock: true collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true "BodyMotionGenerationBar": balancer: false autoGeneration: false timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: false makeNewBodyItem: true stealthyStepMode: true stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 zmpMaxDistanceFromCenter: 0.02 allLinkPositions: false lipSyncMix: false timeToStartBalancer: 0 balancerIterations: 2 plainBalancerMode: false boundaryConditionType: position boundarySmootherType: off boundarySmootherTime: 0.5 boundaryCmAdjustment: false boundaryCmAdjustmentTime: 1 waistHeightRelaxation: false gravity: 9.8 dynamicsTimeRatio: 1 Body: "BodyMotionEngine": updateJointVelocities: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false choreonoid-1.5.0/sample/AgX/0000775000000000000000000000000012741425367014321 5ustar rootrootchoreonoid-1.5.0/sample/AgX/CMakeLists.txt0000664000000000000000000000107212741425367017061 0ustar rootroot # @author Shin'ichiro Nakaoka if(NOT ENABLE_GUI) return() endif() option(BUILD_AGX_SAMPLES "Building samples of the AgX dynamics" OFF) if(NOT BUILD_AGX_SAMPLES) return() endif() if(NOT BUILD_AGX_PLUGIN) message(FATAL_ERROR "AgX samples need to build AgXPlugin.") endif() # set(CMAKE_BUILD_TYPE Debug) add_cnoid_simple_controller(AgXTrackedVehicleController AgXTrackedVehicleController.cpp) configure_file(AgXTrackedVehicle.body ${CNOID_SOURCE_SHARE_DIR}/model/misc COPYONLY) configure_file(AgXTrackedVehicle.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) choreonoid-1.5.0/sample/AgX/AgXTrackedVehicle.cnoid0000664000000000000000000002646212741425367020626 0ustar rootrootitems: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false collisionDetector: AISTCollisionDetector children: - id: 2 name: "floor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/unevenfloor.wrl" currentBaseLink: "WAIST" rootPosition: [ 0, 0, -0.1 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ ] initialRootPosition: [ 0, 0, -0.1 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: false - id: 3 name: "AgXTrackedVehicle" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/AgXTrackedVehicle.body" currentBaseLink: "ROOT" rootPosition: [ -5, 5, 0.6 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -0.523598667, -0.523598667, -0.523598667, -0.523598667, -0.523598667, -0.523598667, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -0.523598667, -0.523598667, -0.523598667, -0.523598667, -0.523598667, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -0.523598667, -0.523598667, -0.523598667, -0.523598667, -0.523598667, -0.523598667, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -0.523598667, -0.523598667, -0.523598667, -0.523598667, -0.523598667 ] initialRootPosition: [ -5, 5, 0.6 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialJointPositions: [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -0.523598667, -0.523598667, -0.523598667, -0.523598667, -0.523598667, -0.523598667, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -0.523598667, -0.523598667, -0.523598667, -0.523598667, -0.523598667, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -0.523598667, -0.523598667, -0.523598667, -0.523598667, -0.523598667, -0.523598667, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -0.523598667, -0.523598667, -0.523598667, -0.523598667, -0.523598667 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: true children: - id: 4 name: "AgXTrackedVehicleController" plugin: SimpleController class: SimpleControllerItem data: isImmediateMode: true controllerOptions: "velocity" controller: "AgXTrackedVehicleController" reloading: true RelativePathBase: "Controller directory" - id: 5 name: "AgXSimulator" plugin: AgX class: AgXSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Unlimited" timeLength: 180 allLinkPositionOutputMode: true deviceStateOutput: true controllerThreads: true recordCollisionData: true controllerOptions: "" dynamicsMode: High-gain dynamics gravity: [ 0, 0, -9.80665 ] friction: 0.5 restitution: 0.1 frictionModelType: Box frictionSolveType: Direct numThreads: 1 contactReductionMode: Geometry contactReductionBinResolution: 2 contactReductionThreshold: 4 views: - id: 0 name: "CameraImage" plugin: Base class: ImageView - id: 1 plugin: Base class: ItemPropertyView mounted: true - id: 2 plugin: Base class: ItemTreeView mounted: true state: selected: [ 3 ] checked: [ 1, 2, 3 ] expanded: [ 1, 3 ] - id: 3 plugin: Base class: MessageView mounted: true - id: 4 plugin: Base class: SceneView mounted: true state: editMode: false viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: true defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true fog: true floorGrid: false floorGridSpan: 10 floorGridInterval: 0.5 xzGridSpan: 10 xzGridInterval: 0.5 xzGrid: false yzGridSpan: 10 yzGridInterval: 0.5 texture: true lineWidth: 1 pointSize: 1 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false enableNewDisplayListDoubleRendering: false useBufferForPicking: true cameras: - camera: [ System, Perspective ] isCurrent: true fieldOfView: 0.6978 near: 0.01 far: 10000 eye: [ 2.13603247, 21.4299594, 13.8352714 ] direction: [ -0.030625062, -0.824008714, -0.565748835 ] up: [ -0.0210120826, -0.565358503, 0.824577623 ] - camera: [ System, Orthographic ] orthoHeight: 20 near: 0.01 far: 10000 backgroundColor: [ 0.100000001, 0.100000001, 0.300000012 ] gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] xzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] yzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] dedicatedItemTreeViewChecks: false - id: 5 name: "Camera" plugin: Base class: SceneView mounted: true state: editMode: false viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: true defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true fog: true floorGrid: false floorGridSpan: 10 floorGridInterval: 0.5 xzGridSpan: 10 xzGridInterval: 0.5 xzGrid: false yzGridSpan: 10 yzGridInterval: 0.5 texture: true lineWidth: 1 pointSize: 1 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false enableNewDisplayListDoubleRendering: false useBufferForPicking: true cameras: - camera: [ System, Perspective ] fieldOfView: 0.6978 near: 0.01 far: 100 eye: [ 4.01321619, 2.00660809, 1.45520439 ] direction: [ -0.889838236, -0.444919118, -0.101167642 ] up: [ -0.0904870895, -0.0452435447, 0.994869393 ] - camera: [ System, Orthographic ] orthoHeight: 20 near: 0.01 far: 100 - camera: [ AgXTrackedVehicle, Camera ] isCurrent: true backgroundColor: [ 0.100000001, 0.100000001, 0.300000012 ] gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] xzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] yzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] dedicatedItemTreeViewChecks: false - id: 6 name: "Task" plugin: Base class: TaskView state: layoutMode: horizontal isAutoMode: false - id: 7 name: "Virtual Joystick" plugin: Base class: VirtualJoystickView mounted: true - id: 8 plugin: Body class: BodyLinkView mounted: true state: showRotationMatrix: false - id: 9 plugin: Body class: JointSliderView mounted: true state: showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 3 - id: 10 plugin: Body class: LinkSelectionView mounted: true state: listingMode: "Link List" currentBodyItem: 3 - id: 11 plugin: Python class: PythonConsoleView mounted: true toolbars: "TimeBar": minTime: 0 maxTime: 15 frameRate: 500 playbackFrameRate: 100 idleLoopDrivenMode: false currentTime: 0 speedScale: 1 syncToOngoingUpdates: true autoExpansion: true "KinematicsBar": mode: FK enablePositionDragger: true penetrationBlock: true collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true "BodyBar": current: 3 "LeggedBodyBar": stanceWidth: 0.15 Body: "BodyMotionEngine": updateJointVelocities: false "EditableSceneBody": editableSceneBodies: - bodyItem: 2 showCenterOfMass: false showPpcom: false showZmp: false - bodyItem: 3 showCenterOfMass: false showPpcom: false showZmp: false staticModelEditing: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false viewAreas: - type: embedded tabs: true contents: type: splitter orientation: horizontal sizes: [ 422, 1794 ] children: - type: splitter orientation: vertical sizes: [ 681, 680 ] children: - type: pane views: [ 2 ] current: 2 - type: pane views: [ 1, 10 ] current: 1 - type: splitter orientation: vertical sizes: [ 972, 389 ] children: - type: splitter orientation: horizontal sizes: [ 838, 950 ] children: - type: pane views: [ 8, 9, 5 ] current: 5 - type: pane views: [ 4 ] current: 4 - type: splitter orientation: horizontal sizes: [ 894, 894 ] children: - type: pane views: [ 3, 11 ] current: 3 - type: pane views: [ 7 ] current: 7 layoutOfToolBars: rows: - - { name: "FileBar", x: 0, priority: 0 } - { name: "ScriptBar", x: 48, priority: 0 } - { name: "TimeBar", x: 96, priority: 0 } - { name: "SceneBar", x: 1079, priority: 0 } - { name: "GraphBar", x: 1401, priority: 0 } - { name: "SimulationBar", x: 1511, priority: 0 } - { name: "BodyBar", x: 1714, priority: 0 } - { name: "KinematicsBar", x: 1982, priority: 0 } choreonoid-1.5.0/sample/AgX/AgXTrackedVehicle.body0000664000000000000000000010417512741425367020465 0ustar rootrootformat: ChoreonoidBody formatVersion: 1.0 name: TrackedVehicle rootLink: ROOT initialJointDisplacement: [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -0.523598667, -0.523598667, -0.523598667, -0.523598667, -0.523598667, -0.523598667, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -0.523598667, -0.523598667, -0.523598667, -0.523598667, -0.523598667, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -0.523598667, -0.523598667, -0.523598667, -0.523598667, -0.523598667, -0.523598667, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -0.523598667, -0.523598667, -0.523598667, -0.523598667, -0.523598667 ] agxJointParameters: &wheelHigeParam hingeCompliance : - dof: TRANSLATIONAL_3 compliance: 2E-6 damping: 0.1 hingeMotor : compliance: 3E-5 agxJointParameters: &trackJointParam hingeCompliance : - dof: TRANSLATIONAL_1 compliance: 2E-8 damping: 0.1 - dof: TRANSLATIONAL_2 compliance: 2E-8 damping: 0.1 - dof: TRANSLATIONAL_3 compliance: 2E-8 damping: 0.1 - dof: ROTATIONAL_1 compliance: 8E-8 damping: 0.1 - dof: ROTATIONAL_2 compliance: 8E-8 damping: 0.1 hingeMotor : compliance: 0.0005 planeCompliance: 3E-9 planeDamping: 0.003 links: - name: ROOT jointType: free translation: [ 0, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 750 inertia: [ 233.125, 0, 0, 0, 593.125, 0, 0, 0, 765 ] elements: - type: Transform translation: [ 0, 0, 0.25 ] elements: Shape: appearance: &green material: { diffuseColor: [ 0.0, 0.6, 0.0 ], ambientIntensity: 0.3, specularColor: [ 0.7, 0.7, 0.7 ], emissiveColor: [ 0, 0, 0 ], shininess: 0.25, transparency: 0 } geometry: { type: Box, size: [ 3, 1.8, 0.7 ] } - type: Transform translation: [ -3.4, 0, 3.2 ] rotation: [ 0, 1, 0, -60.0 ] elements: Camera: name: Camera rotation: [ 0, 0, 1, -90 ] id: 0 format: COLOR nearClipDistance: 0.1 farClipDistance: 100.0 frameRate: 30 width: 640 height: 480 - name: WHEEL_L0 parent: ROOT jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: 0 translation: [ 1.2, 1.1, -0.15 ] centerOfMass: [ 0, 0, 0 ] mass: 100 inertia: [ 1.3125, 0, 0, 0, 1.125, 0, 0, 0, 1.3125 ] import: *wheelHigeParam elements: &WeelShape Shape: appearance: *green geometry: { type: Cylinder, radius: 0.3, height: 0.3 } - name: WHEEL_L1 parent: ROOT jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: 1 translation: [ 0.45, 1.1, -0.25 ] centerOfMass: [ 0, 0, 0 ] mass: 100 inertia: [ 1.3125, 0, 0, 0, 1.125, 0, 0, 0, 1.3125 ] import: *wheelHigeParam elements: *WeelShape - name: WHEEL_L2 parent: ROOT jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: 2 translation: [ -0.45, 1.1, -0.25 ] centerOfMass: [ 0, 0, 0 ] mass: 100 inertia: [ 1.3125, 0, 0, 0, 1.125, 0, 0, 0, 1.3125 ] import: *wheelHigeParam elements: *WeelShape - name: WHEEL_L3 parent: ROOT jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: 3 translation: [ -1.2, 1.1, -0.15 ] centerOfMass: [ 0, 0, 0 ] mass: 100 inertia: [ 1.3125, 0, 0, 0, 1.125, 0, 0, 0, 1.3125 ] import: *wheelHigeParam elements: *WeelShape - name: WHEEL_R0 parent: ROOT jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: 4 translation: [ 1.2, -1.1, -0.15 ] centerOfMass: [ 0, 0, 0 ] mass: 100 inertia: [ 1.3125, 0, 0, 0, 1.125, 0, 0, 0, 1.3125 ] import: *wheelHigeParam elements: *WeelShape - name: WHEEL_R1 parent: ROOT jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: 5 translation: [ 0.45, -1.1, -0.25 ] centerOfMass: [ 0, 0, 0 ] mass: 100 inertia: [ 1.3125, 0, 0, 0, 1.125, 0, 0, 0, 1.3125 ] import: *wheelHigeParam elements: *WeelShape - name: WHEEL_R2 parent: ROOT jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: 6 translation: [ -0.45, -1.1, -0.25 ] centerOfMass: [ 0, 0, 0 ] mass: 100 inertia: [ 1.3125, 0, 0, 0, 1.125, 0, 0, 0, 1.3125 ] import: *wheelHigeParam elements: *WeelShape - name: WHEEL_R3 parent: ROOT jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: 7 translation: [ -1.2, -1.1, -0.15 ] centerOfMass: [ 0, 0, 0 ] mass: 100 inertia: [ 1.3125, 0, 0, 0, 1.125, 0, 0, 0, 1.3125 ] import: *wheelHigeParam elements: *WeelShape - name: FOOT_L0 parent: ROOT jointType: agx_crawler jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ 1.2854, 1.1, 0.15 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: &footShape Transform: translation: [ -0.0854, 0, 0.025 ] elements: Shape: appearance: &red material: { diffuseColor: [ 0.6, 0.0, 0.0 ], ambientIntensity: 0.3, specularColor: [ 0.7, 0.7, 0.7 ], emissiveColor: [ 0, 0, 0 ], shininess: 0.25, transparency: 0 } geometry: { type: Box, size: [ 0.167, 0.3, 0.05 ] } - name: FOOT_L1 parent: FOOT_L0 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L2 parent: FOOT_L1 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L3 parent: FOOT_L2 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L4 parent: FOOT_L3 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L5 parent: FOOT_L4 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L6 parent: FOOT_L5 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L7 parent: FOOT_L6 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L8 parent: FOOT_L7 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L9 parent: FOOT_L8 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L10 parent: FOOT_L9 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L11 parent: FOOT_L10 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L12 parent: FOOT_L11 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L13 parent: FOOT_L12 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L14 parent: FOOT_L13 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L15 parent: FOOT_L14 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L16 parent: FOOT_L15 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L17 parent: FOOT_L16 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L18 parent: FOOT_L17 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L19 parent: FOOT_L18 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L20 parent: FOOT_L19 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L21 parent: FOOT_L20 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L22 parent: FOOT_L21 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L23 parent: FOOT_L22 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L24 parent: FOOT_L23 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L25 parent: FOOT_L24 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L26 parent: FOOT_L25 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L27 parent: FOOT_L26 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L28 parent: FOOT_L27 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L29 parent: FOOT_L28 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L30 parent: FOOT_L29 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L31 parent: FOOT_L30 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L32 parent: FOOT_L31 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L33 parent: FOOT_L32 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L34 parent: FOOT_L33 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L35 parent: FOOT_L34 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L36 parent: FOOT_L35 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L37 parent: FOOT_L36 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L38 parent: FOOT_L37 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_L39 parent: FOOT_L38 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R0 parent: ROOT jointType: agx_crawler jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ 1.2854, -1.1, 0.15 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R1 parent: FOOT_R0 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R2 parent: FOOT_R1 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R3 parent: FOOT_R2 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R4 parent: FOOT_R3 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R5 parent: FOOT_R4 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R6 parent: FOOT_R5 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R7 parent: FOOT_R6 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R8 parent: FOOT_R7 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R9 parent: FOOT_R8 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R10 parent: FOOT_R9 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R11 parent: FOOT_R10 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R12 parent: FOOT_R11 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R13 parent: FOOT_R12 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R14 parent: FOOT_R13 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R15 parent: FOOT_R14 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R16 parent: FOOT_R15 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R17 parent: FOOT_R16 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R18 parent: FOOT_R17 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R19 parent: FOOT_R18 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R20 parent: FOOT_R19 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R21 parent: FOOT_R20 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R22 parent: FOOT_R21 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R23 parent: FOOT_R22 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R24 parent: FOOT_R23 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R25 parent: FOOT_R24 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R26 parent: FOOT_R25 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R27 parent: FOOT_R26 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R28 parent: FOOT_R27 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R29 parent: FOOT_R28 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R30 parent: FOOT_R29 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R31 parent: FOOT_R30 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R32 parent: FOOT_R31 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R33 parent: FOOT_R32 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R34 parent: FOOT_R33 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R35 parent: FOOT_R34 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R36 parent: FOOT_R35 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R37 parent: FOOT_R36 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R38 parent: FOOT_R37 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape - name: FOOT_R39 parent: FOOT_R38 jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: -1 translation: [ -0.1670, 0, 0 ] centerOfMass: [ 0, 0, 0 ] mass: 5.142 inertia: [ 0.03963625, 0, 0, 0, 0.013659706, 0, 0, 0, 0.051153456 ] import: *trackJointParam elements: *footShape linkGroup: - ROOT - name: VEHICLE links: - name: WHEEL_L links: [ WHEEL_L0, WHEEL_L1, WHEEL_L2, WHEEL_L3 ] - name: WHEEL_R links: [ WHEEL_R0, WHEEL_R1, WHEEL_R2, WHEEL_R3 ] - name: TRACK_L links: [ FOOT_L0, FOOT_L1, FOOT_L2, FOOT_L3, FOOT_L4, FOOT_L5, FOOT_L6, FOOT_L7, FOOT_L8, FOOT_L9, FOOT_L10, FOOT_L11, FOOT_L12, FOOT_L13, FOOT_L14, FOOT_L15, FOOT_L16, FOOT_L17, FOOT_L18, FOOT_L19, FOOT_L20, FOOT_L21, FOOT_L22, FOOT_L23, FOOT_L24, FOOT_L25, FOOT_L26, FOOT_L27, FOOT_L28, FOOT_L29, FOOT_L30, FOOT_L31, FOOT_L32, FOOT_L33, FOOT_L34, FOOT_L35, FOOT_L36, FOOT_L37, FOOT_L38, FOOT_L39 ] - name: TRACK_R links: [ FOOT_R0, FOOT_R1, FOOT_R2, FOOT_R3, FOOT_R4, FOOT_R5, FOOT_R6, FOOT_R7, FOOT_R8, FOOT_R9, FOOT_R10, FOOT_R11, FOOT_R12, FOOT_R13, FOOT_R14, FOOT_R15, FOOT_R16, FOOT_R17, FOOT_R18, FOOT_R19, FOOT_R20, FOOT_R21, FOOT_R22, FOOT_R23, FOOT_R24, FOOT_R25, FOOT_R26, FOOT_R27, FOOT_R28, FOOT_R29, FOOT_R30, FOOT_R31, FOOT_R32, FOOT_R33, FOOT_R34, FOOT_R35, FOOT_R36, FOOT_R37, FOOT_R38, FOOT_R39 ] agxContactMaterialParameters: - linkGroupPairs: [ [ WHEEL_L, TRACK_L ], [WHEEL_R, TRACK_R ] ] frictionModel: BOX solveType: DIRECT frictionCoefficient: 1.0e100 surfaceViscosityParameters: - direction: PRIMARY_DIRECTION viscosity: 8E-5 - direction: SECONDARY_DIRECTION viscosity: 8E-5 restitution: 0 adhesion: [ 0, 0.001 ] damping: 0.01 agxSelfCollisionDetection: linkGroupPairs: [ [ WHEEL_L, TRACK_L ], [WHEEL_R, TRACK_R ] ] choreonoid-1.5.0/sample/AgX/AgXTrackedVehicleController.cpp0000664000000000000000000000343612741425367022354 0ustar rootroot/** @author Shizuko Hattori */ #include #include using namespace std; using namespace cnoid; class AgxCrawlerController : public cnoid::SimpleController { enum { TORQUE_MODE, VELOCITY_MODE } mode; Link* wheelR[4]; Link* wheelL[4]; Joystick joystick; public: virtual bool initialize(SimpleControllerIO* io) { mode = TORQUE_MODE; vector options = io->options(); for(vector::iterator p = options.begin(); p != options.end(); ++p){ if(*p == "velocity"){ mode = VELOCITY_MODE; } } if(mode == TORQUE_MODE){ io->setJointOutput(JOINT_TORQUE); io->setJointInput(JOINT_ANGLE); } else if(mode == VELOCITY_MODE){ io->setJointOutput(JOINT_VELOCITY); } Body* ioBody = io->body(); wheelR[0] = ioBody->link("WHEEL_R0"); wheelR[1] = ioBody->link("WHEEL_R1"); wheelR[2] = ioBody->link("WHEEL_R2"); wheelR[3] = ioBody->link("WHEEL_R3"); wheelL[0] = ioBody->link("WHEEL_L0"); wheelL[1] = ioBody->link("WHEEL_L1"); wheelL[2] = ioBody->link("WHEEL_L2"); wheelL[3] = ioBody->link("WHEEL_L3"); return true; } virtual bool control() { joystick.readCurrentState(); double pos[2]; for(int i=0; i < 2; ++i){ pos[i] = joystick.getPosition(i); if(fabs(pos[i]) < 0.2){ pos[i] = 0.0; } } for(int i=0; i<4; i++){ wheelR[i]->dq() = -5*(2.0 * pos[1] + pos[0]); wheelL[i]->dq() = -5*(2.0 * pos[1] - pos[0]); } return true; } }; CNOID_IMPLEMENT_SIMPLE_CONTROLLER_FACTORY(AgxCrawlerController) choreonoid-1.5.0/sample/Roki/0000775000000000000000000000000012741425367014546 5ustar rootrootchoreonoid-1.5.0/sample/Roki/RokiArm2Dof.cnoid0000664000000000000000000002334512741425367017652 0ustar rootrootitems: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false collisionDetector: AISTCollisionDetector children: - id: 2 name: "box4" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box4.wrl" currentBaseLink: "WAIST" rootPosition: [ 0.02, 0.6, 0.2 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ ] initialRootPosition: [ 0.02, 0.6, 0.2 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: true - id: 3 name: "Floor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/floor.wrl" currentBaseLink: "BASE" rootPosition: [ 0, 0, -0.1 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ ] initialRootPosition: [ 0, 0, -0.1 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: false - id: 4 name: "ARM" plugin: Body class: BodyItem data: modelFile: "${MODEL}/arm_2dof.body" currentBaseLink: "BASE" rootPosition: [ 0, 0, 0 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ 1.570796, -1.570796 ] initialRootPosition: [ 0, 0, 0 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialJointPositions: [ 1.570796, -1.570796 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: true children: - id: 5 name: "SimpleController" plugin: SimpleController class: SimpleControllerItem data: isImmediateMode: true controller: "Arm2dofController" reloading: true inputLinkPositions: false - id: 6 name: "RokiSimulator" plugin: Roki class: RokiSimulatorItem data: realtimeSync: false recording: "full" timeRangeMode: "Specific time" timeLength: 5 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false staticfriction: 1 kineticfriction: 0.7 contactType: contact rigid solverType: Volume compensation: 1000 relaxation: 0.005 elasticity: 0 viscosity: 0 useContactFile: false contactFileName: "" views: - id: 0 name: "CameraImage" plugin: Base class: ImageView - id: 1 plugin: Base class: ItemPropertyView mounted: true - id: 2 plugin: Base class: ItemTreeView mounted: true state: selected: [ 6 ] checked: [ 1, 2, 3, 4 ] expanded: [ 1, 2, 4, 5 ] - id: 3 plugin: Base class: MessageView mounted: true - id: 4 plugin: Base class: SceneView mounted: true state: editMode: false viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: true defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true fog: true floorGrid: true floorGridSpan: 10 floorGridInterval: 0.5 xzGridSpan: 10 xzGridInterval: 0.5 xzGrid: false yzGridSpan: 10 yzGridInterval: 0.5 texture: true lineWidth: 1 pointSize: 1 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false enableNewDisplayListDoubleRendering: false useBufferForPicking: true cameras: - camera: [ System, Perspective ] isCurrent: true fieldOfView: 0.6978 near: 0.01 far: 10000 eye: [ 2.46068078, 0.164822557, 0.687424861 ] direction: [ -0.998637353, -0.0436157097, 0.0286549485 ] up: [ 0.0286276575, 0.00125031934, 0.999589363 ] - camera: [ System, Orthographic ] orthoHeight: 20 near: 0.01 far: 10000 backgroundColor: [ 0.100000001, 0.100000001, 0.300000012 ] gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] xzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] yzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] dedicatedItemTreeViewChecks: false - id: 5 name: "Task" plugin: Base class: TaskView state: layoutMode: horizontal isAutoMode: false - id: 6 plugin: Body class: BodyLinkView mounted: true state: showRotationMatrix: false - id: 7 plugin: Body class: JointSliderView mounted: true state: showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 3 - id: 8 plugin: Body class: LinkSelectionView mounted: true state: listingMode: "Link List" currentBodyItem: 3 - id: 9 plugin: Python class: PythonConsoleView mounted: true toolbars: "TimeBar": minTime: 0 maxTime: 15 frameRate: 1000 playbackFrameRate: 100 idleLoopDrivenMode: false currentTime: 0 speedScale: 1 syncToOngoingUpdates: false autoExpansion: true "KinematicsBar": mode: FK enablePositionDragger: true penetrationBlock: true collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true "BodyBar": current: 3 "LeggedBodyBar": stanceWidth: 0.15 "BodyMotionGenerationBar": autoGenerationForNewBody: true balancer: false autoGeneration: false timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: false makeNewBodyItem: true stealthyStepMode: true stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 zmpMaxDistanceFromCenter: 0.02 allLinkPositions: false lipSyncMix: false timeToStartBalancer: 0 balancerIterations: 2 plainBalancerMode: false boundaryConditionType: position boundarySmootherType: off boundarySmootherTime: 0.5 boundaryCmAdjustment: false boundaryCmAdjustmentTime: 1 waistHeightRelaxation: false gravity: 9.8 dynamicsTimeRatio: 1 Body: "BodyMotionEngine": updateJointVelocities: false "EditableSceneBody": editableSceneBodies: - bodyItem: 2 showCenterOfMass: false showPpcom: false showZmp: false - bodyItem: 3 showCenterOfMass: false showPpcom: false showZmp: false - bodyItem: 4 showCenterOfMass: false showPpcom: false showZmp: false staticModelEditing: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false viewAreas: - type: embedded tabs: true contents: type: splitter orientation: horizontal sizes: [ 381, 847 ] children: - type: splitter orientation: vertical sizes: [ 471, 470 ] children: - type: pane views: [ 2 ] current: 2 - type: pane views: [ 1, 8 ] current: 1 - type: splitter orientation: vertical sizes: [ 672, 269 ] children: - type: splitter orientation: horizontal sizes: [ 327, 514 ] children: - type: pane views: [ 6, 7 ] current: 6 - type: pane views: [ 4 ] current: 4 - type: pane views: [ 3, 9 ] current: 3 layoutOfToolBars: rows: - - { name: "FileBar", x: 0, priority: 0 } - { name: "ScriptBar", x: 48, priority: 0 } - { name: "TimeBar", x: 96, priority: 0 } - { name: "SceneBar", x: 1051, priority: 0 } - - { name: "GraphBar", x: 0, priority: 0 } - { name: "SimulationBar", x: 110, priority: 0 } - { name: "BodyBar", x: 313, priority: 0 } - { name: "KinematicsBar", x: 581, priority: 0 } - { name: "BodyMotionGenerationBar", x: 822, priority: 0 } choreonoid-1.5.0/sample/Roki/RokiFallingBoxes.cnoid0000664000000000000000000002602012741425367020766 0ustar rootrootitems: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false collisionDetector: AISTCollisionDetector children: - id: 2 name: "Floor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/floor.wrl" currentBaseLink: "BASE" rootPosition: [ 0, 0, -0.1 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ ] initialRootPosition: [ 0, 0, -0.1 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: true - id: 3 name: "box1" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box1.wrl" currentBaseLink: "WAIST" rootPosition: [ 0.0375, 0.15, 1.4159 ] rootAttitude: [ 0.820303, 0.536269, 0.198792, -0.547074, 0.837084, -0.000678, -0.166769, -0.108198, 0.980041 ] jointPositions: [ 0.000000 ] initialRootPosition: [ 0.0375, 0.15, 1.4159 ] initialRootAttitude: [ 0.82030343, 0.536268629, 0.198791953, -0.547074371, 0.837083731, -0.000677900172, -0.166769047, -0.108197899, 0.980041479 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: true - id: 4 name: "box1" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box1.wrl" currentBaseLink: "WAIST" rootPosition: [ 0.0108, 0.2371, 1.0699 ] rootAttitude: [ 0.790431, -0.579651, 0.198048, 0.591318, 0.806439, 0.000289, -0.159881, 0.116881, 0.980192 ] jointPositions: [ 0.000000 ] initialRootPosition: [ 0.0108, 0.2371, 1.0699 ] initialRootAttitude: [ 0.790431149, -0.579651269, 0.198047985, 0.591317731, 0.806438626, 0.000288916755, -0.159881015, 0.116880916, 0.980192283 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: true - id: 5 name: "box1" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box1.wrl" currentBaseLink: "WAIST" rootPosition: [ -0.0123, 0.15, 0.6871 ] rootAttitude: [ 0.979672, 0.030711, 0.198239, 0.022232, 0.965503, -0.259442, -0.199368, 0.258576, 0.945194 ] jointPositions: [ 0.000000 ] initialRootPosition: [ -0.0123, 0.15, 0.6871 ] initialRootAttitude: [ 0.979672464, 0.0307109728, 0.198238994, 0.0222319728, 0.965502687, -0.259442289, -0.199368006, 0.258575711, 0.945193631 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: true - id: 6 name: "box1" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box1.wrl" currentBaseLink: "WAIST" rootPosition: [ 0.0631, 0.159, 2.1828 ] rootAttitude: [ 0.980271, 0.197647, 0.00207, -0, 0.010473, -0.999945, -0.197657, 0.980217, 0.010266 ] jointPositions: [ 0.000000 ] initialRootPosition: [ 0.0631, 0.159, 2.1828 ] initialRootAttitude: [ 0.980271183, 0.197646434, 0.00206973078, -5.66116926e-07, 0.0104743928, -0.999944868, -0.19765727, 0.980217132, 0.0102678627 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: true - id: 7 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: false recording: "tail" timeRangeMode: "Active control period" timeLength: 3 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false dynamicsMode: "Forward dynamics" integrationMode: "Runge Kutta" gravity: [ 0, 0, -9.80665 ] staticFriction: 0.5 slipFriction: 0.5 cullingThresh: 0.01 contactCullingDepth: 0.05 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 30 kinematicWalking: false 2Dmode: false - id: 8 name: "RokiSimulator" plugin: Roki class: RokiSimulatorItem data: realtimeSync: false recording: "full" timeRangeMode: "Active control period" timeLength: 5 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false staticfriction: 1 kineticfriction: 0.7 contactType: contact rigid solverType: Volume compensation: 1000 relaxation: 0.002 elasticity: 0 viscosity: 0 useContactFile: false contactFileName: "" views: - id: 0 name: "CameraImage" plugin: Base class: ImageView mounted: true - id: 1 plugin: Base class: ItemPropertyView mounted: true - id: 2 plugin: Base class: ItemTreeView mounted: true state: selected: [ 8 ] checked: [ 1, 2, 3, 4, 5, 6 ] expanded: [ 1, 3, 4, 5, 6 ] - id: 3 plugin: Base class: MessageView mounted: true - id: 4 plugin: Base class: SceneView mounted: true state: editMode: false viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: true defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true fog: true floorGrid: false floorGridSpan: 10 floorGridInterval: 0.5 xzGridSpan: 10 xzGridInterval: 0.5 xzGrid: false yzGridSpan: 10 yzGridInterval: 0.5 texture: true lineWidth: 1 pointSize: 1 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false enableNewDisplayListDoubleRendering: false useBufferForPicking: true cameras: - camera: [ System, Perspective ] isCurrent: true fieldOfView: 0.6978 near: 0.01 far: 10000 eye: [ 4.14723015, 1.86573005, 1.83317995 ] direction: [ -0.916706164, -0.370027054, -0.150764016 ] up: [ -0.139804254, -0.0564318967, 0.988569781 ] - camera: [ System, Orthographic ] orthoHeight: 20 near: 0.01 far: 10000 backgroundColor: [ 0.100000001, 0.100000001, 0.300000012 ] gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] xzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] yzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] dedicatedItemTreeViewChecks: false - id: 5 name: "Task" plugin: Base class: TaskView state: layoutMode: horizontal isAutoMode: false - id: 6 plugin: Body class: BodyLinkView mounted: true state: showRotationMatrix: false - id: 7 plugin: Body class: JointSliderView mounted: true state: showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 2 - id: 8 plugin: Body class: LinkSelectionView mounted: true state: listingMode: "Link List" currentBodyItem: 2 - id: 9 plugin: Python class: PythonConsoleView mounted: true toolbars: "TimeBar": minTime: 0 maxTime: 5 frameRate: 1000 playbackFrameRate: 100 idleLoopDrivenMode: false currentTime: 0 speedScale: 1 syncToOngoingUpdates: false autoExpansion: true "KinematicsBar": mode: FK enablePositionDragger: true penetrationBlock: true collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true "LeggedBodyBar": stanceWidth: 0.15 "BodyMotionGenerationBar": autoGenerationForNewBody: true balancer: false autoGeneration: false timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: false makeNewBodyItem: true stealthyStepMode: true stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 zmpMaxDistanceFromCenter: 0.02 allLinkPositions: false lipSyncMix: false timeToStartBalancer: 0 balancerIterations: 2 plainBalancerMode: false boundaryConditionType: position boundarySmootherType: off boundarySmootherTime: 0.5 boundaryCmAdjustment: false boundaryCmAdjustmentTime: 1 waistHeightRelaxation: false gravity: 9.8 dynamicsTimeRatio: 1 Body: "BodyMotionEngine": updateJointVelocities: false "EditableSceneBody": editableSceneBodies: - bodyItem: 2 showCenterOfMass: false showPpcom: false showZmp: false - bodyItem: 3 showCenterOfMass: false showPpcom: false showZmp: false - bodyItem: 4 showCenterOfMass: false showPpcom: false showZmp: false - bodyItem: 5 showCenterOfMass: false showPpcom: false showZmp: false - bodyItem: 6 showCenterOfMass: false showPpcom: false showZmp: false staticModelEditing: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false OpenRTM: "deleteUnmanagedRTCsOnStartingSimulation": false choreonoid-1.5.0/sample/Roki/arm_2dof.wrl0000664000000000000000000002560712741425367016777 0ustar rootroot#VRML V2.0 utf8 # Simple robot model "ARM_2DoF" # This model originates from an OpenHRP sample robot model. # The original model was written by Ichitaro Kohara (YNL, Univ. of Tokyo), # Hirohisa Hirukawa (ETL) and Natsuki Miyata (MEL). PROTO Joint [ exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField MFFloat lvlimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat uvlimit [] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 exposedField SFFloat gearRatio 1 exposedField SFFloat rotorInertia 0 exposedField SFFloat rotorResistor 0 exposedField SFFloat torqueConst 1 exposedField SFFloat encoderPulse 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS viewpoints } Group { children IS humanoidBody } ] } } PROTO VisionSensor [ exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField MFNode children [ ] exposedField SFFloat fieldOfView 0.785398 exposedField SFString name "" exposedField SFFloat frontClipDistance 0.01 exposedField SFFloat backClipDistance 10.0 exposedField SFString type "NONE" exposedField SFInt32 sensorId -1 exposedField SFInt32 width 320 exposedField SFInt32 height 240 exposedField SFFloat frameRate 30 ] { Transform { rotation IS rotation translation IS translation children IS children } } PROTO ForceSensor [ exposedField SFVec3f maxForce -1 -1 -1 exposedField SFVec3f maxTorque -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO Gyro [ exposedField SFVec3f maxAngularVelocity -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO AccelerationSensor [ exposedField SFVec3f maxAcceleration -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO PressureSensor [ exposedField SFFloat maxPressure -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO PhotoInterrupter [ exposedField SFVec3f transmitter 0 0 0 exposedField SFVec3f receiver 0 0 0 exposedField SFInt32 sensorId -1 ] { Transform{ children [ Transform{ translation IS transmitter } Transform{ translation IS receiver } ] } } PROTO CylinderSensorZ [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 1 0 0 1.5708 children [ DEF SensorY CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisY Transform{ children [ Transform{ rotation 1 0 0 -1.5708 children IS children } ] } ] } ROUTE SensorY.rotation_changed TO AxisY.set_rotation } PROTO CylinderSensorY [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 0 1 0 1.5708 children [ DEF SensorX CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisX Transform{ children [ Transform{ rotation 0 1 0 -1.5708 children IS children } ] } ] } ROUTE SensorX.rotation_changed TO AxisX.set_rotation } PROTO CylinderSensorX [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 0 0 1 -1.5708 children [ DEF SensorZ CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisZ Transform{ children [ Transform{ rotation 0 0 1 1.5708 children IS children } ] } ] } ROUTE SensorZ.rotation_changed TO AxisZ.set_rotation } NavigationInfo { avatarSize 0.5 headlight TRUE type ["EXAMINE", "ANY"] } Background { skyColor 0.4 0.6 0.4 } Viewpoint { position 3 0 0.835 orientation 0.5770 0.5775 0.5775 2.0935 } DEF ARM Humanoid { name "ARM_2Dof" humanoidBody [ DEF BASE Joint { jointType "fixed" translation 0 0 0 children [ DEF BASE0 Segment { centerOfMass 0 0 0.067 mass 1.5 momentsOfInertia [ 7.395833e-03 0 0 0 8.645833e-03 0 0 0 8.541667e-03 ] children [ Shape { appearance DEF WAIST_APP Appearance { material Material { } } geometry Box { size 0.2 0.2 0.2 } } Transform { translation 0 0 0.15 rotation 0 0 1 1.5707 children Shape { appearance USE WAIST_APP geometry Cylinder { radius 0.05 height 0.1 } } } ] } DEF Joint1 Joint { translation 0 0 0.15 jointType "rotate" jointAxis -1 0 0 jointId 0 gearRatio 120.0 #ratio rotorInertia 1.65e-6 #inertia rotorResistor 0.42373 #admitance torqueConst 2.58e-2 #motorconstant children [ DEF LINK1 Segment { centerOfMass 0 0 0.267 mass 1.5 momentsOfInertia [ 0.02229167 0 0 0 0.02239583 0 0 0 0.00239583 ] children [ Transform { translation 0 0 0.2 children Shape { appearance DEF WAIST_LINK1_APP Appearance { material Material { diffuseColor 0.6 1.0 0.6 } } geometry Box { size 0.1 0.1 0.3 } } } Transform { translation 0 0 0.4 rotation 0 0 1 1.5707 children Shape { appearance USE WAIST_LINK1_APP geometry Cylinder { radius 0.05 height 0.1 } } } ] } DEF Joint2 Joint { translation 0 0 0.4 jointType "rotate" jointAxis -1 0 0 jointId 1 gearRatio 120.0 #ratio rotorInertia 1.65e-6 #inertia rotorResistor 0.42373 #admitance torqueConst 2.58e-2 #motorconstant children [ DEF LINK2 Segment { centerOfMass 0 0 0.2 mass 1.0 momentsOfInertia [ 0.0083333 0 0 0 0.0083333 0 0 0 0.0016667 ] children [ Transform { translation 0 0 0.2 children Shape { appearance DEF WAIST_LINK1_APP Appearance { material Material { diffuseColor 0.4 1.0 0.4 } } geometry Box { size 0.1 0.1 0.3 } } } ] } ] } ] } ] } ] } choreonoid-1.5.0/sample/Roki/arm_2dof.body0000664000000000000000000000423212741425367017117 0ustar rootrootformat: ChoreonoidBody formatVersion: 1.0 name: ARM rootLink: BASE actuator1: &actuator1 rotorInertia: 1.65e-6 gearRatio: 120.0 gearInertia: 5.38e-6 motorAdmittance: 0.42373 motorConstant: 2.58e-2 motorMinVoltage: -24.0 motorMaxVoltage: 24.0 jointStiffness: 0.0 jointViscosity: 2.2 jointFriction: 4.32 jointStaticFriction: 4.92 links: - name: BASE jointType: fixed centerOfMass: [ 0, 0, 0.067 ] mass: 1.5 inertia: [ 7.395833e-03, 0, 0, 0, 8.645833e-03, 0, 0, 0, 8.541667e-03 ] elements: - type: Shape geometry: { type: Box, size: [ 0.2, 0.2, 0.2 ] } - type: Transform translation: [ 0, 0, 0.15 ] rotation: [ 0, 0, 1, 1.5707 ] elements: Shape: geometry: { type: Cylinder, radius: 0.05, height: 0.1 } - name: Joint1 parent: BASE translation : [ 0, 0, 0.15 ] jointType: revolute jointAxis: [ -1, 0, 0 ] jointId: 0 centerOfMass: [ 0, 0, 0.267 ] mass: 1.5 inertia: [ 0.02229167, 0, 0, 0, 0.02239583, 0, 0, 0, 0.00239583 ] import: *actuator1 elements: - type: Transform translation: [ 0, 0, 0.2 ] elements: Shape: appearance: &JOINT1_APP material: diffuseColor: [ 0.6, 1.0, 0.6 ] geometry: { type: Box, size: [ 0.1, 0.1, 0.3 ] } - type: Transform translation: [ 0, 0, 0.4 ] rotation: [ 0, 0, 1, 1.5707 ] elements: Shape: appearance: *JOINT1_APP geometry: { type: Cylinder, radius: 0.05, height: 0.1 } - name: Joint2 parent: Joint1 translation : [ 0, 0, 0.4 ] jointType: revolute jointAxis: [ -1, 0, 0 ] jointId: 1 centerOfMass: [ 0, 0, 0.2 ] mass: 1.0 inertia: [ 0.0083333, 0, 0, 0, 0.0083333, 0, 0, 0, 0.0016667 ] import: *actuator1 elements: Transform: translation: [ 0, 0, 0.2 ] elements: Shape: appearance: material: diffuseColor: [ 0.4, 1.0, 0.4 ] geometry: { type: Box, size: [ 0.1, 0.1, 0.3 ] } choreonoid-1.5.0/sample/Roki/breakWall.body0000664000000000000000000000357112741425367017337 0ustar rootrootformat: ChoreonoidBody formatVersion: 1.0 name: breakWall rootLink: BASE links : - name: BASE jointType: fixed centerOfMass: [ 0, 0, 0 ] mass: 0.25 inertia: [ 0.0002604166667, 0, 0, 0, 0.0004166666667, 0, 0, 0, 0.0002604166667 ] elements: Shape: appearance: &Appearance1 material: diffuseColor: [ 0.4, 1.0, 0.4 ] geometry: { type: Box, size: [ 0.099, 0.049, 0.099 ] } - name: link1 parent: BASE translation : [ 0, 0, 0.05 ] jointType: free centerOfMass: [0, 0, 0.05] mass: 0.25 inertia: [ 0.0002604166667, 0, 0, 0, 0.0004166666667, 0, 0, 0, 0.0002604166667 ] break: [ 200.0, 200.0 ] elements: - type: Transform translation: [ 0, 0, 0.05 ] elements: Shape: appearance: *Appearance1 geometry: { type: Box, size: [ 0.099, 0.049, 0.099 ] } - name: link2 parent: link1 translation : [ 0, 0, 0.1 ] jointType: free centerOfMass: [0, 0, 0.05] mass: 0.25 inertia: [ 0.0002604166667, 0, 0, 0, 0.0004166666667, 0, 0, 0, 0.0002604166667 ] break: [ 10.0, 10.0 ] elements: - type: Transform translation: [ 0, 0, 0.05 ] elements : Shape : appearance: *Appearance1 geometry: { type: Box, size: [ 0.099, 0.049, 0.099 ] } - name: link3 parent: link2 translation : [ 0, 0, 0.1 ] jointType: free centerOfMass: [0, 0, 0.05] mass: 0.25 inertia: [ 0.0002604166667, 0, 0, 0, 0.0004166666667, 0, 0, 0, 0.0002604166667 ] break: [ 10.0, 10.0 ] elements: - type: Transform translation: [ 0, 0, 0.05 ] elements : Shape : appearance: *Appearance1 geometry: { type: Box, size: [ 0.099, 0.049, 0.099 ] } choreonoid-1.5.0/sample/Roki/CMakeLists.txt0000664000000000000000000000152112741425367017305 0ustar rootrootif(NOT ENABLE_GUI) return() endif() if(NOT BUILD_ROKI_PLUGIN) return() endif() add_cnoid_simple_controller(Arm2dofController Arm2dofController.cpp) configure_file(RokiArm2Dof.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) configure_file(arm_2dof.yaml ${CNOID_SOURCE_SHARE_DIR}/model/misc COPYONLY) configure_file(arm_2dof.wrl ${CNOID_SOURCE_SHARE_DIR}/model/misc COPYONLY) configure_file(arm_2dof.body ${CNOID_SOURCE_SHARE_DIR}/model/misc COPYONLY) configure_file(RokiFallingBoxes.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) configure_file(RokiBreakWall.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) configure_file(breakWall.yaml ${CNOID_SOURCE_SHARE_DIR}/model/misc COPYONLY) configure_file(breakWall.wrl ${CNOID_SOURCE_SHARE_DIR}/model/misc COPYONLY) configure_file(breakWall.body ${CNOID_SOURCE_SHARE_DIR}/model/misc COPYONLY) choreonoid-1.5.0/sample/Roki/Arm2dofController.cpp0000664000000000000000000000322412741425367020611 0ustar rootroot#include #include #include #include "Interpolator.h" using namespace std; using namespace cnoid; using namespace boost; #define ROKISAMPLE #define DOF (2) #define K 12000 #define C 120 class Arm2dofController : public cnoid::SimpleController { public: Interpolator interpolator; VectorXd qref; double time; virtual bool initialize() { const BodyPtr& io = ioBody(); for(int i=0; ijoint(i)->u() = 0.0; #ifdef ROKISAMPLE qref.resize(DOF); #else time = 0.0; qref.resize(DOF); interpolator.clear(); VectorXd qf = VectorXd::Zero(DOF); interpolator.appendSample(0.0, qf); qf[0] = radian(60); interpolator.appendSample(1.0, qf); qf[0] = radian(-60); interpolator.appendSample(3.0, qf); qf[0] = 0.0; qf[1] = radian(60); interpolator.appendSample(5.0, qf); qf[1] = radian(-60); interpolator.appendSample(7.0, qf); interpolator.update(); #endif return true; } virtual bool control() { #ifdef ROKISAMPLE qref[0] = qref[1] = radian(90); #else qref = interpolator.interpolate(time); #endif const BodyPtr& io = ioBody(); for(int i=0; ijoint(i)->q(); double dq = io->joint(i)->dq(); io->joint(i)->u() = -K*(q-qref[i]) - C*dq; } #ifndef ROKISAMPLE double dt = timeStep(); time += dt; #endif return true; } }; CNOID_IMPLEMENT_SIMPLE_CONTROLLER_FACTORY(Arm2dofController); choreonoid-1.5.0/sample/Roki/Interpolator.h0000664000000000000000000001622312741425367017405 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_INTERPOLATOR_H_INCLUDED #define CNOID_UTIL_INTERPOLATOR_H_INCLUDED #include #include #include namespace cnoid { template class Interpolator { enum SegmentType { UNDETERMINED, CUBIC_SPLINE, POLYNOMINAL }; struct Sample { double x; VectorType y; VectorType yp; // coefficients VectorType a; VectorType a_end; VectorType b; VectorType c; bool isEdge; bool isNaturalEdge; SegmentType segmentType; Sample(int size) : y(size), yp(size), a(size), a_end(size), b(size), c(size) { } }; std::vector samples; mutable int prevReferredSegments; public: void clear() { samples.clear(); prevReferredSegments = -1; } int numSamples() const { return samples.size(); } double domainLower() const { return samples.empty() ? 0.0 : samples.front().x; } double domainUpper() const { return samples.empty() ? 0.0 : samples.back().x; } int appendSample(double x, const VectorType& y) { if(!samples.empty()){ Sample& prev = samples.back(); if(fabs(prev.x - x) < std::numeric_limits::epsilon()){ samples.pop_back(); } } int index = samples.size(); int size = y.size(); samples.push_back(Sample(size)); Sample& s = samples.back(); s.x = x; s.y = y; s.yp = VectorType::Zero(size); s.isEdge = false; s.isNaturalEdge = false; s.segmentType = UNDETERMINED; return index; } void setEndPoint(int sampleIndex, bool isNatural = false) { Sample& sample = samples[sampleIndex]; sample.isEdge = true; sample.isNaturalEdge = isNatural; sample.yp = VectorType::Zero(sample.yp.size()); // first-order derivative (velocity) } bool update() { int n = samples.size(); int s = 0; while(true){ const int m = n - s; if(m < 2){ break; } if(m >= 3 && !samples[s + 1].isEdge){ s = updateCubicSplineSegment(s); } else { s = updateSegmentBetweenTwoSamples(s); } } return (n >= 2); } VectorType interpolate(double x) const { int lower; int upper; const int n = samples.size(); int k; if(prevReferredSegments >= 0 && prevReferredSegments < (n - 1)){ k = prevReferredSegments; if(x >= samples[k].x && x < samples[k+1].x){ goto calc; } } lower = 0; upper = n - 1; if(x < samples[0].x){ return samples[0].y; } else if(x >= samples[upper].x){ return samples[upper].y; } while(upper - lower > 1){ k = (upper + lower) / 2; if(samples[k].x > x){ upper = k; } else { lower = k; } } k = lower; calc: prevReferredSegments = k; const Sample& s0 = samples[k]; const Sample& s1 = samples[k+1]; if(s0.segmentType == CUBIC_SPLINE){ const VectorType& a_end = (s1.isEdge ? s1.a_end : s1.a); const double h = s1.x - s0.x; const double A = (s1.x - x) / h; const double B = (x - s0.x) / h; return A * s0.y + B * s1.y + ((A*A*A - A) * s0.a + (B*B*B - B) * a_end) * (h*h) / 6.0; } else if(s0.segmentType == POLYNOMINAL){ const VectorType& a0 = s0.y; const VectorType& a1 = s0.a; const VectorType& a2 = s0.b; const VectorType& a3 = s0.c; const double h = x - s0.x; const double h2 = h * h; const double h3 = h2 * h; return (a0 + a1 * h + a2 * h2 + a3 * h3); } return VectorType(); } private: int updateCubicSplineSegment(int begin) { Sample& s0 = samples[begin]; s0.segmentType = CUBIC_SPLINE; s0.isEdge = true; const int size = s0.y.size(); if(s0.isNaturalEdge){ s0.a = VectorType::Zero(size); s0.b = VectorType::Zero(size); } else { Sample& s1 = samples[begin + 1]; s0.a = VectorType::Constant(size, -0.5); s0.b = (3.0 / (s1.x - s0.x)) * ((s1.y - s0.y) / (s1.x - s0.x) - s0.yp); } const int n = samples.size(); int i = (begin + 1); while(true) { Sample& s0 = samples[i-1]; Sample& s1 = samples[i]; Sample& s2 = samples[i+1]; s1.segmentType = CUBIC_SPLINE; const VectorType b = (s2.y - s1.y) / (s2.x - s1.x) - (s1.y - s0.y) / (s1.x - s0.x); const double sig = (s1.x - s0.x) / (s2.x - s0.x); for(int j=0; j < size; ++j){ const double p = sig * s0.a[j] + 2.0; s1.a[j] = (sig - 1.0) / p; s1.b[j] = (6.0 * b[j] / (s2.x - s0.x) - sig * s0.b[j]) / p; } if(s2.isEdge || i == (n - 2)){ break; } ++i; } double qf; VectorType bf; Sample& sf0 = samples[i]; Sample& sf = samples[i+1]; const int next = i + 1; sf.isEdge = true; if(sf.isNaturalEdge){ qf = 0.0; bf = VectorType::Zero(size); } else { qf = 0.5; bf = (3.0 / (sf.x - sf0.x)) * (sf.yp - (sf.y - sf0.y) / (sf.x - sf0.x)); } const VectorType a_save = sf.a; for(int i=0; i < sf0.a.size(); ++i){ sf.a[i] = (bf[i] - qf * sf0.b[i]) / (qf * sf0.a[i] + 1.0); } while(i >= begin){ Sample& s0 = samples[i]; Sample& s1 = samples[i+1]; s0.a = s0.a.cwiseProduct(s1.a) + s0.b; --i; } sf.a_end = sf.a; sf.a = a_save; return next; } int updateSegmentBetweenTwoSamples(int begin) { Sample& s0 = samples[begin]; s0.segmentType = POLYNOMINAL; s0.isEdge = true; Sample& s1 = samples[begin+1]; s1.isEdge = true; const double h = (s1.x - s0.x); const double h2 = h * h; const double h3 = h2 * h; const int size = s0.yp.size(); const VectorType d0 = s0.isEdge ? s0.yp : VectorType::Zero(size); const VectorType d1 = s1.isEdge ? s1.yp : VectorType::Zero(size); s0.a = d0; s0.b = 3.0 * (s1.y - s0.y) / h2 - (2.0 * d0 - d1) / h; s0.c = (d0 + d1) / h2 + 2.0 * (s0.y - s1.y) / h3; return begin + 1; } }; } #endif choreonoid-1.5.0/sample/Roki/breakWall.yaml0000664000000000000000000000025712741425367017342 0ustar rootrootmodelFile: breakWall.wrl RokiJointParameters: - name: link1 break: [ 200.0, 200.0 ] - name: link2 break: [ 10.0, 10.0 ] - name: link3 break: [ 10.0, 10.0 ] choreonoid-1.5.0/sample/Roki/RokiBreakWall.cnoid0000664000000000000000000002063212741425367020260 0ustar rootrootitems: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false collisionDetector: AISTCollisionDetector children: - id: 2 name: "Floor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/floor.wrl" currentBaseLink: "BASE" rootPosition: [ 0, 0, -0.1 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ ] initialRootPosition: [ 0, 0, -0.1 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: false - id: 3 name: "Wall" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/breakWall.body" currentBaseLink: "BASE" rootPosition: [ 0, 0.55, 0.05 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ 0.000000, 0.000000, 0.000000 ] initialRootPosition: [ 0, 0.55, 0.05 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialJointPositions: [ 0.000000, 0.000000, 0.000000 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: true isEditable: true - id: 4 name: "ARM" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/arm_2dof.body" currentBaseLink: "BASE" rootPosition: [ 0, 0, 0 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ 1.570796, -1.570796 ] initialRootPosition: [ 0, 0, 0 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialJointPositions: [ 1.570796, -1.570796 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: true children: - id: 5 name: "SimpleController" plugin: SimpleController class: SimpleControllerItem data: isImmediateMode: true controller: "Arm2dofController" reloading: true inputLinkPositions: false - id: 6 name: "RokiSimulator" plugin: Roki class: RokiSimulatorItem data: realtimeSync: false recording: "full" timeRangeMode: "Specific time" timeLength: 5 allLinkPositionOutputMode: true deviceStateOutput: true controllerThreads: true recordCollisionData: false staticfriction: 1 kineticfriction: 0.7 contactType: contact rigid solverType: Volume compensation: 1000 relaxation: 0.005 elasticity: 0 viscosity: 0 useContactFile: false contactFileName: "" views: - id: 0 name: "CameraImage" plugin: Base class: ImageView mounted: true - id: 1 plugin: Base class: ItemPropertyView mounted: true - id: 2 plugin: Base class: ItemTreeView mounted: true state: selected: [ 6 ] checked: [ 1, 2, 3, 4 ] expanded: [ 1, 3, 4, 5 ] - id: 3 plugin: Base class: MessageView mounted: true - id: 4 plugin: Base class: SceneView mounted: true state: editMode: true viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: true defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true fog: true floorGrid: true floorGridSpan: 10 floorGridInterval: 0.5 xzGridSpan: 10 xzGridInterval: 0.5 xzGrid: false yzGridSpan: 10 yzGridInterval: 0.5 texture: true lineWidth: 1 pointSize: 1 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false enableNewDisplayListDoubleRendering: false useBufferForPicking: true cameras: - camera: [ System, Perspective ] isCurrent: true fieldOfView: 0.6978 near: 0.01 far: 10000 eye: [ 1.81814653, 0.872545568, 0.204033297 ] direction: [ -0.997731189, -0.0435761328, -0.0513185747 ] up: [ -0.0512696988, -0.00223921556, 0.998682334 ] - camera: [ System, Orthographic ] orthoHeight: 20 near: 0.01 far: 10000 backgroundColor: [ 0.100000001, 0.100000001, 0.300000012 ] gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] xzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] yzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] dedicatedItemTreeViewChecks: false - id: 5 name: "Task" plugin: Base class: TaskView state: layoutMode: horizontal isAutoMode: false - id: 6 plugin: Body class: BodyLinkView mounted: true state: showRotationMatrix: false - id: 7 plugin: Body class: JointSliderView mounted: true state: showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 3 - id: 8 plugin: Body class: LinkSelectionView mounted: true state: listingMode: "Link List" currentBodyItem: 3 - id: 9 plugin: Python class: PythonConsoleView mounted: true toolbars: "TimeBar": minTime: 0 maxTime: 15 frameRate: 1000 playbackFrameRate: 100 idleLoopDrivenMode: false currentTime: 0 speedScale: 1 syncToOngoingUpdates: false autoExpansion: true "BodyBar": current: 3 "KinematicsBar": mode: FK enablePositionDragger: true penetrationBlock: true collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true "LeggedBodyBar": stanceWidth: 0.15 "BodyMotionGenerationBar": autoGenerationForNewBody: true balancer: false autoGeneration: false timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: false makeNewBodyItem: true stealthyStepMode: true stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 zmpMaxDistanceFromCenter: 0.02 allLinkPositions: false lipSyncMix: false timeToStartBalancer: 0 balancerIterations: 2 plainBalancerMode: false boundaryConditionType: position boundarySmootherType: off boundarySmootherTime: 0.5 boundaryCmAdjustment: false boundaryCmAdjustmentTime: 1 waistHeightRelaxation: false gravity: 9.8 dynamicsTimeRatio: 1 Body: "BodyMotionEngine": updateJointVelocities: false "EditableSceneBody": editableSceneBodies: - bodyItem: 2 showCenterOfMass: false showPpcom: false showZmp: false - bodyItem: 3 showCenterOfMass: false showPpcom: false showZmp: false - bodyItem: 4 showCenterOfMass: false showPpcom: false showZmp: false staticModelEditing: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false OpenRTM: "deleteUnmanagedRTCsOnStartingSimulation": false choreonoid-1.5.0/sample/Roki/arm_2dof.yaml0000664000000000000000000000105712741425367017126 0ustar rootroot modelFile: arm_2dof.wrl RokiJointParameters: - name: Joint1 motorconstant: 2.58e-2 admitance: 0.42373 minvoltage: -24.0 maxvoltage: 24.0 inertia: 1.65e-6 gearinertia: 5.38e-6 ratio: 120.0 stiff: 0.0000000000 viscos: 2.2 coulomb: 4.32 staticfriction: 4.92 - name: Joint2 motorconstant: 2.58e-2 admitance: 0.42373 minvoltage: -24.0 maxvoltage: 24.0 inertia: 1.65e-6 gearinertia: 5.38e-6 ratio: 120.0 stiff: 0.0000000000 viscos: 2.2 coulomb: 4.32 staticfriction: 4.92 choreonoid-1.5.0/sample/Roki/breakWall.wrl0000664000000000000000000002455312741425367017211 0ustar rootroot#VRML V2.0 utf8 # Simple robot model "ARM_2DoF" # This model originates from an OpenHRP sample robot model. # The original model was written by Ichitaro Kohara (YNL, Univ. of Tokyo), # Hirohisa Hirukawa (ETL) and Natsuki Miyata (MEL). PROTO Joint [ exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField MFFloat lvlimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat uvlimit [] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 exposedField SFFloat gearRatio 1 exposedField SFFloat rotorInertia 0 exposedField SFFloat rotorResistor 0 exposedField SFFloat torqueConst 1 exposedField SFFloat encoderPulse 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS viewpoints } Group { children IS humanoidBody } ] } } PROTO VisionSensor [ exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField MFNode children [ ] exposedField SFFloat fieldOfView 0.785398 exposedField SFString name "" exposedField SFFloat frontClipDistance 0.01 exposedField SFFloat backClipDistance 10.0 exposedField SFString type "NONE" exposedField SFInt32 sensorId -1 exposedField SFInt32 width 320 exposedField SFInt32 height 240 exposedField SFFloat frameRate 30 ] { Transform { rotation IS rotation translation IS translation children IS children } } PROTO ForceSensor [ exposedField SFVec3f maxForce -1 -1 -1 exposedField SFVec3f maxTorque -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO Gyro [ exposedField SFVec3f maxAngularVelocity -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO AccelerationSensor [ exposedField SFVec3f maxAcceleration -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO PressureSensor [ exposedField SFFloat maxPressure -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO PhotoInterrupter [ exposedField SFVec3f transmitter 0 0 0 exposedField SFVec3f receiver 0 0 0 exposedField SFInt32 sensorId -1 ] { Transform{ children [ Transform{ translation IS transmitter } Transform{ translation IS receiver } ] } } PROTO CylinderSensorZ [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 1 0 0 1.5708 children [ DEF SensorY CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisY Transform{ children [ Transform{ rotation 1 0 0 -1.5708 children IS children } ] } ] } ROUTE SensorY.rotation_changed TO AxisY.set_rotation } PROTO CylinderSensorY [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 0 1 0 1.5708 children [ DEF SensorX CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisX Transform{ children [ Transform{ rotation 0 1 0 -1.5708 children IS children } ] } ] } ROUTE SensorX.rotation_changed TO AxisX.set_rotation } PROTO CylinderSensorX [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 0 0 1 -1.5708 children [ DEF SensorZ CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisZ Transform{ children [ Transform{ rotation 0 0 1 1.5708 children IS children } ] } ] } ROUTE SensorZ.rotation_changed TO AxisZ.set_rotation } NavigationInfo { avatarSize 0.5 headlight TRUE type ["EXAMINE", "ANY"] } Background { skyColor 0.4 0.6 0.4 } Viewpoint { position 3 0 0.835 orientation 0.5770 0.5775 0.5775 2.0935 } DEF Wall Humanoid { name "breakWall" humanoidBody [ DEF BASE Joint { jointType "fixed" translation 0 0 0 children [ DEF BASE0 Segment { centerOfMass 0 0 0 mass 0.25 momentsOfInertia [ 0.0002604166667 0 0 0 0.0004166666667 0 0 0 0.0002604166667 ] children [ Shape { appearance DEF APP Appearance { material Material { diffuseColor 0.4 1.0 0.4 } } geometry Box { size 0.099 0.049 0.099 } } ] } DEF link1 Joint { translation 0 0 0.05 jointType "free" children [ DEF link10 Segment { centerOfMass 0 0 0.05 mass 0.25 momentsOfInertia [ 0.0002604166667 0 0 0 0.0004166666667 0 0 0 0.0002604166667 ] children [ Transform { translation 0 0 0.05 children Shape { appearance USE APP geometry Box { size 0.099 0.049 0.099 } } } ] } DEF link2 Joint { translation 0 0 0.1 jointType "free" children [ DEF link20 Segment { centerOfMass 0 0 0.05 mass 0.25 momentsOfInertia [ 0.0002604166667 0 0 0 0.0004166666667 0 0 0 0.0002604166667 ] children [ Transform { translation 0 0 0.05 children Shape { appearance USE APP geometry Box { size 0.099 0.049 0.099 } } } ] } DEF link3 Joint { translation 0 0 0.1 jointType "free" children [ DEF link30 Segment { centerOfMass 0 0 0.05 mass 0.25 momentsOfInertia [ 0.0002604166667 0 0 0 0.0004166666667 0 0 0 0.0002604166667 ] children [ Transform { translation 0 0 0.05 children Shape { appearance USE APP geometry Box { size 0.099 0.049 0.099 } } } ] } ] } ] } ] } ] } ] } choreonoid-1.5.0/sample/python/0000775000000000000000000000000012741425367015163 5ustar rootrootchoreonoid-1.5.0/sample/python/TuneSR1Frictions.py0000664000000000000000000000047212741425367020662 0ustar rootrootfrom cnoid.Base import * from cnoid.BodyPlugin import * sr1 = Item.find("SR1").body() floorLink = Item.find("Floor").body().rootLink() simulator = Item.find("AISTSimulator") simulator.setFriction(sr1.link("LLEG_ANKLE_R"), floorLink, 1.0, 1.0) simulator.setFriction(sr1.link("RLEG_ANKLE_R"), floorLink, 0.0, 0.0) choreonoid-1.5.0/sample/python/AgXsetContorlMode.py0000664000000000000000000000050412741425367021075 0ustar rootrootfrom cnoid.Base import * from cnoid.BodyPlugin import * from cnoid.AgXPlugin import * sr1 = Item.find("SR1").body() simulator = Item.find("AgXSimulator") simulator.setJointControlMode(sr1.link("LARM_ELBOW"), simulator.ControlMode.TORQUE) simulator.setJointControlMode(sr1.link("RARM_ELBOW"), simulator.ControlMode.TORQUE) choreonoid-1.5.0/sample/python/MoveBodies.py0000664000000000000000000000073312741425367017574 0ustar rootroot from cnoid.Util import * from cnoid.Base import * from cnoid.BodyPlugin import * from numpy import * import time bodyItems = RootItem.instance().getDescendantItems(BodyItem) for bodyItem in bodyItems: body = bodyItem.body() rootLink = body.rootLink() for i in range(20): rootLink.p += array([0, 0, 0.01]) body.calcForwardKinematics() bodyItem.notifyKinematicStateChange() MessageView.instance().flush() time.sleep(0.01) choreonoid-1.5.0/sample/python/TankJoystick.py0000664000000000000000000000314112741425367020151 0ustar rootroot from cnoid.Util import * from cnoid.Base import * from cnoid.Body import * from cnoid.BodyPlugin import * from cnoid.SimpleControllerPlugin import * import math; worldItem = WorldItem() RootItem.instance().addChildItem(worldItem) timeBar = TimeBar.instance() timeBar.setFrameRate(1000) timeBar.setFillLevelSync(False) sceneWidget = SceneView.instance().sceneWidget() sceneWidget.setHeadLightEnabled(False) sceneWidget.setFloorGrid(False) sceneWidget.setWorldLightIntensity(0.1) sceneWidget.setWorldLightAmbient(0.0) sceneWidget.setBackgroundColor([0, 0, 0]) sceneWidget.setCameraPosition( [ -2.86824, 6.25331, 2.49127 ], [ 0.412288, -0.847325, -0.334751 ], [ 0.146464, -0.301009, 0.942307 ]) laboItem = BodyItem() laboItem.load(shareDirectory() + "/model/Labo1/Labo1.wrl") worldItem.addChildItem(laboItem) ItemTreeView.instance().checkItem(laboItem) tankItem = BodyItem() tankItem.load(shareDirectory() + "/model/misc/tank.wrl") tank = tankItem.body() tank.rootLink().setTranslation([-0.8, 2.4, 0.1]) tank.rootLink().setRotation(rotFromRpy([0, 0, math.radians(-90.0)])) tank.calcForwardKinematics() tankItem.storeInitialState() worldItem.addChildItem(tankItem) ItemTreeView.instance().checkItem(tankItem) controllerItem = SimpleControllerItem() controllerItem.setController("TankJoystickController") tankItem.addChildItem(controllerItem) simulatorItem = AISTSimulatorItem() simulatorItem.setRealtimeSyncMode(True) simulatorItem.setTimeRangeMode(SimulatorItem.TimeRangeMode.UNLIMITED) worldItem.addChildItem(simulatorItem) ItemTreeView.instance().selectItem(simulatorItem) simulatorItem.startSimulation() choreonoid-1.5.0/sample/python/ShakeBodies.py0000664000000000000000000000261312741425367017720 0ustar rootroot from cnoid.Util import * from cnoid.Base import * from cnoid.BodyPlugin import * from numpy import * class ShakeBodies: def __init__(self): toolBar = ToolBar("ShakeBar") toolBar.setVisibleByDefault(True) self.button = toolBar.addToggleButton("Shake") self.button.setChecked(True) self.button.sigToggled().connect(self.onButtonToggled) MainWindow.instance().addToolBar(toolBar) self.bodyItems = [] self.dp = array([0.0, 0.0, 0.01]) self.connections = ScopedConnectionSet() self.connections.add( ItemTreeView.instance().sigSelectionChanged().connect(self.onSelectionChanged)) self.timer = Timer() self.connections.add( self.timer.sigTimeout().connect(self.onTimeout)) def onButtonToggled(self, on): self.onSelectionChanged(ItemTreeView.instance().selectedItems()) def onSelectionChanged(self, items): self.bodyItems = BodyItemList(items) if len(self.bodyItems) > 0 and self.button.isChecked(): self.timer.start(50) else: self.timer.stop() def onTimeout(self): for bodyItem in self.bodyItems: body = bodyItem.body() body.rootLink().p += self.dp body.calcForwardKinematics() bodyItem.notifyKinematicStateChange() self.dp = -self.dp shakeBodies = ShakeBodies() choreonoid-1.5.0/sample/python/StartSimulation.py0000664000000000000000000000031112741425367020672 0ustar rootrootfrom cnoid.Base import * from cnoid.BodyPlugin import * simulatorItem = RootItem.instance().findItem("AISTSimulator") ItemTreeView.instance().selectItem(simulatorItem) simulatorItem.startSimulation() choreonoid-1.5.0/sample/python/SR1Walk.py0000664000000000000000000000247012741425367016764 0ustar rootroot from cnoid.Util import * from cnoid.Base import * from cnoid.Body import * from cnoid.BodyPlugin import * from cnoid.SimpleControllerPlugin import * import math; worldItem = WorldItem() RootItem.instance().addChildItem(worldItem) timeBar = TimeBar.instance() timeBar.setFrameRate(500) timeBar.setTimeRange(0.0, 15.0) timeBar.setFillLevelSync(False) robotItem = BodyItem() robotItem.load(shareDirectory() + "/model/SR1/SR1.yaml") robot = robotItem.body() robot.rootLink().setTranslation( [0.0, 0.0, 0.7135] ) q = [ 0.0, -2.1, 0.0, 4.5, -2.4, 0.0, 10.0, -0.2, 0.0, -90.0, 0.0, 0.0, 0.0, 0.0, -2.1, 0.0, 4.5, -2.4, 0.0, 10.0, -0.2, 0.0, -90.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ] for i in range(robot.numJoints()): robot.joint(i).q = math.radians(q[i]) robot.calcForwardKinematics() robotItem.storeInitialState() controllerItem = SimpleControllerItem() controllerItem.setController("SR1WalkPatternController") robotItem.addChildItem(controllerItem) worldItem.addChildItem(robotItem) ItemTreeView.instance().checkItem(robotItem) floorItem = BodyItem() floorItem.load(shareDirectory() + "/model/misc/floor.wrl") worldItem.addChildItem(floorItem) simulatorItem = AISTSimulatorItem() worldItem.addChildItem(simulatorItem) ItemTreeView.instance().selectItem(simulatorItem) simulatorItem.startSimulation() choreonoid-1.5.0/sample/python/AgXsetContactMaterial.py0000664000000000000000000000046412741425367021727 0ustar rootrootfrom cnoid.Base import * from cnoid.BodyPlugin import * from cnoid.AgXPlugin import * sr1 = Item.find("SR1").body() box = Item.find("box2").body() simulator = Item.find("AgXSimulator-Velocity") simulator.setContactMaterialDamping(sr1, box, 0.001) simulator.setContactMaterialYoungsModulus(sr1, box, 2e10 ) choreonoid-1.5.0/sample/VisionSensorRTM/0000775000000000000000000000000012741425367016666 5ustar rootrootchoreonoid-1.5.0/sample/VisionSensorRTM/OpenRTM-TankJoystickVisionSensors.cnoid0000664000000000000000000002355112741425367026356 0ustar rootrootitems: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false collisionDetector: AISTCollisionDetector children: - id: 2 name: "Tank" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/tank.wrl" currentBaseLink: "" rootPosition: [ -0.8, 2.4, 0.099893 ] rootAttitude: [ -0, 1, -4e-06, -1, -0, 0, 0, 4e-06, 1 ] jointPositions: [ 0.0, 0.0, 0.0, 0.0 ] initialRootPosition: [ -0.8, 2.4, 0.1 ] initialRootAttitude: [ 2.22044605e-16, 1, 0, -1, 2.22044605e-16, -0, -0, 0, 1 ] initialJointPositions: [ 0.0, 0.0, 0.0 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: true children: - id: 3 name: "BodyRTCItem" plugin: OpenRTM class: BodyRTCItem data: isImmediateMode: true controllerOptions: "" moduleName: "TankJoystickControllerRTC" confFileName: "TankVisionSensors.conf" configurationMode: "Use Configuration File" AutoConnect: false InstanceName: "Tank" bodyPeriodicRate: 0 RelativePathBase: "RTC directory" - id: 4 name: "RangeCameraPoints" plugin: Base class: PointSetItem data: renderingMode: Point pointSize: 0 voxelSize: 0.01 isEditable: false - id: 5 name: "RangeSensorPoints" plugin: Base class: PointSetItem data: renderingMode: Point pointSize: 0 voxelSize: 0.01 isEditable: false - id: 6 name: "Labo1" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/Labo1/Labo1.wrl" currentBaseLink: "Base" rootPosition: [ 0, 0, 0 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ ] initialRootPosition: [ 0, 0, 0 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false isEditable: false - id: 7 name: "JoystickRTC" plugin: OpenRTM class: RTCItem data: moduleName: "JoystickRTC" periodicType: PeriodicExecutionContext periodicRate: 500 RelativePathBase: "RTC directory" - id: 8 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Active control period" timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false controllerOptions: "" dynamicsMode: "Forward dynamics" integrationMode: "Runge Kutta" gravity: [ 0, 0, -9.80665 ] staticFriction: 0.5 slipFriction: 0.5 cullingThresh: 0.01 contactCullingDepth: 0.05 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 30 kinematicWalking: false 2Dmode: false oldAccelSensorMode: false children: - id: 9 name: "GLVisionSimulator" plugin: Body class: GLVisionSimulatorItem data: enabled: true maxFrameRate: 1000 maxLatency: 1 recordVisionData: false useThreadsForSensors: true bestEffort: false allSceneObjects: false rangeSensorPrecisionRatio: 2 depthError: 0 enableHeadLight: true enableAdditionalLights: true views: - id: 0 name: "CameraImage" plugin: Base class: ImageView mounted: true - id: 1 plugin: Base class: ItemPropertyView mounted: true - id: 2 plugin: Base class: ItemTreeView mounted: true state: selected: [ 7 ] checked: [ 1, 2, 4, 5 ] expanded: [ 1, 2, 3, 7 ] - id: 3 plugin: Base class: MessageView mounted: true - id: 4 plugin: Base class: SceneView mounted: true state: editMode: false viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: true defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.1 worldLightAmbient: 0 additionalLights: true fog: true floorGrid: false floorGridSpan: 10 floorGridInterval: 0.5 xzGridSpan: 10 xzGridInterval: 0.5 xzGrid: false yzGridSpan: 10 yzGridInterval: 0.5 texture: true lineWidth: 1 pointSize: 2 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: true enableNewDisplayListDoubleRendering: false useBufferForPicking: true cameras: - camera: [ System, Perspective ] isCurrent: true fieldOfView: 0.6978 near: 0.01 far: 10000 eye: [ -2.33531, 4.92902, 1.24164 ] direction: [ 0.35762385, -0.914296616, -0.19017592 ] up: [ 0.0692765472, -0.177109121, 0.981750029 ] - camera: [ System, Orthographic ] orthoHeight: 20 near: 0.01 far: 10000 backgroundColor: [ 0, 0, 0 ] gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] xzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] yzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] dedicatedItemTreeViewChecks: false - id: 5 name: "Task" plugin: Base class: TaskView state: layoutMode: horizontal isAutoMode: false currentTask: Wall - id: 6 name: "Joystick" plugin: Base class: VirtualJoystickView mounted: true - id: 7 plugin: Body class: BodyLinkView mounted: true state: showRotationMatrix: false - id: 8 plugin: Body class: JointSliderView mounted: true state: showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 2 - id: 9 plugin: Body class: LinkSelectionView mounted: true state: listingMode: "Link List" currentBodyItem: 2 bodyItems: - id: 2 selectedLinks: [ 0 ] - id: 10 plugin: Python class: PythonConsoleView mounted: true toolbars: "TimeBar": minTime: 0 maxTime: 5 frameRate: 1000 playbackFrameRate: 60 idleLoopDrivenMode: false currentTime: 0 speedScale: 1 syncToOngoingUpdates: true autoExpansion: true Body: "BodyMotionEngine": updateJointVelocities: false "EditableSceneBody": editableSceneBodies: - bodyItem: 2 showCenterOfMass: false showPpcom: false showZmp: false - bodyItem: 6 showCenterOfMass: false showPpcom: false showZmp: false staticModelEditing: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false viewAreas: - type: embedded tabs: true contents: type: splitter orientation: horizontal sizes: [ 303, 1291 ] children: - type: splitter orientation: vertical sizes: [ 381, 381 ] children: - type: pane views: [ 2 ] current: 2 - type: pane views: [ 1, 9 ] current: 1 - type: splitter orientation: vertical sizes: [ 544, 218 ] children: - type: splitter orientation: horizontal sizes: [ 602, 683 ] children: - type: pane views: [ 7, 8, 0 ] current: 0 - type: pane views: [ 4 ] current: 4 - type: splitter orientation: horizontal sizes: [ 740, 545 ] children: - type: pane views: [ 3, 10 ] current: 3 - type: pane views: [ 6 ] current: 6 layoutOfToolBars: rows: - - { name: "FileBar", x: 0, priority: 0 } - { name: "SimulationBar", x: 48, priority: 1 } - { name: "TimeBar", x: 96, priority: 0 } - { name: "SceneBar", x: 1336, priority: 2 } choreonoid-1.5.0/sample/VisionSensorRTM/CMakeLists.txt0000664000000000000000000000274412741425367021435 0ustar rootroot #set(CMAKE_BUILD_TYPE Debug) if(NOT ENABLE_GUI) return() endif() option(BUILD_VISION_SENSOR_RTM_SAMPLE "Building a sample for visualizating vision sensor data using OpenRTM" OFF) if(NOT BUILD_VISION_SENSOR_RTM_SAMPLE) return() else() if(NOT BUILD_OPENRTM_PLUGIN) message(FATAL_ERROR "BUILD_VISION_SENSOR_RTM_SAMPLE requires BUILD_OPENRTM_PLUGIN") endif() if(NOT BUILD_OPENRTM_SAMPLES) message(FATAL_ERROR "BUILD_VISION_SENSOR_RTM_SAMPLE requires BUILD_OPENRTM_SAMPLES") endif() endif() set(sources VisionSensorRTMSamplePlugin.cpp) set(target CnoidVisionSensorRTMSamplePlugin) include_directories(${OPENRTM_INCLUDE_DIRS}) link_directories(${OPENRTM_LIBRARY_DIRS}) add_cnoid_plugin(${target} SHARED ${sources}) if(MSVC) add_definitions(-D__WIN32__ -D__x86__ -D__NT__ -D__OSVERSION__=4 -D_CRT_SECURE_NO_DEPRECATE -D_WIN32_WINNT=0x0500 -DRTC_CORBA_CXXMAPPING11) endif() if(MSVC) target_link_libraries(${target} CnoidBodyPlugin CnoidCorbaPlugin ${OPENRTM_LIBRARIES} optimized CnoidOpenRTMPlugin debug CnoidOpenRTMd) else() target_link_libraries(${target} CnoidBodyPlugin CnoidCorbaPlugin ${OPENRTM_LIBRARIES} CnoidOpenRTMPlugin) endif() apply_common_setting_for_plugin(${target}) configure_file(OpenRTM-TankJoystickVisionSensors.cnoid ${CNOID_SOURCE_SHARE_DIR}/project COPYONLY) configure_file(TankVisionSensors.conf ${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR}/rtc/TankVisionSensors.conf COPYONLY) install(FILES TankVisionSensors.conf DESTINATION ${CNOID_PLUGIN_SUBDIR}/rtc) choreonoid-1.5.0/sample/VisionSensorRTM/VisionSensorRTMSamplePlugin.cpp0000664000000000000000000003614612741425367024751 0ustar rootroot/** @author Shizuko Hattori */ #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #ifdef _WIN32 #include #endif #include using namespace std; using namespace boost; using namespace cnoid; using namespace RTC; const int BUF_SIZE = 200; template double toSec(T t) { return t.sec + t.nsec / 1000000000.0; } class VisionSensorSampleRTC : public DataFlowComponentBase { public : EIGEN_MAKE_ALIGNED_OPERATOR_NEW Img::TimedCameraImage timedCameraImage; PointCloudTypes::PointCloud timedPointCloud; RTC::RangeData timedRangeData; InPort imageInPort; InPort pointCloudInPort; InPort rangeDataInPort; TimedDoubleSeq timedCamera_T; InPort camera_TInPort; boost::mutex mtx; Image image; ImageView* imageView; vector rangeCameraPoints; vector rangeCameraColors; vector rangeSensorPoints; Position camera_T; Position camera_local_T; Position rangeSensor_local_T; SgPointSet* pointSetFromRangeCamera; SgPointSet* pointSetFromRangeSensor; struct TimedT { EIGEN_MAKE_ALIGNED_OPERATOR_NEW double time; Position T; }; deque > timedTbuf; void setImageView(ImageView* _imageView) { imageView = _imageView; } void setCameraLocalT(const Position& T_local) { camera_local_T = T_local; } void setRangeSensorLocalT(const Position& T_local) { rangeSensor_local_T = T_local; } void setPointSetFromRangeCamera(SgPointSet* _pointSetFromRangeCamera) { pointSetFromRangeCamera = _pointSetFromRangeCamera; } void setPointSetFromRangeSensor(SgPointSet* _pointSetFromRangeSensor) { pointSetFromRangeSensor = _pointSetFromRangeSensor; } static void registerFactory(Manager* manager, const char* componentTypeName) { static const char* spec[] = { "implementation_id", "VisionSensorSample", "type_name", "VisionSensorSample", "description", "This component is Vision Sensoe Sample.", "version", CNOID_VERSION_STRING, "vendor", "AIST", "category", "Choreonoid", "activity_type", "DataFlowComponent", "max_instance", "100", "language", "C++", "lang_type", "compile", "" }; Properties profile(spec); profile.setDefault("type_name", componentTypeName); manager->registerFactory(profile, Create, Delete); }; VisionSensorSampleRTC(Manager* manager) : DataFlowComponentBase(manager), imageInPort("cameraImage", timedCameraImage), pointCloudInPort("cameraRange", timedPointCloud), rangeDataInPort("rangeSensor", timedRangeData), camera_TInPort("cameraTrans", timedCamera_T) {}; virtual ~VisionSensorSampleRTC(){ }; ReturnCode_t onInitialize() { addInPort("cameraImage", imageInPort); addInPort("cameraRange", pointCloudInPort); addInPort("rangeSensor", rangeDataInPort); addInPort("cameraTrans", camera_TInPort); camera_T.setIdentity(); imageView = 0; pointSetFromRangeCamera = 0; pointSetFromRangeSensor = 0; return RTC_OK; } ReturnCode_t onActivateted(UniqueId ec_id) { timedTbuf.clear(); timedTbuf.resize(BUF_SIZE); } ReturnCode_t onDeactivated(UniqueId ec_id) { callLater(bind(&VisionSensorSampleRTC::clearImage,this)); return RTC_OK; } void detectCamera_T(double time) { for(deque >::reverse_iterator it = timedTbuf.rbegin(); it != timedTbuf.rend(); it++){ if(time >= it->time){ camera_T = it->T; return;; } } camera_T = timedTbuf.front().T; } ReturnCode_t onExecute(UniqueId ec_id) { if(camera_TInPort.isNew()){ do { camera_TInPort.read(); TimedT timedT; timedT.time = toSec(timedCamera_T.tm); timedT.T(0,3) = timedCamera_T.data[0]; timedT.T(1,3) = timedCamera_T.data[1]; timedT.T(2,3) = timedCamera_T.data[2]; timedT.T(0,0) = timedCamera_T.data[3]; timedT.T(0,1) = timedCamera_T.data[4]; timedT.T(0,2) = timedCamera_T.data[5]; timedT.T(1,0) = timedCamera_T.data[6]; timedT.T(1,1) = timedCamera_T.data[7]; timedT.T(1,2) = timedCamera_T.data[8]; timedT.T(2,0) = timedCamera_T.data[9]; timedT.T(2,1) = timedCamera_T.data[10]; timedT.T(2,2) = timedCamera_T.data[11]; timedTbuf.push_back(timedT); if(timedTbuf.size() > BUF_SIZE) timedTbuf.pop_front(); }while(camera_TInPort.isNew()); } if(imageInPort.isNew()){ do { imageInPort.read(); }while(imageInPort.isNew()); boost::mutex::scoped_lock lock(mtx); int numComponents; switch(timedCameraImage.data.image.format){ case Img::CF_GRAY : numComponents = 1; break; case Img::CF_RGB : numComponents = 3; break; case Img::CF_UNKNOWN : default : numComponents = 0; break; } image.setSize(timedCameraImage.data.image.width, timedCameraImage.data.image.height, numComponents); size_t length = timedCameraImage.data.image.raw_data.length(); memcpy(image.pixels(), timedCameraImage.data.image.raw_data.get_buffer(), length); callLater(bind(&VisionSensorSampleRTC::updateImage,this)); } if(pointCloudInPort.isNew()){ do { pointCloudInPort.read(); }while(pointCloudInPort.isNew()); detectCamera_T(toSec(timedPointCloud.tm)); const Affine3f C = (camera_T * camera_local_T).cast(); int numPoints = timedPointCloud.height * timedPointCloud.width; bool rgb = false; if(timedPointCloud.fields.length() == 6) rgb = true; unsigned char* src = (unsigned char*)timedPointCloud.data.get_buffer(); boost::mutex::scoped_lock lock(mtx); rangeCameraPoints.resize(numPoints); if(rgb) rangeCameraColors.resize(numPoints); else rangeCameraColors.clear(); Vector3f point; for(size_t i=0; i(); int numPoints = timedRangeData.ranges.length(); double* src = timedRangeData.ranges.get_buffer(); const double yawStep = timedRangeData.config.angularRes; const double yawMin = timedRangeData.config.minAngle; const double maxDistance = timedRangeData.config.maxRange; boost::mutex::scoped_lock lock(mtx); rangeSensorPoints.clear(); rangeSensorPoints.reserve(numPoints); for(int yaw=0; yaw < numPoints; yaw++){ const double distance = src[yaw]; if(distance <= maxDistance){ double yawAngle = yawMin + yaw * yawStep; Vector3f point; point.x() = distance * sin(-yawAngle); point.y() = 0.0; point.z() = -distance * cos(yawAngle); rangeSensorPoints.push_back(C * point); } } lock.unlock(); callLater(bind(&VisionSensorSampleRTC::updatePointCloudFromRangeSensor,this)); } return RTC::RTC_OK; } void updateImage() { boost::lock_guard lock(mtx); if(image.height() > 1){ imageView->setImage(image); } } void updatePointCloudFromRangeCamera() { if(!pointSetFromRangeCamera) return; SgVertexArray& disPoints = *pointSetFromRangeCamera->getOrCreateVertices(); SgColorArray& disColors = *pointSetFromRangeCamera->getOrCreateColors(); boost::mutex::scoped_lock lock(mtx); disPoints.resize(rangeCameraPoints.size()); disColors.resize(rangeCameraColors.size()); copy(rangeCameraPoints.begin(), rangeCameraPoints.end(), disPoints.begin()); copy(rangeCameraColors.begin(), rangeCameraColors.end(), disColors.begin()); lock.unlock(); pointSetFromRangeCamera->notifyUpdate(); } void updatePointCloudFromRangeSensor() { if(!pointSetFromRangeSensor) return; SgVertexArray& disPoints = *pointSetFromRangeSensor->getOrCreateVertices(); boost::mutex::scoped_lock lock(mtx); disPoints.resize(rangeSensorPoints.size()); copy(rangeSensorPoints.begin(), rangeSensorPoints.end(), disPoints.begin()); lock.unlock(); pointSetFromRangeSensor->notifyUpdate(); } void clearImage() { if(imageView){ Image image; image.clear(); image.setSize(1,1,3); *image.pixels() = 0; imageView->setImage(image); } if(pointSetFromRangeCamera){ pointSetFromRangeCamera->getOrCreateVertices()->clear(); pointSetFromRangeCamera->getOrCreateColors()->clear(); } if(pointSetFromRangeSensor){ pointSetFromRangeSensor->getOrCreateVertices()->clear(); pointSetFromRangeSensor->getOrCreateColors()->clear(); } } }; class VisionSensorRTMSamplePlugin : public Plugin { ImageView* imageView; Connection sigItemAddedConnection; VisionSensorSampleRTC* visionSensorSampleRTC; CameraPtr camera; RangeSensorPtr rangeSensor; SgPointSetPtr pointSetFromRangeCamera; SgPointSetPtr pointSetFromRangeSensor; public: VisionSensorRTMSamplePlugin() : Plugin("VisionSensorRTMSample") { require("Body"); require("OpenRTM"); } virtual bool initialize() { imageView = ViewManager::getOrCreateView("CameraImage", true); imageView->setScalingEnabled(true); Manager& rtcManager = Manager::instance(); VisionSensorSampleRTC::registerFactory(&rtcManager, "VisionSensorSample"); const char* param = "VisionSensorSample?instance_name=VisionSensorSample&exec_cxt.periodic.type=PeriodicExecutionContext&exec_cxt.periodic.rate=30"; RTObject_impl* rtc = rtcManager.createComponent(param); visionSensorSampleRTC = dynamic_cast(rtc); visionSensorSampleRTC->setImageView(imageView); camera = 0; rangeSensor = 0; sigItemAddedConnection = RootItem::instance()->sigItemAdded().connect( bind(&VisionSensorRTMSamplePlugin::onItemAdded, this, _1)); return true; } virtual bool finalize() { deleteRTC(visionSensorSampleRTC, true); return true; } void onItemAdded(Item* item) { MessageView* mv = MessageView::instance(); if(BodyItem* bodyItem = dynamic_cast(item)){ Body* body = bodyItem->body(); for(size_t i=0; i < body->numDevices(); ++i){ Device* device = body->device(i); if(!camera){ camera = dynamic_pointer_cast(device); if(camera){ mv->putln(format("VisionSensorRTMSamplePlugin: Detected Camera \"%1%\" of %2%.") % camera->name() % body->name()); visionSensorSampleRTC->setCameraLocalT(camera->T_local()); } } if(!rangeSensor){ rangeSensor = dynamic_pointer_cast(device); if(rangeSensor){ mv->putln(format("VisionSensorRTMSamplePlugin: Detected RangeSensor \"%1%\" of %2%.") % rangeSensor->name() % body->name()); visionSensorSampleRTC->setRangeSensorLocalT(rangeSensor->T_local()); } } } }else if(PointSetItem* pointSetItem = dynamic_cast(item)){ if(pointSetItem->name() == "RangeCameraPoints"){ pointSetFromRangeCamera = pointSetItem->pointSet(); mv->putln("VisionSensorRTMSamplePlugin: Detected PointSetItem \"RangeCameraPoints\""); visionSensorSampleRTC->setPointSetFromRangeCamera(pointSetFromRangeCamera); } else if(pointSetItem->name() == "RangeSensorPoints"){ pointSetFromRangeSensor = pointSetItem->pointSet(); mv->putln("VisionSensorRTMSamplePlugin: Detected PointSetItem \"RangeSensorPoints\""); visionSensorSampleRTC->setPointSetFromRangeSensor(pointSetFromRangeSensor); } } } }; CNOID_IMPLEMENT_PLUGIN_ENTRY(VisionSensorRTMSamplePlugin); choreonoid-1.5.0/sample/VisionSensorRTM/TankVisionSensors.conf0000664000000000000000000000157412741425367023206 0ustar rootrootout-port = q:CANNON_Y,CANNON_P:JOINT_VALUE out-port = cameraRange:CAMERA_RANGE out-port = cameraImage:CAMERA_IMAGE out-port = cameraTrans:CANNON_P:ABS_TRANSFORM out-port = rangeSensor:RANGE_SENSOR in-port = u:CANNON_Y,CANNON_P:JOINT_TORQUE in-port = dq:CRAWLER_TRACK_L,CRAWLER_TRACK_R:JOINT_VELOCITY in-port = lightSwitch:MainLight:LIGHT connection = q:TankJoystickControllerRTC0:q connection = u:TankJoystickControllerRTC0:u connection = dq:TankJoystickControllerRTC0:dq connection = lightSwitch:TankJoystickControllerRTC0:lightSwitch connection = JoystickRTC0:axes:TankJoystickControllerRTC0:axes connection = JoystickRTC0:buttons:TankJoystickControllerRTC0:buttons connection = cameraRange:VisionSensorSample:cameraRange connection = cameraTrans:VisionSensorSample:cameraTrans connection = cameraImage:VisionSensorSample:cameraImage connection = rangeSensor:VisionSensorSample:rangeSensor choreonoid-1.5.0/src/0000775000000000000000000000000012741425367013150 5ustar rootrootchoreonoid-1.5.0/src/AISTCollisionDetector/0000775000000000000000000000000012741425367017256 5ustar rootrootchoreonoid-1.5.0/src/AISTCollisionDetector/ColdetModelInternalModel.h0000664000000000000000000000407712741425367024310 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_COLDET_MODEL_INTERNAL_MODEL_H_INCLUDED #define CNOID_COLDET_MODEL_INTERNAL_MODEL_H_INCLUDED #include "ColdetModel.h" #include "Opcode/Opcode.h" #include namespace cnoid { class ColdetModelInternalModel { public: struct NeighborTriangleSet { int neighbors[3]; NeighborTriangleSet(){ neighbors[0] = neighbors[1] = neighbors[2] = -1; } void addNeighbor(int neighbor){ for(int i=0; i < 3; ++i){ if(neighbors[i] < 0){ neighbors[i] = neighbor; break; } } } void deleteNeighbor(int neighbor){ for(int i=0; i<3; i++){ if(neighbors[i]==neighbor){ for(int j=i+1; j<3; j++){ neighbors[j-1] = neighbors[j]; } neighbors[2] = -1; } break; } } int operator[](int index) const { return neighbors[index]; } }; typedef std::vector NeighborTriangleSetArray; ColdetModelInternalModel(); bool build(); // need two instances ? Opcode::Model model; Opcode::MeshInterface iMesh; std::vector vertices; std::vector triangles; NeighborTriangleSetArray neighbors; ColdetModel::PrimitiveType pType; std::vector pParams; int getAABBTreeDepth() { return AABBTreeMaxDepth; }; int getNumofBB(int depth){ return numBBMap.at(depth); }; int getmaxNumofBB(){ if(AABBTreeMaxDepth>0){ return numBBMap.at(AABBTreeMaxDepth-1); } else { return 0; } }; private: int refCounter; int AABBTreeMaxDepth; std::vector numBBMap; std::vector numLeafMap; void extractNeghiborTriangles(); int computeDepth(const Opcode::AABBCollisionNode* node, int currentDepth, int max ); friend class ColdetModel; }; } #endif choreonoid-1.5.0/src/AISTCollisionDetector/exportdecl.h0000664000000000000000000000215312741425367021601 0ustar rootroot#ifndef CNOID_COLLISION_EXPORTDECL_H_INCLUDED # define CNOID_COLLISION_EXPORTDECL_H_INCLUDED # if defined _WIN32 || defined __CYGWIN__ # define CNOID_COLLISION_DLLIMPORT __declspec(dllimport) # define CNOID_COLLISION_DLLEXPORT __declspec(dllexport) # define CNOID_COLLISION_DLLLOCAL # else # if __GNUC__ >= 4 # define CNOID_COLLISION_DLLIMPORT __attribute__ ((visibility("default"))) # define CNOID_COLLISION_DLLEXPORT __attribute__ ((visibility("default"))) # define CNOID_COLLISION_DLLLOCAL __attribute__ ((visibility("hidden"))) # else # define CNOID_COLLISION_DLLIMPORT # define CNOID_COLLISION_DLLEXPORT # define CNOID_COLLISION_DLLLOCAL # endif # endif # ifdef CNOID_COLLISION_STATIC # define CNOID_COLLISION_DLLAPI # define CNOID_COLLISION_LOCAL # else # ifdef CnoidAISTCollisionDetector_EXPORTS # define CNOID_COLLISION_DLLAPI CNOID_COLLISION_DLLEXPORT # else # define CNOID_COLLISION_DLLAPI CNOID_COLLISION_DLLIMPORT # endif # define CNOID_COLLISION_LOCAL CNOID_COLLISION_DLLLOCAL # endif #endif #ifdef CNOID_EXPORT # undef CNOID_EXPORT #endif #define CNOID_EXPORT CNOID_COLLISION_DLLAPI choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/0000775000000000000000000000000012741425367020467 5ustar rootrootchoreonoid-1.5.0/src/AISTCollisionDetector/Opcode/Stdafx.h0000664000000000000000000000214012741425367022066 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// #if !defined(AFX_STDAFX_H__EFB95044_1D31_11D5_8B0F_0050BAC83302__INCLUDED_) #define AFX_STDAFX_H__EFB95044_1D31_11D5_8B0F_0050BAC83302__INCLUDED_ #ifndef __GNUC__ #if (_MSC_VER > 1000) #pragma once #endif // _MSC_VER > 1000 #endif // __GNU__ // Insert your headers here #define WIN32_LEAN_AND_MEAN // Exclude rarely-used stuff from Windows headers #include "Opcode.h" //{{AFX_INSERT_LOCATION}} // Microsoft Visual C++ will insert additional declarations immediately before the previous line. #endif // !defined(AFX_STDAFX_H__EFB95044_1D31_11D5_8B0F_0050BAC83302__INCLUDED_) choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/Opcode.h0000664000000000000000000000772512741425367022064 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Main file for Opcode.dll. * \file Opcode.h * \author Pierre Terdiman * \date March, 20, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Include Guard #ifndef __OPCODE_H__ #define __OPCODE_H__ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Things to help us compile on non-windows platforms #if defined(__APPLE__) || defined(__MACOSX__) #if __APPLE_CC__ < 1495 #define sqrtf sqrt #define sinf sin #define cosf cos #define acosf acos #define asinf sinf #endif #endif #ifndef _MSC_VER #define __int64 long long int #define __stdcall /* */ #endif /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Compilation messages #ifdef _MSC_VER #if defined(OPCODE_EXPORTS) // #pragma message("Compiling OPCODE") #elif !defined(OPCODE_EXPORTS) // #pragma message("Using OPCODE") /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Automatic linking #ifndef BAN_OPCODE_AUTOLINK #ifdef _DEBUG //#pragma comment(lib, "Opcode_D.lib") #else //#pragma comment(lib, "Opcode.lib") #endif #endif #endif #endif /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Preprocessor #ifndef ICE_NO_DLL #ifdef OPCODE_EXPORTS #define OPCODE_API// __declspec(dllexport) #else #define OPCODE_API// __declspec(dllimport) #endif #else #define OPCODE_API #endif #include "OPC_IceHook.h" //#include #include namespace Opcode { class CollisionPairInserter; // Bulk-of-the-work #include "OPC_Settings.h" #include "OPC_Common.h" #include "OPC_MeshInterface.h" // Builders #include "OPC_TreeBuilders.h" // Trees #include "OPC_AABBTree.h" #include "OPC_OptimizedTree.h" // Models #include "OPC_BaseModel.h" #include "OPC_Model.h" #include "OPC_HybridModel.h" // Colliders #include "OPC_Collider.h" #include "OPC_VolumeCollider.h" #include "OPC_TreeCollider.h" #include "OPC_RayCollider.h" #include "OPC_SphereCollider.h" //#include "OPC_OBBCollider.h" //#include "OPC_AABBCollider.h" //#include "OPC_LSSCollider.h" #include "OPC_PlanesCollider.h" // Usages #include "OPC_Picking.h" // Sweep-and-prune //#include "OPC_BoxPruning.h" //#include "OPC_SweepAndPrune.h" FUNCTION OPCODE_API bool InitOpcode(); FUNCTION OPCODE_API bool CloseOpcode(); } #endif // __OPCODE_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_Picking.cpp0000664000000000000000000001225512741425367023265 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains code to perform "picking". * \file OPC_Picking.cpp * \author Pierre Terdiman * \date March, 20, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Precompiled Header #include "Stdafx.h" using namespace Opcode; #ifdef OPC_RAYHIT_CALLBACK /* Possible RayCollider usages: - boolean query (shadow feeler) - closest hit - all hits - number of intersection (boolean) */ bool Opcode::SetupAllHits(RayCollider& collider, CollisionFaces& contacts) { struct Local { static void AllContacts(const CollisionFace& hit, void* user_data) { CollisionFaces* CF = (CollisionFaces*)user_data; CF->AddFace(hit); } }; collider.SetFirstContact(false); collider.SetHitCallback(Local::AllContacts); collider.SetUserData(&contacts); return true; } bool Opcode::SetupClosestHit(RayCollider& collider, CollisionFace& closest_contact) { struct Local { static void ClosestContact(const CollisionFace& hit, void* user_data) { CollisionFace* CF = (CollisionFace*)user_data; if(hit.mDistancemDistance) *CF = hit; } }; collider.SetFirstContact(false); collider.SetHitCallback(Local::ClosestContact); collider.SetUserData(&closest_contact); closest_contact.mDistance = MAX_FLOAT; return true; } bool Opcode::SetupShadowFeeler(RayCollider& collider) { collider.SetFirstContact(true); collider.SetHitCallback(null); return true; } bool Opcode::SetupInOutTest(RayCollider& collider) { collider.SetFirstContact(false); collider.SetHitCallback(null); // Results with collider.GetNbIntersections() return true; } bool Opcode::Picking( CollisionFace& picked_face, const Ray& world_ray, const Model& model, const Matrix4x4* world, float min_dist, float max_dist, const Point& view_point, CullModeCallback callback, void* user_data) { struct Local { struct CullData { CollisionFace* Closest; float MinLimit; CullModeCallback Callback; void* UserData; Point ViewPoint; const MeshInterface* IMesh; }; // Called for each stabbed face static void RenderCullingCallback(const CollisionFace& hit, void* user_data) { CullData* Data = (CullData*)user_data; // Discard face if we already have a closer hit if(hit.mDistance>=Data->Closest->mDistance) return; // Discard face if hit point is smaller than min limit. This mainly happens when the face is in front // of the near clip plane (or straddles it). If we keep the face nonetheless, the user can select an // object that he may not even be able to see, which is very annoying. if(hit.mDistance<=Data->MinLimit) return; // This is the index of currently stabbed triangle. udword StabbedFaceIndex = hit.mFaceID; // We may keep it or not, depending on backface culling bool KeepIt = true; // Catch *render* cull mode for this face CullMode CM = (Data->Callback)(StabbedFaceIndex, Data->UserData); if(CM!=CULLMODE_NONE) // Don't even compute culling for double-sided triangles { // Compute backface culling for current face VertexPointers VP; Data->IMesh->GetTriangle(VP, StabbedFaceIndex); if(VP.BackfaceCulling(Data->ViewPoint)) { if(CM==CULLMODE_CW) KeepIt = false; } else { if(CM==CULLMODE_CCW) KeepIt = false; } } if(KeepIt) *Data->Closest = hit; } }; RayCollider RC; RC.SetMaxDist(max_dist); RC.SetTemporalCoherence(false); RC.SetCulling(false); // We need all faces since some of them can be double-sided RC.SetFirstContact(false); RC.SetHitCallback(Local::RenderCullingCallback); picked_face.mFaceID = INVALID_ID; picked_face.mDistance = MAX_FLOAT; picked_face.mU = 0.0f; picked_face.mV = 0.0f; Local::CullData Data; Data.Closest = &picked_face; Data.MinLimit = min_dist; Data.Callback = callback; Data.UserData = user_data; Data.ViewPoint = view_point; Data.IMesh = model.GetMeshInterface(); if(world) { // Get matrices Matrix4x4 InvWorld; InvertPRMatrix(InvWorld, *world); // Compute camera position in mesh space Data.ViewPoint *= InvWorld; } RC.SetUserData(&Data); if(RC.Collide(world_ray, model, world)) { return picked_face.mFaceID!=INVALID_ID; } return false; } #endif choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_IceHook.h0000664000000000000000000000302512741425367022662 0ustar rootroot // Should be included by Opcode.h if needed #define ICE_DONT_CHECK_COMPILER_OPTIONS // From Windows... typedef int BOOL; #ifndef FALSE #define FALSE 0 #endif #ifndef TRUE #define TRUE 1 #endif #include #include #include #include #include #include #ifndef ASSERT #define ASSERT(exp) {} #endif #define ICE_COMPILE_TIME_ASSERT(exp) extern char ICE_Dummy[ (exp) ? 1 : -1 ] #define Log {} #define SetIceError(a,b) false #define EC_OUTOFMEMORY "Out of memory" #include "Ice/IcePreprocessor.h" #undef ICECORE_API #define ICECORE_API OPCODE_API #include "Ice/IceTypes.h" #include "Ice/IceFPU.h" #include "Ice/IceMemoryMacros.h" namespace IceCore { #include "Ice/IceUtils.h" #include "Ice/IceContainer.h" #include "Ice/IcePairs.h" #include "Ice/IceRevisitedRadix.h" #include "Ice/IceRandom.h" } using namespace IceCore; #define ICEMATHS_API OPCODE_API namespace IceMaths { #include "Ice/IceAxes.h" #include "Ice/IcePoint.h" #include "Ice/IceHPoint.h" #include "Ice/IceMatrix3x3.h" #include "Ice/IceMatrix4x4.h" #include "Ice/IcePlane.h" #include "Ice/IceRay.h" #include "Ice/IceIndexedTriangle.h" //#include "Ice/IceTriangle.h" //#include "Ice/IceTriList.h" #include "Ice/IceAABB.h" #include "Ice/IceOBB.h" #include "Ice/IceBoundingSphere.h" //#include "Ice/IceSegment.h" //#include "Ice/IceLSS.h" } using namespace IceMaths; choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_SphereCollider.cpp0000664000000000000000000007041612741425367024610 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains code for a sphere collider. * \file OPC_SphereCollider.cpp * \author Pierre Terdiman * \date June, 2, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains a sphere-vs-tree collider. * This class performs a collision test between a sphere and an AABB tree. You can use this to do a standard player vs world collision, * in a Nettle/Telemachos way. It doesn't suffer from all reported bugs in those two classic codes - the "new" one by Paul Nettle is a * debuggued version I think. Collision response can be driven by reported collision data - it works extremely well for me. In sake of * efficiency, all meshes (that is, all AABB trees) should of course also be kept in an extra hierarchical structure (octree, whatever). * * \class SphereCollider * \author Pierre Terdiman * \version 1.3 * \date June, 2, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Precompiled Header #include "Stdafx.h" using namespace Opcode; #include "OPC_SphereAABBOverlap.h" #include "OPC_SphereTriOverlap.h" #define SET_CONTACT(prim_index, flag) \ /* Set contact status */ \ mFlags |= flag; \ mTouchedPrimitives->Add(prim_index); //! Sphere-triangle overlap test #define SPHERE_PRIM(prim_index, flag) \ /* Request vertices from the app */ \ VertexPointers VP; mIMesh->GetTriangle(VP, prim_index); \ \ /* Perform sphere-tri overlap test */ \ if(SphereTriOverlap(*VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) \ { \ SET_CONTACT(prim_index, flag) \ } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Constructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// SphereCollider::SphereCollider() { mCenter.Zero(); mRadius2 = 0.0f; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Destructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// SphereCollider::~SphereCollider() { } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Generic collision query for generic OPCODE models. After the call, access the results: * - with GetContactStatus() * - with GetNbTouchedPrimitives() * - with GetTouchedPrimitives() * * \param cache [in/out] a sphere cache * \param sphere [in] collision sphere in local space * \param model [in] Opcode model to collide with * \param worlds [in] sphere's world matrix, or null * \param worldm [in] model's world matrix, or null * \return true if success * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool SphereCollider::Collide(SphereCache& cache, const Sphere& sphere, const Model& model, const Matrix4x4* worlds, const Matrix4x4* worldm) { // Checkings if(!Setup(&model)) return false; // Init collision query if(InitQuery(cache, sphere, worlds, worldm)) return true; if(!model.HasLeafNodes()) { if(model.IsQuantized()) { const AABBQuantizedNoLeafTree* Tree = (const AABBQuantizedNoLeafTree*)model.GetTree(); // Setup dequantization coeffs mCenterCoeff = Tree->mCenterCoeff; mExtentsCoeff = Tree->mExtentsCoeff; // Perform collision query if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes()); else _Collide(Tree->GetNodes()); } else { const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree(); // Perform collision query if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes()); else _Collide(Tree->GetNodes()); } } else { if(model.IsQuantized()) { const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree(); // Setup dequantization coeffs mCenterCoeff = Tree->mCenterCoeff; mExtentsCoeff = Tree->mExtentsCoeff; // Perform collision query if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes()); else _Collide(Tree->GetNodes()); } else { const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree(); // Perform collision query if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes()); else _Collide(Tree->GetNodes()); } } return true; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Initializes a collision query : * - reset stats & contact status * - setup matrices * - check temporal coherence * * \param cache [in/out] a sphere cache * \param sphere [in] sphere in local space * \param worlds [in] sphere's world matrix, or null * \param worldm [in] model's world matrix, or null * \return TRUE if we can return immediately * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// BOOL SphereCollider::InitQuery(SphereCache& cache, const Sphere& sphere, const Matrix4x4* worlds, const Matrix4x4* worldm) { // 1) Call the base method VolumeCollider::InitQuery(); // 2) Compute sphere in model space: // - Precompute R^2 mRadius2 = sphere.mRadius * sphere.mRadius; // - Compute center position mCenter = sphere.mCenter; // -> to world space if(worlds) mCenter *= *worlds; // -> to model space if(worldm) { // Invert model matrix Matrix4x4 InvWorldM; InvertPRMatrix(InvWorldM, *worldm); mCenter *= InvWorldM; } // 3) Setup destination pointer mTouchedPrimitives = &cache.TouchedPrimitives; // 4) Special case: 1-triangle meshes [Opcode 1.3] if(mCurrentModel && mCurrentModel->HasSingleNode()) { if(!SkipPrimitiveTests()) { // We simply perform the BV-Prim overlap test each time. We assume single triangle has index 0. mTouchedPrimitives->Reset(); // Perform overlap test between the unique triangle and the sphere (and set contact status if needed) SPHERE_PRIM(udword(0), OPC_CONTACT) // Return immediately regardless of status return TRUE; } } // 5) Check temporal coherence : if(TemporalCoherenceEnabled()) { // Here we use temporal coherence // => check results from previous frame before performing the collision query if(FirstContactEnabled()) { // We're only interested in the first contact found => test the unique previously touched face if(mTouchedPrimitives->GetNbEntries()) { // Get index of previously touched face = the first entry in the array udword PreviouslyTouchedFace = mTouchedPrimitives->GetEntry(0); // Then reset the array: // - if the overlap test below is successful, the index we'll get added back anyway // - if it isn't, then the array should be reset anyway for the normal query mTouchedPrimitives->Reset(); // Perform overlap test between the cached triangle and the sphere (and set contact status if needed) SPHERE_PRIM(PreviouslyTouchedFace, OPC_TEMPORAL_CONTACT) // Return immediately if possible if(GetContactStatus()) return TRUE; } // else no face has been touched during previous query // => we'll have to perform a normal query } else { // We're interested in all contacts =>test the new real sphere N(ew) against the previous fat sphere P(revious): float r = sqrtf(cache.FatRadius2) - sphere.mRadius; if(IsCacheValid(cache) && cache.Center.SquareDistance(mCenter) < r*r) { // - if N is included in P, return previous list // => we simply leave the list (mTouchedFaces) unchanged // Set contact status if needed if(mTouchedPrimitives->GetNbEntries()) mFlags |= OPC_TEMPORAL_CONTACT; // In any case we don't need to do a query return TRUE; } else { // - else do the query using a fat N // Reset cache since we'll about to perform a real query mTouchedPrimitives->Reset(); // Make a fat sphere so that coherence will work for subsequent frames mRadius2 *= cache.FatCoeff; // mRadius2 = (sphere.mRadius * cache.FatCoeff)*(sphere.mRadius * cache.FatCoeff); // Update cache with query data (signature for cached faces) cache.Center = mCenter; cache.FatRadius2 = mRadius2; } } } else { // Here we don't use temporal coherence => do a normal query mTouchedPrimitives->Reset(); } return FALSE; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Collision query for vanilla AABB trees. * \param cache [in/out] a sphere cache * \param sphere [in] collision sphere in world space * \param tree [in] AABB tree * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool SphereCollider::Collide(SphereCache& cache, const Sphere& sphere, const AABBTree* tree) { // This is typically called for a scene tree, full of -AABBs-, not full of triangles. // So we don't really have "primitives" to deal with. Hence it doesn't work with // "FirstContact" + "TemporalCoherence". ASSERT( !(FirstContactEnabled() && TemporalCoherenceEnabled()) ); // Checkings if(!tree) return false; // Init collision query if(InitQuery(cache, sphere)) return true; // Perform collision query _Collide(tree); return true; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Checks the sphere completely contains the box. In which case we can end the query sooner. * \param bc [in] box center * \param be [in] box extents * \return true if the sphere contains the whole box */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ BOOL SphereCollider::SphereContainsBox(const Point& bc, const Point& be) { // I assume if all 8 box vertices are inside the sphere, so does the whole box. // Sounds ok but maybe there's a better way? Point p; p.x=bc.x+be.x; p.y=bc.y+be.y; p.z=bc.z+be.z; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE; p.x=bc.x-be.x; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE; p.x=bc.x+be.x; p.y=bc.y-be.y; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE; p.x=bc.x-be.x; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE; p.x=bc.x+be.x; p.y=bc.y+be.y; p.z=bc.z-be.z; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE; p.x=bc.x-be.x; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE; p.x=bc.x+be.x; p.y=bc.y-be.y; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE; p.x=bc.x-be.x; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE; return TRUE; } #define TEST_BOX_IN_SPHERE(center, extents) \ if(SphereContainsBox(center, extents)) \ { \ /* Set contact status */ \ mFlags |= OPC_CONTACT; \ _Dump(node); \ return; \ } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive collision query for normal AABB trees. * \param node [in] current collision node */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void SphereCollider::_Collide(const AABBCollisionNode* node) { // Perform Sphere-AABB overlap test if(!SphereAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; TEST_BOX_IN_SPHERE(node->mAABB.mCenter, node->mAABB.mExtents) if(node->IsLeaf()) { SPHERE_PRIM(node->GetPrimitive(), OPC_CONTACT) } else { _Collide(node->GetPos()); if(ContactFound()) return; _Collide(node->GetNeg()); } } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive collision query for normal AABB trees, without primitive tests. * \param node [in] current collision node */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void SphereCollider::_CollideNoPrimitiveTest(const AABBCollisionNode* node) { // Perform Sphere-AABB overlap test if(!SphereAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; TEST_BOX_IN_SPHERE(node->mAABB.mCenter, node->mAABB.mExtents) if(node->IsLeaf()) { SET_CONTACT(node->GetPrimitive(), OPC_CONTACT) } else { _CollideNoPrimitiveTest(node->GetPos()); if(ContactFound()) return; _CollideNoPrimitiveTest(node->GetNeg()); } } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive collision query for quantized AABB trees. * \param node [in] current collision node */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void SphereCollider::_Collide(const AABBQuantizedNode* node) { // Dequantize box const QuantizedAABB& Box = node->mAABB; const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); // Perform Sphere-AABB overlap test if(!SphereAABBOverlap(Center, Extents)) return; TEST_BOX_IN_SPHERE(Center, Extents) if(node->IsLeaf()) { SPHERE_PRIM(node->GetPrimitive(), OPC_CONTACT) } else { _Collide(node->GetPos()); if(ContactFound()) return; _Collide(node->GetNeg()); } } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive collision query for quantized AABB trees, without primitive tests. * \param node [in] current collision node */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void SphereCollider::_CollideNoPrimitiveTest(const AABBQuantizedNode* node) { // Dequantize box const QuantizedAABB& Box = node->mAABB; const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); // Perform Sphere-AABB overlap test if(!SphereAABBOverlap(Center, Extents)) return; TEST_BOX_IN_SPHERE(Center, Extents) if(node->IsLeaf()) { SET_CONTACT(node->GetPrimitive(), OPC_CONTACT) } else { _CollideNoPrimitiveTest(node->GetPos()); if(ContactFound()) return; _CollideNoPrimitiveTest(node->GetNeg()); } } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive collision query for no-leaf AABB trees. * \param node [in] current collision node */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void SphereCollider::_Collide(const AABBNoLeafNode* node) { // Perform Sphere-AABB overlap test if(!SphereAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; TEST_BOX_IN_SPHERE(node->mAABB.mCenter, node->mAABB.mExtents) if(node->HasPosLeaf()) { SPHERE_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } else _Collide(node->GetPos()); if(ContactFound()) return; if(node->HasNegLeaf()) { SPHERE_PRIM(node->GetNegPrimitive(), OPC_CONTACT) } else _Collide(node->GetNeg()); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive collision query for no-leaf AABB trees, without primitive tests. * \param node [in] current collision node */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void SphereCollider::_CollideNoPrimitiveTest(const AABBNoLeafNode* node) { // Perform Sphere-AABB overlap test if(!SphereAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; TEST_BOX_IN_SPHERE(node->mAABB.mCenter, node->mAABB.mExtents) if(node->HasPosLeaf()) { SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) } else _CollideNoPrimitiveTest(node->GetPos()); if(ContactFound()) return; if(node->HasNegLeaf()) { SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) } else _CollideNoPrimitiveTest(node->GetNeg()); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive collision query for quantized no-leaf AABB trees. * \param node [in] current collision node */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void SphereCollider::_Collide(const AABBQuantizedNoLeafNode* node) { // Dequantize box const QuantizedAABB& Box = node->mAABB; const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); // Perform Sphere-AABB overlap test if(!SphereAABBOverlap(Center, Extents)) return; TEST_BOX_IN_SPHERE(Center, Extents) if(node->HasPosLeaf()) { SPHERE_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } else _Collide(node->GetPos()); if(ContactFound()) return; if(node->HasNegLeaf()) { SPHERE_PRIM(node->GetNegPrimitive(), OPC_CONTACT) } else _Collide(node->GetNeg()); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive collision query for quantized no-leaf AABB trees, without primitive tests. * \param node [in] current collision node */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void SphereCollider::_CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node) { // Dequantize box const QuantizedAABB& Box = node->mAABB; const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); // Perform Sphere-AABB overlap test if(!SphereAABBOverlap(Center, Extents)) return; TEST_BOX_IN_SPHERE(Center, Extents) if(node->HasPosLeaf()) { SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) } else _CollideNoPrimitiveTest(node->GetPos()); if(ContactFound()) return; if(node->HasNegLeaf()) { SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) } else _CollideNoPrimitiveTest(node->GetNeg()); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive collision query for vanilla AABB trees. * \param node [in] current collision node */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void SphereCollider::_Collide(const AABBTreeNode* node) { // Perform Sphere-AABB overlap test Point Center, Extents; node->GetAABB()->GetCenter(Center); node->GetAABB()->GetExtents(Extents); if(!SphereAABBOverlap(Center, Extents)) return; if(node->IsLeaf() || SphereContainsBox(Center, Extents)) { mFlags |= OPC_CONTACT; mTouchedPrimitives->Add(node->GetPrimitives(), node->GetNbPrimitives()); } else { _Collide(node->GetPos()); _Collide(node->GetNeg()); } } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Constructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// HybridSphereCollider::HybridSphereCollider() { } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Destructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// HybridSphereCollider::~HybridSphereCollider() { } bool HybridSphereCollider::Collide(SphereCache& cache, const Sphere& sphere, const HybridModel& model, const Matrix4x4* worlds, const Matrix4x4* worldm) { // We don't want primitive tests here! mFlags |= OPC_NO_PRIMITIVE_TESTS; // Checkings if(!Setup(&model)) return false; // Init collision query if(InitQuery(cache, sphere, worlds, worldm)) return true; // Special case for 1-leaf trees if(mCurrentModel && mCurrentModel->HasSingleNode()) { // Here we're supposed to perform a normal query, except our tree has a single node, i.e. just a few triangles udword Nb = mIMesh->GetNbTriangles(); // Loop through all triangles for(udword i=0;imCenterCoeff; mExtentsCoeff = Tree->mExtentsCoeff; // Perform collision query - we don't want primitive tests here! _CollideNoPrimitiveTest(Tree->GetNodes()); } else { const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree(); // Perform collision query - we don't want primitive tests here! _CollideNoPrimitiveTest(Tree->GetNodes()); } } else { if(model.IsQuantized()) { const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree(); // Setup dequantization coeffs mCenterCoeff = Tree->mCenterCoeff; mExtentsCoeff = Tree->mExtentsCoeff; // Perform collision query - we don't want primitive tests here! _CollideNoPrimitiveTest(Tree->GetNodes()); } else { const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree(); // Perform collision query - we don't want primitive tests here! _CollideNoPrimitiveTest(Tree->GetNodes()); } } // We only have a list of boxes so far if(GetContactStatus()) { // Reset contact status, since it currently only reflects collisions with leaf boxes Collider::InitQuery(); // Change dest container so that we can use built-in overlap tests and get collided primitives cache.TouchedPrimitives.Reset(); mTouchedPrimitives = &cache.TouchedPrimitives; // Read touched leaf boxes udword Nb = mTouchedBoxes.GetNbEntries(); const udword* Touched = mTouchedBoxes.GetEntries(); const LeafTriangles* LT = model.GetLeafTriangles(); const udword* Indices = model.GetIndices(); // Loop through touched leaves while(Nb--) { const LeafTriangles& CurrentLeaf = LT[*Touched++]; // Each leaf box has a set of triangles udword NbTris = CurrentLeaf.GetNbTriangles(); if(Indices) { const udword* T = &Indices[CurrentLeaf.GetTriangleIndex()]; // Loop through triangles and test each of them while(NbTris--) { udword TriangleIndex = *T++; SPHERE_PRIM(TriangleIndex, OPC_CONTACT) } } else { udword BaseIndex = CurrentLeaf.GetTriangleIndex(); // Loop through triangles and test each of them while(NbTris--) { udword TriangleIndex = BaseIndex++; SPHERE_PRIM(TriangleIndex, OPC_CONTACT) } } } } return true; } choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_Picking.h0000664000000000000000000000405412741425367022730 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains code to perform "picking". * \file OPC_Picking.h * \author Pierre Terdiman * \date March, 20, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Include Guard #ifndef __OPC_PICKING_H__ #define __OPC_PICKING_H__ #ifdef OPC_RAYHIT_CALLBACK enum CullMode { CULLMODE_NONE = 0, CULLMODE_CW = 1, CULLMODE_CCW = 2 }; typedef CullMode (*CullModeCallback)(udword triangle_index, void* user_data); OPCODE_API bool SetupAllHits (RayCollider& collider, CollisionFaces& contacts); OPCODE_API bool SetupClosestHit (RayCollider& collider, CollisionFace& closest_contact); OPCODE_API bool SetupShadowFeeler (RayCollider& collider); OPCODE_API bool SetupInOutTest (RayCollider& collider); OPCODE_API bool Picking( CollisionFace& picked_face, const Ray& world_ray, const Model& model, const Matrix4x4* world, float min_dist, float max_dist, const Point& view_point, CullModeCallback callback, void* user_data); #endif #endif //__OPC_PICKING_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/Ice/0000775000000000000000000000000012741425367021167 5ustar rootrootchoreonoid-1.5.0/src/AISTCollisionDetector/Opcode/Ice/IcePairs.h0000664000000000000000000000337312741425367023045 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains a simple pair class. * \file IcePairs.h * \author Pierre Terdiman * \date January, 13, 2003 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Include Guard #ifndef __ICEPAIRS_H__ #define __ICEPAIRS_H__ //! A generic couple structure struct ICECORE_API Pair { inline_ Pair() {} inline_ Pair(udword i0, udword i1) : id0(i0), id1(i1) {} udword id0; //!< First index of the pair udword id1; //!< Second index of the pair }; class ICECORE_API Pairs : private Container { public: // Constructor / Destructor Pairs() {} ~Pairs() {} inline_ udword GetNbPairs() const { return GetNbEntries()>>1; } inline_ const Pair* GetPairs() const { return (const Pair*)GetEntries(); } inline_ const Pair* GetPair(udword i) const { return (const Pair*)&GetEntries()[i+i]; } inline_ BOOL HasPairs() const { return IsNotEmpty(); } inline_ void ResetPairs() { Reset(); } inline_ void DeleteLastPair() { DeleteLastEntry(); DeleteLastEntry(); } inline_ void AddPair(const Pair& p) { Add(p.id0).Add(p.id1); } inline_ void AddPair(udword id0, udword id1) { Add(id0).Add(id1); } }; #endif // __ICEPAIRS_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/Ice/IceOBB.cpp0000664000000000000000000003031712741425367022722 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains OBB-related code. * \file IceOBB.cpp * \author Pierre Terdiman * \date January, 29, 2000 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * An Oriented Bounding Box (OBB). * \class OBB * \author Pierre Terdiman * \version 1.0 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Precompiled Header #include "Stdafx.h" using namespace IceMaths; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Tests if a point is contained within the OBB. * \param p [in] the world point to test * \return true if inside the OBB */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool OBB::ContainsPoint(const Point& p) const { // Point in OBB test using lazy evaluation and early exits // Translate to box space Point RelPoint = p - mCenter; // Point * mRot maps from box space to world space // mRot * Point maps from world space to box space (what we need here) float f = mRot.m[0][0] * RelPoint.x + mRot.m[0][1] * RelPoint.y + mRot.m[0][2] * RelPoint.z; if(f >= mExtents.x || f <= -mExtents.x) return false; f = mRot.m[1][0] * RelPoint.x + mRot.m[1][1] * RelPoint.y + mRot.m[1][2] * RelPoint.z; if(f >= mExtents.y || f <= -mExtents.y) return false; f = mRot.m[2][0] * RelPoint.x + mRot.m[2][1] * RelPoint.y + mRot.m[2][2] * RelPoint.z; if(f >= mExtents.z || f <= -mExtents.z) return false; return true; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Builds an OBB from an AABB and a world transform. * \param aabb [in] the aabb * \param mat [in] the world transform */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void OBB::Create(const AABB& aabb, const Matrix4x4& mat) { // Note: must be coherent with Rotate() aabb.GetCenter(mCenter); aabb.GetExtents(mExtents); // Here we have the same as OBB::Rotate(mat) where the obb is (mCenter, mExtents, Identity). // So following what's done in Rotate: // - x-form the center mCenter *= mat; // - combine rotation with identity, i.e. just use given matrix mRot = mat; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the obb planes. * \param planes [out] 6 box planes * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool OBB::ComputePlanes(Plane* planes) const { // Checkings if(!planes) return false; Point Axis0 = mRot[0]; Point Axis1 = mRot[1]; Point Axis2 = mRot[2]; // Writes normals planes[0].n = Axis0; planes[1].n = -Axis0; planes[2].n = Axis1; planes[3].n = -Axis1; planes[4].n = Axis2; planes[5].n = -Axis2; // Compute a point on each plane Point p0 = mCenter + Axis0 * mExtents.x; Point p1 = mCenter - Axis0 * mExtents.x; Point p2 = mCenter + Axis1 * mExtents.y; Point p3 = mCenter - Axis1 * mExtents.y; Point p4 = mCenter + Axis2 * mExtents.z; Point p5 = mCenter - Axis2 * mExtents.z; // Compute d planes[0].d = -(planes[0].n|p0); planes[1].d = -(planes[1].n|p1); planes[2].d = -(planes[2].n|p2); planes[3].d = -(planes[3].n|p3); planes[4].d = -(planes[4].n|p4); planes[5].d = -(planes[5].n|p5); return true; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the obb points. * \param pts [out] 8 box points * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool OBB::ComputePoints(Point* pts) const { // Checkings if(!pts) return false; Point Axis0 = mRot[0]; Point Axis1 = mRot[1]; Point Axis2 = mRot[2]; Axis0 *= mExtents.x; Axis1 *= mExtents.y; Axis2 *= mExtents.z; // 7+------+6 0 = --- // /| /| 1 = +-- // / | / | 2 = ++- // / 4+---/--+5 3 = -+- // 3+------+2 / y z 4 = --+ // | / | / | / 5 = +-+ // |/ |/ |/ 6 = +++ // 0+------+1 *---x 7 = -++ pts[0] = mCenter - Axis0 - Axis1 - Axis2; pts[1] = mCenter + Axis0 - Axis1 - Axis2; pts[2] = mCenter + Axis0 + Axis1 - Axis2; pts[3] = mCenter - Axis0 + Axis1 - Axis2; pts[4] = mCenter - Axis0 - Axis1 + Axis2; pts[5] = mCenter + Axis0 - Axis1 + Axis2; pts[6] = mCenter + Axis0 + Axis1 + Axis2; pts[7] = mCenter - Axis0 + Axis1 + Axis2; return true; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes vertex normals. * \param pts [out] 8 box points * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool OBB::ComputeVertexNormals(Point* pts) const { static float VertexNormals[] = { -INVSQRT3, -INVSQRT3, -INVSQRT3, INVSQRT3, -INVSQRT3, -INVSQRT3, INVSQRT3, INVSQRT3, -INVSQRT3, -INVSQRT3, INVSQRT3, -INVSQRT3, -INVSQRT3, -INVSQRT3, INVSQRT3, INVSQRT3, -INVSQRT3, INVSQRT3, INVSQRT3, INVSQRT3, INVSQRT3, -INVSQRT3, INVSQRT3, INVSQRT3 }; if(!pts) return false; const Point* VN = (const Point*)VertexNormals; for(udword i=0;i<8;i++) { pts[i] = VN[i] * mRot; } return true; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Returns edges. * \return 24 indices (12 edges) indexing the list returned by ComputePoints() */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// const udword* OBB::GetEdges() const { static udword Indices[] = { 0, 1, 1, 2, 2, 3, 3, 0, 7, 6, 6, 5, 5, 4, 4, 7, 1, 5, 6, 2, 3, 7, 4, 0 }; return Indices; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Returns local edge normals. * \return edge normals in local space */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// const Point* OBB::GetLocalEdgeNormals() const { static float EdgeNormals[] = { 0, -INVSQRT2, -INVSQRT2, // 0-1 INVSQRT2, 0, -INVSQRT2, // 1-2 0, INVSQRT2, -INVSQRT2, // 2-3 -INVSQRT2, 0, -INVSQRT2, // 3-0 0, INVSQRT2, INVSQRT2, // 7-6 INVSQRT2, 0, INVSQRT2, // 6-5 0, -INVSQRT2, INVSQRT2, // 5-4 -INVSQRT2, 0, INVSQRT2, // 4-7 INVSQRT2, -INVSQRT2, 0, // 1-5 INVSQRT2, INVSQRT2, 0, // 6-2 -INVSQRT2, INVSQRT2, 0, // 3-7 -INVSQRT2, -INVSQRT2, 0 // 4-0 }; return (const Point*)EdgeNormals; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Returns world edge normal * \param edge_index [in] 0 <= edge index < 12 * \param world_normal [out] edge normal in world space */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void OBB::ComputeWorldEdgeNormal(udword edge_index, Point& world_normal) const { ASSERT(edge_index<12); world_normal = GetLocalEdgeNormals()[edge_index] * mRot; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes an LSS surrounding the OBB. * \param lss [out] the LSS */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void OBB::ComputeLSS(LSS& lss) const { Point Axis0 = mRot[0]; Point Axis1 = mRot[1]; Point Axis2 = mRot[2]; switch(mExtents.LargestAxis()) { case 0: lss.mRadius = (mExtents.y + mExtents.z)*0.5f; lss.mP0 = mCenter + Axis0 * (mExtents.x - lss.mRadius); lss.mP1 = mCenter - Axis0 * (mExtents.x - lss.mRadius); break; case 1: lss.mRadius = (mExtents.x + mExtents.z)*0.5f; lss.mP0 = mCenter + Axis1 * (mExtents.y - lss.mRadius); lss.mP1 = mCenter - Axis1 * (mExtents.y - lss.mRadius); break; case 2: lss.mRadius = (mExtents.x + mExtents.y)*0.5f; lss.mP0 = mCenter + Axis2 * (mExtents.z - lss.mRadius); lss.mP1 = mCenter - Axis2 * (mExtents.z - lss.mRadius); break; } } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Checks the OBB is inside another OBB. * \param box [in] the other OBB * \return TRUE if we're inside the other box */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// BOOL OBB::IsInside(const OBB& box) const { // Make a 4x4 from the box & inverse it Matrix4x4 M0Inv; { Matrix4x4 M0 = box.mRot; M0.SetTrans(box.mCenter); InvertPRMatrix(M0Inv, M0); } // With our inversed 4x4, create box1 in space of box0 OBB _1in0; Rotate(M0Inv, _1in0); // This should cancel out box0's rotation, i.e. it's now an AABB. // => Center(0,0,0), Rot(identity) // The two boxes are in the same space so now we can compare them. // Create the AABB of (box1 in space of box0) const Matrix3x3& mtx = _1in0.mRot; float f = fabsf(mtx.m[0][0] * mExtents.x) + fabsf(mtx.m[1][0] * mExtents.y) + fabsf(mtx.m[2][0] * mExtents.z) - box.mExtents.x; if(f > _1in0.mCenter.x) return FALSE; if(-f < _1in0.mCenter.x) return FALSE; f = fabsf(mtx.m[0][1] * mExtents.x) + fabsf(mtx.m[1][1] * mExtents.y) + fabsf(mtx.m[2][1] * mExtents.z) - box.mExtents.y; if(f > _1in0.mCenter.y) return FALSE; if(-f < _1in0.mCenter.y) return FALSE; f = fabsf(mtx.m[0][2] * mExtents.x) + fabsf(mtx.m[1][2] * mExtents.y) + fabsf(mtx.m[2][2] * mExtents.z) - box.mExtents.z; if(f > _1in0.mCenter.z) return FALSE; if(-f < _1in0.mCenter.z) return FALSE; return TRUE; } choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/Ice/IceMemoryMacros.h0000664000000000000000000000770112741425367024403 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains all memory macros. * \file IceMemoryMacros.h * \author Pierre Terdiman * \date April, 4, 2000 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Include Guard #ifndef __ICEMEMORYMACROS_H__ #define __ICEMEMORYMACROS_H__ #undef ZeroMemory #undef CopyMemory #undef MoveMemory #undef FillMemory //! Clears a buffer. //! \param addr [in] buffer address //! \param size [in] buffer length //! \see FillMemory //! \see StoreDwords //! \see CopyMemory //! \see MoveMemory inline_ void ZeroMemory(void* addr, udword size) { memset(addr, 0, size); } //! Fills a buffer with a given byte. //! \param addr [in] buffer address //! \param size [in] buffer length //! \param val [in] the byte value //! \see StoreDwords //! \see ZeroMemory //! \see CopyMemory //! \see MoveMemory inline_ void FillMemory(void* dest, udword size, ubyte val) { memset(dest, val, size); } //! Fills a buffer with a given dword. //! \param addr [in] buffer address //! \param nb [in] number of dwords to write //! \param value [in] the dword value //! \see FillMemory //! \see ZeroMemory //! \see CopyMemory //! \see MoveMemory //! \warning writes nb*4 bytes ! inline_ void StoreDwords(udword* dest, udword nb, udword value) { // The asm code below **SHOULD** be equivalent to one of those C versions // or the other if your compiled is good: (checked on VC++ 6.0) // // 1) while(nb--) *dest++ = value; // // 2) for(udword i=0;iRelease(); (x) = null; } //!< Safe D3D-style release #define SAFE_DESTRUCT(x) if (x) { (x)->SelfDestruct(); (x) = null; } //!< Safe ICE-style release #ifdef __ICEERROR_H__ #define CHECKALLOC(x) if(!x) return SetIceError("Out of memory.", EC_OUT_OF_MEMORY); //!< Standard alloc checking. HANDLE WITH CARE. #else #define CHECKALLOC(x) if(!x) return false; #endif //! Standard allocation cycle #define SAFE_ALLOC(ptr, type, count) DELETEARRAY(ptr); ptr = new type[count]; CHECKALLOC(ptr); #endif // __ICEMEMORYMACROS_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/Ice/IcePoint.cpp0000664000000000000000000001640412741425367023412 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains code for 3D vectors. * \file IcePoint.cpp * \author Pierre Terdiman * \date April, 4, 2000 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * 3D point. * * The name is "Point" instead of "Vector" since a vector is N-dimensional, whereas a point is an implicit "vector of dimension 3". * So the choice was between "Point" and "Vector3", the first one looked better (IMHO). * * Some people, then, use a typedef to handle both points & vectors using the same class: typedef Point Vector3; * This is bad since it opens the door to a lot of confusion while reading the code. I know it may sounds weird but check this out: * * \code * Point P0,P1 = some 3D points; * Point Delta = P1 - P0; * \endcode * * This compiles fine, although you should have written: * * \code * Point P0,P1 = some 3D points; * Vector3 Delta = P1 - P0; * \endcode * * Subtle things like this are not caught at compile-time, and when you find one in the code, you never know whether it's a mistake * from the author or something you don't get. * * One way to handle it at compile-time would be to use different classes for Point & Vector3, only overloading operator "-" for vectors. * But then, you get a lot of redundant code in thoses classes, and basically it's really a lot of useless work. * * Another way would be to use homogeneous points: w=1 for points, w=0 for vectors. That's why the HPoint class exists. Now, to store * your model's vertices and in most cases, you really want to use Points to save ram. * * \class Point * \author Pierre Terdiman * \version 1.0 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Precompiled Header #include "Stdafx.h" using namespace IceMaths; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Creates a positive unit random vector. * \return Self-reference */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// Point& Point::PositiveUnitRandomVector() { x = UnitRandomFloat(); y = UnitRandomFloat(); z = UnitRandomFloat(); Normalize(); return *this; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Creates a unit random vector. * \return Self-reference */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// Point& Point::UnitRandomVector() { x = UnitRandomFloat() - 0.5f; y = UnitRandomFloat() - 0.5f; z = UnitRandomFloat() - 0.5f; Normalize(); return *this; } // Cast operator // WARNING: not inlined Point::operator HPoint() const { return HPoint(x, y, z, 0.0f); } Point& Point::Refract(const Point& eye, const Point& n, float refractindex, Point& refracted) { // Point EyePt = eye position // Point p = current vertex // Point n = vertex normal // Point rv = refracted vector // Eye vector - doesn't need to be normalized Point Env; Env.x = eye.x - x; Env.y = eye.y - y; Env.z = eye.z - z; float NDotE = n|Env; float NDotN = n|n; NDotE /= refractindex; // Refracted vector refracted = n*NDotE - Env*NDotN; return *this; } Point& Point::ProjectToPlane(const Plane& p) { *this-= (p.d + (*this|p.n))*p.n; return *this; } void Point::ProjectToScreen(float halfrenderwidth, float halfrenderheight, const Matrix4x4& mat, HPoint& projected) const { projected = HPoint(x, y, z, 1.0f) * mat; projected.w = 1.0f / projected.w; projected.x*=projected.w; projected.y*=projected.w; projected.z*=projected.w; projected.x *= halfrenderwidth; projected.x += halfrenderwidth; projected.y *= -halfrenderheight; projected.y += halfrenderheight; } void Point::SetNotUsed() { // We use a particular integer pattern : 0xffffffff everywhere. This is a NAN. IR(x) = 0xffffffff; IR(y) = 0xffffffff; IR(z) = 0xffffffff; } BOOL Point::IsNotUsed() const { if(IR(x)!=0xffffffff) return FALSE; if(IR(y)!=0xffffffff) return FALSE; if(IR(z)!=0xffffffff) return FALSE; return TRUE; } Point& Point::Mult(const Matrix3x3& mat, const Point& a) { x = a.x * mat.m[0][0] + a.y * mat.m[0][1] + a.z * mat.m[0][2]; y = a.x * mat.m[1][0] + a.y * mat.m[1][1] + a.z * mat.m[1][2]; z = a.x * mat.m[2][0] + a.y * mat.m[2][1] + a.z * mat.m[2][2]; return *this; } Point& Point::Mult2(const Matrix3x3& mat1, const Point& a1, const Matrix3x3& mat2, const Point& a2) { x = a1.x * mat1.m[0][0] + a1.y * mat1.m[0][1] + a1.z * mat1.m[0][2] + a2.x * mat2.m[0][0] + a2.y * mat2.m[0][1] + a2.z * mat2.m[0][2]; y = a1.x * mat1.m[1][0] + a1.y * mat1.m[1][1] + a1.z * mat1.m[1][2] + a2.x * mat2.m[1][0] + a2.y * mat2.m[1][1] + a2.z * mat2.m[1][2]; z = a1.x * mat1.m[2][0] + a1.y * mat1.m[2][1] + a1.z * mat1.m[2][2] + a2.x * mat2.m[2][0] + a2.y * mat2.m[2][1] + a2.z * mat2.m[2][2]; return *this; } Point& Point::Mac(const Matrix3x3& mat, const Point& a) { x += a.x * mat.m[0][0] + a.y * mat.m[0][1] + a.z * mat.m[0][2]; y += a.x * mat.m[1][0] + a.y * mat.m[1][1] + a.z * mat.m[1][2]; z += a.x * mat.m[2][0] + a.y * mat.m[2][1] + a.z * mat.m[2][2]; return *this; } Point& Point::TransMult(const Matrix3x3& mat, const Point& a) { x = a.x * mat.m[0][0] + a.y * mat.m[1][0] + a.z * mat.m[2][0]; y = a.x * mat.m[0][1] + a.y * mat.m[1][1] + a.z * mat.m[2][1]; z = a.x * mat.m[0][2] + a.y * mat.m[1][2] + a.z * mat.m[2][2]; return *this; } Point& Point::Transform(const Point& r, const Matrix3x3& rotpos, const Point& linpos) { x = r.x * rotpos.m[0][0] + r.y * rotpos.m[0][1] + r.z * rotpos.m[0][2] + linpos.x; y = r.x * rotpos.m[1][0] + r.y * rotpos.m[1][1] + r.z * rotpos.m[1][2] + linpos.y; z = r.x * rotpos.m[2][0] + r.y * rotpos.m[2][1] + r.z * rotpos.m[2][2] + linpos.z; return *this; } Point& Point::InvTransform(const Point& r, const Matrix3x3& rotpos, const Point& linpos) { float sx = r.x - linpos.x; float sy = r.y - linpos.y; float sz = r.z - linpos.z; x = sx * rotpos.m[0][0] + sy * rotpos.m[1][0] + sz * rotpos.m[2][0]; y = sx * rotpos.m[0][1] + sy * rotpos.m[1][1] + sz * rotpos.m[2][1]; z = sx * rotpos.m[0][2] + sy * rotpos.m[1][2] + sz * rotpos.m[2][2]; return *this; } choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/Ice/IceContainer.cpp0000664000000000000000000003323212741425367024241 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains a simple container class. * \file IceContainer.cpp * \author Pierre Terdiman * \date February, 5, 2000 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains a list of 32-bits values. * Use this class when you need to store an unknown number of values. The list is automatically * resized and can contains 32-bits entities (dwords or floats) * * \class Container * \author Pierre Terdiman * \version 1.0 * \date 08.15.98 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Precompiled Header #include "Stdafx.h" using namespace IceCore; // Static members #ifdef CONTAINER_STATS udword Container::mNbContainers = 0; udword Container::mUsedRam = 0; #endif /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Constructor. No entries allocated there. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// Container::Container() : mMaxNbEntries(0), mCurNbEntries(0), mEntries(null), mGrowthFactor(2.0f) { #ifdef CONTAINER_STATS mNbContainers++; mUsedRam+=sizeof(Container); #endif } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Constructor. Also allocates a given number of entries. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// Container::Container(udword size, float growth_factor) : mMaxNbEntries(0), mCurNbEntries(0), mEntries(null), mGrowthFactor(growth_factor) { #ifdef CONTAINER_STATS mNbContainers++; mUsedRam+=sizeof(Container); #endif SetSize(size); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Copy constructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// Container::Container(const Container& object) : mMaxNbEntries(0), mCurNbEntries(0), mEntries(null), mGrowthFactor(2.0f) { #ifdef CONTAINER_STATS mNbContainers++; mUsedRam+=sizeof(Container); #endif *this = object; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Destructor. Frees everything and leaves. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// Container::~Container() { Empty(); #ifdef CONTAINER_STATS mNbContainers--; mUsedRam-=GetUsedRam(); #endif } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Clears the container. All stored values are deleted, and it frees used ram. * \see Reset() * \return Self-Reference */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// Container& Container::Empty() { #ifdef CONTAINER_STATS mUsedRam-=mMaxNbEntries*sizeof(udword); #endif DELETEARRAY(mEntries); mCurNbEntries = mMaxNbEntries = 0; return *this; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Resizes the container. * \param needed [in] assume the container can be added at least "needed" values * \return true if success. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool Container::Resize(udword needed) { #ifdef CONTAINER_STATS // Subtract previous amount of bytes mUsedRam-=mMaxNbEntries*sizeof(udword); #endif // Get more entries mMaxNbEntries = mMaxNbEntries ? udword(float(mMaxNbEntries)*mGrowthFactor) : 2; // Default nb Entries = 2 if(mMaxNbEntries pt = mP0, t=1 => pt = mP1] */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ void ComputePoint(Point& pt, float t) const { pt = mP0 + t * (mP1 - mP0); } float SquareDistance(const Point& point, float* t=null) const; inline_ float Distance(const Point& point, float* t=null) const { return sqrtf(SquareDistance(point, t)); } Point mP0; //!< Start of segment Point mP1; //!< End of segment }; #endif // __ICESEGMENT_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/Ice/IceTriangle.cpp0000664000000000000000000003015212741425367024062 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains a handy triangle class. * \file IceTriangle.cpp * \author Pierre Terdiman * \date January, 17, 2000 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Precompiled Header #include "Stdafx.h" using namespace IceMaths; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains a triangle class. * * \class Tri * \author Pierre Terdiman * \version 1.0 * \date 08.15.98 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// static sdword VPlaneSideEps(const Point& v, const Plane& plane, float epsilon) { // Compute distance from current vertex to the plane float Dist = plane.Distance(v); // Compute side: // 1 = the vertex is on the positive side of the plane // -1 = the vertex is on the negative side of the plane // 0 = the vertex is on the plane (within epsilon) return Dist > epsilon ? 1 : Dist < -epsilon ? -1 : 0; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Flips the winding order. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void Triangle::Flip() { Point Tmp = mVerts[1]; mVerts[1] = mVerts[2]; mVerts[2] = Tmp; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the triangle area. * \return the area */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// float Triangle::Area() const { const Point& p0 = mVerts[0]; const Point& p1 = mVerts[1]; const Point& p2 = mVerts[2]; return ((p0 - p1)^(p0 - p2)).Magnitude() * 0.5f; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the triangle perimeter. * \return the perimeter */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// float Triangle::Perimeter() const { const Point& p0 = mVerts[0]; const Point& p1 = mVerts[1]; const Point& p2 = mVerts[2]; return p0.Distance(p1) + p0.Distance(p2) + p1.Distance(p2); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the triangle compacity. * \return the compacity */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// float Triangle::Compacity() const { float P = Perimeter(); if(P==0.0f) return 0.0f; return (4.0f*PI*Area()/(P*P)); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the triangle normal. * \param normal [out] the computed normal */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void Triangle::Normal(Point& normal) const { const Point& p0 = mVerts[0]; const Point& p1 = mVerts[1]; const Point& p2 = mVerts[2]; normal = ((p0 - p1)^(p0 - p2)).Normalize(); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the triangle denormalized normal. * \param normal [out] the computed normal */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void Triangle::DenormalizedNormal(Point& normal) const { const Point& p0 = mVerts[0]; const Point& p1 = mVerts[1]; const Point& p2 = mVerts[2]; normal = ((p0 - p1)^(p0 - p2)); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the triangle center. * \param center [out] the computed center */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void Triangle::Center(Point& center) const { const Point& p0 = mVerts[0]; const Point& p1 = mVerts[1]; const Point& p2 = mVerts[2]; center = (p0 + p1 + p2)*INV3; } PartVal Triangle::TestAgainstPlane(const Plane& plane, float epsilon) const { bool Pos = false, Neg = false; // Loop through all vertices for(udword i=0;i<3;i++) { // Compute side: sdword Side = VPlaneSideEps(mVerts[i], plane, epsilon); if (Side < 0) Neg = true; else if (Side > 0) Pos = true; } if (!Pos && !Neg) return TRI_ON_PLANE; else if (Pos && Neg) return TRI_INTERSECT; else if (Pos && !Neg) return TRI_PLUS_SPACE; else if (!Pos && Neg) return TRI_MINUS_SPACE; // What?! return TRI_FORCEDWORD; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the triangle moment. * \param m [out] the moment */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* void Triangle::ComputeMoment(Moment& m) { // Compute the area of the triangle m.mArea = Area(); // Compute the centroid Center(m.mCentroid); // Second-order components. Handle zero-area faces. Point& p = mVerts[0]; Point& q = mVerts[1]; Point& r = mVerts[2]; if(m.mArea==0.0f) { // This triangle has zero area. The second order components would be eliminated with the usual formula, so, for the // sake of robustness we use an alternative form. These are the centroid and second-order components of the triangle's vertices. m.mCovariance.m[0][0] = (p.x*p.x + q.x*q.x + r.x*r.x); m.mCovariance.m[0][1] = (p.x*p.y + q.x*q.y + r.x*r.y); m.mCovariance.m[0][2] = (p.x*p.z + q.x*q.z + r.x*r.z); m.mCovariance.m[1][1] = (p.y*p.y + q.y*q.y + r.y*r.y); m.mCovariance.m[1][2] = (p.y*p.z + q.y*q.z + r.y*r.z); m.mCovariance.m[2][2] = (p.z*p.z + q.z*q.z + r.z*r.z); m.mCovariance.m[2][1] = m.mCovariance.m[1][2]; m.mCovariance.m[1][0] = m.mCovariance.m[0][1]; m.mCovariance.m[2][0] = m.mCovariance.m[0][2]; } else { const float OneOverTwelve = 1.0f / 12.0f; m.mCovariance.m[0][0] = m.mArea * (9.0f * m.mCentroid.x*m.mCentroid.x + p.x*p.x + q.x*q.x + r.x*r.x) * OneOverTwelve; m.mCovariance.m[0][1] = m.mArea * (9.0f * m.mCentroid.x*m.mCentroid.y + p.x*p.y + q.x*q.y + r.x*r.y) * OneOverTwelve; m.mCovariance.m[1][1] = m.mArea * (9.0f * m.mCentroid.y*m.mCentroid.y + p.y*p.y + q.y*q.y + r.y*r.y) * OneOverTwelve; m.mCovariance.m[0][2] = m.mArea * (9.0f * m.mCentroid.x*m.mCentroid.z + p.x*p.z + q.x*q.z + r.x*r.z) * OneOverTwelve; m.mCovariance.m[1][2] = m.mArea * (9.0f * m.mCentroid.y*m.mCentroid.z + p.y*p.z + q.y*q.z + r.y*r.z) * OneOverTwelve; m.mCovariance.m[2][2] = m.mArea * (9.0f * m.mCentroid.z*m.mCentroid.z + p.z*p.z + q.z*q.z + r.z*r.z) * OneOverTwelve; m.mCovariance.m[2][1] = m.mCovariance.m[1][2]; m.mCovariance.m[1][0] = m.mCovariance.m[0][1]; m.mCovariance.m[2][0] = m.mCovariance.m[0][2]; } } */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the triangle's smallest edge length. * \return the smallest edge length */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// float Triangle::MinEdgeLength() const { float Min = MAX_FLOAT; float Length01 = mVerts[0].Distance(mVerts[1]); float Length02 = mVerts[0].Distance(mVerts[2]); float Length12 = mVerts[1].Distance(mVerts[2]); if(Length01 < Min) Min = Length01; if(Length02 < Min) Min = Length02; if(Length12 < Min) Min = Length12; return Min; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the triangle's largest edge length. * \return the largest edge length */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// float Triangle::MaxEdgeLength() const { float Max = MIN_FLOAT; float Length01 = mVerts[0].Distance(mVerts[1]); float Length02 = mVerts[0].Distance(mVerts[2]); float Length12 = mVerts[1].Distance(mVerts[2]); if(Length01 > Max) Max = Length01; if(Length02 > Max) Max = Length02; if(Length12 > Max) Max = Length12; return Max; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes a point on the triangle according to the stabbing information. * \param u,v [in] point's barycentric coordinates * \param pt [out] point on triangle * \param nearvtx [out] index of nearest vertex */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void Triangle::ComputePoint(float u, float v, Point& pt, udword* nearvtx) const { // Compute point coordinates pt = (1.0f - u - v)*mVerts[0] + u*mVerts[1] + v*mVerts[2]; // Compute nearest vertex if needed if(nearvtx) { // Compute distance vector Point d(mVerts[0].SquareDistance(pt), // Distance^2 from vertex 0 to point on the face mVerts[1].SquareDistance(pt), // Distance^2 from vertex 1 to point on the face mVerts[2].SquareDistance(pt)); // Distance^2 from vertex 2 to point on the face // Get smallest distance *nearvtx = d.SmallestAxis(); } } void Triangle::Inflate(float fat_coeff, bool constant_border) { // Compute triangle center Point TriangleCenter; Center(TriangleCenter); // Don't normalize? // Normalize => add a constant border, regardless of triangle size // Don't => add more to big triangles for(udword i=0;i<3;i++) { Point v = mVerts[i] - TriangleCenter; if(constant_border) v.Normalize(); mVerts[i] += v * fat_coeff; } } choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/Ice/IceSegment.cpp0000664000000000000000000000361012741425367023716 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains code for segments. * \file IceSegment.cpp * \author Pierre Terdiman * \date April, 4, 2000 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Segment class. * A segment is defined by S(t) = mP0 * (1 - t) + mP1 * t, with 0 <= t <= 1 * Alternatively, a segment is S(t) = Origin + t * Direction for 0 <= t <= 1. * Direction is not necessarily unit length. The end points are Origin = mP0 and Origin + Direction = mP1. * * \class Segment * \author Pierre Terdiman * \version 1.0 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Precompiled Header #include "Stdafx.h" using namespace IceMaths; float Segment::SquareDistance(const Point& point, float* t) const { Point Diff = point - mP0; Point Dir = mP1 - mP0; float fT = Diff | Dir; if(fT<=0.0f) { fT = 0.0f; } else { float SqrLen= Dir.SquareMagnitude(); if(fT>=SqrLen) { fT = 1.0f; Diff -= Dir; } else { fT /= SqrLen; Diff -= fT*Dir; } } if(t) *t = fT; return Diff.SquareMagnitude(); } choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/Ice/IceMatrix4x4.h0000664000000000000000000005114512741425367023573 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains code for 4x4 matrices. * \file IceMatrix4x4.h * \author Pierre Terdiman * \date April, 4, 2000 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Include Guard #ifndef __ICEMATRIX4X4_H__ #define __ICEMATRIX4X4_H__ // Forward declarations class PRS; class PR; #define MATRIX4X4_EPSILON (1.0e-7f) class ICEMATHS_API Matrix4x4 { // void LUBackwardSubstitution( sdword *indx, float* b ); // void LUDecomposition( sdword* indx, float* d ); public: //! Empty constructor. inline_ Matrix4x4() {} //! Constructor from 16 values inline_ Matrix4x4( float m00, float m01, float m02, float m03, float m10, float m11, float m12, float m13, float m20, float m21, float m22, float m23, float m30, float m31, float m32, float m33) { m[0][0] = m00; m[0][1] = m01; m[0][2] = m02; m[0][3] = m03; m[1][0] = m10; m[1][1] = m11; m[1][2] = m12; m[1][3] = m13; m[2][0] = m20; m[2][1] = m21; m[2][2] = m22; m[2][3] = m23; m[3][0] = m30; m[3][1] = m31; m[3][2] = m32; m[3][3] = m33; } //! Copy constructor inline_ Matrix4x4(const Matrix4x4& mat) { CopyMemory(m, &mat.m, 16*sizeof(float)); } //! Destructor. inline_ ~Matrix4x4() {} //! Assign values (rotation only) inline_ Matrix4x4& Set( float m00, float m01, float m02, float m10, float m11, float m12, float m20, float m21, float m22) { m[0][0] = m00; m[0][1] = m01; m[0][2] = m02; m[1][0] = m10; m[1][1] = m11; m[1][2] = m12; m[2][0] = m20; m[2][1] = m21; m[2][2] = m22; return *this; } //! Assign values inline_ Matrix4x4& Set( float m00, float m01, float m02, float m03, float m10, float m11, float m12, float m13, float m20, float m21, float m22, float m23, float m30, float m31, float m32, float m33) { m[0][0] = m00; m[0][1] = m01; m[0][2] = m02; m[0][3] = m03; m[1][0] = m10; m[1][1] = m11; m[1][2] = m12; m[1][3] = m13; m[2][0] = m20; m[2][1] = m21; m[2][2] = m22; m[2][3] = m23; m[3][0] = m30; m[3][1] = m31; m[3][2] = m32; m[3][3] = m33; return *this; } //! Copy from a Matrix4x4 inline_ void Copy(const Matrix4x4& source) { CopyMemory(m, source.m, 16*sizeof(float)); } // Row-column access //! Returns a row. inline_ void GetRow(const udword r, HPoint& p) const { p.x=m[r][0]; p.y=m[r][1]; p.z=m[r][2]; p.w=m[r][3]; } //! Returns a row. inline_ void GetRow(const udword r, Point& p) const { p.x=m[r][0]; p.y=m[r][1]; p.z=m[r][2]; } //! Returns a row. inline_ const HPoint& GetRow(const udword r) const { return *(const HPoint*)&m[r][0]; } //! Returns a row. inline_ HPoint& GetRow(const udword r) { return *(HPoint*)&m[r][0]; } //! Sets a row. inline_ void SetRow(const udword r, const HPoint& p) { m[r][0]=p.x; m[r][1]=p.y; m[r][2]=p.z; m[r][3]=p.w; } //! Sets a row. inline_ void SetRow(const udword r, const Point& p) { m[r][0]=p.x; m[r][1]=p.y; m[r][2]=p.z; m[r][3]= (r!=3) ? 0.0f : 1.0f; } //! Returns a column. inline_ void GetCol(const udword c, HPoint& p) const { p.x=m[0][c]; p.y=m[1][c]; p.z=m[2][c]; p.w=m[3][c]; } //! Returns a column. inline_ void GetCol(const udword c, Point& p) const { p.x=m[0][c]; p.y=m[1][c]; p.z=m[2][c]; } //! Sets a column. inline_ void SetCol(const udword c, const HPoint& p) { m[0][c]=p.x; m[1][c]=p.y; m[2][c]=p.z; m[3][c]=p.w; } //! Sets a column. inline_ void SetCol(const udword c, const Point& p) { m[0][c]=p.x; m[1][c]=p.y; m[2][c]=p.z; m[3][c]= (c!=3) ? 0.0f : 1.0f; } // Translation //! Returns the translation part of the matrix. inline_ const HPoint& GetTrans() const { return GetRow(3); } //! Gets the translation part of the matrix inline_ void GetTrans(Point& p) const { p.x=m[3][0]; p.y=m[3][1]; p.z=m[3][2]; } //! Sets the translation part of the matrix, from a Point. inline_ void SetTrans(const Point& p) { m[3][0]=p.x; m[3][1]=p.y; m[3][2]=p.z; } //! Sets the translation part of the matrix, from a HPoint. inline_ void SetTrans(const HPoint& p) { m[3][0]=p.x; m[3][1]=p.y; m[3][2]=p.z; m[3][3]=p.w; } //! Sets the translation part of the matrix, from floats. inline_ void SetTrans(float tx, float ty, float tz) { m[3][0]=tx; m[3][1]=ty; m[3][2]=tz; } // Scale //! Sets the scale from a Point. The point is put on the diagonal. inline_ void SetScale(const Point& p) { m[0][0]=p.x; m[1][1]=p.y; m[2][2]=p.z; } //! Sets the scale from floats. Values are put on the diagonal. inline_ void SetScale(float sx, float sy, float sz) { m[0][0]=sx; m[1][1]=sy; m[2][2]=sz; } //! Scales from a Point. Each row is multiplied by a component. void Scale(const Point& p) { m[0][0] *= p.x; m[1][0] *= p.y; m[2][0] *= p.z; m[0][1] *= p.x; m[1][1] *= p.y; m[2][1] *= p.z; m[0][2] *= p.x; m[1][2] *= p.y; m[2][2] *= p.z; } //! Scales from floats. Each row is multiplied by a value. void Scale(float sx, float sy, float sz) { m[0][0] *= sx; m[1][0] *= sy; m[2][0] *= sz; m[0][1] *= sx; m[1][1] *= sy; m[2][1] *= sz; m[0][2] *= sx; m[1][2] *= sy; m[2][2] *= sz; } /* //! Returns a row. inline_ HPoint GetRow(const udword row) const { return mRow[row]; } //! Sets a row. inline_ Matrix4x4& SetRow(const udword row, const HPoint& p) { mRow[row] = p; return *this; } //! Sets a row. Matrix4x4& SetRow(const udword row, const Point& p) { m[row][0] = p.x; m[row][1] = p.y; m[row][2] = p.z; m[row][3] = (row != 3) ? 0.0f : 1.0f; return *this; } //! Returns a column. HPoint GetCol(const udword col) const { HPoint Res; Res.x = m[0][col]; Res.y = m[1][col]; Res.z = m[2][col]; Res.w = m[3][col]; return Res; } //! Sets a column. Matrix4x4& SetCol(const udword col, const HPoint& p) { m[0][col] = p.x; m[1][col] = p.y; m[2][col] = p.z; m[3][col] = p.w; return *this; } //! Sets a column. Matrix4x4& SetCol(const udword col, const Point& p) { m[0][col] = p.x; m[1][col] = p.y; m[2][col] = p.z; m[3][col] = (col != 3) ? 0.0f : 1.0f; return *this; } */ //! Computes the trace. The trace is the sum of the 4 diagonal components. inline_ float Trace() const { return m[0][0] + m[1][1] + m[2][2] + m[3][3]; } //! Computes the trace of the upper 3x3 matrix. inline_ float Trace3x3() const { return m[0][0] + m[1][1] + m[2][2]; } //! Clears the matrix. inline_ void Zero() { ZeroMemory(&m, sizeof(m)); } //! Sets the identity matrix. inline_ void Identity() { Zero(); m[0][0] = m[1][1] = m[2][2] = m[3][3] = 1.0f; } //! Checks for identity inline_ bool IsIdentity() const { if(IR(m[0][0])!=IEEE_1_0) return false; if(IR(m[0][1])!=0) return false; if(IR(m[0][2])!=0) return false; if(IR(m[0][3])!=0) return false; if(IR(m[1][0])!=0) return false; if(IR(m[1][1])!=IEEE_1_0) return false; if(IR(m[1][2])!=0) return false; if(IR(m[1][3])!=0) return false; if(IR(m[2][0])!=0) return false; if(IR(m[2][1])!=0) return false; if(IR(m[2][2])!=IEEE_1_0) return false; if(IR(m[2][3])!=0) return false; if(IR(m[3][0])!=0) return false; if(IR(m[3][1])!=0) return false; if(IR(m[3][2])!=0) return false; if(IR(m[3][3])!=IEEE_1_0) return false; return true; } //! Checks matrix validity inline_ BOOL IsValid() const { for(udword j=0;j<4;j++) { for(udword i=0;i<4;i++) { if(!IsValidFloat(m[j][i])) return FALSE; } } return TRUE; } //! Sets a rotation matrix around the X axis. void RotX(float angle) { float Cos = cosf(angle), Sin = sinf(angle); Identity(); m[1][1] = m[2][2] = Cos; m[2][1] = -Sin; m[1][2] = Sin; } //! Sets a rotation matrix around the Y axis. void RotY(float angle) { float Cos = cosf(angle), Sin = sinf(angle); Identity(); m[0][0] = m[2][2] = Cos; m[2][0] = Sin; m[0][2] = -Sin; } //! Sets a rotation matrix around the Z axis. void RotZ(float angle) { float Cos = cosf(angle), Sin = sinf(angle); Identity(); m[0][0] = m[1][1] = Cos; m[1][0] = -Sin; m[0][1] = Sin; } //! Makes a rotation matrix about an arbitrary axis Matrix4x4& Rot(float angle, Point& p1, Point& p2); //! Transposes the matrix. void Transpose() { IR(m[1][0]) ^= IR(m[0][1]); IR(m[0][1]) ^= IR(m[1][0]); IR(m[1][0]) ^= IR(m[0][1]); IR(m[2][0]) ^= IR(m[0][2]); IR(m[0][2]) ^= IR(m[2][0]); IR(m[2][0]) ^= IR(m[0][2]); IR(m[3][0]) ^= IR(m[0][3]); IR(m[0][3]) ^= IR(m[3][0]); IR(m[3][0]) ^= IR(m[0][3]); IR(m[1][2]) ^= IR(m[2][1]); IR(m[2][1]) ^= IR(m[1][2]); IR(m[1][2]) ^= IR(m[2][1]); IR(m[1][3]) ^= IR(m[3][1]); IR(m[3][1]) ^= IR(m[1][3]); IR(m[1][3]) ^= IR(m[3][1]); IR(m[2][3]) ^= IR(m[3][2]); IR(m[3][2]) ^= IR(m[2][3]); IR(m[2][3]) ^= IR(m[3][2]); } //! Computes a cofactor. Used for matrix inversion. float CoFactor(udword row, udword col) const; //! Computes the determinant of the matrix. float Determinant() const; //! Inverts the matrix. Determinant must be different from zero, else matrix can't be inverted. Matrix4x4& Invert(); // Matrix& ComputeAxisMatrix(Point& axis, float angle); // Cast operators //! Casts a Matrix4x4 to a Matrix3x3. inline_ operator Matrix3x3() const { return Matrix3x3( m[0][0], m[0][1], m[0][2], m[1][0], m[1][1], m[1][2], m[2][0], m[2][1], m[2][2]); } //! Casts a Matrix4x4 to a Quat. operator Quat() const; //! Casts a Matrix4x4 to a PR. operator PR() const; // Arithmetic operators //! Operator for Matrix4x4 Plus = Matrix4x4 + Matrix4x4; inline_ Matrix4x4 operator+(const Matrix4x4& mat) const { return Matrix4x4( m[0][0]+mat.m[0][0], m[0][1]+mat.m[0][1], m[0][2]+mat.m[0][2], m[0][3]+mat.m[0][3], m[1][0]+mat.m[1][0], m[1][1]+mat.m[1][1], m[1][2]+mat.m[1][2], m[1][3]+mat.m[1][3], m[2][0]+mat.m[2][0], m[2][1]+mat.m[2][1], m[2][2]+mat.m[2][2], m[2][3]+mat.m[2][3], m[3][0]+mat.m[3][0], m[3][1]+mat.m[3][1], m[3][2]+mat.m[3][2], m[3][3]+mat.m[3][3]); } //! Operator for Matrix4x4 Minus = Matrix4x4 - Matrix4x4; inline_ Matrix4x4 operator-(const Matrix4x4& mat) const { return Matrix4x4( m[0][0]-mat.m[0][0], m[0][1]-mat.m[0][1], m[0][2]-mat.m[0][2], m[0][3]-mat.m[0][3], m[1][0]-mat.m[1][0], m[1][1]-mat.m[1][1], m[1][2]-mat.m[1][2], m[1][3]-mat.m[1][3], m[2][0]-mat.m[2][0], m[2][1]-mat.m[2][1], m[2][2]-mat.m[2][2], m[2][3]-mat.m[2][3], m[3][0]-mat.m[3][0], m[3][1]-mat.m[3][1], m[3][2]-mat.m[3][2], m[3][3]-mat.m[3][3]); } //! Operator for Matrix4x4 Mul = Matrix4x4 * Matrix4x4; inline_ Matrix4x4 operator*(const Matrix4x4& mat) const { return Matrix4x4( m[0][0]*mat.m[0][0] + m[0][1]*mat.m[1][0] + m[0][2]*mat.m[2][0] + m[0][3]*mat.m[3][0], m[0][0]*mat.m[0][1] + m[0][1]*mat.m[1][1] + m[0][2]*mat.m[2][1] + m[0][3]*mat.m[3][1], m[0][0]*mat.m[0][2] + m[0][1]*mat.m[1][2] + m[0][2]*mat.m[2][2] + m[0][3]*mat.m[3][2], m[0][0]*mat.m[0][3] + m[0][1]*mat.m[1][3] + m[0][2]*mat.m[2][3] + m[0][3]*mat.m[3][3], m[1][0]*mat.m[0][0] + m[1][1]*mat.m[1][0] + m[1][2]*mat.m[2][0] + m[1][3]*mat.m[3][0], m[1][0]*mat.m[0][1] + m[1][1]*mat.m[1][1] + m[1][2]*mat.m[2][1] + m[1][3]*mat.m[3][1], m[1][0]*mat.m[0][2] + m[1][1]*mat.m[1][2] + m[1][2]*mat.m[2][2] + m[1][3]*mat.m[3][2], m[1][0]*mat.m[0][3] + m[1][1]*mat.m[1][3] + m[1][2]*mat.m[2][3] + m[1][3]*mat.m[3][3], m[2][0]*mat.m[0][0] + m[2][1]*mat.m[1][0] + m[2][2]*mat.m[2][0] + m[2][3]*mat.m[3][0], m[2][0]*mat.m[0][1] + m[2][1]*mat.m[1][1] + m[2][2]*mat.m[2][1] + m[2][3]*mat.m[3][1], m[2][0]*mat.m[0][2] + m[2][1]*mat.m[1][2] + m[2][2]*mat.m[2][2] + m[2][3]*mat.m[3][2], m[2][0]*mat.m[0][3] + m[2][1]*mat.m[1][3] + m[2][2]*mat.m[2][3] + m[2][3]*mat.m[3][3], m[3][0]*mat.m[0][0] + m[3][1]*mat.m[1][0] + m[3][2]*mat.m[2][0] + m[3][3]*mat.m[3][0], m[3][0]*mat.m[0][1] + m[3][1]*mat.m[1][1] + m[3][2]*mat.m[2][1] + m[3][3]*mat.m[3][1], m[3][0]*mat.m[0][2] + m[3][1]*mat.m[1][2] + m[3][2]*mat.m[2][2] + m[3][3]*mat.m[3][2], m[3][0]*mat.m[0][3] + m[3][1]*mat.m[1][3] + m[3][2]*mat.m[2][3] + m[3][3]*mat.m[3][3]); } //! Operator for HPoint Mul = Matrix4x4 * HPoint; inline_ HPoint operator*(const HPoint& v) const { return HPoint(GetRow(0)|v, GetRow(1)|v, GetRow(2)|v, GetRow(3)|v); } //! Operator for Point Mul = Matrix4x4 * Point; inline_ Point operator*(const Point& v) const { return Point( m[0][0]*v.x + m[0][1]*v.y + m[0][2]*v.z + m[0][3], m[1][0]*v.x + m[1][1]*v.y + m[1][2]*v.z + m[1][3], m[2][0]*v.x + m[2][1]*v.y + m[2][2]*v.z + m[2][3] ); } //! Operator for Matrix4x4 Scale = Matrix4x4 * float; inline_ Matrix4x4 operator*(float s) const { return Matrix4x4( m[0][0]*s, m[0][1]*s, m[0][2]*s, m[0][3]*s, m[1][0]*s, m[1][1]*s, m[1][2]*s, m[1][3]*s, m[2][0]*s, m[2][1]*s, m[2][2]*s, m[2][3]*s, m[3][0]*s, m[3][1]*s, m[3][2]*s, m[3][3]*s); } //! Operator for Matrix4x4 Scale = float * Matrix4x4; inline_ friend Matrix4x4 operator*(float s, const Matrix4x4& mat) { return Matrix4x4( s*mat.m[0][0], s*mat.m[0][1], s*mat.m[0][2], s*mat.m[0][3], s*mat.m[1][0], s*mat.m[1][1], s*mat.m[1][2], s*mat.m[1][3], s*mat.m[2][0], s*mat.m[2][1], s*mat.m[2][2], s*mat.m[2][3], s*mat.m[3][0], s*mat.m[3][1], s*mat.m[3][2], s*mat.m[3][3]); } //! Operator for Matrix4x4 Div = Matrix4x4 / float; inline_ Matrix4x4 operator/(float s) const { if(s) s = 1.0f / s; return Matrix4x4( m[0][0]*s, m[0][1]*s, m[0][2]*s, m[0][3]*s, m[1][0]*s, m[1][1]*s, m[1][2]*s, m[1][3]*s, m[2][0]*s, m[2][1]*s, m[2][2]*s, m[2][3]*s, m[3][0]*s, m[3][1]*s, m[3][2]*s, m[3][3]*s); } //! Operator for Matrix4x4 Div = float / Matrix4x4; inline_ friend Matrix4x4 operator/(float s, const Matrix4x4& mat) { return Matrix4x4( s/mat.m[0][0], s/mat.m[0][1], s/mat.m[0][2], s/mat.m[0][3], s/mat.m[1][0], s/mat.m[1][1], s/mat.m[1][2], s/mat.m[1][3], s/mat.m[2][0], s/mat.m[2][1], s/mat.m[2][2], s/mat.m[2][3], s/mat.m[3][0], s/mat.m[3][1], s/mat.m[3][2], s/mat.m[3][3]); } //! Operator for Matrix4x4 += Matrix4x4; inline_ Matrix4x4& operator+=(const Matrix4x4& mat) { m[0][0]+=mat.m[0][0]; m[0][1]+=mat.m[0][1]; m[0][2]+=mat.m[0][2]; m[0][3]+=mat.m[0][3]; m[1][0]+=mat.m[1][0]; m[1][1]+=mat.m[1][1]; m[1][2]+=mat.m[1][2]; m[1][3]+=mat.m[1][3]; m[2][0]+=mat.m[2][0]; m[2][1]+=mat.m[2][1]; m[2][2]+=mat.m[2][2]; m[2][3]+=mat.m[2][3]; m[3][0]+=mat.m[3][0]; m[3][1]+=mat.m[3][1]; m[3][2]+=mat.m[3][2]; m[3][3]+=mat.m[3][3]; return *this; } //! Operator for Matrix4x4 -= Matrix4x4; inline_ Matrix4x4& operator-=(const Matrix4x4& mat) { m[0][0]-=mat.m[0][0]; m[0][1]-=mat.m[0][1]; m[0][2]-=mat.m[0][2]; m[0][3]-=mat.m[0][3]; m[1][0]-=mat.m[1][0]; m[1][1]-=mat.m[1][1]; m[1][2]-=mat.m[1][2]; m[1][3]-=mat.m[1][3]; m[2][0]-=mat.m[2][0]; m[2][1]-=mat.m[2][1]; m[2][2]-=mat.m[2][2]; m[2][3]-=mat.m[2][3]; m[3][0]-=mat.m[3][0]; m[3][1]-=mat.m[3][1]; m[3][2]-=mat.m[3][2]; m[3][3]-=mat.m[3][3]; return *this; } //! Operator for Matrix4x4 *= Matrix4x4; Matrix4x4& operator*=(const Matrix4x4& mat) { HPoint TempRow; GetRow(0, TempRow); m[0][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0] + TempRow.w*mat.m[3][0]; m[0][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1] + TempRow.w*mat.m[3][1]; m[0][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2] + TempRow.w*mat.m[3][2]; m[0][3] = TempRow.x*mat.m[0][3] + TempRow.y*mat.m[1][3] + TempRow.z*mat.m[2][3] + TempRow.w*mat.m[3][3]; GetRow(1, TempRow); m[1][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0] + TempRow.w*mat.m[3][0]; m[1][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1] + TempRow.w*mat.m[3][1]; m[1][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2] + TempRow.w*mat.m[3][2]; m[1][3] = TempRow.x*mat.m[0][3] + TempRow.y*mat.m[1][3] + TempRow.z*mat.m[2][3] + TempRow.w*mat.m[3][3]; GetRow(2, TempRow); m[2][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0] + TempRow.w*mat.m[3][0]; m[2][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1] + TempRow.w*mat.m[3][1]; m[2][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2] + TempRow.w*mat.m[3][2]; m[2][3] = TempRow.x*mat.m[0][3] + TempRow.y*mat.m[1][3] + TempRow.z*mat.m[2][3] + TempRow.w*mat.m[3][3]; GetRow(3, TempRow); m[3][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0] + TempRow.w*mat.m[3][0]; m[3][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1] + TempRow.w*mat.m[3][1]; m[3][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2] + TempRow.w*mat.m[3][2]; m[3][3] = TempRow.x*mat.m[0][3] + TempRow.y*mat.m[1][3] + TempRow.z*mat.m[2][3] + TempRow.w*mat.m[3][3]; return *this; } //! Operator for Matrix4x4 *= float; inline_ Matrix4x4& operator*=(float s) { m[0][0]*=s; m[0][1]*=s; m[0][2]*=s; m[0][3]*=s; m[1][0]*=s; m[1][1]*=s; m[1][2]*=s; m[1][3]*=s; m[2][0]*=s; m[2][1]*=s; m[2][2]*=s; m[2][3]*=s; m[3][0]*=s; m[3][1]*=s; m[3][2]*=s; m[3][3]*=s; return *this; } //! Operator for Matrix4x4 /= float; inline_ Matrix4x4& operator/=(float s) { if(s) s = 1.0f / s; m[0][0]*=s; m[0][1]*=s; m[0][2]*=s; m[0][3]*=s; m[1][0]*=s; m[1][1]*=s; m[1][2]*=s; m[1][3]*=s; m[2][0]*=s; m[2][1]*=s; m[2][2]*=s; m[2][3]*=s; m[3][0]*=s; m[3][1]*=s; m[3][2]*=s; m[3][3]*=s; return *this; } inline_ const HPoint& operator[](int row) const { return *(const HPoint*)&m[row][0]; } inline_ HPoint& operator[](int row) { return *(HPoint*)&m[row][0]; } public: float m[4][4]; }; //! Quickly rotates & translates a vector, using the 4x3 part of a 4x4 matrix inline_ void TransformPoint4x3(Point& dest, const Point& source, const Matrix4x4& rot) { dest.x = rot.m[3][0] + source.x * rot.m[0][0] + source.y * rot.m[1][0] + source.z * rot.m[2][0]; dest.y = rot.m[3][1] + source.x * rot.m[0][1] + source.y * rot.m[1][1] + source.z * rot.m[2][1]; dest.z = rot.m[3][2] + source.x * rot.m[0][2] + source.y * rot.m[1][2] + source.z * rot.m[2][2]; } //! Quickly rotates a vector, using the 3x3 part of a 4x4 matrix inline_ void TransformPoint3x3(Point& dest, const Point& source, const Matrix4x4& rot) { dest.x = source.x * rot.m[0][0] + source.y * rot.m[1][0] + source.z * rot.m[2][0]; dest.y = source.x * rot.m[0][1] + source.y * rot.m[1][1] + source.z * rot.m[2][1]; dest.z = source.x * rot.m[0][2] + source.y * rot.m[1][2] + source.z * rot.m[2][2]; } ICEMATHS_API void InvertPRMatrix(Matrix4x4& dest, const Matrix4x4& src); #endif // __ICEMATRIX4X4_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/Ice/IceRevisitedRadix.h0000664000000000000000000000503212741425367024707 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains source code from the article "Radix Sort Revisited". * \file IceRevisitedRadix.h * \author Pierre Terdiman * \date April, 4, 2000 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Include Guard #ifndef __ICERADIXSORT_H__ #define __ICERADIXSORT_H__ //! Allocate histograms & offsets locally #define RADIX_LOCAL_RAM enum RadixHint { RADIX_SIGNED, //!< Input values are signed RADIX_UNSIGNED, //!< Input values are unsigned RADIX_FORCE_DWORD = 0x7fffffff }; class ICECORE_API RadixSort { public: // Constructor/Destructor RadixSort(); ~RadixSort(); // Sorting methods RadixSort& Sort(const udword* input, udword nb, RadixHint hint=RADIX_SIGNED); RadixSort& Sort(const float* input, udword nb); //! Access to results. mRanks is a list of indices in sorted order, i.e. in the order you may further process your data inline_ const udword* GetRanks() const { return mRanks; } //! mIndices2 gets trashed on calling the sort routine, but otherwise you can recycle it the way you want. inline_ udword* GetRecyclable() const { return mRanks2; } // Stats udword GetUsedRam() const; //! Returns the total number of calls to the radix sorter. inline_ udword GetNbTotalCalls() const { return mTotalCalls; } //! Returns the number of eraly exits due to temporal coherence. inline_ udword GetNbHits() const { return mNbHits; } private: #ifndef RADIX_LOCAL_RAM udword* mHistogram; //!< Counters for each byte udword* mOffset; //!< Offsets (nearly a cumulative distribution function) #endif udword mCurrentSize; //!< Current size of the indices list udword* mRanks; //!< Two lists, swapped each pass udword* mRanks2; // Stats udword mTotalCalls; //!< Total number of calls to the sort routine udword mNbHits; //!< Number of early exits due to coherence // Internal methods void CheckResize(udword nb); bool Resize(udword nb); }; #endif // __ICERADIXSORT_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/Ice/IceAABB.cpp0000664000000000000000000003756212741425367023016 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains AABB-related code. * \file IceAABB.cpp * \author Pierre Terdiman * \date January, 29, 2000 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * AABB class. * \class AABB * \author Pierre Terdiman * \version 1.0 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Precompiled Header #include "Stdafx.h" using namespace IceMaths; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the sum of two AABBs. * \param aabb [in] the other AABB * \return Self-Reference */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// AABB& AABB::Add(const AABB& aabb) { // Compute new min & max values Point Min; GetMin(Min); Point Tmp; aabb.GetMin(Tmp); Min.Min(Tmp); Point Max; GetMax(Max); aabb.GetMax(Tmp); Max.Max(Tmp); // Update this SetMinMax(Min, Max); return *this; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Makes a cube from the AABB. * \param cube [out] the cube AABB * \return cube edge length */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// float AABB::MakeCube(AABB& cube) const { Point Ext; GetExtents(Ext); float Max = Ext.Max(); Point Cnt; GetCenter(Cnt); cube.SetCenterExtents(Cnt, Point(Max, Max, Max)); return Max; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Makes a sphere from the AABB. * \param sphere [out] sphere containing the AABB */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void AABB::MakeSphere(Sphere& sphere) const { GetExtents(sphere.mCenter); sphere.mRadius = sphere.mCenter.Magnitude() * 1.00001f; // To make sure sphere::Contains(*this) succeeds GetCenter(sphere.mCenter); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Checks a box is inside another box. * \param box [in] the other AABB * \return true if current box is inside input box */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool AABB::IsInside(const AABB& box) const { if(box.GetMin(0)>GetMin(0)) return false; if(box.GetMin(1)>GetMin(1)) return false; if(box.GetMin(2)>GetMin(2)) return false; if(box.GetMax(0) max.x) ? 2 : 0) // 2 = right + ((local_eye.y < min.y) ? 4 : 0) // 4 = bottom + ((local_eye.y > max.y) ? 8 : 0) // 8 = top + ((local_eye.z < min.z) ? 16 : 0) // 16 = front + ((local_eye.z > max.z) ? 32 : 0); // 32 = back // Look up number of vertices in outline num = (sdword)gIndexList[pos][7]; // Zero indicates invalid case if(!num) return null; return &gIndexList[pos][0]; } // calculateBoxArea: computes the screen-projected 2D area of an oriented 3D bounding box //const Point& eye, //eye point (in bbox object coordinates) //const AABB& box, //3d bbox //const Matrix4x4& mat, //free transformation for bbox //float width, float height, int& num) float AABB::ComputeBoxArea(const Point& eye, const Matrix4x4& mat, float width, float height, sdword& num) const { const sbyte* Outline = ComputeOutline(eye, num); if(!Outline) return -1.0f; // Compute box vertices Point vertexBox[8], dst[8]; ComputePoints(vertexBox); // Transform all outline corners into 2D screen space for(sdword i=0;i (b) ? (a) : (b)) //!< Returns the max value between a and b #define MAXMAX(a,b,c) ((a) > (b) ? MAX (a,c) : MAX (b,c)) //!< Returns the max value between a, b and c template inline_ const T& TMin (const T& a, const T& b) { return b < a ? b : a; } template inline_ const T& TMax (const T& a, const T& b) { return a < b ? b : a; } template inline_ void TSetMin (T& a, const T& b) { if(a>b) a = b; } template inline_ void TSetMax (T& a, const T& b) { if(a=0.0f) return SquareDistance(sphere.mCenter) <= d*d; else return false; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Tests if an LSS is contained within the LSS. * \param lss [in] the LSS to test * \return true if inside the LSS * \warning both LSS must be in same space */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ bool Contains(const LSS& lss) { // We check the LSS contains the two spheres at the start and end of the sweep return Contains(Sphere(lss.mP0, lss.mRadius)) && Contains(Sphere(lss.mP0, lss.mRadius)); } float mRadius; //!< Sphere radius }; #endif // __ICELSS_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/Ice/IceAxes.h0000664000000000000000000000267212741425367022670 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains axes definition. * \file IceAxes.h * \author Pierre Terdiman * \date January, 29, 2000 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Include Guard #ifndef __ICEAXES_H__ #define __ICEAXES_H__ enum PointComponent { _X = 0, _Y = 1, _Z = 2, _W = 3, _FORCE_DWORD = 0x7fffffff }; enum AxisOrder { AXES_XYZ = (_X)|(_Y<<2)|(_Z<<4), AXES_XZY = (_X)|(_Z<<2)|(_Y<<4), AXES_YXZ = (_Y)|(_X<<2)|(_Z<<4), AXES_YZX = (_Y)|(_Z<<2)|(_X<<4), AXES_ZXY = (_Z)|(_X<<2)|(_Y<<4), AXES_ZYX = (_Z)|(_Y<<2)|(_X<<4), AXES_FORCE_DWORD = 0x7fffffff }; class ICEMATHS_API Axes { public: inline_ Axes(AxisOrder order) { mAxis0 = (order ) & 3; mAxis1 = (order>>2) & 3; mAxis2 = (order>>4) & 3; } inline_ ~Axes() {} udword mAxis0; udword mAxis1; udword mAxis2; }; #endif // __ICEAXES_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/Ice/IceFPU.h0000664000000000000000000002261312741425367022417 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains FPU related code. * \file IceFPU.h * \author Pierre Terdiman * \date April, 4, 2000 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Include Guard #ifndef __ICEFPU_H__ #define __ICEFPU_H__ #define SIGN_BITMASK 0x80000000 //! Integer representation of a floating-point value. #define IR(x) ((udword&)(x)) //! Signed integer representation of a floating-point value. #define SIR(x) ((sdword&)(x)) //! Absolute integer representation of a floating-point value #define AIR(x) (IR(x)&0x7fffffff) //! Floating-point representation of an integer value. #define FR(x) ((float&)(x)) //! Integer-based comparison of a floating point value. //! Don't use it blindly, it can be faster or slower than the FPU comparison, depends on the context. //#define IS_NEGATIVE_FLOAT(x) (IR(x)&0x80000000) #define IS_NEGATIVE_FLOAT(x) ((x)<0) //! Fast fabs for floating-point values. It just clears the sign bit. //! Don't use it blindy, it can be faster or slower than the FPU comparison, depends on the context. inline_ float FastFabs(float x) { udword FloatBits = IR(x)&0x7fffffff; return FR(FloatBits); } //! Fast square root for floating-point values. inline_ float FastSqrt(float square) { #if defined(_MSC_VER) && not defined(_WIN64) float retval; __asm { mov eax, square sub eax, 0x3F800000 sar eax, 1 add eax, 0x3F800000 mov [retval], eax } return retval; #else return sqrt(square); #endif } //! Saturates positive to zero. inline_ float fsat(float f) { udword y = (udword&)f & ~((sdword&)f >>31); return (float&)y; } //! Computes 1.0f / sqrtf(x). inline_ float frsqrt(float f) { float x = f * 0.5f; udword y = 0x5f3759df - ((udword&)f >> 1); // Iteration... (float&)y = (float&)y * ( 1.5f - ( x * (float&)y * (float&)y ) ); // Result return (float&)y; } //! Computes 1.0f / sqrtf(x). Comes from NVIDIA. inline_ float InvSqrt(const float& x) { udword tmp = (udword(IEEE_1_0 << 1) + IEEE_1_0 - *(udword*)&x) >> 1; float y = *(float*)&tmp; return y * (1.47f - 0.47f * x * y * y); } //! Computes 1.0f / sqrtf(x). Comes from Quake3. Looks like the first one I had above. //! See http://www.magic-software.com/3DGEDInvSqrt.html inline_ float RSqrt(float number) { long i; float x2, y; const float threehalfs = 1.5f; x2 = number * 0.5f; y = number; i = * (long *) &y; i = 0x5f3759df - (i >> 1); y = * (float *) &i; y = y * (threehalfs - (x2 * y * y)); return y; } //! TO BE DOCUMENTED inline_ float fsqrt(float f) { udword y = ( ( (sdword&)f - 0x3f800000 ) >> 1 ) + 0x3f800000; // Iteration...? // (float&)y = (3.0f - ((float&)y * (float&)y) / f) * (float&)y * 0.5f; // Result return (float&)y; } //! Returns the float ranged espilon value. inline_ float fepsilon(float f) { udword b = (udword&)f & 0xff800000; udword a = b | 0x00000001; (float&)a -= (float&)b; // Result return (float&)a; } //! Is the float valid ? inline_ bool IsNAN(float value) { return (IR(value)&0x7f800000) == 0x7f800000; } inline_ bool IsIndeterminate(float value) { return IR(value) == 0xffc00000; } inline_ bool IsPlusInf(float value) { return IR(value) == 0x7f800000; } inline_ bool IsMinusInf(float value) { return IR(value) == 0xff800000; } inline_ bool IsValidFloat(float value) { if(IsNAN(value)) return false; if(IsIndeterminate(value)) return false; if(IsPlusInf(value)) return false; if(IsMinusInf(value)) return false; return true; } #define CHECK_VALID_FLOAT(x) ASSERT(IsValidFloat(x)); /* //! FPU precision setting function. inline_ void SetFPU() { // This function evaluates whether the floating-point // control word is set to single precision/round to nearest/ // exceptions disabled. If these conditions don't hold, the // function changes the control word to set them and returns // TRUE, putting the old control word value in the passback // location pointed to by pwOldCW. { uword wTemp, wSave; __asm fstcw wSave if (wSave & 0x300 || // Not single mode 0x3f != (wSave & 0x3f) || // Exceptions enabled wSave & 0xC00) // Not round to nearest mode { __asm { mov ax, wSave and ax, not 300h ;; single mode or ax, 3fh ;; disable all exceptions and ax, not 0xC00 ;; round to nearest mode mov wTemp, ax fldcw wTemp } } } } */ //! This function computes the slowest possible floating-point value (you can also directly use FLT_EPSILON) inline_ float ComputeFloatEpsilon() { float f = 1.0f; ((udword&)f)^=1; return f - 1.0f; // You can check it's the same as FLT_EPSILON } inline_ bool IsFloatZero(float x, float epsilon=1e-6f) { return x*x < epsilon; } #define FCOMI_ST0 _asm _emit 0xdb _asm _emit 0xf0 #define FCOMIP_ST0 _asm _emit 0xdf _asm _emit 0xf0 #define FCMOVB_ST0 _asm _emit 0xda _asm _emit 0xc0 #define FCMOVNB_ST0 _asm _emit 0xdb _asm _emit 0xc0 #define FCOMI_ST1 _asm _emit 0xdb _asm _emit 0xf1 #define FCOMIP_ST1 _asm _emit 0xdf _asm _emit 0xf1 #define FCMOVB_ST1 _asm _emit 0xda _asm _emit 0xc1 #define FCMOVNB_ST1 _asm _emit 0xdb _asm _emit 0xc1 #define FCOMI_ST2 _asm _emit 0xdb _asm _emit 0xf2 #define FCOMIP_ST2 _asm _emit 0xdf _asm _emit 0xf2 #define FCMOVB_ST2 _asm _emit 0xda _asm _emit 0xc2 #define FCMOVNB_ST2 _asm _emit 0xdb _asm _emit 0xc2 #define FCOMI_ST3 _asm _emit 0xdb _asm _emit 0xf3 #define FCOMIP_ST3 _asm _emit 0xdf _asm _emit 0xf3 #define FCMOVB_ST3 _asm _emit 0xda _asm _emit 0xc3 #define FCMOVNB_ST3 _asm _emit 0xdb _asm _emit 0xc3 #define FCOMI_ST4 _asm _emit 0xdb _asm _emit 0xf4 #define FCOMIP_ST4 _asm _emit 0xdf _asm _emit 0xf4 #define FCMOVB_ST4 _asm _emit 0xda _asm _emit 0xc4 #define FCMOVNB_ST4 _asm _emit 0xdb _asm _emit 0xc4 #define FCOMI_ST5 _asm _emit 0xdb _asm _emit 0xf5 #define FCOMIP_ST5 _asm _emit 0xdf _asm _emit 0xf5 #define FCMOVB_ST5 _asm _emit 0xda _asm _emit 0xc5 #define FCMOVNB_ST5 _asm _emit 0xdb _asm _emit 0xc5 #define FCOMI_ST6 _asm _emit 0xdb _asm _emit 0xf6 #define FCOMIP_ST6 _asm _emit 0xdf _asm _emit 0xf6 #define FCMOVB_ST6 _asm _emit 0xda _asm _emit 0xc6 #define FCMOVNB_ST6 _asm _emit 0xdb _asm _emit 0xc6 #define FCOMI_ST7 _asm _emit 0xdb _asm _emit 0xf7 #define FCOMIP_ST7 _asm _emit 0xdf _asm _emit 0xf7 #define FCMOVB_ST7 _asm _emit 0xda _asm _emit 0xc7 #define FCMOVNB_ST7 _asm _emit 0xdb _asm _emit 0xc7 //! A global function to find MAX(a,b) using FCOMI/FCMOV inline_ float FCMax2(float a, float b) { #if defined(_MSC_VER) && not defined(_WIN64) float Res; _asm fld [a] _asm fld [b] FCOMI_ST1 FCMOVB_ST1 _asm fstp [Res] _asm fcomp return Res; #else return (a > b) ? a : b; #endif } //! A global function to find MIN(a,b) using FCOMI/FCMOV inline_ float FCMin2(float a, float b) { #if defined(_MSC_VER) && not defined(_WIN64) float Res; _asm fld [a] _asm fld [b] FCOMI_ST1 FCMOVNB_ST1 _asm fstp [Res] _asm fcomp return Res; #else return (a < b) ? a : b; #endif } //! A global function to find MAX(a,b,c) using FCOMI/FCMOV inline_ float FCMax3(float a, float b, float c) { #if defined(_MSC_VER) && not defined(_WIN64) float Res; _asm fld [a] _asm fld [b] _asm fld [c] FCOMI_ST1 FCMOVB_ST1 FCOMI_ST2 FCMOVB_ST2 _asm fstp [Res] _asm fcompp return Res; #else return (a > b) ? ((a > c) ? a : c) : ((b > c) ? b : c); #endif } //! A global function to find MIN(a,b,c) using FCOMI/FCMOV inline_ float FCMin3(float a, float b, float c) { #if defined(_MSC_VER) && not defined(_WIN64) float Res; _asm fld [a] _asm fld [b] _asm fld [c] FCOMI_ST1 FCMOVNB_ST1 FCOMI_ST2 FCMOVNB_ST2 _asm fstp [Res] _asm fcompp return Res; #else return (a < b) ? ((a < c) ? a : c) : ((b < c) ? b : c); #endif } inline_ int ConvertToSortable(float f) { int& Fi = (int&)f; int Fmask = (Fi>>31); Fi ^= Fmask; Fmask &= ~(1<<31); Fi -= Fmask; return Fi; } enum FPUMode { FPU_FLOOR = 0, FPU_CEIL = 1, FPU_BEST = 2, FPU_FORCE_DWORD = 0x7fffffff }; FUNCTION ICECORE_API FPUMode GetFPUMode(); FUNCTION ICECORE_API void SaveFPU(); FUNCTION ICECORE_API void RestoreFPU(); FUNCTION ICECORE_API void SetFPUFloorMode(); FUNCTION ICECORE_API void SetFPUCeilMode(); FUNCTION ICECORE_API void SetFPUBestMode(); FUNCTION ICECORE_API void SetFPUPrecision24(); FUNCTION ICECORE_API void SetFPUPrecision53(); FUNCTION ICECORE_API void SetFPUPrecision64(); FUNCTION ICECORE_API void SetFPURoundingChop(); FUNCTION ICECORE_API void SetFPURoundingUp(); FUNCTION ICECORE_API void SetFPURoundingDown(); FUNCTION ICECORE_API void SetFPURoundingNear(); FUNCTION ICECORE_API int intChop(const float& f); FUNCTION ICECORE_API int intFloor(const float& f); FUNCTION ICECORE_API int intCeil(const float& f); #endif // __ICEFPU_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/Ice/IceMatrix3x3.cpp0000664000000000000000000000346312741425367024124 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains code for 3x3 matrices. * \file IceMatrix3x3.cpp * \author Pierre Terdiman * \date April, 4, 2000 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * 3x3 matrix. * DirectX-compliant, ie row-column order, ie m[Row][Col]. * Same as: * m11 m12 m13 first row. * m21 m22 m23 second row. * m31 m32 m33 third row. * Stored in memory as m11 m12 m13 m21... * * Multiplication rules: * * [x'y'z'] = [xyz][M] * * x' = x*m11 + y*m21 + z*m31 * y' = x*m12 + y*m22 + z*m32 * z' = x*m13 + y*m23 + z*m33 * * \class Matrix3x3 * \author Pierre Terdiman * \version 1.0 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Precompiled Header #include "Stdafx.h" using namespace IceMaths; // Cast operator Matrix3x3::operator Matrix4x4() const { return Matrix4x4( m[0][0], m[0][1], m[0][2], 0.0f, m[1][0], m[1][1], m[1][2], 0.0f, m[2][0], m[2][1], m[2][2], 0.0f, 0.0f, 0.0f, 0.0f, 1.0f); } choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/Ice/IcePoint.h0000664000000000000000000004652112741425367023062 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains code for 3D vectors. * \file IcePoint.h * \author Pierre Terdiman * \date April, 4, 2000 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Include Guard #ifndef __ICEPOINT_H__ #define __ICEPOINT_H__ // Forward declarations class HPoint; class Plane; class Matrix3x3; class Matrix4x4; #define CROSS2D(a, b) (a.x*b.y - b.x*a.y) const float EPSILON2 = 1.0e-20f; class ICEMATHS_API Point { public: //! Empty constructor inline_ Point() {} //! Constructor from a single float // inline_ Point(float val) : x(val), y(val), z(val) {} // Removed since it introduced the nasty "Point T = *Matrix4x4.GetTrans();" bug....... //! Constructor from floats inline_ Point(float _x, float _y, float _z) : x(_x), y(_y), z(_z) {} //! Constructor from array inline_ Point(const float f[3]) : x(f[_X]), y(f[_Y]), z(f[_Z]) {} //! Copy constructor inline_ Point(const Point& p) : x(p.x), y(p.y), z(p.z) {} //! Destructor inline_ ~Point() {} //! Clears the vector inline_ Point& Zero() { x = y = z = 0.0f; return *this; } //! + infinity inline_ Point& SetPlusInfinity() { x = y = z = MAX_FLOAT; return *this; } //! - infinity inline_ Point& SetMinusInfinity() { x = y = z = MIN_FLOAT; return *this; } //! Sets positive unit random vector Point& PositiveUnitRandomVector(); //! Sets unit random vector Point& UnitRandomVector(); //! Assignment from values inline_ Point& Set(float _x, float _y, float _z) { x = _x; y = _y; z = _z; return *this; } //! Assignment from array inline_ Point& Set(const float f[3]) { x = f[_X]; y = f[_Y]; z = f[_Z]; return *this; } //! Assignment from another point inline_ Point& Set(const Point& src) { x = src.x; y = src.y; z = src.z; return *this; } //! Adds a vector inline_ Point& Add(const Point& p) { x += p.x; y += p.y; z += p.z; return *this; } //! Adds a vector inline_ Point& Add(float _x, float _y, float _z) { x += _x; y += _y; z += _z; return *this; } //! Adds a vector inline_ Point& Add(const float f[3]) { x += f[_X]; y += f[_Y]; z += f[_Z]; return *this; } //! Adds vectors inline_ Point& Add(const Point& p, const Point& q) { x = p.x+q.x; y = p.y+q.y; z = p.z+q.z; return *this; } //! Subtracts a vector inline_ Point& Sub(const Point& p) { x -= p.x; y -= p.y; z -= p.z; return *this; } //! Subtracts a vector inline_ Point& Sub(float _x, float _y, float _z) { x -= _x; y -= _y; z -= _z; return *this; } //! Subtracts a vector inline_ Point& Sub(const float f[3]) { x -= f[_X]; y -= f[_Y]; z -= f[_Z]; return *this; } //! Subtracts vectors inline_ Point& Sub(const Point& p, const Point& q) { x = p.x-q.x; y = p.y-q.y; z = p.z-q.z; return *this; } //! this = -this inline_ Point& Neg() { x = -x; y = -y; z = -z; return *this; } //! this = -a inline_ Point& Neg(const Point& a) { x = -a.x; y = -a.y; z = -a.z; return *this; } //! Multiplies by a scalar inline_ Point& Mult(float s) { x *= s; y *= s; z *= s; return *this; } //! this = a * scalar inline_ Point& Mult(const Point& a, float scalar) { x = a.x * scalar; y = a.y * scalar; z = a.z * scalar; return *this; } //! this = a + b * scalar inline_ Point& Mac(const Point& a, const Point& b, float scalar) { x = a.x + b.x * scalar; y = a.y + b.y * scalar; z = a.z + b.z * scalar; return *this; } //! this = this + a * scalar inline_ Point& Mac(const Point& a, float scalar) { x += a.x * scalar; y += a.y * scalar; z += a.z * scalar; return *this; } //! this = a - b * scalar inline_ Point& Msc(const Point& a, const Point& b, float scalar) { x = a.x - b.x * scalar; y = a.y - b.y * scalar; z = a.z - b.z * scalar; return *this; } //! this = this - a * scalar inline_ Point& Msc(const Point& a, float scalar) { x -= a.x * scalar; y -= a.y * scalar; z -= a.z * scalar; return *this; } //! this = a + b * scalarb + c * scalarc inline_ Point& Mac2(const Point& a, const Point& b, float scalarb, const Point& c, float scalarc) { x = a.x + b.x * scalarb + c.x * scalarc; y = a.y + b.y * scalarb + c.y * scalarc; z = a.z + b.z * scalarb + c.z * scalarc; return *this; } //! this = a - b * scalarb - c * scalarc inline_ Point& Msc2(const Point& a, const Point& b, float scalarb, const Point& c, float scalarc) { x = a.x - b.x * scalarb - c.x * scalarc; y = a.y - b.y * scalarb - c.y * scalarc; z = a.z - b.z * scalarb - c.z * scalarc; return *this; } //! this = mat * a inline_ Point& Mult(const Matrix3x3& mat, const Point& a); //! this = mat1 * a1 + mat2 * a2 inline_ Point& Mult2(const Matrix3x3& mat1, const Point& a1, const Matrix3x3& mat2, const Point& a2); //! this = this + mat * a inline_ Point& Mac(const Matrix3x3& mat, const Point& a); //! this = transpose(mat) * a inline_ Point& TransMult(const Matrix3x3& mat, const Point& a); //! Linear interpolate between two vectors: this = a + t * (b - a) inline_ Point& Lerp(const Point& a, const Point& b, float t) { x = a.x + t * (b.x - a.x); y = a.y + t * (b.y - a.y); z = a.z + t * (b.z - a.z); return *this; } //! Hermite interpolate between p1 and p2. p0 and p3 are used for finding gradient at p1 and p2. //! this = p0 * (2t^2 - t^3 - t)/2 //! + p1 * (3t^3 - 5t^2 + 2)/2 //! + p2 * (4t^2 - 3t^3 + t)/2 //! + p3 * (t^3 - t^2)/2 inline_ Point& Herp(const Point& p0, const Point& p1, const Point& p2, const Point& p3, float t) { float t2 = t * t; float t3 = t2 * t; float kp0 = (2.0f * t2 - t3 - t) * 0.5f; float kp1 = (3.0f * t3 - 5.0f * t2 + 2.0f) * 0.5f; float kp2 = (4.0f * t2 - 3.0f * t3 + t) * 0.5f; float kp3 = (t3 - t2) * 0.5f; x = p0.x * kp0 + p1.x * kp1 + p2.x * kp2 + p3.x * kp3; y = p0.y * kp0 + p1.y * kp1 + p2.y * kp2 + p3.y * kp3; z = p0.z * kp0 + p1.z * kp1 + p2.z * kp2 + p3.z * kp3; return *this; } //! this = rotpos * r + linpos inline_ Point& Transform(const Point& r, const Matrix3x3& rotpos, const Point& linpos); //! this = trans(rotpos) * (r - linpos) inline_ Point& InvTransform(const Point& r, const Matrix3x3& rotpos, const Point& linpos); //! Returns MIN(x, y, z); inline_ float Min() const { return MIN(x, MIN(y, z)); } //! Returns MAX(x, y, z); inline_ float Max() const { return MAX(x, MAX(y, z)); } //! Sets each element to be componentwise minimum inline_ Point& Min(const Point& p) { x = MIN(x, p.x); y = MIN(y, p.y); z = MIN(z, p.z); return *this; } //! Sets each element to be componentwise maximum inline_ Point& Max(const Point& p) { x = MAX(x, p.x); y = MAX(y, p.y); z = MAX(z, p.z); return *this; } //! Clamps each element inline_ Point& Clamp(float min, float max) { if(xmax) x=max; if(ymax) y=max; if(zmax) z=max; return *this; } //! Computes square magnitude inline_ float SquareMagnitude() const { return x*x + y*y + z*z; } //! Computes magnitude inline_ float Magnitude() const { return sqrtf(x*x + y*y + z*z); } //! Computes volume inline_ float Volume() const { return x * y * z; } //! Checks the point is near zero inline_ bool ApproxZero() const { return SquareMagnitude() < EPSILON2; } //! Tests for exact zero vector inline_ BOOL IsZero() const { if(IR(x) || IR(y) || IR(z)) return FALSE; return TRUE; } //! Checks point validity inline_ BOOL IsValid() const { if(!IsValidFloat(x)) return FALSE; if(!IsValidFloat(y)) return FALSE; if(!IsValidFloat(z)) return FALSE; return TRUE; } //! Slighty moves the point void Tweak(udword coord_mask, udword tweak_mask) { if(coord_mask&1) { udword Dummy = IR(x); Dummy^=tweak_mask; x = FR(Dummy); } if(coord_mask&2) { udword Dummy = IR(y); Dummy^=tweak_mask; y = FR(Dummy); } if(coord_mask&4) { udword Dummy = IR(z); Dummy^=tweak_mask; z = FR(Dummy); } } #define TWEAKMASK 0x3fffff #define TWEAKNOTMASK ~TWEAKMASK //! Slighty moves the point out inline_ void TweakBigger() { udword Dummy = (IR(x)&TWEAKNOTMASK); if(!IS_NEGATIVE_FLOAT(x)) Dummy+=TWEAKMASK+1; x = FR(Dummy); Dummy = (IR(y)&TWEAKNOTMASK); if(!IS_NEGATIVE_FLOAT(y)) Dummy+=TWEAKMASK+1; y = FR(Dummy); Dummy = (IR(z)&TWEAKNOTMASK); if(!IS_NEGATIVE_FLOAT(z)) Dummy+=TWEAKMASK+1; z = FR(Dummy); } //! Slighty moves the point in inline_ void TweakSmaller() { udword Dummy = (IR(x)&TWEAKNOTMASK); if(IS_NEGATIVE_FLOAT(x)) Dummy+=TWEAKMASK+1; x = FR(Dummy); Dummy = (IR(y)&TWEAKNOTMASK); if(IS_NEGATIVE_FLOAT(y)) Dummy+=TWEAKMASK+1; y = FR(Dummy); Dummy = (IR(z)&TWEAKNOTMASK); if(IS_NEGATIVE_FLOAT(z)) Dummy+=TWEAKMASK+1; z = FR(Dummy); } //! Normalizes the vector inline_ Point& Normalize() { float M = x*x + y*y + z*z; if(M) { M = 1.0f / sqrtf(M); x *= M; y *= M; z *= M; } return *this; } //! Sets vector length inline_ Point& SetLength(float length) { float NewLength = length / Magnitude(); x *= NewLength; y *= NewLength; z *= NewLength; return *this; } //! Clamps vector length inline_ Point& ClampLength(float limit_length) { if(limit_length>=0.0f) // Magnitude must be positive { float CurrentSquareLength = SquareMagnitude(); if(CurrentSquareLength > limit_length * limit_length) { float Coeff = limit_length / sqrtf(CurrentSquareLength); x *= Coeff; y *= Coeff; z *= Coeff; } } return *this; } //! Computes distance to another point inline_ float Distance(const Point& b) const { return sqrtf((x - b.x)*(x - b.x) + (y - b.y)*(y - b.y) + (z - b.z)*(z - b.z)); } //! Computes square distance to another point inline_ float SquareDistance(const Point& b) const { return ((x - b.x)*(x - b.x) + (y - b.y)*(y - b.y) + (z - b.z)*(z - b.z)); } //! Dot product dp = this|a inline_ float Dot(const Point& p) const { return p.x * x + p.y * y + p.z * z; } //! Cross product this = a x b inline_ Point& Cross(const Point& a, const Point& b) { x = a.y * b.z - a.z * b.y; y = a.z * b.x - a.x * b.z; z = a.x * b.y - a.y * b.x; return *this; } //! Vector code ( bitmask = sign(z) | sign(y) | sign(x) ) inline_ udword VectorCode() const { return (IR(x)>>31) | ((IR(y)&SIGN_BITMASK)>>30) | ((IR(z)&SIGN_BITMASK)>>29); } //! Returns largest axis inline_ PointComponent LargestAxis() const { //const float* Vals = &x; PointComponent m = _X; //if(Vals[_Y] > Vals[m]) m = _Y; //if(Vals[_Z] > Vals[m]) m = _Z; y > x ? (z > y ? m = _Z : m = _Y) : (z > x ? m = _Z : m = _X); return m; } //! Returns closest axis inline_ PointComponent ClosestAxis() const { const float* Vals = &x; PointComponent m = _X; if(AIR(Vals[_Y]) > AIR(Vals[m])) m = _Y; if(AIR(Vals[_Z]) > AIR(Vals[m])) m = _Z; return m; } //! Returns smallest axis inline_ PointComponent SmallestAxis() const { //const float* Vals = &x; PointComponent m = _X; //if(Vals[_Y] < Vals[m]) m = _Y; //if(Vals[_Z] < Vals[m]) m = _Z; y < x ? (z < y ? m = _Z : m = _Y) : (z < x ? m = _Z : m = _X); return m; } //! Refracts the point Point& Refract(const Point& eye, const Point& n, float refractindex, Point& refracted); //! Projects the point onto a plane Point& ProjectToPlane(const Plane& p); //! Projects the point onto the screen void ProjectToScreen(float halfrenderwidth, float halfrenderheight, const Matrix4x4& mat, HPoint& projected) const; //! Unfolds the point onto a plane according to edge(a,b) Point& Unfold(Plane& p, Point& a, Point& b); //! Hash function from Ville Miettinen inline_ udword GetHashValue() const { const udword* h = (const udword*)(this); udword f = (h[0]+h[1]*11-(h[2]*17)) & 0x7fffffff; // avoid problems with +-0 return (f>>22)^(f>>12)^(f); } //! Stuff magic values in the point, marking it as explicitely not used. void SetNotUsed(); //! Checks the point is marked as not used BOOL IsNotUsed() const; // Arithmetic operators //! Unary operator for Point Negate = - Point inline_ Point operator-() const { return Point(-x, -y, -z); } //! Operator for Point Plus = Point + Point. inline_ Point operator+(const Point& p) const { return Point(x + p.x, y + p.y, z + p.z); } //! Operator for Point Minus = Point - Point. inline_ Point operator-(const Point& p) const { return Point(x - p.x, y - p.y, z - p.z); } //! Operator for Point Mul = Point * Point. inline_ Point operator*(const Point& p) const { return Point(x * p.x, y * p.y, z * p.z); } //! Operator for Point Scale = Point * float. inline_ Point operator*(float s) const { return Point(x * s, y * s, z * s ); } //! Operator for Point Scale = float * Point. inline_ friend Point operator*(float s, const Point& p) { return Point(s * p.x, s * p.y, s * p.z); } //! Operator for Point Div = Point / Point. inline_ Point operator/(const Point& p) const { return Point(x / p.x, y / p.y, z / p.z); } //! Operator for Point Scale = Point / float. inline_ Point operator/(float s) const { s = 1.0f / s; return Point(x * s, y * s, z * s); } //! Operator for Point Scale = float / Point. inline_ friend Point operator/(float s, const Point& p) { return Point(s / p.x, s / p.y, s / p.z); } //! Operator for float DotProd = Point | Point. inline_ float operator|(const Point& p) const { return x*p.x + y*p.y + z*p.z; } //! Operator for Point VecProd = Point ^ Point. inline_ Point operator^(const Point& p) const { return Point( y * p.z - z * p.y, z * p.x - x * p.z, x * p.y - y * p.x ); } //! Operator for Point += Point. inline_ Point& operator+=(const Point& p) { x += p.x; y += p.y; z += p.z; return *this; } //! Operator for Point += float. inline_ Point& operator+=(float s) { x += s; y += s; z += s; return *this; } //! Operator for Point -= Point. inline_ Point& operator-=(const Point& p) { x -= p.x; y -= p.y; z -= p.z; return *this; } //! Operator for Point -= float. inline_ Point& operator-=(float s) { x -= s; y -= s; z -= s; return *this; } //! Operator for Point *= Point. inline_ Point& operator*=(const Point& p) { x *= p.x; y *= p.y; z *= p.z; return *this; } //! Operator for Point *= float. inline_ Point& operator*=(float s) { x *= s; y *= s; z *= s; return *this; } //! Operator for Point /= Point. inline_ Point& operator/=(const Point& p) { x /= p.x; y /= p.y; z /= p.z; return *this; } //! Operator for Point /= float. inline_ Point& operator/=(float s) { s = 1.0f/s; x *= s; y *= s; z *= s; return *this; } // Logical operators //! Operator for "if(Point==Point)" inline_ bool operator==(const Point& p) const { return ( (IR(x)==IR(p.x))&&(IR(y)==IR(p.y))&&(IR(z)==IR(p.z))); } //! Operator for "if(Point!=Point)" inline_ bool operator!=(const Point& p) const { return ( (IR(x)!=IR(p.x))||(IR(y)!=IR(p.y))||(IR(z)!=IR(p.z))); } // Arithmetic operators //! Operator for Point Mul = Point * Matrix3x3. inline_ Point operator*(const Matrix3x3& mat) const { class ShadowMatrix3x3{ public: float m[3][3]; }; // To allow inlining const ShadowMatrix3x3* Mat = (const ShadowMatrix3x3*)&mat; return Point( x * Mat->m[0][0] + y * Mat->m[1][0] + z * Mat->m[2][0], x * Mat->m[0][1] + y * Mat->m[1][1] + z * Mat->m[2][1], x * Mat->m[0][2] + y * Mat->m[1][2] + z * Mat->m[2][2] ); } //! Operator for Point Mul = Point * Matrix4x4. inline_ Point operator*(const Matrix4x4& mat) const { class ShadowMatrix4x4{ public: float m[4][4]; }; // To allow inlining const ShadowMatrix4x4* Mat = (const ShadowMatrix4x4*)&mat; return Point( x * Mat->m[0][0] + y * Mat->m[1][0] + z * Mat->m[2][0] + Mat->m[3][0], x * Mat->m[0][1] + y * Mat->m[1][1] + z * Mat->m[2][1] + Mat->m[3][1], x * Mat->m[0][2] + y * Mat->m[1][2] + z * Mat->m[2][2] + Mat->m[3][2]); } //! Operator for Point *= Matrix3x3. inline_ Point& operator*=(const Matrix3x3& mat) { class ShadowMatrix3x3{ public: float m[3][3]; }; // To allow inlining const ShadowMatrix3x3* Mat = (const ShadowMatrix3x3*)&mat; float xp = x * Mat->m[0][0] + y * Mat->m[1][0] + z * Mat->m[2][0]; float yp = x * Mat->m[0][1] + y * Mat->m[1][1] + z * Mat->m[2][1]; float zp = x * Mat->m[0][2] + y * Mat->m[1][2] + z * Mat->m[2][2]; x = xp; y = yp; z = zp; return *this; } //! Operator for Point *= Matrix4x4. inline_ Point& operator*=(const Matrix4x4& mat) { class ShadowMatrix4x4{ public: float m[4][4]; }; // To allow inlining const ShadowMatrix4x4* Mat = (const ShadowMatrix4x4*)&mat; float xp = x * Mat->m[0][0] + y * Mat->m[1][0] + z * Mat->m[2][0] + Mat->m[3][0]; float yp = x * Mat->m[0][1] + y * Mat->m[1][1] + z * Mat->m[2][1] + Mat->m[3][1]; float zp = x * Mat->m[0][2] + y * Mat->m[1][2] + z * Mat->m[2][2] + Mat->m[3][2]; x = xp; y = yp; z = zp; return *this; } // Cast operators //! Cast a Point to a HPoint. w is set to zero. operator HPoint() const; inline_ operator const float*() const { return &x; } inline_ operator float*() { return &x; } public: float x, y, z; }; FUNCTION ICEMATHS_API void Normalize1(Point& a); FUNCTION ICEMATHS_API void Normalize2(Point& a); #endif //__ICEPOINT_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/Ice/IceAABB.h0000664000000000000000000006076012741425367022457 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains AABB-related code. (axis-aligned bounding box) * \file IceAABB.h * \author Pierre Terdiman * \date January, 13, 2000 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Include Guard #ifndef __ICEAABB_H__ #define __ICEAABB_H__ // Forward declarations class Sphere; //! Declarations of type-independent methods (most of them implemented in the .cpp) #define AABB_COMMON_METHODS \ AABB& Add(const AABB& aabb); \ float MakeCube(AABB& cube) const; \ void MakeSphere(Sphere& sphere) const; \ const sbyte* ComputeOutline(const Point& local_eye, sdword& num) const; \ float ComputeBoxArea(const Point& eye, const Matrix4x4& mat, float width, float height, sdword& num) const; \ bool IsInside(const AABB& box) const; \ bool ComputePlanes(Plane* planes) const; \ bool ComputePoints(Point* pts) const; \ const Point* GetVertexNormals() const; \ const udword* GetEdges() const; \ const Point* GetEdgeNormals() const; \ inline_ BOOL ContainsPoint(const Point& p) const \ { \ if(p.x > GetMax(0) || p.x < GetMin(0)) return FALSE; \ if(p.y > GetMax(1) || p.y < GetMin(1)) return FALSE; \ if(p.z > GetMax(2) || p.z < GetMin(2)) return FALSE; \ return TRUE; \ } enum AABBType { AABB_RENDER = 0, //!< AABB used for rendering. Not visible == not rendered. AABB_UPDATE = 1, //!< AABB used for dynamic updates. Not visible == not updated. AABB_FORCE_DWORD = 0x7fffffff, }; #ifdef USE_MINMAX struct ICEMATHS_API ShadowAABB { Point mMin; Point mMax; }; class ICEMATHS_API AABB { public: //! Constructor inline_ AABB() {} //! Destructor inline_ ~AABB() {} //! Type-independent methods AABB_COMMON_METHODS; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Setups an AABB from min & max vectors. * \param min [in] the min point * \param max [in] the max point */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void SetMinMax(const Point& min, const Point& max) { mMin = min; mMax = max; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Setups an AABB from center & extents vectors. * \param c [in] the center point * \param e [in] the extents vector */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void SetCenterExtents(const Point& c, const Point& e) { mMin = c - e; mMax = c + e; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Setups an empty AABB. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void SetEmpty() { Point p(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT); mMin = -p; mMax = p;} /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Setups a point AABB. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void SetPoint(const Point& pt) { mMin = mMax = pt; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Gets the size of the AABB. The size is defined as the longest extent. * \return the size of the AABB */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// float GetSize() const { Point e; GetExtents(e); return e.Max(); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Extends the AABB. * \param p [in] the next point */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void Extend(const Point& p) { if(p.x > mMax.x) mMax.x = p.x; if(p.x < mMin.x) mMin.x = p.x; if(p.y > mMax.y) mMax.y = p.y; if(p.y < mMin.y) mMin.y = p.y; if(p.z > mMax.z) mMax.z = p.z; if(p.z < mMin.z) mMin.z = p.z; } // Data access //! Get min point of the box inline_ void GetMin(Point& min) const { min = mMin; } //! Get max point of the box inline_ void GetMax(Point& max) const { max = mMax; } //! Get component of the box's min point along a given axis inline_ float GetMin(udword axis) const { return mMin[axis]; } //! Get component of the box's max point along a given axis inline_ float GetMax(udword axis) const { return mMax[axis]; } //! Get box center inline_ void GetCenter(Point& center) const { center = (mMax + mMin)*0.5f; } //! Get box extents inline_ void GetExtents(Point& extents) const { extents = (mMax - mMin)*0.5f; } //! Get component of the box's center along a given axis inline_ float GetCenter(udword axis) const { return (mMax[axis] + mMin[axis])*0.5f; } //! Get component of the box's extents along a given axis inline_ float GetExtents(udword axis) const { return (mMax[axis] - mMin[axis])*0.5f; } //! Get box diagonal inline_ void GetDiagonal(Point& diagonal) const { diagonal = mMax - mMin; } inline_ float GetWidth() const { return mMax.x - mMin.x; } inline_ float GetHeight() const { return mMax.y - mMin.y; } inline_ float GetDepth() const { return mMax.z - mMin.z; } //! Volume inline_ float GetVolume() const { return GetWidth() * GetHeight() * GetDepth(); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the intersection between two AABBs. * \param a [in] the other AABB * \return true on intersection */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ BOOL Intersect(const AABB& a) const { if(mMax.x < a.mMin.x || a.mMax.x < mMin.x || mMax.y < a.mMin.y || a.mMax.y < mMin.y || mMax.z < a.mMin.z || a.mMax.z < mMin.z) return FALSE; return TRUE; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the 1D-intersection between two AABBs, on a given axis. * \param a [in] the other AABB * \param axis [in] the axis (0, 1, 2) * \return true on intersection */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ BOOL Intersect(const AABB& a, udword axis) const { if(mMax[axis] < a.mMin[axis] || a.mMax[axis] < mMin[axis]) return FALSE; return TRUE; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recomputes the AABB after an arbitrary transform by a 4x4 matrix. * Original code by Charles Bloom on the GD-Algorithm list. (I slightly modified it) * \param mtx [in] the transform matrix * \param aabb [out] the transformed AABB [can be *this] */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ void Rotate(const Matrix4x4& mtx, AABB& aabb) const { // The three edges transformed: you can efficiently transform an X-only vector // by just getting the "X" column of the matrix Point vx,vy,vz; mtx.GetRow(0, vx); vx *= (mMax.x - mMin.x); mtx.GetRow(1, vy); vy *= (mMax.y - mMin.y); mtx.GetRow(2, vz); vz *= (mMax.z - mMin.z); // Transform the min point aabb.mMin = aabb.mMax = mMin * mtx; // Take the transformed min & axes and find new extents // Using CPU code in the right place is faster... if(IS_NEGATIVE_FLOAT(vx.x)) aabb.mMin.x += vx.x; else aabb.mMax.x += vx.x; if(IS_NEGATIVE_FLOAT(vx.y)) aabb.mMin.y += vx.y; else aabb.mMax.y += vx.y; if(IS_NEGATIVE_FLOAT(vx.z)) aabb.mMin.z += vx.z; else aabb.mMax.z += vx.z; if(IS_NEGATIVE_FLOAT(vy.x)) aabb.mMin.x += vy.x; else aabb.mMax.x += vy.x; if(IS_NEGATIVE_FLOAT(vy.y)) aabb.mMin.y += vy.y; else aabb.mMax.y += vy.y; if(IS_NEGATIVE_FLOAT(vy.z)) aabb.mMin.z += vy.z; else aabb.mMax.z += vy.z; if(IS_NEGATIVE_FLOAT(vz.x)) aabb.mMin.x += vz.x; else aabb.mMax.x += vz.x; if(IS_NEGATIVE_FLOAT(vz.y)) aabb.mMin.y += vz.y; else aabb.mMax.y += vz.y; if(IS_NEGATIVE_FLOAT(vz.z)) aabb.mMin.z += vz.z; else aabb.mMax.z += vz.z; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Checks the AABB is valid. * \return true if the box is valid */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ BOOL IsValid() const { // Consistency condition for (Min, Max) boxes: min < max if(mMin.x > mMax.x) return FALSE; if(mMin.y > mMax.y) return FALSE; if(mMin.z > mMax.z) return FALSE; return TRUE; } //! Operator for AABB *= float. Scales the extents, keeps same center. inline_ AABB& operator*=(float s) { Point Center; GetCenter(Center); Point Extents; GetExtents(Extents); SetCenterExtents(Center, Extents * s); return *this; } //! Operator for AABB /= float. Scales the extents, keeps same center. inline_ AABB& operator/=(float s) { Point Center; GetCenter(Center); Point Extents; GetExtents(Extents); SetCenterExtents(Center, Extents / s); return *this; } //! Operator for AABB += Point. Translates the box. inline_ AABB& operator+=(const Point& trans) { mMin+=trans; mMax+=trans; return *this; } private: Point mMin; //!< Min point Point mMax; //!< Max point }; #else class ICEMATHS_API AABB { public: //! Constructor inline_ AABB() {} //! Destructor inline_ ~AABB() {} //! Type-independent methods AABB_COMMON_METHODS; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Setups an AABB from min & max vectors. * \param min [in] the min point * \param max [in] the max point */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void SetMinMax(const Point& min, const Point& max) { mCenter = (max + min)*0.5f; mExtents = (max - min)*0.5f; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Setups an AABB from center & extents vectors. * \param c [in] the center point * \param e [in] the extents vector */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void SetCenterExtents(const Point& c, const Point& e) { mCenter = c; mExtents = e; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Setups an empty AABB. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void SetEmpty() { mCenter.Zero(); mExtents.Set(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT);} /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Setups a point AABB. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void SetPoint(const Point& pt) { mCenter = pt; mExtents.Zero(); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Gets the size of the AABB. The size is defined as the longest extent. * \return the size of the AABB */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// float GetSize() const { return mExtents.Max(); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Extends the AABB. * \param p [in] the next point */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void Extend(const Point& p) { Point Max = mCenter + mExtents; Point Min = mCenter - mExtents; if(p.x > Max.x) Max.x = p.x; if(p.x < Min.x) Min.x = p.x; if(p.y > Max.y) Max.y = p.y; if(p.y < Min.y) Min.y = p.y; if(p.z > Max.z) Max.z = p.z; if(p.z < Min.z) Min.z = p.z; SetMinMax(Min, Max); } // Data access //! Get min point of the box inline_ void GetMin(Point& min) const { min = mCenter - mExtents; } //! Get max point of the box inline_ void GetMax(Point& max) const { max = mCenter + mExtents; } //! Get component of the box's min point along a given axis inline_ float GetMin(udword axis) const { return mCenter[axis] - mExtents[axis]; } //! Get component of the box's max point along a given axis inline_ float GetMax(udword axis) const { return mCenter[axis] + mExtents[axis]; } //! Get box center inline_ void GetCenter(Point& center) const { center = mCenter; } //! Get box extents inline_ void GetExtents(Point& extents) const { extents = mExtents; } //! Get component of the box's center along a given axis inline_ float GetCenter(udword axis) const { return mCenter[axis]; } //! Get component of the box's extents along a given axis inline_ float GetExtents(udword axis) const { return mExtents[axis]; } //! Get box diagonal inline_ void GetDiagonal(Point& diagonal) const { diagonal = mExtents * 2.0f; } inline_ float GetWidth() const { return mExtents.x * 2.0f; } inline_ float GetHeight() const { return mExtents.y * 2.0f; } inline_ float GetDepth() const { return mExtents.z * 2.0f; } //! Volume inline_ float GetVolume() const { return mExtents.x * mExtents.y * mExtents.z * 8.0f; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the intersection between two AABBs. * \param a [in] the other AABB * \return true on intersection */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ BOOL Intersect(const AABB& a) const { float tx = mCenter.x - a.mCenter.x; float ex = a.mExtents.x + mExtents.x; if(AIR(tx) > IR(ex)) return FALSE; float ty = mCenter.y - a.mCenter.y; float ey = a.mExtents.y + mExtents.y; if(AIR(ty) > IR(ey)) return FALSE; float tz = mCenter.z - a.mCenter.z; float ez = a.mExtents.z + mExtents.z; if(AIR(tz) > IR(ez)) return FALSE; return TRUE; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * The standard intersection method from Gamasutra. Just here to check its speed against the one above. * \param a [in] the other AABB * \return true on intersection */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ bool GomezIntersect(const AABB& a) { Point T = mCenter - a.mCenter; // Vector from A to B return ((fabsf(T.x) <= (a.mExtents.x + mExtents.x)) && (fabsf(T.y) <= (a.mExtents.y + mExtents.y)) && (fabsf(T.z) <= (a.mExtents.z + mExtents.z))); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the 1D-intersection between two AABBs, on a given axis. * \param a [in] the other AABB * \param axis [in] the axis (0, 1, 2) * \return true on intersection */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ BOOL Intersect(const AABB& a, udword axis) const { float t = mCenter[axis] - a.mCenter[axis]; float e = a.mExtents[axis] + mExtents[axis]; if(AIR(t) > IR(e)) return FALSE; return TRUE; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recomputes the AABB after an arbitrary transform by a 4x4 matrix. * \param mtx [in] the transform matrix * \param aabb [out] the transformed AABB [can be *this] */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ void Rotate(const Matrix4x4& mtx, AABB& aabb) const { // Compute new center aabb.mCenter = mCenter * mtx; // Compute new extents. FPU code & CPU code have been interleaved for improved performance. Point Ex(mtx.m[0][0] * mExtents.x, mtx.m[0][1] * mExtents.x, mtx.m[0][2] * mExtents.x); IR(Ex.x)&=0x7fffffff; IR(Ex.y)&=0x7fffffff; IR(Ex.z)&=0x7fffffff; Point Ey(mtx.m[1][0] * mExtents.y, mtx.m[1][1] * mExtents.y, mtx.m[1][2] * mExtents.y); IR(Ey.x)&=0x7fffffff; IR(Ey.y)&=0x7fffffff; IR(Ey.z)&=0x7fffffff; Point Ez(mtx.m[2][0] * mExtents.z, mtx.m[2][1] * mExtents.z, mtx.m[2][2] * mExtents.z); IR(Ez.x)&=0x7fffffff; IR(Ez.y)&=0x7fffffff; IR(Ez.z)&=0x7fffffff; aabb.mExtents.x = Ex.x + Ey.x + Ez.x; aabb.mExtents.y = Ex.y + Ey.y + Ez.y; aabb.mExtents.z = Ex.z + Ey.z + Ez.z; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Checks the AABB is valid. * \return true if the box is valid */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ BOOL IsValid() const { // Consistency condition for (Center, Extents) boxes: Extents >= 0 if(IS_NEGATIVE_FLOAT(mExtents.x)) return FALSE; if(IS_NEGATIVE_FLOAT(mExtents.y)) return FALSE; if(IS_NEGATIVE_FLOAT(mExtents.z)) return FALSE; return TRUE; } //! Operator for AABB *= float. Scales the extents, keeps same center. inline_ AABB& operator*=(float s) { mExtents*=s; return *this; } //! Operator for AABB /= float. Scales the extents, keeps same center. inline_ AABB& operator/=(float s) { mExtents/=s; return *this; } //! Operator for AABB += Point. Translates the box. inline_ AABB& operator+=(const Point& trans) { mCenter+=trans; return *this; } private: Point mCenter; //!< AABB Center Point mExtents; //!< x, y and z extents }; #endif inline_ void ComputeMinMax(const Point& p, Point& min, Point& max) { if(p.x > max.x) max.x = p.x; if(p.x < min.x) min.x = p.x; if(p.y > max.y) max.y = p.y; if(p.y < min.y) min.y = p.y; if(p.z > max.z) max.z = p.z; if(p.z < min.z) min.z = p.z; } inline_ void ComputeAABB(AABB& aabb, const Point* list, udword nb_pts) { if(list) { Point Maxi(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT); Point Mini(MAX_FLOAT, MAX_FLOAT, MAX_FLOAT); while(nb_pts--) { // _prefetch(list+1); // off by one ? ComputeMinMax(*list++, Mini, Maxi); } aabb.SetMinMax(Mini, Maxi); } } #endif // __ICEAABB_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/Ice/IceTriangle.h0000664000000000000000000000466412741425367023540 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains a handy triangle class. * \file IceTriangle.h * \author Pierre Terdiman * \date January, 17, 2000 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Include Guard #ifndef __ICETRIANGLE_H__ #define __ICETRIANGLE_H__ // Forward declarations class Moment; // Partitioning values enum PartVal { TRI_MINUS_SPACE = 0, //!< Triangle is in the negative space TRI_PLUS_SPACE = 1, //!< Triangle is in the positive space TRI_INTERSECT = 2, //!< Triangle intersects plane TRI_ON_PLANE = 3, //!< Triangle and plane are coplanar TRI_FORCEDWORD = 0x7fffffff }; // A triangle class. class ICEMATHS_API Triangle { public: //! Constructor inline_ Triangle() {} //! Constructor inline_ Triangle(const Point& p0, const Point& p1, const Point& p2) { mVerts[0]=p0; mVerts[1]=p1; mVerts[2]=p2; } //! Copy constructor inline_ Triangle(const Triangle& triangle) { mVerts[0] = triangle.mVerts[0]; mVerts[1] = triangle.mVerts[1]; mVerts[2] = triangle.mVerts[2]; } //! Destructor inline_ ~Triangle() {} //! Vertices Point mVerts[3]; // Methods void Flip(); float Area() const; float Perimeter() const; float Compacity() const; void Normal(Point& normal) const; void DenormalizedNormal(Point& normal) const; void Center(Point& center) const; inline_ Plane PlaneEquation() const { return Plane(mVerts[0], mVerts[1], mVerts[2]); } PartVal TestAgainstPlane(const Plane& plane, float epsilon) const; // float Distance(Point& cp, Point& cq, Tri& tri); void ComputeMoment(Moment& m); float MinEdgeLength() const; float MaxEdgeLength() const; void ComputePoint(float u, float v, Point& pt, udword* nearvtx=null) const; void Inflate(float fat_coeff, bool constant_border); }; #endif // __ICETRIANGLE_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/Ice/IceRevisitedRadix.cpp0000664000000000000000000005300212741425367025242 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains source code from the article "Radix Sort Revisited". * \file IceRevisitedRadix.cpp * \author Pierre Terdiman * \date April, 4, 2000 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Revisited Radix Sort. * This is my new radix routine: * - it uses indices and doesn't recopy the values anymore, hence wasting less ram * - it creates all the histograms in one run instead of four * - it sorts words faster than dwords and bytes faster than words * - it correctly sorts negative floating-point values by patching the offsets * - it automatically takes advantage of temporal coherence * - multiple keys support is a side effect of temporal coherence * - it may be worth recoding in asm... (mainly to use FCOMI, FCMOV, etc) [it's probably memory-bound anyway] * * History: * - 08.15.98: very first version * - 04.04.00: recoded for the radix article * - 12.xx.00: code lifting * - 09.18.01: faster CHECK_PASS_VALIDITY thanks to Mark D. Shattuck (who provided other tips, not included here) * - 10.11.01: added local ram support * - 01.20.02: bugfix! In very particular cases the last pass was skipped in the float code-path, leading to incorrect sorting...... * - 01.02.02: - "mIndices" renamed => "mRanks". That's a rank sorter after all. * - ranks are not "reset" anymore, but implicit on first calls * - 07.05.02: - offsets rewritten with one less indirection. * - 11.03.02: - "bool" replaced with RadixHint enum * * \class RadixSort * \author Pierre Terdiman * \version 1.4 * \date August, 15, 1998 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* To do: - add an offset parameter between two input values (avoid some data recopy sometimes) - unroll ? asm ? - 11 bits trick & 3 passes as Michael did - prefetch stuff the day I have a P3 - make a version with 16-bits indices ? */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Precompiled Header #include "Stdafx.h" using namespace IceCore; #define INVALIDATE_RANKS mCurrentSize|=0x80000000 #define VALIDATE_RANKS mCurrentSize&=0x7fffffff #define CURRENT_SIZE (mCurrentSize&0x7fffffff) #define INVALID_RANKS (mCurrentSize&0x80000000) #define CHECK_RESIZE(n) \ if(n!=mPreviousSize) \ { \ if(n>mCurrentSize) Resize(n); \ else ResetRanks(); \ mPreviousSize = n; \ } #define CREATE_HISTOGRAMS(type, buffer) \ /* Clear counters/histograms */ \ ZeroMemory(mHistogram, 256*4*sizeof(udword)); \ \ /* Prepare to count */ \ ubyte* p = (ubyte*)input; \ ubyte* pe = &p[nb*4]; \ udword* h0= &mHistogram[0]; /* Histogram for first pass (LSB) */ \ udword* h1= &mHistogram[256]; /* Histogram for second pass */ \ udword* h2= &mHistogram[512]; /* Histogram for third pass */ \ udword* h3= &mHistogram[768]; /* Histogram for last pass (MSB) */ \ \ bool AlreadySorted = true; /* Optimism... */ \ \ if(INVALID_RANKS) \ { \ /* Prepare for temporal coherence */ \ type* Running = (type*)buffer; \ type PrevVal = *Running; \ \ while(p!=pe) \ { \ /* Read input buffer in previous sorted order */ \ type Val = *Running++; \ /* Check whether already sorted or not */ \ if(ValCurSize) Resize(nb); mCurrentSize = nb; INVALIDATE_RANKS; } } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Main sort routine. * This one is for integer values. After the call, mRanks contains a list of indices in sorted order, i.e. in the order you may process your data. * \param input [in] a list of integer values to sort * \param nb [in] number of values to sort, must be < 2^31 * \param hint [in] RADIX_SIGNED to handle negative values, RADIX_UNSIGNED if you know your input buffer only contains positive values * \return Self-Reference */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// RadixSort& RadixSort::Sort(const udword* input, udword nb, RadixHint hint) { // Checkings if(!input || !nb || nb&0x80000000) return *this; // Stats mTotalCalls++; // Resize lists if needed CheckResize(nb); #ifdef RADIX_LOCAL_RAM // Allocate histograms & offsets on the stack udword mHistogram[256*4]; // udword mOffset[256]; udword* mLink[256]; #endif // Create histograms (counters). Counters for all passes are created in one run. // Pros: read input buffer once instead of four times // Cons: mHistogram is 4Kb instead of 1Kb // We must take care of signed/unsigned values for temporal coherence.... I just // have 2 code paths even if just a single opcode changes. Self-modifying code, someone? if(hint==RADIX_UNSIGNED) { CREATE_HISTOGRAMS(udword, input); } else { CREATE_HISTOGRAMS(sdword, input); } // Compute #negative values involved if needed udword NbNegativeValues = 0; if(hint==RADIX_SIGNED) { // An efficient way to compute the number of negatives values we'll have to deal with is simply to sum the 128 // last values of the last histogram. Last histogram because that's the one for the Most Significant Byte, // responsible for the sign. 128 last values because the 128 first ones are related to positive numbers. udword* h3= &mHistogram[768]; for(udword i=128;i<256;i++) NbNegativeValues += h3[i]; // 768 for last histogram, 128 for negative part } // Radix sort, j is the pass number (0=LSB, 3=MSB) for(udword j=0;j<4;j++) { CHECK_PASS_VALIDITY(j); // Sometimes the fourth (negative) pass is skipped because all numbers are negative and the MSB is 0xFF (for example). This is // not a problem, numbers are correctly sorted anyway. if(PerformPass) { // Should we care about negative values? if(j!=3 || hint==RADIX_UNSIGNED) { // Here we deal with positive values only // Create offsets // mOffset[0] = 0; // for(udword i=1;i<256;i++) mOffset[i] = mOffset[i-1] + CurCount[i-1]; mLink[0] = mRanks2; for(udword i=1;i<256;i++) mLink[i] = mLink[i-1] + CurCount[i-1]; } else { // This is a special case to correctly handle negative integers. They're sorted in the right order but at the wrong place. // Create biased offsets, in order for negative numbers to be sorted as well // mOffset[0] = NbNegativeValues; // First positive number takes place after the negative ones mLink[0] = &mRanks2[NbNegativeValues]; // First positive number takes place after the negative ones // for(udword i=1;i<128;i++) mOffset[i] = mOffset[i-1] + CurCount[i-1]; // 1 to 128 for positive numbers for(udword i=1;i<128;i++) mLink[i] = mLink[i-1] + CurCount[i-1]; // 1 to 128 for positive numbers // Fixing the wrong place for negative values // mOffset[128] = 0; mLink[128] = mRanks2; // for(i=129;i<256;i++) mOffset[i] = mOffset[i-1] + CurCount[i-1]; for(udword i=129;i<256;i++) mLink[i] = mLink[i-1] + CurCount[i-1]; } // Perform Radix Sort ubyte* InputBytes = (ubyte*)input; InputBytes += j; if(INVALID_RANKS) { // for(udword i=0;i>24; // Radix byte, same as above. AND is useless here (udword). // ### cmp to be killed. Not good. Later. // if(Radix<128) mRanks2[mOffset[Radix]++] = i; // Number is positive, same as above // else mRanks2[--mOffset[Radix]] = i; // Number is negative, flip the sorting order if(Radix<128) *mLink[Radix]++ = i; // Number is positive, same as above else *(--mLink[Radix]) = i; // Number is negative, flip the sorting order } VALIDATE_RANKS; } else { for(udword i=0;i>24; // Radix byte, same as above. AND is useless here (udword). // ### cmp to be killed. Not good. Later. // if(Radix<128) mRanks2[mOffset[Radix]++] = mRanks[i]; // Number is positive, same as above // else mRanks2[--mOffset[Radix]] = mRanks[i]; // Number is negative, flip the sorting order if(Radix<128) *mLink[Radix]++ = mRanks[i]; // Number is positive, same as above else *(--mLink[Radix]) = mRanks[i]; // Number is negative, flip the sorting order } } // Swap pointers for next pass. Valid indices - the most recent ones - are in mRanks after the swap. udword* Tmp = mRanks; mRanks = mRanks2; mRanks2 = Tmp; } else { // The pass is useless, yet we still have to reverse the order of current list if all values are negative. if(UniqueVal>=128) { if(INVALID_RANKS) { // ###Possible? for(udword i=0;i= 0.0f; // Same as: // Plane PL(verts[mVRef[0]], verts[mVRef[1]], verts[mVRef[2]]); // return PL.Distance(source) > PL.d; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes backface culling. * \param verts [in] the list of indexed vertices * \param source [in] source point (in local space) from which culling must be computed * \return true if the triangle is visible from the source point */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool IndexedTriangle::BackfaceCulling(const Point* verts, const Point& source) const { // Checkings if(!verts) return false; const Point& p0 = verts[mVRef[0]]; const Point& p1 = verts[mVRef[1]]; const Point& p2 = verts[mVRef[2]]; // Compute base // Point Base = (p0 + p1 + p2)*INV3; // Compute denormalized normal Point Normal = (p2 - p1)^(p0 - p1); // Backface culling // return (Normal | (source - Base)) >= 0.0f; return (Normal | (source - p0)) >= 0.0f; // Same as: (but a bit faster) // Plane PL(verts[mVRef[0]], verts[mVRef[1]], verts[mVRef[2]]); // return PL.Distance(source)>0.0f; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the occlusion potential of the triangle. * \param verts [in] the list of indexed vertices * \param source [in] source point (in local space) from which occlusion potential must be computed * \return the occlusion potential */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// float IndexedTriangle::ComputeOcclusionPotential(const Point* verts, const Point& view) const { if(!verts) return 0.0f; // Occlusion potential: -(A * (N|V) / d^2) // A = polygon area // N = polygon normal // V = view vector // d = distance viewpoint-center of polygon float A = Area(verts); Point N; Normal(verts, N); Point C; Center(verts, C); float d = view.Distance(C); return -(A*(N|view))/(d*d); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Replaces a vertex reference with another one. * \param oldref [in] the vertex reference to replace * \param newref [in] the new vertex reference * \return true if success, else false if the input vertex reference doesn't belong to the triangle */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool IndexedTriangle::ReplaceVertex(udword oldref, udword newref) { if(mVRef[0]==oldref) { mVRef[0] = newref; return true; } else if(mVRef[1]==oldref) { mVRef[1] = newref; return true; } else if(mVRef[2]==oldref) { mVRef[2] = newref; return true; } return false; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Checks whether the triangle is degenerate or not. A degenerate triangle has two common vertex references. This is a zero-area triangle. * \return true if the triangle is degenerate */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool IndexedTriangle::IsDegenerate() const { if(mVRef[0]==mVRef[1]) return true; if(mVRef[1]==mVRef[2]) return true; if(mVRef[2]==mVRef[0]) return true; return false; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Checks whether the input vertex reference belongs to the triangle or not. * \param ref [in] the vertex reference to look for * \return true if the triangle contains the vertex reference */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool IndexedTriangle::HasVertex(udword ref) const { if(mVRef[0]==ref) return true; if(mVRef[1]==ref) return true; if(mVRef[2]==ref) return true; return false; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Checks whether the input vertex reference belongs to the triangle or not. * \param ref [in] the vertex reference to look for * \param index [out] the corresponding index in the triangle * \return true if the triangle contains the vertex reference */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool IndexedTriangle::HasVertex(udword ref, udword* index) const { if(mVRef[0]==ref) { *index = 0; return true; } if(mVRef[1]==ref) { *index = 1; return true; } if(mVRef[2]==ref) { *index = 2; return true; } return false; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Finds an edge in a tri, given two vertex references. * \param vref0 [in] the edge's first vertex reference * \param vref1 [in] the edge's second vertex reference * \return the edge number between 0 and 2, or 0xff if input refs are wrong. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// ubyte IndexedTriangle::FindEdge(udword vref0, udword vref1) const { if(mVRef[0]==vref0 && mVRef[1]==vref1) return 0; else if(mVRef[0]==vref1 && mVRef[1]==vref0) return 0; else if(mVRef[0]==vref0 && mVRef[2]==vref1) return 1; else if(mVRef[0]==vref1 && mVRef[2]==vref0) return 1; else if(mVRef[1]==vref0 && mVRef[2]==vref1) return 2; else if(mVRef[1]==vref1 && mVRef[2]==vref0) return 2; return 0xff; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Gets the last reference given the first two. * \param vref0 [in] the first vertex reference * \param vref1 [in] the second vertex reference * \return the last reference, or INVALID_ID if input refs are wrong. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// udword IndexedTriangle::OppositeVertex(udword vref0, udword vref1) const { if(mVRef[0]==vref0 && mVRef[1]==vref1) return mVRef[2]; else if(mVRef[0]==vref1 && mVRef[1]==vref0) return mVRef[2]; else if(mVRef[0]==vref0 && mVRef[2]==vref1) return mVRef[1]; else if(mVRef[0]==vref1 && mVRef[2]==vref0) return mVRef[1]; else if(mVRef[1]==vref0 && mVRef[2]==vref1) return mVRef[0]; else if(mVRef[1]==vref1 && mVRef[2]==vref0) return mVRef[0]; return INVALID_ID; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Gets the three sorted vertex references according to an edge number. * edgenb = 0 => edge 0-1, returns references 0, 1, 2 * edgenb = 1 => edge 0-2, returns references 0, 2, 1 * edgenb = 2 => edge 1-2, returns references 1, 2, 0 * * \param edgenb [in] the edge number, 0, 1 or 2 * \param vref0 [out] the returned first vertex reference * \param vref1 [out] the returned second vertex reference * \param vref2 [out] the returned third vertex reference */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void IndexedTriangle::GetVRefs(ubyte edgenb, udword& vref0, udword& vref1, udword& vref2) const { if(edgenb==0) { vref0 = mVRef[0]; vref1 = mVRef[1]; vref2 = mVRef[2]; } else if(edgenb==1) { vref0 = mVRef[0]; vref1 = mVRef[2]; vref2 = mVRef[1]; } else if(edgenb==2) { vref0 = mVRef[1]; vref1 = mVRef[2]; vref2 = mVRef[0]; } } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the triangle's smallest edge length. * \param verts [in] the list of indexed vertices * \return the smallest edge length */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// float IndexedTriangle::MinEdgeLength(const Point* verts) const { if(!verts) return 0.0f; float Min = MAX_FLOAT; float Length01 = verts[0].Distance(verts[1]); float Length02 = verts[0].Distance(verts[2]); float Length12 = verts[1].Distance(verts[2]); if(Length01 < Min) Min = Length01; if(Length02 < Min) Min = Length02; if(Length12 < Min) Min = Length12; return Min; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the triangle's largest edge length. * \param verts [in] the list of indexed vertices * \return the largest edge length */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// float IndexedTriangle::MaxEdgeLength(const Point* verts) const { if(!verts) return 0.0f; float Max = MIN_FLOAT; float Length01 = verts[0].Distance(verts[1]); float Length02 = verts[0].Distance(verts[2]); float Length12 = verts[1].Distance(verts[2]); if(Length01 > Max) Max = Length01; if(Length02 > Max) Max = Length02; if(Length12 > Max) Max = Length12; return Max; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes a point on the triangle according to the stabbing information. * \param verts [in] the list of indexed vertices * \param u,v [in] point's barycentric coordinates * \param pt [out] point on triangle * \param nearvtx [out] index of nearest vertex */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void IndexedTriangle::ComputePoint(const Point* verts, float u, float v, Point& pt, udword* nearvtx) const { // Checkings if(!verts) return; // Get face in local or global space const Point& p0 = verts[mVRef[0]]; const Point& p1 = verts[mVRef[1]]; const Point& p2 = verts[mVRef[2]]; // Compute point coordinates pt = (1.0f - u - v)*p0 + u*p1 + v*p2; // Compute nearest vertex if needed if(nearvtx) { // Compute distance vector Point d(p0.SquareDistance(pt), // Distance^2 from vertex 0 to point on the face p1.SquareDistance(pt), // Distance^2 from vertex 1 to point on the face p2.SquareDistance(pt)); // Distance^2 from vertex 2 to point on the face // Get smallest distance *nearvtx = mVRef[d.SmallestAxis()]; } } //************************************** // Angle between two vectors (in radians) // we use this formula // uv = |u||v| cos(u,v) // u ^ v = w // |w| = |u||v| |sin(u,v)| //************************************** float Angle(const Point& u, const Point& v) { float NormU = u.Magnitude(); // |u| float NormV = v.Magnitude(); // |v| float Product = NormU*NormV; // |u||v| if(Product==0.0f) return 0.0f; float OneOverProduct = 1.0f / Product; // Cosinus float Cosinus = (u|v) * OneOverProduct; // Sinus Point w = u^v; float NormW = w.Magnitude(); float AbsSinus = NormW * OneOverProduct; // Remove degeneracy if(AbsSinus > 1.0f) AbsSinus = 1.0f; if(AbsSinus < -1.0f) AbsSinus = -1.0f; if(Cosinus>=0.0f) return asinf(AbsSinus); else return (PI-asinf(AbsSinus)); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the angle between two triangles. * \param tri [in] the other triangle * \param verts [in] the list of indexed vertices * \return the angle in radians */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// float IndexedTriangle::Angle(const IndexedTriangle& tri, const Point* verts) const { // Checkings if(!verts) return 0.0f; // Compute face normals Point n0, n1; Normal(verts, n0); tri.Normal(verts, n1); // Compute angle float dp = n0|n1; if(dp>1.0f) return 0.0f; if(dp<-1.0f) return PI; return acosf(dp); // return ::Angle(n0,n1); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Checks a triangle is the same as another one. * \param tri [in] the other triangle * \return true if same triangle */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool IndexedTriangle::Equal(const IndexedTriangle& tri) const { // Test all vertex references return (HasVertex(tri.mVRef[0]) && HasVertex(tri.mVRef[1]) && HasVertex(tri.mVRef[2])); } choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/Ice/IceBoundingSphere.h0000664000000000000000000001540612741425367024703 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains code to compute the minimal bounding sphere. * \file IceBoundingSphere.h * \author Pierre Terdiman * \date January, 29, 2000 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Include Guard #ifndef __ICEBOUNDINGSPHERE_H__ #define __ICEBOUNDINGSPHERE_H__ enum BSphereMethod { BS_NONE, BS_GEMS, BS_MINIBALL, BS_FORCE_DWORD = 0x7fffffff }; class ICEMATHS_API Sphere { public: //! Constructor inline_ Sphere() {} //! Constructor inline_ Sphere(const Point& center, float radius) : mCenter(center), mRadius(radius) {} //! Constructor Sphere(udword nb_verts, const Point* verts); //! Copy constructor inline_ Sphere(const Sphere& sphere) : mCenter(sphere.mCenter), mRadius(sphere.mRadius) {} //! Destructor inline_ ~Sphere() {} BSphereMethod Compute(udword nb_verts, const Point* verts); bool FastCompute(udword nb_verts, const Point* verts); // Access methods inline_ const Point& GetCenter() const { return mCenter; } inline_ float GetRadius() const { return mRadius; } inline_ const Point& Center() const { return mCenter; } inline_ float Radius() const { return mRadius; } inline_ Sphere& Set(const Point& center, float radius) { mCenter = center; mRadius = radius; return *this; } inline_ Sphere& SetCenter(const Point& center) { mCenter = center; return *this; } inline_ Sphere& SetRadius(float radius) { mRadius = radius; return *this; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Tests if a point is contained within the sphere. * \param p [in] the point to test * \return true if inside the sphere */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ bool Contains(const Point& p) const { return mCenter.SquareDistance(p) <= mRadius*mRadius; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Tests if a sphere is contained within the sphere. * \param sphere [in] the sphere to test * \return true if inside the sphere */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ bool Contains(const Sphere& sphere) const { // If our radius is the smallest, we can't possibly contain the other sphere if(mRadius < sphere.mRadius) return false; // So r is always positive or null now float r = mRadius - sphere.mRadius; return mCenter.SquareDistance(sphere.mCenter) <= r*r; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Tests if a box is contained within the sphere. * \param aabb [in] the box to test * \return true if inside the sphere */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ BOOL Contains(const AABB& aabb) const { // I assume if all 8 box vertices are inside the sphere, so does the whole box. // Sounds ok but maybe there's a better way? float R2 = mRadius * mRadius; #ifdef USE_MIN_MAX const Point& Max = ((ShadowAABB&)&aabb).mMax; const Point& Min = ((ShadowAABB&)&aabb).mMin; #else Point Max; aabb.GetMax(Max); Point Min; aabb.GetMin(Min); #endif Point p; p.x=Max.x; p.y=Max.y; p.z=Max.z; if(mCenter.SquareDistance(p)>=R2) return FALSE; p.x=Min.x; if(mCenter.SquareDistance(p)>=R2) return FALSE; p.x=Max.x; p.y=Min.y; if(mCenter.SquareDistance(p)>=R2) return FALSE; p.x=Min.x; if(mCenter.SquareDistance(p)>=R2) return FALSE; p.x=Max.x; p.y=Max.y; p.z=Min.z; if(mCenter.SquareDistance(p)>=R2) return FALSE; p.x=Min.x; if(mCenter.SquareDistance(p)>=R2) return FALSE; p.x=Max.x; p.y=Min.y; if(mCenter.SquareDistance(p)>=R2) return FALSE; p.x=Min.x; if(mCenter.SquareDistance(p)>=R2) return FALSE; return TRUE; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Tests if the sphere intersects another sphere * \param sphere [in] the other sphere * \return true if spheres overlap */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ bool Intersect(const Sphere& sphere) const { float r = mRadius + sphere.mRadius; return mCenter.SquareDistance(sphere.mCenter) <= r*r; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Checks the sphere is valid. * \return true if the box is valid */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ BOOL IsValid() const { // Consistency condition for spheres: Radius >= 0.0f if(mRadius < 0.0f) return FALSE; return TRUE; } public: Point mCenter; //!< Sphere center float mRadius; //!< Sphere radius }; #endif // __ICEBOUNDINGSPHERE_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/Ice/IceUtils.h0000664000000000000000000002524112741425367023065 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains misc. useful macros & defines. * \file IceUtils.h * \author Pierre Terdiman (collected from various sources) * \date April, 4, 2000 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Include Guard #ifndef __ICEUTILS_H__ #define __ICEUTILS_H__ #define START_RUNONCE { static bool __RunOnce__ = false; if(!__RunOnce__){ #define END_RUNONCE __RunOnce__ = true;}} //! Reverse all the bits in a 32 bit word (from Steve Baker's Cute Code Collection) //! (each line can be done in any order. inline_ void ReverseBits(udword& n) { n = ((n >> 1) & 0x55555555) | ((n << 1) & 0xaaaaaaaa); n = ((n >> 2) & 0x33333333) | ((n << 2) & 0xcccccccc); n = ((n >> 4) & 0x0f0f0f0f) | ((n << 4) & 0xf0f0f0f0); n = ((n >> 8) & 0x00ff00ff) | ((n << 8) & 0xff00ff00); n = ((n >> 16) & 0x0000ffff) | ((n << 16) & 0xffff0000); // Etc for larger intergers (64 bits in Java) // NOTE: the >> operation must be unsigned! (>>> in java) } //! Count the number of '1' bits in a 32 bit word (from Steve Baker's Cute Code Collection) inline_ udword CountBits(udword n) { // This relies of the fact that the count of n bits can NOT overflow // an n bit interger. EG: 1 bit count takes a 1 bit interger, 2 bit counts // 2 bit interger, 3 bit count requires only a 2 bit interger. // So we add all bit pairs, then each nible, then each byte etc... n = (n & 0x55555555) + ((n & 0xaaaaaaaa) >> 1); n = (n & 0x33333333) + ((n & 0xcccccccc) >> 2); n = (n & 0x0f0f0f0f) + ((n & 0xf0f0f0f0) >> 4); n = (n & 0x00ff00ff) + ((n & 0xff00ff00) >> 8); n = (n & 0x0000ffff) + ((n & 0xffff0000) >> 16); // Etc for larger intergers (64 bits in Java) // NOTE: the >> operation must be unsigned! (>>> in java) return n; } //! Even faster? inline_ udword CountBits2(udword bits) { bits = bits - ((bits >> 1) & 0x55555555); bits = ((bits >> 2) & 0x33333333) + (bits & 0x33333333); bits = ((bits >> 4) + bits) & 0x0F0F0F0F; return (bits * 0x01010101) >> 24; } //! Spread out bits. EG 00001111 -> 0101010101 //! 00001010 -> 0100010000 //! This is used to interleve to intergers to produce a `Morten Key' //! used in Space Filling Curves (See DrDobbs Journal, July 1999) //! Order is important. inline_ void SpreadBits(udword& n) { n = ( n & 0x0000ffff) | (( n & 0xffff0000) << 16); n = ( n & 0x000000ff) | (( n & 0x0000ff00) << 8); n = ( n & 0x000f000f) | (( n & 0x00f000f0) << 4); n = ( n & 0x03030303) | (( n & 0x0c0c0c0c) << 2); n = ( n & 0x11111111) | (( n & 0x22222222) << 1); } // Next Largest Power of 2 // Given a binary integer value x, the next largest power of 2 can be computed by a SWAR algorithm // that recursively "folds" the upper bits into the lower bits. This process yields a bit vector with // the same most significant 1 as x, but all 1's below it. Adding 1 to that value yields the next // largest power of 2. For a 32-bit value: inline_ udword nlpo2(udword x) { x |= (x >> 1); x |= (x >> 2); x |= (x >> 4); x |= (x >> 8); x |= (x >> 16); return x+1; } //! Test to see if a number is an exact power of two (from Steve Baker's Cute Code Collection) inline_ bool IsPowerOfTwo(udword n) { return ((n&(n-1))==0); } //! Zero the least significant '1' bit in a word. (from Steve Baker's Cute Code Collection) inline_ void ZeroLeastSetBit(udword& n) { n&=(n-1); } //! Set the least significant N bits in a word. (from Steve Baker's Cute Code Collection) inline_ void SetLeastNBits(udword& x, udword n) { x|=~(~0<> 31; return (x^y)-y; } //!< Alternative min function inline_ sdword min_(sdword a, sdword b) { sdword delta = b-a; return a + (delta&(delta>>31)); } // Determine if one of the bytes in a 4 byte word is zero inline_ BOOL HasNullByte(udword x) { return ((x + 0xfefefeff) & (~x) & 0x80808080); } // To find the smallest 1 bit in a word EG: ~~~~~~10---0 => 0----010---0 inline_ udword LowestOneBit(udword w) { return ((w) & (~(w)+1)); } // inline_ udword LowestOneBit_(udword w) { return ((w) & (-(w))); } // Most Significant 1 Bit // Given a binary integer value x, the most significant 1 bit (highest numbered element of a bit set) // can be computed using a SWAR algorithm that recursively "folds" the upper bits into the lower bits. // This process yields a bit vector with the same most significant 1 as x, but all 1's below it. // Bitwise AND of the original value with the complement of the "folded" value shifted down by one // yields the most significant bit. For a 32-bit value: inline_ udword msb32(udword x) { x |= (x >> 1); x |= (x >> 2); x |= (x >> 4); x |= (x >> 8); x |= (x >> 16); return (x & ~(x >> 1)); } /* "Just call it repeatedly with various input values and always with the same variable as "memory". The sharpness determines the degree of filtering, where 0 completely filters out the input, and 1 does no filtering at all. I seem to recall from college that this is called an IIR (Infinite Impulse Response) filter. As opposed to the more typical FIR (Finite Impulse Response). Also, I'd say that you can make more intelligent and interesting filters than this, for example filters that remove wrong responses from the mouse because it's being moved too fast. You'd want such a filter to be applied before this one, of course." (JCAB on Flipcode) */ inline_ float FeedbackFilter(float val, float& memory, float sharpness) { ASSERT(sharpness>=0.0f && sharpness<=1.0f && "Invalid sharpness value in feedback filter"); if(sharpness<0.0f) sharpness = 0.0f; else if(sharpness>1.0f) sharpness = 1.0f; return memory = val * sharpness + memory * (1.0f - sharpness); } //! If you can guarantee that your input domain (i.e. value of x) is slightly //! limited (abs(x) must be < ((1<<31u)-32767)), then you can use the //! following code to clamp the resulting value into [-32768,+32767] range: inline_ int ClampToInt16(int x) { // ASSERT(abs(x) < (int)((1<<31u)-32767)); int delta = 32767 - x; x += (delta>>31) & delta; delta = x + 32768; x -= (delta>>31) & delta; return x; } // Generic functions template inline_ void TSwap(Type& a, Type& b) { const Type c = a; a = b; b = c; } template inline_ Type TClamp(const Type& x, const Type& lo, const Type& hi) { return ((xhi) ? hi : x); } template inline_ void TSort(Type& a, Type& b) { if(a>b) TSwap(a, b); } template inline_ void TSort(Type& a, Type& b, Type& c) { if(a>b) TSwap(a, b); if(b>c) TSwap(b, c); if(a>b) TSwap(a, b); if(b>c) TSwap(b, c); } // Prevent nasty user-manipulations (strategy borrowed from Charles Bloom) // #define PREVENT_COPY(curclass) void operator = (const curclass& object) { ASSERT(!"Bad use of operator ="); } // ... actually this is better ! #define PREVENT_COPY(cur_class) private: cur_class(const cur_class& object); cur_class& operator=(const cur_class& object); //! TO BE DOCUMENTED #define OFFSET_OF(Class, Member) (size_t)&(((Class*)0)->Member) //! TO BE DOCUMENTED #define ARRAYSIZE(p) (sizeof(p)/sizeof(p[0])) /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Returns the alignment of the input address. * \fn Alignment() * \param address [in] address to check * \return the best alignment (e.g. 1 for odd addresses, etc) */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// FUNCTION ICECORE_API udword Alignment(udword address); #define IS_ALIGNED_2(x) ((x&1)==0) #define IS_ALIGNED_4(x) ((x&3)==0) #define IS_ALIGNED_8(x) ((x&7)==0) inline_ void _prefetch(void const* ptr) { (void)*(char const volatile *)ptr; } // Compute implicit coords from an index: // The idea is to get back 2D coords from a 1D index. // For example: // // 0 1 2 ... nbu-1 // nbu nbu+1 i ... // // We have i, we're looking for the equivalent (u=2, v=1) location. // i = u + v*nbu // <=> i/nbu = u/nbu + v // Since 0 <= u < nbu, u/nbu = 0 (integer) // Hence: v = i/nbu // Then we simply put it back in the original equation to compute u = i - v*nbu inline_ void Compute2DCoords(udword& u, udword& v, udword i, udword nbu) { v = i / nbu; u = i - (v * nbu); } // In 3D: i = u + v*nbu + w*nbu*nbv // <=> i/(nbu*nbv) = u/(nbu*nbv) + v/nbv + w // u/(nbu*nbv) is null since u/nbu was null already. // v/nbv is null as well for the same reason. // Hence w = i/(nbu*nbv) // Then we're left with a 2D problem: i' = i - w*nbu*nbv = u + v*nbu inline_ void Compute3DCoords(udword& u, udword& v, udword& w, udword i, udword nbu, udword nbu_nbv) { w = i / (nbu_nbv); Compute2DCoords(u, v, i - (w * nbu_nbv), nbu); } #endif // __ICEUTILS_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/Ice/IceContainer.h0000664000000000000000000002250112741425367023703 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains a simple container class. * \file IceContainer.h * \author Pierre Terdiman * \date February, 5, 2000 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Include Guard #ifndef __ICECONTAINER_H__ #define __ICECONTAINER_H__ #define CONTAINER_STATS enum FindMode { FIND_CLAMP, FIND_WRAP, FIND_FORCE_DWORD = 0x7fffffff }; class ICECORE_API Container { public: // Constructor / Destructor Container(); Container(const Container& object); Container(udword size, float growth_factor); ~Container(); // Management /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * A O(1) method to add a value in the container. The container is automatically resized if needed. * The method is inline, not the resize. The call overhead happens on resizes only, which is not a problem since the resizing operation * costs a lot more than the call overhead... * * \param entry [in] a udword to store in the container * \see Add(float entry) * \see Empty() * \see Contains(udword entry) * \return Self-Reference */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ Container& Add(udword entry) { // Resize if needed if(mCurNbEntries==mMaxNbEntries) Resize(); // Add new entry mEntries[mCurNbEntries++] = entry; return *this; } inline_ Container& Add(const udword* entries, udword nb) { // Resize if needed if(mCurNbEntries+nb>mMaxNbEntries) Resize(nb); // Add new entry CopyMemory(&mEntries[mCurNbEntries], entries, nb*sizeof(udword)); mCurNbEntries+=nb; return *this; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * A O(1) method to add a value in the container. The container is automatically resized if needed. * The method is inline, not the resize. The call overhead happens on resizes only, which is not a problem since the resizing operation * costs a lot more than the call overhead... * * \param entry [in] a float to store in the container * \see Add(udword entry) * \see Empty() * \see Contains(udword entry) * \return Self-Reference */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ Container& Add(float entry) { // Resize if needed if(mCurNbEntries==mMaxNbEntries) Resize(); // Add new entry mEntries[mCurNbEntries++] = IR(entry); return *this; } inline_ Container& Add(const float* entries, udword nb) { // Resize if needed if(mCurNbEntries+nb>mMaxNbEntries) Resize(nb); // Add new entry CopyMemory(&mEntries[mCurNbEntries], entries, nb*sizeof(float)); mCurNbEntries+=nb; return *this; } //! Add unique [slow] inline_ Container& AddUnique(udword entry) { if(!Contains(entry)) Add(entry); return *this; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Clears the container. All stored values are deleted, and it frees used ram. * \see Reset() * \return Self-Reference */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// Container& Empty(); /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Resets the container. Stored values are discarded but the buffer is kept so that further calls don't need resizing again. * That's a kind of temporal coherence. * \see Empty() */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ void Reset() { // Avoid the write if possible // ### CMOV if(mCurNbEntries) mCurNbEntries = 0; } // HANDLE WITH CARE inline_ void ForceSize(udword size) { mCurNbEntries = size; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Sets the initial size of the container. If it already contains something, it's discarded. * \param nb [in] Number of entries * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool SetSize(udword nb); /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Refits the container and get rid of unused bytes. * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool Refit(); // Checks whether the container already contains a given value. bool Contains(udword entry, udword* location=null) const; // Deletes an entry - doesn't preserve insertion order. bool Delete(udword entry); // Deletes an entry - does preserve insertion order. bool DeleteKeepingOrder(udword entry); //! Deletes the very last entry. inline_ void DeleteLastEntry() { if(mCurNbEntries) mCurNbEntries--; } //! Deletes the entry whose index is given inline_ void DeleteIndex(udword index) { mEntries[index] = mEntries[--mCurNbEntries]; } // Helpers Container& FindNext(udword& entry, FindMode find_mode=FIND_CLAMP); Container& FindPrev(udword& entry, FindMode find_mode=FIND_CLAMP); // Data access. inline_ udword GetNbEntries() const { return mCurNbEntries; } //!< Returns the current number of entries. inline_ udword GetEntry(udword i) const { return mEntries[i]; } //!< Returns ith entry inline_ udword* GetEntries() const { return mEntries; } //!< Returns the list of entries. inline_ udword GetFirst() const { return mEntries[0]; } inline_ udword GetLast() const { return mEntries[mCurNbEntries-1]; } // Growth control inline_ float GetGrowthFactor() const { return mGrowthFactor; } //!< Returns the growth factor inline_ void SetGrowthFactor(float growth) { mGrowthFactor = growth; } //!< Sets the growth factor inline_ bool IsFull() const { return mCurNbEntries==mMaxNbEntries; } //!< Checks the container is full inline_ BOOL IsNotEmpty() const { return mCurNbEntries; } //!< Checks the container is empty //! Read-access as an array inline_ udword operator[](udword i) const { ASSERT(i>=0 && i=0 && ix O T Let define theta = angle between D and N. Then cos(theta) = |N| / |D| = |N| since D is normalized. j|D = |j|*|D|*cos(theta) => |N| = j|D Then we simply have: D = N + T To compute tangential reaction : T = D - N To compute reflexion vector : R = N - T = N - (D-N) = 2*N - D */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Precompiled Header #include "Stdafx.h" using namespace IceMaths; float Ray::SquareDistance(const Point& point, float* t) const { Point Diff = point - mOrig; float fT = Diff | mDir; if(fT<=0.0f) { fT = 0.0f; } else { fT /= mDir.SquareMagnitude(); Diff -= fT*mDir; } if(t) *t = fT; return Diff.SquareMagnitude(); } choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/Ice/IcePreprocessor.h0000664000000000000000000000722112741425367024451 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains preprocessor stuff. This should be the first included header. * \file IcePreprocessor.h * \author Pierre Terdiman * \date April, 4, 2000 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Include Guard #ifndef __ICEPREPROCESSOR_H__ #define __ICEPREPROCESSOR_H__ // Check platform #if defined( _WIN32 ) || defined( WIN32 ) // #pragma message("Compiling on Windows...") #define PLATFORM_WINDOWS #else // don't issue pragmas on unknown platforms // #pragma message("Compiling on unknown platform...") #endif // Check compiler #if defined(_MSC_VER) // #pragma message("Compiling with VC++...") #define COMPILER_VISUAL_CPP #else // don't issue pragmas on unknown platforms // #pragma message("Compiling with unknown compiler...") #endif // Check compiler options. If this file is included in user-apps, this // shouldn't be needed, so that they can use what they like best. #ifndef ICE_DONT_CHECK_COMPILER_OPTIONS #ifdef COMPILER_VISUAL_CPP #if defined(_CHAR_UNSIGNED) #endif #if defined(_CPPRTTI) #error Please disable RTTI... #endif #if defined(_CPPUNWIND) #error Please disable exceptions... #endif #if defined(_MT) // Multithreading #endif #endif #endif // Check debug mode #ifdef DEBUG // May be defined instead of _DEBUG. Let's fix it. #ifndef _DEBUG #define _DEBUG #endif #endif #ifdef _DEBUG // Here you may define items for debug builds #endif #ifndef THIS_FILE #define THIS_FILE __FILE__ #endif #ifndef ICE_NO_DLL #ifdef ICECORE_EXPORTS #define ICECORE_API __declspec(dllexport) #else #define ICECORE_API __declspec(dllimport) #endif #else #define ICECORE_API #endif // Don't override new/delete // #define DEFAULT_NEWDELETE #define DONT_TRACK_MEMORY_LEAKS #define FUNCTION extern "C" // Cosmetic stuff [mainly useful with multiple inheritance] #define override(base_class) virtual // Our own inline keyword, so that: // - we can switch to __forceinline to check it's really better or not // - we can remove __forceinline if the compiler doesn't support it // #define inline_ __forceinline // #define inline_ inline // Contributed by Bruce Mitchener #if defined(COMPILER_VISUAL_CPP) #define inline_ __forceinline // #define inline_ inline #elif defined(__GNUC__) && __GNUC__ < 3 #define inline_ inline #elif defined(__GNUC__) #define inline_ inline __attribute__ ((always_inline)) #else #define inline_ inline #endif // Down the hatch #ifdef _MSC_VER #pragma inline_depth( 255 ) #endif #ifdef COMPILER_VISUAL_CPP #pragma intrinsic(memcmp) #pragma intrinsic(memcpy) #pragma intrinsic(memset) #pragma intrinsic(strcat) #pragma intrinsic(strcmp) #pragma intrinsic(strcpy) #pragma intrinsic(strlen) #pragma intrinsic(abs) #pragma intrinsic(labs) #endif // ANSI compliance #ifdef _DEBUG #if(_MSC_VER < 1700 ) // Remove painful warning in debug inline_ bool __False__(){ return false; } #define for if(__False__()){} else for #endif #else #define for if(0){} else for #endif #endif // __ICEPREPROCESSOR_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/Ice/IceUtils.cpp0000664000000000000000000000336112741425367023417 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains misc. useful macros & defines. * \file IceUtils.cpp * \author Pierre Terdiman (collected from various sources) * \date April, 4, 2000 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Precompiled Header #include "Stdafx.h" using namespace IceCore; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Returns the alignment of the input address. * \fn Alignment() * \param address [in] address to check * \return the best alignment (e.g. 1 for odd addresses, etc) */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// udword IceCore::Alignment(udword address) { // Returns 0 for null addresses if(!address) return 0; // Test all bits udword Align = 1; for(udword i=1;i<32;i++) { // Returns as soon as the alignment is broken if(address&Align) return Align; Align<<=1; } // Here all bits are null, except the highest one (else the address would be null) return Align; } choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/Ice/IceOBB.h0000664000000000000000000002300012741425367022356 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains OBB-related code. (oriented bounding box) * \file IceOBB.h * \author Pierre Terdiman * \date January, 13, 2000 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Include Guard #ifndef __ICEOBB_H__ #define __ICEOBB_H__ // Forward declarations class LSS; class ICEMATHS_API OBB { public: //! Constructor inline_ OBB() {} //! Constructor inline_ OBB(const Point& center, const Point& extents, const Matrix3x3& rot) : mCenter(center), mExtents(extents), mRot(rot) {} //! Destructor inline_ ~OBB() {} /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Setups an empty OBB. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void SetEmpty() { mCenter.Zero(); mExtents.Set(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT); mRot.Identity(); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Tests if a point is contained within the OBB. * \param p [in] the world point to test * \return true if inside the OBB */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool ContainsPoint(const Point& p) const; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Builds an OBB from an AABB and a world transform. * \param aabb [in] the aabb * \param mat [in] the world transform */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void Create(const AABB& aabb, const Matrix4x4& mat); /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recomputes the OBB after an arbitrary transform by a 4x4 matrix. * \param mtx [in] the transform matrix * \param obb [out] the transformed OBB */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ void Rotate(const Matrix4x4& mtx, OBB& obb) const { // The extents remain constant obb.mExtents = mExtents; // The center gets x-formed obb.mCenter = mCenter * mtx; // Combine rotations obb.mRot = mRot * Matrix3x3(mtx); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Checks the OBB is valid. * \return true if the box is valid */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ BOOL IsValid() const { // Consistency condition for (Center, Extents) boxes: Extents >= 0.0f if(mExtents.x < 0.0f) return FALSE; if(mExtents.y < 0.0f) return FALSE; if(mExtents.z < 0.0f) return FALSE; return TRUE; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the obb planes. * \param planes [out] 6 box planes * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool ComputePlanes(Plane* planes) const; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the obb points. * \param pts [out] 8 box points * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool ComputePoints(Point* pts) const; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes vertex normals. * \param pts [out] 8 box points * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool ComputeVertexNormals(Point* pts) const; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Returns edges. * \return 24 indices (12 edges) indexing the list returned by ComputePoints() */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// const udword* GetEdges() const; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Returns local edge normals. * \return edge normals in local space */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// const Point* GetLocalEdgeNormals() const; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Returns world edge normal * \param edge_index [in] 0 <= edge index < 12 * \param world_normal [out] edge normal in world space */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void ComputeWorldEdgeNormal(udword edge_index, Point& world_normal) const; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes an LSS surrounding the OBB. * \param lss [out] the LSS */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void ComputeLSS(LSS& lss) const; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Checks the OBB is inside another OBB. * \param box [in] the other OBB * \return TRUE if we're inside the other box */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// BOOL IsInside(const OBB& box) const; inline_ const Point& GetCenter() const { return mCenter; } inline_ const Point& GetExtents() const { return mExtents; } inline_ const Matrix3x3& GetRot() const { return mRot; } inline_ void GetRotatedExtents(Matrix3x3& extents) const { extents = mRot; extents.Scale(mExtents); } Point mCenter; //!< B for Box Point mExtents; //!< B for Bounding Matrix3x3 mRot; //!< O for Oriented // Orientation is stored in row-major format, // i.e. rows = eigen vectors of the covariance matrix }; #endif // __ICEOBB_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_Collider.cpp0000664000000000000000000000541512741425367023436 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains base collider class. * \file OPC_Collider.cpp * \author Pierre Terdiman * \date June, 2, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains the abstract class for colliders. * * \class Collider * \author Pierre Terdiman * \version 1.3 * \date June, 2, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Precompiled Header #include "Stdafx.h" using namespace Opcode; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Constructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// Collider::Collider() : mFlags (0), mCurrentModel (null), mIMesh (null) { } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Destructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// Collider::~Collider() { } choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_VolumeCollider.h0000664000000000000000000001572312741425367024276 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains base volume collider class. * \file OPC_VolumeCollider.h * \author Pierre Terdiman * \date June, 2, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Include Guard #ifndef __OPC_VOLUMECOLLIDER_H__ #define __OPC_VOLUMECOLLIDER_H__ struct OPCODE_API VolumeCache { VolumeCache() : Model(null) {} ~VolumeCache() {} Container TouchedPrimitives; //!< Indices of touched primitives const BaseModel* Model; //!< Owner }; class OPCODE_API VolumeCollider : public Collider { public: // Constructor / Destructor VolumeCollider(); virtual ~VolumeCollider() = 0; // Collision report /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Gets the number of touched primitives after a collision query. * \see GetContactStatus() * \see GetTouchedPrimitives() * \return the number of touched primitives */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ udword GetNbTouchedPrimitives() const { return mTouchedPrimitives ? mTouchedPrimitives->GetNbEntries() : 0; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Gets the list of touched primitives after a collision query. * \see GetContactStatus() * \see GetNbTouchedPrimitives() * \return the list of touched primitives (primitive indices) */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ const udword* GetTouchedPrimitives() const { return mTouchedPrimitives ? mTouchedPrimitives->GetEntries() : null; } // Stats /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Stats: gets the number of Volume-BV overlap tests after a collision query. * \see GetNbVolumePrimTests() * \return the number of Volume-BV tests performed during last query */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ udword GetNbVolumeBVTests() const { return mNbVolumeBVTests; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Stats: gets the number of Volume-Triangle overlap tests after a collision query. * \see GetNbVolumeBVTests() * \return the number of Volume-Triangle tests performed during last query */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ udword GetNbVolumePrimTests() const { return mNbVolumePrimTests; } // Settings /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Validates current settings. You should call this method after all the settings / callbacks have been defined for a collider. * \return null if everything is ok, else a string describing the problem */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// override(Collider) const char* ValidateSettings(); protected: // Touched primitives Container* mTouchedPrimitives; //!< List of touched primitives // Dequantization coeffs Point mCenterCoeff; Point mExtentsCoeff; // Stats udword mNbVolumeBVTests; //!< Number of Volume-BV tests udword mNbVolumePrimTests; //!< Number of Volume-Primitive tests // Internal methods void _Dump(const AABBCollisionNode* node); void _Dump(const AABBNoLeafNode* node); void _Dump(const AABBQuantizedNode* node); void _Dump(const AABBQuantizedNoLeafNode* node); /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Initializes a query */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// override(Collider) inline_ void InitQuery() { // Reset stats & contact status mNbVolumeBVTests = 0; mNbVolumePrimTests = 0; Collider::InitQuery(); } inline_ BOOL IsCacheValid(VolumeCache& cache) { // We're going to do a volume-vs-model query. if(cache.Model!=mCurrentModel) { // Cached list was for another model so we can't keep it // Keep track of new owner and reset cache cache.Model = mCurrentModel; return FALSE; } else { // Same models, no problem return TRUE; } } }; #endif // __OPC_VOLUMECOLLIDER_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_SweepAndPrune.cpp0000664000000000000000000004157712741425367024432 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains an implementation of the sweep-and-prune algorithm (moved from Z-Collide) * \file OPC_SweepAndPrune.cpp * \author Pierre Terdiman * \date January, 29, 2000 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Precompiled Header #include "Stdafx.h" using namespace Opcode; inline_ void Sort(udword& id0, udword& id1) { if(id0>id1) Swap(id0, id1); } class Opcode::SAP_Element { public: inline_ SAP_Element() {} inline_ SAP_Element(udword id, SAP_Element* next) : mID(id), mNext(next) {} inline_ ~SAP_Element() {} udword mID; SAP_Element* mNext; }; class Opcode::SAP_Box { public: SAP_EndPoint* Min[3]; SAP_EndPoint* Max[3]; }; class Opcode::SAP_EndPoint { public: float Value; // Min or Max value SAP_EndPoint* Previous; // Previous EndPoint whose Value is smaller than ours (or null) SAP_EndPoint* Next; // Next EndPoint whose Value is greater than ours (or null) udword Data; // Parent box ID *2 | MinMax flag inline_ void SetData(udword box_id, BOOL is_max) { Data = (box_id<<1)|is_max; } inline_ BOOL IsMax() const { return Data & 1; } inline_ udword GetBoxID() const { return Data>>1; } inline_ void InsertAfter(SAP_EndPoint* element) { if(this!=element && this!=element->Next) { // Remove if(Previous) Previous->Next = Next; if(Next) Next->Previous = Previous; // Insert Next = element->Next; if(Next) Next->Previous = this; element->Next = this; Previous = element; } } inline_ void InsertBefore(SAP_EndPoint* element) { if(this!=element && this!=element->Previous) { // Remove if(Previous) Previous->Next = Next; if(Next) Next->Previous = Previous; // Insert Previous = element->Previous; element->Previous = this; Next = element; if(Previous) Previous->Next = this; } } }; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Constructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// SAP_PairData::SAP_PairData() : mNbElements (0), mNbUsedElements (0), mElementPool (null), mFirstFree (null), mNbObjects (0), mArray (null) { } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Destructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// SAP_PairData::~SAP_PairData() { Release(); } void SAP_PairData::Release() { mNbElements = 0; mNbUsedElements = 0; mNbObjects = 0; DELETEARRAY(mElementPool); DELETEARRAY(mArray); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Initializes. * \param nb_objects [in] * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool SAP_PairData::Init(udword nb_objects) { // Make sure everything has been released Release(); if(!nb_objects) return false; mArray = new SAP_Element*[nb_objects]; CHECKALLOC(mArray); ZeroMemory(mArray, nb_objects*sizeof(SAP_Element*)); mNbObjects = nb_objects; return true; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Remaps a pointer when pool gets resized. * \param element [in/out] remapped element * \param delta [in] offset in bytes */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ void Remap(SAP_Element*& element, udword delta) { if(element) element = (SAP_Element*)(udword(element) + delta); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Gets a free element in the pool. * \param id [in] element id * \param next [in] next element * \param remap [out] possible remapping offset * \return the new element */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// SAP_Element* SAP_PairData::GetFreeElem(udword id, SAP_Element* next, udword* remap) { if(remap) *remap = 0; SAP_Element* FreeElem; if(mFirstFree) { // Recycle FreeElem = mFirstFree; mFirstFree = mFirstFree->mNext; // First free = next free (or null) } else { if(mNbUsedElements==mNbElements) { // Resize mNbElements = mNbElements ? (mNbElements<<1) : 2; SAP_Element* NewElems = new SAP_Element[mNbElements]; if(mNbUsedElements) CopyMemory(NewElems, mElementPool, mNbUsedElements*sizeof(SAP_Element)); // Remap everything { udword Delta = udword(NewElems) - udword(mElementPool); for(udword i=0;imID = id; FreeElem->mNext = next; return FreeElem; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Frees an element of the pool. * \param elem [in] element to free/recycle */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ void SAP_PairData::FreeElem(SAP_Element* elem) { elem->mNext = mFirstFree; // Next free mFirstFree = elem; } // Add a pair to the set. void SAP_PairData::AddPair(udword id1, udword id2) { // Order the ids Sort(id1, id2); ASSERT(id1=mNbObjects) return; // Select the right list from "mArray". SAP_Element* Current = mArray[id1]; if(!Current) { // Empty slot => create new element mArray[id1] = GetFreeElem(id2, null); } else if(Current->mID>id2) { // The list is not empty but all elements are greater than id2 => insert id2 in the front. mArray[id1] = GetFreeElem(id2, mArray[id1]); } else { // Else find the correct location in the sorted list (ascending order) and insert id2 there. while(Current->mNext) { if(Current->mNext->mID > id2) break; Current = Current->mNext; } if(Current->mID==id2) return; // The pair already exists // Current->mNext = GetFreeElem(id2, Current->mNext); udword Delta; SAP_Element* E = GetFreeElem(id2, Current->mNext, &Delta); if(Delta) Remap(Current, Delta); Current->mNext = E; } } // Delete a pair from the set. void SAP_PairData::RemovePair(udword id1, udword id2) { // Order the ids. Sort(id1, id2); // Exit if the pair doesn't exist in the set if(id1>=mNbObjects) return; // Otherwise, select the correct list. SAP_Element* Current = mArray[id1]; // If this list is empty, the pair doesn't exist. if(!Current) return; // Otherwise, if id2 is the first element, delete it. if(Current->mID==id2) { mArray[id1] = Current->mNext; FreeElem(Current); } else { // If id2 is not the first element, start traversing the sorted list. while(Current->mNext) { // If we have moved too far away without hitting id2, then the pair doesn't exist if(Current->mNext->mID > id2) return; // Otherwise, delete id2. if(Current->mNext->mID == id2) { SAP_Element* Temp = Current->mNext; Current->mNext = Temp->mNext; FreeElem(Temp); return; } Current = Current->mNext; } } } void SAP_PairData::DumpPairs(Pairs& pairs) const { // ### Ugly and slow for(udword i=0;imIDmID); Current = Current->mNext; } } } void SAP_PairData::DumpPairs(PairCallback callback, void* user_data) const { if(!callback) return; // ### Ugly and slow for(udword i=0;imIDmID, user_data)) return; Current = Current->mNext; } } } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Constructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// SweepAndPrune::SweepAndPrune() { } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Destructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// SweepAndPrune::~SweepAndPrune() { } void SweepAndPrune::GetPairs(Pairs& pairs) const { mPairs.DumpPairs(pairs); } void SweepAndPrune::GetPairs(PairCallback callback, void* user_data) const { mPairs.DumpPairs(callback, user_data); } bool SweepAndPrune::Init(udword nb_objects, const AABB** boxes) { // 1) Create sorted lists mNbObjects = nb_objects; mBoxes = new SAP_Box[nb_objects]; // for(udword i=0;iGetMin(Axis); Data[i*2+1] = boxes[i]->GetMax(Axis); } RadixSort RS; const udword* Sorted = RS.Sort(Data, nb_objects*2).GetRanks(); SAP_EndPoint* PreviousEndPoint = null; for(udword i=0;i>1; ASSERT(BoxIndexValue = SortedCoord; // CurrentEndPoint->IsMax = SortedIndex&1; // ### could be implicit ? // CurrentEndPoint->ID = BoxIndex; // ### could be implicit ? CurrentEndPoint->SetData(BoxIndex, SortedIndex&1); // ### could be implicit ? CurrentEndPoint->Previous = PreviousEndPoint; CurrentEndPoint->Next = null; if(PreviousEndPoint) PreviousEndPoint->Next = CurrentEndPoint; if(CurrentEndPoint->IsMax()) mBoxes[BoxIndex].Max[Axis] = CurrentEndPoint; else mBoxes[BoxIndex].Min[Axis] = CurrentEndPoint; PreviousEndPoint = CurrentEndPoint; } } DELETEARRAY(Data); CheckListsIntegrity(); // 2) Quickly find starting pairs mPairs.Init(nb_objects); { Pairs P; CompleteBoxPruning(nb_objects, boxes, P, Axes(AXES_XZY)); for(udword i=0;iid0; udword id1 = PP->id1; if(id0!=id1 && boxes[id0]->Intersect(*boxes[id1])) { mPairs.AddPair(id0, id1); } else ASSERT(0); } } return true; } bool SweepAndPrune::CheckListsIntegrity() { for(udword Axis=0;Axis<3;Axis++) { // Find list head SAP_EndPoint* Current = mList[Axis]; while(Current->Previous) Current = Current->Previous; udword Nb = 0; SAP_EndPoint* Previous = null; while(Current) { Nb++; if(Previous) { ASSERT(Previous->Value <= Current->Value); if(Previous->Value > Current->Value) return false; } ASSERT(Current->Previous==Previous); if(Current->Previous!=Previous) return false; Previous = Current; Current = Current->Next; } ASSERT(Nb==mNbObjects*2); } return true; } inline_ BOOL Intersect(const AABB& a, const SAP_Box& b) { if(b.Max[0]->Value < a.GetMin(0) || a.GetMax(0) < b.Min[0]->Value || b.Max[1]->Value < a.GetMin(1) || a.GetMax(1) < b.Min[1]->Value || b.Max[2]->Value < a.GetMin(2) || a.GetMax(2) < b.Min[2]->Value) return FALSE; return TRUE; } bool SweepAndPrune::UpdateObject(udword i, const AABB& box) { for(udword Axis=0;Axis<3;Axis++) { // udword Base = (udword)&mList[Axis][0]; // Update min { SAP_EndPoint* const CurrentMin = mBoxes[i].Min[Axis]; ASSERT(!CurrentMin->IsMax()); const float Limit = box.GetMin(Axis); if(Limit == CurrentMin->Value) { } else if(Limit < CurrentMin->Value) { CurrentMin->Value = Limit; // Min is moving left: SAP_EndPoint* NewPos = CurrentMin; ASSERT(NewPos); SAP_EndPoint* tmp; while((tmp = NewPos->Previous) && tmp->Value > Limit) { NewPos = tmp; if(NewPos->IsMax()) { // Our min passed a max => start overlap //udword SortedIndex = (udword(CurrentMin) - Base)/sizeof(NS_EndPoint); const udword id0 = CurrentMin->GetBoxID(); const udword id1 = NewPos->GetBoxID(); if(id0!=id1 && Intersect(box, mBoxes[id1])) mPairs.AddPair(id0, id1); } } CurrentMin->InsertBefore(NewPos); } else// if(Limit > CurrentMin->Value) { CurrentMin->Value = Limit; // Min is moving right: SAP_EndPoint* NewPos = CurrentMin; ASSERT(NewPos); SAP_EndPoint* tmp; while((tmp = NewPos->Next) && tmp->Value < Limit) { NewPos = tmp; if(NewPos->IsMax()) { // Our min passed a max => stop overlap const udword id0 = CurrentMin->GetBoxID(); const udword id1 = NewPos->GetBoxID(); if(id0!=id1) mPairs.RemovePair(id0, id1); } } CurrentMin->InsertAfter(NewPos); } } // Update max { SAP_EndPoint* const CurrentMax = mBoxes[i].Max[Axis]; ASSERT(CurrentMax->IsMax()); const float Limit = box.GetMax(Axis); if(Limit == CurrentMax->Value) { } else if(Limit > CurrentMax->Value) { CurrentMax->Value = Limit; // Max is moving right: SAP_EndPoint* NewPos = CurrentMax; ASSERT(NewPos); SAP_EndPoint* tmp; while((tmp = NewPos->Next) && tmp->Value < Limit) { NewPos = tmp; if(!NewPos->IsMax()) { // Our max passed a min => start overlap const udword id0 = CurrentMax->GetBoxID(); const udword id1 = NewPos->GetBoxID(); if(id0!=id1 && Intersect(box, mBoxes[id1])) mPairs.AddPair(id0, id1); } } CurrentMax->InsertAfter(NewPos); } else// if(Limit < CurrentMax->Value) { CurrentMax->Value = Limit; // Max is moving left: SAP_EndPoint* NewPos = CurrentMax; ASSERT(NewPos); SAP_EndPoint* tmp; while((tmp = NewPos->Previous) && tmp->Value > Limit) { NewPos = tmp; if(!NewPos->IsMax()) { // Our max passed a min => stop overlap const udword id0 = CurrentMax->GetBoxID(); const udword id1 = NewPos->GetBoxID(); if(id0!=id1) mPairs.RemovePair(id0, id1); } } CurrentMax->InsertBefore(NewPos); } } } return true; } choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_TriBoxOverlap.h0000664000000000000000000002633312741425367024110 0ustar rootroot //! This macro quickly finds the min & max values among 3 variables #define FINDMINMAX(x0, x1, x2, min, max) \ min = max = x0; \ if(x1max) max=x1; \ if(x2max) max=x2; //! TO BE DOCUMENTED inline_ BOOL planeBoxOverlap(const Point& normal, const float d, const Point& maxbox) { Point vmin, vmax; for(udword q=0;q<=2;q++) { if(normal[q]>0.0f) { vmin[q]=-maxbox[q]; vmax[q]=maxbox[q]; } else { vmin[q]=maxbox[q]; vmax[q]=-maxbox[q]; } } if((normal|vmin)+d>0.0f) return FALSE; if((normal|vmax)+d>=0.0f) return TRUE; return FALSE; } //! TO BE DOCUMENTED #define AXISTEST_X01(a, b, fa, fb) \ min = a*v0.y - b*v0.z; \ max = a*v2.y - b*v2.z; \ if(min>max) {const float tmp=max; max=min; min=tmp; } \ rad = fa * extents.y + fb * extents.z; \ if(min>rad || max<-rad) return FALSE; //! TO BE DOCUMENTED #define AXISTEST_X2(a, b, fa, fb) \ min = a*v0.y - b*v0.z; \ max = a*v1.y - b*v1.z; \ if(min>max) {const float tmp=max; max=min; min=tmp; } \ rad = fa * extents.y + fb * extents.z; \ if(min>rad || max<-rad) return FALSE; //! TO BE DOCUMENTED #define AXISTEST_Y02(a, b, fa, fb) \ min = b*v0.z - a*v0.x; \ max = b*v2.z - a*v2.x; \ if(min>max) {const float tmp=max; max=min; min=tmp; } \ rad = fa * extents.x + fb * extents.z; \ if(min>rad || max<-rad) return FALSE; //! TO BE DOCUMENTED #define AXISTEST_Y1(a, b, fa, fb) \ min = b*v0.z - a*v0.x; \ max = b*v1.z - a*v1.x; \ if(min>max) {const float tmp=max; max=min; min=tmp; } \ rad = fa * extents.x + fb * extents.z; \ if(min>rad || max<-rad) return FALSE; //! TO BE DOCUMENTED #define AXISTEST_Z12(a, b, fa, fb) \ min = a*v1.x - b*v1.y; \ max = a*v2.x - b*v2.y; \ if(min>max) {const float tmp=max; max=min; min=tmp; } \ rad = fa * extents.x + fb * extents.y; \ if(min>rad || max<-rad) return FALSE; //! TO BE DOCUMENTED #define AXISTEST_Z0(a, b, fa, fb) \ min = a*v0.x - b*v0.y; \ max = a*v1.x - b*v1.y; \ if(min>max) {const float tmp=max; max=min; min=tmp; } \ rad = fa * extents.x + fb * extents.y; \ if(min>rad || max<-rad) return FALSE; // compute triangle edges // - edges lazy evaluated to take advantage of early exits // - fabs precomputed (half less work, possible since extents are always >0) // - customized macros to take advantage of the null component // - axis vector discarded, possibly saves useless movs #define IMPLEMENT_CLASS3_TESTS \ float rad; \ float min, max; \ \ const float fey0 = fabsf(e0.y); \ const float fez0 = fabsf(e0.z); \ AXISTEST_X01(e0.z, e0.y, fez0, fey0); \ const float fex0 = fabsf(e0.x); \ AXISTEST_Y02(e0.z, e0.x, fez0, fex0); \ AXISTEST_Z12(e0.y, e0.x, fey0, fex0); \ \ const float fey1 = fabsf(e1.y); \ const float fez1 = fabsf(e1.z); \ AXISTEST_X01(e1.z, e1.y, fez1, fey1); \ const float fex1 = fabsf(e1.x); \ AXISTEST_Y02(e1.z, e1.x, fez1, fex1); \ AXISTEST_Z0(e1.y, e1.x, fey1, fex1); \ \ const Point e2 = mLeafVerts[0] - mLeafVerts[2]; \ const float fey2 = fabsf(e2.y); \ const float fez2 = fabsf(e2.z); \ AXISTEST_X2(e2.z, e2.y, fez2, fey2); \ const float fex2 = fabsf(e2.x); \ AXISTEST_Y1(e2.z, e2.x, fez2, fex2); \ AXISTEST_Z12(e2.y, e2.x, fey2, fex2); /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Triangle-Box overlap test using the separating axis theorem. * This is the code from Tomas Möller, a bit optimized: * - with some more lazy evaluation (faster path on PC) * - with a tiny bit of assembly * - with "SAT-lite" applied if needed * - and perhaps with some more minor modifs... * * \param center [in] box center * \param extents [in] box extents * \return true if triangle & box overlap */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ BOOL AABBTreeCollider::TriBoxOverlap(const Point& center, const Point& extents) { // Stats mNbBVPrimTests++; // use separating axis theorem to test overlap between triangle and box // need to test for overlap in these directions: // 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle // we do not even need to test these) // 2) normal of the triangle // 3) crossproduct(edge from tri, {x,y,z}-directin) // this gives 3x3=9 more tests // move everything so that the boxcenter is in (0,0,0) Point v0, v1, v2; v0.x = mLeafVerts[0].x - center.x; v1.x = mLeafVerts[1].x - center.x; v2.x = mLeafVerts[2].x - center.x; // First, test overlap in the {x,y,z}-directions #ifdef OPC_USE_FCOMI // find min, max of the triangle in x-direction, and test for overlap in X if(FCMin3(v0.x, v1.x, v2.x)>extents.x) return FALSE; if(FCMax3(v0.x, v1.x, v2.x)<-extents.x) return FALSE; // same for Y v0.y = mLeafVerts[0].y - center.y; v1.y = mLeafVerts[1].y - center.y; v2.y = mLeafVerts[2].y - center.y; if(FCMin3(v0.y, v1.y, v2.y)>extents.y) return FALSE; if(FCMax3(v0.y, v1.y, v2.y)<-extents.y) return FALSE; // same for Z v0.z = mLeafVerts[0].z - center.z; v1.z = mLeafVerts[1].z - center.z; v2.z = mLeafVerts[2].z - center.z; if(FCMin3(v0.z, v1.z, v2.z)>extents.z) return FALSE; if(FCMax3(v0.z, v1.z, v2.z)<-extents.z) return FALSE; #else float min,max; // Find min, max of the triangle in x-direction, and test for overlap in X FINDMINMAX(v0.x, v1.x, v2.x, min, max); if(min>extents.x || max<-extents.x) return FALSE; // Same for Y v0.y = mLeafVerts[0].y - center.y; v1.y = mLeafVerts[1].y - center.y; v2.y = mLeafVerts[2].y - center.y; FINDMINMAX(v0.y, v1.y, v2.y, min, max); if(min>extents.y || max<-extents.y) return FALSE; // Same for Z v0.z = mLeafVerts[0].z - center.z; v1.z = mLeafVerts[1].z - center.z; v2.z = mLeafVerts[2].z - center.z; FINDMINMAX(v0.z, v1.z, v2.z, min, max); if(min>extents.z || max<-extents.z) return FALSE; #endif // 2) Test if the box intersects the plane of the triangle // compute plane equation of triangle: normal*x+d=0 // ### could be precomputed since we use the same leaf triangle several times const Point e0 = v1 - v0; const Point e1 = v2 - v1; const Point normal = e0 ^ e1; const float d = -normal|v0; if(!planeBoxOverlap(normal, d, extents)) return FALSE; // 3) "Class III" tests if(mFullPrimBoxTest) { IMPLEMENT_CLASS3_TESTS } return TRUE; } //! A dedicated version where the box is constant inline_ BOOL OBBCollider::TriBoxOverlap() { // Stats mNbVolumePrimTests++; // Hook const Point& extents = mBoxExtents; const Point& v0 = mLeafVerts[0]; const Point& v1 = mLeafVerts[1]; const Point& v2 = mLeafVerts[2]; // use separating axis theorem to test overlap between triangle and box // need to test for overlap in these directions: // 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle // we do not even need to test these) // 2) normal of the triangle // 3) crossproduct(edge from tri, {x,y,z}-directin) // this gives 3x3=9 more tests // Box center is already in (0,0,0) // First, test overlap in the {x,y,z}-directions #ifdef OPC_USE_FCOMI // find min, max of the triangle in x-direction, and test for overlap in X if(FCMin3(v0.x, v1.x, v2.x)>mBoxExtents.x) return FALSE; if(FCMax3(v0.x, v1.x, v2.x)<-mBoxExtents.x) return FALSE; if(FCMin3(v0.y, v1.y, v2.y)>mBoxExtents.y) return FALSE; if(FCMax3(v0.y, v1.y, v2.y)<-mBoxExtents.y) return FALSE; if(FCMin3(v0.z, v1.z, v2.z)>mBoxExtents.z) return FALSE; if(FCMax3(v0.z, v1.z, v2.z)<-mBoxExtents.z) return FALSE; #else float min,max; // Find min, max of the triangle in x-direction, and test for overlap in X FINDMINMAX(v0.x, v1.x, v2.x, min, max); if(min>mBoxExtents.x || max<-mBoxExtents.x) return FALSE; FINDMINMAX(v0.y, v1.y, v2.y, min, max); if(min>mBoxExtents.y || max<-mBoxExtents.y) return FALSE; FINDMINMAX(v0.z, v1.z, v2.z, min, max); if(min>mBoxExtents.z || max<-mBoxExtents.z) return FALSE; #endif // 2) Test if the box intersects the plane of the triangle // compute plane equation of triangle: normal*x+d=0 // ### could be precomputed since we use the same leaf triangle several times const Point e0 = v1 - v0; const Point e1 = v2 - v1; const Point normal = e0 ^ e1; const float d = -normal|v0; if(!planeBoxOverlap(normal, d, mBoxExtents)) return FALSE; // 3) "Class III" tests - here we always do full tests since the box is a primitive (not a BV) { IMPLEMENT_CLASS3_TESTS } return TRUE; } //! ...and another one, jeez inline_ BOOL AABBCollider::TriBoxOverlap() { // Stats mNbVolumePrimTests++; // Hook const Point& center = mBox.mCenter; const Point& extents = mBox.mExtents; // use separating axis theorem to test overlap between triangle and box // need to test for overlap in these directions: // 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle // we do not even need to test these) // 2) normal of the triangle // 3) crossproduct(edge from tri, {x,y,z}-directin) // this gives 3x3=9 more tests // move everything so that the boxcenter is in (0,0,0) Point v0, v1, v2; v0.x = mLeafVerts[0].x - center.x; v1.x = mLeafVerts[1].x - center.x; v2.x = mLeafVerts[2].x - center.x; // First, test overlap in the {x,y,z}-directions #ifdef OPC_USE_FCOMI // find min, max of the triangle in x-direction, and test for overlap in X if(FCMin3(v0.x, v1.x, v2.x)>extents.x) return FALSE; if(FCMax3(v0.x, v1.x, v2.x)<-extents.x) return FALSE; // same for Y v0.y = mLeafVerts[0].y - center.y; v1.y = mLeafVerts[1].y - center.y; v2.y = mLeafVerts[2].y - center.y; if(FCMin3(v0.y, v1.y, v2.y)>extents.y) return FALSE; if(FCMax3(v0.y, v1.y, v2.y)<-extents.y) return FALSE; // same for Z v0.z = mLeafVerts[0].z - center.z; v1.z = mLeafVerts[1].z - center.z; v2.z = mLeafVerts[2].z - center.z; if(FCMin3(v0.z, v1.z, v2.z)>extents.z) return FALSE; if(FCMax3(v0.z, v1.z, v2.z)<-extents.z) return FALSE; #else float min,max; // Find min, max of the triangle in x-direction, and test for overlap in X FINDMINMAX(v0.x, v1.x, v2.x, min, max); if(min>extents.x || max<-extents.x) return FALSE; // Same for Y v0.y = mLeafVerts[0].y - center.y; v1.y = mLeafVerts[1].y - center.y; v2.y = mLeafVerts[2].y - center.y; FINDMINMAX(v0.y, v1.y, v2.y, min, max); if(min>extents.y || max<-extents.y) return FALSE; // Same for Z v0.z = mLeafVerts[0].z - center.z; v1.z = mLeafVerts[1].z - center.z; v2.z = mLeafVerts[2].z - center.z; FINDMINMAX(v0.z, v1.z, v2.z, min, max); if(min>extents.z || max<-extents.z) return FALSE; #endif // 2) Test if the box intersects the plane of the triangle // compute plane equation of triangle: normal*x+d=0 // ### could be precomputed since we use the same leaf triangle several times const Point e0 = v1 - v0; const Point e1 = v2 - v1; const Point normal = e0 ^ e1; const float d = -normal|v0; if(!planeBoxOverlap(normal, d, extents)) return FALSE; // 3) "Class III" tests - here we always do full tests since the box is a primitive (not a BV) { IMPLEMENT_CLASS3_TESTS } return TRUE; } choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_RayTriOverlap.h0000664000000000000000000000672112741425367024112 0ustar rootroot#define LOCAL_EPSILON 0.000001f /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes a ray-triangle intersection test. * Original code from Tomas Möller's "Fast Minimum Storage Ray-Triangle Intersection". * It's been optimized a bit with integer code, and modified to return a non-intersection if distance from * ray origin to triangle is negative. * * \param vert0 [in] triangle vertex * \param vert1 [in] triangle vertex * \param vert2 [in] triangle vertex * \return true on overlap. mStabbedFace is filled with relevant info. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ BOOL RayCollider::RayTriOverlap(const Point& vert0, const Point& vert1, const Point& vert2) { // Stats mNbRayPrimTests++; // Find vectors for two edges sharing vert0 Point edge1 = vert1 - vert0; Point edge2 = vert2 - vert0; // Begin calculating determinant - also used to calculate U parameter Point pvec = mDir^edge2; // If determinant is near zero, ray lies in plane of triangle float det = edge1|pvec; if(mCulling) { if(det 0. So we can use integer cmp. // Calculate distance from vert0 to ray origin Point tvec = mOrigin - vert0; // Calculate U parameter and test bounds mStabbedFace.mU = tvec|pvec; // if(IR(u)&0x80000000 || u>det) return FALSE; if(IS_NEGATIVE_FLOAT(mStabbedFace.mU) || IR(mStabbedFace.mU)>IR(det)) return FALSE; // Prepare to test V parameter Point qvec = tvec^edge1; // Calculate V parameter and test bounds mStabbedFace.mV = mDir|qvec; if(IS_NEGATIVE_FLOAT(mStabbedFace.mV) || mStabbedFace.mU+mStabbedFace.mV>det) return FALSE; // Calculate t, scale parameters, ray intersects triangle mStabbedFace.mDistance = edge2|qvec; // Det > 0 so we can early exit here // Intersection point is valid if distance is positive (else it can just be a face behind the orig point) if(IS_NEGATIVE_FLOAT(mStabbedFace.mDistance)) return FALSE; // Else go on float OneOverDet = 1.0f / det; mStabbedFace.mDistance *= OneOverDet; mStabbedFace.mU *= OneOverDet; mStabbedFace.mV *= OneOverDet; } else { // the non-culling branch if(det>-LOCAL_EPSILON && det1.0f) return FALSE; if(IS_NEGATIVE_FLOAT(mStabbedFace.mU) || IR(mStabbedFace.mU)>IEEE_1_0) return FALSE; // prepare to test V parameter Point qvec = tvec^edge1; // Calculate V parameter and test bounds mStabbedFace.mV = (mDir|qvec) * OneOverDet; if(IS_NEGATIVE_FLOAT(mStabbedFace.mV) || mStabbedFace.mU+mStabbedFace.mV>1.0f) return FALSE; // Calculate t, ray intersects triangle mStabbedFace.mDistance = (edge2|qvec) * OneOverDet; // Intersection point is valid if distance is positive (else it can just be a face behind the orig point) if(IS_NEGATIVE_FLOAT(mStabbedFace.mDistance)) return FALSE; } return TRUE; } choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_SphereCollider.h0000664000000000000000000001144112741425367024246 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains code for a sphere collider. * \file OPC_SphereCollider.h * \author Pierre Terdiman * \date June, 2, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Include Guard #ifndef __OPC_SPHERECOLLIDER_H__ #define __OPC_SPHERECOLLIDER_H__ struct OPCODE_API SphereCache : VolumeCache { SphereCache() : Center(0.0f,0.0f,0.0f), FatRadius2(0.0f), FatCoeff(1.1f) {} ~SphereCache() {} // Cached faces signature Point Center; //!< Sphere used when performing the query resulting in cached faces float FatRadius2; //!< Sphere used when performing the query resulting in cached faces // User settings float FatCoeff; //!< mRadius2 multiplier used to create a fat sphere }; class OPCODE_API SphereCollider : public VolumeCollider { public: // Constructor / Destructor SphereCollider(); virtual ~SphereCollider(); /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Generic collision query for generic OPCODE models. After the call, access the results: * - with GetContactStatus() * - with GetNbTouchedPrimitives() * - with GetTouchedPrimitives() * * \param cache [in/out] a sphere cache * \param sphere [in] collision sphere in local space * \param model [in] Opcode model to collide with * \param worlds [in] sphere's world matrix, or null * \param worldm [in] model's world matrix, or null * \return true if success * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool Collide(SphereCache& cache, const Sphere& sphere, const Model& model, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null); // bool Collide(SphereCache& cache, const Sphere& sphere, const AABBTree* tree); protected: // Sphere in model space Point mCenter; //!< Sphere center float mRadius2; //!< Sphere radius squared // Internal methods void _Collide(const AABBCollisionNode* node); void _Collide(const AABBNoLeafNode* node); void _Collide(const AABBQuantizedNode* node); void _Collide(const AABBQuantizedNoLeafNode* node); void _Collide(const AABBTreeNode* node); void _CollideNoPrimitiveTest(const AABBCollisionNode* node); void _CollideNoPrimitiveTest(const AABBNoLeafNode* node); void _CollideNoPrimitiveTest(const AABBQuantizedNode* node); void _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node); // Overlap tests inline_ BOOL SphereContainsBox(const Point& bc, const Point& be); inline_ BOOL SphereAABBOverlap(const Point& center, const Point& extents); BOOL SphereTriOverlap(const Point& vert0, const Point& vert1, const Point& vert2); // Init methods BOOL InitQuery(SphereCache& cache, const Sphere& sphere, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null); }; class OPCODE_API HybridSphereCollider : public SphereCollider { public: // Constructor / Destructor HybridSphereCollider(); virtual ~HybridSphereCollider(); bool Collide(SphereCache& cache, const Sphere& sphere, const HybridModel& model, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null); protected: Container mTouchedBoxes; }; #endif // __OPC_SPHERECOLLIDER_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_TreeBuilders.cpp0000664000000000000000000002717612741425367024302 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains code for tree builders. * \file OPC_TreeBuilders.cpp * \author Pierre Terdiman * \date March, 20, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * A builder for AABB-trees of vertices. * * \class AABBTreeOfVerticesBuilder * \author Pierre Terdiman * \version 1.3 * \date March, 20, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * A builder for AABB-trees of AABBs. * * \class AABBTreeOfAABBsBuilder * \author Pierre Terdiman * \version 1.3 * \date March, 20, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * A builder for AABB-trees of triangles. * * \class AABBTreeOfTrianglesBuilder * \author Pierre Terdiman * \version 1.3 * \date March, 20, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Precompiled Header #include "Stdafx.h" using namespace Opcode; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the AABB of a set of primitives. * \param primitives [in] list of indices of primitives * \param nb_prims [in] number of indices * \param global_box [out] global AABB enclosing the set of input primitives * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool AABBTreeOfAABBsBuilder::ComputeGlobalBox(const udword* primitives, udword nb_prims, AABB& global_box) const { // Checkings if(!primitives || !nb_prims) return false; // Initialize global box global_box = mAABBArray[primitives[0]]; // Loop through boxes for(udword i=1;iGetTriangle(VP, *primitives++); // Update global box Min.Min(*VP.Vertex[0]).Min(*VP.Vertex[1]).Min(*VP.Vertex[2]); Max.Max(*VP.Vertex[0]).Max(*VP.Vertex[1]).Max(*VP.Vertex[2]); } global_box.SetMinMax(Min, Max); return true; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the splitting value along a given axis for a given primitive. * \param index [in] index of the primitive to split * \param axis [in] axis index (0,1,2) * \return splitting value */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// float AABBTreeOfTrianglesBuilder::GetSplittingValue(udword index, udword axis) const { /* // Compute center of triangle Point Center; mTriList[index].Center(mVerts, Center); // Return value return Center[axis];*/ // Compute correct component from center of triangle // return (mVerts[mTriList[index].mVRef[0]][axis] // +mVerts[mTriList[index].mVRef[1]][axis] // +mVerts[mTriList[index].mVRef[2]][axis])*INV3; VertexPointers VP; mIMesh->GetTriangle(VP, index); // Compute correct component from center of triangle return ((*VP.Vertex[0])[axis] +(*VP.Vertex[1])[axis] +(*VP.Vertex[2])[axis])*INV3; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the splitting value along a given axis for a given node. * \param primitives [in] list of indices of primitives * \param nb_prims [in] number of indices * \param global_box [in] global AABB enclosing the set of input primitives * \param axis [in] axis index (0,1,2) * \return splitting value */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// float AABBTreeOfTrianglesBuilder::GetSplittingValue(const udword* primitives, udword nb_prims, const AABB& global_box, udword axis) const { if(mSettings.mRules&SPLIT_GEOM_CENTER) { // Loop through triangles float SplitValue = 0.0f; VertexPointers VP; for(udword i=0;iGetTriangle(VP, primitives[i]); // Update split value SplitValue += (*VP.Vertex[0])[axis]; SplitValue += (*VP.Vertex[1])[axis]; SplitValue += (*VP.Vertex[2])[axis]; } return SplitValue / float(nb_prims*3); } else return AABBTreeBuilder::GetSplittingValue(primitives, nb_prims, global_box, axis); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the AABB of a set of primitives. * \param primitives [in] list of indices of primitives * \param nb_prims [in] number of indices * \param global_box [out] global AABB enclosing the set of input primitives * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool AABBTreeOfVerticesBuilder::ComputeGlobalBox(const udword* primitives, udword nb_prims, AABB& global_box) const { // Checkings if(!primitives || !nb_prims) return false; // Initialize global box global_box.SetEmpty(); // Loop through vertices for(udword i=0;i>1; if(max>array[sorted[index]]) First = index+1; else last = index-1; } } // ### could be log(n) ! // and maybe use cmp integers // InsertionSort has better coherence, RadixSort is better for one-shot queries. #define PRUNING_SORTER RadixSort //#define PRUNING_SORTER InsertionSort // Static for coherence static PRUNING_SORTER* gCompletePruningSorter = null; static PRUNING_SORTER* gBipartitePruningSorter0 = null; static PRUNING_SORTER* gBipartitePruningSorter1 = null; inline_ PRUNING_SORTER* GetCompletePruningSorter() { if(!gCompletePruningSorter) gCompletePruningSorter = new PRUNING_SORTER; return gCompletePruningSorter; } inline_ PRUNING_SORTER* GetBipartitePruningSorter0() { if(!gBipartitePruningSorter0) gBipartitePruningSorter0 = new PRUNING_SORTER; return gBipartitePruningSorter0; } inline_ PRUNING_SORTER* GetBipartitePruningSorter1() { if(!gBipartitePruningSorter1) gBipartitePruningSorter1 = new PRUNING_SORTER; return gBipartitePruningSorter1; } void ReleasePruningSorters() { DELETESINGLE(gBipartitePruningSorter1); DELETESINGLE(gBipartitePruningSorter0); DELETESINGLE(gCompletePruningSorter); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Bipartite box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set. * \param nb0 [in] number of boxes in the first set * \param array0 [in] array of boxes for the first set * \param nb1 [in] number of boxes in the second set * \param array1 [in] array of boxes for the second set * \param pairs [out] array of overlapping pairs * \param axes [in] projection order (0,2,1 is often best) * \return true if success. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool Opcode::BipartiteBoxPruning(udword nb0, const AABB** array0, udword nb1, const AABB** array1, Pairs& pairs, const Axes& axes) { // Checkings if(!nb0 || !array0 || !nb1 || !array1) return false; // Catch axes udword Axis0 = axes.mAxis0; udword Axis1 = axes.mAxis1; udword Axis2 = axes.mAxis2; // Allocate some temporary data float* MinPosList0 = new float[nb0]; float* MinPosList1 = new float[nb1]; // 1) Build main lists using the primary axis for(udword i=0;iGetMin(Axis0); for(udword i=0;iGetMin(Axis0); // 2) Sort the lists PRUNING_SORTER* RS0 = GetBipartitePruningSorter0(); PRUNING_SORTER* RS1 = GetBipartitePruningSorter1(); const udword* Sorted0 = RS0->Sort(MinPosList0, nb0).GetRanks(); const udword* Sorted1 = RS1->Sort(MinPosList1, nb1).GetRanks(); // 3) Prune the lists udword Index0, Index1; const udword* const LastSorted0 = &Sorted0[nb0]; const udword* const LastSorted1 = &Sorted1[nb1]; const udword* RunningAddress0 = Sorted0; const udword* RunningAddress1 = Sorted1; while(RunningAddress1GetMax(Axis0)) { if(array0[Index0]->Intersect(*array1[Index1], Axis1)) { if(array0[Index0]->Intersect(*array1[Index1], Axis2)) { pairs.AddPair(Index0, Index1); } } } } //// while(RunningAddress0GetMax(Axis0)) { if(array0[Index1]->Intersect(*array1[Index0], Axis1)) { if(array0[Index1]->Intersect(*array1[Index0], Axis2)) { pairs.AddPair(Index1, Index0); } } } } DELETEARRAY(MinPosList1); DELETEARRAY(MinPosList0); return true; } #define ORIGINAL_VERSION //#define JOAKIM /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set. * \param nb [in] number of boxes * \param array [in] array of boxes * \param pairs [out] array of overlapping pairs * \param axes [in] projection order (0,2,1 is often best) * \return true if success. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool Opcode::CompleteBoxPruning(udword nb, const AABB** array, Pairs& pairs, const Axes& axes) { // Checkings if(!nb || !array) return false; // Catch axes udword Axis0 = axes.mAxis0; udword Axis1 = axes.mAxis1; udword Axis2 = axes.mAxis2; #ifdef ORIGINAL_VERSION // Allocate some temporary data // float* PosList = new float[nb]; float* PosList = new float[nb+1]; // 1) Build main list using the primary axis for(udword i=0;iGetMin(Axis0); PosList[nb++] = MAX_FLOAT; // 2) Sort the list PRUNING_SORTER* RS = GetCompletePruningSorter(); const udword* Sorted = RS->Sort(PosList, nb).GetRanks(); // 3) Prune the list const udword* const LastSorted = &Sorted[nb]; const udword* RunningAddress = Sorted; udword Index0, Index1; while(RunningAddressGetMax(Axis0)) while(PosList[Index1 = *RunningAddress2++]<=array[Index0]->GetMax(Axis0)) { // if(Index0!=Index1) // { if(array[Index0]->Intersect(*array[Index1], Axis1)) { if(array[Index0]->Intersect(*array[Index1], Axis2)) { pairs.AddPair(Index0, Index1); } } // } } } } DELETEARRAY(PosList); #endif #ifdef JOAKIM // Allocate some temporary data // float* PosList = new float[nb]; float* MinList = new float[nb+1]; // 1) Build main list using the primary axis for(udword i=0;iGetMin(Axis0); MinList[nb] = MAX_FLOAT; // 2) Sort the list PRUNING_SORTER* RS = GetCompletePruningSorter(); udword* Sorted = RS->Sort(MinList, nb+1).GetRanks(); // 3) Prune the list // const udword* const LastSorted = &Sorted[nb]; // const udword* const LastSorted = &Sorted[nb-1]; const udword* RunningAddress = Sorted; udword Index0, Index1; // while(RunningAddressGetMax(Axis0)) // float CurrentMin = array[Index0]->GetMin(Axis0); float CurrentMax = array[Index0]->GetMax(Axis0); while(MinList[Index1 = *RunningAddress2] <= CurrentMax) // while(PosList[Index1 = *RunningAddress] <= CurrentMax) { // if(Index0!=Index1) // { if(array[Index0]->Intersect(*array[Index1], Axis1)) { if(array[Index0]->Intersect(*array[Index1], Axis2)) { pairs.AddPair(Index0, Index1); } } // } RunningAddress2++; // RunningAddress++; } } } DELETEARRAY(MinList); #endif return true; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Brute-force versions are kept: // - to check the optimized versions return the correct list of intersections // - to check the speed of the optimized code against the brute-force one /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Brute-force bipartite box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set. * \param nb0 [in] number of boxes in the first set * \param array0 [in] array of boxes for the first set * \param nb1 [in] number of boxes in the second set * \param array1 [in] array of boxes for the second set * \param pairs [out] array of overlapping pairs * \return true if success. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool Opcode::BruteForceBipartiteBoxTest(udword nb0, const AABB** array0, udword nb1, const AABB** array1, Pairs& pairs) { // Checkings if(!nb0 || !array0 || !nb1 || !array1) return false; // Brute-force nb0*nb1 overlap tests for(udword i=0;iIntersect(*array1[j])) pairs.AddPair(i, j); } } return true; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set. * \param nb [in] number of boxes * \param array [in] array of boxes * \param pairs [out] array of overlapping pairs * \return true if success. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool Opcode::BruteForceCompleteBoxTest(udword nb, const AABB** array, Pairs& pairs) { // Checkings if(!nb || !array) return false; // Brute-force n(n-1)/2 overlap tests for(udword i=0;iIntersect(*array[j])) pairs.AddPair(i, j); } } return true; } choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_SphereAABBOverlap.h0000664000000000000000000000436412741425367024535 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Sphere-AABB overlap test, based on Jim Arvo's code. * \param center [in] box center * \param extents [in] box extents * \return TRUE on overlap */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ BOOL SphereCollider::SphereAABBOverlap(const Point& center, const Point& extents) { // Stats mNbVolumeBVTests++; float d = 0.0f; //find the square of the distance //from the sphere to the box #ifdef OLDIES for(udword i=0;i<3;i++) { float tmp = mCenter[i] - center[i]; float s = tmp + extents[i]; if(s<0.0f) d += s*s; else { s = tmp - extents[i]; if(s>0.0f) d += s*s; } } #endif //#ifdef NEW_TEST // float tmp = mCenter.x - center.x; // float s = tmp + extents.x; float tmp,s; tmp = mCenter.x - center.x; s = tmp + extents.x; if(s<0.0f) { d += s*s; if(d>mRadius2) return FALSE; } else { s = tmp - extents.x; if(s>0.0f) { d += s*s; if(d>mRadius2) return FALSE; } } tmp = mCenter.y - center.y; s = tmp + extents.y; if(s<0.0f) { d += s*s; if(d>mRadius2) return FALSE; } else { s = tmp - extents.y; if(s>0.0f) { d += s*s; if(d>mRadius2) return FALSE; } } tmp = mCenter.z - center.z; s = tmp + extents.z; if(s<0.0f) { d += s*s; if(d>mRadius2) return FALSE; } else { s = tmp - extents.z; if(s>0.0f) { d += s*s; if(d>mRadius2) return FALSE; } } //#endif #ifdef OLDIES // Point Min = center - extents; // Point Max = center + extents; float d = 0.0f; //find the square of the distance //from the sphere to the box for(udword i=0;i<3;i++) { float Min = center[i] - extents[i]; // if(mCenter[i]Max[i]) if(mCenter[i]>Max) { float s = mCenter[i] - Max; d += s*s; } } } #endif return d <= mRadius2; } choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_OptimizedTree.h0000664000000000000000000002321712741425367024132 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains code for optimized trees. * \file OPC_OptimizedTree.h * \author Pierre Terdiman * \date March, 20, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Include Guard #ifndef __OPC_OPTIMIZEDTREE_H__ #define __OPC_OPTIMIZEDTREE_H__ #define EXWORD uintptr_t //! Common interface for a node of an implicit tree #define IMPLEMENT_IMPLICIT_NODE(base_class, volume) \ public: \ /* Constructor / Destructor */ \ inline_ base_class() : mData(0) {} \ inline_ ~base_class() {} \ /* Leaf test */ \ inline_ BOOL IsLeaf() const { return mData&1; } \ /* Data access */ \ inline_ const base_class* GetPos() const { return (base_class*)mData; } \ inline_ const base_class* GetNeg() const { return ((base_class*)mData)+1; } \ /* Modified by S-cubed, Inc. */ \ inline_ const base_class* GetB() const { return mB; } \ inline_ udword GetPrimitive() const { return (mData>>1); } \ /* Stats */ \ inline_ udword GetNodeSize() const { return SIZEOFOBJECT; } \ \ volume mAABB; \ EXWORD mData; \ /* Modified by S-cubed, Inc. */ \ base_class* mB; //! Common interface for a node of a no-leaf tree #define IMPLEMENT_NOLEAF_NODE(base_class, volume) \ public: \ /* Constructor / Destructor */ \ inline_ base_class() : mPosData(0), mNegData(0) {} \ inline_ ~base_class() {} \ /* Leaf tests */ \ inline_ BOOL HasPosLeaf() const { return mPosData&1; } \ inline_ BOOL HasNegLeaf() const { return mNegData&1; } \ /* Data access */ \ inline_ const base_class* GetPos() const { return (base_class*)mPosData; } \ inline_ const base_class* GetNeg() const { return (base_class*)mNegData; } \ /* Modified by S-cubed, Inc. */ \ inline_ const base_class* GetB() const { return mB; } \ inline_ udword GetPosPrimitive() const { return (mPosData>>1); } \ inline_ udword GetNegPrimitive() const { return (mNegData>>1); } \ /* Stats */ \ inline_ udword GetNodeSize() const { return SIZEOFOBJECT; } \ \ volume mAABB; \ EXWORD mPosData; \ EXWORD mNegData; \ /* Modified by S-cubed, Inc. */ \ base_class* mB; class OPCODE_API AABBCollisionNode { IMPLEMENT_IMPLICIT_NODE(AABBCollisionNode, CollisionAABB) inline_ float GetVolume() const { return mAABB.mExtents.x * mAABB.mExtents.y * mAABB.mExtents.z; } inline_ float GetSize() const { return mAABB.mExtents.SquareMagnitude(); } inline_ udword GetRadius() const { udword* Bits = (udword*)&mAABB.mExtents.x; udword Max = Bits[0]; if(Bits[1]>Max) Max = Bits[1]; if(Bits[2]>Max) Max = Bits[2]; return Max; } // NB: using the square-magnitude or the true volume of the box, seems to yield better results // (assuming UNC-like informed traversal methods). I borrowed this idea from PQP. The usual "size" // otherwise, is the largest box extent. In SOLID that extent is computed on-the-fly each time it's // needed (the best approach IMHO). In RAPID the rotation matrix is permuted so that Extent[0] is // always the greatest, which saves looking for it at runtime. On the other hand, it yields matrices // whose determinant is not 1, i.e. you can't encode them anymore as unit quaternions. Not a very // good strategy. }; class OPCODE_API AABBQuantizedNode { IMPLEMENT_IMPLICIT_NODE(AABBQuantizedNode, QuantizedAABB) inline_ uword GetSize() const { const uword* Bits = mAABB.mExtents; uword Max = Bits[0]; if(Bits[1]>Max) Max = Bits[1]; if(Bits[2]>Max) Max = Bits[2]; return Max; } // NB: for quantized nodes I don't feel like computing a square-magnitude with integers all // over the place.......! }; class OPCODE_API AABBNoLeafNode { IMPLEMENT_NOLEAF_NODE(AABBNoLeafNode, CollisionAABB) }; class OPCODE_API AABBQuantizedNoLeafNode { IMPLEMENT_NOLEAF_NODE(AABBQuantizedNoLeafNode, QuantizedAABB) }; //! Common interface for a collision tree #define IMPLEMENT_COLLISION_TREE(base_class, node) \ public: \ /* Constructor / Destructor */ \ base_class(); \ virtual ~base_class(); \ /* Builds from a standard tree */ \ override(AABBOptimizedTree) bool Build(AABBTree* tree); \ /* Refits the tree */ \ override(AABBOptimizedTree) bool Refit(const MeshInterface* mesh_interface); \ /* Walks the tree */ \ override(AABBOptimizedTree) bool Walk(GenericWalkingCallback callback, void* user_data) const; \ /* Data access */ \ inline_ const node* GetNodes() const { return mNodes; } \ /* Stats */ \ override(AABBOptimizedTree) udword GetUsedBytes() const { return mNbNodes*sizeof(node); } \ private: \ node* mNodes; typedef bool (*GenericWalkingCallback) (const void* current, void* user_data); class OPCODE_API AABBOptimizedTree { public: // Constructor / Destructor AABBOptimizedTree() : mNbNodes (0) {} virtual ~AABBOptimizedTree() {} /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Builds the collision tree from a generic AABB tree. * \param tree [in] generic AABB tree * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// virtual bool Build(AABBTree* tree) = 0; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Refits the collision tree after vertices have been modified. * \param mesh_interface [in] mesh interface for current model * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// virtual bool Refit(const MeshInterface* mesh_interface) = 0; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Walks the tree and call the user back for each node. * \param callback [in] walking callback * \param user_data [in] callback's user data * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// virtual bool Walk(GenericWalkingCallback callback, void* user_data) const = 0; // Data access virtual udword GetUsedBytes() const = 0; inline_ udword GetNbNodes() const { return mNbNodes; } protected: udword mNbNodes; }; class OPCODE_API AABBCollisionTree : public AABBOptimizedTree { IMPLEMENT_COLLISION_TREE(AABBCollisionTree, AABBCollisionNode) }; class OPCODE_API AABBNoLeafTree : public AABBOptimizedTree { IMPLEMENT_COLLISION_TREE(AABBNoLeafTree, AABBNoLeafNode) }; class OPCODE_API AABBQuantizedTree : public AABBOptimizedTree { IMPLEMENT_COLLISION_TREE(AABBQuantizedTree, AABBQuantizedNode) public: Point mCenterCoeff; Point mExtentsCoeff; }; class OPCODE_API AABBQuantizedNoLeafTree : public AABBOptimizedTree { IMPLEMENT_COLLISION_TREE(AABBQuantizedNoLeafTree, AABBQuantizedNoLeafNode) public: Point mCenterCoeff; Point mExtentsCoeff; }; #endif // __OPC_OPTIMIZEDTREE_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_AABBTree.cpp0000664000000000000000000005376412741425367023220 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains code for a versatile AABB tree. * \file OPC_AABBTree.cpp * \author Pierre Terdiman * \date March, 20, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains a generic AABB tree node. * * \class AABBTreeNode * \author Pierre Terdiman * \version 1.3 * \date March, 20, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains a generic AABB tree. * This is a vanilla AABB tree, without any particular optimization. It contains anonymous references to * user-provided primitives, which can theoretically be anything - triangles, boxes, etc. Each primitive * is surrounded by an AABB, regardless of the primitive's nature. When the primitive is a triangle, the * resulting tree can be converted into an optimized tree. If the primitive is a box, the resulting tree * can be used for culling - VFC or occlusion -, assuming you cull on a mesh-by-mesh basis (modern way). * * \class AABBTree * \author Pierre Terdiman * \version 1.3 * \date March, 20, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Precompiled Header #include "Stdafx.h" using namespace Opcode; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Constructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// AABBTreeNode::AABBTreeNode() : mPos (null), #ifndef OPC_NO_NEG_VANILLA_TREE mNeg (null), #endif mNodePrimitives (null), mNbPrimitives (0) { #ifdef OPC_USE_TREE_COHERENCE mBitmask = 0; #endif } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Destructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// AABBTreeNode::~AABBTreeNode() { // Opcode 1.3: const AABBTreeNode* Pos = GetPos(); #ifndef OPC_NO_NEG_VANILLA_TREE const AABBTreeNode* Neg = GetNeg(); if(!(mPos&1)) DELETESINGLE(Pos); if(!(mNeg&1)) DELETESINGLE(Neg); #else if(!(mPos&1)) DELETEARRAY(Pos); #endif mNodePrimitives = null; // This was just a shortcut to the global list => no release mNbPrimitives = 0; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Splits the node along a given axis. * The list of indices is reorganized according to the split values. * \param axis [in] splitting axis index * \param builder [in] the tree builder * \return the number of primitives assigned to the first child * \warning this method reorganizes the internal list of primitives */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// udword AABBTreeNode::Split(udword axis, AABBTreeBuilder* builder) { // Get node split value float SplitValue = builder->GetSplittingValue(mNodePrimitives, mNbPrimitives, mBV, axis); udword NbPos = 0; // Loop through all node-related primitives. Their indices range from mNodePrimitives[0] to mNodePrimitives[mNbPrimitives-1]. // Those indices map the global list in the tree builder. for(udword i=0;iGetSplittingValue(Index, axis); // Reorganize the list of indices in this order: positive - negative. if(PrimitiveValue > SplitValue) { // Swap entries udword Tmp = mNodePrimitives[i]; mNodePrimitives[i] = mNodePrimitives[NbPos]; mNodePrimitives[NbPos] = Tmp; // Count primitives assigned to positive space NbPos++; } } return NbPos; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Subdivides the node. * * N * / \ * / \ * N/2 N/2 * / \ / \ * N/4 N/4 N/4 N/4 * (etc) * * A well-balanced tree should have a O(log n) depth. * A degenerate tree would have a O(n) depth. * Note a perfectly-balanced tree is not well-suited to collision detection anyway. * * \param builder [in] the tree builder * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool AABBTreeNode::Subdivide(AABBTreeBuilder* builder) { // Checkings if(!builder) return false; // Stop subdividing if we reach a leaf node. This is always performed here, // else we could end in trouble if user overrides this. if(mNbPrimitives==1) return true; // Let the user validate the subdivision if(!builder->ValidateSubdivision(mNodePrimitives, mNbPrimitives, mBV)) return true; bool ValidSplit = true; // Optimism... udword NbPos; if(builder->mSettings.mRules & SPLIT_LARGEST_AXIS) { // Find the largest axis to split along Point Extents; mBV.GetExtents(Extents); // Box extents udword Axis = Extents.LargestAxis(); // Index of largest axis // Split along the axis NbPos = Split(Axis, builder); // Check split validity if(!NbPos || NbPos==mNbPrimitives) ValidSplit = false; } else if(builder->mSettings.mRules & SPLIT_SPLATTER_POINTS) { // Compute the means Point Means(0.0f, 0.0f, 0.0f); for(udword i=0;iGetSplittingValue(Index, 0); Means.y+=builder->GetSplittingValue(Index, 1); Means.z+=builder->GetSplittingValue(Index, 2); } Means/=float(mNbPrimitives); // Compute variances Point Vars(0.0f, 0.0f, 0.0f); for(udword i=0;iGetSplittingValue(Index, 0); volatile float Cy = builder->GetSplittingValue(Index, 1); volatile float Cz = builder->GetSplittingValue(Index, 2); Vars.x += (Cx - Means.x)*(Cx - Means.x); Vars.y += (Cy - Means.y)*(Cy - Means.y); Vars.z += (Cz - Means.z)*(Cz - Means.z); } Vars/=float(mNbPrimitives-1); // Choose axis with greatest variance udword Axis = Vars.LargestAxis(); // Split along the axis NbPos = Split(Axis, builder); // Check split validity if(!NbPos || NbPos==mNbPrimitives) ValidSplit = false; } else if(builder->mSettings.mRules & SPLIT_BALANCED) { // Test 3 axis, take the best float Results[3]; NbPos = Split(0, builder); Results[0] = float(NbPos)/float(mNbPrimitives); NbPos = Split(1, builder); Results[1] = float(NbPos)/float(mNbPrimitives); NbPos = Split(2, builder); Results[2] = float(NbPos)/float(mNbPrimitives); Results[0]-=0.5f; Results[0]*=Results[0]; Results[1]-=0.5f; Results[1]*=Results[1]; Results[2]-=0.5f; Results[2]*=Results[2]; udword Min=0; if(Results[1]mSettings.mRules & SPLIT_BEST_AXIS) { // Test largest, then middle, then smallest axis... // Sort axis Point Extents; mBV.GetExtents(Extents); // Box extents udword SortedAxis[] = { 0, 1, 2 }; float* Keys = (float*)&Extents.x; for(udword j=0;j<3;j++) { for(udword i=0;i<2;i++) { if(Keys[SortedAxis[i]]mSettings.mRules & SPLIT_FIFTY) { // Don't even bother splitting (mainly a performance test) NbPos = mNbPrimitives>>1; } else return false; // Unknown splitting rules // Check the subdivision has been successful if(!ValidSplit) { // Here, all boxes lie in the same sub-space. Two strategies: // - if the tree *must* be complete, make an arbitrary 50-50 split // - else stop subdividing // if(builder->mSettings.mRules&SPLIT_COMPLETE) if(builder->mSettings.mLimit==1) { builder->IncreaseNbInvalidSplits(); NbPos = mNbPrimitives>>1; } else return true; } // Now create children and assign their pointers. if(builder->mNodeBase) { // We use a pre-allocated linear pool for complete trees [Opcode 1.3] AABBTreeNode* Pool = (AABBTreeNode*)builder->mNodeBase; udword Count = builder->GetCount() - 1; // Count begins to 1... // Set last bit to tell it shouldn't be freed ### pretty ugly, find a better way. Maybe one bit in mNbPrimitives ASSERT(!(udword(&Pool[Count+0])&1)); ASSERT(!(udword(&Pool[Count+1])&1)); mPos = EXWORD(&Pool[Count+0])|1; #ifndef OPC_NO_NEG_VANILLA_TREE mNeg = EXWORD(&Pool[Count+1])|1; #endif } else { // Non-complete trees and/or Opcode 1.2 allocate nodes on-the-fly #ifndef OPC_NO_NEG_VANILLA_TREE mPos = (EXWORD)new AABBTreeNode; CHECKALLOC(mPos); mNeg = (EXWORD)new AABBTreeNode; CHECKALLOC(mNeg); #else AABBTreeNode* PosNeg = new AABBTreeNode[2]; CHECKALLOC(PosNeg); mPos = (EXWORD)PosNeg; #endif } // Update stats builder->IncreaseCount(2); // Assign children AABBTreeNode* Pos = (AABBTreeNode*)GetPos(); AABBTreeNode* Neg = (AABBTreeNode*)GetNeg(); Pos->mNodePrimitives = &mNodePrimitives[0]; Pos->mNbPrimitives = NbPos; Neg->mNodePrimitives = &mNodePrimitives[NbPos]; Neg->mNbPrimitives = mNbPrimitives - NbPos; return true; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive hierarchy building in a top-down fashion. * \param builder [in] the tree builder */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void AABBTreeNode::_BuildHierarchy(AABBTreeBuilder* builder) { // 1) Compute the global box for current node. The box is stored in mBV. builder->ComputeGlobalBox(mNodePrimitives, mNbPrimitives, mBV); // 2) Subdivide current node Subdivide(builder); // 3) Recurse AABBTreeNode* Pos = (AABBTreeNode*)GetPos(); AABBTreeNode* Neg = (AABBTreeNode*)GetNeg(); if(Pos) Pos->_BuildHierarchy(builder); if(Neg) Neg->_BuildHierarchy(builder); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Refits the tree (top-down). * \param builder [in] the tree builder */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void AABBTreeNode::_Refit(AABBTreeBuilder* builder) { // 1) Recompute the new global box for current node builder->ComputeGlobalBox(mNodePrimitives, mNbPrimitives, mBV); // 2) Recurse AABBTreeNode* Pos = (AABBTreeNode*)GetPos(); AABBTreeNode* Neg = (AABBTreeNode*)GetNeg(); if(Pos) Pos->_Refit(builder); if(Neg) Neg->_Refit(builder); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Constructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// AABBTree::AABBTree() : mIndices(null), mPool(null), mTotalNbNodes(0) { } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Destructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// AABBTree::~AABBTree() { Release(); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Releases the tree. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void AABBTree::Release() { DELETEARRAY(mPool); DELETEARRAY(mIndices); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Builds a generic AABB tree from a tree builder. * \param builder [in] the tree builder * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool AABBTree::Build(AABBTreeBuilder* builder) { // Checkings if(!builder || !builder->mNbPrimitives) return false; // Release previous tree Release(); // Init stats builder->SetCount(1); builder->SetNbInvalidSplits(0); // Initialize indices. This list will be modified during build. mIndices = new udword[builder->mNbPrimitives]; CHECKALLOC(mIndices); // Identity permutation for(udword i=0;imNbPrimitives;i++) mIndices[i] = i; // Setup initial node. Here we have a complete permutation of the app's primitives. mNodePrimitives = mIndices; mNbPrimitives = builder->mNbPrimitives; // Use a linear array for complete trees (since we can predict the final number of nodes) [Opcode 1.3] // if(builder->mRules&SPLIT_COMPLETE) if(builder->mSettings.mLimit==1) { // Allocate a pool of nodes mPool = new AABBTreeNode[builder->mNbPrimitives*2 - 1]; builder->mNodeBase = mPool; // ### ugly ! } // Build the hierarchy _BuildHierarchy(builder); // Get back total number of nodes mTotalNbNodes = builder->GetCount(); // For complete trees, check the correct number of nodes has been created [Opcode 1.3] if(mPool) ASSERT(mTotalNbNodes==builder->mNbPrimitives*2 - 1); return true; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the depth of the tree. * A well-balanced tree should have a log(n) depth. A degenerate tree O(n) depth. * \return depth of the tree */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// udword AABBTree::ComputeDepth() const { return Walk(null, null); // Use the walking code without callback } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Walks the tree, calling the user back for each node. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// udword AABBTree::Walk(WalkingCallback callback, void* user_data) const { // Call it without callback to compute max depth udword MaxDepth = 0; udword CurrentDepth = 0; struct Local { static void _Walk(const AABBTreeNode* current_node, udword& max_depth, udword& current_depth, WalkingCallback callback, void* user_data) { // Checkings if(!current_node) return; // Entering a new node => increase depth current_depth++; // Keep track of max depth if(current_depth>max_depth) max_depth = current_depth; // Callback if(callback && !(callback)(current_node, current_depth, user_data)) return; // Recurse if(current_node->GetPos()) { _Walk(current_node->GetPos(), max_depth, current_depth, callback, user_data); current_depth--; } if(current_node->GetNeg()) { _Walk(current_node->GetNeg(), max_depth, current_depth, callback, user_data); current_depth--; } } }; Local::_Walk(this, MaxDepth, CurrentDepth, callback, user_data); return MaxDepth; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Refits the tree in a top-down way. * \param builder [in] the tree builder */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool AABBTree::Refit(AABBTreeBuilder* builder) { if(!builder) return false; _Refit(builder); return true; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Refits the tree in a bottom-up way. * \param builder [in] the tree builder */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool AABBTree::Refit2(AABBTreeBuilder* builder) { // Checkings if(!builder) return false; ASSERT(mPool); // Bottom-up update Point Min,Max; Point Min_,Max_; udword Index = mTotalNbNodes; while(Index--) { AABBTreeNode& Current = mPool[Index]; if(Current.IsLeaf()) { builder->ComputeGlobalBox(Current.GetPrimitives(), Current.GetNbPrimitives(), *(AABB*)Current.GetAABB()); } else { Current.GetPos()->GetAABB()->GetMin(Min); Current.GetPos()->GetAABB()->GetMax(Max); Current.GetNeg()->GetAABB()->GetMin(Min_); Current.GetNeg()->GetAABB()->GetMax(Max_); Min.Min(Min_); Max.Max(Max_); ((AABB*)Current.GetAABB())->SetMinMax(Min, Max); } } return true; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the number of bytes used by the tree. * \return number of bytes used */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// udword AABBTree::GetUsedBytes() const { udword TotalSize = mTotalNbNodes*GetNodeSize(); if(mIndices) TotalSize+=mNbPrimitives*sizeof(udword); return TotalSize; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Checks the tree is a complete tree or not. * A complete tree is made of 2*N-1 nodes, where N is the number of primitives in the tree. * \return true for complete trees */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool AABBTree::IsComplete() const { return (GetNbNodes()==GetNbPrimitives()*2-1); } choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_BoxBoxOverlap.h0000664000000000000000000001720312741425367024076 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * OBB-OBB overlap test using the separating axis theorem. * - original code by Gomez / Gamasutra (similar to Gottschalk's one in RAPID) * - optimized for AABB trees by computing the rotation matrix once (SOLID-fashion) * - the fabs matrix is precomputed as well and epsilon-tweaked (RAPID-style, we found this almost mandatory) * - Class III axes can be disabled... (SOLID & Intel fashion) * - ...or enabled to perform some profiling * - CPU comparisons used when appropriate * - lazy evaluation sometimes saves some work in case of early exits (unlike SOLID) * * \param ea [in] extents from box A * \param ca [in] center from box A * \param eb [in] extents from box B * \param cb [in] center from box B * \return true if boxes overlap */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ BOOL AABBTreeCollider::BoxBoxOverlap(const Point& ea, const Point& ca, const Point& eb, const Point& cb) { // Stats mNbBVBVTests++; float t,t2; // Class I : A's basis vectors float Tx = (mR1to0.m[0][0]*cb.x + mR1to0.m[1][0]*cb.y + mR1to0.m[2][0]*cb.z) + mT1to0.x - ca.x; t = ea.x + eb.x*mAR.m[0][0] + eb.y*mAR.m[1][0] + eb.z*mAR.m[2][0]; if(GREATER(Tx, t)) return FALSE; float Ty = (mR1to0.m[0][1]*cb.x + mR1to0.m[1][1]*cb.y + mR1to0.m[2][1]*cb.z) + mT1to0.y - ca.y; t = ea.y + eb.x*mAR.m[0][1] + eb.y*mAR.m[1][1] + eb.z*mAR.m[2][1]; if(GREATER(Ty, t)) return FALSE; float Tz = (mR1to0.m[0][2]*cb.x + mR1to0.m[1][2]*cb.y + mR1to0.m[2][2]*cb.z) + mT1to0.z - ca.z; t = ea.z + eb.x*mAR.m[0][2] + eb.y*mAR.m[1][2] + eb.z*mAR.m[2][2]; if(GREATER(Tz, t)) return FALSE; // Class II : B's basis vectors t = Tx*mR1to0.m[0][0] + Ty*mR1to0.m[0][1] + Tz*mR1to0.m[0][2]; t2 = ea.x*mAR.m[0][0] + ea.y*mAR.m[0][1] + ea.z*mAR.m[0][2] + eb.x; if(GREATER(t, t2)) return FALSE; t = Tx*mR1to0.m[1][0] + Ty*mR1to0.m[1][1] + Tz*mR1to0.m[1][2]; t2 = ea.x*mAR.m[1][0] + ea.y*mAR.m[1][1] + ea.z*mAR.m[1][2] + eb.y; if(GREATER(t, t2)) return FALSE; t = Tx*mR1to0.m[2][0] + Ty*mR1to0.m[2][1] + Tz*mR1to0.m[2][2]; t2 = ea.x*mAR.m[2][0] + ea.y*mAR.m[2][1] + ea.z*mAR.m[2][2] + eb.z; if(GREATER(t, t2)) return FALSE; // Class III : 9 cross products // Cool trick: always perform the full test for first level, regardless of settings. // That way pathological cases (such as the pencils scene) are quickly rejected anyway ! if(mFullBoxBoxTest || mNbBVBVTests==1) { t = Tz*mR1to0.m[0][1] - Ty*mR1to0.m[0][2]; t2 = ea.y*mAR.m[0][2] + ea.z*mAR.m[0][1] + eb.y*mAR.m[2][0] + eb.z*mAR.m[1][0]; if(GREATER(t, t2)) return FALSE; // L = A0 x B0 t = Tz*mR1to0.m[1][1] - Ty*mR1to0.m[1][2]; t2 = ea.y*mAR.m[1][2] + ea.z*mAR.m[1][1] + eb.x*mAR.m[2][0] + eb.z*mAR.m[0][0]; if(GREATER(t, t2)) return FALSE; // L = A0 x B1 t = Tz*mR1to0.m[2][1] - Ty*mR1to0.m[2][2]; t2 = ea.y*mAR.m[2][2] + ea.z*mAR.m[2][1] + eb.x*mAR.m[1][0] + eb.y*mAR.m[0][0]; if(GREATER(t, t2)) return FALSE; // L = A0 x B2 t = Tx*mR1to0.m[0][2] - Tz*mR1to0.m[0][0]; t2 = ea.x*mAR.m[0][2] + ea.z*mAR.m[0][0] + eb.y*mAR.m[2][1] + eb.z*mAR.m[1][1]; if(GREATER(t, t2)) return FALSE; // L = A1 x B0 t = Tx*mR1to0.m[1][2] - Tz*mR1to0.m[1][0]; t2 = ea.x*mAR.m[1][2] + ea.z*mAR.m[1][0] + eb.x*mAR.m[2][1] + eb.z*mAR.m[0][1]; if(GREATER(t, t2)) return FALSE; // L = A1 x B1 t = Tx*mR1to0.m[2][2] - Tz*mR1to0.m[2][0]; t2 = ea.x*mAR.m[2][2] + ea.z*mAR.m[2][0] + eb.x*mAR.m[1][1] + eb.y*mAR.m[0][1]; if(GREATER(t, t2)) return FALSE; // L = A1 x B2 t = Ty*mR1to0.m[0][0] - Tx*mR1to0.m[0][1]; t2 = ea.x*mAR.m[0][1] + ea.y*mAR.m[0][0] + eb.y*mAR.m[2][2] + eb.z*mAR.m[1][2]; if(GREATER(t, t2)) return FALSE; // L = A2 x B0 t = Ty*mR1to0.m[1][0] - Tx*mR1to0.m[1][1]; t2 = ea.x*mAR.m[1][1] + ea.y*mAR.m[1][0] + eb.x*mAR.m[2][2] + eb.z*mAR.m[0][2]; if(GREATER(t, t2)) return FALSE; // L = A2 x B1 t = Ty*mR1to0.m[2][0] - Tx*mR1to0.m[2][1]; t2 = ea.x*mAR.m[2][1] + ea.y*mAR.m[2][0] + eb.x*mAR.m[1][2] + eb.y*mAR.m[0][2]; if(GREATER(t, t2)) return FALSE; // L = A2 x B2 } return TRUE; } // Modified! // Only AABBTreeCollider #if 0 //! A dedicated version when one box is constant inline_ BOOL OBBCollider::BoxBoxOverlap(const Point& extents, const Point& center) { // Stats mNbVolumeBVTests++; float t,t2; // Class I : A's basis vectors float Tx = mTBoxToModel.x - center.x; t = extents.x + mBBx1; if(GREATER(Tx, t)) return FALSE; float Ty = mTBoxToModel.y - center.y; t = extents.y + mBBy1; if(GREATER(Ty, t)) return FALSE; float Tz = mTBoxToModel.z - center.z; t = extents.z + mBBz1; if(GREATER(Tz, t)) return FALSE; // Class II : B's basis vectors t = Tx*mRBoxToModel.m[0][0] + Ty*mRBoxToModel.m[0][1] + Tz*mRBoxToModel.m[0][2]; t2 = extents.x*mAR.m[0][0] + extents.y*mAR.m[0][1] + extents.z*mAR.m[0][2] + mBoxExtents.x; if(GREATER(t, t2)) return FALSE; t = Tx*mRBoxToModel.m[1][0] + Ty*mRBoxToModel.m[1][1] + Tz*mRBoxToModel.m[1][2]; t2 = extents.x*mAR.m[1][0] + extents.y*mAR.m[1][1] + extents.z*mAR.m[1][2] + mBoxExtents.y; if(GREATER(t, t2)) return FALSE; t = Tx*mRBoxToModel.m[2][0] + Ty*mRBoxToModel.m[2][1] + Tz*mRBoxToModel.m[2][2]; t2 = extents.x*mAR.m[2][0] + extents.y*mAR.m[2][1] + extents.z*mAR.m[2][2] + mBoxExtents.z; if(GREATER(t, t2)) return FALSE; // Class III : 9 cross products // Cool trick: always perform the full test for first level, regardless of settings. // That way pathological cases (such as the pencils scene) are quickly rejected anyway ! if(mFullBoxBoxTest || mNbVolumeBVTests==1) { t = Tz*mRBoxToModel.m[0][1] - Ty*mRBoxToModel.m[0][2]; t2 = extents.y*mAR.m[0][2] + extents.z*mAR.m[0][1] + mBB_1; if(GREATER(t, t2)) return FALSE; // L = A0 x B0 t = Tz*mRBoxToModel.m[1][1] - Ty*mRBoxToModel.m[1][2]; t2 = extents.y*mAR.m[1][2] + extents.z*mAR.m[1][1] + mBB_2; if(GREATER(t, t2)) return FALSE; // L = A0 x B1 t = Tz*mRBoxToModel.m[2][1] - Ty*mRBoxToModel.m[2][2]; t2 = extents.y*mAR.m[2][2] + extents.z*mAR.m[2][1] + mBB_3; if(GREATER(t, t2)) return FALSE; // L = A0 x B2 t = Tx*mRBoxToModel.m[0][2] - Tz*mRBoxToModel.m[0][0]; t2 = extents.x*mAR.m[0][2] + extents.z*mAR.m[0][0] + mBB_4; if(GREATER(t, t2)) return FALSE; // L = A1 x B0 t = Tx*mRBoxToModel.m[1][2] - Tz*mRBoxToModel.m[1][0]; t2 = extents.x*mAR.m[1][2] + extents.z*mAR.m[1][0] + mBB_5; if(GREATER(t, t2)) return FALSE; // L = A1 x B1 t = Tx*mRBoxToModel.m[2][2] - Tz*mRBoxToModel.m[2][0]; t2 = extents.x*mAR.m[2][2] + extents.z*mAR.m[2][0] + mBB_6; if(GREATER(t, t2)) return FALSE; // L = A1 x B2 t = Ty*mRBoxToModel.m[0][0] - Tx*mRBoxToModel.m[0][1]; t2 = extents.x*mAR.m[0][1] + extents.y*mAR.m[0][0] + mBB_7; if(GREATER(t, t2)) return FALSE; // L = A2 x B0 t = Ty*mRBoxToModel.m[1][0] - Tx*mRBoxToModel.m[1][1]; t2 = extents.x*mAR.m[1][1] + extents.y*mAR.m[1][0] + mBB_8; if(GREATER(t, t2)) return FALSE; // L = A2 x B1 t = Ty*mRBoxToModel.m[2][0] - Tx*mRBoxToModel.m[2][1]; t2 = extents.x*mAR.m[2][1] + extents.y*mAR.m[2][0] + mBB_9; if(GREATER(t, t2)) return FALSE; // L = A2 x B2 } return TRUE; } //! A special version for 2 axis-aligned boxes inline_ BOOL AABBCollider::AABBAABBOverlap(const Point& extents, const Point& center) { // Stats mNbVolumeBVTests++; float tx = mBox.mCenter.x - center.x; float ex = extents.x + mBox.mExtents.x; if(GREATER(tx, ex)) return FALSE; float ty = mBox.mCenter.y - center.y; float ey = extents.y + mBox.mExtents.y; if(GREATER(ty, ey)) return FALSE; float tz = mBox.mCenter.z - center.z; float ez = extents.z + mBox.mExtents.z; if(GREATER(tz, ez)) return FALSE; return TRUE; } #endif choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/StdAfx.cpp0000664000000000000000000000110212741425367022356 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// //#define ICE_MAIN #include "Stdafx.h" choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_RayCollider.cpp0000664000000000000000000007244412741425367024120 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains code for a ray collider. * \file OPC_RayCollider.cpp * \author Pierre Terdiman * \date June, 2, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains a ray-vs-tree collider. * This class performs a stabbing query on an AABB tree, i.e. does a ray-mesh collision. * * HIGHER DISTANCE BOUND: * * If P0 and P1 are two 3D points, let's define: * - d = distance between P0 and P1 * - Origin = P0 * - Direction = (P1 - P0) / d = normalized direction vector * - A parameter t such as a point P on the line (P0,P1) is P = Origin + t * Direction * - t = 0 --> P = P0 * - t = d --> P = P1 * * Then we can define a general "ray" as: * * struct Ray * { * Point Origin; * Point Direction; * }; * * But it actually maps three different things: * - a segment, when 0 <= t <= d * - a half-line, when 0 <= t < +infinity, or -infinity < t <= d * - a line, when -infinity < t < +infinity * * In Opcode, we support segment queries, which yield half-line queries by setting d = +infinity. * We don't support line-queries. If you need them, shift the origin along the ray by an appropriate margin. * * In short, the lower bound is always 0, and you can setup the higher bound "d" with RayCollider::SetMaxDist(). * * Query |segment |half-line |line * --------|-------------------|---------------|---------------- * Usages |-shadow feelers |-raytracing |- * |-sweep tests |-in/out tests | * * FIRST CONTACT: * * - You can setup "first contact" mode or "all contacts" mode with RayCollider::SetFirstContact(). * - In "first contact" mode we return as soon as the ray hits one face. If can be useful e.g. for shadow feelers, where * you want to know whether the path to the light is free or not (a boolean answer is enough). * - In "all contacts" mode we return all faces hit by the ray. * * TEMPORAL COHERENCE: * * - You can enable or disable temporal coherence with RayCollider::SetTemporalCoherence(). * - It currently only works in "first contact" mode. * - If temporal coherence is enabled, the previously hit triangle is cached during the first query. Then, next queries * start by colliding the ray against the cached triangle. If they still collide, we return immediately. * * CLOSEST HIT: * * - You can enable or disable "closest hit" with RayCollider::SetClosestHit(). * - It currently only works in "all contacts" mode. * - If closest hit is enabled, faces are sorted by distance on-the-fly and the closest one only is reported. * * BACKFACE CULLING: * * - You can enable or disable backface culling with RayCollider::SetCulling(). * - If culling is enabled, ray will not hit back faces (only front faces). * * * * \class RayCollider * \author Pierre Terdiman * \version 1.3 * \date June, 2, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * This class describes a face hit by a ray or segment. * This is a particular class dedicated to stabbing queries. * * \class CollisionFace * \author Pierre Terdiman * \version 1.3 * \date March, 20, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * This class is a dedicated collection of CollisionFace. * * \class CollisionFaces * \author Pierre Terdiman * \version 1.3 * \date March, 20, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Precompiled Header #include "Stdafx.h" using namespace Opcode; #include "OPC_RayAABBOverlap.h" #include "OPC_RayTriOverlap.h" #define SET_CONTACT(prim_index, flag) \ mNbIntersections++; \ /* Set contact status */ \ mFlags |= flag; \ /* In any case the contact has been found and recorded in mStabbedFace */ \ mStabbedFace.mFaceID = prim_index; #ifdef OPC_RAYHIT_CALLBACK #define HANDLE_CONTACT(prim_index, flag) \ SET_CONTACT(prim_index, flag) \ \ if(mHitCallback) (mHitCallback)(mStabbedFace, mUserData); #define UPDATE_CACHE \ if(cache && GetContactStatus()) \ { \ *cache = mStabbedFace.mFaceID; \ } #else #define HANDLE_CONTACT(prim_index, flag) \ SET_CONTACT(prim_index, flag) \ \ /* Now we can also record it in mStabbedFaces if available */ \ if(mStabbedFaces) \ { \ /* If we want all faces or if that's the first one we hit */ \ if(!mClosestHit || !mStabbedFaces->GetNbFaces()) \ { \ mStabbedFaces->AddFace(mStabbedFace); \ } \ else \ { \ /* We only keep closest hit */ \ CollisionFace* Current = const_cast(mStabbedFaces->GetFaces()); \ if(Current && mStabbedFace.mDistancemDistance) \ { \ *Current = mStabbedFace; \ } \ } \ } #define UPDATE_CACHE \ if(cache && GetContactStatus() && mStabbedFaces) \ { \ const CollisionFace* Current = mStabbedFaces->GetFaces(); \ if(Current) *cache = Current->mFaceID; \ else *cache = INVALID_ID; \ } #endif #define SEGMENT_PRIM(prim_index, flag) \ /* Request vertices from the app */ \ VertexPointers VP; mIMesh->GetTriangle(VP, prim_index); \ \ /* Perform ray-tri overlap test and return */ \ if(RayTriOverlap(*VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) \ { \ /* Intersection point is valid if dist < segment's length */ \ /* We know dist>0 so we can use integers */ \ if(IR(mStabbedFace.mDistance)GetTriangle(VP, prim_index); \ \ /* Perform ray-tri overlap test and return */ \ if(RayTriOverlap(*VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) \ { \ HANDLE_CONTACT(prim_index, flag) \ } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Constructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// RayCollider::RayCollider() : mNbRayBVTests (0), mNbRayPrimTests (0), mNbIntersections (0), mCulling (true), #ifdef OPC_RAYHIT_CALLBACK mHitCallback (null), mUserData (0), #else mClosestHit (false), mStabbedFaces (null), #endif mMaxDist (MAX_FLOAT) { } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Destructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// RayCollider::~RayCollider() { } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Validates current settings. You should call this method after all the settings and callbacks have been defined. * \return null if everything is ok, else a string describing the problem */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// const char* RayCollider::ValidateSettings() { if(mMaxDist<0.0f) return "Higher distance bound must be positive!"; if(TemporalCoherenceEnabled() && !FirstContactEnabled()) return "Temporal coherence only works with ""First contact"" mode!"; #ifndef OPC_RAYHIT_CALLBACK if(mClosestHit && FirstContactEnabled()) return "Closest hit doesn't work with ""First contact"" mode!"; if(TemporalCoherenceEnabled() && mClosestHit) return "Temporal coherence can't guarantee to report closest hit!"; #endif if(SkipPrimitiveTests()) return "SkipPrimitiveTests not possible for RayCollider ! (not implemented)"; return null; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Generic stabbing query for generic OPCODE models. After the call, access the results: * - with GetContactStatus() * - in the user-provided destination array * * \param world_ray [in] stabbing ray in world space * \param model [in] Opcode model to collide with * \param world [in] model's world matrix, or null * \param cache [in] a possibly cached face index, or null * \return true if success * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool RayCollider::Collide(const Ray& world_ray, const Model& model, const Matrix4x4* world, udword* cache) { // Checkings if(!Setup(&model)) return false; // Init collision query if(InitQuery(world_ray, world, cache)) return true; if(!model.HasLeafNodes()) { if(model.IsQuantized()) { const AABBQuantizedNoLeafTree* Tree = (const AABBQuantizedNoLeafTree*)model.GetTree(); // Setup dequantization coeffs mCenterCoeff = Tree->mCenterCoeff; mExtentsCoeff = Tree->mExtentsCoeff; // Perform stabbing query if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(Tree->GetNodes()); else _RayStab(Tree->GetNodes()); } else { const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree(); // Perform stabbing query if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(Tree->GetNodes()); else _RayStab(Tree->GetNodes()); } } else { if(model.IsQuantized()) { const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree(); // Setup dequantization coeffs mCenterCoeff = Tree->mCenterCoeff; mExtentsCoeff = Tree->mExtentsCoeff; // Perform stabbing query if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(Tree->GetNodes()); else _RayStab(Tree->GetNodes()); } else { const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree(); // Perform stabbing query if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(Tree->GetNodes()); else _RayStab(Tree->GetNodes()); } } // Update cache if needed UPDATE_CACHE return true; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Initializes a stabbing query : * - reset stats & contact status * - compute ray in local space * - check temporal coherence * * \param world_ray [in] stabbing ray in world space * \param world [in] object's world matrix, or null * \param face_id [in] index of previously stabbed triangle * \return TRUE if we can return immediately * \warning SCALE NOT SUPPORTED. The matrix must contain rotation & translation parts only. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// BOOL RayCollider::InitQuery(const Ray& world_ray, const Matrix4x4* world, udword* face_id) { // Reset stats & contact status Collider::InitQuery(); mNbRayBVTests = 0; mNbRayPrimTests = 0; mNbIntersections = 0; #ifndef OPC_RAYHIT_CALLBACK if(mStabbedFaces) mStabbedFaces->Reset(); #endif // Compute ray in local space // The (Origin/Dir) form is needed for the ray-triangle test anyway (even for segment tests) if(world) { Matrix3x3 InvWorld = *world; mDir = InvWorld * world_ray.mDir; Matrix4x4 World; InvertPRMatrix(World, *world); mOrigin = world_ray.mOrig * World; } else { mDir = world_ray.mDir; mOrigin = world_ray.mOrig; } // 4) Special case: 1-triangle meshes [Opcode 1.3] if(mCurrentModel && mCurrentModel->HasSingleNode()) { // We simply perform the BV-Prim overlap test each time. We assume single triangle has index 0. if(!SkipPrimitiveTests()) { // Perform overlap test between the unique triangle and the ray (and set contact status if needed) SEGMENT_PRIM(udword(0), OPC_CONTACT) // Return immediately regardless of status return TRUE; } } // Check temporal coherence : // Test previously colliding primitives first if(TemporalCoherenceEnabled() && FirstContactEnabled() && face_id && *face_id!=INVALID_ID) { #ifdef OLD_CODE #ifndef OPC_RAYHIT_CALLBACK if(!mClosestHit) #endif { // Request vertices from the app VertexPointers VP; mIMesh->GetTriangle(VP, *face_id); // Perform ray-cached tri overlap test if(RayTriOverlap(*VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) { // Intersection point is valid if: // - distance is positive (else it can just be a face behind the orig point) // - distance is smaller than a given max distance (useful for shadow feelers) // if(mStabbedFace.mDistance>0.0f && mStabbedFace.mDistanceAddFace(mStabbedFace); #endif return TRUE; } } } #else // New code // We handle both Segment/ray queries with the same segment code, and a possible infinite limit SEGMENT_PRIM(*face_id, OPC_TEMPORAL_CONTACT) // Return immediately if possible if(GetContactStatus()) return TRUE; #endif } // Precompute data (moved after temporal coherence since only needed for ray-AABB) if(IR(mMaxDist)!=IEEE_MAX_FLOAT) { // For Segment-AABB overlap mData = 0.5f * mDir * mMaxDist; mData2 = mOrigin + mData; // Precompute mFDir; mFDir.x = fabsf(mData.x); mFDir.y = fabsf(mData.y); mFDir.z = fabsf(mData.z); } else { // For Ray-AABB overlap // udword x = SIR(mDir.x)-1; // udword y = SIR(mDir.y)-1; // udword z = SIR(mDir.z)-1; // mData.x = FR(x); // mData.y = FR(y); // mData.z = FR(z); // Precompute mFDir; mFDir.x = fabsf(mDir.x); mFDir.y = fabsf(mDir.y); mFDir.z = fabsf(mDir.z); } return FALSE; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Stabbing query for vanilla AABB trees. * \param world_ray [in] stabbing ray in world space * \param tree [in] AABB tree * \param box_indices [out] indices of stabbed boxes * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool RayCollider::Collide(const Ray& world_ray, const AABBTree* tree, Container& box_indices) { // ### bad design here // This is typically called for a scene tree, full of -AABBs-, not full of triangles. // So we don't really have "primitives" to deal with. Hence it doesn't work with // "FirstContact" + "TemporalCoherence". ASSERT( !(FirstContactEnabled() && TemporalCoherenceEnabled()) ); // Checkings if(!tree) return false; // Init collision query // Basically this is only called to initialize precomputed data if(InitQuery(world_ray)) return true; // Perform stabbing query if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(tree, box_indices); else _RayStab(tree, box_indices); return true; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive stabbing query for normal AABB trees. * \param node [in] current collision node */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void RayCollider::_SegmentStab(const AABBCollisionNode* node) { // Perform Segment-AABB overlap test if(!SegmentAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; if(node->IsLeaf()) { SEGMENT_PRIM(node->GetPrimitive(), OPC_CONTACT) } else { _SegmentStab(node->GetPos()); if(ContactFound()) return; _SegmentStab(node->GetNeg()); } } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive stabbing query for quantized AABB trees. * \param node [in] current collision node */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void RayCollider::_SegmentStab(const AABBQuantizedNode* node) { // Dequantize box const QuantizedAABB& Box = node->mAABB; const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); // Perform Segment-AABB overlap test if(!SegmentAABBOverlap(Center, Extents)) return; if(node->IsLeaf()) { SEGMENT_PRIM(node->GetPrimitive(), OPC_CONTACT) } else { _SegmentStab(node->GetPos()); if(ContactFound()) return; _SegmentStab(node->GetNeg()); } } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive stabbing query for no-leaf AABB trees. * \param node [in] current collision node */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void RayCollider::_SegmentStab(const AABBNoLeafNode* node) { // Perform Segment-AABB overlap test if(!SegmentAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; if(node->HasPosLeaf()) { SEGMENT_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } else _SegmentStab(node->GetPos()); if(ContactFound()) return; if(node->HasNegLeaf()) { SEGMENT_PRIM(node->GetNegPrimitive(), OPC_CONTACT) } else _SegmentStab(node->GetNeg()); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive stabbing query for quantized no-leaf AABB trees. * \param node [in] current collision node */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void RayCollider::_SegmentStab(const AABBQuantizedNoLeafNode* node) { // Dequantize box const QuantizedAABB& Box = node->mAABB; const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); // Perform Segment-AABB overlap test if(!SegmentAABBOverlap(Center, Extents)) return; if(node->HasPosLeaf()) { SEGMENT_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } else _SegmentStab(node->GetPos()); if(ContactFound()) return; if(node->HasNegLeaf()) { SEGMENT_PRIM(node->GetNegPrimitive(), OPC_CONTACT) } else _SegmentStab(node->GetNeg()); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive stabbing query for vanilla AABB trees. * \param node [in] current collision node * \param box_indices [out] indices of stabbed boxes */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void RayCollider::_SegmentStab(const AABBTreeNode* node, Container& box_indices) { // Test the box against the segment Point Center, Extents; node->GetAABB()->GetCenter(Center); node->GetAABB()->GetExtents(Extents); if(!SegmentAABBOverlap(Center, Extents)) return; if(node->IsLeaf()) { box_indices.Add(node->GetPrimitives(), node->GetNbPrimitives()); } else { _SegmentStab(node->GetPos(), box_indices); _SegmentStab(node->GetNeg(), box_indices); } } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive stabbing query for normal AABB trees. * \param node [in] current collision node */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void RayCollider::_RayStab(const AABBCollisionNode* node) { // Perform Ray-AABB overlap test if(!RayAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; if(node->IsLeaf()) { RAY_PRIM(node->GetPrimitive(), OPC_CONTACT) } else { _RayStab(node->GetPos()); if(ContactFound()) return; _RayStab(node->GetNeg()); } } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive stabbing query for quantized AABB trees. * \param node [in] current collision node */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void RayCollider::_RayStab(const AABBQuantizedNode* node) { // Dequantize box const QuantizedAABB& Box = node->mAABB; const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); // Perform Ray-AABB overlap test if(!RayAABBOverlap(Center, Extents)) return; if(node->IsLeaf()) { RAY_PRIM(node->GetPrimitive(), OPC_CONTACT) } else { _RayStab(node->GetPos()); if(ContactFound()) return; _RayStab(node->GetNeg()); } } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive stabbing query for no-leaf AABB trees. * \param node [in] current collision node */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void RayCollider::_RayStab(const AABBNoLeafNode* node) { // Perform Ray-AABB overlap test if(!RayAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; if(node->HasPosLeaf()) { RAY_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } else _RayStab(node->GetPos()); if(ContactFound()) return; if(node->HasNegLeaf()) { RAY_PRIM(node->GetNegPrimitive(), OPC_CONTACT) } else _RayStab(node->GetNeg()); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive stabbing query for quantized no-leaf AABB trees. * \param node [in] current collision node */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void RayCollider::_RayStab(const AABBQuantizedNoLeafNode* node) { // Dequantize box const QuantizedAABB& Box = node->mAABB; const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); // Perform Ray-AABB overlap test if(!RayAABBOverlap(Center, Extents)) return; if(node->HasPosLeaf()) { RAY_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } else _RayStab(node->GetPos()); if(ContactFound()) return; if(node->HasNegLeaf()) { RAY_PRIM(node->GetNegPrimitive(), OPC_CONTACT) } else _RayStab(node->GetNeg()); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive stabbing query for vanilla AABB trees. * \param node [in] current collision node * \param box_indices [out] indices of stabbed boxes */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void RayCollider::_RayStab(const AABBTreeNode* node, Container& box_indices) { // Test the box against the ray Point Center, Extents; node->GetAABB()->GetCenter(Center); node->GetAABB()->GetExtents(Extents); if(!RayAABBOverlap(Center, Extents)) return; if(node->IsLeaf()) { mFlags |= OPC_CONTACT; box_indices.Add(node->GetPrimitives(), node->GetNbPrimitives()); } else { _RayStab(node->GetPos(), box_indices); _RayStab(node->GetNeg(), box_indices); } } choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_MeshInterface.cpp0000664000000000000000000003273612741425367024424 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains a mesh interface. * \file OPC_MeshInterface.cpp * \author Pierre Terdiman * \date November, 27, 2002 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * This structure holds 3 vertex-pointers. It's mainly used by collision callbacks so that the app doesn't have * to return 3 vertices to OPCODE (36 bytes) but only 3 pointers (12 bytes). It seems better but I never profiled * the alternative. * * \class VertexPointers * \author Pierre Terdiman * \version 1.3 * \date March, 20, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * This class is an interface between us and user-defined meshes. Meshes can be defined in a lot of ways, and here we * try to support most of them. * * Basically you have two options: * - callbacks, if OPC_USE_CALLBACKS is defined in OPC_Settings.h. * - else pointers. * * If using pointers, you can also use strides or not. Strides are used when OPC_USE_STRIDE is defined. * * * CALLBACKS: * * Using callbacks is the most generic way to feed OPCODE with your meshes. Indeed, you just have to give * access to three vertices at the end of the day. It's up to you to fetch them from your database, using * whatever method you want. Hence your meshes can lie in system memory or AGP, be indexed or not, use 16 * or 32-bits indices, you can decompress them on-the-fly if needed, etc. On the other hand, a callback is * called each time OPCODE needs access to a particular triangle, so there might be a slight overhead. * * To make things clear: geometry & topology are NOT stored in the collision system, * in order to save some ram. So, when the system needs them to perform accurate intersection * tests, you're requested to provide the triangle-vertices corresponding to a given face index. * * Ex: * * \code * static void ColCallback(udword triangle_index, VertexPointers& triangle, udword user_data) * { * // Get back Mesh0 or Mesh1 (you also can use 2 different callbacks) * Mesh* MyMesh = (Mesh*)user_data; * // Get correct triangle in the app-controlled database * const Triangle* Tri = MyMesh->GetTriangle(triangle_index); * // Setup pointers to vertices for the collision system * triangle.Vertex[0] = MyMesh->GetVertex(Tri->mVRef[0]); * triangle.Vertex[1] = MyMesh->GetVertex(Tri->mVRef[1]); * triangle.Vertex[2] = MyMesh->GetVertex(Tri->mVRef[2]); * } * * // Setup callbacks * MeshInterface0->SetCallback(ColCallback, udword(Mesh0)); * MeshInterface1->SetCallback(ColCallback, udword(Mesh1)); * \endcode * * Of course, you should make this callback as fast as possible. And you're also not supposed * to modify the geometry *after* the collision trees have been built. The alternative was to * store the geometry & topology in the collision system as well (as in RAPID) but we have found * this approach to waste a lot of ram in many cases. * * * POINTERS: * * If you're internally using the following canonical structures: * - a vertex made of three 32-bits floating point values * - a triangle made of three 32-bits integer vertex references * ...then you may want to use pointers instead of callbacks. This is the same, except OPCODE will directly * use provided pointers to access the topology and geometry, without using a callback. It might be faster, * but probably not as safe. Pointers have been introduced in OPCODE 1.2. * * Ex: * * \code * // Setup pointers * MeshInterface0->SetPointers(Mesh0->GetFaces(), Mesh0->GetVerts()); * MeshInterface1->SetPointers(Mesh1->GetFaces(), Mesh1->GetVerts()); * \endcode * * * STRIDES: * * If your vertices are D3D-like entities interleaving a position, a normal and/or texture coordinates * (i.e. if your vertices are FVFs), you might want to use a vertex stride to skip extra data OPCODE * doesn't need. Using a stride shouldn't be notably slower than not using it, but it might increase * cache misses. Please also note that you *shouldn't* read from AGP or video-memory buffers ! * * * In any case, compilation flags are here to select callbacks/pointers/strides at compile time, so * choose what's best for your application. All of this has been wrapped into this MeshInterface. * * \class MeshInterface * \author Pierre Terdiman * \version 1.3 * \date November, 27, 2002 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Precompiled Header #include "Stdafx.h" using namespace Opcode; Point MeshInterface::VertexCache[3]; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Constructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// MeshInterface::MeshInterface() : mNbTris (0), mNbVerts (0), #ifdef OPC_USE_CALLBACKS mUserData (null), mObjCallback (null), #else mTris (null), mVerts (null), #ifdef OPC_USE_STRIDE mTriStride (sizeof(IndexedTriangle)), mVertexStride (sizeof(Point)), #endif #endif Single(true) { } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Destructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// MeshInterface::~MeshInterface() { } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Checks the mesh interface is valid, i.e. things have been setup correctly. * \return true if valid */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool MeshInterface::IsValid() const { if(!mNbTris || !mNbVerts) return false; #ifdef OPC_USE_CALLBACKS if(!mObjCallback) return false; #else if(!mTris || !mVerts) return false; #endif return true; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Checks the mesh itself is valid. * Currently we only look for degenerate faces. * \return number of degenerate faces */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// udword MeshInterface::CheckTopology() const { // Check topology. If the model contains degenerate faces, collision report can be wrong in some cases. // e.g. it happens with the standard MAX teapot. So clean your meshes first... If you don't have a mesh cleaner // you can try this: www.codercorner.com/Consolidation.zip udword NbDegenerate = 0; VertexPointers VP; // Using callbacks, we don't have access to vertex indices. Nevertheless we still can check for // redundant vertex pointers, which cover all possibilities (callbacks/pointers/strides). for(udword i=0;i>2; } inline_ const CollisionFace* GetFaces() const { return (const CollisionFace*)GetEntries(); } inline_ void Reset() { Container::Reset(); } inline_ void AddFace(const CollisionFace& face) { Add(face.mFaceID).Add(face.mDistance).Add(face.mU).Add(face.mV); } }; #ifdef OPC_RAYHIT_CALLBACK /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * User-callback, called by OPCODE to record a hit. * \param hit [in] current hit * \param user_data [in] user-defined data from SetCallback() */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// typedef void (*HitCallback) (const CollisionFace& hit, void* user_data); #endif class OPCODE_API RayCollider : public Collider { public: // Constructor / Destructor RayCollider(); virtual ~RayCollider(); /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Generic stabbing query for generic OPCODE models. After the call, access the results: * - with GetContactStatus() * - in the user-provided destination array * * \param world_ray [in] stabbing ray in world space * \param model [in] Opcode model to collide with * \param world [in] model's world matrix, or null * \param cache [in] a possibly cached face index, or null * \return true if success * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool Collide(const Ray& world_ray, const Model& model, const Matrix4x4* world=null, udword* cache=null); // bool Collide(const Ray& world_ray, const AABBTree* tree, Container& box_indices); // Settings #ifndef OPC_RAYHIT_CALLBACK /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Settings: enable or disable "closest hit" mode. * \param flag [in] true to report closest hit only * \see SetCulling(bool flag) * \see SetMaxDist(float max_dist) * \see SetDestination(StabbedFaces* sf) */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ void SetClosestHit(bool flag) { mClosestHit = flag; } #endif /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Settings: enable or disable backface culling. * \param flag [in] true to enable backface culling * \see SetClosestHit(bool flag) * \see SetMaxDist(float max_dist) * \see SetDestination(StabbedFaces* sf) */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ void SetCulling(bool flag) { mCulling = flag; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Settings: sets the higher distance bound. * \param max_dist [in] higher distance bound. Default = maximal value, for ray queries (else segment) * \see SetClosestHit(bool flag) * \see SetCulling(bool flag) * \see SetDestination(StabbedFaces* sf) */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ void SetMaxDist(float max_dist=MAX_FLOAT) { mMaxDist = max_dist; } #ifdef OPC_RAYHIT_CALLBACK inline_ void SetHitCallback(HitCallback cb) { mHitCallback = cb; } inline_ void SetUserData(void* user_data) { mUserData = user_data; } #else /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Settings: sets the destination array for stabbed faces. * \param cf [in] destination array, filled during queries * \see SetClosestHit(bool flag) * \see SetCulling(bool flag) * \see SetMaxDist(float max_dist) */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ void SetDestination(CollisionFaces* cf) { mStabbedFaces = cf; } #endif // Stats /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Stats: gets the number of Ray-BV overlap tests after a collision query. * \see GetNbRayPrimTests() * \see GetNbIntersections() * \return the number of Ray-BV tests performed during last query */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ udword GetNbRayBVTests() const { return mNbRayBVTests; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Stats: gets the number of Ray-Triangle overlap tests after a collision query. * \see GetNbRayBVTests() * \see GetNbIntersections() * \return the number of Ray-Triangle tests performed during last query */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ udword GetNbRayPrimTests() const { return mNbRayPrimTests; } // In-out test /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Stats: gets the number of intersection found after a collision query. Can be used for in/out tests. * \see GetNbRayBVTests() * \see GetNbRayPrimTests() * \return the number of valid intersections during last query */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ udword GetNbIntersections() const { return mNbIntersections; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Validates current settings. You should call this method after all the settings and callbacks have been defined for a collider. * \return null if everything is ok, else a string describing the problem */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// override(Collider) const char* ValidateSettings(); protected: // Ray in local space Point mOrigin; //!< Ray origin Point mDir; //!< Ray direction (normalized) Point mFDir; //!< fabsf(mDir) Point mData, mData2; // Stabbed faces CollisionFace mStabbedFace; //!< Current stabbed face #ifdef OPC_RAYHIT_CALLBACK HitCallback mHitCallback; //!< Callback used to record a hit void* mUserData; //!< User-defined data #else CollisionFaces* mStabbedFaces; //!< List of stabbed faces #endif // Stats udword mNbRayBVTests; //!< Number of Ray-BV tests udword mNbRayPrimTests; //!< Number of Ray-Primitive tests // In-out test udword mNbIntersections; //!< Number of valid intersections // Dequantization coeffs Point mCenterCoeff; Point mExtentsCoeff; // Settings float mMaxDist; //!< Valid segment on the ray #ifndef OPC_RAYHIT_CALLBACK bool mClosestHit; //!< Report closest hit only #endif bool mCulling; //!< Stab culled faces or not // Internal methods void _SegmentStab(const AABBCollisionNode* node); void _SegmentStab(const AABBNoLeafNode* node); void _SegmentStab(const AABBQuantizedNode* node); void _SegmentStab(const AABBQuantizedNoLeafNode* node); void _SegmentStab(const AABBTreeNode* node, Container& box_indices); void _RayStab(const AABBCollisionNode* node); void _RayStab(const AABBNoLeafNode* node); void _RayStab(const AABBQuantizedNode* node); void _RayStab(const AABBQuantizedNoLeafNode* node); void _RayStab(const AABBTreeNode* node, Container& box_indices); // Overlap tests inline_ BOOL RayAABBOverlap(const Point& center, const Point& extents); inline_ BOOL SegmentAABBOverlap(const Point& center, const Point& extents); inline_ BOOL RayTriOverlap(const Point& vert0, const Point& vert1, const Point& vert2); // Init methods BOOL InitQuery(const Ray& world_ray, const Matrix4x4* world=null, udword* face_id=null); }; #endif // __OPC_RAYCOLLIDER_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_TreeBuilders.h0000664000000000000000000002133412741425367023735 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains code for tree builders. * \file OPC_TreeBuilders.h * \author Pierre Terdiman * \date March, 20, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Include Guard #ifndef __OPC_TREEBUILDERS_H__ #define __OPC_TREEBUILDERS_H__ //! Tree splitting rules enum SplittingRules { // Primitive split SPLIT_LARGEST_AXIS = (1<<0), //!< Split along the largest axis SPLIT_SPLATTER_POINTS = (1<<1), //!< Splatter primitive centers (QuickCD-style) SPLIT_BEST_AXIS = (1<<2), //!< Try largest axis, then second, then last SPLIT_BALANCED = (1<<3), //!< Try to keep a well-balanced tree SPLIT_FIFTY = (1<<4), //!< Arbitrary 50-50 split // Node split SPLIT_GEOM_CENTER = (1<<5), //!< Split at geometric center (else split in the middle) // SPLIT_FORCE_DWORD = 0x7fffffff }; //! Simple wrapper around build-related settings [Opcode 1.3] struct OPCODE_API BuildSettings { inline_ BuildSettings() : mLimit(1), mRules(SPLIT_FORCE_DWORD) {} udword mLimit; //!< Limit number of primitives / node. If limit is 1, build a complete tree (2*N-1 nodes) udword mRules; //!< Building/Splitting rules (a combination of SplittingRules flags) }; class OPCODE_API AABBTreeBuilder { public: //! Constructor AABBTreeBuilder() : mNbPrimitives(0), mNodeBase(null), mCount(0), mNbInvalidSplits(0) {} //! Destructor virtual ~AABBTreeBuilder() {} /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the AABB of a set of primitives. * \param primitives [in] list of indices of primitives * \param nb_prims [in] number of indices * \param global_box [out] global AABB enclosing the set of input primitives * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// virtual bool ComputeGlobalBox(const udword* primitives, udword nb_prims, AABB& global_box) const = 0; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the splitting value along a given axis for a given primitive. * \param index [in] index of the primitive to split * \param axis [in] axis index (0,1,2) * \return splitting value */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// virtual float GetSplittingValue(udword index, udword axis) const = 0; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes the splitting value along a given axis for a given node. * \param primitives [in] list of indices of primitives * \param nb_prims [in] number of indices * \param global_box [in] global AABB enclosing the set of input primitives * \param axis [in] axis index (0,1,2) * \return splitting value */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// virtual float GetSplittingValue(const udword* primitives, udword nb_prims, const AABB& global_box, udword axis) const { // Default split value = middle of the axis (using only the box) return global_box.GetCenter(axis); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Validates node subdivision. This is called each time a node is considered for subdivision, during tree building. * \param primitives [in] list of indices of primitives * \param nb_prims [in] number of indices * \param global_box [in] global AABB enclosing the set of input primitives * \return TRUE if the node should be subdivised */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// virtual BOOL ValidateSubdivision(const udword* primitives, udword nb_prims, const AABB& global_box) { // Check the user-defined limit if(nb_prims<=mSettings.mLimit) return FALSE; return TRUE; } BuildSettings mSettings; //!< Splitting rules & split limit [Opcode 1.3] udword mNbPrimitives; //!< Total number of primitives. void* mNodeBase; //!< Address of node pool [Opcode 1.3] // Stats inline_ void SetCount(udword nb) { mCount=nb; } inline_ void IncreaseCount(udword nb) { mCount+=nb; } inline_ udword GetCount() const { return mCount; } inline_ void SetNbInvalidSplits(udword nb) { mNbInvalidSplits=nb; } inline_ void IncreaseNbInvalidSplits() { mNbInvalidSplits++; } inline_ udword GetNbInvalidSplits() const { return mNbInvalidSplits; } private: udword mCount; //!< Stats: number of nodes created udword mNbInvalidSplits; //!< Stats: number of invalid splits }; class OPCODE_API AABBTreeOfVerticesBuilder : public AABBTreeBuilder { public: //! Constructor AABBTreeOfVerticesBuilder() : mVertexArray(null) {} //! Destructor virtual ~AABBTreeOfVerticesBuilder() {} override(AABBTreeBuilder) bool ComputeGlobalBox(const udword* primitives, udword nb_prims, AABB& global_box) const; override(AABBTreeBuilder) float GetSplittingValue(udword index, udword axis) const; override(AABBTreeBuilder) float GetSplittingValue(const udword* primitives, udword nb_prims, const AABB& global_box, udword axis) const; const Point* mVertexArray; //!< Shortcut to an app-controlled array of vertices. }; class OPCODE_API AABBTreeOfAABBsBuilder : public AABBTreeBuilder { public: //! Constructor AABBTreeOfAABBsBuilder() : mAABBArray(null) {} //! Destructor virtual ~AABBTreeOfAABBsBuilder() {} override(AABBTreeBuilder) bool ComputeGlobalBox(const udword* primitives, udword nb_prims, AABB& global_box) const; override(AABBTreeBuilder) float GetSplittingValue(udword index, udword axis) const; const AABB* mAABBArray; //!< Shortcut to an app-controlled array of AABBs. }; class OPCODE_API AABBTreeOfTrianglesBuilder : public AABBTreeBuilder { public: //! Constructor AABBTreeOfTrianglesBuilder() : mIMesh(null) {} //! Destructor virtual ~AABBTreeOfTrianglesBuilder() {} override(AABBTreeBuilder) bool ComputeGlobalBox(const udword* primitives, udword nb_prims, AABB& global_box) const; override(AABBTreeBuilder) float GetSplittingValue(udword index, udword axis) const; override(AABBTreeBuilder) float GetSplittingValue(const udword* primitives, udword nb_prims, const AABB& global_box, udword axis) const; const MeshInterface* mIMesh; //!< Shortcut to an app-controlled mesh interface }; #endif // __OPC_TREEBUILDERS_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_TreeCollider.cpp0000664000000000000000000011645412741425367024264 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains code for a tree collider. * \file OPC_TreeCollider.cpp * \author Pierre Terdiman * \date March, 20, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains an AABB tree collider. * This class performs a collision test between two AABB trees. * * \class AABBTreeCollider * \author Pierre Terdiman * \version 1.3 * \date March, 20, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// #include"../CollisionPairInserter.h" /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Precompiled Header #include "Stdafx.h" #include using namespace Opcode; #include "OPC_BoxBoxOverlap.h" //#include "OPC_TriBoxOverlap.h" #include "OPC_TriTriOverlap.h" /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Constructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// AABBTreeCollider::AABBTreeCollider() : mIMesh0 (null), mIMesh1 (null), mNbBVBVTests (0), mNbPrimPrimTests (0), mNbBVPrimTests (0), mFullBoxBoxTest (true), mFullPrimBoxTest (true), collisionPairInserter(0) { } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Destructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// AABBTreeCollider::~AABBTreeCollider() { } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Validates current settings. You should call this method after all the settings and callbacks have been defined. * \return null if everything is ok, else a string describing the problem */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// const char* AABBTreeCollider::ValidateSettings() { if(TemporalCoherenceEnabled() && !FirstContactEnabled()) return "Temporal coherence only works with ""First contact"" mode!"; return null; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Generic collision query for generic OPCODE models. After the call, access the results with: * - GetContactStatus() * - GetNbPairs() * - GetPairs() * * \param cache [in] collision cache for model pointers and a colliding pair of primitives * \param world0 [in] world matrix for first object * \param world1 [in] world matrix for second object * \return true if success * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool AABBTreeCollider::Collide(BVTCache& cache, const Matrix4x4* world0, const Matrix4x4* world1) { // Checkings if(!cache.Model0 || !cache.Model1) return false; if(cache.Model0->HasLeafNodes()!=cache.Model1->HasLeafNodes()) return false; if(cache.Model0->IsQuantized()!=cache.Model1->IsQuantized()) return false; /* Rules: - perform hull test - when hulls collide, disable hull test - if meshes overlap, reset countdown - if countdown reaches 0, enable hull test */ #ifdef __MESHMERIZER_H__ // Handle hulls if(cache.HullTest) { if(cache.Model0->GetHull() && cache.Model1->GetHull()) { struct Local { static Point* SVCallback(const Point& sv, udword& previndex, udword user_data) { CollisionHull* Hull = (CollisionHull*)user_data; previndex = Hull->ComputeSupportingVertex(sv, previndex); return (Point*)&Hull->GetVerts()[previndex]; } }; bool Collide; if(0) { static GJKEngine GJK; static bool GJKInitDone=false; if(!GJKInitDone) { GJK.Enable(GJK_BACKUP_PROCEDURE); GJK.Enable(GJK_DEGENERATE); GJK.Enable(GJK_HILLCLIMBING); GJKInitDone = true; } GJK.SetCallbackObj0(Local::SVCallback); GJK.SetCallbackObj1(Local::SVCallback); GJK.SetUserData0(udword(cache.Model0->GetHull())); GJK.SetUserData1(udword(cache.Model1->GetHull())); Collide = GJK.Collide(*world0, *world1, &cache.SepVector); } else { static SVEngine SVE; SVE.SetCallbackObj0(Local::SVCallback); SVE.SetCallbackObj1(Local::SVCallback); SVE.SetUserData0(udword(cache.Model0->GetHull())); SVE.SetUserData1(udword(cache.Model1->GetHull())); Collide = SVE.Collide(*world0, *world1, &cache.SepVector); } if(!Collide) { // Reset stats & contact status mFlags &= ~OPC_CONTACT; mNbBVBVTests = 0; mNbPrimPrimTests = 0; mNbBVPrimTests = 0; mPairs.Reset(); return true; } } } // Here, hulls collide cache.HullTest = false; #endif // __MESHMERIZER_H__ // Checkings if(!Setup(cache.Model0->GetMeshInterface(), cache.Model1->GetMeshInterface())) return false; // Simple double-dispatch bool Status; if(!cache.Model0->HasLeafNodes()) { if(cache.Model0->IsQuantized()) { const AABBQuantizedNoLeafTree* T0 = (const AABBQuantizedNoLeafTree*)cache.Model0->GetTree(); const AABBQuantizedNoLeafTree* T1 = (const AABBQuantizedNoLeafTree*)cache.Model1->GetTree(); Status = Collide(T0, T1, world0, world1, &cache); } else { const AABBNoLeafTree* T0 = (const AABBNoLeafTree*)cache.Model0->GetTree(); const AABBNoLeafTree* T1 = (const AABBNoLeafTree*)cache.Model1->GetTree(); Status = Collide(T0, T1, world0, world1, &cache); } } else { if(cache.Model0->IsQuantized()) { const AABBQuantizedTree* T0 = (const AABBQuantizedTree*)cache.Model0->GetTree(); const AABBQuantizedTree* T1 = (const AABBQuantizedTree*)cache.Model1->GetTree(); Status = Collide(T0, T1, world0, world1, &cache); } else { const AABBCollisionTree* T0 = (const AABBCollisionTree*)cache.Model0->GetTree(); const AABBCollisionTree* T1 = (const AABBCollisionTree*)cache.Model1->GetTree(); Status = Collide(T0, T1, world0, world1, &cache); } } #ifdef __MESHMERIZER_H__ if(Status) { // Reset counter as long as overlap occurs if(GetContactStatus()) cache.ResetCountDown(); // Enable hull test again when counter reaches zero cache.CountDown--; if(!cache.CountDown) { cache.ResetCountDown(); cache.HullTest = true; } } #endif return Status; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Initializes a collision query : * - reset stats & contact status * - setup matrices * * \param world0 [in] world matrix for first object * \param world1 [in] world matrix for second object * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void AABBTreeCollider::InitQuery(const Matrix4x4* world0, const Matrix4x4* world1) { // Reset stats & contact status Collider::InitQuery(); mNbBVBVTests = 0; mNbPrimPrimTests = 0; mNbBVPrimTests = 0; mPairs.Reset(); // Setup matrices Matrix4x4 InvWorld0, InvWorld1; if(world0) InvertPRMatrix(InvWorld0, *world0); else InvWorld0.Identity(); if(world1) InvertPRMatrix(InvWorld1, *world1); else InvWorld1.Identity(); Matrix4x4 World0to1 = world0 ? (*world0 * InvWorld1) : InvWorld1; Matrix4x4 World1to0 = world1 ? (*world1 * InvWorld0) : InvWorld0; mR0to1 = World0to1; World0to1.GetTrans(mT0to1); mR1to0 = World1to0; World1to0.GetTrans(mT1to0); // Precompute absolute 1-to-0 rotation matrix for(udword i=0;i<3;i++) { for(udword j=0;j<3;j++) { // Epsilon value prevents floating-point inaccuracies (strategy borrowed from CD) mAR.m[i][j] = 1e-6f + fabsf(mR1to0.m[i][j]); } } //Modified by S-cubed, Inc. //$B9TNs$r(B Boost $B$N7A<0$K$"$o$;$k!#(B // Prim-Prim $B%F%9%H$r(B TriOverlap.cpp $B$G9T$&$?$a!#(B if(collisionPairInserter){ for(udword i=0; i<3; i++){ for(udword j=0; j<3; j++){ collisionPairInserter->CD_Rot1(i,j) = (double) world0->m[j][i]; collisionPairInserter->CD_Rot2(i,j) = (double) world1->m[j][i]; } } IceMaths::Point t0; IceMaths::Point t1; world0->GetTrans(t0); world1->GetTrans(t1); // Matrix3x3 w1 = world1; // mT0to1 = w1 * (t1 - t0) collisionPairInserter->CD_Trans1[0] = (double) t0.x; collisionPairInserter->CD_Trans1[1] = (double) t0.y; collisionPairInserter->CD_Trans1[2] = (double) t0.z; collisionPairInserter->CD_Trans2[0] = (double) t1.x; collisionPairInserter->CD_Trans2[1] = (double) t1.y; collisionPairInserter->CD_Trans2[2] = (double) t1.z; //s1, s2 $B$O(B 1.0 $B$N$_$J$N$G!"8GDj!#(B collisionPairInserter->CD_s1 = 1.0; collisionPairInserter->CD_s2 = 1.0; } } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Takes advantage of temporal coherence. * \param cache [in] cache for a pair of previously colliding primitives * \return true if we can return immediately * \warning only works for "First Contact" mode */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool AABBTreeCollider::CheckTemporalCoherence(Pair* cache) { // Checkings if(!cache) return false; // Test previously colliding primitives first if(TemporalCoherenceEnabled() && FirstContactEnabled()) { PrimTest(cache->id0, cache->id1); if(GetContactStatus()) return true; } return false; } #define UPDATE_CACHE \ if(cache && GetContactStatus()) \ { \ cache->id0 = mPairs.GetEntry(0); \ cache->id1 = mPairs.GetEntry(1); \ } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Collision query for normal AABB trees. * \param tree0 [in] AABB tree from first object * \param tree1 [in] AABB tree from second object * \param world0 [in] world matrix for first object * \param world1 [in] world matrix for second object * \param cache [in/out] cache for a pair of previously colliding primitives * \return true if success * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool AABBTreeCollider::Collide(const AABBCollisionTree* tree0, const AABBCollisionTree* tree1, const Matrix4x4* world0, const Matrix4x4* world1, Pair* cache) { // Init collision query InitQuery(world0, world1); // Check previous state if(CheckTemporalCoherence(cache)) return true; // Perform collision query _Collide(tree0->GetNodes(), tree1->GetNodes()); UPDATE_CACHE return true; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Collision query for no-leaf AABB trees. * \param tree0 [in] AABB tree from first object * \param tree1 [in] AABB tree from second object * \param world0 [in] world matrix for first object * \param world1 [in] world matrix for second object * \param cache [in/out] cache for a pair of previously colliding primitives * \return true if success * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool AABBTreeCollider::Collide(const AABBNoLeafTree* tree0, const AABBNoLeafTree* tree1, const Matrix4x4* world0, const Matrix4x4* world1, Pair* cache) { // Init collision query InitQuery(world0, world1); // Check previous state if(CheckTemporalCoherence(cache)) return true; // Perform collision query _Collide(tree0->GetNodes(), tree1->GetNodes()); UPDATE_CACHE return true; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Collision query for quantized AABB trees. * \param tree0 [in] AABB tree from first object * \param tree1 [in] AABB tree from second object * \param world0 [in] world matrix for first object * \param world1 [in] world matrix for second object * \param cache [in/out] cache for a pair of previously colliding primitives * \return true if success * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool AABBTreeCollider::Collide(const AABBQuantizedTree* tree0, const AABBQuantizedTree* tree1, const Matrix4x4* world0, const Matrix4x4* world1, Pair* cache) { // Init collision query InitQuery(world0, world1); // Check previous state if(CheckTemporalCoherence(cache)) return true; // Setup dequantization coeffs mCenterCoeff0 = tree0->mCenterCoeff; mExtentsCoeff0 = tree0->mExtentsCoeff; mCenterCoeff1 = tree1->mCenterCoeff; mExtentsCoeff1 = tree1->mExtentsCoeff; // Dequantize box A const AABBQuantizedNode* N0 = tree0->GetNodes(); const Point a(float(N0->mAABB.mExtents[0]) * mExtentsCoeff0.x, float(N0->mAABB.mExtents[1]) * mExtentsCoeff0.y, float(N0->mAABB.mExtents[2]) * mExtentsCoeff0.z); const Point Pa(float(N0->mAABB.mCenter[0]) * mCenterCoeff0.x, float(N0->mAABB.mCenter[1]) * mCenterCoeff0.y, float(N0->mAABB.mCenter[2]) * mCenterCoeff0.z); // Dequantize box B const AABBQuantizedNode* N1 = tree1->GetNodes(); const Point b(float(N1->mAABB.mExtents[0]) * mExtentsCoeff1.x, float(N1->mAABB.mExtents[1]) * mExtentsCoeff1.y, float(N1->mAABB.mExtents[2]) * mExtentsCoeff1.z); const Point Pb(float(N1->mAABB.mCenter[0]) * mCenterCoeff1.x, float(N1->mAABB.mCenter[1]) * mCenterCoeff1.y, float(N1->mAABB.mCenter[2]) * mCenterCoeff1.z); // Perform collision query _Collide(N0, N1, a, Pa, b, Pb); UPDATE_CACHE return true; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Collision query for quantized no-leaf AABB trees. * \param tree0 [in] AABB tree from first object * \param tree1 [in] AABB tree from second object * \param world0 [in] world matrix for first object * \param world1 [in] world matrix for second object * \param cache [in/out] cache for a pair of previously colliding primitives * \return true if success * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool AABBTreeCollider::Collide(const AABBQuantizedNoLeafTree* tree0, const AABBQuantizedNoLeafTree* tree1, const Matrix4x4* world0, const Matrix4x4* world1, Pair* cache) { // Init collision query InitQuery(world0, world1); // Check previous state if(CheckTemporalCoherence(cache)) return true; // Setup dequantization coeffs mCenterCoeff0 = tree0->mCenterCoeff; mExtentsCoeff0 = tree0->mExtentsCoeff; mCenterCoeff1 = tree1->mCenterCoeff; mExtentsCoeff1 = tree1->mExtentsCoeff; // Perform collision query _Collide(tree0->GetNodes(), tree1->GetNodes()); UPDATE_CACHE return true; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Standard trees /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // The normal AABB tree can use 2 different descent rules (with different performances) //#define ORIGINAL_CODE //!< UNC-like descent rules #define ALTERNATIVE_CODE //!< Alternative descent rules #ifdef ORIGINAL_CODE /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive collision query for normal AABB trees. * \param b0 [in] collision node from first tree * \param b1 [in] collision node from second tree */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void AABBTreeCollider::_Collide(const AABBCollisionNode* b0, const AABBCollisionNode* b1) { mNowNode0 = b0; mNowNode1 = b1; // Perform BV-BV overlap test if(!BoxBoxOverlap(b0->mAABB.mExtents, b0->mAABB.mCenter, b1->mAABB.mExtents, b1->mAABB.mCenter)) return; if(b0->IsLeaf() && b1->IsLeaf()) { PrimTest(b0->GetPrimitive(), b1->GetPrimitive()); return; } if(b1->IsLeaf() || (!b0->IsLeaf() && (b0->GetSize() > b1->GetSize()))) { _Collide(b0->GetNeg(), b1); if(ContactFound()) return; _Collide(b0->GetPos(), b1); } else { _Collide(b0, b1->GetNeg()); if(ContactFound()) return; _Collide(b0, b1->GetPos()); } } #endif #ifdef ALTERNATIVE_CODE /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive collision query for normal AABB trees. * \param b0 [in] collision node from first tree * \param b1 [in] collision node from second tree */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void AABBTreeCollider::_Collide(const AABBCollisionNode* b0, const AABBCollisionNode* b1) { // Perform BV-BV overlap test if(!BoxBoxOverlap(b0->mAABB.mExtents, b0->mAABB.mCenter, b1->mAABB.mExtents, b1->mAABB.mCenter)) { return; } if(b0->IsLeaf()) { if(b1->IsLeaf()) { mNowNode0 = b0; mNowNode1 = b1; PrimTest(b0->GetPrimitive(), b1->GetPrimitive()); } else { _Collide(b0, b1->GetNeg()); if(ContactFound()) return; _Collide(b0, b1->GetPos()); } } else if(b1->IsLeaf()) { _Collide(b0->GetNeg(), b1); if(ContactFound()) return; _Collide(b0->GetPos(), b1); } else { _Collide(b0->GetNeg(), b1->GetNeg()); if(ContactFound()) return; _Collide(b0->GetNeg(), b1->GetPos()); if(ContactFound()) return; _Collide(b0->GetPos(), b1->GetNeg()); if(ContactFound()) return; _Collide(b0->GetPos(), b1->GetPos()); } } #endif /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // No-leaf trees /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Leaf-leaf test for two primitive indices. * \param id0 [in] index from first leaf-triangle * \param id1 [in] index from second leaf-triangle */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void AABBTreeCollider::PrimTest(udword id0, udword id1) { mId0 = id0; mId1 = id1; // Request vertices from the app VertexPointers VP0; VertexPointers VP1; mIMesh0->GetTriangle(VP0, id0); mIMesh1->GetTriangle(VP1, id1); // Modified by S-cubed, Inc. // Transform from space 0 (old : 1) to space 1 (old : 0) // CD $B$G$OJQ49$,5U$J$N$G$"$o$;$k!#(B Point u0,u1,u2; TransformPoint(u0, *VP0.Vertex[0], mR0to1, mT0to1); TransformPoint(u1, *VP0.Vertex[1], mR0to1, mT0to1); TransformPoint(u2, *VP0.Vertex[2], mR0to1, mT0to1); // Perform triangle-triangle overlap test if(TriTriOverlap(u0, u1, u2, *VP1.Vertex[0], *VP1.Vertex[1], *VP1.Vertex[2])) { // Keep track of colliding pairs mPairs.Add(id0).Add(id1); // Set contact status mFlags |= OPC_CONTACT; } } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Leaf-leaf test for a previously fetched triangle from tree A (in B's space) and a new leaf from B. * \param id1 [in] leaf-triangle index from tree B */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ void AABBTreeCollider::PrimTestTriIndex(udword id1) { // Request vertices from the app VertexPointers VP; mIMesh1->GetTriangle(VP, id1); // Perform triangle-triangle overlap test if(TriTriOverlap(mLeafVerts[0], mLeafVerts[1], mLeafVerts[2], *VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) { // Keep track of colliding pairs mPairs.Add(mLeafIndex).Add(id1); // Set contact status mFlags |= OPC_CONTACT; } } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Leaf-leaf test for a previously fetched triangle from tree B (in A's space) and a new leaf from A. * \param id0 [in] leaf-triangle index from tree A */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ void AABBTreeCollider::PrimTestIndexTri(udword id0) { // Request vertices from the app VertexPointers VP; mIMesh0->GetTriangle(VP, id0); // Perform triangle-triangle overlap test if(TriTriOverlap(mLeafVerts[0], mLeafVerts[1], mLeafVerts[2], *VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) { // Keep track of colliding pairs mPairs.Add(id0).Add(mLeafIndex); // Set contact status mFlags |= OPC_CONTACT; } } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive collision of a leaf node from A and a branch from B. * \param b [in] collision node from second tree */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void AABBTreeCollider::_CollideTriBox(const AABBNoLeafNode* b) { // Perform triangle-box overlap test // Modified by S-cubed, Inc. //NoleafNode $B$O;HMQ$7$J$$(B // if(!TriBoxOverlap(b->mAABB.mCenter, b->mAABB.mExtents)) return; // Keep same triangle, deal with first child if(b->HasPosLeaf()) PrimTestTriIndex(b->GetPosPrimitive()); else _CollideTriBox(b->GetPos()); if(ContactFound()) return; // Keep same triangle, deal with second child if(b->HasNegLeaf()) PrimTestTriIndex(b->GetNegPrimitive()); else _CollideTriBox(b->GetNeg()); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive collision of a leaf node from B and a branch from A. * \param b [in] collision node from first tree */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void AABBTreeCollider::_CollideBoxTri(const AABBNoLeafNode* b) { // Modified by S-cubed, Inc. //NoleafNode $B$O;HMQ$7$J$$(B // Perform triangle-box overlap test //if(!TriBoxOverlap(b->mAABB.mCenter, b->mAABB.mExtents)) return; // Keep same triangle, deal with first child if(b->HasPosLeaf()) PrimTestIndexTri(b->GetPosPrimitive()); else _CollideBoxTri(b->GetPos()); if(ContactFound()) return; // Keep same triangle, deal with second child if(b->HasNegLeaf()) PrimTestIndexTri(b->GetNegPrimitive()); else _CollideBoxTri(b->GetNeg()); } //! Request triangle vertices from the app and transform them #define FETCH_LEAF(prim_index, imesh, rot, trans) \ mLeafIndex = prim_index; \ /* Request vertices from the app */ \ VertexPointers VP; imesh->GetTriangle(VP, prim_index); \ /* Transform them in a common space */ \ TransformPoint(mLeafVerts[0], *VP.Vertex[0], rot, trans); \ TransformPoint(mLeafVerts[1], *VP.Vertex[1], rot, trans); \ TransformPoint(mLeafVerts[2], *VP.Vertex[2], rot, trans); /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive collision query for no-leaf AABB trees. * \param a [in] collision node from first tree * \param b [in] collision node from second tree */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void AABBTreeCollider::_Collide(const AABBNoLeafNode* a, const AABBNoLeafNode* b) { // Perform BV-BV overlap test if(!BoxBoxOverlap(a->mAABB.mExtents, a->mAABB.mCenter, b->mAABB.mExtents, b->mAABB.mCenter)) return; // Catch leaf status BOOL BHasPosLeaf = b->HasPosLeaf(); BOOL BHasNegLeaf = b->HasNegLeaf(); if(a->HasPosLeaf()) { FETCH_LEAF(a->GetPosPrimitive(), mIMesh0, mR0to1, mT0to1) if(BHasPosLeaf) PrimTestTriIndex(b->GetPosPrimitive()); else _CollideTriBox(b->GetPos()); if(ContactFound()) return; if(BHasNegLeaf) PrimTestTriIndex(b->GetNegPrimitive()); else _CollideTriBox(b->GetNeg()); } else { if(BHasPosLeaf) { FETCH_LEAF(b->GetPosPrimitive(), mIMesh1, mR1to0, mT1to0) _CollideBoxTri(a->GetPos()); } else _Collide(a->GetPos(), b->GetPos()); if(ContactFound()) return; if(BHasNegLeaf) { FETCH_LEAF(b->GetNegPrimitive(), mIMesh1, mR1to0, mT1to0) _CollideBoxTri(a->GetPos()); } else _Collide(a->GetPos(), b->GetNeg()); } if(ContactFound()) return; if(a->HasNegLeaf()) { FETCH_LEAF(a->GetNegPrimitive(), mIMesh0, mR0to1, mT0to1) if(BHasPosLeaf) PrimTestTriIndex(b->GetPosPrimitive()); else _CollideTriBox(b->GetPos()); if(ContactFound()) return; if(BHasNegLeaf) PrimTestTriIndex(b->GetNegPrimitive()); else _CollideTriBox(b->GetNeg()); } else { if(BHasPosLeaf) { // ### That leaf has possibly already been fetched FETCH_LEAF(b->GetPosPrimitive(), mIMesh1, mR1to0, mT1to0) _CollideBoxTri(a->GetNeg()); } else _Collide(a->GetNeg(), b->GetPos()); if(ContactFound()) return; if(BHasNegLeaf) { // ### That leaf has possibly already been fetched FETCH_LEAF(b->GetNegPrimitive(), mIMesh1, mR1to0, mT1to0) _CollideBoxTri(a->GetNeg()); } else _Collide(a->GetNeg(), b->GetNeg()); } } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Quantized trees /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive collision query for quantized AABB trees. * \param b0 [in] collision node from first tree * \param b1 [in] collision node from second tree * \param a [in] extent from box A * \param Pa [in] center from box A * \param b [in] extent from box B * \param Pb [in] center from box B */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void AABBTreeCollider::_Collide(const AABBQuantizedNode* b0, const AABBQuantizedNode* b1, const Point& a, const Point& Pa, const Point& b, const Point& Pb) { // Perform BV-BV overlap test if(!BoxBoxOverlap(a, Pa, b, Pb)) return; if(b0->IsLeaf() && b1->IsLeaf()) { PrimTest(b0->GetPrimitive(), b1->GetPrimitive()); return; } if(b1->IsLeaf() || (!b0->IsLeaf() && (b0->GetSize() > b1->GetSize()))) { // Dequantize box const QuantizedAABB* Box = &b0->GetNeg()->mAABB; const Point negPa(float(Box->mCenter[0]) * mCenterCoeff0.x, float(Box->mCenter[1]) * mCenterCoeff0.y, float(Box->mCenter[2]) * mCenterCoeff0.z); const Point nega(float(Box->mExtents[0]) * mExtentsCoeff0.x, float(Box->mExtents[1]) * mExtentsCoeff0.y, float(Box->mExtents[2]) * mExtentsCoeff0.z); _Collide(b0->GetNeg(), b1, nega, negPa, b, Pb); if(ContactFound()) return; // Dequantize box Box = &b0->GetPos()->mAABB; const Point posPa(float(Box->mCenter[0]) * mCenterCoeff0.x, float(Box->mCenter[1]) * mCenterCoeff0.y, float(Box->mCenter[2]) * mCenterCoeff0.z); const Point posa(float(Box->mExtents[0]) * mExtentsCoeff0.x, float(Box->mExtents[1]) * mExtentsCoeff0.y, float(Box->mExtents[2]) * mExtentsCoeff0.z); _Collide(b0->GetPos(), b1, posa, posPa, b, Pb); } else { // Dequantize box const QuantizedAABB* Box = &b1->GetNeg()->mAABB; const Point negPb(float(Box->mCenter[0]) * mCenterCoeff1.x, float(Box->mCenter[1]) * mCenterCoeff1.y, float(Box->mCenter[2]) * mCenterCoeff1.z); const Point negb(float(Box->mExtents[0]) * mExtentsCoeff1.x, float(Box->mExtents[1]) * mExtentsCoeff1.y, float(Box->mExtents[2]) * mExtentsCoeff1.z); _Collide(b0, b1->GetNeg(), a, Pa, negb, negPb); if(ContactFound()) return; // Dequantize box Box = &b1->GetPos()->mAABB; const Point posPb(float(Box->mCenter[0]) * mCenterCoeff1.x, float(Box->mCenter[1]) * mCenterCoeff1.y, float(Box->mCenter[2]) * mCenterCoeff1.z); const Point posb(float(Box->mExtents[0]) * mExtentsCoeff1.x, float(Box->mExtents[1]) * mExtentsCoeff1.y, float(Box->mExtents[2]) * mExtentsCoeff1.z); _Collide(b0, b1->GetPos(), a, Pa, posb, posPb); } } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Quantized no-leaf trees /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive collision of a leaf node from A and a quantized branch from B. * \param leaf [in] leaf triangle from first tree * \param b [in] collision node from second tree */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void AABBTreeCollider::_CollideTriBox(const AABBQuantizedNoLeafNode* b) { // Dequantize box const QuantizedAABB* bb = &b->mAABB; const Point Pb(float(bb->mCenter[0]) * mCenterCoeff1.x, float(bb->mCenter[1]) * mCenterCoeff1.y, float(bb->mCenter[2]) * mCenterCoeff1.z); const Point eb(float(bb->mExtents[0]) * mExtentsCoeff1.x, float(bb->mExtents[1]) * mExtentsCoeff1.y, float(bb->mExtents[2]) * mExtentsCoeff1.z); // Perform triangle-box overlap test // Modified by S-cubed, Inc. //NoleafNode $B$O;HMQ$7$J$$(B //if(!TriBoxOverlap(Pb, eb)) return; if(b->HasPosLeaf()) PrimTestTriIndex(b->GetPosPrimitive()); else _CollideTriBox(b->GetPos()); if(ContactFound()) return; if(b->HasNegLeaf()) PrimTestTriIndex(b->GetNegPrimitive()); else _CollideTriBox(b->GetNeg()); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive collision of a leaf node from B and a quantized branch from A. * \param b [in] collision node from first tree * \param leaf [in] leaf triangle from second tree */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void AABBTreeCollider::_CollideBoxTri(const AABBQuantizedNoLeafNode* b) { // Dequantize box const QuantizedAABB* bb = &b->mAABB; const Point Pa(float(bb->mCenter[0]) * mCenterCoeff0.x, float(bb->mCenter[1]) * mCenterCoeff0.y, float(bb->mCenter[2]) * mCenterCoeff0.z); const Point ea(float(bb->mExtents[0]) * mExtentsCoeff0.x, float(bb->mExtents[1]) * mExtentsCoeff0.y, float(bb->mExtents[2]) * mExtentsCoeff0.z); // Modified by S-cubed, Inc. //NoleafNode $B$O;HMQ$7$J$$(B // Perform triangle-box overlap test // if(!TriBoxOverlap(Pa, ea)) return; if(b->HasPosLeaf()) PrimTestIndexTri(b->GetPosPrimitive()); else _CollideBoxTri(b->GetPos()); if(ContactFound()) return; if(b->HasNegLeaf()) PrimTestIndexTri(b->GetNegPrimitive()); else _CollideBoxTri(b->GetNeg()); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive collision query for quantized no-leaf AABB trees. * \param a [in] collision node from first tree * \param b [in] collision node from second tree */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void AABBTreeCollider::_Collide(const AABBQuantizedNoLeafNode* a, const AABBQuantizedNoLeafNode* b) { // Dequantize box A const QuantizedAABB* ab = &a->mAABB; const Point Pa(float(ab->mCenter[0]) * mCenterCoeff0.x, float(ab->mCenter[1]) * mCenterCoeff0.y, float(ab->mCenter[2]) * mCenterCoeff0.z); const Point ea(float(ab->mExtents[0]) * mExtentsCoeff0.x, float(ab->mExtents[1]) * mExtentsCoeff0.y, float(ab->mExtents[2]) * mExtentsCoeff0.z); // Dequantize box B const QuantizedAABB* bb = &b->mAABB; const Point Pb(float(bb->mCenter[0]) * mCenterCoeff1.x, float(bb->mCenter[1]) * mCenterCoeff1.y, float(bb->mCenter[2]) * mCenterCoeff1.z); const Point eb(float(bb->mExtents[0]) * mExtentsCoeff1.x, float(bb->mExtents[1]) * mExtentsCoeff1.y, float(bb->mExtents[2]) * mExtentsCoeff1.z); // Perform BV-BV overlap test if(!BoxBoxOverlap(ea, Pa, eb, Pb)) return; // Catch leaf status BOOL BHasPosLeaf = b->HasPosLeaf(); BOOL BHasNegLeaf = b->HasNegLeaf(); if(a->HasPosLeaf()) { FETCH_LEAF(a->GetPosPrimitive(), mIMesh0, mR0to1, mT0to1) if(BHasPosLeaf) PrimTestTriIndex(b->GetPosPrimitive()); else _CollideTriBox(b->GetPos()); if(ContactFound()) return; if(BHasNegLeaf) PrimTestTriIndex(b->GetNegPrimitive()); else _CollideTriBox(b->GetNeg()); } else { if(BHasPosLeaf) { FETCH_LEAF(b->GetPosPrimitive(), mIMesh1, mR1to0, mT1to0) _CollideBoxTri(a->GetPos()); } else _Collide(a->GetPos(), b->GetPos()); if(ContactFound()) return; if(BHasNegLeaf) { FETCH_LEAF(b->GetNegPrimitive(), mIMesh1, mR1to0, mT1to0) _CollideBoxTri(a->GetPos()); } else _Collide(a->GetPos(), b->GetNeg()); } if(ContactFound()) return; if(a->HasNegLeaf()) { FETCH_LEAF(a->GetNegPrimitive(), mIMesh0, mR0to1, mT0to1) if(BHasPosLeaf) PrimTestTriIndex(b->GetPosPrimitive()); else _CollideTriBox(b->GetPos()); if(ContactFound()) return; if(BHasNegLeaf) PrimTestTriIndex(b->GetNegPrimitive()); else _CollideTriBox(b->GetNeg()); } else { if(BHasPosLeaf) { // ### That leaf has possibly already been fetched FETCH_LEAF(b->GetPosPrimitive(), mIMesh1, mR1to0, mT1to0) _CollideBoxTri(a->GetNeg()); } else _Collide(a->GetNeg(), b->GetPos()); if(ContactFound()) return; if(BHasNegLeaf) { // ### That leaf has possibly already been fetched FETCH_LEAF(b->GetNegPrimitive(), mIMesh1, mR1to0, mT1to0) _CollideBoxTri(a->GetNeg()); } else _Collide(a->GetNeg(), b->GetNeg()); } } choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_TriTriOverlap.h0000664000000000000000000001677012741425367024122 0ustar rootroot //! if OPC_TRITRI_EPSILON_TEST is true then we do a check (if |dv|b) \ { \ const float c=a; \ a=b; \ b=c; \ } //! Edge to edge test based on Franlin Antonio's gem: "Faster Line Segment Intersection", in Graphics Gems III, pp. 199-202 #define EDGE_EDGE_TEST(V0, U0, U1) \ Bx = U0[i0] - U1[i0]; \ By = U0[i1] - U1[i1]; \ Cx = V0[i0] - U0[i0]; \ Cy = V0[i1] - U0[i1]; \ f = Ay*Bx - Ax*By; \ d = By*Cx - Bx*Cy; \ if((f>0.0f && d>=0.0f && d<=f) || (f<0.0f && d<=0.0f && d>=f)) \ { \ const float e=Ax*Cy - Ay*Cx; \ if(f>0.0f) \ { \ if(e>=0.0f && e<=f) return TRUE; \ } \ else \ { \ if(e<=0.0f && e>=f) return TRUE; \ } \ } //! TO BE DOCUMENTED #define EDGE_AGAINST_TRI_EDGES(V0, V1, U0, U1, U2) \ { \ float Bx,By,Cx,Cy,d,f; \ const float Ax = V1[i0] - V0[i0]; \ const float Ay = V1[i1] - V0[i1]; \ /* test edge U0,U1 against V0,V1 */ \ EDGE_EDGE_TEST(V0, U0, U1); \ /* test edge U1,U2 against V0,V1 */ \ EDGE_EDGE_TEST(V0, U1, U2); \ /* test edge U2,U1 against V0,V1 */ \ EDGE_EDGE_TEST(V0, U2, U0); \ } //! TO BE DOCUMENTED #define POINT_IN_TRI(V0, U0, U1, U2) \ { \ /* is T1 completly inside T2? */ \ /* check if V0 is inside tri(U0,U1,U2) */ \ float a = U1[i1] - U0[i1]; \ float b = -(U1[i0] - U0[i0]); \ float c = -a*U0[i0] - b*U0[i1]; \ float d0 = a*V0[i0] + b*V0[i1] + c; \ \ a = U2[i1] - U1[i1]; \ b = -(U2[i0] - U1[i0]); \ c = -a*U1[i0] - b*U1[i1]; \ const float d1 = a*V0[i0] + b*V0[i1] + c; \ \ a = U0[i1] - U2[i1]; \ b = -(U0[i0] - U2[i0]); \ c = -a*U2[i0] - b*U2[i1]; \ const float d2 = a*V0[i0] + b*V0[i1] + c; \ if(d0*d1>0.0f) \ { \ if(d0*d2>0.0f) return TRUE; \ } \ } //! TO BE DOCUMENTED BOOL CoplanarTriTri(const Point& n, const Point& v0, const Point& v1, const Point& v2, const Point& u0, const Point& u1, const Point& u2) { float A[3]; short i0,i1; /* first project onto an axis-aligned plane, that maximizes the area */ /* of the triangles, compute indices: i0,i1. */ A[0] = fabsf(n[0]); A[1] = fabsf(n[1]); A[2] = fabsf(n[2]); if(A[0]>A[1]) { if(A[0]>A[2]) { i0=1; /* A[0] is greatest */ i1=2; } else { i0=0; /* A[2] is greatest */ i1=1; } } else /* A[0]<=A[1] */ { if(A[2]>A[1]) { i0=0; /* A[2] is greatest */ i1=1; } else { i0=0; /* A[1] is greatest */ i1=2; } } /* test all edges of triangle 1 against the edges of triangle 2 */ EDGE_AGAINST_TRI_EDGES(v0, v1, u0, u1, u2); EDGE_AGAINST_TRI_EDGES(v1, v2, u0, u1, u2); EDGE_AGAINST_TRI_EDGES(v2, v0, u0, u1, u2); /* finally, test if tri1 is totally contained in tri2 or vice versa */ POINT_IN_TRI(v0, u0, u1, u2); POINT_IN_TRI(u0, v0, v1, v2); return FALSE; } //! TO BE DOCUMENTED #define NEWCOMPUTE_INTERVALS(VV0, VV1, VV2, D0, D1, D2, D0D1, D0D2, A, B, C, X0, X1) \ { \ if(D0D1>0.0f) \ { \ /* here we know that D0D2<=0.0 */ \ /* that is D0, D1 are on the same side, D2 on the other or on the plane */ \ A=VV2; B=(VV0 - VV2)*D2; C=(VV1 - VV2)*D2; X0=D2 - D0; X1=D2 - D1; \ } \ else if(D0D2>0.0f) \ { \ /* here we know that d0d1<=0.0 */ \ A=VV1; B=(VV0 - VV1)*D1; C=(VV2 - VV1)*D1; X0=D1 - D0; X1=D1 - D2; \ } \ else if(D1*D2>0.0f || D0!=0.0f) \ { \ /* here we know that d0d1<=0.0 or that D0!=0.0 */ \ A=VV0; B=(VV1 - VV0)*D0; C=(VV2 - VV0)*D0; X0=D0 - D1; X1=D0 - D2; \ } \ else if(D1!=0.0f) \ { \ A=VV1; B=(VV0 - VV1)*D1; C=(VV2 - VV1)*D1; X0=D1 - D0; X1=D1 - D2; \ } \ else if(D2!=0.0f) \ { \ A=VV2; B=(VV0 - VV2)*D2; C=(VV1 - VV2)*D2; X0=D2 - D0; X1=D2 - D1; \ } \ else \ { \ /* triangles are coplanar */ \ return CoplanarTriTri(N1, V0, V1, V2, U0, U1, U2); \ } \ } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Triangle/triangle intersection test routine, * by Tomas Moller, 1997. * See article "A Fast Triangle-Triangle Intersection Test", * Journal of Graphics Tools, 2(2), 1997 * * Updated June 1999: removed the divisions -- a little faster now! * Updated October 1999: added {} to CROSS and SUB macros * * int NoDivTriTriIsect(float V0[3],float V1[3],float V2[3], * float U0[3],float U1[3],float U2[3]) * * \param V0 [in] triangle 0, vertex 0 * \param V1 [in] triangle 0, vertex 1 * \param V2 [in] triangle 0, vertex 2 * \param U0 [in] triangle 1, vertex 0 * \param U1 [in] triangle 1, vertex 1 * \param U2 [in] triangle 1, vertex 2 * \return true if triangles overlap */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// BOOL AABBTreeCollider::TriTriOverlap(const Point& V0, const Point& V1, const Point& V2, const Point& U0, const Point& U1, const Point& U2) { // Stats mNbPrimPrimTests++; // Modified by S-cubed, Inc. // Detect collisions by using TriOverlap.cpp instead of the collision detection by OPCODE cnoid::collision_data c_pair; cnoid::Vector3 i0, i1, i2; cnoid::Vector3 p0, p1, p2; // Convert coordinates to match the interface of tri_tri_overlap()@TriOerlap.cpp // Ice/IcePointer => Vector3 i0[0] = V0.x; i0[1] = V0.y; i0[2] = V0.z; i1[0] = V1.x; i1[1] = V1.y; i1[2] = V1.z; i2[0] = V2.x; i2[1] = V2.y; i2[2] = V2.z; p0[0] = U0.x; p0[1] = U0.y; p0[2] = U0.z; p1[0] = U1.x; p1[1] = U1.y; p1[2] = U1.z; p2[0] = U2.x; p2[1] = U2.y; p2[2] = U2.z; if(collisionPairInserter && collisionPairInserter->detectTriTriOverlap(i0, i1, i2, p0, p1, p2, &c_pair)){ /* insert_collision_pair(mNowNode0, mNowNode1, mId0, mId1, c_pair.num_of_i_points, c_pair.i_points, c_pair.n_vector, c_pair.depth, c_pair.n, c_pair.m, c_pair.c_type, (MeshInterface*)mIMesh0, (MeshInterface*)mIMesh1); */ collisionPairInserter->apply(mNowNode0, mNowNode1, mId0, mId1, c_pair.num_of_i_points, c_pair.i_points, c_pair.n_vector, c_pair.depth, c_pair.n, c_pair.m, c_pair.c_type, (MeshInterface*)mIMesh0, (MeshInterface*)mIMesh1); return TRUE; } return FALSE; } choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_Settings.h0000664000000000000000000000434012741425367023142 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains compilation flags. * \file OPC_Settings.h * \author Pierre Terdiman * \date May, 12, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Include Guard #ifndef __OPC_SETTINGS_H__ #define __OPC_SETTINGS_H__ //! Use CPU comparisons (comment that line to use standard FPU compares) // #define OPC_CPU_COMPARE //! Use FCOMI / FCMOV on Pentium-Pro based processors (comment that line to use plain C++) #define OPC_USE_FCOMI //! Use epsilon value in tri-tri overlap test #define OPC_TRITRI_EPSILON_TEST //! Use tree-coherence or not [not implemented yet] // #define OPC_USE_TREE_COHERENCE //! Use callbacks or direct pointers. Using callbacks might be a bit slower (but probably not much) // #define OPC_USE_CALLBACKS //! Support triangle and vertex strides or not. Using strides might be a bit slower (but probably not much) // #define OPC_USE_STRIDE //! Discard negative pointer in vanilla trees #define OPC_NO_NEG_VANILLA_TREE //! Use a callback in the ray collider #define OPC_RAYHIT_CALLBACK // NB: no compilation flag to enable/disable stats since they're actually needed in the box/box overlap test #endif //__OPC_SETTINGS_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_BaseModel.h0000664000000000000000000002445412741425367023205 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains base model interface. * \file OPC_BaseModel.h * \author Pierre Terdiman * \date May, 18, 2003 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Include Guard #ifndef __OPC_BASEMODEL_H__ #define __OPC_BASEMODEL_H__ //! Model creation structure struct OPCODE_API OPCODECREATE { //! Constructor OPCODECREATE(); MeshInterface* mIMesh; //!< Mesh interface (access to triangles & vertices) (*) BuildSettings mSettings; //!< Builder's settings bool mNoLeaf; //!< true => discard leaf nodes (else use a normal tree) bool mQuantized; //!< true => quantize the tree (else use a normal tree) #ifdef __MESHMERIZER_H__ bool mCollisionHull; //!< true => use convex hull + GJK #endif // __MESHMERIZER_H__ bool mKeepOriginal; //!< true => keep a copy of the original tree (debug purpose) bool mCanRemap; //!< true => allows OPCODE to reorganize client arrays // (*) This pointer is saved internally and used by OPCODE until collision structures are released, // so beware of the object's lifetime. }; enum ModelFlag { OPC_QUANTIZED = (1<<0), //!< Compressed/uncompressed tree OPC_NO_LEAF = (1<<1), //!< Leaf/NoLeaf tree OPC_SINGLE_NODE = (1<<2) //!< Special case for 1-node models }; class OPCODE_API BaseModel { public: // Constructor/Destructor BaseModel(); virtual ~BaseModel(); /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Builds a collision model. * \param create [in] model creation structure * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// virtual bool Build(const OPCODECREATE& create) = 0; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Gets the number of bytes used by the tree. * \return amount of bytes used */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// virtual udword GetUsedBytes() const = 0; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Refits the collision model. This can be used to handle dynamic meshes. Usage is: * 1. modify your mesh vertices (keep the topology constant!) * 2. refit the tree (call this method) * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// virtual bool Refit(); /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Gets the source tree. * \return generic tree */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ const AABBTree* GetSourceTree() const { return mSource; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Gets the tree. * \return the collision tree */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ const AABBOptimizedTree* GetTree() const { return mTree; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Gets the tree. * \return the collision tree */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ AABBOptimizedTree* GetTree() { return mTree; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Gets the number of nodes in the tree. * Should be 2*N-1 for normal trees and N-1 for optimized ones. * \return number of nodes */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ udword GetNbNodes() const { return mTree->GetNbNodes(); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Checks whether the tree has leaf nodes or not. * \return true if the tree has leaf nodes (normal tree), else false (optimized tree) */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ BOOL HasLeafNodes() const { return !(mModelCode & OPC_NO_LEAF); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Checks whether the tree is quantized or not. * \return true if the tree is quantized */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ BOOL IsQuantized() const { return mModelCode & OPC_QUANTIZED; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Checks whether the model has a single node or not. This special case must be handled separately. * \return true if the model has only 1 node */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ BOOL HasSingleNode() const { return mModelCode & OPC_SINGLE_NODE; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Gets the model's code. * \return model's code */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ udword GetModelCode() const { return mModelCode; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Gets the mesh interface. * \return mesh interface */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ const MeshInterface* GetMeshInterface() const { return mIMesh; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Sets the mesh interface. * \param imesh [in] mesh interface */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ void SetMeshInterface(const MeshInterface* imesh) { mIMesh = imesh; } protected: const MeshInterface* mIMesh; //!< User-defined mesh interface udword mModelCode; //!< Model code = combination of ModelFlag(s) AABBTree* mSource; //!< Original source tree AABBOptimizedTree* mTree; //!< Optimized tree owned by the model // Internal methods void ReleaseBase(); bool CreateTree(bool no_leaf, bool quantized); }; #endif //__OPC_BASEMODEL_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_OptimizedTree.cpp0000664000000000000000000010121512741425367024460 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains code for optimized trees. Implements 4 trees: * - normal * - no leaf * - quantized * - no leaf / quantized * * \file OPC_OptimizedTree.cpp * \author Pierre Terdiman * \date March, 20, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * A standard AABB tree. * * \class AABBCollisionTree * \author Pierre Terdiman * \version 1.3 * \date March, 20, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * A no-leaf AABB tree. * * \class AABBNoLeafTree * \author Pierre Terdiman * \version 1.3 * \date March, 20, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * A quantized AABB tree. * * \class AABBQuantizedTree * \author Pierre Terdiman * \version 1.3 * \date March, 20, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * A quantized no-leaf AABB tree. * * \class AABBQuantizedNoLeafTree * \author Pierre Terdiman * \version 1.3 * \date March, 20, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Precompiled Header #include "Stdafx.h" using namespace Opcode; //! Compilation flag: //! - true to fix quantized boxes (i.e. make sure they enclose the original ones) //! - false to see the effects of quantization errors (faster, but wrong results in some cases) static bool gFixQuantized = true; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Builds an implicit tree from a standard one. An implicit tree is a complete tree (2*N-1 nodes) whose negative * box pointers and primitive pointers have been made implicit, hence packing 3 pointers in one. * * Layout for implicit trees: * Node: * - box * - data (32-bits value) * * if data's LSB = 1 => remaining bits are a primitive pointer * else remaining bits are a P-node pointer, and N = P + 1 * * \relates AABBCollisionNode * \fn _BuildCollisionTree(AABBCollisionNode* linear, const udword box_id, udword& current_id, const AABBTreeNode* current_node) * \param linear [in] base address of destination nodes * \param box_id [in] index of destination node * \param current_id [in] current running index * \param current_node [in] current node from input tree */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// static void _BuildCollisionTree(AABBCollisionNode* linear, const udword box_id, udword& current_id, const AABBTreeNode* current_node) { // Current node from input tree is "current_node". Must be flattened into "linear[boxid]". // Store the AABB current_node->GetAABB()->GetCenter(linear[box_id].mAABB.mCenter); current_node->GetAABB()->GetExtents(linear[box_id].mAABB.mExtents); #if 1 // Added by AIST linear[box_id].mAABB.CreateSSV(); #endif // Store remaining info if(current_node->IsLeaf()) { // The input tree must be complete => i.e. one primitive/leaf ASSERT(current_node->GetNbPrimitives()==1); // Get the primitive index from the input tree udword PrimitiveIndex = current_node->GetPrimitives()[0]; // Setup box data as the primitive index, marked as leaf linear[box_id].mData = (PrimitiveIndex<<1)|1; } else { // To make the negative one implicit, we must store P and N in successive order udword PosID = current_id++; // Get a new id for positive child udword NegID = current_id++; // Get a new id for negative child // Setup box data as the forthcoming new P pointer linear[box_id].mData = (EXWORD)&linear[PosID]; // Make sure it's not marked as leaf ASSERT(!(linear[box_id].mData&1)); //Modified by S-cubed, Inc. //examine_normal_vector@InsertCollisionPair.cpp $B$G?F$rDI$($k$h$&$K$9$k(B ((AABBCollisionNode*)linear[box_id].mData)->mB = &linear[box_id]; (((AABBCollisionNode*)linear[box_id].mData)+1)->mB = &linear[box_id]; // Recurse with new IDs _BuildCollisionTree(linear, PosID, current_id, current_node->GetPos()); _BuildCollisionTree(linear, NegID, current_id, current_node->GetNeg()); } } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Builds a "no-leaf" tree from a standard one. This is a tree whose leaf nodes have been removed. * * Layout for no-leaf trees: * * Node: * - box * - P pointer => a node (LSB=0) or a primitive (LSB=1) * - N pointer => a node (LSB=0) or a primitive (LSB=1) * * \relates AABBNoLeafNode * \fn _BuildNoLeafTree(AABBNoLeafNode* linear, const udword box_id, udword& current_id, const AABBTreeNode* current_node) * \param linear [in] base address of destination nodes * \param box_id [in] index of destination node * \param current_id [in] current running index * \param current_node [in] current node from input tree */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// static void _BuildNoLeafTree(AABBNoLeafNode* linear, const udword box_id, udword& current_id, const AABBTreeNode* current_node) { const AABBTreeNode* P = current_node->GetPos(); const AABBTreeNode* N = current_node->GetNeg(); // Leaf nodes here?! ASSERT(P); ASSERT(N); // Internal node => keep the box current_node->GetAABB()->GetCenter(linear[box_id].mAABB.mCenter); current_node->GetAABB()->GetExtents(linear[box_id].mAABB.mExtents); if(P->IsLeaf()) { // The input tree must be complete => i.e. one primitive/leaf ASSERT(P->GetNbPrimitives()==1); // Get the primitive index from the input tree udword PrimitiveIndex = P->GetPrimitives()[0]; // Setup prev box data as the primitive index, marked as leaf linear[box_id].mPosData = (PrimitiveIndex<<1)|1; } else { // Get a new id for positive child udword PosID = current_id++; // Setup box data linear[box_id].mPosData = (EXWORD)&linear[PosID]; // Make sure it's not marked as leaf ASSERT(!(linear[box_id].mPosData&1)); // Recurse _BuildNoLeafTree(linear, PosID, current_id, P); } if(N->IsLeaf()) { // The input tree must be complete => i.e. one primitive/leaf ASSERT(N->GetNbPrimitives()==1); // Get the primitive index from the input tree udword PrimitiveIndex = N->GetPrimitives()[0]; // Setup prev box data as the primitive index, marked as leaf linear[box_id].mNegData = (PrimitiveIndex<<1)|1; } else { // Get a new id for negative child udword NegID = current_id++; // Setup box data linear[box_id].mNegData = (EXWORD)&linear[NegID]; // Make sure it's not marked as leaf ASSERT(!(linear[box_id].mNegData&1)); // Recurse _BuildNoLeafTree(linear, NegID, current_id, N); } } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Constructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// AABBCollisionTree::AABBCollisionTree() : mNodes(null) { } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Destructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// AABBCollisionTree::~AABBCollisionTree() { DELETEARRAY(mNodes); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Builds the collision tree from a generic AABB tree. * \param tree [in] generic AABB tree * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool AABBCollisionTree::Build(AABBTree* tree) { // Checkings if(!tree) return false; // Check the input tree is complete udword NbTriangles = tree->GetNbPrimitives(); udword NbNodes = tree->GetNbNodes(); if(NbNodes!=NbTriangles*2-1) return false; // Get nodes if(mNbNodes!=NbNodes) // Same number of nodes => keep moving { mNbNodes = NbNodes; DELETEARRAY(mNodes); mNodes = new AABBCollisionNode[mNbNodes]; CHECKALLOC(mNodes); } // Build the tree udword CurID = 1; // Modified by S-cubed, Inc. //$B%k!<%H$N?F$O<+J,<+?H(B mNodes[0].mB = &mNodes[0]; _BuildCollisionTree(mNodes, 0, CurID, tree); ASSERT(CurID==mNbNodes); return true; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Refits the collision tree after vertices have been modified. * \param mesh_interface [in] mesh interface for current model * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool AABBCollisionTree::Refit(const MeshInterface* mesh_interface) { ASSERT(!"Not implemented since AABBCollisionTrees have twice as more nodes to refit as AABBNoLeafTrees!"); return false; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Walks the tree and call the user back for each node. * \param callback [in] walking callback * \param user_data [in] callback's user data * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool AABBCollisionTree::Walk(GenericWalkingCallback callback, void* user_data) const { if(!callback) return false; struct Local { static void _Walk(const AABBCollisionNode* current_node, GenericWalkingCallback callback, void* user_data) { if(!current_node || !(callback)(current_node, user_data)) return; if(!current_node->IsLeaf()) { _Walk(current_node->GetPos(), callback, user_data); _Walk(current_node->GetNeg(), callback, user_data); } } }; Local::_Walk(mNodes, callback, user_data); return true; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Constructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// AABBNoLeafTree::AABBNoLeafTree() : mNodes(null) { } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Destructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// AABBNoLeafTree::~AABBNoLeafTree() { DELETEARRAY(mNodes); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Builds the collision tree from a generic AABB tree. * \param tree [in] generic AABB tree * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool AABBNoLeafTree::Build(AABBTree* tree) { // Checkings if(!tree) return false; // Check the input tree is complete udword NbTriangles = tree->GetNbPrimitives(); udword NbNodes = tree->GetNbNodes(); if(NbNodes!=NbTriangles*2-1) return false; // Get nodes if(mNbNodes!=NbTriangles-1) // Same number of nodes => keep moving { mNbNodes = NbTriangles-1; DELETEARRAY(mNodes); mNodes = new AABBNoLeafNode[mNbNodes]; CHECKALLOC(mNodes); } // Build the tree udword CurID = 1; _BuildNoLeafTree(mNodes, 0, CurID, tree); ASSERT(CurID==mNbNodes); return true; } inline_ void ComputeMinMax(Point& min, Point& max, const VertexPointers& vp) { // Compute triangle's AABB = a leaf box #ifdef OPC_USE_FCOMI // a 15% speedup on my machine, not much min.x = FCMin3(vp.Vertex[0]->x, vp.Vertex[1]->x, vp.Vertex[2]->x); max.x = FCMax3(vp.Vertex[0]->x, vp.Vertex[1]->x, vp.Vertex[2]->x); min.y = FCMin3(vp.Vertex[0]->y, vp.Vertex[1]->y, vp.Vertex[2]->y); max.y = FCMax3(vp.Vertex[0]->y, vp.Vertex[1]->y, vp.Vertex[2]->y); min.z = FCMin3(vp.Vertex[0]->z, vp.Vertex[1]->z, vp.Vertex[2]->z); max.z = FCMax3(vp.Vertex[0]->z, vp.Vertex[1]->z, vp.Vertex[2]->z); #else min = *vp.Vertex[0]; max = *vp.Vertex[0]; min.Min(*vp.Vertex[1]); max.Max(*vp.Vertex[1]); min.Min(*vp.Vertex[2]); max.Max(*vp.Vertex[2]); #endif } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Refits the collision tree after vertices have been modified. * \param mesh_interface [in] mesh interface for current model * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool AABBNoLeafTree::Refit(const MeshInterface* mesh_interface) { // Checkings if(!mesh_interface) return false; // Bottom-up update VertexPointers VP; Point Min,Max; Point Min_,Max_; udword Index = mNbNodes; while(Index--) { AABBNoLeafNode& Current = mNodes[Index]; if(Current.HasPosLeaf()) { mesh_interface->GetTriangle(VP, Current.GetPosPrimitive()); ComputeMinMax(Min, Max, VP); } else { const CollisionAABB& CurrentBox = Current.GetPos()->mAABB; CurrentBox.GetMin(Min); CurrentBox.GetMax(Max); } if(Current.HasNegLeaf()) { mesh_interface->GetTriangle(VP, Current.GetNegPrimitive()); ComputeMinMax(Min_, Max_, VP); } else { const CollisionAABB& CurrentBox = Current.GetNeg()->mAABB; CurrentBox.GetMin(Min_); CurrentBox.GetMax(Max_); } #ifdef OPC_USE_FCOMI Min.x = FCMin2(Min.x, Min_.x); Max.x = FCMax2(Max.x, Max_.x); Min.y = FCMin2(Min.y, Min_.y); Max.y = FCMax2(Max.y, Max_.y); Min.z = FCMin2(Min.z, Min_.z); Max.z = FCMax2(Max.z, Max_.z); #else Min.Min(Min_); Max.Max(Max_); #endif Current.mAABB.SetMinMax(Min, Max); } return true; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Walks the tree and call the user back for each node. * \param callback [in] walking callback * \param user_data [in] callback's user data * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool AABBNoLeafTree::Walk(GenericWalkingCallback callback, void* user_data) const { if(!callback) return false; struct Local { static void _Walk(const AABBNoLeafNode* current_node, GenericWalkingCallback callback, void* user_data) { if(!current_node || !(callback)(current_node, user_data)) return; if(!current_node->HasPosLeaf()) _Walk(current_node->GetPos(), callback, user_data); if(!current_node->HasNegLeaf()) _Walk(current_node->GetNeg(), callback, user_data); } }; Local::_Walk(mNodes, callback, user_data); return true; } // Quantization notes: // - We could use the highest bits of mData to store some more quantized bits. Dequantization code // would be slightly more complex, but number of overlap tests would be reduced (and anyhow those // bits are currently wasted). Of course it's not possible if we move to 16 bits mData. // - Something like "16 bits floats" could be tested, to bypass the int-to-float conversion. // - A dedicated BV-BV test could be used, dequantizing while testing for overlap. (i.e. it's some // lazy-dequantization which may save some work in case of early exits). At the very least some // muls could be saved by precomputing several more matrices. But maybe not worth the pain. // - Do we need to dequantize anyway? Not doing the extents-related muls only implies the box has // been scaled, for example. // - The deeper we move into the hierarchy, the smaller the extents should be. May not need a fixed // number of quantization bits. Even better, could probably be best delta-encoded. // Find max values. Some people asked why I wasn't simply using the first node. Well, I can't. // I'm not looking for (min, max) values like in a standard AABB, I'm looking for the extremal // centers/extents in order to quantize them. The first node would only give a single center and // a single extents. While extents would be the biggest, the center wouldn't. #define FIND_MAX_VALUES \ /* Get max values */ \ Point CMax(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT); \ Point EMax(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT); \ for(udword i=0;iCMax.x) CMax.x = fabsf(Nodes[i].mAABB.mCenter.x); \ if(fabsf(Nodes[i].mAABB.mCenter.y)>CMax.y) CMax.y = fabsf(Nodes[i].mAABB.mCenter.y); \ if(fabsf(Nodes[i].mAABB.mCenter.z)>CMax.z) CMax.z = fabsf(Nodes[i].mAABB.mCenter.z); \ if(fabsf(Nodes[i].mAABB.mExtents.x)>EMax.x) EMax.x = fabsf(Nodes[i].mAABB.mExtents.x); \ if(fabsf(Nodes[i].mAABB.mExtents.y)>EMax.y) EMax.y = fabsf(Nodes[i].mAABB.mExtents.y); \ if(fabsf(Nodes[i].mAABB.mExtents.z)>EMax.z) EMax.z = fabsf(Nodes[i].mAABB.mExtents.z); \ } #define INIT_QUANTIZATION \ udword nbc=15; /* Keep one bit for sign */ \ udword nbe=15; /* Keep one bit for fix */ \ if(!gFixQuantized) nbe++; \ \ /* Compute quantization coeffs */ \ Point CQuantCoeff, EQuantCoeff; \ CQuantCoeff.x = CMax.x!=0.0f ? float((1<Min[j]) mNodes[i].mAABB.mExtents[j]++; \ else FixMe=false; \ /* Prevent wrapping */ \ if(!mNodes[i].mAABB.mExtents[j]) \ { \ mNodes[i].mAABB.mExtents[j]=0xffff; \ FixMe=false; \ } \ }while(FixMe); \ } \ } #ifdef __x86_64 #define REMAP_DATA(member) \ /* Fix data */ \ Data = Nodes[i].member; \ if(!(Data&1)) \ { \ /* Compute box number */ \ uqword Nb = (Data - uqword(Nodes))/Nodes[i].GetNodeSize(); \ Data = uqword(&mNodes[Nb]); \ } \ /* ...remapped */ \ mNodes[i].member = Data; #else #define REMAP_DATA(member) \ /* Fix data */ \ Data = Nodes[i].member; \ if(!(Data&1)) \ { \ /* Compute box number */ \ udword Nb = (Data - udword(Nodes))/Nodes[i].GetNodeSize(); \ Data = udword(&mNodes[Nb]); \ } \ /* ...remapped */ \ mNodes[i].member = Data; #endif /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Constructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// AABBQuantizedTree::AABBQuantizedTree() : mNodes(null) { } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Destructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// AABBQuantizedTree::~AABBQuantizedTree() { DELETEARRAY(mNodes); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Builds the collision tree from a generic AABB tree. * \param tree [in] generic AABB tree * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool AABBQuantizedTree::Build(AABBTree* tree) { // Checkings if(!tree) return false; // Check the input tree is complete udword NbTriangles = tree->GetNbPrimitives(); udword NbNodes = tree->GetNbNodes(); if(NbNodes!=NbTriangles*2-1) return false; // Get nodes mNbNodes = NbNodes; DELETEARRAY(mNodes); AABBCollisionNode* Nodes = new AABBCollisionNode[mNbNodes]; CHECKALLOC(Nodes); // Build the tree udword CurID = 1; _BuildCollisionTree(Nodes, 0, CurID, tree); // Quantize { mNodes = new AABBQuantizedNode[mNbNodes]; CHECKALLOC(mNodes); // Get max values FIND_MAX_VALUES // Quantization INIT_QUANTIZATION // Quantize EXWORD Data; for(udword i=0;iIsLeaf()) { _Walk(current_node->GetPos(), callback, user_data); _Walk(current_node->GetNeg(), callback, user_data); } } }; Local::_Walk(mNodes, callback, user_data); return true; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Constructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// AABBQuantizedNoLeafTree::AABBQuantizedNoLeafTree() : mNodes(null) { } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Destructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// AABBQuantizedNoLeafTree::~AABBQuantizedNoLeafTree() { DELETEARRAY(mNodes); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Builds the collision tree from a generic AABB tree. * \param tree [in] generic AABB tree * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool AABBQuantizedNoLeafTree::Build(AABBTree* tree) { // Checkings if(!tree) return false; // Check the input tree is complete udword NbTriangles = tree->GetNbPrimitives(); udword NbNodes = tree->GetNbNodes(); if(NbNodes!=NbTriangles*2-1) return false; // Get nodes mNbNodes = NbTriangles-1; DELETEARRAY(mNodes); AABBNoLeafNode* Nodes = new AABBNoLeafNode[mNbNodes]; CHECKALLOC(Nodes); // Build the tree udword CurID = 1; _BuildNoLeafTree(Nodes, 0, CurID, tree); ASSERT(CurID==mNbNodes); // Quantize { mNodes = new AABBQuantizedNoLeafNode[mNbNodes]; CHECKALLOC(mNodes); // Get max values FIND_MAX_VALUES // Quantization INIT_QUANTIZATION // Quantize EXWORD Data; for(udword i=0;iHasPosLeaf()) _Walk(current_node->GetPos(), callback, user_data); if(!current_node->HasNegLeaf()) _Walk(current_node->GetNeg(), callback, user_data); } }; Local::_Walk(mNodes, callback, user_data); return true; } choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/ReadMe.txt0000664000000000000000000002107112741425367022366 0ustar rootroot OPCODE distribution 1.3 (june 2003) ----------------------- New in Opcode 1.3: - fixed the divide by 0 bug that was happening when all centers where located on a coordinate axis (thanks to Jorrit T) - linearized "complete" vanilla AABB trees - ANSI-compliant "for" loops (for the ones porting it to Linux...) - callbacks & pointers moved to mesh interface - support for triangle & vertex strides - optimized the sphere-triangle overlap code a bit - dynamic trees (refit) - more builders - ValidateSubdivision in builders - LSS collider - primitive-bv tests can now be skipped in most volume queries - temporal coherence now also works for airborne objects - temporal coherence completed for boxes / all contacts, LSS, etc - ray-collider now uses a callback - some common "usages" have been introduced (only picking for now) - SPLIT_COMPLETE removed (now implicitely using mLimit = 1) - hybrid collision models - sweep-and-prune code added, moved from my old Z-Collide lib - it now works with meshes made of only 1 triangle (except in mesh-mesh case!) Disclaimer: - I forced myself to actually *do* the release today no matter what. Else it would never have been done. That's why the code may not be very polished. I also removed a *lot* of things (more usages, distance queries, etc...) that weren't ready for prime-time (or that were linked to too many of my supporting libs) - Some comments may also be obsolete here and there. The old User Manual for Opcode 1.2 may not fit version 1.3 either, since there's a new "mesh interface" to support strides, etc. - Everything in the "Ice" directory has been hacked out of my engine and edited until everything compiled. Don't expect anything out there to be cute or something. In particular, some CPP files are not even included when not needed, so you can expect some linker errors if you try messing around with them... Otherwise, it should be just like previous version, only better. In particular, hybrid models can be very memory-friendly (sometimes using like 10 times less ram than the best trees from version 1.2). The possible speed hit is often invisible (if it even exists), especially using temporal coherence in "all contacts" mode. (Admittedly, this depends on your particular usage pattern / what you do on collided triangles). The sweep-and-prune code is similar to the "vanilla" version found in V-Collide (but that one's better IMHO...) The simple "radix" version is often just as good, see for yourself. OPCODE distribution 1.2 (august 2002) ----------------------- New in Opcode 1.2: - new VolumeCollider base class - simplified callback setup - you can now use callbacks or pointers (setup at compile time) - destination array not needed anymore in the RayCollider (faster in-out tests) - renamed classes: AABBRayCollider => RayCollider, AABBSphereCollider => SphereCollider - the sphere query now only returns a list of faces (extra info discarded). On the other hand it's a lot faster. - OBB, AABB and planes queries. Original OBB and AABB queries contributed by Erwin de Vries. - cosmetic changes in OPC_BoxBoxOverlap.h contributed by Gottfried Chen - some inlining problems fixed - faster ray-mesh tests using the separating axis theorem - new split value in AABB tree construction (contributed by Igor Kravtchenko). Provides faster queries most of the time. - improved temporal coherence for sphere & AABB queries (works in "All contacts" mode) Notes: - Everything in the "Ice code" directory (in VC++) is basically copy-pasted from my engine, with a lot of code removed until there was no link error anymore. Don't expect those files to be cute or anything, they've never been meant to be released and they're often updated/modified/messy. - Some experimental features have been removed as well. Else I would never have released the 1.2... - Not as polished/optimal as I would like it to be, but that's life. I promised myself to release it before october 2002 (one YEAR later ?!).... That's the only reason why it's there. - Some people reported ColDet was faster. Uh, come on. They were using Opcode in "All contacts" mode whereas ColDet was doing "first contact"... OPCODE distribution 1.1 (october 2001) ----------------------- New in Opcode 1.1: - stabbing queries - sphere queries - abtract base class for colliders - settings validation methods - compilation flags now grouped in OPC_Settings.h - smaller files, new VC++ virtual dirs (cleaner) Notes: - "override(baseclass)" is a personal cosmetic thing. It's the same as "virtual", but provides more info. - I code in 1600*1200, so some lines may look a bit long.. - This version is not as polished as the previous one due to lack of time. The stabbing & sphere queries can still be optimized: for example by trying other atomic overlap tests. I'm using my first ray-AABB code, but the newer one seems better. Tim Schröder's one is good as well. See: www.codercorner.com/RayAABB.cpp - The trees can easily be compressed even more, I save this for later (lack of time, lack of time!) - I removed various tests before releasing this one: - a separation line, a.k.a. "front" in QuickCD, because gains were unclear - distance queries in a PQP style, because it was way too slow - support for deformable models, too slow as well - You can easily use Opcode to do your player-vs-world collision detection, in a Nettle/Telemachos way. If someone out there wants to donate some art / level for the cause, I'd be glad to release a demo. (current demo uses copyrighted art I'm not allowed to spread) - Sorry for the lack of real docs and/or solid examples. I just don't have enough time. OPCODE distribution 1.0 (march 2001) ----------------------- - First release =============================================================================== WHAT ? OPCODE means OPtimized COllision DEtection. So this is a collision detection package similar to RAPID. Here's a quick list of features: - C++ interface, developed for Windows systems using VC++ 6.0 - Works on arbitrary meshes (convex or non-convex), even polygon soups - Current implementation uses AABB-trees - Introduces Primitive-BV overlap tests during recursive collision queries (whereas standard libraries only rely on Primitive-Primitive and BV-BV tests) - Introduces no-leaf trees, i.e. collision trees whose leaf nodes have been removed - Supports collision queries on quantized trees (decompressed on-the-fly) - Supports "first contact" or "all contacts" modes (à la RAPID) - Uses temporal coherence for "first contact" mode (~10 to 20 times faster, useful in rigid body simulation during bisection) - Memory footprint is 7.2 times smaller than RAPID's one, which is ideal for console games with limited ram (actually, if you use the unmodified RAPID code using double precision, it's more like 13 times smaller...) - And yet it often runs faster than RAPID (according to RDTSC, sometimes more than 5 times faster when objects are deeply overlapping) - Performance is usually close to RAPID's one in close-proximity situations - Stabbing, planes & volume queries (sphere, AABB, OBB, LSS) - Sweep-and-prune - Now works with deformable meshes - Hybrid trees What it can be used for: - standard mesh-mesh collision detection (similar to RAPID, SOLID, QuickCD, PQP, ColDet...) - N-body collisions (similar to V-Collide) - camera-vs-world collisions (similar to Telemachos/Paul Nettle/Stan Melax articles) - shadow feelers to speed up lightmap computations - in-out tests to speed up voxelization processes - picking - rigid body simulation - view frustum culling - etc WHY ? - Because RAPID uses too many bytes. - Because the idea was nice... WHEN ? It's been coded in march 2001 following a thread on the GD-Algorithms list. GDAlgorithms-list mailing list GDAlgorithms-list@lists.sourceforge.net http://lists.sourceforge.net/lists/listinfo/gdalgorithms-list WHO ? Pierre Terdiman June, 1, 2003 p.terdiman@wanadoo.fr p.terdiman@codercorner.com http://www.codercorner.com http://www.codercorner.com/Opcode.htm choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_HybridModel.h0000664000000000000000000001413712741425367023551 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains code for hybrid models. * \file OPC_HybridModel.h * \author Pierre Terdiman * \date May, 18, 2003 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Include Guard #ifndef __OPC_HYBRIDMODEL_H__ #define __OPC_HYBRIDMODEL_H__ //! Leaf descriptor struct LeafTriangles { udword Data; //!< Packed data /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Gets number of triangles in the leaf. * \return number of triangles N, with 0 < N <= 16 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ udword GetNbTriangles() const { return (Data & 15)+1; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Gets triangle index for this leaf. Indexed model's array of indices retrieved with HybridModel::GetIndices() * \return triangle index */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ udword GetTriangleIndex() const { return Data>>4; } inline_ void SetData(udword nb, udword index) { ASSERT(nb>0 && nb<=16); nb--; Data = (index<<4)|(nb&15); } }; class OPCODE_API HybridModel : public BaseModel { public: // Constructor/Destructor HybridModel(); virtual ~HybridModel(); /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Builds a collision model. * \param create [in] model creation structure * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// override(BaseModel) bool Build(const OPCODECREATE& create); /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Gets the number of bytes used by the tree. * \return amount of bytes used */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// override(BaseModel) udword GetUsedBytes() const; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Refits the collision model. This can be used to handle dynamic meshes. Usage is: * 1. modify your mesh vertices (keep the topology constant!) * 2. refit the tree (call this method) * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// override(BaseModel) bool Refit(); /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Gets array of triangles. * \return array of triangles */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ const LeafTriangles* GetLeafTriangles() const { return mTriangles; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Gets array of indices. * \return array of indices */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ const udword* GetIndices() const { return mIndices; } private: udword mNbLeaves; //!< Number of leaf nodes in the model LeafTriangles* mTriangles; //!< Array of mNbLeaves leaf descriptors udword mNbPrimitives; //!< Number of primitives in the model udword* mIndices; //!< Array of primitive indices // Internal methods void Release(); }; #endif // __OPC_HYBRIDMODEL_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_HybridModel.cpp0000664000000000000000000004007312741425367024102 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains code for hybrid models. * \file OPC_HybridModel.cpp * \author Pierre Terdiman * \date May, 18, 2003 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * An hybrid collision model. * * The problem : * * Opcode really shines for mesh-mesh collision, especially when meshes are deeply overlapping * (it typically outperforms RAPID in those cases). * * Unfortunately this is not the typical scenario in games. * * For close-proximity cases, especially for volume-mesh queries, it's relatively easy to run faster * than Opcode, that suffers from a relatively high setup time. * * In particular, Opcode's "vanilla" trees in those cases -can- run faster. They can also use -less- * memory than the optimized ones, when you let the system stop at ~10 triangles / leaf for example * (i.e. when you don't use "complete" trees). However, those trees tend to fragment memory quite a * lot, increasing cache misses : since they're not "complete", we can't predict the final number of * nodes and we have to allocate nodes on-the-fly. For the same reasons we can't use Opcode's "optimized" * trees here, since they rely on a known layout to perform the "optimization". * * Hybrid trees : * * Hybrid trees try to combine best of both worlds : * * - they use a maximum limit of 16 triangles/leaf. "16" is used so that we'll be able to save the * number of triangles using 4 bits only. * * - they're still "complete" trees thanks to a two-passes building phase. First we create a "vanilla" * AABB-tree with Opcode, limited to 16 triangles/leaf. Then we create a *second* vanilla tree, this * time using the leaves of the first one. The trick is : this second tree is now "complete"... so we * can further transform it into an Opcode's optimized tree. * * - then we run the collision queries on that standard Opcode tree. The only difference is that leaf * nodes contain indices to leaf nodes of another tree. Also, we have to skip all primitive tests in * Opcode optimized trees, since our leaves don't contain triangles anymore. * * - finally, for each collided leaf, we simply loop through 16 triangles max, and collide them with * the bounding volume used in the query (we only support volume-vs-mesh queries here, not mesh-vs-mesh) * * All of that is wrapped in this "hybrid model" that contains the minimal data required for this to work. * It's a mix between old "vanilla" trees, and old "optimized" trees. * * Extra advantages: * * - If we use them for dynamic models, we're left with a very small number of leaf nodes to refit. It * might be a bit faster since we have less nodes to write back. * * - In rigid body simulation, using temporal coherence and sleeping objects greatly reduce the actual * influence of one tree over another (i.e. the speed difference is often invisible). So memory is really * the key element to consider, and in this regard hybrid trees are just better. * * Information to take home: * - they use less ram * - they're not slower (they're faster or slower depending on cases, overall there's no significant * difference *as long as objects don't interpenetrate too much* - in which case Opcode's optimized trees * are still notably faster) * * \class HybridModel * \author Pierre Terdiman * \version 1.3 * \date May, 18, 2003 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Precompiled Header #include "Stdafx.h" using namespace Opcode; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Constructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// HybridModel::HybridModel() : mNbLeaves (0), mNbPrimitives (0), mTriangles (null), mIndices (null) { } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Destructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// HybridModel::~HybridModel() { Release(); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Releases everything. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void HybridModel::Release() { ReleaseBase(); DELETEARRAY(mIndices); DELETEARRAY(mTriangles); mNbLeaves = 0; mNbPrimitives = 0; } struct Internal { Internal() { mNbLeaves = 0; mLeaves = null; mTriangles = null; mBase = null; } ~Internal() { DELETEARRAY(mLeaves); } udword mNbLeaves; AABB* mLeaves; LeafTriangles* mTriangles; const udword* mBase; }; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Builds a collision model. * \param create [in] model creation structure * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool HybridModel::Build(const OPCODECREATE& create) { // 1) Checkings if(!create.mIMesh || !create.mIMesh->IsValid()) return false; // Look for degenerate faces. udword NbDegenerate = create.mIMesh->CheckTopology(); if(NbDegenerate) Log("OPCODE WARNING: found %d degenerate faces in model! Collision might report wrong results!\n", NbDegenerate); // We continue nonetheless.... Release(); // Make sure previous tree has been discarded // 1-1) Setup mesh interface automatically SetMeshInterface(create.mIMesh); bool Status = false; AABBTree* LeafTree = null; Internal Data; // 2) Build a generic AABB Tree. mSource = new AABBTree; CHECKALLOC(mSource); // 2-1) Setup a builder. Our primitives here are triangles from input mesh, // so we use an AABBTreeOfTrianglesBuilder..... { AABBTreeOfTrianglesBuilder TB; TB.mIMesh = create.mIMesh; TB.mNbPrimitives = create.mIMesh->GetNbTriangles(); TB.mSettings = create.mSettings; TB.mSettings.mLimit = 16; // ### Hardcoded, but maybe we could let the user choose 8 / 16 / 32 ... if(!mSource->Build(&TB)) goto FreeAndExit; } // 2-2) Here's the trick : create *another* AABB tree using the leaves of the first one (which are boxes, this time) struct Local { // A callback to count leaf nodes static bool CountLeaves(const AABBTreeNode* current, udword depth, void* user_data) { if(current->IsLeaf()) { Internal* Data = (Internal*)user_data; Data->mNbLeaves++; } return true; } // A callback to setup leaf nodes in our internal structures static bool SetupLeafData(const AABBTreeNode* current, udword depth, void* user_data) { if(current->IsLeaf()) { Internal* Data = (Internal*)user_data; // Get current leaf's box Data->mLeaves[Data->mNbLeaves] = *current->GetAABB(); // Setup leaf data udword Index = (udword(current->GetPrimitives()) - udword(Data->mBase))/sizeof(udword); Data->mTriangles[Data->mNbLeaves].SetData(current->GetNbPrimitives(), Index); Data->mNbLeaves++; } return true; } }; // Walk the tree & count number of leaves Data.mNbLeaves = 0; mSource->Walk(Local::CountLeaves, &Data); mNbLeaves = Data.mNbLeaves; // Keep track of it // Special case for 1-leaf meshes if(mNbLeaves==1) { mModelCode |= OPC_SINGLE_NODE; Status = true; goto FreeAndExit; } // Allocate our structures Data.mLeaves = new AABB[Data.mNbLeaves]; CHECKALLOC(Data.mLeaves); mTriangles = new LeafTriangles[Data.mNbLeaves]; CHECKALLOC(mTriangles); // Walk the tree again & setup leaf data Data.mTriangles = mTriangles; Data.mBase = mSource->GetIndices(); Data.mNbLeaves = 0; // Reset for incoming walk mSource->Walk(Local::SetupLeafData, &Data); // Handle source indices { bool MustKeepIndices = true; if(create.mCanRemap) { // We try to get rid of source indices (saving more ram!) by reorganizing triangle arrays... // Remap can fail when we use callbacks => keep track of indices in that case (it still // works, only using more memory) if(create.mIMesh->RemapClient(mSource->GetNbPrimitives(), mSource->GetIndices())) { MustKeepIndices = false; } } if(MustKeepIndices) { // Keep track of source indices (from vanilla tree) mNbPrimitives = mSource->GetNbPrimitives(); mIndices = new udword[mNbPrimitives]; CopyMemory(mIndices, mSource->GetIndices(), mNbPrimitives*sizeof(udword)); } } // Now, create our optimized tree using previous leaf nodes LeafTree = new AABBTree; CHECKALLOC(LeafTree); { AABBTreeOfAABBsBuilder TB; // Now using boxes ! TB.mSettings = create.mSettings; TB.mSettings.mLimit = 1; // We now want a complete tree so that we can "optimize" it TB.mNbPrimitives = Data.mNbLeaves; TB.mAABBArray = Data.mLeaves; if(!LeafTree->Build(&TB)) goto FreeAndExit; } // 3) Create an optimized tree according to user-settings if(!CreateTree(create.mNoLeaf, create.mQuantized)) goto FreeAndExit; // 3-2) Create optimized tree if(!mTree->Build(LeafTree)) goto FreeAndExit; // Finally ok... Status = true; FreeAndExit: // Allow me this one... DELETESINGLE(LeafTree); // 3-3) Delete generic tree if needed if(!create.mKeepOriginal) DELETESINGLE(mSource); return Status; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Gets the number of bytes used by the tree. * \return amount of bytes used */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// udword HybridModel::GetUsedBytes() const { udword UsedBytes = 0; if(mTree) UsedBytes += mTree->GetUsedBytes(); if(mIndices) UsedBytes += mNbPrimitives * sizeof(udword); // mIndices if(mTriangles) UsedBytes += mNbLeaves * sizeof(LeafTriangles); // mTriangles return UsedBytes; } inline_ void ComputeMinMax(Point& min, Point& max, const VertexPointers& vp) { // Compute triangle's AABB = a leaf box #ifdef OPC_USE_FCOMI // a 15% speedup on my machine, not much min.x = FCMin3(vp.Vertex[0]->x, vp.Vertex[1]->x, vp.Vertex[2]->x); max.x = FCMax3(vp.Vertex[0]->x, vp.Vertex[1]->x, vp.Vertex[2]->x); min.y = FCMin3(vp.Vertex[0]->y, vp.Vertex[1]->y, vp.Vertex[2]->y); max.y = FCMax3(vp.Vertex[0]->y, vp.Vertex[1]->y, vp.Vertex[2]->y); min.z = FCMin3(vp.Vertex[0]->z, vp.Vertex[1]->z, vp.Vertex[2]->z); max.z = FCMax3(vp.Vertex[0]->z, vp.Vertex[1]->z, vp.Vertex[2]->z); #else min = *vp.Vertex[0]; max = *vp.Vertex[0]; min.Min(*vp.Vertex[1]); max.Max(*vp.Vertex[1]); min.Min(*vp.Vertex[2]); max.Max(*vp.Vertex[2]); #endif } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Refits the collision model. This can be used to handle dynamic meshes. Usage is: * 1. modify your mesh vertices (keep the topology constant!) * 2. refit the tree (call this method) * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool HybridModel::Refit() { if(!mIMesh) return false; if(!mTree) return false; if(IsQuantized()) return false; if(HasLeafNodes()) return false; const LeafTriangles* LT = GetLeafTriangles(); const udword* Indices = GetIndices(); // Bottom-up update VertexPointers VP; Point Min,Max; Point Min_,Max_; udword Index = mTree->GetNbNodes(); AABBNoLeafNode* Nodes = (AABBNoLeafNode*)((AABBNoLeafTree*)mTree)->GetNodes(); while(Index--) { AABBNoLeafNode& Current = Nodes[Index]; if(Current.HasPosLeaf()) { const LeafTriangles& CurrentLeaf = LT[Current.GetPosPrimitive()]; Min.SetPlusInfinity(); Max.SetMinusInfinity(); Point TmpMin, TmpMax; // Each leaf box has a set of triangles udword NbTris = CurrentLeaf.GetNbTriangles(); if(Indices) { const udword* T = &Indices[CurrentLeaf.GetTriangleIndex()]; // Loop through triangles and test each of them while(NbTris--) { mIMesh->GetTriangle(VP, *T++); ComputeMinMax(TmpMin, TmpMax, VP); Min.Min(TmpMin); Max.Max(TmpMax); } } else { udword BaseIndex = CurrentLeaf.GetTriangleIndex(); // Loop through triangles and test each of them while(NbTris--) { mIMesh->GetTriangle(VP, BaseIndex++); ComputeMinMax(TmpMin, TmpMax, VP); Min.Min(TmpMin); Max.Max(TmpMax); } } } else { const CollisionAABB& CurrentBox = Current.GetPos()->mAABB; CurrentBox.GetMin(Min); CurrentBox.GetMax(Max); } if(Current.HasNegLeaf()) { const LeafTriangles& CurrentLeaf = LT[Current.GetNegPrimitive()]; Min_.SetPlusInfinity(); Max_.SetMinusInfinity(); Point TmpMin, TmpMax; // Each leaf box has a set of triangles udword NbTris = CurrentLeaf.GetNbTriangles(); if(Indices) { const udword* T = &Indices[CurrentLeaf.GetTriangleIndex()]; // Loop through triangles and test each of them while(NbTris--) { mIMesh->GetTriangle(VP, *T++); ComputeMinMax(TmpMin, TmpMax, VP); Min_.Min(TmpMin); Max_.Max(TmpMax); } } else { udword BaseIndex = CurrentLeaf.GetTriangleIndex(); // Loop through triangles and test each of them while(NbTris--) { mIMesh->GetTriangle(VP, BaseIndex++); ComputeMinMax(TmpMin, TmpMax, VP); Min_.Min(TmpMin); Max_.Max(TmpMax); } } } else { const CollisionAABB& CurrentBox = Current.GetNeg()->mAABB; CurrentBox.GetMin(Min_); CurrentBox.GetMax(Max_); } #ifdef OPC_USE_FCOMI Min.x = FCMin2(Min.x, Min_.x); Max.x = FCMax2(Max.x, Max_.x); Min.y = FCMin2(Min.y, Min_.y); Max.y = FCMax2(Max.y, Max_.y); Min.z = FCMin2(Min.z, Min_.z); Max.z = FCMax2(Max.z, Max_.z); #else Min.Min(Min_); Max.Max(Max_); #endif Current.mAABB.SetMinMax(Min, Max); } return true; } choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_PlanesTriOverlap.h0000664000000000000000000001072112741425367024574 0ustar rootroot#include "../CollisionData.h" #include "../CollisionPairInserter.h" /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Planes-triangle overlap test. * \param in_clip_mask [in] bitmask for active planes * \return TRUE if triangle overlap planes * \warning THIS IS A CONSERVATIVE TEST !! Some triangles will be returned as intersecting, while they're not! */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ BOOL PlanesCollider::PlanesTriOverlap(udword in_clip_mask) { // Stats mNbVolumePrimTests++; const Plane* p = mPlanes; udword Mask = 1; while(Mask<=in_clip_mask) { if(in_clip_mask & Mask) { float d0 = p->Distance(*mVP.Vertex[0]); float d1 = p->Distance(*mVP.Vertex[1]); float d2 = p->Distance(*mVP.Vertex[2]); if(d0>0.0f && d1>0.0f && d2>0.0f) return FALSE; // if(!(IR(d0)&SIGN_BITMASK) && !(IR(d1)&SIGN_BITMASK) && !(IR(d2)&SIGN_BITMASK)) return FALSE; if (collisionPairInserter){ CollisionPairInserter &c = *collisionPairInserter; cnoid::collision_data cdata; cdata.num_of_i_points = 2; cdata.i_point_new[0] = cdata.i_point_new[1] = 1; cdata.i_point_new[2] = cdata.i_point_new[3] = 0; cdata.n_vector = c.CD_Rot1 * cnoid::Vector3(p->n.x, p->n.y, p->n.z); Point p1, p2; if (d0<=0 && d1>0 && d2>0){ cdata.depth = -d0; p1 = ((*mVP.Vertex[0])*d1-(*mVP.Vertex[1])*d0)/(d1-d0); p2 = ((*mVP.Vertex[0])*d2-(*mVP.Vertex[2])*d0)/(d2-d0); }else if(d0>0 && d1<=0 && d2>0){ cdata.depth = -d1; p1 = ((*mVP.Vertex[1])*d0-(*mVP.Vertex[0])*d1)/(d0-d1); p2 = ((*mVP.Vertex[1])*d2-(*mVP.Vertex[2])*d1)/(d2-d1); }else if(d0>0 && d1>0 && d2<=0){ cdata.depth = -d2; p1 = ((*mVP.Vertex[2])*d0-(*mVP.Vertex[0])*d2)/(d0-d2); p2 = ((*mVP.Vertex[2])*d1-(*mVP.Vertex[1])*d2)/(d1-d2); }else if(d0<=0 && d1<=0 && d2>0){ cdata.depth = d0 > d1 ? -d1 : -d0; p1 = ((*mVP.Vertex[0])*d2-(*mVP.Vertex[2])*d0)/(d2-d0); p2 = ((*mVP.Vertex[1])*d2-(*mVP.Vertex[2])*d1)/(d2-d1); }else if(d0<=0 && d1>0 && d2<=0){ cdata.depth = d0 > d2 ? -d2 : -d0; p1 = ((*mVP.Vertex[0])*d1-(*mVP.Vertex[1])*d0)/(d1-d0); p2 = ((*mVP.Vertex[2])*d1-(*mVP.Vertex[1])*d2)/(d1-d2); }else if(d0>0 && d1<=0 && d2<=0){ cdata.depth = d1 > d2 ? -d2 : -d1; p1 = ((*mVP.Vertex[1])*d0-(*mVP.Vertex[0])*d1)/(d0-d1); p2 = ((*mVP.Vertex[2])*d0-(*mVP.Vertex[0])*d2)/(d0-d2); } if (d0>0||d1>0||d2>0){ //cnoid::Vector3 v1, v2; //cnoid::getVector3(v1, p1); //cnoid::getVector3(v2, p2); cnoid::Vector3 v2(p2.x, p2.y, p2.z); cdata.i_points[0] = c.CD_s1 * (c.CD_Rot1 * cnoid::Vector3(p1.x, p1.y, p1.z) + c.CD_Trans1); cdata.i_points[1] = c.CD_s1 * (c.CD_Rot1 * cnoid::Vector3(p2.x, p2.y, p2.z) + c.CD_Trans1); collisionPairInserter->collisions().push_back(cdata); } } } Mask+=Mask; p++; } /* for(udword i=0;i<6;i++) { float d0 = p[i].Distance(mLeafVerts[0]); float d1 = p[i].Distance(mLeafVerts[1]); float d2 = p[i].Distance(mLeafVerts[2]); if(d0>0.0f && d1>0.0f && d2>0.0f) return false; } */ return TRUE; } choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_SphereTriOverlap.h0000664000000000000000000001053512741425367024603 0ustar rootroot // This is collision detection. If you do another distance test for collision *response*, // if might be useful to simply *skip* the test below completely, and report a collision. // - if sphere-triangle overlap, result is ok // - if they don't, we'll discard them during collision response with a similar test anyway // Overall this approach should run faster. // Original code by David Eberly in Magic. BOOL SphereCollider::SphereTriOverlap(const Point& vert0, const Point& vert1, const Point& vert2) { // Stats mNbVolumePrimTests++; // Early exit if one of the vertices is inside the sphere Point kDiff = vert2 - mCenter; float fC = kDiff.SquareMagnitude(); if(fC <= mRadius2) return TRUE; kDiff = vert1 - mCenter; fC = kDiff.SquareMagnitude(); if(fC <= mRadius2) return TRUE; kDiff = vert0 - mCenter; fC = kDiff.SquareMagnitude(); if(fC <= mRadius2) return TRUE; // Else do the full distance test Point TriEdge0 = vert1 - vert0; Point TriEdge1 = vert2 - vert0; //Point kDiff = vert0 - mCenter; float fA00 = TriEdge0.SquareMagnitude(); float fA01 = TriEdge0 | TriEdge1; float fA11 = TriEdge1.SquareMagnitude(); float fB0 = kDiff | TriEdge0; float fB1 = kDiff | TriEdge1; //float fC = kDiff.SquareMagnitude(); float fDet = fabsf(fA00*fA11 - fA01*fA01); float u = fA01*fB1-fA11*fB0; float v = fA01*fB0-fA00*fB1; float SqrDist; if(u + v <= fDet) { if(u < 0.0f) { if(v < 0.0f) // region 4 { if(fB0 < 0.0f) { // v = 0.0f; if(-fB0>=fA00) { /*u = 1.0f;*/ SqrDist = fA00+2.0f*fB0+fC; } else { u = -fB0/fA00; SqrDist = fB0*u+fC; } } else { // u = 0.0f; if(fB1>=0.0f) { /*v = 0.0f;*/ SqrDist = fC; } else if(-fB1>=fA11) { /*v = 1.0f;*/ SqrDist = fA11+2.0f*fB1+fC; } else { v = -fB1/fA11; SqrDist = fB1*v+fC; } } } else // region 3 { // u = 0.0f; if(fB1>=0.0f) { /*v = 0.0f;*/ SqrDist = fC; } else if(-fB1>=fA11) { /*v = 1.0f;*/ SqrDist = fA11+2.0f*fB1+fC; } else { v = -fB1/fA11; SqrDist = fB1*v+fC; } } } else if(v < 0.0f) // region 5 { // v = 0.0f; if(fB0>=0.0f) { /*u = 0.0f;*/ SqrDist = fC; } else if(-fB0>=fA00) { /*u = 1.0f;*/ SqrDist = fA00+2.0f*fB0+fC; } else { u = -fB0/fA00; SqrDist = fB0*u+fC; } } else // region 0 { // minimum at interior point if(fDet==0.0f) { // u = 0.0f; // v = 0.0f; SqrDist = MAX_FLOAT; } else { float fInvDet = 1.0f/fDet; u *= fInvDet; v *= fInvDet; SqrDist = u*(fA00*u+fA01*v+2.0f*fB0) + v*(fA01*u+fA11*v+2.0f*fB1)+fC; } } } else { float fTmp0, fTmp1, fNumer, fDenom; if(u < 0.0f) // region 2 { fTmp0 = fA01 + fB0; fTmp1 = fA11 + fB1; if(fTmp1 > fTmp0) { fNumer = fTmp1 - fTmp0; fDenom = fA00-2.0f*fA01+fA11; if(fNumer >= fDenom) { // u = 1.0f; // v = 0.0f; SqrDist = fA00+2.0f*fB0+fC; } else { u = fNumer/fDenom; v = 1.0f - u; SqrDist = u*(fA00*u+fA01*v+2.0f*fB0) + v*(fA01*u+fA11*v+2.0f*fB1)+fC; } } else { // u = 0.0f; if(fTmp1 <= 0.0f) { /*v = 1.0f;*/ SqrDist = fA11+2.0f*fB1+fC; } else if(fB1 >= 0.0f) { /*v = 0.0f;*/ SqrDist = fC; } else { v = -fB1/fA11; SqrDist = fB1*v+fC; } } } else if(v < 0.0f) // region 6 { fTmp0 = fA01 + fB1; fTmp1 = fA00 + fB0; if(fTmp1 > fTmp0) { fNumer = fTmp1 - fTmp0; fDenom = fA00-2.0f*fA01+fA11; if(fNumer >= fDenom) { // v = 1.0f; // u = 0.0f; SqrDist = fA11+2.0f*fB1+fC; } else { v = fNumer/fDenom; u = 1.0f - v; SqrDist = u*(fA00*u+fA01*v+2.0f*fB0) + v*(fA01*u+fA11*v+2.0f*fB1)+fC; } } else { // v = 0.0f; if(fTmp1 <= 0.0f) { /*u = 1.0f;*/ SqrDist = fA00+2.0f*fB0+fC; } else if(fB0 >= 0.0f) { /*u = 0.0f;*/ SqrDist = fC; } else { u = -fB0/fA00; SqrDist = fB0*u+fC; } } } else // region 1 { fNumer = fA11 + fB1 - fA01 - fB0; if(fNumer <= 0.0f) { // u = 0.0f; // v = 1.0f; SqrDist = fA11+2.0f*fB1+fC; } else { fDenom = fA00-2.0f*fA01+fA11; if(fNumer >= fDenom) { // u = 1.0f; // v = 0.0f; SqrDist = fA00+2.0f*fB0+fC; } else { u = fNumer/fDenom; v = 1.0f - u; SqrDist = u*(fA00*u+fA01*v+2.0f*fB0) + v*(fA01*u+fA11*v+2.0f*fB1)+fC; } } } } return fabsf(SqrDist) < mRadius2; } choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_SweepAndPrune.h0000664000000000000000000000704612741425367024070 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains an implementation of the sweep-and-prune algorithm (moved from Z-Collide) * \file OPC_SweepAndPrune.h * \author Pierre Terdiman * \date January, 29, 2000 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Include Guard #ifndef __OPC_SWEEPANDPRUNE_H__ #define __OPC_SWEEPANDPRUNE_H__ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * User-callback, called by OPCODE for each colliding pairs. * \param id0 [in] id of colliding object * \param id1 [in] id of colliding object * \param user_data [in] user-defined data * \return TRUE to continue enumeration */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// typedef BOOL (*PairCallback) (udword id0, udword id1, void* user_data); class SAP_Element; class SAP_EndPoint; class SAP_Box; class OPCODE_API SAP_PairData { public: SAP_PairData(); ~SAP_PairData(); bool Init(udword nb_objects); void AddPair(udword id1, udword id2); void RemovePair(udword id1, udword id2); void DumpPairs(Pairs& pairs) const; void DumpPairs(PairCallback callback, void* user_data) const; private: udword mNbElements; //!< Total number of elements in the pool udword mNbUsedElements; //!< Number of used elements SAP_Element* mElementPool; //!< Array of mNbElements elements SAP_Element* mFirstFree; //!< First free element in the pool udword mNbObjects; //!< Max number of objects we can handle SAP_Element** mArray; //!< Pointers to pool // Internal methods SAP_Element* GetFreeElem(udword id, SAP_Element* next, udword* remap=null); inline_ void FreeElem(SAP_Element* elem); void Release(); }; class OPCODE_API SweepAndPrune { public: SweepAndPrune(); ~SweepAndPrune(); bool Init(udword nb_objects, const AABB** boxes); bool UpdateObject(udword i, const AABB& box); void GetPairs(Pairs& pairs) const; void GetPairs(PairCallback callback, void* user_data) const; private: SAP_PairData mPairs; udword mNbObjects; SAP_Box* mBoxes; SAP_EndPoint* mList[3]; // Internal methods bool CheckListsIntegrity(); }; #endif //__OPC_SWEEPANDPRUNE_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_TreeCollider.h0000664000000000000000000003313512741425367023723 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains code for a tree collider. * \file OPC_TreeCollider.h * \author Pierre Terdiman * \date March, 20, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Include Guard #ifndef __OPC_TREECOLLIDER_H__ #define __OPC_TREECOLLIDER_H__ //! This structure holds cached information used by the algorithm. //! Two model pointers and two colliding primitives are cached. Model pointers are assigned //! to their respective meshes, and the pair of colliding primitives is used for temporal //! coherence. That is, in case temporal coherence is enabled, those two primitives are //! tested for overlap before everything else. If they still collide, we're done before //! even entering the recursive collision code. struct OPCODE_API BVTCache : Pair { //! Constructor inline_ BVTCache() { ResetCache(); ResetCountDown(); } void ResetCache() { Model0 = null; Model1 = null; id0 = 0; id1 = 1; #ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE ! HullTest = true; SepVector.pid = 0; SepVector.qid = 0; SepVector.SV = Point(1.0f, 0.0f, 0.0f); #endif // __MESHMERIZER_H__ } inline_ void ResetCountDown() { #ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE ! CountDown = 50; #endif // __MESHMERIZER_H__ } const Model* Model0; //!< Model for first object const Model* Model1; //!< Model for second object #ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE ! SVCache SepVector; udword CountDown; bool HullTest; #endif // __MESHMERIZER_H__ }; class OPCODE_API AABBTreeCollider : public Collider { public: // Constructor / Destructor AABBTreeCollider(); virtual ~AABBTreeCollider(); inline void setCollisionPairInserter(CollisionPairInserter* collisionPairInserter) { this->collisionPairInserter = collisionPairInserter; } // Generic collision query /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Generic collision query for generic OPCODE models. After the call, access the results with: * - GetContactStatus() * - GetNbPairs() * - GetPairs() * * \param cache [in] collision cache for model pointers and a colliding pair of primitives * \param world0 [in] world matrix for first object, or null * \param world1 [in] world matrix for second object, or null * \return true if success * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool Collide(BVTCache& cache, const Matrix4x4* world0=null, const Matrix4x4* world1=null); // Collision queries bool Collide(const AABBCollisionTree* tree0, const AABBCollisionTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null); bool Collide(const AABBNoLeafTree* tree0, const AABBNoLeafTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null); bool Collide(const AABBQuantizedTree* tree0, const AABBQuantizedTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null); bool Collide(const AABBQuantizedNoLeafTree* tree0, const AABBQuantizedNoLeafTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null); // Settings /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Settings: selects between full box-box tests or "SAT-lite" tests (where Class III axes are discarded) * \param flag [in] true for full tests, false for coarse tests * \see SetFullPrimBoxTest(bool flag) */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ void SetFullBoxBoxTest(bool flag) { mFullBoxBoxTest = flag; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Settings: selects between full triangle-box tests or "SAT-lite" tests (where Class III axes are discarded) * \param flag [in] true for full tests, false for coarse tests * \see SetFullBoxBoxTest(bool flag) */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ void SetFullPrimBoxTest(bool flag) { mFullPrimBoxTest = flag; } // Stats /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Stats: gets the number of BV-BV overlap tests after a collision query. * \see GetNbPrimPrimTests() * \see GetNbBVPrimTests() * \return the number of BV-BV tests performed during last query */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ udword GetNbBVBVTests() const { return mNbBVBVTests; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Stats: gets the number of Triangle-Triangle overlap tests after a collision query. * \see GetNbBVBVTests() * \see GetNbBVPrimTests() * \return the number of Triangle-Triangle tests performed during last query */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ udword GetNbPrimPrimTests() const { return mNbPrimPrimTests; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Stats: gets the number of BV-Triangle overlap tests after a collision query. * \see GetNbBVBVTests() * \see GetNbPrimPrimTests() * \return the number of BV-Triangle tests performed during last query */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ udword GetNbBVPrimTests() const { return mNbBVPrimTests; } // Data access /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Gets the number of contacts after a collision query. * \see GetContactStatus() * \see GetPairs() * \return the number of contacts / colliding pairs. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ udword GetNbPairs() const { return mPairs.GetNbEntries()>>1; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Gets the pairs of colliding triangles after a collision query. * \see GetContactStatus() * \see GetNbPairs() * \return the list of colliding pairs (triangle indices) */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ const Pair* GetPairs() const { return (const Pair*)mPairs.GetEntries(); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Validates current settings. You should call this method after all the settings and callbacks have been defined for a collider. * \return null if everything is ok, else a string describing the problem */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// override(Collider) const char* ValidateSettings(); protected: // Colliding pairs Container mPairs; //!< Pairs of colliding primitives // User mesh interfaces const MeshInterface* mIMesh0; //!< User-defined mesh interface for object0 const MeshInterface* mIMesh1; //!< User-defined mesh interface for object1 // Stats udword mNbBVBVTests; //!< Number of BV-BV tests udword mNbPrimPrimTests; //!< Number of Primitive-Primitive tests udword mNbBVPrimTests; //!< Number of BV-Primitive tests // Precomputed data Matrix3x3 mAR; //!< Absolute rotation matrix Matrix3x3 mR0to1; //!< Rotation from object0 to object1 Matrix3x3 mR1to0; //!< Rotation from object1 to object0 Point mT0to1; //!< Translation from object0 to object1 Point mT1to0; //!< Translation from object1 to object0 // Dequantization coeffs Point mCenterCoeff0; Point mExtentsCoeff0; Point mCenterCoeff1; Point mExtentsCoeff1; // Modified!! // For normal vector detection udword mId0; udword mId1; const AABBCollisionNode* mNowNode0; const AABBCollisionNode* mNowNode1; // Leaf description Point mLeafVerts[3]; //!< Triangle vertices udword mLeafIndex; //!< Triangle index // Settings bool mFullBoxBoxTest; //!< Perform full BV-BV tests (true) or SAT-lite tests (false) bool mFullPrimBoxTest; //!< Perform full Primitive-BV tests (true) or SAT-lite tests (false) CollisionPairInserter* collisionPairInserter; // Internal methods // Standard AABB trees void _Collide(const AABBCollisionNode* b0, const AABBCollisionNode* b1); // Quantized AABB trees void _Collide(const AABBQuantizedNode* b0, const AABBQuantizedNode* b1, const Point& a, const Point& Pa, const Point& b, const Point& Pb); // No-leaf AABB trees void _CollideTriBox(const AABBNoLeafNode* b); void _CollideBoxTri(const AABBNoLeafNode* b); void _Collide(const AABBNoLeafNode* a, const AABBNoLeafNode* b); // Quantized no-leaf AABB trees void _CollideTriBox(const AABBQuantizedNoLeafNode* b); void _CollideBoxTri(const AABBQuantizedNoLeafNode* b); void _Collide(const AABBQuantizedNoLeafNode* a, const AABBQuantizedNoLeafNode* b); // Overlap tests void PrimTest(udword id0, udword id1); inline_ void PrimTestTriIndex(udword id1); inline_ void PrimTestIndexTri(udword id0); inline_ BOOL BoxBoxOverlap(const Point& ea, const Point& ca, const Point& eb, const Point& cb); inline_ BOOL TriBoxOverlap(const Point& center, const Point& extents); BOOL TriTriOverlap(const Point& V0, const Point& V1, const Point& V2, const Point& U0, const Point& U1, const Point& U2); // Init methods void InitQuery(const Matrix4x4* world0=null, const Matrix4x4* world1=null); bool CheckTemporalCoherence(Pair* cache); inline_ BOOL Setup(const MeshInterface* mi0, const MeshInterface* mi1) { mIMesh0 = mi0; mIMesh1 = mi1; if(!mIMesh0 || !mIMesh1) return FALSE; return TRUE; } }; #endif // __OPC_TREECOLLIDER_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_PlanesCollider.h0000664000000000000000000001403212741425367024241 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains code for a planes collider. * \file OPC_PlanesCollider.h * \author Pierre Terdiman * \date January, 1st, 2002 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Include Guard #ifndef __OPC_PLANESCOLLIDER_H__ #define __OPC_PLANESCOLLIDER_H__ struct OPCODE_API PlanesCache : VolumeCache { PlanesCache() { } }; class OPCODE_API PlanesCollider : public VolumeCollider { public: // Constructor / Destructor PlanesCollider(); virtual ~PlanesCollider(); inline void setCollisionPairInserter(CollisionPairInserter* collisionPairInserter) { this->collisionPairInserter = collisionPairInserter; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Generic collision query for generic OPCODE models. After the call, access the results: * - with GetContactStatus() * - with GetNbTouchedPrimitives() * - with GetTouchedPrimitives() * * \param cache [in/out] a planes cache * \param planes [in] list of planes in world space * \param nb_planes [in] number of planes * \param model [in] Opcode model to collide with * \param worldm [in] model's world matrix, or null * \return true if success * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool Collide(PlanesCache& cache, const Plane* planes, udword nb_planes, const Model& model, const Matrix4x4* worldm=null); // Mutant box-with-planes collision queries inline_ bool Collide(PlanesCache& cache, const OBB& box, const Model& model, const Matrix4x4* worldb=null, const Matrix4x4* worldm=null) { Plane PL[6]; if(worldb) { // Create a new OBB in world space OBB WorldBox; box.Rotate(*worldb, WorldBox); // Compute planes from the sides of the box WorldBox.ComputePlanes(PL); } else { // Compute planes from the sides of the box box.ComputePlanes(PL); } // Collide with box planes return Collide(cache, PL, 6, model, worldm); } // Settings /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Validates current settings. You should call this method after all the settings and callbacks have been defined for a collider. * \return null if everything is ok, else a string describing the problem */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// override(Collider) const char* ValidateSettings(); protected: CollisionPairInserter* collisionPairInserter; // Planes in model space udword mNbPlanes; Plane* mPlanes; // Leaf description VertexPointers mVP; // Internal methods void _Collide(const AABBCollisionNode* node, udword clip_mask); void _Collide(const AABBNoLeafNode* node, udword clip_mask); void _Collide(const AABBQuantizedNode* node, udword clip_mask); void _Collide(const AABBQuantizedNoLeafNode* node, udword clip_mask); void _CollideNoPrimitiveTest(const AABBCollisionNode* node, udword clip_mask); void _CollideNoPrimitiveTest(const AABBNoLeafNode* node, udword clip_mask); void _CollideNoPrimitiveTest(const AABBQuantizedNode* node, udword clip_mask); void _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node, udword clip_mask); // Overlap tests inline_ BOOL PlanesAABBOverlap(const Point& center, const Point& extents, udword& out_clip_mask, udword in_clip_mask); inline_ BOOL PlanesTriOverlap(udword in_clip_mask); // Init methods BOOL InitQuery(PlanesCache& cache, const Plane* planes, udword nb_planes, const Matrix4x4* worldm=null); }; class OPCODE_API HybridPlanesCollider : public PlanesCollider { public: // Constructor / Destructor HybridPlanesCollider(); virtual ~HybridPlanesCollider(); bool Collide(PlanesCache& cache, const Plane* planes, udword nb_planes, const HybridModel& model, const Matrix4x4* worldm=null); protected: Container mTouchedBoxes; }; #endif // __OPC_PLANESCOLLIDER_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/Opcode.cpp0000664000000000000000000000410112741425367022400 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Main file for Opcode.dll. * \file Opcode.cpp * \author Pierre Terdiman * \date March, 20, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* Finding a good name is difficult! Here's the draft for this lib.... Spooky, uh? VOID? Very Optimized Interference Detection ZOID? Zappy's Optimized Interference Detection CID? Custom/Clever Interference Detection AID / ACID! Accurate Interference Detection QUID? Quick Interference Detection RIDE? Realtime Interference DEtection WIDE? Wicked Interference DEtection (....) GUID! KID ! k-dop interference detection :) OPCODE! OPtimized COllision DEtection */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Precompiled Header #include "Stdafx.h" bool Opcode::InitOpcode() { Log("// Initializing OPCODE\n\n"); // LogAPIInfo(); return true; } void ReleasePruningSorters(); bool Opcode::CloseOpcode() { Log("// Closing OPCODE\n\n"); ReleasePruningSorters(); return true; } #ifdef ICE_MAIN void ModuleAttach(HINSTANCE hinstance) { } void ModuleDetach() { } #endif choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_Common.h0000664000000000000000000001376512741425367022605 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains common classes & defs used in OPCODE. * \file OPC_Common.h * \author Pierre Terdiman * \date March, 20, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Include Guard #ifndef __OPC_COMMON_H__ #define __OPC_COMMON_H__ // [GOTTFRIED]: Just a small change for readability. #ifdef OPC_CPU_COMPARE #define GREATER(x, y) AIR(x) > IR(y) #else #define GREATER(x, y) fabsf(x) > (y) #endif class OPCODE_API CollisionAABB { public: //! Constructor inline_ CollisionAABB() {} //! Constructor inline_ CollisionAABB(const AABB& b) { b.GetCenter(mCenter); b.GetExtents(mExtents); } //! Destructor inline_ ~CollisionAABB() {} //! Get min point of the box inline_ void GetMin(Point& min) const { min = mCenter - mExtents; } //! Get max point of the box inline_ void GetMax(Point& max) const { max = mCenter + mExtents; } //! Get component of the box's min point along a given axis inline_ float GetMin(udword axis) const { return mCenter[axis] - mExtents[axis]; } //! Get component of the box's max point along a given axis inline_ float GetMax(udword axis) const { return mCenter[axis] + mExtents[axis]; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Setups an AABB from min & max vectors. * \param min [in] the min point * \param max [in] the max point */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ void SetMinMax(const Point& min, const Point& max) { mCenter = (max + min)*0.5f; mExtents = (max - min)*0.5f; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Checks a box is inside another box. * \param box [in] the other box * \return true if current box is inside input box */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ BOOL IsInside(const CollisionAABB& box) const { if(box.GetMin(0)>GetMin(0)) return FALSE; if(box.GetMin(1)>GetMin(1)) return FALSE; if(box.GetMin(2)>GetMin(2)) return FALSE; if(box.GetMax(0) 0 && mExtents[maxAxis]/mExtents[minAxis] > 2){ mType = SSV_LSS; mPoint0 = mCenter; mPoint0[maxAxis] -= mExtents[maxAxis]; mPoint1 = mCenter; mPoint1[maxAxis] += mExtents[maxAxis]; Point p = mExtents; p[maxAxis] = 0; mRadius = p.Magnitude(); }else{ mType = SSV_PSS; mRadius = mExtents.Magnitude(); } } #endif }; class OPCODE_API QuantizedAABB { public: //! Constructor inline_ QuantizedAABB() {} //! Destructor inline_ ~QuantizedAABB() {} sword mCenter[3]; //!< Quantized center uword mExtents[3]; //!< Quantized extents }; //! Quickly rotates & translates a vector inline_ void TransformPoint(Point& dest, const Point& source, const Matrix3x3& rot, const Point& trans) { dest.x = trans.x + source.x * rot.m[0][0] + source.y * rot.m[1][0] + source.z * rot.m[2][0]; dest.y = trans.y + source.x * rot.m[0][1] + source.y * rot.m[1][1] + source.z * rot.m[2][1]; dest.z = trans.z + source.x * rot.m[0][2] + source.y * rot.m[1][2] + source.z * rot.m[2][2]; } #endif //__OPC_COMMON_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_Collider.h0000664000000000000000000002423512741425367023104 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains base collider class. * \file OPC_Collider.h * \author Pierre Terdiman * \date June, 2, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Include Guard #ifndef __OPC_COLLIDER_H__ #define __OPC_COLLIDER_H__ enum CollisionFlag { OPC_FIRST_CONTACT = (1<<0), //!< Report all contacts (false) or only first one (true) OPC_TEMPORAL_COHERENCE = (1<<1), //!< Use temporal coherence or not OPC_CONTACT = (1<<2), //!< Final contact status after a collision query OPC_TEMPORAL_HIT = (1<<3), //!< There has been an early exit due to temporal coherence OPC_NO_PRIMITIVE_TESTS = (1<<4), //!< Keep or discard primitive-bv tests in leaf nodes (volume-mesh queries) OPC_CONTACT_FOUND = OPC_FIRST_CONTACT | OPC_CONTACT, OPC_TEMPORAL_CONTACT = OPC_TEMPORAL_HIT | OPC_CONTACT, OPC_FORCE_DWORD = 0x7fffffff }; class OPCODE_API Collider { public: // Constructor / Destructor Collider(); virtual ~Collider(); // Collision report /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Gets the last collision status after a collision query. * \return true if a collision occured */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ BOOL GetContactStatus() const { return mFlags & OPC_CONTACT; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Gets the "first contact" mode. * \return true if "first contact" mode is on */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ BOOL FirstContactEnabled() const { return mFlags & OPC_FIRST_CONTACT; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Gets the temporal coherence mode. * \return true if temporal coherence is on */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ BOOL TemporalCoherenceEnabled() const { return mFlags & OPC_TEMPORAL_COHERENCE; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Checks a first contact has already been found. * \return true if a first contact has been found and we can stop a query */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ BOOL ContactFound() const { return (mFlags&OPC_CONTACT_FOUND)==OPC_CONTACT_FOUND; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Checks there's been an early exit due to temporal coherence; * \return true if a temporal hit has occured */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ BOOL TemporalHit() const { return mFlags & OPC_TEMPORAL_HIT; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Checks primitive tests are enabled; * \return true if primitive tests must be skipped */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ BOOL SkipPrimitiveTests() const { return mFlags & OPC_NO_PRIMITIVE_TESTS; } // Settings /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Reports all contacts (false) or first contact only (true) * \param flag [in] true for first contact, false for all contacts * \see SetTemporalCoherence(bool flag) * \see ValidateSettings() */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ void SetFirstContact(bool flag) { if(flag) mFlags |= OPC_FIRST_CONTACT; else mFlags &= ~OPC_FIRST_CONTACT; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Enable/disable temporal coherence. * \param flag [in] true to enable temporal coherence, false to discard it * \see SetFirstContact(bool flag) * \see ValidateSettings() */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ void SetTemporalCoherence(bool flag) { if(flag) mFlags |= OPC_TEMPORAL_COHERENCE; else mFlags &= ~OPC_TEMPORAL_COHERENCE; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Enable/disable primitive tests. * \param flag [in] true to enable primitive tests, false to discard them */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ void SetPrimitiveTests(bool flag) { if(!flag) mFlags |= OPC_NO_PRIMITIVE_TESTS; else mFlags &= ~OPC_NO_PRIMITIVE_TESTS; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Validates current settings. You should call this method after all the settings / callbacks have been defined for a collider. * \return null if everything is ok, else a string describing the problem */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// virtual const char* ValidateSettings() = 0; protected: udword mFlags; //!< Bit flags const BaseModel* mCurrentModel; //!< Current model for collision query (owner of touched faces) // User mesh interface const MeshInterface* mIMesh; //!< User-defined mesh interface // Internal methods /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Setups current collision model * \param model [in] current collision model * \return TRUE if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ BOOL Setup(const BaseModel* model) { // Keep track of current model mCurrentModel = model; if(!mCurrentModel) return FALSE; mIMesh = model->GetMeshInterface(); return mIMesh!=null; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Initializes a query */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// virtual inline_ void InitQuery() { mFlags &= ~OPC_TEMPORAL_CONTACT; } }; #endif // __OPC_COLLIDER_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_MeshInterface.h0000664000000000000000000002404712741425367024065 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains a mesh interface. * \file OPC_MeshInterface.h * \author Pierre Terdiman * \date November, 27, 2002 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Include Guard #ifndef __OPC_MESHINTERFACE_H__ #define __OPC_MESHINTERFACE_H__ struct VertexPointers { const Point* Vertex[3]; bool BackfaceCulling(const Point& source) { const Point& p0 = *Vertex[0]; const Point& p1 = *Vertex[1]; const Point& p2 = *Vertex[2]; // Compute normal direction Point Normal = (p2 - p1)^(p0 - p1); // Backface culling return (Normal | (source - p0)) >= 0.0f; } }; #ifdef OPC_USE_CALLBACKS /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * User-callback, called by OPCODE to request vertices from the app. * \param triangle_index [in] face index for which the system is requesting the vertices * \param triangle [out] triangle's vertices (must be provided by the user) * \param user_data [in] user-defined data from SetCallback() */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// typedef void (*RequestCallback) (udword triangle_index, VertexPointers& triangle, void* user_data); #endif class OPCODE_API MeshInterface { public: // Constructor / Destructor MeshInterface(); ~MeshInterface(); // Common settings inline_ udword GetNbTriangles() const { return mNbTris; } inline_ udword GetNbVertices() const { return mNbVerts; } inline_ void SetNbTriangles(udword nb) { mNbTris = nb; } inline_ void SetNbVertices(udword nb) { mNbVerts = nb; } #ifdef OPC_USE_CALLBACKS // Callback settings /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Callback control: setups object callback. Must provide triangle-vertices for a given triangle index. * \param callback [in] user-defined callback * \param user_data [in] user-defined data * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool SetCallback(RequestCallback callback, void* user_data); inline_ void* GetUserData() const { return mUserData; } inline_ RequestCallback GetCallback() const { return mObjCallback; } #else // Pointers settings /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Pointers control: setups object pointers. Must provide access to faces and vertices for a given object. * \param tris [in] pointer to triangles * \param verts [in] pointer to vertices * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool SetPointers(const IndexedTriangle* tris, const Point* verts); inline_ const IndexedTriangle* GetTris() const { return mTris; } inline_ const Point* GetVerts() const { return mVerts; } #ifdef OPC_USE_STRIDE // Strides settings /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Strides control * \param tri_stride [in] size of a triangle in bytes. The first sizeof(IndexedTriangle) bytes are used to get vertex indices. * \param vertex_stride [in] size of a vertex in bytes. The first sizeof(Point) bytes are used to get vertex position. * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool SetStrides(udword tri_stride=sizeof(IndexedTriangle), udword vertex_stride=sizeof(Point)); inline_ udword GetTriStride() const { return mTriStride; } inline_ udword GetVertexStride() const { return mVertexStride; } #endif #endif /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Fetches a triangle given a triangle index. * \param vp [out] required triangle's vertex pointers * \param index [in] triangle index */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ void GetTriangle(VertexPointers& vp, udword index) const { #ifdef OPC_USE_CALLBACKS (mObjCallback)(index, vp, mUserData); #else #ifdef OPC_USE_STRIDE const IndexedTriangle* T = (const IndexedTriangle*)(((ubyte*)mTris) + index * mTriStride); if (Single){ vp.Vertex[0] = (const Point*)(((ubyte*)mVerts) + T->mVRef[0] * mVertexStride); vp.Vertex[1] = (const Point*)(((ubyte*)mVerts) + T->mVRef[1] * mVertexStride); vp.Vertex[2] = (const Point*)(((ubyte*)mVerts) + T->mVRef[2] * mVertexStride); } else{ for (int i = 0; i < 3; i++){ const double* v = (const double*)(((ubyte*)mVerts) + T->mVRef[i] * mVertexStride); VertexCache[i].x = (float)v[0]; VertexCache[i].y = (float)v[1]; VertexCache[i].z = (float)v[2]; vp.Vertex[i] = &VertexCache[i]; } } #else const IndexedTriangle* T = &mTris[index]; vp.Vertex[0] = &mVerts[T->mVRef[0]]; vp.Vertex[1] = &mVerts[T->mVRef[1]]; vp.Vertex[2] = &mVerts[T->mVRef[2]]; #endif #endif } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Remaps client's mesh according to a permutation. * \param nb_indices [in] number of indices in the permutation (will be checked against number of triangles) * \param permutation [in] list of triangle indices * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool RemapClient(udword nb_indices, const udword* permutation) const; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Checks the mesh interface is valid, i.e. things have been setup correctly. * \return true if valid */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool IsValid() const; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Checks the mesh itself is valid. * Currently we only look for degenerate faces. * \return number of degenerate faces */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// udword CheckTopology() const; private: udword mNbTris; //!< Number of triangles in the input model udword mNbVerts; //!< Number of vertices in the input model #ifdef OPC_USE_CALLBACKS // User callback void* mUserData; //!< User-defined data sent to callback RequestCallback mObjCallback; //!< Object callback #else // User pointers const IndexedTriangle* mTris; //!< Array of indexed triangles const Point* mVerts; //!< Array of vertices #ifdef OPC_USE_STRIDE udword mTriStride; //!< Possible triangle stride in bytes [Opcode 1.3] udword mVertexStride; //!< Possible vertex stride in bytes [Opcode 1.3] #endif public: bool Single; //!< Use single or double precision vertices private: static Point VertexCache[3]; #endif }; #endif //__OPC_MESHINTERFACE_H__ choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_PlanesAABBOverlap.h0000664000000000000000000000500012741425367024515 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Planes-AABB overlap test. * - original code by Ville Miettinen, from Umbra/dPVS (released on the GD-Algorithms mailing list) * - almost used "as-is", I even left the comments (hence the frustum-related notes) * * \param center [in] box center * \param extents [in] box extents * \param out_clip_mask [out] bitmask for active planes * \param in_clip_mask [in] bitmask for active planes * \return TRUE if boxes overlap planes */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ BOOL PlanesCollider::PlanesAABBOverlap(const Point& center, const Point& extents, udword& out_clip_mask, udword in_clip_mask) { // Stats mNbVolumeBVTests++; const Plane* p = mPlanes; // Evaluate through all active frustum planes. We determine the relation // between the AABB and a plane by using the concept of "near" and "far" // vertices originally described by Zhang (and later by Moller). Our // variant here uses 3 fabs ops, 6 muls, 7 adds and two floating point // comparisons per plane. The routine early-exits if the AABB is found // to be outside any of the planes. The loop also constructs a new output // clip mask. Most FPUs have a native single-cycle fabsf() operation. udword Mask = 1; // current mask index (1,2,4,8,..) udword TmpOutClipMask = 0; // initialize output clip mask into empty. while(Mask<=in_clip_mask) // keep looping while we have active planes left... { if(in_clip_mask & Mask) // if clip plane is active, process it.. { float NP = extents.x*fabsf(p->n.x) + extents.y*fabsf(p->n.y) + extents.z*fabsf(p->n.z); // ### fabsf could be precomputed float MP = center.x*p->n.x + center.y*p->n.y + center.z*p->n.z + p->d; if(NP < MP) // near vertex behind the clip plane... return FALSE; // .. so there is no intersection.. if((-NP) < MP) // near and far vertices on different sides of plane.. TmpOutClipMask |= Mask; // .. so update the clip mask... } Mask+=Mask; // mk = (1< extents.x + mFDir.x) return FALSE; float Dy = mData2.y - center.y; if(fabsf(Dy) > extents.y + mFDir.y) return FALSE; float Dz = mData2.z - center.z; if(fabsf(Dz) > extents.z + mFDir.z) return FALSE; float f; f = mData.y * Dz - mData.z * Dy; if(fabsf(f) > extents.y*mFDir.z + extents.z*mFDir.y) return FALSE; f = mData.z * Dx - mData.x * Dz; if(fabsf(f) > extents.x*mFDir.z + extents.z*mFDir.x) return FALSE; f = mData.x * Dy - mData.y * Dx; if(fabsf(f) > extents.x*mFDir.y + extents.y*mFDir.x) return FALSE; return TRUE; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Computes a ray-AABB overlap test using the separating axis theorem. Ray is cached within the class. * \param center [in] AABB center * \param extents [in] AABB extents * \return true on overlap */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// inline_ BOOL RayCollider::RayAABBOverlap(const Point& center, const Point& extents) { // Stats mNbRayBVTests++; // float Dx = mOrigin.x - center.x; if(fabsf(Dx) > extents.x && Dx*mDir.x>=0.0f) return FALSE; // float Dy = mOrigin.y - center.y; if(fabsf(Dy) > extents.y && Dy*mDir.y>=0.0f) return FALSE; // float Dz = mOrigin.z - center.z; if(fabsf(Dz) > extents.z && Dz*mDir.z>=0.0f) return FALSE; float Dx = mOrigin.x - center.x; if(GREATER(Dx, extents.x) && Dx*mDir.x>=0.0f) return FALSE; float Dy = mOrigin.y - center.y; if(GREATER(Dy, extents.y) && Dy*mDir.y>=0.0f) return FALSE; float Dz = mOrigin.z - center.z; if(GREATER(Dz, extents.z) && Dz*mDir.z>=0.0f) return FALSE; // float Dx = mOrigin.x - center.x; if(GREATER(Dx, extents.x) && ((SIR(Dx)-1)^SIR(mDir.x))>=0.0f) return FALSE; // float Dy = mOrigin.y - center.y; if(GREATER(Dy, extents.y) && ((SIR(Dy)-1)^SIR(mDir.y))>=0.0f) return FALSE; // float Dz = mOrigin.z - center.z; if(GREATER(Dz, extents.z) && ((SIR(Dz)-1)^SIR(mDir.z))>=0.0f) return FALSE; float f; f = mDir.y * Dz - mDir.z * Dy; if(fabsf(f) > extents.y*mFDir.z + extents.z*mFDir.y) return FALSE; f = mDir.z * Dx - mDir.x * Dz; if(fabsf(f) > extents.x*mFDir.z + extents.z*mFDir.x) return FALSE; f = mDir.x * Dy - mDir.y * Dx; if(fabsf(f) > extents.x*mFDir.y + extents.y*mFDir.x) return FALSE; return TRUE; } choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_VolumeCollider.cpp0000664000000000000000000001111312741425367024616 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains base volume collider class. * \file OPC_VolumeCollider.cpp * \author Pierre Terdiman * \date June, 2, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains the abstract class for volume colliders. * * \class VolumeCollider * \author Pierre Terdiman * \version 1.3 * \date June, 2, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Precompiled Header #include "Stdafx.h" using namespace Opcode; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Constructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// VolumeCollider::VolumeCollider() : mTouchedPrimitives (null), mNbVolumeBVTests (0), mNbVolumePrimTests (0) { } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Destructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// VolumeCollider::~VolumeCollider() { mTouchedPrimitives = null; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Validates current settings. You should call this method after all the settings / callbacks have been defined for a collider. * \return null if everything is ok, else a string describing the problem */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// const char* VolumeCollider::ValidateSettings() { return null; } // Pretty dumb way to dump - to do better - one day... #define IMPLEMENT_NOLEAFDUMP(type) \ void VolumeCollider::_Dump(const type* node) \ { \ if(node->HasPosLeaf()) mTouchedPrimitives->Add(node->GetPosPrimitive()); \ else _Dump(node->GetPos()); \ \ if(ContactFound()) return; \ \ if(node->HasNegLeaf()) mTouchedPrimitives->Add(node->GetNegPrimitive()); \ else _Dump(node->GetNeg()); \ } #define IMPLEMENT_LEAFDUMP(type) \ void VolumeCollider::_Dump(const type* node) \ { \ if(node->IsLeaf()) \ { \ mTouchedPrimitives->Add(node->GetPrimitive()); \ } \ else \ { \ _Dump(node->GetPos()); \ \ if(ContactFound()) return; \ \ _Dump(node->GetNeg()); \ } \ } IMPLEMENT_NOLEAFDUMP(AABBNoLeafNode) IMPLEMENT_NOLEAFDUMP(AABBQuantizedNoLeafNode) IMPLEMENT_LEAFDUMP(AABBCollisionNode) IMPLEMENT_LEAFDUMP(AABBQuantizedNode) choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_PlanesCollider.cpp0000664000000000000000000006406012741425367024602 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains code for a planes collider. * \file OPC_PlanesCollider.cpp * \author Pierre Terdiman * \date January, 1st, 2002 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains a Planes-vs-tree collider. * * \class PlanesCollider * \author Pierre Terdiman * \version 1.3 * \date January, 1st, 2002 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Precompiled Header #include "Stdafx.h" using namespace Opcode; #include "OPC_PlanesAABBOverlap.h" #include "OPC_PlanesTriOverlap.h" #define SET_CONTACT(prim_index, flag) \ /* Set contact status */ \ mFlags |= flag; \ mTouchedPrimitives->Add(prim_index); //! Planes-triangle test #define PLANES_PRIM(prim_index, flag) \ /* Request vertices from the app */ \ mIMesh->GetTriangle(mVP, prim_index); \ /* Perform triangle-box overlap test */ \ if(PlanesTriOverlap(clip_mask)) \ { \ SET_CONTACT(prim_index, flag) \ } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Constructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// PlanesCollider::PlanesCollider() : collisionPairInserter(NULL), mPlanes (null), mNbPlanes (0) { } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Destructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// PlanesCollider::~PlanesCollider() { DELETEARRAY(mPlanes); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Validates current settings. You should call this method after all the settings and callbacks have been defined. * \return null if everything is ok, else a string describing the problem */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// const char* PlanesCollider::ValidateSettings() { if(TemporalCoherenceEnabled() && !FirstContactEnabled()) return "Temporal coherence only works with ""First contact"" mode!"; return VolumeCollider::ValidateSettings(); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Generic collision query for generic OPCODE models. After the call, access the results: * - with GetContactStatus() * - with GetNbTouchedPrimitives() * - with GetTouchedPrimitives() * * \param cache [in/out] a planes cache * \param planes [in] list of planes in world space * \param nb_planes [in] number of planes * \param model [in] Opcode model to collide with * \param worldm [in] model's world matrix, or null * \return true if success * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool PlanesCollider::Collide(PlanesCache& cache, const Plane* planes, udword nb_planes, const Model& model, const Matrix4x4* worldm) { // Checkings if(!Setup(&model)) return false; // Init collision query if(InitQuery(cache, planes, nb_planes, worldm)) return true; udword PlaneMask = (1<mCenterCoeff; mExtentsCoeff = Tree->mExtentsCoeff; // Perform collision query if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask); else _Collide(Tree->GetNodes(), PlaneMask); } else { const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree(); // Perform collision query if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask); else _Collide(Tree->GetNodes(), PlaneMask); } } else { if(model.IsQuantized()) { const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree(); // Setup dequantization coeffs mCenterCoeff = Tree->mCenterCoeff; mExtentsCoeff = Tree->mExtentsCoeff; // Perform collision query if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask); else _Collide(Tree->GetNodes(), PlaneMask); } else { const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree(); // Perform collision query if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask); else _Collide(Tree->GetNodes(), PlaneMask); } } return true; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Initializes a collision query : * - reset stats & contact status * - compute planes in model space * - check temporal coherence * * \param cache [in/out] a planes cache * \param planes [in] list of planes * \param nb_planes [in] number of planes * \param worldm [in] model's world matrix, or null * \return TRUE if we can return immediately * \warning SCALE NOT SUPPORTED. The matrix must contain rotation & translation parts only. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// BOOL PlanesCollider::InitQuery(PlanesCache& cache, const Plane* planes, udword nb_planes, const Matrix4x4* worldm) { // 1) Call the base method VolumeCollider::InitQuery(); // 2) Compute planes in model space if(nb_planes>mNbPlanes) { DELETEARRAY(mPlanes); mPlanes = new Plane[nb_planes]; } mNbPlanes = nb_planes; if(worldm) { Matrix4x4 InvWorldM; InvertPRMatrix(InvWorldM, *worldm); // for(udword i=0;iHasSingleNode()) { if(!SkipPrimitiveTests()) { // We simply perform the BV-Prim overlap test each time. We assume single triangle has index 0. mTouchedPrimitives->Reset(); // Perform overlap test between the unique triangle and the planes (and set contact status if needed) udword clip_mask = (1< check results from previous frame before performing the collision query if(FirstContactEnabled()) { // We're only interested in the first contact found => test the unique previously touched face if(mTouchedPrimitives->GetNbEntries()) { // Get index of previously touched face = the first entry in the array udword PreviouslyTouchedFace = mTouchedPrimitives->GetEntry(0); // Then reset the array: // - if the overlap test below is successful, the index we'll get added back anyway // - if it isn't, then the array should be reset anyway for the normal query mTouchedPrimitives->Reset(); // Perform overlap test between the cached triangle and the planes (and set contact status if needed) udword clip_mask = (1< we'll have to perform a normal query } else mTouchedPrimitives->Reset(); } else { // Here we don't use temporal coherence => do a normal query mTouchedPrimitives->Reset(); } return FALSE; } #define TEST_CLIP_MASK \ /* If the box is completely included, so are its children. We don't need to do extra tests, we */ \ /* can immediately output a list of visible children. Those ones won't need to be clipped. */ \ if(!OutClipMask) \ { \ /* Set contact status */ \ mFlags |= OPC_CONTACT; \ _Dump(node); \ return; \ } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive collision query for normal AABB trees. * \param node [in] current collision node */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void PlanesCollider::_Collide(const AABBCollisionNode* node, udword clip_mask) { // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. udword OutClipMask; if(!PlanesAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents, OutClipMask, clip_mask)) return; TEST_CLIP_MASK // Else the box straddles one or several planes, so we need to recurse down the tree. if(node->IsLeaf()) { PLANES_PRIM(node->GetPrimitive(), OPC_CONTACT) } else { _Collide(node->GetPos(), OutClipMask); if(ContactFound()) return; _Collide(node->GetNeg(), OutClipMask); } } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive collision query for normal AABB trees. * \param node [in] current collision node */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void PlanesCollider::_CollideNoPrimitiveTest(const AABBCollisionNode* node, udword clip_mask) { // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. udword OutClipMask; if(!PlanesAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents, OutClipMask, clip_mask)) return; TEST_CLIP_MASK // Else the box straddles one or several planes, so we need to recurse down the tree. if(node->IsLeaf()) { SET_CONTACT(node->GetPrimitive(), OPC_CONTACT) } else { _CollideNoPrimitiveTest(node->GetPos(), OutClipMask); if(ContactFound()) return; _CollideNoPrimitiveTest(node->GetNeg(), OutClipMask); } } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive collision query for quantized AABB trees. * \param node [in] current collision node */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void PlanesCollider::_Collide(const AABBQuantizedNode* node, udword clip_mask) { // Dequantize box const QuantizedAABB& Box = node->mAABB; const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. udword OutClipMask; if(!PlanesAABBOverlap(Center, Extents, OutClipMask, clip_mask)) return; TEST_CLIP_MASK // Else the box straddles one or several planes, so we need to recurse down the tree. if(node->IsLeaf()) { PLANES_PRIM(node->GetPrimitive(), OPC_CONTACT) } else { _Collide(node->GetPos(), OutClipMask); if(ContactFound()) return; _Collide(node->GetNeg(), OutClipMask); } } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive collision query for quantized AABB trees. * \param node [in] current collision node */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void PlanesCollider::_CollideNoPrimitiveTest(const AABBQuantizedNode* node, udword clip_mask) { // Dequantize box const QuantizedAABB& Box = node->mAABB; const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. udword OutClipMask; if(!PlanesAABBOverlap(Center, Extents, OutClipMask, clip_mask)) return; TEST_CLIP_MASK // Else the box straddles one or several planes, so we need to recurse down the tree. if(node->IsLeaf()) { SET_CONTACT(node->GetPrimitive(), OPC_CONTACT) } else { _CollideNoPrimitiveTest(node->GetPos(), OutClipMask); if(ContactFound()) return; _CollideNoPrimitiveTest(node->GetNeg(), OutClipMask); } } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive collision query for no-leaf AABB trees. * \param node [in] current collision node */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void PlanesCollider::_Collide(const AABBNoLeafNode* node, udword clip_mask) { // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. udword OutClipMask; if(!PlanesAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents, OutClipMask, clip_mask)) return; TEST_CLIP_MASK // Else the box straddles one or several planes, so we need to recurse down the tree. if(node->HasPosLeaf()) { PLANES_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } else _Collide(node->GetPos(), OutClipMask); if(ContactFound()) return; if(node->HasNegLeaf()) { PLANES_PRIM(node->GetNegPrimitive(), OPC_CONTACT) } else _Collide(node->GetNeg(), OutClipMask); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive collision query for no-leaf AABB trees. * \param node [in] current collision node */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void PlanesCollider::_CollideNoPrimitiveTest(const AABBNoLeafNode* node, udword clip_mask) { // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. udword OutClipMask; if(!PlanesAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents, OutClipMask, clip_mask)) return; TEST_CLIP_MASK // Else the box straddles one or several planes, so we need to recurse down the tree. if(node->HasPosLeaf()) { SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) } else _CollideNoPrimitiveTest(node->GetPos(), OutClipMask); if(ContactFound()) return; if(node->HasNegLeaf()) { SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) } else _CollideNoPrimitiveTest(node->GetNeg(), OutClipMask); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive collision query for quantized no-leaf AABB trees. * \param node [in] current collision node */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void PlanesCollider::_Collide(const AABBQuantizedNoLeafNode* node, udword clip_mask) { // Dequantize box const QuantizedAABB& Box = node->mAABB; const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. udword OutClipMask; if(!PlanesAABBOverlap(Center, Extents, OutClipMask, clip_mask)) return; TEST_CLIP_MASK // Else the box straddles one or several planes, so we need to recurse down the tree. if(node->HasPosLeaf()) { PLANES_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } else _Collide(node->GetPos(), OutClipMask); if(ContactFound()) return; if(node->HasNegLeaf()) { PLANES_PRIM(node->GetNegPrimitive(), OPC_CONTACT) } else _Collide(node->GetNeg(), OutClipMask); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Recursive collision query for quantized no-leaf AABB trees. * \param node [in] current collision node */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void PlanesCollider::_CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node, udword clip_mask) { // Dequantize box const QuantizedAABB& Box = node->mAABB; const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. udword OutClipMask; if(!PlanesAABBOverlap(Center, Extents, OutClipMask, clip_mask)) return; TEST_CLIP_MASK // Else the box straddles one or several planes, so we need to recurse down the tree. if(node->HasPosLeaf()) { SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) } else _CollideNoPrimitiveTest(node->GetPos(), OutClipMask); if(ContactFound()) return; if(node->HasNegLeaf()) { SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) } else _CollideNoPrimitiveTest(node->GetNeg(), OutClipMask); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Constructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// HybridPlanesCollider::HybridPlanesCollider() { } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Destructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// HybridPlanesCollider::~HybridPlanesCollider() { } bool HybridPlanesCollider::Collide(PlanesCache& cache, const Plane* planes, udword nb_planes, const HybridModel& model, const Matrix4x4* worldm) { // We don't want primitive tests here! mFlags |= OPC_NO_PRIMITIVE_TESTS; // Checkings if(!Setup(&model)) return false; // Init collision query if(InitQuery(cache, planes, nb_planes, worldm)) return true; // Special case for 1-leaf trees if(mCurrentModel && mCurrentModel->HasSingleNode()) { // Here we're supposed to perform a normal query, except our tree has a single node, i.e. just a few triangles udword Nb = mIMesh->GetNbTriangles(); // Loop through all triangles udword clip_mask = (1<mCenterCoeff; mExtentsCoeff = Tree->mExtentsCoeff; // Perform collision query - we don't want primitive tests here! _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask); } else { const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree(); // Perform collision query - we don't want primitive tests here! _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask); } } else { if(model.IsQuantized()) { const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree(); // Setup dequantization coeffs mCenterCoeff = Tree->mCenterCoeff; mExtentsCoeff = Tree->mExtentsCoeff; // Perform collision query - we don't want primitive tests here! _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask); } else { const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree(); // Perform collision query - we don't want primitive tests here! _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask); } } // We only have a list of boxes so far if(GetContactStatus()) { // Reset contact status, since it currently only reflects collisions with leaf boxes Collider::InitQuery(); // Change dest container so that we can use built-in overlap tests and get collided primitives cache.TouchedPrimitives.Reset(); mTouchedPrimitives = &cache.TouchedPrimitives; // Read touched leaf boxes udword Nb = mTouchedBoxes.GetNbEntries(); const udword* Touched = mTouchedBoxes.GetEntries(); const LeafTriangles* LT = model.GetLeafTriangles(); const udword* Indices = model.GetIndices(); // Loop through touched leaves udword clip_mask = (1<Refit(mIMesh); // Old code kept for reference : refit the source tree then rebuild ! // if(!mSource) return false; // // Ouch... // mSource->Refit(&mTB); // // Ouch... // return mTree->Build(mSource); } choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_Common.cpp0000664000000000000000000000525212741425367023130 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains common classes & defs used in OPCODE. * \file OPC_Common.cpp * \author Pierre Terdiman * \date March, 20, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * An AABB dedicated to collision detection. * We don't use the generic AABB class included in ICE, since it can be a Min/Max or a Center/Extents one (depends * on compilation flags). Since the Center/Extents model is more efficient in collision detection, it was worth * using an extra special class. * * \class CollisionAABB * \author Pierre Terdiman * \version 1.3 * \date March, 20, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * A quantized AABB. * Center/Extent model, using 16-bits integers. * * \class QuantizedAABB * \author Pierre Terdiman * \version 1.3 * \date March, 20, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Precompiled Header #include "Stdafx.h" using namespace Opcode; choreonoid-1.5.0/src/AISTCollisionDetector/Opcode/OPC_Model.cpp0000664000000000000000000002067312741425367022744 0ustar rootroot/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* * OPCODE - Optimized Collision Detection * Copyright (C) 2001 Pierre Terdiman * Homepage: http://www.codercorner.com/Opcode.htm */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Contains code for OPCODE models. * \file OPC_Model.cpp * \author Pierre Terdiman * \date March, 20, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * The main collision wrapper, for all trees. Supported trees are: * - Normal trees (2*N-1 nodes, full size) * - No-leaf trees (N-1 nodes, full size) * - Quantized trees (2*N-1 nodes, half size) * - Quantized no-leaf trees (N-1 nodes, half size) * * Usage: * * 1) Create a static mesh interface using callbacks or pointers. (see OPC_MeshInterface.cpp). * Keep it around in your app, since a pointer to this interface is saved internally and * used until you release the collision structures. * * 2) Build a Model using a creation structure: * * \code * Model Sample; * * OPCODECREATE OPCC; * OPCC.IMesh = ...; * OPCC.Rules = ...; * OPCC.NoLeaf = ...; * OPCC.Quantized = ...; * OPCC.KeepOriginal = ...; * bool Status = Sample.Build(OPCC); * \endcode * * 3) Create a tree collider and set it up: * * \code * AABBTreeCollider TC; * TC.SetFirstContact(...); * TC.SetFullBoxBoxTest(...); * TC.SetFullPrimBoxTest(...); * TC.SetTemporalCoherence(...); * \endcode * * 4) Perform a collision query * * \code * // Setup cache * static BVTCache ColCache; * ColCache.Model0 = &Model0; * ColCache.Model1 = &Model1; * * // Collision query * bool IsOk = TC.Collide(ColCache, World0, World1); * * // Get collision status => if true, objects overlap * BOOL Status = TC.GetContactStatus(); * * // Number of colliding pairs and list of pairs * udword NbPairs = TC.GetNbPairs(); * const Pair* p = TC.GetPairs() * \endcode * * 5) Stats * * \code * Model0.GetUsedBytes() = number of bytes used for this collision tree * TC.GetNbBVBVTests() = number of BV-BV overlap tests performed during last query * TC.GetNbPrimPrimTests() = number of Triangle-Triangle overlap tests performed during last query * TC.GetNbBVPrimTests() = number of Triangle-BV overlap tests performed during last query * \endcode * * \class Model * \author Pierre Terdiman * \version 1.3 * \date March, 20, 2001 */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Precompiled Header #include "Stdafx.h" using namespace Opcode; /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Constructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// Model::Model() { #ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE ! mHull = null; #endif // __MESHMERIZER_H__ } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Destructor. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// Model::~Model() { Release(); } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Releases the model. */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void Model::Release() { ReleaseBase(); #ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE ! DELETESINGLE(mHull); #endif // __MESHMERIZER_H__ } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Builds a collision model. * \param create [in] model creation structure * \return true if success */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// bool Model::Build(const OPCODECREATE& create) { // 1) Checkings if(!create.mIMesh || !create.mIMesh->IsValid()) return false; // For this model, we only support complete trees if(create.mSettings.mLimit!=1) return SetIceError("OPCODE WARNING: supports complete trees only! Use mLimit = 1.\n", null); // Look for degenerate faces. udword NbDegenerate = create.mIMesh->CheckTopology(); if(NbDegenerate) Log("OPCODE WARNING: found %d degenerate faces in model! Collision might report wrong results!\n", NbDegenerate); // We continue nonetheless.... Release(); // Make sure previous tree has been discarded [Opcode 1.3, thanks Adam] // 1-1) Setup mesh interface automatically [Opcode 1.3] SetMeshInterface(create.mIMesh); // Special case for 1-triangle meshes [Opcode 1.3] udword NbTris = create.mIMesh->GetNbTriangles(); /* if(NbTris==1) { // We don't need to actually create a tree here, since we'll only have a single triangle to deal with anyway. // It's a waste to use a "model" for this but at least it will work. mModelCode |= OPC_SINGLE_NODE; return true; } */ // 2) Build a generic AABB Tree. mSource = new AABBTree; CHECKALLOC(mSource); // 2-1) Setup a builder. Our primitives here are triangles from input mesh, // so we use an AABBTreeOfTrianglesBuilder..... { AABBTreeOfTrianglesBuilder TB; TB.mIMesh = create.mIMesh; TB.mSettings = create.mSettings; TB.mNbPrimitives = NbTris; if(!mSource->Build(&TB)) return false; } // 3) Create an optimized tree according to user-settings if(!CreateTree(create.mNoLeaf, create.mQuantized)) return false; // 3-2) Create optimized tree if(!mTree->Build(mSource)) return false; // 3-3) Delete generic tree if needed if(!create.mKeepOriginal) DELETESINGLE(mSource); #ifdef __MESHMERIZER_H__ // 4) Convex hull if(create.mCollisionHull) { // Create hull mHull = new CollisionHull; CHECKALLOC(mHull); CONVEXHULLCREATE CHC; // ### doesn't work with strides CHC.NbVerts = create.mIMesh->GetNbVertices(); CHC.Vertices = create.mIMesh->GetVerts(); CHC.UnifyNormals = true; CHC.ReduceVertices = true; CHC.WordFaces = false; mHull->Compute(CHC); } #endif // __MESHMERIZER_H__ return true; } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** * Gets the number of bytes used by the tree. * \return amount of bytes used */ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// udword Model::GetUsedBytes() const { if(!mTree) return 0; return mTree->GetUsedBytes(); } choreonoid-1.5.0/src/AISTCollisionDetector/ColdetModelPair.cpp0000664000000000000000000007664712741425367023015 0ustar rootroot/** @author Shin'ichiro Nakaoka @author Rafael Cisneros */ #include "ColdetModelPair.h" #include "ColdetModelInternalModel.h" #include "StdCollisionPairInserter.h" #include "Opcode/Opcode.h" #include "SSVTreeCollider.h" #include using namespace std; using namespace cnoid; namespace { const float LOCAL_EPSILON = 0.0001f; enum pointType {vertex, inter}; enum figType {tri, sector}; struct pointStruct { float x, y, angle; pointType type; int code; }; struct figStruct { figType type; int p1, p2; float area; float cx, cy; }; } ColdetModelPair::ColdetModelPair() { collisionPairInserter = new Opcode::StdCollisionPairInserter; } ColdetModelPair::ColdetModelPair(const ColdetModelPtr& model0, const ColdetModelPtr& model1, double tolerance) { collisionPairInserter = new Opcode::StdCollisionPairInserter; set(model0, model1); tolerance_ = tolerance; } ColdetModelPair::ColdetModelPair(const ColdetModelPair& org) { collisionPairInserter = new Opcode::StdCollisionPairInserter; set(org.models[0], org.models[1]); tolerance_ = org.tolerance_; } ColdetModelPair::~ColdetModelPair() { delete collisionPairInserter; } void ColdetModelPair::set(const ColdetModelPtr& model0, const ColdetModelPtr& model1) { models[0] = model0; models[1] = model1; // inverse order because of historical background // this should be fixed.(note that the direction of normal is inversed when the order inversed if(model0 && model1){ collisionPairInserter->set(model1->internalModel, model0->internalModel); } } std::vector& ColdetModelPair::detectCollisionsSub(bool detectAllContacts) { collisionPairInserter->clear(); int pt0 = models[0]->getPrimitiveType(); int pt1 = models[1]->getPrimitiveType(); bool detected; bool detectPlaneSphereCollisions(bool detectAllContacts); if (( pt0 == ColdetModel::SP_PLANE && pt1 == ColdetModel::SP_CYLINDER) || (pt1 == ColdetModel::SP_PLANE && pt0 == ColdetModel::SP_CYLINDER)){ detected = detectPlaneCylinderCollisions(detectAllContacts); } else if (pt0 == ColdetModel::SP_PLANE || pt1 == ColdetModel::SP_PLANE){ detected = detectPlaneMeshCollisions(detectAllContacts); } else if (pt0 == ColdetModel::SP_SPHERE && pt1 == ColdetModel::SP_SPHERE) { detected = detectSphereSphereCollisions(detectAllContacts); } else if (pt0 == ColdetModel::SP_SPHERE || pt1 == ColdetModel::SP_SPHERE) { detected = detectSphereMeshCollisions(detectAllContacts); } else { detected = detectMeshMeshCollisions(detectAllContacts); } if(!detected){ collisionPairInserter->clear(); } return collisionPairInserter->collisions(); } bool ColdetModelPair::detectPlaneMeshCollisions(bool detectAllContacts) { bool result = false; ColdetModelPtr plane, mesh; bool reversed=false; if (models[0]->getPrimitiveType() == ColdetModel::SP_PLANE){ plane = models[0]; mesh = models[1]; } if (models[1]->getPrimitiveType() == ColdetModel::SP_PLANE){ plane = models[1]; mesh = models[0]; reversed = true; } if (!plane || !mesh || !mesh->internalModel->model.GetMeshInterface()) return false; Opcode::PlanesCollider PC; if(!detectAllContacts) PC.SetFirstContact(true); PC.setCollisionPairInserter(collisionPairInserter); IceMaths::Matrix4x4 mTrans = *(mesh->transform); for(udword i=0; i<3; i++){ for(udword j=0; j<3; j++){ collisionPairInserter->CD_Rot1(i,j) = mTrans[j][i]; } collisionPairInserter->CD_Trans1[i] = mTrans[3][i]; } collisionPairInserter->CD_s1 = 1.0; Opcode::PlanesCache Cache; IceMaths::Matrix4x4 pTrans = (*(plane->pTransform)) * (*(plane->transform)); IceMaths::Point p, nLocal(0,0,1), n; IceMaths::TransformPoint3x3(n, nLocal, pTrans); pTrans.GetTrans(p); Plane Planes[] = {Plane(p, n)}; bool IsOk = PC.Collide(Cache, Planes, 1, mesh->internalModel->model, mesh->transform); if (!IsOk){ std::cerr << "PlanesCollider::Collide() failed" << std::endl; }else{ result = PC.GetContactStatus(); } if (reversed){ std::vector& cdata = collisionPairInserter->collisions(); for (size_t i=0; iisValid() && models[1]->isValid()){ Opcode::BVTCache colCache; // inverse order because of historical background // this should be fixed.(note that the direction of normal is inversed when the order inversed colCache.Model0 = &models[1]->internalModel->model; colCache.Model1 = &models[0]->internalModel->model; if(colCache.Model0->HasSingleNode() || colCache.Model1->HasSingleNode()) return result; Opcode::AABBTreeCollider collider; collider.setCollisionPairInserter(collisionPairInserter); if(!detectAllContacts){ collider.SetFirstContact(true); } bool isOk = collider.Collide(colCache, models[1]->transform, models[0]->transform); if (!isOk) std::cerr << "AABBTreeCollider::Collide() failed" << std::endl; result = collider.GetContactStatus(); boxTestsCount = collider.GetNbBVBVTests(); triTestsCount = collider.GetNbPrimPrimTests(); } return result; } bool ColdetModelPair::detectSphereSphereCollisions(bool detectAllContacts) { bool result = false; int sign = 1; if (models[0]->isValid() && models[1]->isValid()) { ColdetModelPtr sphereA, sphereB; sphereA = models[0]; sphereB = models[1]; IceMaths::Matrix4x4 sATrans = (*(sphereA->pTransform)) * (*(sphereA->transform)); IceMaths::Matrix4x4 sBTrans = (*(sphereB->pTransform)) * (*(sphereB->transform)); float radiusA, radiusB; sphereA->getPrimitiveParam(0, radiusA); sphereB->getPrimitiveParam(0, radiusB); IceMaths::Point centerA = sATrans.GetTrans(); IceMaths::Point centerB = sBTrans.GetTrans(); IceMaths::Point D = centerB - centerA; float depth = radiusA + radiusB - D.Magnitude(); if (D.Magnitude() <= (radiusA + radiusB)) { result = true; float x = (pow(D.Magnitude(), 2) + pow(radiusA, 2) - pow(radiusB, 2)) / (2 * D.Magnitude()); float R = sqrt(pow(radiusA, 2) - pow(x, 2)); IceMaths::Point n = D / D.Magnitude(); IceMaths::Point q = centerA + n * x; std::vector& cdata = collisionPairInserter->collisions(); cdata.clear(); collision_data col; col.depth = depth; col.num_of_i_points = 1; col.i_point_new[0] = 1; col.i_point_new[1] = 0; col.i_point_new[2] = 0; col.i_point_new[3] = 0; col.n_vector[0] = sign * n.x; col.n_vector[1] = sign * n.y; col.n_vector[2] = sign * n.z; col.i_points[0][0] = q.x; col.i_points[0][1] = q.y; col.i_points[0][2] = q.z; cdata.push_back(col); } } return result; } bool ColdetModelPair::detectSphereMeshCollisions(bool detectAllContacts) { bool result = false; int sign = 1; if (models[0]->isValid() && models[1]->isValid()) { ColdetModelPtr sphere, mesh; if (models[0]->getPrimitiveType() == ColdetModel::SP_SPHERE) { sphere = models[0]; mesh = models[1]; sign = -1; } else if (models[1]->getPrimitiveType() == ColdetModel::SP_SPHERE) { sphere = models[1]; mesh = models[0]; } if (!sphere || !mesh) return false; IceMaths::Matrix4x4 sTrans = (*(sphere->pTransform)) * (*(sphere->transform)); float radius; sphere->getPrimitiveParam(0, radius); IceMaths::Sphere sphere_def(IceMaths::Point(0, 0, 0), radius); Opcode::SphereCache colCache; Opcode::SphereCollider collider; if (!detectAllContacts) { collider.SetFirstContact(true); } bool isOk = collider.Collide(colCache, sphere_def, mesh->internalModel->model, &sTrans, mesh->transform); if (isOk) { if (collider.GetContactStatus()) { int TouchedPrimCount = collider.GetNbTouchedPrimitives(); const udword* TouchedPrim = collider.GetTouchedPrimitives(); if (TouchedPrimCount) { result = true; std::vector< std::vector > triangle(TouchedPrimCount); // Triangle of each face in world's coordinates std::vector face(TouchedPrimCount); // Plane of each face in world's coordinates std::vector depth(TouchedPrimCount); std::vector q(TouchedPrimCount); std::vector A(TouchedPrimCount); IceMaths::Matrix4x4 sTransInv; IceMaths::InvertPRMatrix(sTransInv, sTrans); std::vector& cdata = collisionPairInserter->collisions(); cdata.clear(); for (int i = 0; i < TouchedPrimCount; i++) { int vertex_index[3]; std::vector vertex(3); float x, y, z; float R; mesh->getTriangle(TouchedPrim[i], vertex_index[0], vertex_index[1], vertex_index[2]); for (int j = 0; j < 3; j++) { mesh->getVertex(vertex_index[j], x, y, z); TransformPoint4x3(vertex[j], IceMaths::Point(x, y, z), *(mesh->transform)); } triangle[i] = std::vector (vertex); face[i] = IceMaths::Plane(vertex[0], vertex[1], vertex[2]); face[i].Normalize(); IceMaths::Plane face_s; // Plane of each face in sphere's coordinates IceMaths::TransformPlane(face_s, face[i], sTransInv); face_s.Normalize(); if (abs(face_s.d) > radius) cout << "No intersection"; else { R = sqrt(pow(radius, 2) - pow(face_s.d, 2)); depth[i] = radius - abs(face_s.d); IceMaths::Point U, V; TransformPoint3x3(U, vertex[1] - vertex[0], sTransInv); U.Normalize(); V = face_s.n ^ U; V.Normalize(); IceMaths::Matrix4x4 scTrans; scTrans.SetRow(0, U); scTrans.SetRow(1, V); scTrans.SetRow(2, face_s.n); scTrans.SetRow(3, face_s.n * -face_s.d); IceMaths::Matrix4x4 scTransInv; IceMaths::InvertPRMatrix(scTransInv, scTrans); IceMaths::Point vertex_c[3]; std::vector vx, vy; for (int j = 0; j < 3; j++) { TransformPoint4x3(vertex_c[j], vertex[j], sTransInv * scTransInv); vx.push_back(vertex_c[j].x); vy.push_back(vertex_c[j].y); } float cx, cy; calculateCentroidIntersection(cx, cy, A[i], R, vx, vy); TransformPoint4x3(q[i], IceMaths::Point (cx, cy, 0), scTrans * sTrans); } } std::vector considered_checklist(TouchedPrimCount, false); std::vector sameplane; std::vector new_q; std::vector new_n; std::vector new_depth; // The following procedure is needed to merge components from the same plane (but different triangles) for (int i = 0; i < TouchedPrimCount; i++) { if (!considered_checklist[i]) { for (int j = i + 1; j < TouchedPrimCount; j++) { IceMaths::Point normdiff(face[i].n - face[j].n); if (normdiff.Magnitude() < LOCAL_EPSILON && (face[i].d - face[j].d) < LOCAL_EPSILON) { if (!sameplane.size()) sameplane.push_back(i); // In order to consider it just once sameplane.push_back(j); } } if (!sameplane.size()) { new_q.push_back(q[i]); new_n.push_back(face[i].n); new_depth.push_back(depth[i]); considered_checklist[i] = true; } else { float sum_xA, sum_yA, sum_zA, sum_A; sum_xA = sum_yA = sum_zA = sum_A = 0; for (int k = 0; k < sameplane.size(); k++) { sum_xA += q[sameplane[k]].x * A[sameplane[k]]; sum_yA += q[sameplane[k]].y * A[sameplane[k]]; sum_zA += q[sameplane[k]].z * A[sameplane[k]]; sum_A += A[sameplane[k]]; considered_checklist[sameplane[k]] = true; } IceMaths::Point q_temp; q_temp.x = sum_xA / sum_A; q_temp.y = sum_yA / sum_A; q_temp.z = sum_zA / sum_A; new_q.push_back(q_temp); new_n.push_back(face[i].n); new_depth.push_back(depth[i]); sameplane.clear(); } } } for (int i = 0; i < new_q.size(); i++) { collision_data col; col.depth = new_depth[i]; col.num_of_i_points = 1; col.i_point_new[0] = 1; col.i_point_new[1] = 0; col.i_point_new[2] = 0; col.i_point_new[3] = 0; col.n_vector[0] = sign * new_n[i].x; col.n_vector[1] = sign * new_n[i].y; col.n_vector[2] = sign * new_n[i].z; col.i_points[0][0] = new_q[i].x; col.i_points[0][1] = new_q[i].y; col.i_points[0][2] = new_q[i].z; cdata.push_back(col); } } } } else std::cerr << "SphereCollider::Collide() failed" << std::endl; } return result; } bool ColdetModelPair::detectPlaneCylinderCollisions(bool detectAllContacts) { ColdetModelPtr plane, cylinder; bool reversed=false; if (models[0]->getPrimitiveType() == ColdetModel::SP_PLANE){ plane = models[0]; }else if(models[0]->getPrimitiveType() == ColdetModel::SP_CYLINDER){ cylinder = models[0]; } if (models[1]->getPrimitiveType() == ColdetModel::SP_PLANE){ plane = models[1]; reversed = true; }else if(models[1]->getPrimitiveType() == ColdetModel::SP_CYLINDER){ cylinder = models[1]; } if (!plane || !cylinder) return false; IceMaths::Matrix4x4 pTrans = (*(plane->pTransform)) * (*(plane->transform)); IceMaths::Matrix4x4 cTrans = (*(cylinder->pTransform)) * (*(cylinder->transform)); float radius, height; // height and radius of cylinder cylinder->getPrimitiveParam(0, radius); cylinder->getPrimitiveParam(1, height); IceMaths::Point pTopLocal(0, height/2, 0), pBottomLocal(0, -height/2, 0); IceMaths::Point pTop, pBottom; // center points of top and bottom discs IceMaths::TransformPoint4x3(pTop, pTopLocal, cTrans); IceMaths::TransformPoint4x3(pBottom, pBottomLocal, cTrans); IceMaths::Point pOnPlane, nLocal(0,0,1), n; IceMaths::TransformPoint3x3(n, nLocal, pTrans); pTrans.GetTrans(pOnPlane); float d = pOnPlane|n; // distance between origin and plane float dTop = (pTop|n) - d; float dBottom = (pBottom|n) - d; if (dTop > radius && dBottom > radius) return false; double theta = asin((dTop - dBottom)/height); double rcosth = radius*cos(theta); int contactsCount = 0; if (rcosth >= dTop) contactsCount+=2; if (rcosth >= dBottom) contactsCount+=2; if (contactsCount){ std::vector& cdata = collisionPairInserter->collisions(); cdata.resize(contactsCount); for (unsigned int i=0; i= dBottom){ // bottom disc collides double depth = rcosth - dBottom; IceMaths::Point iPoint = pBottom - dBottom*n - dBottom*tan(theta)*w; double x = dBottom/cos(theta); IceMaths::Point dv = sqrt(radius*radius - x*x)*v; cdata[index].i_points[0][0] = iPoint.x + dv.x; cdata[index].i_points[0][1] = iPoint.y + dv.y; cdata[index].i_points[0][2] = iPoint.z + dv.z; cdata[index].depth = depth; index++; cdata[index].i_points[0][0] = iPoint.x - dv.x; cdata[index].i_points[0][1] = iPoint.y - dv.y; cdata[index].i_points[0][2] = iPoint.z - dv.z; cdata[index].depth = depth; index++; } if (rcosth >= dTop){ // top disc collides double depth = rcosth - dTop; IceMaths::Point iPoint = pTop - dTop*n - dTop*tan(theta)*w; double x = dTop/cos(theta); IceMaths::Point dv = sqrt(radius*radius - x*x)*v; cdata[index].i_points[0][0] = iPoint.x + dv.x; cdata[index].i_points[0][1] = iPoint.y + dv.y; cdata[index].i_points[0][2] = iPoint.z + dv.z; cdata[index].depth = depth; index++; cdata[index].i_points[0][0] = iPoint.x - dv.x; cdata[index].i_points[0][1] = iPoint.y - dv.y; cdata[index].i_points[0][2] = iPoint.z - dv.z; cdata[index].depth = depth; index++; } return true; } return false; } double ColdetModelPair::computeDistance(double *point0, double *point1) { if(models[0]->isValid() && models[1]->isValid()){ Opcode::BVTCache colCache; colCache.Model0 = &models[1]->internalModel->model; colCache.Model1 = &models[0]->internalModel->model; Opcode::SSVTreeCollider collider; float d; Point p0, p1; collider.Distance(colCache, d, p0, p1, models[1]->transform, models[0]->transform); point0[0] = p1.x; point0[1] = p1.y; point0[2] = p1.z; point1[0] = p0.x; point1[1] = p0.y; point1[2] = p0.z; return d; } return -1; } double ColdetModelPair::computeDistance(int& triangle0, double* point0, int& triangle1, double* point1) { if(models[0]->isValid() && models[1]->isValid()){ Opcode::BVTCache colCache; colCache.Model0 = &models[1]->internalModel->model; colCache.Model1 = &models[0]->internalModel->model; Opcode::SSVTreeCollider collider; float d; Point p0, p1; collider.Distance(colCache, d, p0, p1, models[1]->transform, models[0]->transform); point0[0] = p1.x; point0[1] = p1.y; point0[2] = p1.z; point1[0] = p0.x; point1[1] = p0.y; point1[2] = p0.z; triangle1 = colCache.id0; triangle0 = colCache.id1; return d; } return -1; } bool ColdetModelPair::detectIntersection() { if(models[0]->isValid() && models[1]->isValid()){ Opcode::BVTCache colCache; colCache.Model0 = &models[1]->internalModel->model; colCache.Model1 = &models[0]->internalModel->model; Opcode::SSVTreeCollider collider; return collider.Collide(colCache, tolerance_, models[1]->transform, models[0]->transform); } return false; } void ColdetModelPair::setCollisionPairInserter(Opcode::CollisionPairInserter* inserter) { delete collisionPairInserter; collisionPairInserter = inserter; // inverse order because of historical background // this should be fixed.(note that the direction of normal is inversed when the order inversed collisionPairInserter->set(models[1]->internalModel, models[0]->internalModel); } int ColdetModelPair::calculateCentroidIntersection(float &cx, float &cy, float &A, float radius, std::vector vx, std::vector vy) { int i; // Vertex and Side int j[5]; // Point ID int k; // Section int isOk = ColdetModelPair::makeCCW(vx, vy); if (isOk) { std::vector point; pointStruct p; int numInter; std::vector x_int(2), y_int(2); for (i = 0; i < vx.size(); i++) { // Recording of the vertex p.x = vx[i]; p.y = vy[i]; p.angle = atan2(vy[i], vx[i]); if (p.angle < 0) p.angle += TWOPI; p.type = vertex; p.code = isInsideCircle(radius, p.x, p.y); point.push_back(p); // Recording of the intersections numInter = calculateIntersection(x_int, y_int, radius, vx[i], vy[i], vx[(i + 1) % vx.size()], vy[(i + 1) % vx.size()]); if (numInter) for (k = 0; k < numInter; k++) { p.x = x_int[k]; p.y = y_int[k]; p.angle = atan2(y_int[k], x_int[k]); if (p.angle < 0) p.angle += TWOPI; p.type = inter; p.code = i + 1; point.push_back(p); } numInter = 0; } j[0] = 0; int start = -1; bool finished = false; int next1, next2, next3, next4; std::vector figure; figStruct f; while (!finished) { for (int cont = 1; cont <= 4; cont++) j[cont] = (j[0] + cont) % point.size(); if (point[j[0]].code) { if (start == -1) start = j[0]; if (point[j[1]].code) { f.p1 = j[0]; f.p2 = j[1]; f.type = tri; figure.push_back(f); j[0] = f.p2; } else if (point[j[2]].code || point[j[3]].code || point[j[4]].code) { f.type = sector; f.p1 = j[0]; if (point[j[2]].code) f.p2 = j[2]; else if (point[j[3]].code) f.p2 = j[3]; else if (point[j[4]].code) f.p2 = j[4]; figure.push_back(f); j[0] = f.p2; } else { cout << "Error: No intersection detected" << endl; return 0; } } else { j[0] = j[1]; } if (((j[0] == 0) && (start == -1)) || (j[0] == start)) finished = true; } if (figure.size()) { std::vector x(3, 0); std::vector y(3, 0); float sumx, sumy; float th; for (k = 0; k < figure.size(); k++) { if (figure[k].type == tri) { x[1] = point[figure[k].p1].x; y[1] = point[figure[k].p1].y; x[2] = point[figure[k].p2].x; y[2] = point[figure[k].p2].y; figure[k].area = calculatePolygonArea(x, y); sumx = sumy = 0; for (int cont = 0; cont < 3; cont++) { sumx += x[cont]; sumy += y[cont]; } figure[k].cx = sumx / 3; figure[k].cy = sumy / 3; } else if (figure[k].type == sector) { th = point[figure[k].p2].angle - point[figure[k].p1].angle; if (th < 0) th += TWOPI; figure[k].area = pow(radius, 2) * th / 2; calculateSectorCentroid(figure[k].cx, figure[k].cy, radius, point[figure[k].p1].angle, point[figure[k].p2].angle); } } float sum_xA, sum_yA, sum_A; sum_xA = sum_yA = sum_A = 0; for (k = 0; k < figure.size(); k++) { sum_xA += figure[k].cx * figure[k].area; sum_yA += figure[k].cy * figure[k].area; sum_A += figure[k].area; } if ((figure.size() == 1) && (sum_A == 0)) { cx = point[figure[0].p1].x; cy = point[figure[0].p1].y; } else { cx = sum_xA / sum_A; cy = sum_yA / sum_A; } A = sum_A; return 1; } else { if (isInsideTriangle(0, 0, vx, vy)) { cx = cy = 0; A = TWOPI * pow(radius, 2); return 1; } else{ cx = cy = 0; A = TWOPI * pow(radius, 2); return 0; } } } else return 0; } int ColdetModelPair::makeCCW(std::vector &vx, std::vector &vy) { float vx_tmp, vy_tmp; if ((vx.size() == 3) && (vy.size() == 3)) { if (ColdetModelPair::calculatePolygonArea(vx, vy) < 0) { vx_tmp = vx[0]; vy_tmp = vy[0]; vx[0] = vx[1]; vy[0] = vy[1]; } return 1; } else { cout << "The number of vertices does not correspond to a triangle" << endl; return 0; } } float ColdetModelPair::calculatePolygonArea(const std::vector &vx, const std::vector &vy) { float area = 0; if (vx.size() == vy.size()) { for (int i = 0; i < vx.size(); i++) { area += vx[i] * vy[(i + 1) % vx.size()] - vy[i] * vx[(i + 1) % vx.size()]; } return area / 2; } else { cout << "The number of coordinates does not match" << endl; return 0; } } #if defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__) #define trunc(x) ((int)(x)) #endif void ColdetModelPair::calculateSectorCentroid(float &cx, float &cy, float radius, float th1, float th2) { float th, psi, phi, g; th = th2 - th1; if (th2 < th1) th += TWOPI; g = (abs(th) > LOCAL_EPSILON) ? 4.0 / 3.0 * radius / th * sin(th / 2) : 2.0 / 3.0 * radius; psi = th1 + th2; if (th2 < th1) psi += TWOPI; phi = psi / 2 - trunc(psi / 2 / TWOPI) * TWOPI; cx = g * cos(phi); cy = g * sin(phi); } bool ColdetModelPair::isInsideTriangle(float x, float y, const std::vector &vx, const std::vector &vy) { IceMaths::Point v1, v2; double m1, m2; double anglesum = 0; for (int i = 0; i < 3; i++) { v1 = IceMaths::Point(vx[i], vy[i], 0) - IceMaths::Point(x, y, 0); v2 = IceMaths::Point(vx[(i + 1) % vx.size()], vy[(i + 1) % vy.size()], 0) - IceMaths::Point(x, y, 0); m1 = v1.Magnitude(); m2 = v2.Magnitude(); if (m1 * m2 <= LOCAL_EPSILON) { anglesum = TWOPI; break; } else anglesum += acos((v1 | v2) / (m1 * m2)); } return (abs(TWOPI - anglesum) < LOCAL_EPSILON); } int ColdetModelPair::calculateIntersection(std::vector &x, std::vector &y, float radius, float x1, float y1, float x2, float y2) { int numint; float x_test, y_test; x.clear(); y.clear(); float xmin = min(x1, x2); float xmax = max(x1, x2); float ymin = min(y1, y2); float ymax = max(y1, y2); float v_norm, proy_norm; float x_temp, y_temp; std::vector t; if ((sqrt(pow(x1, 2) + pow(y1, 2)) != radius) && (sqrt(pow(x2, 2) + pow(y2, 2)) != radius)) { float m, b; float D; if (abs(x2 - x1) > LOCAL_EPSILON) { m = (y2 - y1) / (x2 - x1); b = y1 - m * x1; D = 4 * pow(m, 2) * pow(b, 2) - 4 * (1 + pow(m, 2)) * (pow(b, 2) - pow(radius, 2)); } else D = pow(radius, 2) - pow(x1, 2); numint = D < 0 ? 0 : (D > 0 ? 2 : 1); if (numint > 0) { for (int i = 0; i < numint; i++) { if (abs(x2 - x1) > LOCAL_EPSILON) { x_test = (-2 * m * b + pow(-1.0, i) * sqrt(D)) / (2 * (1 + pow(m, 2))); y_test = m * x_test + b; } else { x_test = x1; y_test = pow(-1.0, i) * sqrt(D); } cout.flush(); if ((xmin <= x_test) && (x_test <= xmax) && (ymin <= y_test) && (y_test <= ymax)) { x.push_back(x_test); y.push_back(y_test); v_norm = sqrt(pow(x2 - x1, 2) + pow(y2 - y1, 2)); proy_norm = sqrt(pow(x_test - x1, 2) + pow(y_test - y1, 2)); t.push_back(proy_norm / v_norm); } } if (t.size() > 1) { if (t[0] > t[1]) { x_temp = x[0]; y_temp = y[0]; x[0] = x[1]; y[0] = y[1]; x[1] = x_temp; y[1] = y_temp; } } } } return t.size(); } choreonoid-1.5.0/src/AISTCollisionDetector/StdCollisionPairInserter.h0000664000000000000000000000520012741425367024362 0ustar rootroot #ifndef CNOID_COLLISION_STD_COLLISION_PAIR_INSERTER_H_INCLUDED #define CNOID_COLLISION_STD_COLLISION_PAIR_INSERTER_H_INCLUDED #include "CollisionPairInserter.h" namespace Opcode { class StdCollisionPairInserter : public CollisionPairInserter { public: StdCollisionPairInserter(); virtual ~StdCollisionPairInserter(); virtual int detectTriTriOverlap( const cnoid::Vector3& P1, const cnoid::Vector3& P2, const cnoid::Vector3& P3, const cnoid::Vector3& Q1, const cnoid::Vector3& Q2, const cnoid::Vector3& Q3, cnoid::collision_data* col_p); virtual int apply(const Opcode::AABBCollisionNode* b1, const Opcode::AABBCollisionNode* b2, int id1, int id2, int num_of_i_points, cnoid::Vector3 i_points[4], cnoid::Vector3& n_vector, double depth, cnoid::Vector3& n1, cnoid::Vector3& m1, int ctype, Opcode::MeshInterface* mesh1, Opcode::MeshInterface* mesh2); private: class tri { public: int id; cnoid::Vector3 p1, p2, p3; }; class col_tri { public: int status; // 0: unvisited, 1: visited, 2: included in the convex neighbor cnoid::Vector3 p1, p2, p3; cnoid::Vector3 n; }; static void copy_tri(col_tri* t1, tri* t2); static void copy_tri(col_tri* t1, col_tri* t2); static void calc_normal_vector(col_tri* t); static int is_convex_neighbor(col_tri* t1, col_tri* t2); void triangleIndexToPoint(cnoid::ColdetModelInternalModel* model, int id, col_tri& tri); int get_triangles_in_convex_neighbor(cnoid::ColdetModelInternalModel* model, int id, col_tri* tri_convex_neighbor, int max_num); void get_triangles_in_convex_neighbor(cnoid::ColdetModelInternalModel* model, int id, col_tri* tri_convex_neighbor, std::vector& map, int& count); void examine_normal_vector(int id1, int id2, int ctype); void check_separability(int id1, int id2, int ctype); void find_signed_distance( cnoid::Vector3 &signed_distance, col_tri *trp, int nth, int ctype, int obj); void find_signed_distance( cnoid::Vector3& signed_distance, const cnoid::Vector3& vert, int nth, int ctype, int obj); void find_signed_distance(cnoid::Vector3& signed_distance1, cnoid::ColdetModelInternalModel* model0, int id1, int contactIndex, int ctype, int obj); int new_point_test(int k); }; } #endif choreonoid-1.5.0/src/AISTCollisionDetector/AISTCollisionDetector.h0000664000000000000000000000242112741425367023534 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_AIST_COLLISION_DETECTOR_AIST_COLLISION_DETECTOR_H_INCLUDED #define CNOID_AIST_COLLISION_DETECTOR_AIST_COLLISION_DETECTOR_H_INCLUDED #include #include "exportdecl.h" namespace cnoid { class AISTCollisionDetectorImpl; class CNOID_EXPORT AISTCollisionDetector : public CollisionDetector { public: AISTCollisionDetector(); virtual ~AISTCollisionDetector(); virtual const char* name() const; virtual CollisionDetectorPtr clone() const; virtual void clearGeometries(); virtual int numGeometries() const; virtual int addGeometry(SgNodePtr geometry); virtual void setGeometryStatic(int geometryId, bool isStatic = true); virtual bool enableGeometryCache(bool on); virtual void clearGeometryCache(SgNodePtr geometry); virtual void clearAllGeometryCaches(); virtual void setNonInterfarenceGeometyrPair(int geometryId1, int geometryId2); virtual bool makeReady(); virtual void updatePosition(int geometryId, const Position& position); virtual void detectCollisions(boost::function callback); private: AISTCollisionDetectorImpl* impl; }; typedef boost::shared_ptr AISTCollisionDetectorPtr; } #endif choreonoid-1.5.0/src/AISTCollisionDetector/DistFuncs.cpp0000664000000000000000000002670312741425367021674 0ustar rootroot#include "DistFuncs.h" /** * @brief compute the minimum distance and the closest points between two line segments * * This function is implemented referring the following webpage * http://www.softsurfer.com/Archive/algorithm_0106/algorithm_0106.htm * @param u0 start point of the first line segment * @param u vector from u0 to the other end point of the first line segment * @param v0 start point of the second line segment * @param v vector from v0 the other end point of the second line segment * @param cp0 the closest point on the first line segment * @param cp1 the closest point on the second line segment * @return the minimum distance */ static inline float SegSegDist(const Point& u0, const Point& u, const Point& v0, const Point& v, Point& cp0, Point& cp1) { Point w = u0 - v0; float a = u|u; // always >= 0 float b = u|v; float c = v|v; // always >= 0 float d = u|w; float e = v|w; float D = a*c - b*b; // always >= 0 float sc, sN, sD = D; // sc = sN / sD, default sD = D >= 0 float tc, tN, tD = D; // tc = tN / tD, default tD = D >= 0 // compute the line parameters of the two closest points #define EPS 1e-8 if (D < EPS*a*c) { // the lines are almost parallel + scale factor (a*c) is necessary (please don't remove). sN = 0.0; // force using point P0 on segment S1 sD = 1.0; // to prevent possible division by 0.0 later tN = e; tD = c; } else { // get the closest points on the infinite lines sN = (b*e - c*d); tN = (a*e - b*d); if (sN < 0.0) { // sc < 0 => the s=0 edge is visible sN = 0.0; tN = e; tD = c; } else if (sN > sD) { // sc > 1 => the s=1 edge is visible sN = sD; tN = e + b; tD = c; } } if (tN < 0.0) { // tc < 0 => the t=0 edge is visible tN = 0.0; // recompute sc for this edge if (-d < 0.0) sN = 0.0; else if (-d > a) sN = sD; else { sN = -d; sD = a; } } else if (tN > tD) { // tc > 1 => the t=1 edge is visible tN = tD; // recompute sc for this edge if ((-d + b) < 0.0) sN = 0; else if ((-d + b) > a) sN = sD; else { sN = (-d + b); sD = a; } } // finally do the division to get sc and tc sc = (fabsf(sN) < EPS*a*c ? 0.0f : sN / sD); tc = (fabsf(tN) < EPS*a*c ? 0.0f : tN / tD); cp0 = u0 + sc * u; cp1 = v0 + tc * v; // get the difference of the two closest points Point dP = cp0 - cp1; return dP.Magnitude(); // return the closest distance } /** * @brief compute signed distance between a point and a plane * @param P a point * @param pointOnPolane a point on the plane * @param n normal vector of the plane * @param cp the closest point on the plane from P */ static inline float PointPlaneDist(const Point& P, const Point& pointOnPlane, const Point& n, Point& cp) { Point v = P - pointOnPlane; float l = v|n; cp = P-l*n; return l; } // see DistFuncs.h float Opcode::PointSegDist(const Point& P, const Point& u0, const Point& u1) { Point v = P - u0; Point dir = u1 - u0; float l = dir.Magnitude(); dir /= l; float x = v|dir; if (x < 0){ return v.Magnitude(); }else if (x > l){ Point dv = P - u1; return dv.Magnitude(); }else{ return sqrtf(v.SquareMagnitude() - x*x); } } /** * @brief check whether a point is in Voroni region of a face * @param p a point to be tested * @param vertices vertices of the triangle * @param edges edges of the triangle * @param n normal vector of the triangle * @return true if the point is in the Voronoi region, false otherwise */ static inline bool PointFaceAppTest(const Point& P, const Point** vertices, const Point* edges, const Point& n) { Point v, outer; for (unsigned int i=0; i<3; i++){ v = P - *vertices[i]; outer = edges[i]^n; if ((v|outer)>0) return false; } return true; } // see DistFuncs.h float Opcode::TriTriDist(const Point& U0, const Point& U1, const Point& U2, const Point& V0, const Point& V1, const Point& V2, Point& cp0, Point& cp1) { const Point* uvertices[] = {&U0, &U1, &U2}; const Point* vvertices[] = {&V0, &V1, &V2}; float min_d, d; Point p0, p1, n, vec; bool overlap = true; // edges Point uedges[3], vedges[3]; for (unsigned int i=0; i<3; i++){ uedges[i] = *uvertices[(i+1)%3] - *uvertices[i]; vedges[i] = *vvertices[(i+1)%3] - *vvertices[i]; } // set initial values cp0 = U0; cp1 = V0; min_d = (cp0-V0).Magnitude(); if(min_d==0) return min_d; //remove the risk of division by zero // check overlap for avoiding numerical error n = cp0 - cp1; vec = *uvertices[2] - cp0; float u = (vec|n)/min_d; vec = *vvertices[2] - cp1; float v = (vec|n)/min_d; if (u > 0) u = 0; if (v < 0) v = 0; if ((n.Magnitude() + u - v) > 0){ overlap = false; } // vertex-vertex, vertex-edge, edge-edge for (unsigned int i=0; i<3; i++){ for (unsigned int j=0; j<3; j++){ d = ::SegSegDist(*uvertices[i], uedges[i], *vvertices[j], vedges[j], p0, p1); n = p0 - p1; if (d <= min_d){ min_d = d; cp0 = p0; cp1 = p1; if(min_d==0) return min_d; //remove the risk of division by zero } // check overlap vec = *uvertices[(i+2)%3] - p0; float u = (vec|n)/d; vec = *vvertices[(j+2)%3] - p1; float v = (vec|n)/d; // n directs from v -> u //if (u>=0 && v<=0) return min_d; if (u > 0) u = 0; if (v < 0) v = 0; if ((n.Magnitude() + u - v) > 0){ overlap = false; } } } Point un = uedges[0]^uedges[1]; un.Normalize(); Point vn = vedges[0]^vedges[1]; vn.Normalize(); // vertex-face, edge-face, face-face // plane-triangle overlap test float ds[3]; int rank; // u and plane including v rank = -1; for (int i=0; i<3; i++){ vec = *uvertices[i] - *vvertices[0]; ds[i] = vec|vn; } if (ds[0] > 0 && ds[1] > 0 && ds[2] > 0){ // find rank of the nearest vertex to the plane rank = ds[0] > ds[1] ? 1 : 0; rank = ds[rank] > ds[2] ? 2 : rank; }else if(ds[0] < 0 && ds[1] < 0 && ds[2] < 0){ // find rank of the nearest vertex to the plane rank = ds[0] > ds[1] ? 0 : 1; rank = ds[rank] > ds[2] ? rank : 2; } if (rank >=0){ overlap = false; if (PointFaceAppTest(*uvertices[rank], vvertices, vedges, vn)){ min_d = fabsf(PointPlaneDist(*uvertices[rank], *vvertices[0], vn, p1)); cp0 = *uvertices[rank]; cp1 = p1; return min_d; } } // v and plane including u rank = -1; for (int i=0; i<3; i++){ vec = *vvertices[i] - *uvertices[0]; ds[i] = vec|un; } if (ds[0] > 0 && ds[1] > 0 && ds[2] > 0){ // find rank of the nearest vertex to the plane rank = ds[0] > ds[1] ? 1 : 0; rank = ds[rank] > ds[2] ? 2 : rank; }else if(ds[0] < 0 && ds[1] < 0 && ds[2] < 0){ // find rank of the nearest vertex to the plane rank = ds[0] > ds[1] ? 0 : 1; rank = ds[rank] > ds[2] ? rank : 2; } if (rank >= 0){ overlap = false; if (PointFaceAppTest(*vvertices[rank], uvertices, uedges, un)){ min_d = fabsf(PointPlaneDist(*vvertices[rank], *uvertices[0], un, p0)); cp0 = p0; cp1 = *vvertices[rank]; return min_d; } } if (overlap){ return 0; }else{ return min_d; } } // see DistFuncs.h float Opcode::SegSegDist(const Point& u0, const Point& u1, const Point& v0, const Point& v1) { Point cp0, cp1; return ::SegSegDist(u0, u1-u0, v0, v1-v0, cp0, cp1); } #if 0 std::ostream &operator<<(std::ostream &ost, const Point& p) { ost << "(" << p.x << ", " << p.y << ", " << p.z << ")"; return ost; } int main() { Point p0(0,0,0), p1(2,0,0), p2(1, 1, -1), p3(1, 1, 1); Point cp1, cp2, n; float d; d= SegSegDist(p0, p1, p2, p3, cp1, cp2); std::cout << "test1 : d = " << d << ", cp1 = " << cp1 << ", cp2 = " << cp2 << std::endl; Point p4(0,1,0), p5(2,1,0); d= SegSegDist(p0, p1, p4, p5, cp1, cp2); std::cout << "test2 : d = " << d << ", cp1 = " << cp1 << ", cp2 = " << cp2 << std::endl; d= SegSegDist(p0, p1, p0, p1, cp1, cp2); std::cout << "test3 : d = " << d << ", cp1 = " << cp1 << ", cp2 = " << cp2 << std::endl; Point p6(0, 2, 0), p7(-2, 1, 0); d = TriTriDist(p0, p1, p5, p4, p6, p7, cp1, cp2); std::cout << "test4 : d = " << d << ", cp1 = " << cp1 << ", cp2 = " << cp2 << std::endl; Point p8(3, -1, 1), p9(3, 2, 1), p10(-3, -1, 1); d = TriTriDist(p0, p1, p5, p8, p9, p10, cp1, cp2); std::cout << "test5 : d = " << d << ", cp1 = " << cp1 << ", cp2 = " << cp2 << std::endl; d = TriTriDist(p0, p1, p2, p8, p9, p10, cp1, cp2); std::cout << "test6 : d = " << d << ", cp1 = " << cp1 << ", cp2 = " << cp2 << std::endl; std::cout << "answer: d = 1, cp1 = (0, 0, 0), cp2 = (0, 0, 1)" << std::endl; d = TriTriDist(p2, p0, p1, p8, p9, p10, cp1, cp2); std::cout << "test7 : d = " << d << ", cp1 = " << cp1 << ", cp2 = " << cp2 << std::endl; std::cout << "answer: d = 1, cp1 = (0, 0, 0), cp2 = (0, 0, 1)" << std::endl; d = TriTriDist(p1, p2, p0, p8, p9, p10, cp1, cp2); std::cout << "test8 : d = " << d << ", cp1 = " << cp1 << ", cp2 = " << cp2 << std::endl; std::cout << "answer: d = 1, cp1 = (2, 0, 0), cp2 = (2, 0, 1)" << std::endl; { Point pp0(-2, 2, 0), pp1(-2, -2, 0), pp2(5, -2, 0), pp3(-0.1, 0.4, -0.1), pp4(-0.1, -0.4, -0.1), pp5(-0.1, -0.4, 0.1); d = TriTriDist(pp0, pp1, pp2, pp3, pp4, pp5, cp1, cp2); std::cout << "test9 : d = " << d << ", cp1 = " << cp1 << ", cp2 = " << cp2 << std::endl; std::cout << "answer: d = 0.0" << std::endl; } { Point pp0(-2, 2, 0), pp1(-2, -2, 0), pp2(5, -2, 0), pp3(-0.1, 0.4, -0.1), pp4(-0.1, -0.4, -0.1), pp5(-0.1, -0.4, 0.1); d = TriTriDist(pp0, pp1, pp2, pp3, pp4, pp5, cp1, cp2); std::cout << "test9 : d = " << d << ", cp1 = " << cp1 << ", cp2 = " << cp2 << std::endl; std::cout << "answer: d = 0.0" << std::endl; } { Point p0(0.1, 0.4, 0), p1(-0.1, 0.4, 0), p2(0.1, -0.4, 0); Point p3(0.05, 0.45, -0.15), p4(0.05, 0.45, 0.05), p5(0.05, -0.35, -0.15); d = TriTriDist(p0, p1, p2, p3, p4, p5, cp1, cp2); std::cout << "test10 : d = " << d << ", cp1 = " << cp1 << ", cp2 = " << cp2 << std::endl; std::cout << "answer: d = 0.0" << std::endl; } return 0; } #endif choreonoid-1.5.0/src/AISTCollisionDetector/DistFuncs.h0000664000000000000000000000313212741425367021330 0ustar rootroot #ifndef CNOID_COLLISION_DIST_FUNCS_H_INCLUDED #define CNOID_COLLISION_DIST_FUNCS_H_INCLUDED #include "Opcode/Opcode.h" namespace Opcode { /** * @brief compute distance between a point and a line segment * @param P the point * @param u0 one of end points of the line segment * @param u1 the other end point of the line segment * @return distance between the point and the line segment */ float PointSegDist(const Point& P, const Point& u0, const Point& u1); /** * @brief compute distance between line segments * @brief u0 one of end points of the first line segment * @brief u1 the other end point of the first line segment * @brief v0 one of end points of the second line segment * @brief v1 the other end point of the second line segment * @return distance between line segments */ float SegSegDist(const Point& u0, const Point& u1, const Point& v0, const Point& v1); /** * @brief compute the minimum distance and the closest points between two triangles * @param U0 the first vertex of the first triangle * @param U1 the second vertex of the first triangle * @param U2 the third vertex of the first triangle * @param V0 the first vertex of the second triangle * @param V1 the second vertex of the second triangle * @param V2 the third vertex of the second triangle * @param cp0 the closest point on the first triangle * @param cp1 the closest point on the second triangle * @return the minimum distance */ float TriTriDist(const Point& U0, const Point& U1, const Point& U2, const Point& V0, const Point& V1, const Point& V2, Point& cp0, Point& cp1); } #endif choreonoid-1.5.0/src/AISTCollisionDetector/CMakeLists.txt0000664000000000000000000000322212741425367022015 0ustar rootroot # @author Shin'ichiro Nakaoka # set(CMAKE_BUILD_TYPE Debug) set(sources AISTCollisionDetector.cpp ColdetModel.cpp ColdetModelPair.cpp StdCollisionPairInserter.cpp TriOverlap.cpp SSVTreeCollider.cpp DistFuncs.cpp Opcode/Ice/IceAABB.cpp Opcode/Ice/IceContainer.cpp Opcode/Ice/IceIndexedTriangle.cpp Opcode/Ice/IceMatrix3x3.cpp Opcode/Ice/IceMatrix4x4.cpp Opcode/Ice/IceRevisitedRadix.cpp Opcode/Ice/IceHPoint.cpp Opcode/Ice/IceRandom.cpp Opcode/Ice/IcePoint.cpp Opcode/Ice/IcePlane.cpp Opcode/OPC_AABBTree.cpp Opcode/OPC_BaseModel.cpp Opcode/OPC_Collider.cpp Opcode/OPC_Common.cpp Opcode/OPC_MeshInterface.cpp Opcode/OPC_Model.cpp Opcode/OPC_OptimizedTree.cpp Opcode/OPC_TreeBuilders.cpp Opcode/OPC_TreeCollider.cpp Opcode/OPC_VolumeCollider.cpp Opcode/OPC_RayCollider.cpp Opcode/OPC_SphereCollider.cpp Opcode/OPC_Picking.cpp Opcode/OPC_PlanesCollider.cpp ) set(headers AISTCollisionDetector.h CollisionData.h ColdetModel.h ColdetModelPair.h CollisionPairInserter.h exportdecl.h ) include_directories(${CMAKE_CURRENT_SOURCE_DIR}/Opcode) if(MSVC) if(MSVC_VERSION GREATER 1600) add_definitions(-D_ALLOW_KEYWORD_MACROS) endif() endif() if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin") set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl") elseif(UNIX) # To hide OPCODE symbols which confict with ODE's OPCODE set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl,-Bsymbolic") endif() set(target CnoidAISTCollisionDetector) add_cnoid_library(${target} SHARED ${sources}) target_link_libraries(${target} CnoidUtil) apply_common_setting_for_library(${target} "${headers}") choreonoid-1.5.0/src/AISTCollisionDetector/ColdetModel.cpp0000664000000000000000000003116112741425367022157 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "ColdetModel.h" #include "ColdetModelInternalModel.h" #include "Opcode/Opcode.h" #include #include #include using namespace std; using namespace cnoid; namespace { class Edge { int vertex[2]; public : Edge(int vertexIndex1, int vertexIndex2){ if(vertexIndex1 < vertexIndex2){ vertex[0] = vertexIndex1; vertex[1] = vertexIndex2; } else { vertex[0] = vertexIndex2; vertex[1] = vertexIndex1; } } bool operator<(const Edge& rhs) const { if(vertex[0] < rhs.vertex[0]){ return true; } else if(vertex[0] == rhs.vertex[0]){ return (vertex[1] < rhs.vertex[1]); } else { return false; } } }; struct trianglePair { int t[2]; }; typedef std::map< Edge, trianglePair > EdgeToTriangleMap; } ColdetModel::ColdetModel() { internalModel = new ColdetModelInternalModel(); isValid_ = false; initialize(); } ColdetModel::ColdetModel(const ColdetModel& org) : name_(org.name_), isValid_(org.isValid_) { internalModel = org.internalModel; initialize(); } void ColdetModel::initialize() { internalModel->refCounter++; transform = new IceMaths::Matrix4x4(); transform->Identity(); pTransform = new IceMaths::Matrix4x4(); pTransform->Identity(); } ColdetModelPtr ColdetModel::clone() const { return boost::make_shared(*this); } void ColdetModel::cloneInternalModel() { ColdetModelInternalModel* oldInternalModel = internalModel; internalModel = new ColdetModelInternalModel(); internalModel->refCounter++; internalModel->vertices = oldInternalModel->vertices; internalModel->triangles = oldInternalModel->triangles; build(); if(--oldInternalModel->refCounter <= 0){ delete oldInternalModel; } } ColdetModelInternalModel::ColdetModelInternalModel() { refCounter = 0; pType = ColdetModel::SP_MESH; AABBTreeMaxDepth=0; } ColdetModel::~ColdetModel() { if(--internalModel->refCounter <= 0){ delete internalModel; } delete pTransform; delete transform; } void ColdetModel::setNumVertices(int n) { internalModel->vertices.resize(n); } int ColdetModel::getNumVertices() const { return internalModel->vertices.size(); } void ColdetModel::setNumTriangles(int n) { internalModel->triangles.resize(n); } int ColdetModel::getNumTriangles() const { return internalModel->triangles.size(); } void ColdetModel::setVertex(int index, float x, float y, float z) { internalModel->vertices[index].Set(x, y, z); } void ColdetModel::addVertex(float x, float y, float z) { internalModel->vertices.push_back(IceMaths::Point(x, y, z)); } void ColdetModel::getVertex(int index, float& x, float& y, float& z) const { const Point& v = internalModel->vertices[index]; x = v.x; y = v.y; z = v.z; } void ColdetModel::setTriangle(int index, int v1, int v2, int v3) { udword* mVRef = internalModel->triangles[index].mVRef; mVRef[0] = v1; mVRef[1] = v2; mVRef[2] = v3; } void ColdetModel::getTriangle(int index, int& v1, int& v2, int& v3) const { udword* mVRef = internalModel->triangles[index].mVRef; v1=mVRef[0]; v2=mVRef[1]; v3=mVRef[2]; } void ColdetModel::addTriangle(int v1, int v2, int v3) { internalModel->triangles.push_back(IceMaths::IndexedTriangle(v1, v2, v3)); } void ColdetModel::build() { isValid_ = internalModel->build(); /* unsigned int maxDepth = internalModel->getAABBTreeDepth(); for(unsigned int i=0; i data = getBoundingBoxData(i); cout << "depth= " << i << endl; for(vector::iterator it=data.begin(); it!=data.end(); it++){ cout << (*it).x << " " << (*it).y << " " << (*it).z << endl; } } */ } int ColdetModel::numofBBtoDepth(int minNumofBB) { for(int i=0; i < getAABBTreeDepth(); ++i){ if(minNumofBB <= internalModel->getNumofBB(i)){ return i; } } return getAABBTreeDepth(); } int ColdetModel::getAABBTreeDepth() { return internalModel->getAABBTreeDepth(); } int ColdetModel::getAABBmaxNum() { return internalModel->getmaxNumofBB(); } static void getBoundingBoxDataSub (const Opcode::AABBCollisionNode* node, unsigned int currentDepth, unsigned int depth, std::vector& out_data) { if(currentDepth == depth || node->IsLeaf() ){ const IceMaths::Point& p = node->mAABB.mCenter; out_data.push_back(Vector3(p.x, p.y, p.z)); const IceMaths::Point& q = node->mAABB.mExtents; out_data.push_back(Vector3(q.x, q.y, q.z)); } currentDepth++; if(currentDepth > depth){ return; } if(!node->IsLeaf()){ getBoundingBoxDataSub(node->GetPos(), currentDepth, depth, out_data); getBoundingBoxDataSub(node->GetNeg(), currentDepth, depth, out_data); } } void ColdetModel::getBoundingBoxData(const int depth, std::vector& out_data) { const Opcode::AABBCollisionNode* rootNode=((Opcode::AABBCollisionTree*)internalModel->model.GetTree())->GetNodes(); out_data.clear(); getBoundingBoxDataSub(rootNode, 0, depth, out_data); } bool ColdetModelInternalModel::build() { bool result = false; neighbors.clear(); if(triangles.size() > 0){ extractNeghiborTriangles(); Opcode::OPCODECREATE OPCC; iMesh.SetPointers(&triangles[0], &vertices[0]); iMesh.SetNbTriangles(triangles.size()); iMesh.SetNbVertices(vertices.size()); OPCC.mIMesh = &iMesh; OPCC.mNoLeaf = false; OPCC.mQuantized = false; OPCC.mKeepOriginal = false; model.Build(OPCC); if(model.GetTree()){ AABBTreeMaxDepth = computeDepth(((Opcode::AABBCollisionTree*)model.GetTree())->GetNodes(), 0, -1) + 1; for(int i=0; iSet((float)T(0,0), (float)T(1,0), (float)T(2,0), 0.0f, (float)T(0,1), (float)T(1,1), (float)T(2,1), 0.0f, (float)T(0,2), (float)T(1,2), (float)T(2,2), 0.0f, (float)T(0,3), (float)T(1,3), (float)T(2,3), 1.0f); } #ifdef CNOID_BACKWARD_COMPATIBILITY void ColdetModel::setPosition(const Matrix3& R, const Vector3& p) { transform->Set((float)R(0,0), (float)R(1,0), (float)R(2,0), 0.0f, (float)R(0,1), (float)R(1,1), (float)R(2,1), 0.0f, (float)R(0,2), (float)R(1,2), (float)R(2,2), 0.0f, (float)p(0), (float)p(1), (float)p(2), 1.0f); } #endif void ColdetModel::setPosition(const double* R, const double* p) { transform->Set((float)R[0], (float)R[3], (float)R[6], 0.0f, (float)R[1], (float)R[4], (float)R[7], 0.0f, (float)R[2], (float)R[5], (float)R[8], 0.0f, (float)p[0], (float)p[1], (float)p[2], 1.0f); } void ColdetModel::setPrimitiveType(PrimitiveType ptype) { internalModel->pType = ptype; } ColdetModel::PrimitiveType ColdetModel::getPrimitiveType() const { return internalModel->pType; } void ColdetModel::setNumPrimitiveParams(unsigned int nparam) { internalModel->pParams.resize(nparam); } bool ColdetModel::setPrimitiveParam(unsigned int index, float value) { if (index >= internalModel->pParams.size()) return false; internalModel->pParams[index] = value; return true; } bool ColdetModel::getPrimitiveParam(unsigned int index, float& value) const { if (index >= internalModel->pParams.size()) return false; value = internalModel->pParams[index]; return true; } void ColdetModel::setPrimitivePosition(const double* R, const double* p) { pTransform->Set((float)R[0], (float)R[3], (float)R[6], 0.0f, (float)R[1], (float)R[4], (float)R[7], 0.0f, (float)R[2], (float)R[5], (float)R[8], 0.0f, (float)p[0], (float)p[1], (float)p[2], 1.0f); } double ColdetModel::computeDistanceWithRay(const double *point, const double *dir) { Opcode::RayCollider RC; Ray world_ray(Point(point[0], point[1], point[2]), Point(dir[0], dir[1], dir[2])); Opcode::CollisionFace CF; Opcode::SetupClosestHit(RC, CF); udword Cache; RC.Collide(world_ray, internalModel->model, transform, &Cache); if (CF.mDistance == FLT_MAX){ return 0; }else{ return CF.mDistance; } } bool ColdetModel::checkCollisionWithPointCloud(const std::vector &i_cloud, double i_radius) { Opcode::SphereCollider SC; SC.SetFirstContact(true); Opcode::SphereCache Cache; IceMaths::Point p(0,0,0); IceMaths::Sphere sphere(p, i_radius); IceMaths::Matrix4x4 sphereTrans(1,0,0,0, 0,1,0,0, 0,0,1,0, 0,0,0,1); for (unsigned int i=0; imodel, &sphereTrans, transform); if (!isOk) std::cerr << "SphereCollider::Collide() failed" << std::endl; if (SC.GetContactStatus()) return true; } return false; } namespace { inline bool extractNeighborTriangle (ColdetModelInternalModel::NeighborTriangleSetArray& neighbors, EdgeToTriangleMap& triangleMap, int triangle, int vertex1, int vertex2) { Edge edge(vertex1, vertex2); EdgeToTriangleMap::iterator p = triangleMap.find(edge); if(p == triangleMap.end()){ triangleMap[edge].t[0] = triangle; triangleMap[edge].t[1] = -1; return true; } else { trianglePair& triangles = p->second; if( triangles.t[1] != -1 ){ neighbors[triangles.t[0]].deleteNeighbor(triangles.t[1]); neighbors[triangles.t[1]].deleteNeighbor(triangles.t[0]); //cout << "neighbors[" << triangles.t[0] << "] " << neighbors[triangles.t[0]][0] << " " << neighbors[triangles.t[0]][1] << " " << neighbors[triangles.t[0]][2] << endl; //cout << "neighbors[" << triangles.t[1] << "] " << neighbors[triangles.t[1]][0] << " " << neighbors[triangles.t[1]][1] << " " << neighbors[triangles.t[1]][2] << endl; return false; }else{ neighbors[triangle].addNeighbor(triangles.t[0]); neighbors[triangles.t[0]].addNeighbor(triangle); triangles.t[1] = triangle; //cout << "neighbors[" << triangle << "] " << neighbors[triangle][0] << " " << neighbors[triangle][1] << " " << neighbors[triangle][2] << endl; //cout << "neighbors[" << triangles.t[0] << "] " << neighbors[triangles.t[0]][0] << " " << neighbors[triangles.t[0]][1] << " " << neighbors[triangles.t[0]][2] << endl; return true; } } } } void ColdetModelInternalModel::extractNeghiborTriangles() { const int numTriangles = triangles.size(); neighbors.resize(numTriangles); EdgeToTriangleMap edgeToExistingTriangleMap; bool ret = true; for(int i=0; i < numTriangles; ++i){ udword* triangle = triangles[i].mVRef; ret &= extractNeighborTriangle(neighbors, edgeToExistingTriangleMap, i, triangle[0], triangle[1]); ret &= extractNeighborTriangle(neighbors, edgeToExistingTriangleMap, i, triangle[1], triangle[2]); ret &= extractNeighborTriangle(neighbors, edgeToExistingTriangleMap, i, triangle[2], triangle[0]); } #ifdef CNOID_DEBUG if(!ret) cout << "Warning : Three or more triangles are defined for a edge." << endl; #endif } int ColdetModelInternalModel::computeDepth(const Opcode::AABBCollisionNode* node, int currentDepth, int max) { /* cout << "depth= " << currentDepth << " "; Point p = node->mAABB.mCenter; cout << p.x << " " << p.y << " " << p.z << " "; p = node->mAABB.mExtents; cout << p.x << " " << p.y << " " << p.z << " "; if(node->IsLeaf()) cout << "is Leaf " ; cout << endl; */ if(max < currentDepth){ max = currentDepth; numBBMap.push_back(0); numLeafMap.push_back(0); } numBBMap.at(currentDepth)++; if(!node->IsLeaf()){ currentDepth++; max = computeDepth(node->GetPos(), currentDepth, max); max = computeDepth(node->GetNeg(), currentDepth, max); } else { numLeafMap.at(currentDepth)++; } return max; } choreonoid-1.5.0/src/AISTCollisionDetector/CollisionPairInserter.h0000664000000000000000000000704312741425367023716 0ustar rootroot #ifndef CNOID_COLLISION_COLLISION_PAIR_INSERTER_H_INCLUDED #define CNOID_COLLISION_COLLISION_PAIR_INSERTER_H_INCLUDED #include "CollisionData.h" #include namespace cnoid { class ColdetModelInternalModel; } namespace Opcode { class AABBCollisionNode; class MeshInterface; class CollisionPairInserter { public: virtual ~CollisionPairInserter(){} /** @brief clear collision information */ void clear(){ cdContact.clear(); } /** @brief detect collsiion between triangles @param P1 the first vertex of the first triangle @param P2 the second vertex of the first triangle @param P3 the third vertex of the first triangle @param Q1 the first vertex of the second triangle @param Q2 the second vertex of the second triangle @param Q3 the third vertex of the second triangle @param col_p collision information @return 1 if collision is detected, 0 otherwise @note all vertices must be represented in the same coordinates */ virtual int detectTriTriOverlap( const cnoid::Vector3& P1, const cnoid::Vector3& P2, const cnoid::Vector3& P3, const cnoid::Vector3& Q1, const cnoid::Vector3& Q2, const cnoid::Vector3& Q3, cnoid::collision_data* col_p)=0; /** @brief refine collision information using neighboring triangls @param b1 node of the first colliding triangle @param b2 node of the second colliding triangle @param id1 id of the first colliding triangle @param id2 id of the second colliding triangle @param num_of_i_points the number of intersecting points @param i_points intersecting points @param n_vector normal vector of collision @param depth penetration depth @param n1 normal vector of the first triangle @param m1 normal vector of the second triangle @param ctype collision type @param mesh1 mesh which includes the first triangle @param mesh2 mesh which includes the second triangle @return CD_OK if refined successfully @note collision information is expressed in the second mesh coordinates */ virtual int apply(const Opcode::AABBCollisionNode* b1, const Opcode::AABBCollisionNode* b2, int id1, int id2, int num_of_i_points, cnoid::Vector3 i_points[4], cnoid::Vector3& n_vector, double depth, cnoid::Vector3& n1, cnoid::Vector3& m1, int ctype, Opcode::MeshInterface* mesh1, Opcode::MeshInterface* mesh2)=0; /** @brief get collision information @return collision information */ std::vector& collisions() { return cdContact; } void set(cnoid::ColdetModelInternalModel* model0, cnoid::ColdetModelInternalModel* model1){ models[0] = model0; models[1] = model1; } cnoid::Matrix3 CD_Rot1; ///< rotation of the first mesh cnoid::Vector3 CD_Trans1; ///< translation of the first mesh double CD_s1; ///< scale of the first mesh cnoid::Matrix3 CD_Rot2; ///< rotation of the second mesh cnoid::Vector3 CD_Trans2; ///< translation of the second mesh double CD_s2; ///< scale of the second mesh std::vector cdContact; ///< collision information cnoid::ColdetModelInternalModel* models[2]; }; } #endif choreonoid-1.5.0/src/AISTCollisionDetector/ColdetModelPair.h0000664000000000000000000000575612741425367022453 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_COLLISION_COLDET_MODEL_PAIR_H_INCLUDED #define CNOID_COLLISION_COLDET_MODEL_PAIR_H_INCLUDED #include "CollisionData.h" #include "ColdetModel.h" #include "CollisionPairInserter.h" #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT ColdetModelPair { public: ColdetModelPair(); ColdetModelPair(const ColdetModelPtr& model0, const ColdetModelPtr& model1, double tolerance = 0.0); ColdetModelPair(const ColdetModelPair& org); virtual ~ColdetModelPair(); void set(const ColdetModelPtr& model0, const ColdetModelPtr& model1); const ColdetModelPtr& model(int index) { return models[index]; } std::vector& detectCollisions() { return detectCollisionsSub(true); } std::vector& collisions() { return collisionPairInserter->cdContact; } void clearCollisions(){ collisionPairInserter->cdContact.clear(); } bool checkCollision() { return !detectCollisionsSub(false).empty(); } double computeDistance(double* point0, double* point1); /** @param out_triangle0, out_triangle1 Indices of the triangle pair that are originally registered by ColdeModel::setTraiangle(). @param out_point0, out_point1 The closest points */ double computeDistance(int& out_triangle0, double* out_point0, int& out_triangle1, double* out_point1); bool detectIntersection(); double tolerance() const { return tolerance_; } void setTolerance(double tolerance){ tolerance_ = tolerance; } void setCollisionPairInserter(Opcode::CollisionPairInserter *inserter); int calculateCentroidIntersection(float &cx, float &cy, float &A, float radius, std::vector vx, std::vector vy); int makeCCW(std::vector &vx, std::vector &vy); float calculatePolygonArea(const std::vector &vx, const std::vector &vy); void calculateSectorCentroid(float &cx, float &cy, float radius, float th1, float th2); inline bool isInsideCircle(float r, float x, float y) { return sqrt(pow(x, 2) + pow(y, 2)) <= r; } bool isInsideTriangle(float x, float y, const std::vector &vx, const std::vector &vy); int calculateIntersection(std::vector &x, std::vector &y, float radius, float x1, float y1, float x2, float y2); private: std::vector& detectCollisionsSub(bool detectAllContacts); bool detectMeshMeshCollisions(bool detectAllContacts); bool detectSphereSphereCollisions(bool detectAllContacts); bool detectSphereMeshCollisions(bool detectAllContacts); bool detectPlaneCylinderCollisions(bool detectAllContacts); bool detectPlaneMeshCollisions(bool detectAllContacts); ColdetModelPtr models[2]; double tolerance_; Opcode::CollisionPairInserter* collisionPairInserter; int boxTestsCount; int triTestsCount; }; typedef boost::shared_ptr ColdetModelPairPtr; } #endif choreonoid-1.5.0/src/AISTCollisionDetector/StdCollisionPairInserter.cpp0000664000000000000000000003477312741425367024736 0ustar rootroot #include "StdCollisionPairInserter.h" #include "ColdetModelInternalModel.h" #include "Opcode/Opcode.h" #include #include using namespace std; using namespace Opcode; using namespace cnoid; namespace Opcode { int tri_tri_overlap( const Vector3& P1, const Vector3& P2, const Vector3& P3, const Vector3& Q1, const Vector3& Q2, const Vector3& Q3, collision_data* col_p, CollisionPairInserter* collisionPairInserter); } namespace { const bool COLLIDE_DEBUG = false; // if DEPTH_CHECK is defined in the compile, contact point selection using depth value is enabled #ifdef DEPTH_CHECK const double MAX_DEPTH = 0.1; #endif const int CD_OK = 0; const int CD_ALL_CONTACTS = 1; const int CD_FIRST_CONTACT = 2; const int CD_ERR_COLLIDE_OUT_OF_MEMORY = 2; enum { FV = 1, VF, EE }; } StdCollisionPairInserter::StdCollisionPairInserter() { } StdCollisionPairInserter::~StdCollisionPairInserter() { } void StdCollisionPairInserter::copy_tri(col_tri* t1, tri* t2) { t1->p1 = t2->p1; t1->p2 = t2->p2; t1->p3 = t2->p3; } void StdCollisionPairInserter::copy_tri(col_tri* t1, col_tri* t2) { t1->p1 = t2->p1; t1->p2 = t2->p2; t1->p3 = t2->p3; if(t2->n[0] && t2->n[1] && t2->n[2]){ t1->n = t2->n; } } void StdCollisionPairInserter::calc_normal_vector(col_tri* t) { if(t->status == 0){ const Vector3 e1(t->p2 - t->p1); const Vector3 e2(t->p3 - t->p2); t->n = e1.cross(e2).normalized(); t->status = 1; } } int StdCollisionPairInserter::is_convex_neighbor(col_tri* t1, col_tri* t2) { const double EPS = 1.0e-12; // a small number calc_normal_vector(t2); // printf("normal vector1 = %f %f %f\n", t1->n[0], t1->n[1], t1->n[2]); // printf("normal vector2 = %f %f %f\n", t2->n[0], t2->n[1], t2->n[2]); const Vector3 vec1(t1->p1 - t2->p1); const Vector3 vec2(t1->p2 - t2->p2); const Vector3 vec3(t1->p3 - t2->p3); // printf("is_convex_neighbor = %f %f %f\n",innerProd(t1->n,vec1),innerProd(t1->n,vec2),innerProd(t1->n,vec3)); if(t2->n.dot(vec1) < EPS && t2->n.dot(vec2) < EPS && t2->n.dot(vec3) < EPS){ return 1; } else { return 0; } } void StdCollisionPairInserter::triangleIndexToPoint(ColdetModelInternalModel* model, int id, col_tri& tri){ IceMaths::IndexedTriangle indextriangle = model->triangles[id]; IceMaths::Point point0 = model->vertices[indextriangle.mVRef[0]]; IceMaths::Point point1 = model->vertices[indextriangle.mVRef[1]]; IceMaths::Point point2 = model->vertices[indextriangle.mVRef[2]]; tri.p1[0] = point0.x; tri.p1[1] = point0.y; tri.p1[2] = point0.z; tri.p2[0] = point1.x; tri.p2[1] = point1.y; tri.p2[2] = point1.z; tri.p3[0] = point2.x; tri.p3[1] = point2.y; tri.p3[2] = point2.z; } void StdCollisionPairInserter::get_triangles_in_convex_neighbor (ColdetModelInternalModel* model, int id, col_tri* tri_convex_neighbor, std::vector& foundTriangles, int& count) { int k; for(int i=0; ineighbors[id][i]; if(nei < 0) continue; int j=0; for(; j 0) continue; Vector3 p2 = tri_nei.p2 - tri_convex_neighbor[0].p1; if(p2.dot(tri_convex_neighbor[0].n) > 0) continue; Vector3 p3 = tri_nei.p3 - tri_convex_neighbor[0].p1; if(p3.dot(tri_convex_neighbor[0].n) > 0) continue; } foundTriangles.push_back(nei); tri_convex_neighbor[count].status = 0; copy_tri(&tri_convex_neighbor[count++], &tri_nei); } } if(COLLIDE_DEBUG) { cout << "id= " << id; for(int i=0; i foundTriangles; int count=0; triangleIndexToPoint(model, id, tri_convex_neighbor[count++]); tri_convex_neighbor[0].status = 0; foundTriangles.push_back(id); int start = 0; int end = 1; int j=0; while(count < min_num && j<2){ for(int i=start; i< end; i++) get_triangles_in_convex_neighbor(model, foundTriangles[i], tri_convex_neighbor, foundTriangles, count); start = end; end = count; j++; } return count; } void StdCollisionPairInserter::examine_normal_vector(int id1, int id2, int ctype) { check_separability(id1, id2, ctype); } void StdCollisionPairInserter::check_separability(int id1, int id2, int ctype) { int contactIndex = cdContact.size() - 1; Vector3 signed_distance; Vector3 signed_distance1(99999999.0,99999999.0,99999999.0); Vector3 signed_distance2(-99999999.0,-99999999.0,-99999999.0); find_signed_distance(signed_distance1, models[0], id1, contactIndex, ctype, 1); find_signed_distance(signed_distance2, models[1], id2, contactIndex, ctype, 2); int max = (2 < ctype) ? ctype : 2; for(int i=0; i < max; ++i){ signed_distance[i] = signed_distance1[i] - signed_distance2[i]; if(COLLIDE_DEBUG) printf("signed distance %d = %f\n", i, signed_distance[i]); } if(COLLIDE_DEBUG){ printf("origin normal = %f %f %f\n", cdContact[contactIndex].n_vector[0], cdContact[contactIndex].n_vector[1], cdContact[contactIndex].n_vector[2]); cout << "origin depth = " << cdContact[contactIndex].depth << endl; } switch(ctype){ case FV: if(signed_distance[0] < signed_distance[1]){ cdContact[contactIndex].n_vector = cdContact[contactIndex].m; cdContact[contactIndex].depth = fabs(signed_distance[1]); if(COLLIDE_DEBUG) printf("normal replaced\n"); } else { cdContact[contactIndex].depth = fabs(signed_distance[0]); } break; case VF: if(signed_distance[0] < signed_distance[1]){ cdContact[contactIndex].n_vector = - cdContact[contactIndex].n; cdContact[contactIndex].depth = fabs(signed_distance[1]); if(COLLIDE_DEBUG) printf("normal replaced\n"); } else{ cdContact[contactIndex].depth = fabs(signed_distance[0]); } break; case EE: cdContact[contactIndex].num_of_i_points = 1; if(signed_distance[0] < signed_distance[1] && signed_distance[2] <= signed_distance[1]){ cdContact[contactIndex].n_vector = cdContact[contactIndex].m; cdContact[contactIndex].depth = fabs(signed_distance[1]); if(COLLIDE_DEBUG) printf("normal replaced\n"); } else if(signed_distance[0] < signed_distance[2] && signed_distance[1] < signed_distance[2]){ cdContact[contactIndex].n_vector = - cdContact[contactIndex].n; cdContact[contactIndex].depth = fabs(signed_distance[2]); if(COLLIDE_DEBUG) printf("normal replaced\n"); } else { cdContact[contactIndex].depth = fabs(signed_distance[0]); // cout << "depth in InsertCollisionPair.cpp = " << signed_distance[0] << endl; } cdContact[contactIndex].i_points[0] += cdContact[contactIndex].i_points[1]; cdContact[contactIndex].i_points[0] *= 0.5; break; } if(COLLIDE_DEBUG){ printf("final normal = %f %f %f\n", cdContact[contactIndex].n_vector[0], cdContact[contactIndex].n_vector[1], cdContact[contactIndex].n_vector[2]); } if(COLLIDE_DEBUG){ for(int i=0; i < cdContact[contactIndex].num_of_i_points; ++i){ cout << "final depth = " << cdContact[contactIndex].depth << endl; cout << "final i_point = " << cdContact[contactIndex].i_points[i][0] << " " << cdContact[contactIndex].i_points[i][1] << " " << cdContact[contactIndex].i_points[i][2] << endl; } } if(COLLIDE_DEBUG) cout << endl; } void StdCollisionPairInserter::find_signed_distance( Vector3& signed_distance, col_tri* trp, int nth, int ctype, int obj) { find_signed_distance(signed_distance, trp->p1, nth, ctype, obj); find_signed_distance(signed_distance, trp->p2, nth, ctype, obj); find_signed_distance(signed_distance, trp->p3, nth, ctype, obj); } void StdCollisionPairInserter::find_signed_distance( Vector3& signed_distance, const Vector3& vert, int nth, int ctype, int obj) { Vector3 vert_w; if(obj==1){ vert_w = CD_s1 * (CD_Rot1 * vert + CD_Trans1); } else { vert_w = CD_s2 * (CD_Rot2 * vert + CD_Trans2); } if(COLLIDE_DEBUG) printf("vertex = %f %f %f\n", vert_w[0], vert_w[1], vert_w[2]); // use the first intersecting point to find the distance const Vector3 vec(vert_w - cdContact[nth].i_points[0]); //vecNormalize(cdContact[nth].n_vector); cdContact[nth].n_vector.normalize(); double dis0 = cdContact[nth].n_vector.dot(vec); if(COLLIDE_DEBUG){ cout << "vec = " << vec[0] << " " << vec[1] << " " << vec[2] << endl; cout << "n_vec = " << cdContact[nth].n_vector[0] << " " << cdContact[nth].n_vector[1] << " " << cdContact[nth].n_vector[2] << endl; } #if 0 switch(ctype){ case FV: if(dot(cdContact[nth].n_vector, cdContact[nth].n) > 0.0) dis0 = - dis0; break; case VF: if(dot(cdContact[nth].n_vector, cdContact[nth].m) < 0.0) dis0 = - dis0; break; case EE: if(dot(cdContact[nth].n_vector, cdContact[nth].n) > 0.0 || dot(cdContact[nth].n_vector, cdContact[nth].m) < 0.0) dis0 = - dis0; } #endif if(COLLIDE_DEBUG) printf("dis0 = %f\n", dis0); double dis1 = dis0; double dis2 = dis0; switch(ctype){ case FV: dis1 = cdContact[nth].m.dot(vec); if(COLLIDE_DEBUG){ cout << "m = " << cdContact[nth].m[0] << " " << cdContact[nth].m[1] << " " << cdContact[nth].m[2] << endl; } if(COLLIDE_DEBUG) printf("dis1 = %f\n", dis1); break; case VF: dis1 = - cdContact[nth].n.dot(vec); if(COLLIDE_DEBUG){ cout << "n = " << cdContact[nth].n[0] << " " << cdContact[nth].n[1] << " " << cdContact[nth].n[2] << endl; } if(COLLIDE_DEBUG) printf("dis1 = %f\n", dis1); break; case EE: dis1 = cdContact[nth].m.dot(vec); dis2 = - cdContact[nth].n.dot(vec); if(COLLIDE_DEBUG){ printf("dis1 = %f\n", dis1); printf("dis2 = %f\n", dis2); } } if(COLLIDE_DEBUG) printf("obj = %d\n", obj); if(obj == 1){ if(dis0 < signed_distance[0]) signed_distance[0] = dis0; if(dis1 < signed_distance[1]) signed_distance[1] = dis1; if(ctype==EE) if(dis2 < signed_distance[2]) signed_distance[2] = dis2; } else{ if(signed_distance[0] < dis0) signed_distance[0] = dis0; if(signed_distance[1] < dis1) signed_distance[1] = dis1; if(ctype==EE) if(signed_distance[2] < dis2) signed_distance[2] = dis2; } } void StdCollisionPairInserter::find_signed_distance( Vector3& signed_distance, ColdetModelInternalModel* model, int id, int contactIndex, int ctype, int obj) { const int MIN_NUM_NEIGHBOR = 10; col_tri* tri_convex_neighbor = new col_tri[22]; int num = get_triangles_in_convex_neighbor(model, id, tri_convex_neighbor, MIN_NUM_NEIGHBOR); for(int i=0; i #include #include using namespace std; using namespace cnoid; namespace { const bool HIRUKAWA_DEBUG = false; /* used in normal_test */ enum { NOT_INTERSECT = 0, EDGE1_NOT_INTERSECT = 1, EDGE2_NOT_INTERSECT = 2, EDGE3_NOT_INTERSECT = 3 }; /* used in cross_test */ const int INTERSECT = 1; } /********************************************************** separability test by the supporting plane of a triangle return value 0 : not intersect 1 : f1 or e1 doesn't intersect 2 : f2 or e2 doesn't intersect 3 : f3 or e3 doesn't intersect **********************************************************/ static int separability_test_by_face(const Vector3& nm) { if(nm[0] < 0.0 && nm[1] < 0.0 && nm[2] < 0.0 || nm[0] > 0.0 && nm[1] > 0.0 && nm[2] > 0.0){ return NOT_INTERSECT; } if(nm[0] < 0.0 && nm[1] < 0.0 && nm[2] > 0.0 || nm[0] > 0.0 && nm[1] > 0.0 && nm[2] < 0.0){ return EDGE1_NOT_INTERSECT; } if(nm[0] < 0.0 && nm[1] > 0.0 && nm[2] > 0.0 || nm[0] > 0.0 && nm[1] < 0.0 && nm[2] < 0.0){ return EDGE2_NOT_INTERSECT; } if(nm[0] > 0.0 && nm[1] < 0.0 && nm[2] > 0.0 || nm[0] < 0.0 && nm[1] > 0.0 && nm[2] < 0.0){ return EDGE3_NOT_INTERSECT; } return 0; } /********************************************************** triangle inside test: normal vector is cross product of ei*fj ***********************************************************/ static int triangle_inside_test( const Vector3& ef1, const Vector3& ef2, const Vector3& ef3, const Vector3& P3, const Vector3& P1, const Vector3& P2, const Vector3& Q) { double ef1P1 = ef1.dot(P1); /*project P1 on ef1*/ double ef1P3 = ef1.dot(P3); /*project P3 on ef1*/ double ef1Q = ef1.dot(Q); /*project Q on ef1*/ double ef2P2 = ef2.dot(P2); /*project P2 on ef2*/ double ef2P1 = ef2.dot(P1); /*project P1 on ef2*/ double ef2Q = ef2.dot(Q); /*project Q on ef2*/ double ef3P3 = ef3.dot(P3); /*project P3 on ef3*/ double ef3P2 = ef3.dot(P2); /*project P2 on ef3*/ double ef3Q = ef3.dot(Q); /*project Q on ef3*/ if((ef1P3 > ef1P1 && ef1Q > ef1P1 || ef1P3 < ef1P1 && ef1Q < ef1P1 ) && (ef2P1 > ef2P2 && ef2Q > ef2P2 || ef2P1 < ef2P2 && ef2Q < ef2P2 ) && (ef3P2 > ef3P3 && ef3Q > ef3P3 || ef3P2 < ef3P3 && ef3Q < ef3P3 )) { return INTERSECT; } return NOT_INTERSECT; } static void find_intersection_pt( Vector3& ipt, const Vector3& x1, const Vector3& x2, double mn1, double mn2) { if(mn1 == mn2) /*exit(0);*/ return; if(mn1 >0 && mn2 < 0){ ipt = (-(mn2*x1) + mn1*x2)/(mn1-mn2); }else if(mn1 < 0 && mn2 > 0){ ipt = (mn2*x1 - mn1*x2)/(-mn1+mn2); } } static inline void find_intersection_pt( Vector3& ipt, const Vector3& x1, const Vector3& x2, double p) { ipt = (1.0 - p) * x1 + p * x2; if(HIRUKAWA_DEBUG){ cout << "v1 = " << x1[0] << ", " << x1[1] << ", " << x1[2] << endl; cout << "v2 = " << x2[0] << ", " << x2[1] << ", " << x2[2] << endl; cout << "edge = " << x2[0]-x1[0] << ", " << x2[1]-x1[1] << ", " << x2[2]-x1[2] << endl; cout << "common pt = " << ipt[0] << " " << ipt[1] << " " << ipt[2] << endl; } } // // Calculate the depth of the intersection between two triangles // static inline double calc_depth( const Vector3& ip1, const Vector3& ip2, const Vector3& n) { // vecNormalize(n); if(HIRUKAWA_DEBUG){ cout << "calc_depth 1 = " << (ip1 - ip2).dot(n) << endl; } return fabs((ip1 - ip2).dot(n)); } static double calc_depth( const Vector3& ip, const Vector3& pt1, const Vector3& pt2, const Vector3& n) { double d1 = fabs((ip - pt1).dot(n)); double d2 = fabs((ip - pt2).dot(n)); double depth = (d1 < d2) ? d1 : d2; if(HIRUKAWA_DEBUG){ cout << "calc_depth 2 = " << depth << endl; } return depth; } static double calc_depth( const Vector3& ip1, const Vector3& ip2, const Vector3& pt1, const Vector3& pt2, const Vector3& pt3, const Vector3& n) { // when a triangle penetrates another triangle at two intersection points // and the separating plane is the supporting plane of the penetrated triangle // vecNormalize(n); double d1 = fabs((ip1 - pt1).dot(n)); double d2 = fabs((ip2 - pt2).dot(n)); double d3 = fabs((ip1 - pt3).dot(n)); // ip1 can be either ip1 or ip2 double depth = (d1 < d2) ? d2 : d1; if(d3 < depth){ depth = d3; } if(HIRUKAWA_DEBUG){ cout << "calc_depth 3 = " << depth << endl; } return depth; } static void find_foot( const Vector3& ip, const Vector3& pt1, const Vector3& pt2, Vector3& f) { /* double u, v, w, p; u = pt2[0] - pt1[0]; v = pt2[1] - pt1[1]; w = pt2[2] - pt1[2]; p = u * (ip[0] - pt1[0]) + v * (ip[1] - pt1[1]) + w * (ip[2] - pt1[2]); p /= u * u + v * v + w * w; f[0] = pt1[0] + u * p; f[1] = pt1[1] + v * p; f[2] = pt1[2] + w * p; */ const Vector3 pt(pt2 - pt1); const double p = pt.dot(ip - pt1) / pt.dot(pt); f = pt1 + p * pt; } static double calc_depth( const Vector3& ip, const Vector3& pt1, const Vector3& pt2, const Vector3& pt3, const Vector3& n) { Vector3 f12, f23, f31; find_foot(ip, pt1, pt2, f12); find_foot(ip, pt2, pt3, f23); find_foot(ip, pt3, pt1, f31); if(HIRUKAWA_DEBUG){ cout << "ip = " << ip[0] << " " << ip[1] << " " << ip[2] << endl; cout << "f12 = " << f12[0] << " " << f12[1] << " " << f12[2] << endl; cout << "f23 = " << f23[0] << " " << f23[1] << " " << f23[2] << endl; cout << "f31 = " << f31[0] << " " << f31[1] << " " << f31[2] << endl; } // fabs() is taken to cope with numerical error of find_foot() const double d1 = fabs((f12 - ip).dot(n)); const double d2 = fabs((f23 - ip).dot(n)); const double d3 = fabs((f31 - ip).dot(n)); // cout << "d1 d2 d3 = " << d1 << " " << d2 << " " << d3 << endl; // dsum = fabs(d1)+fabs(d2)+fabs(d3); // if(d1<0.0) d1=dsum; if(d2<0.0) d2=dsum; if(d3<0.0) d3=dsum; double depth = (d1 < d2) ? d1 : d2; if(d3 < depth){ depth = d3; } if(HIRUKAWA_DEBUG){ cout << "calc_depth 4 = " << depth << endl; } return depth; } static double calc_depth2( const Vector3& ip1, const Vector3& ip2, const Vector3& pt1, const Vector3& pt2, const Vector3& pt3, const Vector3& n) { // when a triangle penetrates another triangle at two intersecting points // and the separating plane is the supporting plane of the penetrating triangle const Vector3 nn(n); // vecNormalize(nn); const double depth1 = calc_depth(ip1, pt1, pt2, pt3, nn); const double depth2 = calc_depth(ip2, pt1, pt2, pt3, nn); // cout << "depth1 depth2 = " << depth1 << " " << depth2 << endl; const double depth = (depth1 < depth2) ? depth2 : depth1; if(HIRUKAWA_DEBUG){ cout << "calc_depth 5 = " << depth << endl; } return depth; } static void calcNormal( Vector3& vec, const Vector3& v1, const Vector3& v2, const Vector3& v3, double sgn) { // find the vector from v1 to the mid point of v2 and v3 when 0n_vector = m1 * pq; // // The depth is estimated in InsertCollisionPair.cpp // The following depth calculation is done only for debugging purpose // col_p->depth = calc_depth(ip1, ip2, p2, p3, p1, col_p->n_vector); const Vector3 nv(-n1 * pq); const double dp = calc_depth2(ip1, ip2, q1, q2, q3, nv); if(dp < col_p->depth){ col_p->depth = dp; } ip3 = ip1; ip4 = ip2; col_p->num_of_i_points = 2; return 1; } return 0; } // // find the collision info when an edges penetrate a face each other // static int find_collision_info( const Vector3& p1, const Vector3& p2, const Vector3& p3, double mp0, double mp1, const Vector3& q1, const Vector3& q2, const Vector3& q3, double nq0, double nq1, const Vector3& ef11, const Vector3& n1, const Vector3& m1, Vector3& ip3, Vector3& ip4, collision_data *col_p) { Vector3 ip1; find_intersection_pt(ip1, q1, q2, nq0, nq1); Vector3 ip2; find_intersection_pt(ip2, p1, p2, mp0, mp1); double dp; if(get_normal_vector_test(col_p->n_vector, ef11, ip2, ip1, p3, q3, n1, m1, p1, p2, q1, q2) && find_common_perpendicular(p1, p2, q1, q2, ip1, ip2, n1, m1, col_p->n_vector, dp)){ ip3 = ip1; ip4 = ip2; col_p->num_of_i_points = 2; col_p->depth = dp; return 1; } return 0; } namespace Opcode { // very robust triangle intersection test // uses no divisions // works on coplanar triangles int tri_tri_overlap( const Vector3& P1, const Vector3& P2, const Vector3& P3, const Vector3& Q1, const Vector3& Q2, const Vector3& Q3, collision_data* col_p, CollisionPairInserter* collisionPairInserter) { /* One triangle is (p1,p2,p3). Other is (q1,q2,q3). Edges are (e1,e2,e3) and (f1,f2,f3). Normals are n1 and m1 Outwards are (g1,g2,g3) and (h1,h2,h3). We assume that the triangle vertices are in the same coordinate system. First thing we do is establish a new c.s. so that p1 is at (0,0,0). */ Vector3 p1, p2, p3; Vector3 q1, q2, q3; Vector3 e1, e2, e3; Vector3 f1, f2, f3; // Vector3 g1, g2, g3; // Vector3 h1, h2, h3; Vector3 n1, m1; Vector3 z; Vector3 nq, mp; int triP,triQ; int edf1, edf2, edf3, ede1, ede2, ede3; Vector3 ef11, ef12, ef13; Vector3 ef21, ef22, ef23; Vector3 ef31, ef32, ef33; /* intersection point R is a flag which tri P & Q correspond or not */ Vector3 ip,ip3,ip4,ip5,ip6; Vector3 i_pts_w[4]; const int FV = 1; // face-vertex contact type const int VF = 2; // vertex-face contact type const int EE = 3; // edge-edge contact type z << 0.0,0.0,0.0; p1 = P1 - P1; p2 = P2 - P1; p3 = P3 - P1; q1 = Q1 - P1; q2 = Q2 - P1; q3 = Q3 - P1; e1 = p2 - p1; e2 = p3 - p2; e3 = p1 - p3; f1 = q2 - q1; f2 = q3 - q2; f3 = q1 - q3; n1 = e1.cross(e2); m1 = f1.cross(f2); // now begin the series of tests /************************************* separability test by face ************************************/ nq[0] = n1.dot(q1); nq[1] = n1.dot(q2); nq[2] = n1.dot(q3); triQ = separability_test_by_face(nq); if(triQ == NOT_INTERSECT) return 0; double mq = m1.dot(q1); mp[0] = m1.dot(p1) - mq; mp[1] = m1.dot(p2) - mq; mp[2] = m1.dot(p3) - mq; triP = separability_test_by_face(mp); if(triP == NOT_INTERSECT) return 0; ef11 = e1.cross(f1); ef12 = e1.cross(f2); ef13 = e1.cross(f3); ef21 = e2.cross(f1); ef22 = e2.cross(f2); ef23 = e2.cross(f3); ef31 = e3.cross(f1); ef32 = e3.cross(f2); ef33 = e3.cross(f3); edf1 = 0; edf2 = 0; edf3 = 0; ede1 = 0; ede2 = 0; ede3 = 0; /******************************** triangle inside test *********************************/ switch(triQ) { case NOT_INTERSECT: return 0; case EDGE1_NOT_INTERSECT: edf2 = triangle_inside_test(ef12,ef22,ef32,p3,p1,p2,q2); edf3 = triangle_inside_test(ef13,ef23,ef33,p3,p1,p2,q3); break; case EDGE2_NOT_INTERSECT: edf1 = triangle_inside_test(ef11,ef21,ef31,p3,p1,p2,q1); edf3 = triangle_inside_test(ef13,ef23,ef33,p3,p1,p2,q3); break; case EDGE3_NOT_INTERSECT: edf1 = triangle_inside_test(ef11,ef21,ef31,p3,p1,p2,q1); edf2 = triangle_inside_test(ef12,ef22,ef32,p3,p1,p2,q2); break; } int num_of_edges = edf1 + edf2 + edf3; if(num_of_edges == 3){ //exit(1); return 0; } if(num_of_edges < 2){ switch(triP) { case EDGE1_NOT_INTERSECT: ede2 = triangle_inside_test(ef21,ef22,ef23,q3,q1,q2,p2); ede3 = triangle_inside_test(ef31,ef32,ef33,q3,q1,q2,p3); if(ede2+ede3==2){ edf1= NOT_INTERSECT; edf2= NOT_INTERSECT; edf3= NOT_INTERSECT; } break; case EDGE2_NOT_INTERSECT: ede1 = triangle_inside_test(ef11,ef12,ef13,q3,q1,q2,p1); ede3 = triangle_inside_test(ef31,ef32,ef33,q3,q1,q2,p3); if(ede1+ede3==2){ edf1= NOT_INTERSECT; edf2= NOT_INTERSECT; edf3= NOT_INTERSECT; } break; case EDGE3_NOT_INTERSECT: ede1 = triangle_inside_test(ef11,ef12,ef13,q3,q1,q2,p1); ede2 = triangle_inside_test(ef21,ef22,ef23,q3,q1,q2,p2); if(ede1+ede2 == 2){ edf1= NOT_INTERSECT; edf2= NOT_INTERSECT; edf3= NOT_INTERSECT; } break; } if(num_of_edges == 0 && ede1+ede2+ede3 == 3){ //exit(1); return 0; } } int num = edf1+edf2+edf3+ede1+ede2+ede3; if(num == 0){ // cout << "no edge intersect" << endl; return 0; } else if(num > 2){ printf("err of edge detection...."); //exit(1); return 0; } n1.normalize(); m1.normalize(); /********************************* find intersection points **********************************/ if(num==1){ if(edf1==INTERSECT){ find_intersection_pt(ip,q1,q2,nq[0],nq[1]); ip3 = ip; col_p->n_vector = -n1; col_p->depth = 0.0; col_p->c_type = FV; } else if(edf2==INTERSECT){ find_intersection_pt(ip,q2,q3,nq[1],nq[2]); ip3 = ip; col_p->n_vector = -n1; col_p->depth = 0.0; col_p->c_type = FV; } else if(edf3==INTERSECT){ find_intersection_pt(ip,q3,q1,nq[2],nq[0]); ip3 = ip; col_p->n_vector = -n1; col_p->depth = 0.0; col_p->c_type = FV; } else if(ede1==INTERSECT){ find_intersection_pt(ip,p1,p2,mp[0],mp[1]); ip3 = ip; col_p->n_vector = m1; col_p->depth = 0.0; col_p->c_type = VF; } else if(ede2==INTERSECT){ find_intersection_pt(ip,p2,p3,mp[1],mp[2]); ip3 = ip; col_p->n_vector = m1; col_p->depth = 0.0; col_p->c_type = VF; } else if(ede3==INTERSECT){ find_intersection_pt(ip,p3,p1,mp[2],mp[0]); ip3 = ip; col_p->n_vector = m1; col_p->depth = 0.0; col_p->c_type = VF; } col_p->num_of_i_points = 1; } else if(num==2) { if(edf1==INTERSECT && edf2==INTERSECT){ if(HIRUKAWA_DEBUG) cout << "f1 f2" << endl; col_p->c_type = FV; if(!find_collision_info(q2,q1,q3,nq[1],nq[0],nq[2],p1,p2,p3,e1,e2,e3, m1,n1,ip3,ip4,ip5,ip6,col_p,-1.0)) return 0; } else if(edf1==INTERSECT && edf3==INTERSECT){ if(HIRUKAWA_DEBUG) cout << "f1 f3" << endl; col_p->c_type = FV; if(!find_collision_info(q1,q2,q3,nq[0],nq[1],nq[2],p1,p2,p3,e1,e2,e3, m1,n1,ip3,ip4,ip5,ip6,col_p,-1.0)) return 0; } else if(ede1==INTERSECT && edf1==INTERSECT){ if(HIRUKAWA_DEBUG) cout << "e1 f1" << endl; col_p->c_type = EE; if(!find_collision_info(p1,p2,p3,mp[0],mp[1],q1,q2,q3,nq[0],nq[1],ef11, n1,m1,ip3,ip4,col_p)) return 0; } else if(ede2==INTERSECT && edf1==INTERSECT){ if(HIRUKAWA_DEBUG) cout << "e2 f1" << endl; col_p->c_type = EE; if(!find_collision_info(p2,p3,p1,mp[1],mp[2],q1,q2,q3,nq[0],nq[1],ef21, n1,m1,ip3,ip4,col_p)) return 0; } else if(ede3==INTERSECT && edf1==INTERSECT){ if(HIRUKAWA_DEBUG) cout << "e3 f1" << endl; col_p->c_type = EE; if(!find_collision_info(p3,p1,p2,mp[2],mp[0],q1,q2,q3,nq[0],nq[1],ef31, n1,m1,ip3,ip4,col_p)) return 0; } else if(edf2==INTERSECT && edf3==INTERSECT){ if(HIRUKAWA_DEBUG) cout << "f2 f3" << endl; col_p->c_type = FV; if(!find_collision_info(q3,q2,q1,nq[2],nq[1],nq[0],p1,p2,p3,e1,e2,e3, m1,n1,ip3,ip4,ip5,ip6,col_p,-1.0)) return 0; } else if(ede1==INTERSECT && edf2==INTERSECT){ if(HIRUKAWA_DEBUG) cout << "e1 f2" << endl; col_p->c_type = EE; if(!find_collision_info(p1,p2,p3,mp[0],mp[1],q2,q3,q1,nq[1],nq[2],ef12, n1,m1,ip3,ip4,col_p)) return 0; } else if(ede2==INTERSECT && edf2==INTERSECT){ if(HIRUKAWA_DEBUG) cout << "e2 f2" << endl; col_p->c_type = EE; if(!find_collision_info(p2,p3,p1,mp[1],mp[2],q2,q3,q1,nq[1],nq[2],ef22, n1,m1,ip3,ip4,col_p)) return 0; } else if(ede3==INTERSECT && edf2==INTERSECT){ if(HIRUKAWA_DEBUG) cout << "e3 f2" << endl; col_p->c_type = EE; if(!find_collision_info(p3,p1,p2,mp[2],mp[0],q2,q3,q1,nq[1],nq[2],ef32, n1,m1,ip3,ip4,col_p)) return 0; } else if(ede1==INTERSECT && edf3==INTERSECT){ if(HIRUKAWA_DEBUG) cout << "e1 f3" << endl; col_p->c_type = EE; if(!find_collision_info(p1,p2,p3,mp[0],mp[1],q3,q1,q2,nq[2],nq[0],ef13, n1,m1,ip3,ip4,col_p)) return 0; } else if(ede2==INTERSECT && edf3==INTERSECT){ if(HIRUKAWA_DEBUG) cout << "e2 f3" << endl; col_p->c_type = EE; if(!find_collision_info(p2,p3,p1,mp[1],mp[2],q3,q1,q2,nq[2],nq[0],ef23, n1,m1,ip3,ip4,col_p)) return 0; } else if(ede3==INTERSECT && edf3==INTERSECT){ if(HIRUKAWA_DEBUG) cout << "e3 f3" << endl; col_p->c_type = EE; if(!find_collision_info(p3,p1,p2,mp[2],mp[0],q3,q1,q2,nq[2],nq[0],ef33, n1,m1,ip3,ip4,col_p)) return 0; } else if(ede1==INTERSECT && ede2==INTERSECT){ if(HIRUKAWA_DEBUG) cout << "e1 e2" << endl; col_p->c_type = VF; if(!find_collision_info(p2,p1,p3,mp[1],mp[0],mp[2],q1,q2,q3,f1,f2,f3, n1,m1,ip3,ip4,ip5,ip6,col_p,1.0)) return 0; } else if(ede1==INTERSECT && ede3==INTERSECT){ if(HIRUKAWA_DEBUG) cout << "e1 e3" << endl; col_p->c_type = VF; if(!find_collision_info(p1,p2,p3,mp[0],mp[1],mp[2],q1,q2,q3,f1,f2,f3, n1,m1,ip3,ip4,ip5,ip6,col_p,1.0)) return 0; } else if(ede2==INTERSECT && ede3==INTERSECT){ if(HIRUKAWA_DEBUG) cout << "e2 e3" << endl; col_p->c_type = VF; if(!find_collision_info(p3,p2,p1,mp[2],mp[1],mp[0],q1,q2,q3,f1,f2,f3, n1,m1,ip3,ip4,ip5,ip6,col_p,1.0)) return 0; } } if(col_p->num_of_i_points == 1){ col_p->i_points[0] = ip3 + P1; } else if(col_p->num_of_i_points == 2){ col_p->i_points[0] = ip3 + P1; col_p->i_points[1] = ip4 + P1; } else if(col_p->num_of_i_points == 3){ col_p->i_points[0] = ip3 + P1; col_p->i_points[1] = ip4 + P1; col_p->i_points[2] = ip5 + P1; } else if(col_p->num_of_i_points == 4){ col_p->i_points[0] = ip3 + P1; col_p->i_points[1] = ip4 + P1; col_p->i_points[2] = ip5 + P1; col_p->i_points[3] = ip5 + P1; } col_p->n = n1; col_p->m = m1; if(HIRUKAWA_DEBUG){ CollisionPairInserter& c = *collisionPairInserter; Vector3 p1w(c.CD_s2 * (c.CD_Rot2 * P1 + c.CD_Trans2)); Vector3 p2w(c.CD_s2 * (c.CD_Rot2 * P2 + c.CD_Trans2)); Vector3 p3w(c.CD_s2 * (c.CD_Rot2 * P3 + c.CD_Trans2)); Vector3 q1w(c.CD_s2 * (c.CD_Rot2 * Q1 + c.CD_Trans2)); Vector3 q2w(c.CD_s2 * (c.CD_Rot2 * Q2 + c.CD_Trans2)); Vector3 q3w(c.CD_s2 * (c.CD_Rot2 * Q3 + c.CD_Trans2)); cout << "P1 = " << p1w[0] << " " << p1w[1] << " " << p1w[2] << endl; cout << "P2 = " << p2w[0] << " " << p2w[1] << " " << p2w[2] << endl; cout << "P3 = " << p3w[0] << " " << p3w[1] << " " << p3w[2] << endl; cout << "Q1 = " << q1w[0] << " " << q1w[1] << " " << q1w[2] << endl; cout << "Q2 = " << q2w[0] << " " << q2w[1] << " " << q2w[2] << endl; cout << "Q3 = " << q3w[0] << " " << q3w[1] << " " << q3w[2] << endl; for(int i=0; inum_of_i_points; i++){ i_pts_w[i] = c.CD_s2 * ((c.CD_Rot2 * col_p->i_points[i]) + c.CD_Trans2); cout << i << "-th intersecting point = "; cout << i_pts_w[i][0] << " " << i_pts_w[i][1] << " " << i_pts_w[i][2] << endl; } cout << "n1 = " << n1[0] << " " << n1[1] << " " << n1[2] << endl; cout << "m1 = " << m1[0] << " " << m1[1] << " " << m1[2] << endl; cout << "mp[0] mp[1] mp[2] = " << mp[0] << " " << mp[1] << " " << mp[2] << endl; cout << "nq[0] nq[1] nq[2] = " << nq[0] << " " << nq[1] << " " << nq[2] << endl; cout << "n_vector = " << col_p->n_vector[0] << " " << col_p->n_vector[1] << " " << col_p->n_vector[2] << endl; cout << "depth = " << col_p->depth << endl << endl;; } #if TRACE1 printf("intersect point...in tri_contact..\n"); printf(" ip1x = %f ip1y = %f ip1z = %f\n ip2x = %f ip2y = %f ip2z = %f\n", col_p->i_points[0][0],col_p->i_points[0][1],col_p->i_points[0][2], col_p->i_points[1][0],col_p->i_points[1][1],col_p->i_points[1][2]); printf("normal vector....it tri_conctact..\n"); printf("N[0] = %f,N[1] = %f,N[2] = %f\n",col_p->n_vector[0],col_p->n_vector[1],col_p->n_vector[2]); #endif return 1; } } choreonoid-1.5.0/src/AISTCollisionDetector/ColdetModel.h0000664000000000000000000001362312741425367021627 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_COLDET_MODEL_H_INCLUDED #define CNOID_COLDET_MODEL_H_INCLUDED #include #include #include #include #include "exportdecl.h" namespace IceMaths { class Matrix4x4; } namespace cnoid { class ColdetModel; typedef boost::shared_ptr ColdetModelPtr; class ColdetModelInternalModel; class CNOID_EXPORT ColdetModel { public: enum PrimitiveType { SP_MESH, SP_BOX, SP_CYLINDER, SP_CONE, SP_SPHERE, SP_PLANE }; /** * @brief constructor */ ColdetModel(); /** * @brief copy constructor * * Shape information stored in dataSet is shared with org */ ColdetModel(const ColdetModel& org); /** * @brief destructor */ virtual ~ColdetModel(); virtual ColdetModelPtr clone() const; void cloneInternalModel(); /** * @brief set name of this model * @param name name of this model */ void setName(const std::string& name) { name_ = name; } /** * @brief get name of this model * @return name name of this model */ const std::string& name() const { return name_; } /** * @brief set the number of vertices * @param n the number of vertices */ void setNumVertices(int n); /** * @brief get the number of vertices * @return the number of vertices */ int getNumVertices() const; /** * @brief set the number of triangles * @param n the number of triangles */ void setNumTriangles(int n); int getNumTriangles() const; /** * @brief add a vertex * @param index index of the vertex * @param x x position of the vertex * @param y y position of the vertex * @param z z position of the vertex */ void setVertex(int index, float x, float y, float z); /** add a vertex to the end of the vector */ void addVertex(float x, float y, float z); /** * @brief get a vertex * @param index index of the vertex * @param out_x x position of the vertex * @param out_y y position of the vertex * @param out_z z position of the vertex */ void getVertex(int index, float& out_x, float& out_y, float& out_z) const; /** * @brief add a triangle * @param index index of the triangle * @param v1 index of the first vertex * @param v2 index of the second vertex * @param v3 index of the third vertex */ void setTriangle(int index, int v1, int v2, int v3); /** add a triangle to the end of the vector */ void addTriangle(int v1, int v2, int v3); void getTriangle(int index, int& out_v1, int& out_v2, int& out_v3) const; /** * @brief build tree of bounding boxes to accelerate collision check * * This method must be called before doing collision check */ void build(); /** * @brief check if build() is already called or not * @return true if build() is already called, false otherwise */ bool isValid() const { return isValid_; } #ifdef CNOID_BACKWARD_COMPATIBILITY /** * @brief set position and orientation of this model * @param R new orientation * @param p new position */ void setPosition(const Matrix3& R, const Vector3& p); #endif void setPosition(const Position& T); /** * @brief set position and orientation of this model * @param R new orientation (row-major, length = 9) * @param p new position (length = 3) */ void setPosition(const double* R, const double* p); /** * @brief set primitive type * @param ptype primitive type */ void setPrimitiveType(PrimitiveType ptype); /** * @brief get primitive type * @return primitive type */ PrimitiveType getPrimitiveType() const; /** * @brief set the number of parameters of primitive * @param nparam the number of parameters of primitive */ void setNumPrimitiveParams(unsigned int nparam); /** * @brief set a parameter of primitive * @param index index of the parameter * @param value value of the parameter * @return true if the parameter is set successfully, false otherwise */ bool setPrimitiveParam(unsigned int index, float value); /** * @brief get a parameter of primitive * @param index index of the parameter * @param value value of the parameter * @return true if the parameter is gotten successfully, false otherwise */ bool getPrimitiveParam(unsigned int index, float &value) const; /** * @brief set position and orientation of primitive * @param R orientation relative to link (length = 9) * @param p position relative to link (length = 3) */ void setPrimitivePosition(const double* R, const double* p); /** * @brief compute distance between a point and this mesh along ray * @param point a point * @param dir direction of ray * @return distance if ray collides with this mesh, FLT_MAX otherwise */ double computeDistanceWithRay(const double *point, const double *dir); /** * @brief check collision between this triangle mesh and a point cloud * @param i_cloud points * @param i_radius radius of spheres assigned to the points * @return true if colliding, false otherwise */ bool checkCollisionWithPointCloud(const std::vector &i_cloud, double i_radius); void getBoundingBoxData(const int depth, std::vector& out_boxes); int getAABBTreeDepth(); int getAABBmaxNum(); int numofBBtoDepth(int minNumofBB); private: void initialize(); ColdetModelInternalModel* internalModel; IceMaths::Matrix4x4* transform; IceMaths::Matrix4x4* pTransform; ///< transform of primitive std::string name_; bool isValid_; friend class ColdetModelPair; }; } #endif choreonoid-1.5.0/src/AISTCollisionDetector/CollisionData.h0000664000000000000000000000144612741425367022161 0ustar rootroot #ifndef CNOID_COLLISION_COLLISION_DATA_H_INCLUDED #define CNOID_COLLISION_COLLISION_DATA_H_INCLUDED #include #include "exportdecl.h" namespace cnoid { /** \todo This is an old collision data type. The class name and member names should follow the naming convention, and the members should be simpler. As well as it, the whole collision detection API should be re-designed. */ class collision_data { public: int id1; int id2; int num_of_i_points; Vector3 i_points[4]; int i_point_new[4]; Vector3 n_vector; double depth; Vector3 n; // normal vector of triangle id1 Vector3 m; // normal vector of triangle id2 int c_type; // c_type=1 for vertex-face contact, c_type=2 for edge-edge contact }; } #endif choreonoid-1.5.0/src/AISTCollisionDetector/SSVTreeCollider.cpp0000664000000000000000000002132712741425367022740 0ustar rootroot#include #include "SSVTreeCollider.h" #include "DistFuncs.h" static bool debug = false; namespace Opcode { SSVTreeCollider::SSVTreeCollider() { } bool SSVTreeCollider::Distance(BVTCache& cache, float& minD, Point &point0, Point&point1, const Matrix4x4* world0, const Matrix4x4* world1) { // Checkings if(!cache.Model0 || !cache.Model1) return false; if(cache.Model0->HasLeafNodes()!=cache.Model1->HasLeafNodes()) return false; if(cache.Model0->IsQuantized()!=cache.Model1->IsQuantized()) return false; // Checkings if(!Setup(cache.Model0->GetMeshInterface(), cache.Model1->GetMeshInterface())) return false; // Simple double-dispatch const AABBCollisionTree* T0 = (const AABBCollisionTree*)cache.Model0->GetTree(); const AABBCollisionTree* T1 = (const AABBCollisionTree*)cache.Model1->GetTree(); Distance(T0, T1, world0, world1, &cache, minD, point0, point1); return true; } void SSVTreeCollider::Distance(const AABBCollisionTree* tree0, const AABBCollisionTree* tree1, const Matrix4x4* world0, const Matrix4x4* world1, Pair* cache, float& minD, Point &point0, Point&point1) { if (debug) std::cout << "Distance()" << std::endl; // Init collision query InitQuery(world0, world1); // Compute initial value using temporal coherency // todo : cache should be used const AABBCollisionNode *n; for (unsigned int i=0; iGetNbNodes(); i++){ n = tree0->GetNodes()+i; if (n->IsLeaf()){ mId0 = n->GetPrimitive(); break; } } for (unsigned int i=0; iGetNbNodes(); i++){ n = tree1->GetNodes()+i; if (n->IsLeaf()){ mId1 = n->GetPrimitive(); break; } } Point p0, p1; minD = PrimDist(mId0, mId1, p0, p1); // Perform distance computation _Distance(tree0->GetNodes(), tree1->GetNodes(), minD, p0, p1); // transform points TransformPoint4x3(point0, p0, *world1); TransformPoint4x3(point1, p1, *world1); // update cache cache->id0 = mId0; cache->id1 = mId1; } bool SSVTreeCollider::Collide(BVTCache& cache, double tolerance, const Matrix4x4* world0, const Matrix4x4* world1) { // Checkings if(!cache.Model0 || !cache.Model1) return false; if(cache.Model0->HasLeafNodes()!=cache.Model1->HasLeafNodes()) return false; if(cache.Model0->IsQuantized()!=cache.Model1->IsQuantized()) return false; // Checkings if(!Setup(cache.Model0->GetMeshInterface(), cache.Model1->GetMeshInterface())) return false; // Simple double-dispatch const AABBCollisionTree* T0 = (const AABBCollisionTree*)cache.Model0->GetTree(); const AABBCollisionTree* T1 = (const AABBCollisionTree*)cache.Model1->GetTree(); return Collide(T0, T1, world0, world1, &cache, tolerance); } bool SSVTreeCollider::Collide(const AABBCollisionTree* tree0, const AABBCollisionTree* tree1, const Matrix4x4* world0, const Matrix4x4* world1, Pair* cache, double tolerance) { // Init collision query InitQuery(world0, world1); // todo : cache should be used // Perform collision detection if (_Collide(tree0->GetNodes(), tree1->GetNodes(), tolerance)){ // update cache cache->id0 = mId0; cache->id1 = mId1; return true; } return false; } float SSVTreeCollider::SsvSsvDist(const AABBCollisionNode *b0, const AABBCollisionNode *b1) { CollisionAABB::ssv_type t1, t2; t1 = b0->mAABB.mType; t2 = b1->mAABB.mType; if (t1 == CollisionAABB::SSV_PSS && t2 == CollisionAABB::SSV_PSS){ return PssPssDist(b0->mAABB.mRadius, b0->mAABB.mCenter, b1->mAABB.mRadius, b1->mAABB.mCenter); }else if (t1 == CollisionAABB::SSV_PSS && t2 == CollisionAABB::SSV_LSS){ return PssLssDist(b0->mAABB.mRadius, b0->mAABB.mCenter, b1->mAABB.mRadius, b1->mAABB.mPoint0, b1->mAABB.mPoint1); }else if (t1 == CollisionAABB::SSV_LSS && t2 == CollisionAABB::SSV_PSS){ return LssPssDist(b0->mAABB.mRadius, b0->mAABB.mPoint0, b0->mAABB.mPoint1, b1->mAABB.mRadius, b1->mAABB.mCenter); }else if (t1 == CollisionAABB::SSV_LSS && t2 == CollisionAABB::SSV_LSS){ return PssPssDist(sqrtf(b0->GetSize()), b0->mAABB.mCenter, sqrtf(b1->GetSize()), b1->mAABB.mCenter); }else{ std::cerr << "this ssv combination is not supported" << std::endl; } return 0.0f; } float SSVTreeCollider::PssPssDist(float r0, const Point& center0, float r1, const Point& center1) { Point c0; TransformPoint(c0, center0, mR0to1, mT0to1); return (center1-c0).Magnitude() - r0 - r1; } float SSVTreeCollider::PssLssDist(float r0, const Point& center0, float r1, const Point& point0, const Point& point1) { Point c0; TransformPoint(c0, center0, mR0to1, mT0to1); float d = PointSegDist(c0, point0, point1); return d - r0 - r1; } float SSVTreeCollider::LssPssDist(float r0, const Point& point0, const Point& point1, float r1, const Point& center0) { Point p0, p1; TransformPoint(p0, point0, mR0to1, mT0to1); TransformPoint(p1, point1, mR0to1, mT0to1); float d = PointSegDist(center0, p0, p1); return d - r0 - r1; } float SSVTreeCollider::LssLssDist(float r0, const Point& point0, const Point& point1, float r1, const Point& point2, const Point& point3) { Point p0, p1; TransformPoint(p0, point0, mR0to1, mT0to1); TransformPoint(p1, point1, mR0to1, mT0to1); float d = SegSegDist(p0, p1, point2, point3); return d - r0 - r1; } void SSVTreeCollider::_Distance(const AABBCollisionNode* b0, const AABBCollisionNode* b1, float& minD, Point& point0, Point& point1) { if (debug) std::cout << "_Distance()" << std::endl; mNowNode0 = b0; mNowNode1 = b1; float d; // Perform BV-BV distance test d = SsvSsvDist(b0, b1); if(d > minD) return; if(b0->IsLeaf() && b1->IsLeaf()) { Point p0, p1; d = PrimDist(b0->GetPrimitive(), b1->GetPrimitive(), p0, p1); if (d < minD){ minD = d; point0 = p0; point1 = p1; mId0 = b0->GetPrimitive(); mId1 = b1->GetPrimitive(); } return; } if(b1->IsLeaf() || (!b0->IsLeaf() && (b0->GetSize() > b1->GetSize()))) { _Distance(b0->GetNeg(), b1, minD, point0, point1); _Distance(b0->GetPos(), b1, minD, point0, point1); } else { _Distance(b0, b1->GetNeg(), minD, point0, point1); _Distance(b0, b1->GetPos(), minD, point0, point1); } } bool SSVTreeCollider::_Collide(const AABBCollisionNode* b0, const AABBCollisionNode* b1, double tolerance) { mNowNode0 = b0; mNowNode1 = b1; float d; // Perform BV-BV distance test d = SsvSsvDist(b0, b1); if(d > tolerance) return false; if(b0->IsLeaf() && b1->IsLeaf()) { Point p0, p1; d = PrimDist(b0->GetPrimitive(), b1->GetPrimitive(), p0, p1); if (d <= tolerance){ mId0 = b0->GetPrimitive(); mId1 = b1->GetPrimitive(); return true; }else{ return false; } } if(b1->IsLeaf() || (!b0->IsLeaf() && (b0->GetSize() > b1->GetSize()))) { if (_Collide(b0->GetNeg(), b1, tolerance)) return true; if (_Collide(b0->GetPos(), b1, tolerance)) return true; } else { if (_Collide(b0, b1->GetNeg(), tolerance)) return true; if (_Collide(b0, b1->GetPos(), tolerance)) return true; } return false; } float SSVTreeCollider::PrimDist(udword id0, udword id1, Point& point0, Point& point1) { // Request vertices from the app VertexPointers VP0; VertexPointers VP1; mIMesh0->GetTriangle(VP0, id0); mIMesh1->GetTriangle(VP1, id1); // Modified by S-cubed, Inc. // Transform from space 0 (old : 1) to space 1 (old : 0) // CD §Żċ¤‰ĉ›Œé€†Ş§‚‚›‚‹€‚ Point u0,u1,u2; TransformPoint(u0, *VP0.Vertex[0], mR0to1, mT0to1); TransformPoint(u1, *VP0.Vertex[1], mR0to1, mT0to1); TransformPoint(u2, *VP0.Vertex[2], mR0to1, mT0to1); // Perform triangle-triangle distance test return TriTriDist(u0, u1, u2, *VP1.Vertex[0], *VP1.Vertex[1], *VP1.Vertex[2], point0, point1); } } choreonoid-1.5.0/src/AISTCollisionDetector/SSVTreeCollider.h0000664000000000000000000001140412741425367022400 0ustar rootroot#ifndef __SSV_TREE_COLLIDER_H__ #define __SSV_TREE_COLLIDER_H__ #include "Opcode/Opcode.h" namespace Opcode { /** * @brief collision detector based on SSV(Sphere Swept Volume) */ class SSVTreeCollider : public AABBTreeCollider { public: /** * @brief constructor */ SSVTreeCollider(); /** * @brief destructor */ ~SSVTreeCollider(){}; /** * @brief compute the minimum distance and the closest points * @param cache * @param minD the minimum distance * @param point0 the closest point on the first link * @param point1 the closest point on the second link * @param world0 transformation of the first link * @param world1 transformation of the second link * @return true if computed successfully, false otherwise */ bool Distance(BVTCache& cache, float& minD, Point &point0, Point&point1, const Matrix4x4* world0=null, const Matrix4x4* world1=null); /** * @brief detect collision between links. * @param cache * @param tolerance If distance between links is smaller than this value, it is regarded as collision * @param world0 transformation of the first link * @param world1 transformation of the second link * @return true if collision is detected, false otherwise */ bool Collide(BVTCache& cache, double tolerance, const Matrix4x4* world0=null, const Matrix4x4* world1=null); protected: /** * @brief compute distance between SSV(Swept Sphere Volume)s * @param b0 collision node from the left tree * @param b1 collision node from the right tree * @param return distance */ float SsvSsvDist(const AABBCollisionNode* b0, const AABBCollisionNode *b1); /** * @brief compute distance between primitives(triangles) * @param id0 index of the first primitive * @param id1 index of the second primitive * @param point0 the closest point on the first primitive * @param point1 the closest point on the second primitive * @return the minimum distance */ float PrimDist(udword id0, udword id1, Point& point0, Point& point1); private: void Distance(const AABBCollisionTree* tree0, const AABBCollisionTree* tree1, const Matrix4x4* world0, const Matrix4x4* world1, Pair* cache, float& minD, Point &point0, Point&point1); void _Distance(const AABBCollisionNode* b0, const AABBCollisionNode* b1, float& minD, Point& point0, Point& point1); bool Collide(const AABBCollisionTree* tree0, const AABBCollisionTree* tree1, const Matrix4x4* world0, const Matrix4x4* world1, Pair* cache, double tolerance); bool _Collide(const AABBCollisionNode* b0, const AABBCollisionNode* b1, double tolerance); /** * @brief compute distance between PSS(Point Swept Sphere) * @param r0 radius of the first sphere * @param center0 center of the first sphere * @param r1 radius of the first sphere * @param center1 center of the first sphere * @return distance */ float PssPssDist(float r0, const Point& center0, float r1, const Point& center1); /** * @brief compute distance between PSS(Point Swept Sphere) and LSS(Line Swept Sphere) * @param r0 radius of the PSS * @param center0 center of the PSS * @param r1 radius of the LSS * @param point0 one of end points of the line segment * @param point1 the other end points of the line segment * @return distance */ float PssLssDist(float r0, const Point& center0, float r1, const Point& point0, const Point& point1); /** * @brief compute distance between PSS(Point Swept Sphere) and LSS(Line Swept Sphere) * @param r0 radius of the PSS * @param point0 one of end points of the line segment * @param point1 the other end points of the line segment * @param r1 radius of the LSS * @param center0 center of the PSS * @return distance */ float LssPssDist(float r0, const Point& point0, const Point& point1, float r1, const Point& center0); /** * @brief compute distance between LSS(Line Swept Sphere)s * @param r0 radius of the first LSS * @param point0 one of end points of the first line segment * @param point1 the other end points of the first line segment * @param r1 radius of the second LSS * @param point2 one of end points of the second line segment * @param point3 the other end points of the second line segment * @return distance */ float LssLssDist(float r0, const Point& point0, const Point& point1, float r1, const Point& point2, const Point& point3); }; } #endif choreonoid-1.5.0/src/AISTCollisionDetector/AISTCollisionDetector.cpp0000664000000000000000000001644112741425367024076 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "AISTCollisionDetector.h" #include "ColdetModelPair.h" #include #include #include #include #include using namespace std; using namespace cnoid; namespace { CollisionDetectorPtr factory() { return boost::make_shared(); } struct FactoryRegistration { FactoryRegistration(){ CollisionDetector::registerFactory("AISTCollisionDetector", factory); } } factoryRegistration; class ColdetModelEx : public ColdetModel { public: ColdetModelEx() { isStatic = false; } bool isStatic; }; typedef boost::shared_ptr ColdetModelExPtr; class ColdetModelPairEx : public ColdetModelPair { int id1_; int id2_; public: ColdetModelPairEx(const ColdetModelPtr& model1, int id1, const ColdetModelPtr& model2, int id2) : ColdetModelPair(model1, model2) { id1_ = id1; id2_ = id2; } const int id1() const { return id1_; } const int id2() const { return id2_; } }; typedef boost::shared_ptr ColdetModelPairExPtr; typedef map, ColdetModelExPtr> ModelMap; ModelMap modelCache; } namespace cnoid { class AISTCollisionDetectorImpl { public: vector models; vector modelPairs; typedef set< IdPair<> > IdPairSet; IdPairSet nonInterfarencePairs; MeshExtractor* meshExtractor; AISTCollisionDetectorImpl(); ~AISTCollisionDetectorImpl(); int addGeometry(SgNode* geometry); void addMesh(ColdetModelEx* model); bool makeReady(); void detectCollisions(boost::function callback); }; } AISTCollisionDetector::AISTCollisionDetector() { impl = new AISTCollisionDetectorImpl(); } AISTCollisionDetectorImpl::AISTCollisionDetectorImpl() { meshExtractor = new MeshExtractor(); } AISTCollisionDetectorImpl::~AISTCollisionDetectorImpl() { delete meshExtractor; } AISTCollisionDetector::~AISTCollisionDetector() { delete impl; } const char* AISTCollisionDetector::name() const { return "AISTCollisionDetector"; } CollisionDetectorPtr AISTCollisionDetector::clone() const { return boost::make_shared(); } void AISTCollisionDetector::clearGeometries() { impl->models.clear(); impl->modelPairs.clear(); impl->nonInterfarencePairs.clear(); } int AISTCollisionDetector::numGeometries() const { return impl->models.size(); } int AISTCollisionDetector::addGeometry(SgNodePtr geometry) { return impl->addGeometry(geometry.get()); } int AISTCollisionDetectorImpl::addGeometry(SgNode* geometry) { const int index = models.size(); bool isValid = false; if(geometry){ ColdetModelExPtr model = boost::make_shared(); if(meshExtractor->extract(geometry, boost::bind(&AISTCollisionDetectorImpl::addMesh, this, model.get()))){ model->setName(geometry->name()); model->build(); if(model->isValid()){ models.push_back(model); isValid = true; } } } if(!isValid){ models.push_back(ColdetModelExPtr()); } return index; } void AISTCollisionDetectorImpl::addMesh(ColdetModelEx* model) { SgMesh* mesh = meshExtractor->currentMesh(); const Affine3& T = meshExtractor->currentTransform(); const int vertexIndexTop = model->getNumVertices(); const SgVertexArray& vertices = *mesh->vertices(); const int numVertices = vertices.size(); for(int i=0; i < numVertices; ++i){ const Vector3 v = T * vertices[i].cast(); model->addVertex(v.x(), v.y(), v.z()); } const int numTriangles = mesh->numTriangles(); for(int i=0; i < numTriangles; ++i){ SgMesh::TriangleRef tri = mesh->triangle(i); const int v0 = vertexIndexTop + tri[0]; const int v1 = vertexIndexTop + tri[1]; const int v2 = vertexIndexTop + tri[2]; model->addTriangle(v0, v1, v2); } } void AISTCollisionDetector::setGeometryStatic(int geometryId, bool isStatic) { ColdetModelExPtr& model = impl->models[geometryId]; if(model){ model->isStatic = isStatic; } } bool AISTCollisionDetector::enableGeometryCache(bool on) { return false; } void AISTCollisionDetector::clearGeometryCache(SgNodePtr geometry) { modelCache.erase(weak_ref_ptr(geometry)); } void AISTCollisionDetector::clearAllGeometryCaches() { modelCache.clear(); } void AISTCollisionDetector::setNonInterfarenceGeometyrPair(int geometryId1, int geometryId2) { impl->nonInterfarencePairs.insert(IdPair<>(geometryId1, geometryId2)); } bool AISTCollisionDetector::makeReady() { return impl->makeReady(); } bool AISTCollisionDetectorImpl::makeReady() { modelPairs.clear(); const int n = models.size(); for(int i=0; i < n; ++i){ ColdetModelExPtr& model1 = models[i]; if(model1){ for(int j = i+1; j < n; ++j){ ColdetModelExPtr& model2 = models[j]; if(model2){ if(!model1->isStatic || !model2->isStatic){ if(nonInterfarencePairs.find(IdPair<>(i, j)) == nonInterfarencePairs.end()){ modelPairs.push_back(boost::make_shared(model1, i, model2, j)); } } } } } } return true; } void AISTCollisionDetector::updatePosition(int geometryId, const Position& position) { ColdetModelExPtr& model = impl->models[geometryId]; if(model){ model->setPosition(position); } } void AISTCollisionDetector::detectCollisions(boost::function callback) { impl->detectCollisions(callback); } /** \todo Remeber which geometry positions are updated after the last collision detection and do the actual collision detection only for the updated geometry pairs. */ void AISTCollisionDetectorImpl::detectCollisions(boost::function callback) { CollisionPair collisionPair; vector& collisions = collisionPair.collisions; const int n = modelPairs.size(); for(int i=0; i < n; ++i){ ColdetModelPairEx& modelPair = *modelPairs[i]; const std::vector& cdata = modelPair.detectCollisions(); if(!cdata.empty()){ collisionPair.geometryId[0] = modelPair.id1(); collisionPair.geometryId[1] = modelPair.id2(); collisions.clear(); for(size_t j=0; j < cdata.size(); ++j){ const collision_data& cd = cdata[j]; for(int k=0; k < cd.num_of_i_points; ++k){ if(cd.i_point_new[k]){ collisions.push_back(Collision()); Collision& collision = collisions.back(); collision.point = cd.i_points[k]; collision.normal = cd.n_vector; collision.depth = cd.depth; } } } if(!collisions.empty()){ callback(collisionPair); } } } } choreonoid-1.5.0/src/OpenHRPPlugin/0000775000000000000000000000000012741425367015602 5ustar rootrootchoreonoid-1.5.0/src/OpenHRPPlugin/OpenHRPControllerItem.cpp0000664000000000000000000001573012741425367022452 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "OpenHRPControllerItem.h" #include "DynamicsSimulator_impl.h" #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; using namespace OpenHRP; OpenHRPControllerItem::OpenHRPControllerItem() { signalReadyStandardOutputConnected = false; mv = MessageView::instance(); } OpenHRPControllerItem::OpenHRPControllerItem(const OpenHRPControllerItem& org) : ControllerItem(org) { controllerServerName = org.controllerServerName; controllerServerCommand = org.controllerServerCommand; signalReadyStandardOutputConnected = false; mv = MessageView::instance(); } OpenHRPControllerItem::~OpenHRPControllerItem() { controllerServerProcess.waitForFinished(100); } void OpenHRPControllerItem::onDisconnectedFromRoot() { if(controllerServerProcess.state() != QProcess::NotRunning){ controllerServerProcess.kill(); } ControllerItem::onDisconnectedFromRoot(); } Item* OpenHRPControllerItem::doDuplicate() const { return new OpenHRPControllerItem(*this); } void OpenHRPControllerItem::setControllerServerName(const std::string& name) { controllerServerName = name; } void OpenHRPControllerItem::setControllerServerCommand(const std::string& command) { controllerServerCommand = command; } bool OpenHRPControllerItem::start(ControllerItemIO* io) { ncHelper = getDefaultNamingContextHelper(); if(!ncHelper->isAlive()){ return false; } #ifdef OPENHRP_3_0 typedef OpenHRP::ControllerFactory_var ControllerServer_var; typedef OpenHRP::ControllerFactory ControllerServer; #elif OPENHRP_3_1 typedef OpenHRP::Controller_var ControllerServer_var; typedef OpenHRP::Controller ControllerServer; #endif ControllerServer_var server = ncHelper->findObject(controllerServerName.c_str()); // do null check here bool serverReady = ncHelper->isObjectAlive(server); if(!serverReady){ // invoke the controller command if(!controllerServerCommand.empty()){ if(controllerServerProcess.state() != QProcess::NotRunning){ controllerServerProcess.kill(); controllerServerProcess.waitForFinished(100); } string command(controllerServerCommand); #ifdef _WIN32 if(filesystem::path(controllerServerCommand).extension() != ".exe"){ command += ".exe"; } // quote the command string to support a path including spaces controllerServerProcess.start(QString("\"") + command.c_str() + "\""); #else controllerServerProcess.start(command.c_str()); #endif if(!controllerServerProcess.waitForStarted()){ mv->put(fmt(_("Controller server process \"%1%\" cannot be executed.")) % command); if(!filesystem::exists(command)){ mv->putln(_(" This file does not exist.")); } else { mv->putln(""); } } else { mv->putln(fmt(_("Controller server process \"%1%\" has been executed by %2%.")) % command % name()); for(int i=0; i < 20; ++i){ controllerServerProcess.waitForReadyRead(10); server = ncHelper->findObject(controllerServerName.c_str()); serverReady = ncHelper->isObjectAlive(server); if(serverReady){ if(!signalReadyStandardOutputConnected){ controllerServerProcess.sigReadyReadStandardOutput().connect( boost::bind(&OpenHRPControllerItem::onReadyReadServerProcessOutput, this)); signalReadyStandardOutputConnected = true; } break; } } } } } if(!serverReady){ mv->putln(fmt(_("Controller server object \"%1%\" is not found in the name server.")) % controllerServerName); if(controllerServerProcess.state() != QProcess::NotRunning){ controllerServerProcess.kill(); } return false; } Body* body = io->body(); #ifdef OPENHRP_3_0 controller = server->create(body->name().c_str()); // do null check here mv->putln(fmt(_("The CORBA object of controller \"%1%\" has been created by the factory \"%2%\".")) % name() % controllerServerName); #elif OPENHRP_3_1 controller = server; controller->setModelName(body->name().c_str()); controller->initialize(); mv->putln(fmt(_("The CORBA object \"%1%\" of controller \"%2%\" has been obtained.")) % controllerServerName % name()); #endif timeStep_ = io->timeStep(); dynamicsSimulator.reset(new DynamicsSimulator_impl(body)); controller->setDynamicsSimulator(dynamicsSimulator->_this()); controller->setTimeStep(timeStep_); controller->start(); return true; } double OpenHRPControllerItem::timeStep() const { return timeStep_; } void OpenHRPControllerItem::input() { controller->input(); } bool OpenHRPControllerItem::control() { controller->control(); return true; } void OpenHRPControllerItem::output() { controller->output(); } void OpenHRPControllerItem::stop() { controller->stop(); #ifdef OPENHRP_3_0 controller->destroy(); #endif if(controllerServerProcess.state() != QProcess::NotRunning){ #ifdef OPENHRP_3_1 controller->destroy(); #endif controllerServerProcess.kill(); } } void OpenHRPControllerItem::onReadyReadServerProcessOutput() { MessageView::instance()->put(QString(controllerServerProcess.readAll())); } void OpenHRPControllerItem::doPutProperties(PutPropertyFunction& putProperty) { ControllerItem::doPutProperties(putProperty); putProperty(_("Controller server name"), controllerServerName, boost::bind(&OpenHRPControllerItem::setControllerServerName, this, _1), true); putProperty(_("Controller server command"), controllerServerCommand, boost::bind(&OpenHRPControllerItem::setControllerServerCommand, this, _1), true); } bool OpenHRPControllerItem::store(Archive& archive) { if(!ControllerItem::store(archive)){ return false; } archive.write("controllerServerName", controllerServerName); archive.writeRelocatablePath("controllerServerCommand", controllerServerCommand); return true; } bool OpenHRPControllerItem::restore(const Archive& archive) { if(!ControllerItem::restore(archive)){ return false; } setControllerServerName(archive.get("controllerServerName", controllerServerName)); archive.readRelocatablePath("controllerServerCommand", controllerServerCommand); return true; } choreonoid-1.5.0/src/OpenHRPPlugin/OpenHRPControllerItem.h0000664000000000000000000000351212741425367022112 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_OPENHRP_PLUGIN_OPENHRP_CONTROLLER_ITEM_H #define CNOID_OPENHRP_PLUGIN_OPENHRP_CONTROLLER_ITEM_H #ifdef OPENHRP_3_0 #include #define OpenHRPControllerItem OpenHRP30ControllerItem #elif OPENHRP_3_1 #include #define OpenHRPControllerItem OpenHRP31ControllerItem #endif #include #include #include #include namespace OpenHRP { class DynamicsSimulator_impl; } namespace cnoid { class MessageView; class OpenHRPControllerItem : public ControllerItem { public: OpenHRPControllerItem(); OpenHRPControllerItem(const OpenHRPControllerItem& org); virtual ~OpenHRPControllerItem(); void setControllerServerName(const std::string& name); void setControllerServerCommand(const std::string& command); virtual bool start(ControllerItemIO* io); virtual double timeStep() const; virtual void input(); virtual bool control(); virtual void output(); virtual void stop(); protected: virtual void onDisconnectedFromRoot(); virtual Item* doDuplicate() const; virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: void onReadyReadServerProcessOutput(); NamingContextHelper* ncHelper; std::string controllerServerName; std::string controllerServerCommand; boost::scoped_ptr dynamicsSimulator; OpenHRP::Controller_var controller; double timeStep_; Process controllerServerProcess; bool signalReadyStandardOutputConnected; MessageView* mv; }; typedef ref_ptr OpenHRPControllerItemPtr; } #endif choreonoid-1.5.0/src/OpenHRPPlugin/OpenHRPControllerBase.h0000664000000000000000000000311512741425367022065 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_OPENHRPP_CONTROLLER_BASE_H #define CNOID_OPENHRPP_CONTROLLER_BASE_H #ifdef OPENHRP_3_0 #include #else #ifndef OPENHRP_3_1 #define OPENHRP_3_1 #endif #include #endif #include namespace cnoid { class OpenHRPControllerBase : virtual public POA_OpenHRP::Controller, virtual public PortableServer::RefCountServantBase { public: OpenHRPControllerBase(const std::string& charaName); ~OpenHRPControllerBase(); virtual void setDynamicsSimulator(OpenHRP::DynamicsSimulator_ptr dynamicsSimulator); virtual void setViewSimulator(OpenHRP::ViewSimulator_ptr viewSimulator); virtual void setTimeStep(::CORBA::Double timeStep); virtual void start(); virtual void input(); virtual void control(); virtual void output(); virtual void stop(); virtual void destroy(); #ifdef OPENHRP_3_1 virtual void setModelName(const char* localModelName); virtual void initialize(); virtual void shutdown(); #endif protected: OpenHRP::DynamicsSimulator_var dynamicsSimulator; OpenHRP::ViewSimulator_var viewSimulator; std::string characterName; double timeStep; }; class OpenHRPControllerFactory_impl #ifdef OPENHRP_3_0 : virtual public POA_OpenHRP::ControllerFactory #endif { public: static bool run(int argc, char* argv[]); OpenHRPControllerFactory_impl(); ~OpenHRPControllerFactory_impl(); OpenHRP::Controller_ptr create(const char* charaName); void shutdown(); }; } #endif choreonoid-1.5.0/src/OpenHRPPlugin/exportdecl.h0000664000000000000000000000227212741425367020127 0ustar rootroot #ifndef CNOID_OPENHRPPLUGIN_EXPORTDECL_H_INCLUDED # define CNOID_OPENHRPPLUGIN_EXPORTDECL_H_INCLUDED # if defined _WIN32 || defined __CYGWIN__ # define CNOID_OPENHRPPLUGIN_DLLIMPORT __declspec(dllimport) # define CNOID_OPENHRPPLUGIN_DLLEXPORT __declspec(dllexport) # define CNOID_OPENHRPPLUGIN_DLLLOCAL # else # if __GNUC__ >= 4 # define CNOID_OPENHRPPLUGIN_DLLIMPORT __attribute__ ((visibility("default"))) # define CNOID_OPENHRPPLUGIN_DLLEXPORT __attribute__ ((visibility("default"))) # define CNOID_OPENHRPPLUGIN_DLLLOCAL __attribute__ ((visibility("hidden"))) # else # define CNOID_OPENHRPPLUGIN_DLLIMPORT # define CNOID_OPENHRPPLUGIN_DLLEXPORT # define CNOID_OPENHRPPLUGIN_DLLLOCAL # endif # endif # ifdef CNOID_OPENHRPPLUGIN_STATIC # define CNOID_OPENHRPPLUGIN_DLLAPI # define CNOID_OPENHRPPLUGIN_LOCAL # else # ifdef CnoidOpenHRP3_1Plugin_EXPORTS # define CNOID_OPENHRPPLUGIN_DLLAPI CNOID_OPENHRPPLUGIN_DLLEXPORT # else # define CNOID_OPENHRPPLUGIN_DLLAPI CNOID_OPENHRPPLUGIN_DLLIMPORT # endif # define CNOID_OPENHRPPLUGIN_LOCAL CNOID_OPENHRPPLUGIN_DLLLOCAL # endif #endif #ifdef CNOID_EXPORT # undef CNOID_EXPORT #endif #define CNOID_EXPORT CNOID_OPENHRPPLUGIN_DLLAPI choreonoid-1.5.0/src/OpenHRPPlugin/OpenHRPInterpreterServiceItem.cpp0000664000000000000000000002363712741425367024160 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "OpenHRPInterpreterServiceItem.h" #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { const bool TRACE_FUNCTIONS = false; class InterpreterService_impl : public virtual POA_OpenHRP::InterpreterService, public virtual PortableServer::RefCountServantBase { public: char* interpret(const char* expr); void interpretMain(const char* expr); OpenHRPInterpreterServiceItemImpl* itemImpl; string result; }; class InterpreterRTC : public RTC::DataFlowComponentBase { public: InterpreterRTC(RTC::Manager* manager); virtual ~InterpreterRTC(); virtual RTC::ReturnCode_t onInitialize(); RTC::CorbaPort interpreterServicePort; InterpreterService_impl interpreterService; }; } namespace cnoid { class OpenHRPInterpreterServiceItemImpl { public: OpenHRPInterpreterServiceItem* self; InterpreterRTC* rtc; string rtcInstanceName; Connection scriptItemUpdateConnection; ScriptItem* scriptItem; bool isScriptItemBackgroundMode; bool forceMainThreadExecution; bool doPutScriptTextToInterpret; ostream& os; OpenHRPInterpreterServiceItemImpl(OpenHRPInterpreterServiceItem* self); OpenHRPInterpreterServiceItemImpl( OpenHRPInterpreterServiceItem* self, const OpenHRPInterpreterServiceItemImpl& org); ~OpenHRPInterpreterServiceItemImpl(); void setRTCinstanceName(const std::string& name); bool createRTC(); bool deleteRTC(); void onScriptItemUpdated(); }; typedef OpenHRPInterpreterServiceItemImpl ItemImpl; } void OpenHRPInterpreterServiceItem::initializeClass(ExtensionManager* ext) { static const char* spec[] = { "implementation_id", "OpenHRPInterpreterService", "type_name", "OpenHRPInterpreterService", "description", "Component for accessing the python interpreter executing a script", "version", "1.0", "vendor", "AIST", "category", "Choreonoid", "activity_type", "DataFlowComponent", "max_instance", "100", "language", "C++", "lang_type", "compile", "" }; RTC::Properties profile(spec); RTC::Manager::instance().registerFactory( profile, RTC::Create, RTC::Delete); ext->itemManager() .registerClass(N_("OpenHRPInterpreterServiceItem")) .addCreationPanel(); } OpenHRPInterpreterServiceItem::OpenHRPInterpreterServiceItem() { setName("OpenHRPInterpreterService"); impl = new ItemImpl(this); } ItemImpl::OpenHRPInterpreterServiceItemImpl(OpenHRPInterpreterServiceItem* self) : self(self), os(MessageView::instance()->cout()) { rtc = 0; scriptItem = 0; isScriptItemBackgroundMode = false; forceMainThreadExecution = false; doPutScriptTextToInterpret = false; } OpenHRPInterpreterServiceItem::OpenHRPInterpreterServiceItem(const OpenHRPInterpreterServiceItem& org) : Item(org) { impl = new ItemImpl(this, *org.impl); } ItemImpl::OpenHRPInterpreterServiceItemImpl(OpenHRPInterpreterServiceItem* self, const ItemImpl& org) : self(self), os(MessageView::instance()->cout()), forceMainThreadExecution(org.forceMainThreadExecution) { rtc = 0; scriptItem = 0; isScriptItemBackgroundMode = org.isScriptItemBackgroundMode; doPutScriptTextToInterpret = org.doPutScriptTextToInterpret; } OpenHRPInterpreterServiceItem::~OpenHRPInterpreterServiceItem() { delete impl; } ItemImpl::~ItemImpl() { deleteRTC(); } Item* OpenHRPInterpreterServiceItem::doDuplicate() const { return new OpenHRPInterpreterServiceItem(*this); } void OpenHRPInterpreterServiceItem::setRTCInstanceName(const std::string& name) { impl->setRTCinstanceName(name); } void ItemImpl::setRTCinstanceName(const std::string& name) { if(rtcInstanceName != name){ rtcInstanceName = name; if(self->findRootItem()){ createRTC(); } } } bool ItemImpl::createRTC() { if(rtc){ deleteRTC(); } if(rtc || rtcInstanceName.empty()){ return false; } format param("OpenHRPInterpreterService?" "instance_name=%1%&" "exec_cxt.periodic_type=PeriodicExecutionContext&" "exec_cxt.periodic.rate=10"); rtc = dynamic_cast(cnoid::createManagedRTC(str(param % rtcInstanceName).c_str())); if(rtc){ rtc->interpreterService.itemImpl = this; os << (format(_("RTC \"%1%\" of \"%2%\" has been created.")) % rtcInstanceName % self->name()) << endl; } else { os << (format(_("RTC \"%1%\" of \"%2%\" cannot be created.")) % rtcInstanceName % self->name()) << endl; } return (rtc != 0); } bool ItemImpl::deleteRTC() { if(rtc){ if(cnoid::deleteRTC(rtc, true)){ os << (format(_("RTC \"%1%\" of \"%2%\" has been deleted.")) % rtcInstanceName % self->name()) << endl; rtc = 0; } else { os << (format(_("RTC \"%1%\" of \"%2%\" cannot be deleted.")) % rtcInstanceName % self->name()) << endl; } } return (rtc == 0); } void OpenHRPInterpreterServiceItem::onConnectedToRoot() { impl->createRTC(); } void OpenHRPInterpreterServiceItem::onPositionChanged() { impl->scriptItemUpdateConnection.disconnect(); impl->scriptItem = findOwnerItem(); if(impl->scriptItem){ impl->onScriptItemUpdated(); impl->scriptItemUpdateConnection = impl->scriptItem->sigUpdated().connect(boost::bind(&ItemImpl::onScriptItemUpdated, impl)); } } void ItemImpl::onScriptItemUpdated() { // This property is stored to avoid the access from a background thread isScriptItemBackgroundMode = scriptItem->isBackgroundMode(); } void OpenHRPInterpreterServiceItem::onDisconnectedFromRoot() { impl->deleteRTC(); } void OpenHRPInterpreterServiceItem::doPutProperties(PutPropertyFunction& putProperty) { putProperty(_("RTC Instance name"), impl->rtcInstanceName, boost::bind(&ItemImpl::setRTCinstanceName, impl, _1), true); putProperty(_("Force main thread execution"), impl->forceMainThreadExecution, changeProperty(impl->forceMainThreadExecution)); putProperty(_("Put script text to interpret"), impl->doPutScriptTextToInterpret, changeProperty(impl->doPutScriptTextToInterpret)); } bool OpenHRPInterpreterServiceItem::store(Archive& archive) { archive.write("rtcInstance", impl->rtcInstanceName); archive.write("forceMainThreadExecution", impl->forceMainThreadExecution); archive.write("putScriptText", impl->doPutScriptTextToInterpret); return true; } bool OpenHRPInterpreterServiceItem::restore(const Archive& archive) { impl->setRTCinstanceName(archive.get("rtcInstance", impl->rtcInstanceName)); archive.read("forceMainThreadExecution", impl->forceMainThreadExecution); archive.read("putScriptText", impl->doPutScriptTextToInterpret); return true; } InterpreterRTC::InterpreterRTC(RTC::Manager* manager) : RTC::DataFlowComponentBase(manager), interpreterServicePort("InterpreterService") { } InterpreterRTC:: ~InterpreterRTC() { } RTC::ReturnCode_t InterpreterRTC::onInitialize() { interpreterServicePort.registerProvider("service0", "InterpreterService", interpreterService); addPort(interpreterServicePort); return RTC::RTC_OK; } char* InterpreterService_impl::interpret(const char* expr) { static int counter = 0; ostream& os = MessageView::instance()->cout(); int no = counter++; result.clear(); if(!itemImpl->isScriptItemBackgroundMode || itemImpl->forceMainThreadExecution){ callSynchronously(boost::bind(&InterpreterService_impl::interpretMain, this, expr)); } else { interpretMain(expr); } CORBA::String_var ret(result.c_str()); return ret._retn();; } void InterpreterService_impl::interpretMain(const char* expr) { ostream& os = MessageView::instance()->cout(); Item* item = itemImpl->self; if(itemImpl->doPutScriptTextToInterpret){ os << (format(_("%1%: interpret(\"%2%\")")) % item->name() % expr) << endl; } ScriptItem* scriptItem = item->findOwnerItem(); if(!scriptItem){ os <<(format(_("The owner script item of %1% is not found. The interpret function cannot be executed.")) % item->name()) << endl; } else { if(scriptItem->isRunning()){ os << (format(_("Owner script item \"%1%\" is running now. The interpret function cannot be executed.")) % scriptItem->name()) << endl; } else { if(!scriptItem->executeCode(expr)){ os << (format(_("Executing the script given to the interpret function failed."))) << endl; } else { if(!scriptItem->waitToFinish()){ os << (format(_("The script does not return.")) % item->name()) << endl; } else { result = scriptItem->resultString(); if(itemImpl->doPutScriptTextToInterpret){ if(!result.empty()){ os << (format(_("%1%: interpret() returns %2%.")) % item->name() % result) << endl; } else { os << (format(_("%1%: interpret() finished.")) % item->name()) << endl; } } } } } } } choreonoid-1.5.0/src/OpenHRPPlugin/corba/0000775000000000000000000000000012741425367016670 5ustar rootrootchoreonoid-1.5.0/src/OpenHRPPlugin/corba/OpenHRP/0000775000000000000000000000000012741425367020143 5ustar rootrootchoreonoid-1.5.0/src/OpenHRPPlugin/corba/OpenHRP/3.1/0000775000000000000000000000000012741425367020444 5ustar rootrootchoreonoid-1.5.0/src/OpenHRPPlugin/corba/OpenHRP/3.1/OpenHRPCommon.idl0000664000000000000000000001060512741425367023564 0ustar rootroot// -*- mode: idl; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*- #ifndef OPENHRP_COMMON_IDL_INCLUDED #define OPENHRP_COMMON_IDL_INCLUDED /** * @if jp * OpenHRP ċŸşĉœĴƒ‡ƒĵ‚żĉ§‹é€  * @else * OpenHRP CORBA Common * @endif * @file idl/OpenHRP/OpenHRPCommon.idl */ module OpenHRP { typedef sequence FloatSequence; typedef sequence ShortSequence; typedef sequence OctetSequence; typedef double DblArray4[4]; typedef float FloatArray3[3]; typedef sequence DblSequence; typedef sequence StringSequence; typedef sequence LongSequence; typedef double DblArray3[3]; typedef double DblArray6[6]; typedef double DblArray9[9]; typedef double DblArray12[12]; typedef sequence DblSequence3; typedef sequence DblSequence6; typedef sequence DblSequence9; typedef sequence DblArray3Sequence; typedef sequence DblArray6Sequence; typedef sequence DblArray12Sequence; typedef sequence DblSequenceSequence; /** * @if jp * ƒŞƒ³‚Żä½ç½/ċ§żċ‹˘ * @endif */ struct LinkPosition { /** * @if jp * 位罃™‚ŻƒˆƒĞ * @endif */ DblArray3 p; /** * @if jp * ċ§żċ‹˘èĦŒċˆ— * @else * Row major array of 3x3 Matrix elements * @endif */ DblArray9 R; }; typedef sequence LinkPositionSequence; /** * @if jp * ‚­ƒ£ƒİ‚Ż‚żä½ç½/ċ§żċ‹˘ * @endif */ struct CharacterPosition { /** * @if jp * ‚­ƒ£ƒİ‚Ż‚żċ * @endif */ string characterName; /** * @if jp * ‚­ƒ£ƒİ‚Ż‚ż‚’ĉ§‹ĉˆ™‚‹ƒŞƒ³‚Żä½ç½/ċ§żċ‹˘ * @endif */ LinkPositionSequence linkPositions; }; typedef sequence CharacterPositionSequence; /** * @if jp * ƒŞƒ³‚Żƒš‚˘ * @endif */ struct LinkPair { /** * @if jp * 1組盁‚­ƒ£ƒİ‚Ż‚żċ * @else * Character Name to Identify Polygon Set * @endif */ string charName1; /** * @if jp * 1組盁ƒŞƒ³‚Żċ * @else * Link Name to Identify Polygon Set * @endif */ string linkName1; /** * @if jp * 2組盁‚­ƒ£ƒİ‚Ż‚żċ * @else * Character Name to Identify Polygon Set * @endif */ string charName2; /** * @if jp * 2組盁ƒŞƒ³‚Żċ * @else * Link Name to Identify Polygon Set * @endif */ string linkName2; /** * @if jp * ƒŞƒ³‚Żé–“è·é›˘Œ“ċ€¤‚ˆ‚Š‚‚ċ°•„ċ ´ċˆïĵŒċı²ĉ¸‰¨èĤ‹Ş™ * @else * When distance between links is smaller than this value, it is regarded as collision * @endif */ double tolerance; }; typedef sequence LinkPairSequence; /** * @if jp * èĦçށ—Ĥ„‚‹ç‚ı * @endif */ struct CollisionPoint { /** * @if jp * èĦçށç‚ı * @endif */ DblArray3 position; /** * @if jp * ĉ³•ç·šƒ™‚ŻƒˆƒĞ * @endif */ DblArray3 normal; /** * @if jp * ċı²ĉ¸‰ĉ·ħ• * @endif */ double idepth; }; typedef sequence CollisionPointSequence; /** * @if jp * èĦçށĉƒ…ċ ħ * @endif */ struct Collision { /** * @if jp * èĦçށ—Ĥ„‚‹ƒš‚˘ * @endif */ LinkPair pair; /** * @if jp * èĦçށ—Ĥ„‚‹ç‚ı * @endif */ CollisionPointSequence points; }; typedef sequence CollisionSequence; /** * @if jp * è·é›˘ïĵŒĉœ€èż‘ç‚ıĉƒ…ċ ħ * @endif */ struct Distance { /** * @if jp * ƒš‚˘ * @endif */ LinkPair pair; /** * @if jp * è·é›˘ * @endif */ double minD; /** * @if jp * ĉœ€èż‘ç‚ı * @endif */ DblArray3 point0; DblArray3 point1; }; typedef sequence DistanceSequence; /** * @if jp * ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ĉƒ…ċ ħ * @endif */ struct WorldState { /** * @if jp * çċœ¨çµŒéŽĉ™‚é–“[s] * @endif */ double time; /** * @if jp * ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³™‚‹‚­ƒ£ƒİ‚Ż‚żä½ç½/ċ§żċ‹˘ * @endif */ CharacterPositionSequence characterPositions; /** * @if jp * èĦçށĉƒ…ċ ħ * @endif */ CollisionSequence collisions; }; /** * @if jp * ‚µƒĵƒ * @endif */ interface ServerObject { /** * @if jp * 終了 * @endif */ oneway void shutdown(); }; /** * @if jp * Extra Joint ċž‹ * @endif */ enum ExtraJointType { EJ_XYZ, EJ_XY, EJ_Z }; }; #endif choreonoid-1.5.0/src/OpenHRPPlugin/corba/OpenHRP/3.1/ViewSimulator.idl0000664000000000000000000001432712741425367023757 0ustar rootroot#ifndef OPENHRP_VIEW_SIMULATOR_IDL_INCLUDED #define OPENHRP_VIEW_SIMULATOR_IDL_INCLUDED /** @file idl/OpenHRP/ViewSimulator.idl * @if jp * ViewSimulator ‚¤ƒ³‚żƒĵƒ•‚§ƒĵ‚ıċšçİ * @else * ViewSimulator Interfece Definition * @endif * @author Ichitaro Kohara, MSTC * @version 1.0 * @date 2001.02.22 */ #include module OpenHRP { /** * @if jp * ç”ğċƒƒ•‚݃ĵƒžƒƒƒˆ * @else * Image Data * @endif */ enum PixelFormat {ARGB, // 4byte/pixel GRAY, // 1byte/pixel DEPTH,// 4byte/pixel RGB}; // 3byte/pixel /** * @if jp * ç”ğċƒƒ‡ƒĵ‚ż * @endif */ struct ImageData { /** * @if jp * ƒ•‚݃ĵƒžƒƒƒˆ * @endif */ PixelFormat format; /** * @if jp * ç”ğċƒċı… * @endif */ long width; /** * @if jp * ç”ğċƒéИ• * @endif */ long height; /** * @if jp * octet §ç”ğċƒƒ‡ƒĵ‚ż * @endif */ sequence octetData; /** * @if jp * long §ç”ğċƒƒ‡ƒĵ‚ż * @endif */ sequence longData; /** * @if jp * float §ç”ğċƒƒ‡ƒĵ‚ż * @endif */ sequence floatData; }; /** * @if jp * ‚ЃĦƒİ * @author Ichitaro Kohara, MSTC * @version 1.0(2001.02.16) * @else * Camera * @author Ichitaro Kohara, MSTC * @version 1.0(2001.02.16) * @endif */ interface Camera { /** * @if jp * ‚ЃĦƒİç¨ċˆ * @else * Camera type * @endif */ enum CameraType { NONE, //!< read no information COLOR, //!< read color buffer MONO, DEPTH, //!< read depth buffer COLOR_DEPTH, //!< read color buffer and depth buffer MONO_DEPTH }; /** * @if jp * ‚ЃĦƒİƒ‘ƒİƒĦ‚ż * @else * Camera parameter * @endif */ struct CameraParameter { /** * @if jp * ‚ЃĦƒİç¨ċˆ * @else * camera type * @endif */ CameraType type; /** * @if jp * ‚­ƒ£ƒİ‚Ż‚żĉ­£é˘‹‚‰è·é›˘[m] * @else * view model's front clip distance[m] * @endif */ float frontClipDistance; /** * @if jp * ‚­ƒ£ƒİ‚Ż‚żċŒé˘§è·é›˘[m] * @else * view model's back clip distance[m] * @endif */ float backClipDistance; /** * @if jp * èĤ–野角[rad] * @else * fields of view[rad] * @endif */ float fieldOfView; /** * @if jp * ‚ğƒ³‚µID * @else * sensor id * @endif */ long sensorId; /** * @if jp * ‚ğƒ³‚µċ * @else * sensor name * @endif */ string sensorName; /** * @if jp * ƒŽƒĵƒ‰ċ£è¨€ċċ‰ * @else * DEF name * @endif */ string defName; /** * @if jp * ċı… * @else * width * @endif */ long width; /** * @if jp * éИ• * @else * height * @endif */ long height; /** * @if jp * ƒ•ƒĴƒĵƒ ƒĴƒĵƒˆ[fps] * @else * frame rate[fps] * @endif */ float frameRate; }; /** * @if jp * ‚µƒĵƒ‚’終了—™€‚ * @else * Destroy * @endif */ void destroy(); /** * @if jp * ‚ЃĦƒİƒ‘ƒİƒĦ‚ż‚’ċ–ċ——™€‚ * @return ‚ЃĦƒİƒ‘ƒİƒĦ‚ż * @else * Get camera parameter * @return camera parameter */ CameraParameter getCameraParameter(); /** * @if jp * ‚¤ƒĦƒĵ‚¸‚’ċ–ċ——™€‚ * @endif */ ImageData getImageData(); }; /** * @if jp * ‚ЃĦƒİ配ċˆ— * @else * Sequence of Camera * @endif */ typedef sequence CameraSequence; /** * @if jp * @brief ViewSimulator ‚¤ƒ³‚żƒĵƒ•‚§ƒĵ‚ı * * ‚ЃĦƒİ¨‚Œ‹‚‰ċ–ċ—§‚‹ç”ğċƒ‚’‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³—™€‚ * * Controller‹‚‰Żäğ下ĉ‰‹é †§ä½żç”¨§™€‚ * ƒĦƒ³ƒ visionSensor_ Ğ‚ğƒƒƒˆ•‚ŒŸ ViewSimulator ĞċŻ—Ĥ€ * * -# ViewSimulator::getCameraSequenceOf ‚’ä½żç”¨—Ĥ Camera ‚’ċ–ċ——™€‚ * -# Camera::getCameraParameter ‹‚‰ċ–ċ—•‚Œ‚‹ CameraParameter §ċ„ç¨ĉƒ…ċ ħ‚’èŞżı™€‚ * * äğ下€‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ƒĞƒĵƒ— * * -# Camera::getImageData § ImageData‚’ċ–ċ——™€‚ * -# “‚ЃĦƒİƒ•‚݃ĵƒžƒƒƒˆĞ—ŸŒ„€ImageData::longData 等‹‚‰ç”ğċƒ‚’ċ–ċ——™€‚ * * @author Ichitaro Kohara, MSTC * @version 1.0(2001.02.22) * @else * Vision Sensor * @author Ichitaro Kohara, MSTC * @version 1.0(2001.02.22) * @endif */ interface ViewSimulator : World { /** * @if jp * ‚µƒĵƒ‚’終了—™€‚ * @else * Destory * @endif */ void destroy(); /** * @if jp * ‚·ƒŸƒƒĴƒĵ‚żĞ‚‚‹‚ЃĦƒİ‚’ċ–ċ——™€‚ * @param cameras ‚ЃĦƒİ配ċˆ— * @return ‚ЃĦƒİċ°ĉ•° * @else * Get cameras loaded in simulator * @param cameras cameras * @return number of cameras * @endif */ void getCameraSequence(out CameraSequence cameras); /** * @if jp * ‚­ƒ£ƒİ‚Ż‚żĞ‚‚‹‚ЃĦƒİ‚’ċ–ċ——™€‚ * @param objectName ‚­ƒ£ƒİ‚Ż‚żċ * @param cameras ‚ЃĦƒİ配ċˆ— * @endif */ void getCameraSequenceOf(in string objectName, out CameraSequence cameras); /** * @if jp * ‚·ƒĵƒ³‚’ĉ›´ĉ–°—™€‚ * @param state ĉ–°—„ WorldState * @else * Update scene * @param state WorldState * @endif */ void updateScene( in WorldState state ); }; /** * ViewSimulatorƒ•‚Ħ‚ŻƒˆƒŞ‚¤ƒ³‚żƒ•‚§‚¤‚ı */ interface ViewSimulatorFactory : ServerObject { /** * ViewSimulator ‚’生ĉˆ—™€‚ * * @return ViewSimulator‚ރ–‚¸‚§‚Żƒˆ */ ViewSimulator create(); }; }; #endif choreonoid-1.5.0/src/OpenHRPPlugin/corba/OpenHRP/3.1/OnlineViewer.idl0000664000000000000000000000474412741425367023555 0ustar rootroot#ifndef OPENHRP_ONLINE_VIEWER_IDL_INCLUDED #define OPENHRP_ONLINE_VIEWER_IDL_INCLUDED #include module OpenHRP { /** * @if jp * OnlineViewer ‚¤ƒ³‚żƒĵƒ•‚§ƒĵ‚ı * * GrxUI  3DView ‚’‚Żƒİ‚¤‚˘ƒ³ƒˆƒ—ƒ­‚°ƒİƒ ‹‚‰èĦ¨ç¤ş•›‚‹éš›Ğä½żç”¨—™€‚ * * load() §èŞ­żèĵ‚“ ƒ˘ƒ‡ƒĞĞċŻ—Ĥ update() §ĉƒ…ċ ħ‚’与ˆ‚‹“¨§‚˘ƒ‹ƒĦƒĵ‚·ƒ§ƒ³—™€‚ * * Ÿ€ update() ‚’ä½żç”¨™‚‹¨ĉƒ…ċ ħŻè¨˜éŒ²•‚Œ€ċŒ§ċ†ç”Ÿ™‚‹“¨‚‚§™€‚ */ interface OnlineViewer { exception OnlineViewerException { /** @if jp ‚¨ƒİƒĵèŞĴĉ˜Ž @endif */ string description; }; /** * @if jp * èĦ¨ç¤şċ†…ċı‚’ĉ›´ĉ–°—™ * * ċ†…ċıŻè¨˜éŒ²•‚Œ€ċŒ§ċ†ç”Ÿ—ç›´™“¨Œ§™€‚ * @param state ĉ›´ĉ–°™‚‹èĦ¨ç¤şċ†…ċıĉƒ…ċ ħ * @else * Update Display * @endif */ void update(in WorldState state); /** * @if jp * ƒ˘ƒ‡ƒĞèŞ­żèĵż‚’èĦŒ„™€‚ * @param name ƒ˘ƒ‡ƒĞċ * @param url ƒ˘ƒ‡ƒĞƒ•‚Ħ‚¤ƒĞURL * @endif */ void load(in string name, in string url) raises (OnlineViewerException); /** * @if jp * 記録•‚ŒŸ„§ĉ›´ĉ–°‚’‚ŻƒŞ‚˘—™€‚ * @endif */ void clearLog(); /** * @if jp * ƒ‡ƒĵ‚ż‚’‚ŻƒŞ‚˘—™€‚ * @endif */ void clearData(); /** * @if jp * èĦ¨ç¤şċ†…ċı‚’ĉ›´ĉ–°—™€‚ update() ¨Żé•„€ĉ›´ĉ–°ċ†…ċı‚’記録—›‚“€‚ * @param state ĉ›´ĉ–°™‚‹èĦ¨ç¤şċ†…ċıĉƒ…ċ ħ * @else * state display without recording '03 Apr.4 s.kajita * @endif */ void drawScene(in WorldState state); /** * @if jp * 線ċı…‚’設ċš—™€‚ * @endif */ void setLineWidth(in float width); /** * @if jp * ‚ı‚ħƒĵƒĞ‚’設ċš—™€‚ * @endif */ void setLineScale(in float scale); /** * @if jp * * @endif */ boolean getPosture(in string robotId, out DblSequence posture); /** * @if jp * ƒ­‚°äżċ­˜ċ…ˆ(WorldStateItem)‚’設ċš—™€‚ * ĉŒ‡ċš—Ÿċċ‰WorldStateItemŒċ­˜ċœ¨—Ş„ċ ´ċˆŻĉ–°ŸĞ作ĉˆ—™€‚ * @param name WorldStateItemċċ‰ * @endif */ void setLogName(in string name); }; }; #endif choreonoid-1.5.0/src/OpenHRPPlugin/corba/OpenHRP/3.1/Controller.idl0000664000000000000000000001115212741425367023261 0ustar rootroot#ifndef OPENHRP_CONTROLLER_IDL_INCLUDED #define OPENHRP_CONTROLLER_IDL_INCLUDED /** @file idl/OpenHRP/Controller.idl * @if jp * Controller ‚µƒĵƒé–˘é€£‚¤ƒ³‚żƒĵƒ•‚§ƒĵ‚ı * @else * Controller IDL * @endif * @author Ichitaro Kohara Kernel Inc. * @date 2000/03/24 */ #include #include #include module OpenHRP { /** * @if jp * @brief Controller ‚¤ƒ³‚żƒĵƒ•‚§ƒĵ‚ı€‚ * * ċˆĥċĦ‚½ƒ•ƒˆċ½ıċ‰²‚’ĉžœŸ—™€‚ Controller Żäğ下ĉµ‚Œ‚’èĦŒ†‚ˆ†Ğ作ĉˆ—Ĥ •„€‚ * * -# ‚³ƒ³‚ıƒˆƒİ‚Ż‚ż§‚µƒĵƒèµ·ċ‹•ĉ™‚ċˆĉœŸċŒ– * -# setModelName( modelName )§ċċ‰‚’‚ğƒƒƒˆ * -# initialize() §RTC部ċˆ†ċˆĉœŸċŒ– * -# start() §‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³é–‹ċ§‹ĉ™‚ċˆĉœŸċŒ– * -# input() §‚·ƒŸƒƒĴƒĵ‚ż‹‚‰‚ğƒ³‚µĉƒ…ċ ħ‚’ċ—‚‹ * -# control() ‚ğƒ³‚µĉƒ…ċ ħ‹‚‰ċˆĥċĦ計痂’èĦŒ† * -# output() §‚˘‚Żƒƒ‚¨ƒĵ‚żĞĉƒ…ċ ħ‚’‚ğƒƒƒˆ™‚‹ * * @note äğŠċŒOpenHRP‚³ƒ³ƒˆƒ­ƒĵƒİŻOpenRTM‚³ƒ³ƒƒĵƒƒ³ƒˆ¨—Ĥ作ĉˆ™‚‹Œĉ¨™ĉş–¨Ş‚Š™€‚ * ċ“£Ĥ€ä¸€èˆĴ的Şä½żç”¨ĞŠ„ĤŻĉœĴ‚¤ƒ³‚żƒ•‚§ƒĵ‚ı‚’ç›´ĉŽä½ż†ċż…èĤŻ‚‚Š›‚“€‚ * * @else * Controller Interface * @endif */ interface Controller : ServerObject { /** @if jp ‚³ƒ³ƒˆƒ­ƒĵƒİċ‡Ĥ理ĞŠ„Ĥ‚¨ƒİƒĵŒç”Ÿ˜Ÿ¨Ğ生ĉˆ•‚Œ‚‹ä‹ċ¤–€‚ initializeĉŽ’äğ–ċˆĥċĦĞŠ„Ĥä½żç”¨™‚‹äşˆċš§™€‚ @endif */ exception ControllerException { /** @if jp ‚¨ƒİƒĵèŞĴĉ˜Ž @endif */ string description; }; /** * @if jp * @brief DynamicsSimulator ‚’‚ğƒƒƒˆ™‚‹€‚ * * ‚Żƒİ‚¤‚˘ƒ³ƒˆŒ Controller ‚µƒĵƒ‚’ä½żç”¨™‚‹éš›€ DynamicsSimulator ¸ċ‚ç…§‚’‚ğƒƒƒˆ—™€‚ * @param dynamicssimulator_ DynamicsSimulator ¸ċ‚ç…§ * @endif */ void setDynamicsSimulator(in DynamicsSimulator dynamicssimulator_); /** * @if jp * @brief ƒ˘ƒ‡ƒĞċ ‚’‚ğƒƒƒˆ™‚‹€‚ * * ‚Żƒİ‚¤‚˘ƒ³ƒˆŒ Controller ‚µƒĵƒ‚’ä½żç”¨™‚‹éš›€ƒ˘ƒ‡ƒĞċ‚’‚ğƒƒƒˆ—™€‚ * @param localModelName ƒ˘ƒ‡ƒĞċ * @endif */ void setModelName(in string localModelName); /** * @if jp * @brief ViewSimulator‚’‚ğƒƒƒˆ™‚‹€‚ * * setDynamicsSimulator() ¨ċŒĉ§˜Ğ ViewSimulator ‚’ä½żç”¨™‚‹ Controller Ğ * ĉŽçĥš™‚‹éš›Ż“ƒĦ‚½ƒƒƒ‰§‚ğƒƒƒˆ—™€‚ * * @param viewsimulator_ ViewSimulator ¸ċ‚ç…§ * @endif */ void setViewSimulator(in ViewSimulator viewsimulator_); /** * @if jp * @brief ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ƒĞƒĵƒ—Œċ§‹‚‹ċ‰Ğïĵ‘ċ›žċ‘ĵ°‚Œ™€‚ * * ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ċ‰ċˆĉœŸċŒ–Ż““Ğĉ›¸„Ĥ •„€‚ * @else * This method is called just before beginning periodic calls of control(). * * Initialization that requires the initial state of a robot * should be done in this method. * @endif */ void start(); /** * @if jp * @brief ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³‚’é–‹ċ§‹ƒğċ†é–‹™‚‹éš›‚³ƒ³ƒˆƒ­ƒĵƒİƒĵċˆĉœŸċŒ–‚’èĦŒ„™€‚ * * startäğċ‰endäğ降‚³ƒ³ƒˆƒ­ƒĵƒİƒŞ‚ğƒƒƒˆĞä½żç”¨—™€‚start～end 中‚³ƒ³ƒˆƒ­ƒĵƒİ§ŻĉŽ’äğ–ċˆĥċĦ‚’èĦŒ†äşˆċš§™€‚ * @endif */ void initialize() raises (ControllerException); /** * @if jp * @brief ċˆĥċĦ計痂’èĦŒ„™€‚ * * ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ƒĞƒĵƒ—ĞŠ„Ĥ input() §ċ–ċ——Ÿĉƒ…ċ ħ‚’ä½żç”¨—Ĥ計痂’èĦŒ„€ output() §ċ‡şċŠ›—™€‚ * @endif */ void control(); /** * @if jp * @brief ‚ğƒ³‚µĉƒ…ċ ħċ–ċ—‚’èĦŒ„™€‚ * * DynamicsSimulator::getCharacterSensorState() 等‚’ä½żç”¨—Ĥ‚ğƒ³‚µĉƒ…ċ ħ‚’ċ–ċ——™€‚ * @endif */ void input(); /** * @if jp * @brief ‚˘‚Żƒƒ‚¨ƒĵ‚żŞİ¸ĉƒ…ċ ħ‚’ċ‡şċŠ›—™€‚ * * DynamicsSimulator::setCharacterLinkData() 等‚’ä½żç”¨—Ĥ‚·ƒŸƒƒĴƒĵ‚ż¸ĉƒ…ċ ħ‚’ċ‡şċŠ›—™€‚ * @endif */ void output(); /** * @if jp * ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ƒĞƒĵƒ—Œçµ‚了—Ÿéš›Ğċ‘ĵ°‚Œ™€‚ * @else * This method is called when the control loop is finished. * @endif */ void stop(); /** * @if jp * ‚µƒĵƒ‚’終了—™€‚ * @endif */ void destroy(); /** * @if jp * controllertimeStep‚’設ċš—™€‚ * @endif */ void setTimeStep(in double timeStep); }; }; #endif choreonoid-1.5.0/src/OpenHRPPlugin/corba/OpenHRP/3.1/ModelLoader.idl0000664000000000000000000004620412741425367023333 0ustar rootroot#ifndef OPENHRP_MODEL_LOADER_IDL_INCLUDED #define OPENHRP_MODEL_LOADER_IDL_INCLUDED /** @if jp ModelLoader ‚µƒĵƒé–˘é€£‚¤ƒ³‚żƒĵƒ•‚§ƒĵ‚ı @endif @author Shin'ichiro Nakaoka */ #include module OpenHRP { /** @if jp ShapeInfo ¸‚¤ƒ³ƒ‡ƒƒ‚Ż‚ı€‚ShapeInfo ĞċŻ—ĤŻ transformMatrix Ğĉ ĵ納•‚ŒŸ ċş§ĉ¨™ċ¤‰ĉ›‚’éİ用™‚‹€‚ @endif */ struct TransformedShapeIndex { /** @if jp ċ¤‰ĉ›èĦŒċˆ—€‚4x4ċŒĉĴĦċ¤‰ĉ›èĦŒċˆ—ä¸Š3èĦŒċˆ†‚’ Row Major Array §ĉ ĵ納—Ÿ‚‚€‚ @endif */ DblArray12 transformMatrix; /** @if jp ĉœĴĉ§‹é€ ä½“Œ LinkInfo Ğĉ ĵ納•‚ŒĤ„‚‹ċ ´ċˆ€LinkInfo  inlinedShapeTransformMatrices ¸‚¤ƒ³ƒ‡ƒƒ‚Ż‚ı‚’ĉ ĵ納™‚‹. ċ½˘çŠĥŒƒ˘ƒ‡ƒĞƒ•‚Ħ‚¤ƒĞĞŠ„Ĥ inline ƒŽƒĵƒ‰¨—Ĥċˆƒ•‚Ħ‚¤ƒĞĞè¨˜èż°•‚ŒĤ„‚‹ċ ´ċˆ€ inline ƒŽƒĵƒ‰‚’èŞ­żèĵ‚€ċ´ĞŠ‘‚‹ċ¤‰ĉ›ż‚’集çݍ—ŸèĦŒċˆ—¨™‚‹€‚ ƒ˘ƒ‡ƒĞƒ­ƒĵƒ€‚’ċˆİ用—Ÿƒ˘ƒ‡ƒĞ‚¨ƒ‡‚£‚żĞŠ„ĤinlineƒŽƒĵƒ‰‚’ĉ­£—ĉ‰ħ†Ÿ‚ĞĉœĴĉƒ…ċ ħŒċż…èĤ¨Ş£Ĥ„‚‹€‚ inlineƒŽƒĵƒ‰Œä½ż‚‚ŒĤ„Ş„ċ ´ċˆŻ -1 ¨™‚‹€‚ @endif */ short inlinedShapeTransformMatrixIndex; /** @if jp BodyInfo::shapes ĞŠ‘‚‹ ShapeInfo ‚¤ƒ³ƒ‡ƒƒ‚Ż‚ı€‚ @endif */ short shapeIndex; }; typedef sequence TransformedShapeIndexSequence; typedef sequence AllLinkShapeIndexSequence; /** @if jp ‚ğƒ³‚µĉƒ…ċ ħ‚’ĉ ĵ納™‚‹ĉ§‹é€ ä½“€‚ ĉ—§IDL§Ż interface ¨—Ĥ„ŸŒ€ĉ–°IDL§Ż struct ¨Ş‚‹“¨Ğĉ³¨ĉ„€‚ @endif */ struct SensorInfo { /* @if jp ‚ğƒ³‚µç¨éĦž‚’èĦ¨™ĉ–‡ċ­—ċˆ—€‚ çċœ¨¨“‚€äğ下Œċšç݁•‚ŒĤ„‚‹€‚ "Force" - 6èğ¸ċŠ›‚ğƒ³‚µ "RateGyro" - ƒĴƒĵƒˆ‚¸ƒ£‚¤ƒ­‚ğƒ³‚µ "Acceleration" - ċŠ é€ŸċşĤ‚ğƒ³‚µ "Vision" - ƒ“‚¸ƒ§ƒ³‚ğƒ³‚µ "Range" - è·é›˘‚ğƒ³‚µ @endif */ string type; string name; ///< ĉœĴ‚ğƒ³‚µè­˜ċˆċ long id; ///< ‚ğƒ³‚µç¨éĦž”¨‚ğƒ³‚µID DblArray3 translation; ///< ‚ğƒ³‚µè¨­ç½ä½ç½(ƒŞƒ³‚Żƒ­ƒĵ‚ЃĞċş§ĉ¨™) DblArray4 rotation; ///< ‚ğƒ³‚µè¨­ç½ċ§żċ‹˘(ƒŞƒ³‚Żƒ­ƒĵ‚ЃĞċş§ĉ¨™) FloatSequence specValues; ///< ċ„ç¨äğ•ĉ§˜ċ€¤(ĉ—§IDLmaxValuesĞ相ċ½“) string specFile; ///< äğ•ĉ§˜è¨˜èż°ƒ•‚Ħ‚¤ƒĞċïĵˆĉœĴĉ”ıè‰Ż§Ż¨‚Š‚ˆšçİş§‚ˆ„ïĵ‰ /// ĉœĴƒŞƒ³‚ŻĞċŻċżœ™‚‹ċ½˘çŠĥĉƒ…ċ ħċ¤‰ĉ›èĦŒċˆ—ä𘁍‚¤ƒ³ƒ‡ƒƒ‚Ż‚ıċˆ— TransformedShapeIndexSequence shapeIndices; DblArray12Sequence inlinedShapeTransformMatrices; }; typedef sequence SensorInfoSequence; /** @if jp ƒƒĵƒ‰‚Ĥ‚§‚˘‚³ƒ³ƒƒĵƒƒ³ƒˆĉƒ…ċ ħ‚’ĉ ĵ納™‚‹ĉ§‹é€ ä½“ @endif */ struct HwcInfo { string name; ///< ĉœĴHWCè­˜ċˆċ long id; ///< HWCç¨éĦž”¨‚ğƒ³‚µID DblArray3 translation; ///< HWC設ç½ä½ç½(ƒŞƒ³‚Żƒ­ƒĵ‚ЃĞċş§ĉ¨™) DblArray4 rotation; ///< HWC設ç½ċ§żċ‹˘(ƒŞƒ³‚Żƒ­ƒĵ‚ЃĞċş§ĉ¨™) string url; ///< HWCƒ—ƒ­ƒ•‚Ħ‚¤ƒĞURL /// ĉœĴHWCĞċŻċżœ™‚‹ċ½˘çŠĥĉƒ…ċ ħċ¤‰ĉ›èĦŒċˆ—ä𘁍‚¤ƒ³ƒ‡ƒƒ‚Ż‚ıċˆ— TransformedShapeIndexSequence shapeIndices; DblArray12Sequence inlinedShapeTransformMatrices; }; typedef sequence HwcInfoSequence; /** @if jp ‚ğ‚°ƒĦƒ³ƒˆĉƒ…ċ ħ‚’ĉ ĵ納™‚‹ĉ§‹é€ ä½“ 複ĉ•°ċ€‹‚ğ‚°ƒĦƒ³ƒˆƒŽƒĵƒ‰‚’ĉŒ¤ƒŞƒ³‚Ż‚’GUI‹‚‰ç·¨é›†™‚‹Ÿ‚Ğä½żç”¨ @endif */ struct SegmentInfo { string name; ///< ‚ğ‚°ƒĦƒ³ƒˆċ double mass; ///< è³Şé‡ DblArray3 centerOfMass; ///< 重ċżƒä½ç½ DblArray9 inertia; ///< ĉ…£ĉ€§èĦŒċˆ— DblArray12 transformMatrix; /// TransformedShapeIndex‚¤ƒ³ƒ‡ƒƒ‚Ż‚ıċˆ— sequence shapeIndices; }; typedef sequence SegmentInfoSequence; /** @if jp ċ„ƒŞƒ³‚Żĉƒ…ċ ħ‚’ĉ ĵ納™‚‹ĉ§‹é€ ä½“€‚ ĉ—§IDL§Ż interface ¨—Ĥ„ŸŒ€ĉ–°IDL§Ż struct ¨Ş‚‹“¨Ğĉ³¨ĉ„€‚ equivalentInertia Żċğƒĉ­˘€‚ @endif */ struct LinkInfo { string name; ///< ƒŞƒ³‚Żċ short jointId; ///< é–˘çŻ€è­˜ċˆċ€¤ string jointType; ///< 関節‚ż‚¤ƒ— double jointValue; ///< 関節ċˆĉœŸċ€¤ DblArray3 jointAxis; ///< 関節èğ¸(ƒŞƒ³‚Żƒ­ƒĵ‚ЃĞċş§ĉ¨™) DblSequence ulimit; ///< ĉœ€ċ¤§é–˘çŻ€ċ€¤ DblSequence llimit; ///< ĉœ€ċ°é–˘çŻ€ċ€¤ DblSequence uvlimit; ///< ĉœ€ċ¤§é–˘çŻ€é€ŸċşĤċ€¤ DblSequence lvlimit; ///< ĉœ€ċ°é–˘çŻ€é€ŸċşĤċ€¤ DblArray3 translation; ///< ƒ­ƒĵ‚ЃĞċş§ĉ¨™ç³ğċŽŸç‚ı(èĤރރ³‚Żç›¸ċŻ) /** @if jp ƒ­ƒĵ‚ЃĞċş§ĉ¨™ç³ğċ§żċ‹˘(èĤރރ³‚Żç›¸ċŻ) ċ›žèğ˘èğ¸(x, y, z) + ċ›žèğ˘è§’ċşĤä¸Ĥ³‚µ‚¤‚şïĵ”é…ċˆ—(VRML¨ċŒ˜) @endif */ DblArray4 rotation; double mass; ///< è³Şé‡ DblArray3 centerOfMass; ///< 重ċżƒä½ç½ DblArray9 inertia; ///< ĉ…£ĉ€§èĦŒċˆ— double rotorInertia; ///< ƒ­ƒĵ‚żĉ…£ĉ€§ double rotorResistor; ///< ƒ­ƒĵ‚żĉŠµĉŠ— double gearRatio; ///< ‚‚˘ĉŻ” double torqueConst; ///< ƒˆƒĞ‚Żċšĉ•° double encoderPulse; ///< ‚¨ƒ³‚³ƒĵƒ€ƒ‘ƒĞ‚ı short parentIndex; ///< èĤރރ³‚Ż‚¤ƒ³ƒ‡ƒƒ‚Ż‚ı ShortSequence childIndices; ///< ċ­ƒŞƒ³‚Ż‚¤ƒ³ƒ‡ƒƒ‚Ż‚ıċˆ— /// ĉœĴƒŞƒ³‚ŻĞċŻċżœ™‚‹ċ½˘çŠĥĉƒ…ċ ħċ¤‰ĉ›èĦŒċˆ—ä𘁍‚¤ƒ³ƒ‡ƒƒ‚Ż‚ıċˆ— TransformedShapeIndexSequence shapeIndices; /// ċ½˘çŠĥƒ‡ƒĵ‚żAABBtreeéšŽċħ¤ĉ·ħ•ïĵ‹ïĵ‘ short AABBmaxDepth; /// ċ½˘çŠĥƒ‡ƒĵ‚żAABBtreeBoundingBoxĉœ€ċ¤§ċ€‹ĉ•° short AABBmaxNum; /** @if jp shapeIndices  inlinedShapeTransformMatrixIndex Ğ‚ˆ£ĤĉŒ‡—示•‚Œ‚‹èĦŒċˆ—ƒŞ‚ıƒˆ @endif */ DblArray12Sequence inlinedShapeTransformMatrices; SensorInfoSequence sensors; ///< ĉœĴƒŞƒ³‚ŻĞ設罁•‚ŒŸ‚ğƒ³‚µĉƒ…ċ ħ HwcInfoSequence hwcs; SegmentInfoSequence segments; /** @if jp ‚˘‚Żƒƒ‚¨ƒĵ‚żƒğ‚‚˘ç­‰äğ•ĉ§˜è¨˜èż°ƒ•‚Ħ‚¤ƒĞċƒŞ‚ıƒˆ ïĵˆĉœĴĉ”ıè‰Ż§Ż¨‚Š‚ˆšçİş§‚ˆ„ïĵ‰ @endif */ StringSequence specFiles; }; typedef sequence LinkInfoSequence; /** @if jp ç‰İ体ċ½˘çŠĥĉƒ…ċ ħ‚’ĉ ĵ納™‚‹ĉ§‹é€ ä½“€‚ @endif */ enum ShapePrimitiveType { SP_MESH, SP_BOX, SP_CYLINDER, SP_CONE, SP_SPHERE, SP_PLANE }; struct ShapeInfo { /** @if jp ĉœĴShapeŒVRMLinlineƒŽƒĵƒ‰ċ†…Ğĉ ĵ納•‚ŒĤ„‚‹ċ ´ċˆŻ€ inline•‚ŒĤ„‚‹VRMLƒ•‚Ħ‚¤ƒĞ¸ƒ‘‚ı‚’ĉ ĵ納™‚‹€‚ inline§ŻŞç›´ĉŽƒĦ‚¤ƒ³VRMLƒ•‚Ħ‚¤ƒĞċ†…Ğċ½˘çŠĥŒè¨˜èż°•‚ŒĤ„Ÿċ ´ċˆŻ€ ĉœĴƒ•‚£ƒĵƒĞƒ‰Żçİş¨™‚‹€‚ @endif */ string url; /** @if jp ‚ރނ¸ƒŠƒĞVRMLƒ˘ƒ‡ƒĞƒ•‚Ħ‚¤ƒĞĞŠ‘‚‹ƒ—ƒŞƒŸƒ†‚£ƒ–ç¨éĦž‚’èĦ¨™€‚ ‚Żƒİ‚¤‚˘ƒ³ƒˆŻĉç”ğĞŠ„Ĥ“ĉƒ…ċ ħ‚’ċˆİ用™‚‹“¨Œ§‚‹€‚ Ÿ —€primitiveType Œ MESH äğċ¤–¨‚‚€ƒ—ƒŞƒŸƒ†‚£ƒ–‚’ƒĦƒƒ‚·ƒĞ ċħ•é–‹—Ÿéš›ċı何ƒ‡ƒĵ‚ż(verticesŞİ)ŻĉŒ£Ĥ„‚‹‚‚¨™‚‹€‚ @endif */ ShapePrimitiveType primitiveType; /** @if jp primitiveType Œ MESH äğċ¤–¨€ƒ—ƒŞƒŸƒ†‚£ƒ–ċ½˘çŠĥĞ関‚‚‹ƒ‘ƒİƒĦƒĵ‚ż‚’ĉ ĵ納™‚‹€‚ ċ„ƒ—ƒŞƒŸƒ†‚£ƒ–ĞŠ‘‚‹é…ċˆ—èĤç´ ¨ƒ‘ƒİƒĦƒĵ‚żċŻċżœŻäğ下¨™‚‹€‚ - BOX 0?2: x, y, z ‚µ‚¤‚ş - CYLINDER 0: radius 1: height 2: top 3: bottom 4: side bottom, side, top Ğ¤„ĤŻċ€¤Œ0¨false, ‚Œäğċ¤–Żtrue¨™‚‹€‚ (CONEĞ関—Ĥ‚‚ċŒĉ§˜€‚ïĵ‰ - CONE 0: bottomRadius 1: height 2: bottom 3: side - SPHERE 0: radius @endif */ FloatSequence primitiveParameters; /** @if jp èĦ¨é˘ƒĦƒƒ‚·ƒ‚’ĉ§‹ĉˆ™‚‹é ‚ç‚ıƒ‡ƒĵ‚ż€‚ 連çĥš™‚‹ïĵ“èĤç´ Œé ‚ç‚ı位罁ïĵ“ĉĴĦċ…ƒƒ™‚ŻƒˆƒĞĞċŻċżœ™‚‹€‚ @endif */ FloatSequence vertices; /** @if jp èĦ¨é˘ƒĦƒƒ‚·ƒ‚’ĉ§‹ĉˆ™‚‹ä¸‰è§’ċ½˘ĞŠ‘‚‹é ‚ç‚ıçµ„żċˆ‚›‚’ĉ ĵ納—Ÿƒ‡ƒĵ‚ż€‚ ċ„èĤç´ ŻverticesĞĉ ĵ納•‚ŒŸé ‚ç‚ı‚¤ƒ³ƒ‡ƒƒ‚Ż‚ı‚’èĦ¨—€ 連çĥš™‚‹ïĵ“èĤç´ Ğ‚ˆ£ĤƒĦƒƒ‚·ƒ‚’ĉ§‹ĉˆ™‚‹ä¸‰è§’ċ½˘‚’ĉŒ‡ċš™‚‹€‚ ƒĦƒƒ‚·ƒĉ§‹ĉˆé˘Żċż…šä¸‰è§’ċ½˘§èĦ¨ç•‚Œ‚‹‚‚¨™‚‹€‚ ŞŠ€ƒĦƒƒ‚·ƒèĦ¨è£‚’ċŒşċˆ™‚‹ċż…èĤŒ‚‚‹ċ ´ċˆŻ€ 連çĥš™‚‹ïĵ“èĤç´ Œċĉ™‚計ċ›ž‚Š¨Ş‚‹é˘‚’èĦ¨¨™‚‹€‚ @endif */ LongSequence triangles; /** @if jp ĉœĴFaceĞċŻċżœ™‚‹AppearanceInfo BodyInfo::appearances ĞŠ‘‚‹‚¤ƒ³ƒ‡ƒƒ‚Ż‚ı€‚ @endif */ long appearanceIndex; }; typedef sequence ShapeInfoSequence; /** @if jp èĦ¨é˘èĤ‹ˆĉƒ…ċ ħ‚’ĉ ĵ納™‚‹ĉ§‹é€ ä½“€‚ ĉœĴĉ§‹é€ ä½“èĤç´ Ż€VRMLIndexedFaceSetĞż‚‰‚Œ‚‹‚‚¨ ĉĤ‚­ċŒĉ§˜§‚‚‹€‚ @endif */ struct AppearanceInfo { /** @if jp ĉœĴAppearanceĞċŻċżœ™‚‹MaterialInfoŒ‚‚‹ċ ´ċˆ€ BodyInfo::materials ĞŠ‘‚‹‚¤ƒ³ƒ‡ƒƒ‚Ż‚ı€‚ Ş‘‚Œ° -1€‚ @endif */ long materialIndex; /** @if jp ĉ³•ç·šƒ‡ƒĵ‚ż€‚連çĥš™‚‹ïĵ“èĤç´ ‚’x, y, z¨—€ä¸€ĉ³•ç·šƒ™‚ŻƒˆƒĞĞċŻċżœ€‚ “é…ċˆ—‚µ‚¤‚şŒ0ċ ´ċˆ€ĉ³•ç·šŻ‚Żƒİ‚¤‚˘ƒ³ƒˆŒċż…èĤĞċżœ˜Ĥ 生ĉˆ—Ş‘‚Œ°Ş‚‰Ş„€‚ @endif */ FloatSequence normals; /** @if jp ĉ³•ç·šċŻċżœä𘁑ƒ‡ƒĵ‚ż€‚ normalPerVertex Œ true Ş‚‰€ShapeInfo  vertices ä¸Ĥ³¨ċŻċżœ•›‚‹€‚ normalPerVertex Œ false Ş‚‰€ShapeInfo ĞŠ‘‚‹ä¸‰è§’ċ½˘ƒƒŞ‚´ƒ³ä¸Ĥ³¨ċŻċżœ•›‚‹€‚ normalsŒ‚£ĤnormalIndices‚µ‚¤‚şŒïĵċ ´ċˆ€normalsèĤç´ ‚’é ‚ç‚ıŸŻé˘Ğ1ċŻ1ċŻċżœ•›‚‹€‚ @endif */ LongSequence normalIndices; boolean normalPerVertex; boolean solid; float creaseAngle; /** @if jp 色ƒ‡ƒĵ‚ż€‚連çĥš™‚‹ïĵ“èĤç´ ‚’R,G,B¨—一色ĞċŻċżœ€‚ċ„èĤç´ ċ€¤çŻ„ċ›²Ż 0 ‹‚‰ 1.0€‚ “é…ċˆ—‚µ‚¤‚şŒ0ċ ´ċˆ€è‰²ŻmaterialInfo‚‚ĞŞ‚‹€‚ @endif */ FloatSequence colors; /** @if jp 色ċŻċżœä𘁑ƒ‡ƒĵ‚ż€‚ colorPerVertex Œ true Ş‚‰€ShapeInfo  vertices ä¸Ĥ³¨ċŻċżœ•›‚‹€‚ colorPerVertex Œ false Ş‚‰€ShapeInfo ĞŠ‘‚‹ä¸‰è§’ċ½˘ƒƒŞ‚´ƒ³ä¸Ĥ³¨ċŻċżœ•›‚‹€‚ colorsŒ‚£ĤcolorIndices‚µ‚¤‚şŒïĵċ ´ċˆ€colorsèĤç´ ‚’é ‚ç‚ıŸŻé˘Ğ1ċŻ1ċŻċżœ•›‚‹€‚ @endif */ LongSequence colorIndices; boolean colorPerVertex; /** @if jp ƒ†‚Ż‚ıƒƒ£ƒ‡ƒĵ‚ż€‚ BodyInfo::textures ĞŠ‘‚‹‚¤ƒ³ƒ‡ƒƒ‚Ż‚ı€‚ ċŻċżœ™‚‹ƒ†‚Ż‚ıƒƒ£ŒŞ‘‚Œ°€-1€‚ @endif */ long textureIndex; FloatSequence textureCoordinate; LongSequence textureCoordIndices; DblArray9 textransformMatrix; }; typedef sequence AppearanceInfoSequence; /** @if jp èĦ¨é˘ĉè³Şĉƒ…ċ ħ‚’ĉ ĵ納™‚‹ĉ§‹é€ ä½“€‚ ċ„èĤç´ ŻVRMLMaterialƒŽƒĵƒ‰¨ċŒĉ§˜€‚ ċ…¨Ĥċ¤‰ĉ•°ċ€¤çŻ„ċ›²Ż 0.0 €œ 1.0€‚ @endif */ struct MaterialInfo { float ambientIntensity; FloatArray3 diffuseColor; FloatArray3 emissiveColor; float shininess; FloatArray3 specularColor; float transparency; }; typedef sequence MaterialInfoSequence; /** @if jp ƒ†‚Ż‚ıƒƒ£ĉƒ…ċ ħ‚’ĉ ĵ納™‚‹ĉ§‹é€ ä½“€‚ ċ„èĤç´ ŻVRMLPixelTextureƒŽƒĵƒ‰¨ċŒĉ§˜€‚ @endif */ struct TextureInfo { /** @if jp ƒ†‚Ż‚ıƒƒ£ç”ğċƒ‚¤ƒĦƒĵ‚¸€‚ VRMLSFImage‹‚‰€ċ…ˆé ­<width>, <height>, <num components> ‚’除„Ÿ‚‚¨ċŒĉ§˜€‚<width>, <height>, <num components>ĞċŻċżœ™‚‹ ċ€¤ŻĉœĴĉ§‹é€ ä½“ width, height, numComponents §ĉŒ‡ċš€‚ ċ…ƒƒ‡ƒĵ‚żŒurlĉŒ‡ċšċ ´ċˆŻ€urlƒ•‚£ƒĵƒĞƒ‰Ğç”ğċƒƒ•‚Ħ‚¤ƒĞä½ç½Œĉ ĵ納•‚Œ‚‹€‚ “ċ ´ċˆ€ƒ˘ƒ‡ƒĞƒ­ƒĵƒ€ċ´§ç”ğċƒċħ•é–‹ŒèĦŒ‚‚ŒŞ‹£Ÿċ ´ċˆŻ€ imageƒ•‚£ƒĵƒĞƒ‰‚µ‚¤‚şŻ0¨Ş£ĤŠ‚Š€ ‚Żƒİ‚¤‚˘ƒ³ƒˆŻƒ•‚Ħ‚¤ƒĞċ‹‚‰ƒ†‚Ż‚ıƒƒ£‚’獲ċ—™‚‹ċż…èĤŒ‚‚‹€‚ image ƒ•‚£ƒĵƒĞƒ‰‚µ‚¤‚şŒ 0 §ŞĤ€url‚µ‚¤‚ş‚‚ 0 §Ş„ċ ´ċˆŻ€ ‚Żƒİ‚¤‚˘ƒ³ƒˆŻċ½Şĉ–ı‚„‚Šĉ–ı§ƒ†‚Ż‚ıƒƒ£ç”ğċƒ‚’獲ċ—™‚Œ°‚ˆ„€‚ @endif */ OctetSequence image; short numComponents; short width; short height; boolean repeatS; boolean repeatT; string url; }; typedef sequence TextureInfoSequence; /** @if jp ċ½˘çŠĥƒ‡ƒĵ‚żä¸€ċĵ‚’ĉ ĵ納™‚‹‚ރ–‚¸‚§‚Żƒˆ€‚ @endif */ interface ShapeSetInfo { /** @if jp èĦ¨é˘ċ½˘çŠĥ¨èĤ‹ˆĉƒ…ċ ħ‚’ĉ ĵ納™‚‹ShapeInfo‚·ƒĵ‚ħƒ³‚ı€‚ LinkInfoĞŠ„Ĥ€LinkĞċŻċżœ™‚‹ĉƒ…ċ ħŒĉœĴ‚·ƒĵ‚ħƒ³‚ı‚¤ƒ³ƒ‡ƒƒ‚Ż‚ı¨—ĤĉŒ‡ċš•‚Œ‚‹€‚ @endif */ readonly attribute ShapeInfoSequence shapes; /** @if jp Appearanceĉƒ…ċ ħ‚·ƒĵ‚ħƒ³‚ı€‚ ShapeInfoĞŠ„Ĥ€ĉœĴ‚·ƒĵ‚ħƒ³‚ı‚¤ƒ³ƒ‡ƒƒ‚Ż‚ıŒĉŒ‡ċš•‚Œ‚‹€‚ @endif */ readonly attribute AppearanceInfoSequence appearances; /** @if jp Materialĉƒ…ċ ħ‚·ƒĵ‚ħƒ³‚ı€‚ AppearanceInfoĞŠ„Ĥ€ĉœĴ‚·ƒĵ‚ħƒ³‚ı‚¤ƒ³ƒ‡ƒƒ‚Ż‚ıŒĉŒ‡ċš•‚Œ‚‹€‚ @endif */ readonly attribute MaterialInfoSequence materials; /** @if jp Textureĉƒ…ċ ħ‚·ƒĵ‚ħƒ³‚ı€‚ AppearanceInfoĞŠ„Ĥ€ĉœĴ‚·ƒĵ‚ħƒ³‚ı‚¤ƒ³ƒ‡ƒƒ‚Ż‚ıŒĉŒ‡ċš•‚Œ‚‹€‚ @endif */ readonly attribute TextureInfoSequence textures; }; /** @if jp ç‰İ体ƒ˘ƒ‡ƒĞĉƒ…ċ ħ¸‚˘‚Ż‚ğ‚ı‚’ĉä›™‚‹CORBA‚ރ–‚¸‚§‚Żƒˆ‚¤ƒ³‚żƒ•‚§ƒĵ‚ı€‚ ĉ—§IDLCharacterInfoĞċŻċżœ€‚ @endif */ interface BodyInfo : ShapeSetInfo { /** @if jp ƒ˘ƒ‡ƒĞċ @endif */ readonly attribute string name; /** @if jp ƒ˘ƒ‡ƒĞƒ•‚Ħ‚¤ƒĞURL€‚ @endif */ readonly attribute string url; /** @if jp HumanoidƒŽƒĵƒ‰ĞŠ‘‚‹infoƒ•‚£ƒĵƒĞƒ‰Ğè¨˜èż°•‚ŒŸƒ†‚­‚ıƒˆ€‚ @endif */ readonly attribute StringSequence info; /** @if jp ƒŞƒ³‚ŻĉİŸĉ§‹ĉƒ…ċ ħ‚’ċ…¨ƒŞƒ³‚ŻĞ¤„Ĥĉ ĵ納—Ÿƒ‡ƒĵ‚ż€‚ ĉœĴ‚·ƒĵ‚ħƒ³‚ıĞŠ‘‚‹LinkInfoä¸Ĥ³Ż€ linkIndex(ƒ˘ƒ‡ƒĞƒ•‚Ħ‚¤ƒĞĞŠ‘‚‹JointNodeċ‡şçé †€‚jointId¨Żç•°Ş‚‹€‚) é †¨™‚‹“¨€‚ @endif */ readonly attribute LinkInfoSequence links; /** @if jp ƒŞƒ³‚ŻĞċŻċżœ™‚‹ShapeInfo‚¤ƒ³ƒ‡ƒƒ‚Ż‚ı配ċˆ—‚’€ċ…¨ĤƒŞƒ³‚ŻĞ関—Ĥĉ ĵ納—Ÿé…ċˆ—€‚ CollisionDetector ‚ˆ†Ğ€LinkInfoèݳ—„ĉƒ…ċ ħŻċż…èĤŞ„Œ€ ċ„ƒŞƒ³‚ŻShapeInfoŻċż…èĤ¨„†ċ ´ċˆĞ“ƒ‡ƒĵ‚ż‚’ċˆİ用™‚‹€‚ ŞŠ€CollisionDetector‚’ĉ–°IDLĞċŻċżœ•›‚‹éš›ĞŻ€ĉœĴ‚¤ƒ³‚żƒ•‚§ƒĵ‚ılinksƒĦƒ³ƒŻ ä½ż‚šĞĉ¸ˆ‚€‚ˆ†Ğĉ”ıċ¤‰™‚‹“¨€‚ ƒŞƒ³‚Żä¸Ĥ³ŻlinkIndexé †¨™‚‹€‚ @endif */ readonly attribute AllLinkShapeIndexSequence linkShapeIndices; }; interface SceneInfo : ShapeSetInfo { /** @if jp ċ½˘çŠĥƒ•‚Ħ‚¤ƒĞURL€‚ @endif */ readonly attribute string url; /** @if jp LinkInfo  shapeIndices ¨ċŒ˜€‚ @endif */ readonly attribute TransformedShapeIndexSequence shapeIndices; }; /** @if jp @brief ModelLoader‚¤ƒ³‚żƒ•‚§ƒĵ‚ıċšçİ ƒ†‚­‚ıƒˆè¨˜èż°•‚ŒŸƒ˘ƒ‡ƒĞĉƒ…ċ ħƒ•‚Ħ‚¤ƒĞ‚’èŞ­żèĵż€ ƒ‡ƒĵ‚ż‚’ĉ§‹é€ ċŒ–—ŸBodyInfo‚ރ–‚¸‚§‚Żƒˆ¨—Ĥĉä›™‚‹€‚ @endif */ interface ModelLoader : ServerObject { /** @if jp ƒ˘ƒ‡ƒĞƒ­ƒĵƒ€ċ‡Ĥ理ĞŠ„Ĥ‚¨ƒİƒĵŒç”Ÿ˜Ÿ¨Ğ生ĉˆ•‚Œ‚‹ä‹ċ¤–€‚ @endif */ exception ModelLoaderException { /** @if jp ‚¨ƒİƒĵèŞĴĉ˜Ž @endif */ string description; }; /** @if jp BodyInfo‚ރ–‚¸‚§‚Żƒˆ‚’ċ—‚‹€‚ ĉœĴƒĦ‚½ƒƒƒ‰§Ż€ĉŒ‡ċš•‚ŒŸƒ•‚Ħ‚¤ƒĞŒäğċ‰ĞèŞ­żèĵ‚ŒĤ„‚Œ°€ èŞ­żèĵżċ†…ċı‚’ċ†ċˆİ用™‚‹“¨Ğ‚ˆ‚Š€éИ速Ğ結ĉžœ‚’èż”™€‚ Ÿ —€ĉŒ‡ċš•‚ŒŸƒ•‚Ħ‚¤ƒĞŒ èŞ­żèĵ‚ŒĤ„Ş„ċ ´ċˆ‚„€ äğċ‰èŞ­żèĵżċŒĞƒ•‚Ħ‚¤ƒĞŒĉ›´ĉ–°•‚ŒŸċ ´ċˆŻ€ load()ƒĦ‚½ƒƒƒ‰¨ċŒ˜ċ‡Ĥ理¨Ş‚‹€‚ @param url ƒ˘ƒ‡ƒĞƒ•‚Ħ‚¤ƒĞURL @endif */ BodyInfo getBodyInfo(in string url) raises (ModelLoaderException); enum AABBdataType { AABB_DEPTH, AABB_NUM }; struct ModelLoadOption { boolean readImage; ShortSequence AABBdata; AABBdataType AABBtype; }; /** @if jp ‚ރ—‚·ƒ§ƒ³ä𘁍§€getBodyInfo‚’ċŸèĦŒ @param url ƒ˘ƒ‡ƒĞƒ•‚Ħ‚¤ƒĞURL @param option @endif **/ BodyInfo getBodyInfoEx(in string url, in ModelLoadOption option ) raises (ModelLoaderException); /** @if jp ƒ˘ƒ‡ƒĞƒ•‚Ħ‚¤ƒĞ‚’ƒ­ƒĵƒ‰—€BodyInfo‚ރ–‚¸‚§‚Żƒˆ‚’ċ—‚‹€‚ @param url ƒ˘ƒ‡ƒĞƒ•‚Ħ‚¤ƒĞURL @endif */ BodyInfo loadBodyInfo(in string url) raises (ModelLoaderException); BodyInfo loadBodyInfoEx(in string url, in ModelLoadOption option ) raises (ModelLoaderException); /** @if jp ç´ VRMLƒ•‚Ħ‚¤ƒĞ‚’èŞ­żèĵż€ċĞ‚Œ‚‹ċ½˘çŠĥƒ‡ƒĵ‚żä¸€ċĵ‚’ SceneInfo ¨—Ĥèż”™€‚ @endif */ SceneInfo loadSceneInfo(in string url) raises (ModelLoaderException); /** * @if jp * äğċ‰ĞèŞ­żèĵ‚“ ƒ•‚Ħ‚¤ƒĞċ†…ċıïĵˆgetBody()§ċˆİ用•‚Œ‚‹ïĵ‰‚’ĉĥˆċŽğ™‚‹€‚ * @endif */ void clearData(); }; }; #endif choreonoid-1.5.0/src/OpenHRPPlugin/corba/OpenHRP/3.1/CollisionDetector.idl0000664000000000000000000001606112741425367024567 0ustar rootroot#ifndef OPENHRP_COLLISION_DETECTOR_IDL_INCLUDED #define OPENHRP_COLLISION_DETECTOR_IDL_INCLUDED /** @file idl/OpenHRP/CollisionDetector.idl * @if jp * CollisionDetector ‚µƒĵƒé–˘é€£‚¤ƒ³‚żƒĵƒ•‚§ƒĵ‚ı * @endif */ #include #include module OpenHRP { /** * @if jp * CollisionDetector ‚¤ƒ³‚żƒĵƒ•‚§ƒĵ‚ı * * “‚µƒĵƒŻèĦçށĉ¤œċ‡ş¨ĉ³•ç·šƒ™‚ŻƒˆƒĞç—ċ‡ş‚’èĦŒ„™€‚ * 通ċ¸¸€ DynamicsSimulator ‹‚‰ċ‘ĵ³ċ‡ş•‚Œ‚‹Ÿ‚€ç›´ĉŽ“‚µƒĵƒĞ‚˘‚Ż‚ğ‚ı™‚‹ċż…èĤŻ‚‚Š›‚“€‚ * @endif */ interface CollisionDetector : World { void destroy(); /** * @if jp * @brief ċı²ĉ¸‰ƒ‚§ƒƒ‚Żƒš‚˘‚’èż½ċŠ —™€‚ * @param collisionPair ċı²ĉ¸‰ƒ‚§ƒƒ‚Żƒš‚˘ * @else * Adding Polygon Set Pairs * @param collisionPair Collision Pair * @endif */ void addCollisionPair(in LinkPair collisionPair); /** * @if jp * ĉ—˘Ğ設ċš•‚ŒŸƒš‚˘‹‚‰èĦçށĉ¤œċ‡ş‚’èĦŒ„™€‚ * @param checkAll ċ…¨Ĥ‚’ƒ‚§ƒƒ‚Ż™‚‹‹(false‚’設ċš™‚‹¨²¨¤èĦçށ‚’ĉ¤œċ‡ş—Ÿĉ™‚ç‚ı§çµ‚了—™) * @param positions ‚­ƒ£ƒİ‚Ż‚żä½ç½/ċ§żċ‹˘ * @param collidedPairs èĦçށ—Ĥ„‚‹ƒš‚˘é…ċˆ—(èĦçށ—Ĥ„Ş‘‚Œ°é•·•Ż0) * @return ²¨¤§‚‚èĦçށ—Ĥ„‚Œ° true, èĦçށ—Ĥ„Ş‘‚Œ° false * @else * Check for Collision between pre-defined Pairs * @param checkAll true: Check All Pairs * false: Stop when 1 collision is found * @param positions Position and Attitude of Object * @param collidedPairs Array of Pairs that are colliding(If none length is 0) * @return true: At least one pair is colliding * false: No pairs are colliding * @endif */ boolean queryIntersectionForDefinedPairs ( in boolean checkAll, in CharacterPositionSequence positions, out LinkPairSequence collidedPairs ); /** * @if jp * ƒš‚˘‚’設ċš—èĦçށĉ¤œċ‡ş‚’èĦŒ„™€‚ * @param checkAll ċ…¨Ĥƒš‚˘‚’ƒ‚§ƒƒ‚Ż™‚‹‹(false‚’設ċš™‚‹¨²¨¤èĦçށ‚’ĉ¤œċ‡ş—Ÿĉ™‚ç‚ı§çµ‚了—™) * @param checkPairs ƒš‚˘ * @param positions ‚­ƒ£ƒİ‚Ż‚żä½ç½/ċ§żċ‹˘ * @param collidedPairs èĦçށ—Ĥ„‚‹ƒš‚˘é…ċˆ—(èĦçށ—Ĥ„Ş‘‚Œ°é•·•Ż0) * @return ²¨¤§‚‚èĦçށ—Ĥ„‚Œ° true, èĦçށ—Ĥ„Ş‘‚Œ° false * @else * Check for Collision between Given Pairs * * @param checkAll true: Check All Pairs * false: Return when 1 collision is found * @param checkPairs Array of Pairs to check for Collision * @param positions Position and Attitude of Object * @param collidedPairs Array of Pairs that are colliding(If none length is 0) * @return true: At least one pair is colliding * false: No pairs are colliding * @endif */ boolean queryIntersectionForGivenPairs ( in boolean checkAll, in LinkPairSequence checkPairs, in CharacterPositionSequence positions, out LinkPairSequence collidedPairs ); /** * @if jp * ™§Ğ設ċš—Ÿƒš‚˘èĦçށĉƒ…ċ ħ‚’ċ–ċ——™€‚ * @param positions ‚­ƒ£ƒİ‚Ż‚żä½ç½/ċ§żċ‹˘ * @param collisions èĦçށĉƒ…ċ ħ * @return ²¨¤§‚‚èĦçށ—Ĥ„‚Œ° true, èĦçށ—Ĥ„Ş‘‚Œ° false * @else * Get Collision State Information of pre-defined Pairs * * @param positions Position of Object * @param collisions Collision Information * @return true: At least one pair is colliding * false: No pairs are colliding * @endif */ boolean queryContactDeterminationForDefinedPairs( in CharacterPositionSequence positions, out CollisionSequence collisions ); /** * @if jp * ƒš‚˘‚’与ˆèĦçށĉƒ…ċ ħ‚’ċ–ċ——™€‚ * @param checkPairs ƒš‚˘ * @param positions ‚­ƒ£ƒİ‚Ż‚żä½ç½/ċ§żċ‹˘ * @param collisions èĦçށĉƒ…ċ ħ * @return ²¨¤§‚‚èĦçށ—Ĥ„‚Œ° true, èĦçށ—Ĥ„Ş‘‚Œ° false * @else * Get Collision State Information for given Pairs * * @param checkPairs Array of pairs to check for collision * @param positions Position of Object * @param collisions Collision Information * @return true: At least one pair is colliding * false: No pairs are colliding * @endif */ boolean queryContactDeterminationForGivenPairs( in LinkPairSequence checkPairs, in CharacterPositionSequence positions, out CollisionSequence collisions ); /** * @if jp * ĉ—˘Ğ設ċš•‚ŒŸƒš‚˘ĞċŻ—Ĥè·é›˘è¨ˆç—‚’èĦŒ„™€‚ * @param positions ‚­ƒ£ƒİ‚Ż‚żä½ç½/ċ§żċ‹˘ * @param distances ċ„ƒš‚˘ĞċŻ™‚‹è·é›˘ĉƒ…ċ ħé…ċˆ— * @else * Check for Distance between pre-defined Pairs * @param positions Position and Attitude of Object * @param distances Array of distance information * @endif */ void queryDistanceForDefinedPairs ( in CharacterPositionSequence positions, out DistanceSequence distances ); /** * @if jp * ƒš‚˘‚’設ċš—è·é›˘è¨ˆç—‚’èĦŒ„™€‚ * @param checkPairs ƒš‚˘ * @param positions ‚­ƒ£ƒİ‚Ż‚żä½ç½/ċ§żċ‹˘ * @param distances ċ„ƒš‚˘ĞċŻ™‚‹è·é›˘ĉƒ…ċ ħé…ċˆ— * @else * Check for Distance between Given Pairs * @param checkPairs Array of Pairs to check for Collision * @param positions Position and Attitude of Object * @param distances Array of distance information * @endif */ void queryDistanceForGivenPairs ( in LinkPairSequence checkPairs, in CharacterPositionSequence positions, out DistanceSequence distances ); /** * @brief query the minimum distance between a point and all meshes along ray * @param point a point * @param dir direction of the ray * @return distance if the ray collides, 0 otherwise */ double queryDistanceWithRay(in DblArray3 point, in DblArray3 dir); /** * @brief scan distances between a point and all meshes * @param p position of the ray source * @param R orientation of the ray source * @param step step angle[rad] to scan * @param range scan range[rad]. The ray scans in x-z plane from right to left, front direction is -z like camera coordinates. * @return sequence of distance */ DblSequence scanDistanceWithRay(in DblArray3 p, in DblArray9 R, in double step, in double range); }; /** * CollisionDetectorFactory */ interface CollisionDetectorFactory : ServerObject { /** * @if jp * CollisionDetector ‚’ċ–ċ——™€‚ * @endif */ CollisionDetector create(); }; }; #endif choreonoid-1.5.0/src/OpenHRPPlugin/corba/OpenHRP/3.1/InterpreterService.idl0000664000000000000000000000014112741425367024756 0ustar rootrootmodule OpenHRP { interface InterpreterService { string interpret(in string expr); }; };choreonoid-1.5.0/src/OpenHRPPlugin/corba/OpenHRP/3.1/DynamicsSimulator.idl0000664000000000000000000004526612741425367024622 0ustar rootroot#ifndef OPENHRP_DYNAMICS_SIMULATOR_IDL_INCLUDED #define OPENHRP_DYNAMICS_SIMULATOR_IDL_INCLUDED #include /** * @file idl/OpenHRP/DynamicsSimulator.idl * @if jp * DynamicsSimulator ‚µƒĵƒé–˘é€£‚¤ƒ³‚żƒĵƒ•‚§ƒĵ‚ı * @endif */ module OpenHRP { /** @if jp ‚­ƒ£ƒİ‚Ż‚żĞċĞ‚Œ‚‹‚ğƒ³‚µĉƒ…ċ ħ ċ„‚ğƒ³‚µĉƒ…ċ ħ‚’ sensorId 順Ğä¸ĤıŸ‚‚§™€‚ @endif */ struct SensorState { /** * @if jp * é–˘çŻ€è§’ċşĤ/ä¸Ĥ進量 * @endif */ DblSequence q; /** * @if jp * é–˘çŻ€è§’é€ŸċşĤ/ä¸Ĥ進速ċşĤ * @endif */ DblSequence dq; /** * @if jp * 関節ƒˆƒĞ‚Ż/ċŠ› * @endif */ DblSequence u; /** * @if jp * ċŠ›‚ğƒ³‚µ * @endif */ sequence force; /** * @if jp * ‚¸ƒ£‚¤ƒ­‚ğƒ³‚µ * @endif */ sequence rateGyro; /** * @if jp * ċŠ é€ŸċşĤ‚ğƒ³‚µ * @endif */ sequence accel; /** * @if jp * è·é›˘‚ğƒ³‚µ * @endif */ sequence range; }; typedef sequence SensorStateSequence; /** * @if jp * @brief DynamicsSimulator ‚¤ƒ³‚żƒĵƒ•‚§ƒĵ‚ı * * ċŠ›ċ­Ĥ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³‚’èĦŒ†‚µƒĵƒ§™€‚ä½żç”¨™‚‹éš›Żäğ下ĉµ‚Œ§èĦŒ„™€‚ * * -# DynamicsSimulatorFactory ċ‚ç…§‚’ċ–ċ— * -# DynamicsSimulatorFactory::create() § DynamicsSimulator ‚’ċ–ċ— * -# registerCharacter() §‚­ƒ£ƒİ‚Ż‚ż‚’ç™ğ録 * -# init() §‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³è¨­ċš * -# setGVector() §é‡ċŠ›ƒ™‚ŻƒˆƒĞè¨­ċš * -# setCharacterAllJointModes() §é–˘çŻ€é§†ċ‹•ƒ˘ƒĵƒ‰è¨­ċš * -# setCharacterAllLinkData() §ċˆĉœŸċ§żċ‹˘‚’与ˆ€ calcWorldForwardKinematics() ‚’ċŸèĦŒ—順運ċ‹•ċ­Ĥ‚’ïĵ‘ċ›žċŸèĦŒ * -# registerCollisionCheckPair() ‚’İé–˘çŻ€/‚­ƒ£ƒİ‚Ż‚żĞċŻ—Ĥċı²ĉ¸‰ƒ‚§ƒƒ‚Ż‚’ċŸèĦŒ™‚‹‹‚’設ċš™‚‹ * -# initSimulation() §‚µƒĵƒċˆĉœŸċŒ– * * äğ下€‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ƒĞƒĵƒ— * * -# stepSimulation() §‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³‚’1‚ıƒ†ƒƒƒ—ċŸèĦŒ * -# getWorldState() §çċœ¨çŠĥĉ³‚’ċ–ċ— * @else * Dynamics Server * * @date 2006.02.02 * @version pre2.0 * modified 2006.02.24 some functions needed to specify character name * @endif */ interface DynamicsSimulator : World { /** * @if jp * @brief 関節é§†ċ‹•ƒ˘ƒĵƒ‰ * @endif */ enum JointDriveMode { HIGH_GAIN_MODE, TORQUE_MODE }; /** * @if jp * @brief ‚ğƒ³‚µĉœ‰ċŠı/ç„ĦċŠı‚’ĉħşċš—™€‚ * @endif */ enum SensorOption { DISABLE_SENSOR, ENABLE_SENSOR }; /** * @if jp * çݍċˆ†ĉ–ıĉ³• (‚Ş‚¤ƒİƒĵĉ³•, ƒĞƒ³‚²‚Żƒƒ‚żĉ³•)§™€‚ * @else * Enum to set Integration Method(Euler, RungeKutta) * @endif */ enum IntegrateMethod { EULER, RUNGE_KUTTA }; /** * @if jp * ‚µƒĵƒ‚’終了—™€‚ * @else * Object Destruction * @endif */ void destroy(); /** * @if jp * @brief ‚µƒĵƒ‚’ċˆĉœŸċŒ–—™€‚ * * ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ĉĦäğĥ‚’設ċš—€‚µƒĵƒ‚’ċˆĉœŸċŒ–—™€‚ * @param timeStep ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³1‚ıƒ†ƒƒƒ—”¨ĉ™‚é–“[s] * @param integrateOpt çݍċˆ†Ğ用„‚‹ĉ‰‹ĉ³•(‚Ş‚¤ƒİƒĵĉ³•, ƒĞƒ³‚²‚Żƒƒ‚żĉ³•) * @param sensorOpt ‚ğƒ³‚µƒĵ‚’ä½żç”¨™‚‹‹ * @else * Initialise Server * @param timeStep The timestep to be used for integration. * @param integrateOpt The integration method to use. * @param sensorOpt The sensor option to be used. * @endif */ void init( in double timeStep, in IntegrateMethod integrateOpt, in SensorOption sensorOpt ); /** * @if jp * @brief èĦçށĉ¤œċ‡şƒš‚˘‚’èż½ċŠ —™€‚ * * ““§ç™ğ録•‚ŒŸƒš‚˘ċŒċ£ĞèĦçށĉ¤œċ‡şŒèĦŒ‚‚Œ™€‚ * * K ¨ C é•·•‚’0Ğ™‚‹¨‚ıƒ—ƒŞƒ³‚°-ƒ€ƒ³ƒ‘ĉ³•Żä½żç”¨•‚Œ›‚“€‚ * @param char1 ƒŞƒ³‚Ż‚­ƒ£ƒİ‚Ż‚żċ * @param name1 ƒŞƒ³‚Żċ * @param char2 ‚‚†ä¸€ĉ–ı‚­ƒ£ƒİ‚Ż‚żċ * @param name2 ƒŞƒ³‚Żċ * @param staticFriction 静ĉ­˘ĉ‘İĉ“Ĥ係ĉ•° * @param slipFriction ċ‹•ĉ‘İĉ“Ĥ係ĉ•° * @param K °­äż‚ĉ•° * @param C ƒ€ƒ³ƒ‘äż‚ĉ•° * @param culling_thresh “è·é›˘äğ下ç‚ıŻċŒä¸€ĉŽè§Ĥç‚ı¨żŞ™ * @else * Add Collision Pairs * @param char1 Name of character for first link * @param name1 Name of first link * @param char2 Name of character for second link * @param name2 Name of second link * @param staticFriction Static Friction * @param slipFriction Slip Friction * @param K Parameters for Spring * @param C Parameters for Damper * @param culling_thresh * @note K and C should be of zero length for no Spring-Damper stuff. * @endif */ void registerCollisionCheckPair ( in string char1, in string name1, in string char2, in string name2, in double staticFriction, in double slipFriction, in DblSequence6 K, in DblSequence6 C, in double culling_thresh ); /** * @if jp * @brief èĦçށĉ¤œċ‡şƒš‚˘‚’èż½ċŠ —™€‚ * * ““§ç™ğ録•‚ŒŸƒš‚˘ċŒċ£ĞèĦçށĉ¤œċ‡şŒèĦŒ‚‚Œ™€‚ * * @param char1 ƒŞƒ³‚Ż‚­ƒ£ƒİ‚Ż‚żċ * @param name1 ƒŞƒ³‚Żċ * @param char2 ‚‚†ä¸€ĉ–ı‚­ƒ£ƒİ‚Ż‚żċ * @param name2 ƒŞƒ³‚Żċ * @param tolerance ƒŞƒ³‚Żé–“è·é›˘Œ“ċ€¤äğ下ĞŞ‚‹¨ċı²ĉ¸‰¨èĤ‹Ş•‚Œ‚‹ * @else * Add Collision Pairs * @param char1 Name of character for first link * @param name1 Name of first link * @param char2 Name of character for second link * @param name2 Name of second link * @param tolerance When distance between links is smaller than this value, it is regarded as collision * @endif */ void registerIntersectionCheckPair ( in string char1, in string name1, in string char2, in string name2, in double tolerance ); /** * @if jp * @brief äğĉƒ³ƒŞƒ³‚Ż‚’èż½ċŠ —™€‚ * * @note ċŸè£…•‚ŒĤ„›‚“€‚ * @param char1 ‚­ƒ£ƒİ‚Ż‚żċ * @param link1 ƒŞƒ³‚Żċ * @param char2 ‚‚†ä¸€ĉ–ı‚­ƒ£ƒİ‚Ż‚żċ * @param link2 ƒŞƒ³‚Żċ * @param relTransform µŸ¤ƒŞƒ³‚Żé–˘äż‚ċ›žèğ˘/位罁‚Ż‚݃ĵ‚żƒ‹‚˘ƒ³ * @param transformDefined İĦ‚‰ċ¤‰ĉ›Œä½żç”¨•‚Œ‚‹‹ * @param constraint ĉ‹˜ĉŸ™‚‹è‡Şç”ħċşĤ * @param connectionName äğĉƒ³ƒŞƒ³‚Żċċ‰ * * @else * register Virtual Link * @param char1 Name of character for first link * @param link1 Name of first link * @param char2 Name of character for second link * @param link2 Name of second link * @param relTransform relative pos+att as quaternion transform * @param transformDefined Flag for whether tranform is defined. * @param constraint Constraints to be included in Link. * @param connectionName Name for the virtual link. * Unimplemented * @endif */ void registerVirtualLink ( in string char1, in string link1, in string char2, in string link2, in LinkPosition relTransform, in short transformDefined, in DblSequence9 constraint, in string connectionName ); /** * @if jp * @brief registerVirtualLink() §ç™ğ録—Ÿĉ‹˜ĉŸĞ‹‹‚‹ċŠ›‚’ċ–ċ——™€‚ * * @note ċŸè£…•‚ŒĤ„›‚“ * @param characterName ‚­ƒ£ƒİ‚Ż‚żċ * @param connectionName ‚³ƒ‚Ż‚·ƒ§ƒ³ċ * @param contactForce ĉ‹˜ĉŸĞ‹‹‚‹ċŠ› * * @else * Get Connection Constraint Force * * @param characterName Character Name * @param connectionName Connection Name * @param contactForce Connection Contraint Force * unimplemented * @endif */ void getConnectionConstraintForce ( in string characterName, in string connectionName, out DblSequence6 contactForce ); /** * @if jp * @brief ‚ğƒ³‚µċ€¤‚’ċ–ċ——™€‚ * * @param characterName ‚ğƒ³‚µƒĵŒ¤„Ĥ„‚‹‚­ƒ£ƒİ‚Ż‚żċ * @param sensorName ‚ğƒ³‚µċ * @param values ‚ğƒ³‚µċ‡şċŠ› * * @else * Get Sensor Values * @param characterName Name of character with sensor. * @param sensorName Name of sensor. * @param values Place to put data from sensor. * @endif */ void getCharacterSensorValues ( in string characterName, in string sensorName, out DblSequence values ); /** * @if jp * @brief ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ċ‰ċˆĉœŸċŒ–‚’Š“Ş„™€‚ * * “ƒĦ‚½ƒƒƒ‰Żċ…¨Ĥè¨­ċšŒçµ‚了—ŸċŒĞċ‘ĵ°‚ŒŞ‘‚Œ°Ş‚Š›‚“€‚ * ƒĦ‚½ƒƒƒ‰ stepSimulation() Ż“ƒĦ‚½ƒƒƒ‰çµ‚了ċŒĞċ‘ĵĥ“¨Œ§™€‚ * @else Initialize the simulation state so that the simulator can begin a simulation. This function must be called after all the configuration of simulation has finished. Method stepSimulation() can be called after calling this function. @endif */ void initSimulation(); /** * @if jp * @brief ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ä¸–ç•Œ§ĉĴĦçŠĥĉ…‹‚’計痁—™€‚ * * ƒĞƒĵƒ—§çı°‚Šèż”—ċ‘ĵĥ“¨Ğ‚ˆ‚Š‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ŒèĦŒ‚‚Œ™€‚ * * ƒĦ‚½ƒƒƒ‰ initSimulation() Ż“ƒĞƒĵƒ—ċ‰Ğċ‘ĵ‚“§ •„€‚ * @else calculate the next state of the simulation world. The function repeatedly called in the simulation loop. Method initSimulaiton() must be called before running the simulation loop. * endif */ void stepSimulation(); /** * @if jp * @brief ċ–ċ—/‚ğƒƒƒˆ§‚‹ƒŞƒ³‚Żƒ‡ƒĵ‚żç¨ċˆ§™€‚ * * @else * Enum for various types of data that can be set * through setCharacterLinkData * @endif */ enum LinkDataType { INVALID_DATA_TYPE, POSITION_GIVEN, // boolean JOINT_VALUE, // double (joint angle or translation) JOINT_VELOCITY, // double JOINT_ACCELERATION, // double JOINT_TORQUE, // double (joint torque or force) ABS_TRANSFORM, // double x 12 (first 3 - translation, last 9 - rotation matrix(row major)) ABS_VELOCITY, // double x 6 (linear, angular) ABS_ACCELERATION, // double x 6 (linear, angular) EXTERNAL_FORCE, // double x 6 (force ,torque) CONSTRAINT_FORCE // sequence of double x 6 (point, force) }; /** * @if jp * @brief ƒ‡ƒĵ‚ż‚’ƒŞƒ³‚Ż¸‚ğƒƒƒˆ—™€‚ * * @param character ‚­ƒ£ƒİ‚Ż‚żċ * @param link ƒŞƒ³‚Żċ * @param type ƒ‡ƒĵ‚żç¨ċˆ * @param data ƒ‡ƒĵ‚ż * @else * Set Data to Link * @param character Character Name * @param link Link Name * @param type Type of data to Set * @param data Data to send * @endif */ void setCharacterLinkData ( in string character, in string link, in LinkDataType type, in DblSequence data ); /** * @if jp * @brief ƒŞƒ³‚Żƒ‡ƒĵ‚ż‚’ċ–ċ——™€‚ * @param characterName ‚­ƒ£ƒİ‚Ż‚żċ * @param link ƒŞƒ³‚Żċ * @param type ċ–ċ—™‚‹ƒ‡ƒĵ‚żç¨ċˆ * @param rdata ƒ‡ƒĵ‚ż * @else * Get Data from Link * @param characterName Character Name * @param link Link Name * @param type Type of data to get * @param rdata Data placement area * @endif */ void getCharacterLinkData ( in string characterName, in string link, in LinkDataType type, out DblSequence rdata ); //! Get Character Data, /** * @if jp * @brief ƒŞƒ³‚Żƒ‡ƒĵ‚ż‚’ċ…¨Ĥċ–ċ——™€‚ * * Joint †Ħ€ jointId Œ¤„Ĥ„‚‹‚‚ƒ‡ƒĵ‚ż‚’ jointId順Ğċ–ċ——™€‚ * * 角ċşĤ€é€ŸċşĤ€ċŠ é€ŸċşĤ€ƒˆƒĞ‚ŻżŒĉœ‰ċŠı§™€‚ * @param characterName ‚­ƒ£ƒİ‚Ż‚żċ * @param type ƒ‡ƒĵ‚żç¨ċˆ (角ċşĤ€é€ŸċşĤ€ċŠ é€ŸċşĤ€ƒˆƒĞ‚ŻżŒĉœ‰ċŠı) * @param wdata ƒ‡ƒĵ‚ż * * @else * Joint - (Angle, Speed, Acceleration, Torque) * for all links * @param characterName Character Name * @param type Data to set.Only valid for: * angle, velocity, acceleration, torque * @param wdata Parameter Value * @endif * todo */ void getCharacterAllLinkData ( in string characterName, in LinkDataType type, out DblSequence wdata ); //! Set Character Data, /** * @if jp * ƒŞƒ³‚Żƒ‡ƒĵ‚ż‚’ċ…¨Ĥ‚ğƒƒƒˆ—™€‚ * * Joint †Ħ€ jointId Œ¤„Ĥ„‚‹‚‚ƒ‡ƒĵ‚ż‚’ jointId順Ğċ–ċ——™€‚ * * 角ċşĤ€é€ŸċşĤ€ċŠ é€ŸċşĤ€ƒˆƒĞ‚ŻżŒĉœ‰ċŠı§™€‚ * * * @param characterName ‚­ƒ£ƒİ‚Ż‚żċ * @param type ƒ‡ƒĵ‚żç¨ċˆ (角ċşĤ€é€ŸċşĤ€ċŠ é€ŸċşĤ€ƒˆƒĞ‚ŻżŒĉœ‰ċŠı) * @param wdata ƒ‡ƒĵ‚ż * @else * Joint - (Angle, Speed, Acceleration, Torque) * for all links * @param characterName Character Name * @param type Data to set.Only valid for: * angle, velocity, acceleration, torque * @param wdata Parameter Value * @endif */ void setCharacterAllLinkData ( in string characterName, in LinkDataType type, in DblSequence wdata ); /** * @if jp * @brief 重ċŠ›ƒ™‚ŻƒˆƒĞ‚’設ċš—™€‚ * * @param wdata 重ċŠ›ƒ™‚ŻƒˆƒĞ * @else * Set World G-Vector * @endif */ void setGVector(in DblSequence3 wdata); /** * @if jp * @brief 重ċŠ›ƒ™‚ŻƒˆƒĞ‚’ċ–ċ——™€‚ * @param wdata 重ċŠ›ƒ™‚ŻƒˆƒĞ * @else * Get World G-Vector * @endif */ void getGVector(out DblSequence3 wdata); /** * @if jp * @brief ‚­ƒ£ƒİ‚Ż‚żċ…¨Ĥ Joint ƒ˘ƒĵƒ‰‚’‚ğƒƒƒˆ—™€‚ * * @param characterName ‚­ƒ£ƒİ‚Ż‚żċ * @param jointMode ƒ˘ƒĵƒ‰ * @else * Set Character All Joint Modes * @param characterName * @param jointMode * @endif */ void setCharacterAllJointModes ( in string characterName, in JointDriveMode jointMode ); /** * @if jp * @brief 逆運ċ‹•ċ­Ĥ‚’計痁—™€‚ * @param characterName 計痁™‚‹ċŻèħĦ‚­ƒ£ƒİ‚Ż‚żċ * @param baseLink ƒ™ƒĵ‚ıċ‹•‹Ş„ƒŞƒ³‚Ż * @param targetLink ‚żƒĵ‚²ƒƒƒˆċ‹•ƒŞƒ³‚Ż * @param target ç›ĉ¨™ä½ç½¨ċ§żċ‹˘ * @else * Calculate Inverse Kinematics * @param characterName Name of Character to move * @param baseLink Name of the base link(not moved) * @param targetLink Name of the target link(moved) * @param target Goal position and attitude for target link. * @endif */ boolean calcCharacterInverseKinematics ( in string characterName, in string baseLink, in string targetLink, in LinkPosition target ); /** * @if jp * @brief ‚­ƒ£ƒİ‚Ż‚żé †é‹ċ‹•ċ­Ĥ‚’計痁—™€‚ * @param characterName ‚­ƒ£ƒİ‚Ż‚żċ * @else * Calculate forward kinematics for a character in world. * @param characterName * @endif */ void calcCharacterForwardKinematics(in string characterName); /** * @if jp * @brief ċ…¨Ĥ‚­ƒ£ƒİ‚Ż‚żé †é‹ċ‹•ċ­Ĥ‚’計痁—™€‚ * @else * Calculate all forward kinematics for all characters in world. * @endif */ void calcWorldForwardKinematics(); /** * @if jp * @brief ċ…¨Ĥ‚­ƒ£ƒİ‚Ż‚żé †é‹ċ‹•ċ­Ĥ‚’計痁—€ċı²ĉ¸‰ƒ‚§ƒƒ‚Ż‚’èĦŒ„™€‚ * @param checkAll ċ…¨Ĥ‚’ƒ‚§ƒƒ‚Ż™‚‹‹(false‚’設ċš™‚‹¨²¨¤èĦçށ‚’ĉ¤œċ‡ş—Ÿĉ™‚ç‚ı§çµ‚了—™) * @else * Check for collision after calculation of kinematics. * @param checkAll true: Check All Pairs * false: Stop when 1 collision is found * @endif */ boolean checkCollision(in boolean checkAll); /** * @if jp * @brief ċ…¨Ĥ‚­ƒ£ƒİ‚Ż‚żé †é‹ċ‹•ċ­Ĥ‚’計痁—€ċı²ĉ¸‰ĉ¤œĉŸğ‚’èĦŒ„™€‚ * @param checkAll ċ…¨Ĥ‚’ƒ‚§ƒƒ‚Ż™‚‹‹(false‚’設ċš™‚‹¨²¨¤èĦçށ‚’ĉ¤œċ‡ş—Ÿĉ™‚ç‚ı§çµ‚了—™) * @return ċı²ĉ¸‰—Ĥ„‚‹ƒš‚˘é…ċˆ— * @else * @brief Check for collision after calculation of kinematics. * @param checkAll true: Check All Pairs * false: Stop when 1 collision is found * @return colliding link pairs * @endif */ LinkPairSequence checkIntersection(in boolean checkAll); /** * @if jp * @brief ċ…¨Ĥ‚­ƒ£ƒİ‚Ż‚żé †é‹ċ‹•ċ­Ĥ‚’計痁—€è·é›˘è¨ˆç—‚’èĦŒ„™€‚ * @return è·é›˘ĉƒ…ċ ħé…ċˆ— * @else * @brief Check for distance after calculation of kinematics. * @return distances array of distance information * @endif */ DistanceSequence checkDistance(); /** * @if jp * @brief ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³çŠĥĉ…‹‚’èĦ¨™WorldState‚’ċ–ċ——™€‚ * @param wstate ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³çŠĥĉ…‹ * @else * Get state of simulated world * @param wstate State of simulated world * @endif */ void getWorldState(out WorldState wstate); /** * @if jp * @brief ‚­ƒ£ƒİ‚Ż‚ż‚ğƒ³‚µçŠĥĉ…‹ä¸€èĤ§‚’ċ–ċ——™€‚ * @param characterName ‚­ƒ£ƒİ‚Ż‚żċ * @param sstate ‚ğƒ³‚µçŠĥĉ…‹ä¸€èĤ§ * @endif */ void getCharacterSensorState(in string characterName, out SensorState sstate); /** * @if jp * @brief èĦçށ—Ĥ„‚‹ƒŞƒ³‚Żƒš‚˘‚’ċ–ċ——™€‚ * @param characterName ċ–ċ—™‚‹‚­ƒ£ƒİ‚Ż‚żċ * @param pairs èĦçށ—Ĥ„‚‹ƒš‚˘Ğ¤„Ĥĉƒ…ċ ħ * @else * Get information on colliding pairs * @param characterName Name of Character to check * @param pairs Information on colliding pairs. * @endif */ boolean getCharacterCollidingPairs ( in string characterName, out LinkPairSequence pairs ); /** * @if jp * @brief ‚­ƒ£ƒİ‚Ż‚żĉŒ‡ċš—ŸƒŞƒ³‚Żƒ‘‚ıĞċŻ™‚‹ƒ¤‚³ƒ“‚˘ƒ³‚’ċ–ċ——™€‚ * @param characterName ƒ¤‚³ƒ“‚˘ƒ³‚’計痁™‚‹‚­ƒ£ƒİ‚Ż‚żċ * @param baseLink ƒ™ƒĵ‚ıƒŞƒ³‚Żċ * @param targetLink ‚żƒĵ‚²ƒƒƒˆƒŞƒ³‚Żċ * @param jacobian 結ĉžœƒ¤‚³ƒ“‚˘ƒ³ * @else * compute the Jacobian matrix and its time derivative * @param characterName Name of Character to calculate Jacobian. * @param baseLink Name of base link. * @param targetLink Name of target link. * @param jacobian Jacobian Matrix returned from function here. * @endif */ void calcCharacterJacobian ( in string characterName, in string baseLink, in string targetLink, out DblSequence jacobian ); }; /** * DynamicsSimulator Factory */ interface DynamicsSimulatorFactory : ServerObject { /** * @if jp * @brief DynamicsSimulator ‚’作ĉˆ—™€‚ * @else * Create DynamicsSimulator * @endif */ DynamicsSimulator create(); }; }; #endif choreonoid-1.5.0/src/OpenHRPPlugin/corba/OpenHRP/3.1/World.idl0000664000000000000000000000167312741425367022234 0ustar rootroot// -*- mode: idl; indent-tabs-mode: nil; tab-width: 4; c-basic-offset: 4; -*- #ifndef OPENHRP_WORLD_IDL_INCLUDED #define OPENHRP_WORLD_IDL_INCLUDED #include module OpenHRP { /** * @if jp * ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ä¸–ç•Œ * @endif */ interface World { /** * @if jp * @brief ‚­ƒ£ƒİ‚Ż‚żƒĵ‚’ç™ğ録™‚‹ * * ModelLoader ‹‚‰ċ—‚‰‚ŒŸĉƒ…ċ ħ§‚­ƒ£ƒİ‚Ż‚ż‚’ç™ğ録—™€‚ * @param name ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³§‚­ƒ£ƒİ‚Ż‚żċ * @param cinfo ModelLoader ‹‚‰ċ—‚‰‚Œ‚‹ CharacterInfo * @else * Register a character * @param name Object Character Name for Simulation * @param cinfo CharacterInfo * @endif */ void registerCharacter(in string name, in BodyInfo cinfo); }; }; #endif choreonoid-1.5.0/src/OpenHRPPlugin/corba/OpenHRP/3.0/0000775000000000000000000000000012741425367020443 5ustar rootrootchoreonoid-1.5.0/src/OpenHRPPlugin/corba/OpenHRP/3.0/OpenHRPCommon.idl0000664000000000000000000000660512741425367023570 0ustar rootroot// -*- mode: idl; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*- #ifndef OPENHRP_COMMON_IDL_INCLUDED #define OPENHRP_COMMON_IDL_INCLUDED /** * @if jp * OpenHRP ċŸşĉœĴƒ‡ƒĵ‚żĉ§‹é€  * @else * OpenHRP CORBA Common * @endif * @file Common/corba/OpenHRPCommon.idl */ module OpenHRP { typedef sequence DblSequence; typedef sequence StringSequence; typedef sequence LongSequence; typedef double DblArray3[3]; typedef double DblArray6[6]; typedef double DblArray9[9]; typedef sequence DblSequence3; typedef sequence DblSequence6; typedef sequence DblSequence9; typedef sequence DblSequenceSequence; typedef sequence DblArray3Sequence; /** * @if jp * ƒŞƒ³‚Żä½ç½/ċ§żċ‹˘ * @endif */ struct LinkPosition { /** * @if jp * 位罃™‚ŻƒˆƒĞ * @endif */ DblArray3 p; /** * @if jp * ċ§żċ‹˘èĦŒċˆ— * @else * Row major array of 3x3 Matrix elements * @endif */ DblArray9 R; }; typedef sequence LinkPositionSequence; /** * @if jp * ‚­ƒ£ƒİ‚Ż‚żä½ç½/ċ§żċ‹˘ * @endif */ struct CharacterPosition { /** * @if jp * ‚­ƒ£ƒİ‚Ż‚żċ * @endif */ string characterName; /** * @if jp * ‚­ƒ£ƒİ‚Ż‚ż‚’ĉ§‹ĉˆ™‚‹ƒŞƒ³‚Żä½ç½/ċ§żċ‹˘ * @endif */ LinkPositionSequence linkPositions; }; typedef sequence CharacterPositionSequence; /** * @if jp * ƒŞƒ³‚Żƒš‚˘ * @endif */ struct LinkPair { /** * @if jp * 1組盁‚­ƒ£ƒİ‚Ż‚żċ * @else * Character Name to Identify Polygon Set * @endif */ string charName1; /** * @if jp * 1組盁ƒŞƒ³‚Żċ * @else * Link Name to Identify Polygon Set * @endif */ string linkName1; /** * @if jp * 2組盁‚­ƒ£ƒİ‚Ż‚żċ * @else * Character Name to Identify Polygon Set * @endif */ string charName2; /** * @if jp * 2組盁ƒŞƒ³‚Żċ * @else * Link Name to Identify Polygon Set * @endif */ string linkName2; }; typedef sequence LinkPairSequence; /** * @if jp * èĦçށ—Ĥ„‚‹ç‚ı * @endif */ struct CollisionPoint { /** * @if jp * èĦçށç‚ı * @endif */ DblArray3 position; /** * @if jp * ĉ³•ç·šƒ™‚ŻƒˆƒĞ * @endif */ DblArray3 normal; /** * @if jp * ċı²ĉ¸‰ĉ·ħ• * @endif */ double idepth; }; typedef sequence CollisionPointSequence; /** * @if jp * èĦçށĉƒ…ċ ħ * @endif */ struct Collision { /** * @if jp * èĦçށ—Ĥ„‚‹ƒš‚˘ * @endif */ LinkPair pair; /** * @if jp * èĦçށ—Ĥ„‚‹ç‚ı * @endif */ CollisionPointSequence points; }; typedef sequence CollisionSequence; /** * @if jp * ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ĉƒ…ċ ħ * @endif */ struct WorldState { /** * @if jp * çċœ¨çµŒéŽĉ™‚é–“[s] * @endif */ double time; /** * @if jp * ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³™‚‹‚­ƒ£ƒİ‚Ż‚żä½ç½/ċ§żċ‹˘ * @endif */ CharacterPositionSequence characterPositions; /** * @if jp * èĦçށĉƒ…ċ ħ * @endif */ CollisionSequence collisions; }; /** * @if jp * ‚µƒĵƒ * @endif */ interface ServerObject { /** * @if jp * 終了 * @endif */ oneway void shutdown(); }; }; #endif choreonoid-1.5.0/src/OpenHRPPlugin/corba/OpenHRP/3.0/ViewSimulator.idl0000664000000000000000000001653012741425367023754 0ustar rootroot/* * 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) * General Robotix Inc. */ #ifndef OPENHRP_VIEW_SIMULATOR_IDL_INCLUDED #define OPENHRP_VIEW_SIMULATOR_IDL_INCLUDED /** @file ViewSimulator/corba/ViewSimulator.idl * @if jp * ViewSimulator ‚¤ƒ³‚żƒĵƒ•‚§ƒĵ‚ıċšçİ * @else * ViewSimulator Interfece Definition * @endif * @author Ichitaro Kohara, MSTC * @version 1.0 * @date 2001.02.22 */ #include module OpenHRP { /** * @if jp * ç”ğċƒƒ•‚݃ĵƒžƒƒƒˆ * @else * Image Data * @endif */ enum PixelFormat {ARGB, // 4byte/pixel GRAY, // 1byte/pixel DEPTH,// 4byte/pixel RGB}; // 3byte/pixel /** * @if jp * ç”ğċƒƒ‡ƒĵ‚ż * @endif */ struct ImageData { /** * @if jp * ƒ•‚݃ĵƒžƒƒƒˆ * @endif */ PixelFormat format; /** * @if jp * ç”ğċƒċı… * @endif */ long width; /** * @if jp * ç”ğċƒéИ• * @endif */ long height; /** * @if jp * octet §ç”ğċƒƒ‡ƒĵ‚ż * @endif */ sequence octetData; /** * @if jp * long §ç”ğċƒƒ‡ƒĵ‚ż * @endif */ sequence longData; /** * @if jp * float §ç”ğċƒƒ‡ƒĵ‚ż * @endif */ sequence floatData; }; /** * @if jp * ‚ЃĦƒİ * @author Ichitaro Kohara, MSTC * @version 1.0(2001.02.16) * @else * Camera * @author Ichitaro Kohara, MSTC * @version 1.0(2001.02.16) * @endif */ interface Camera { /** * @if jp * ‚ЃĦƒİç¨ċˆ * @else * Camera type * @endif */ enum CameraType { NONE, //!< read no information COLOR, //!< read color buffer MONO, DEPTH, //!< read depth buffer COLOR_DEPTH, //!< read color buffer and depth buffer MONO_DEPTH }; /** * @if jp * ‚ЃĦƒİƒ‘ƒİƒĦ‚ż * @else * Camera parameter * @endif */ struct CameraParameter { /** * @if jp * ‚ЃĦƒİç¨ċˆ * @else * camera type * @endif */ CameraType type; /** * @if jp * ‚­ƒ£ƒİ‚Ż‚żĉ­£é˘‹‚‰è·é›˘[m] * @else * view model's front clip distance[m] * @endif */ float frontClipDistance; /** * @if jp * ‚­ƒ£ƒİ‚Ż‚żċŒé˘§è·é›˘[m] * @else * view model's back clip distance[m] * @endif */ float backClipDistance; /** * @if jp * èĤ–野角[rad] * @else * fields of view[rad] * @endif */ float fieldOfView; /** * @if jp * ‚ğƒ³‚µID * @else * sensor id * @endif */ long sensorId; /** * @if jp * ‚ğƒ³‚µċ * @else * sensor name * @endif */ string sensorName; /** * @if jp * ƒŽƒĵƒ‰ċ£è¨€ċċ‰ * @else * DEF name * @endif */ string defName; /** * @if jp * ċı… * @else * width * @endif */ long width; /** * @if jp * éИ• * @else * height * @endif */ long height; /** * @if jp * ƒ•ƒĴƒĵƒ ƒĴƒĵƒˆ[fps] * @else * frame rate[fps] * @endif */ float frameRate; }; /** * @if jp * ‚µƒĵƒ‚’終了—™€‚ * @else * Destroy * @endif */ void destroy(); /** * @if jp * ‚ЃĦƒİƒ‘ƒİƒĦ‚ż‚’ċ–ċ——™€‚ * @return ‚ЃĦƒİƒ‘ƒİƒĦ‚ż * @else * Get camera parameter * @return camera parameter */ CameraParameter getCameraParameter(); /** * @if jp * ‚¤ƒĦƒĵ‚¸‚’ċ–ċ——™€‚ * @endif */ ImageData getImageData(); }; /** * @if jp * ‚ЃĦƒİ配ċˆ— * @else * Sequence of Camera * @endif */ typedef sequence CameraSequence; /** * @if jp * @brief ViewSimulator ‚¤ƒ³‚żƒĵƒ•‚§ƒĵ‚ı * * ‚ЃĦƒİ¨‚Œ‹‚‰ċ–ċ—§‚‹ç”ğċƒ‚’‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³—™€‚ * * Controller‹‚‰Żäğ下ĉ‰‹é †§ä½żç”¨§™€‚ * ƒĦƒ³ƒ visionSensor_ Ğ‚ğƒƒƒˆ•‚ŒŸ ViewSimulator ĞċŻ—Ĥ€ * * -# ViewSimulator::getCameraSequenceOf ‚’ä½żç”¨—Ĥ Camera ‚’ċ–ċ——™€‚ * -# Camera::getCameraParameter ‹‚‰ċ–ċ—•‚Œ‚‹ CameraParameter §ċ„ç¨ĉƒ…ċ ħ‚’èŞżı™€‚ * * äğ下€‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ƒĞƒĵƒ— * * -# Camera::getImageData § ImageData‚’ċ–ċ——™€‚ * -# “‚ЃĦƒİƒ•‚݃ĵƒžƒƒƒˆĞ—ŸŒ„€ImageData::longData 等‹‚‰ç”ğċƒ‚’ċ–ċ——™€‚ * * @author Ichitaro Kohara, MSTC * @version 1.0(2001.02.22) * @else * Vision Sensor * @author Ichitaro Kohara, MSTC * @version 1.0(2001.02.22) * @endif */ interface ViewSimulator { /** * @if jp * ViewSimulator ä‹ċ¤– * @else * ViewSimulator exception * @endif */ exception ViewSimulatorException { /** * @if jp * @brief ä‹ċ¤–èݳ細 * @endif */ string description; //!< description of the exception }; /** * @if jp * ‚µƒĵƒ‚’終了—™€‚ * @else * Destory * @endif */ void destroy(); /** * @if jp * ƒ˘ƒ‡ƒĞ‚’èŞ­żèĵż™€‚ * @param src ‚­ƒ£ƒİ‚Ż‚żƒ˘ƒ‡ƒĞƒ•‚Ħ‚¤ƒĞURL * @param objectName ‚­ƒ£ƒİ‚Ż‚żċ * @else * Loat object * @param src object's URL * @param objectName object's Name * @endif */ void loadObject( in string src, in string objectName ) raises (ViewSimulatorException); /** * @if jp * ‚·ƒŸƒƒĴƒĵ‚żĞ‚‚‹‚ЃĦƒİ‚’ċ–ċ——™€‚ * @param cameras ‚ЃĦƒİ配ċˆ— * @return ‚ЃĦƒİċ°ĉ•° * @else * Get cameras loaded in simulator * @param cameras cameras * @return number of cameras * @endif */ void getCameraSequence(out CameraSequence cameras); /** * @if jp * ‚­ƒ£ƒİ‚Ż‚żĞ‚‚‹‚ЃĦƒİ‚’ċ–ċ——™€‚ * @param objectName ‚­ƒ£ƒİ‚Ż‚żċ * @param cameras ‚ЃĦƒİ配ċˆ— * @endif */ void getCameraSequenceOf(in string objectName, out CameraSequence cameras); /** * @if jp * ‚·ƒĵƒ³‚’ĉ›´ĉ–°—™€‚ * @param state ĉ–°—„ WorldState * @else * Update scene * @param state WorldState * @endif */ void updateScene( in WorldState state ); }; /** * ViewSimulatorƒ•‚Ħ‚ŻƒˆƒŞ‚¤ƒ³‚żƒ•‚§‚¤‚ı */ interface ViewSimulatorFactory : ServerObject { /** * ViewSimulator ‚’生ĉˆ—™€‚ * * @return ViewSimulator‚ރ–‚¸‚§‚Żƒˆ */ ViewSimulator create(); }; }; #endif choreonoid-1.5.0/src/OpenHRPPlugin/corba/OpenHRP/3.0/OnlineViewer.idl0000664000000000000000000000465112741425367023551 0ustar rootroot/* * 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: * General Robotix Inc. * National Institute of Advanced Industrial Science and Technology (AIST) */ #ifndef OPENHRP_ONLINE_VIEWER_IDL_INCLUDED #define OPENHRP_ONLINE_VIEWER_IDL_INCLUDED #include module OpenHRP { /** * @if jp * OnlineViewer ‚¤ƒ³‚żƒĵƒ•‚§ƒĵ‚ı * * GrxUI  3DView ‚’‚Żƒİ‚¤‚˘ƒ³ƒˆƒ—ƒ­‚°ƒİƒ ‹‚‰èĦ¨ç¤ş•›‚‹éš›Ğä½żç”¨—™€‚ * * load() §èŞ­żèĵ‚“ ƒ˘ƒ‡ƒĞĞċŻ—Ĥ update() §ĉƒ…ċ ħ‚’与ˆ‚‹“¨§‚˘ƒ‹ƒĦƒĵ‚·ƒ§ƒ³—™€‚ * * Ÿ€ update() ‚’ä½żç”¨™‚‹¨ĉƒ…ċ ħŻè¨˜éŒ²•‚Œ€ċŒ§ċ†ç”Ÿ™‚‹“¨‚‚§™€‚ */ interface OnlineViewer { /** * @if jp * èĦ¨ç¤şċ†…ċı‚’ĉ›´ĉ–°—™ * * ċ†…ċıŻè¨˜éŒ²•‚Œ€ċŒ§ċ†ç”Ÿ—ç›´™“¨Œ§™€‚ * @param state ĉ›´ĉ–°™‚‹èĦ¨ç¤şċ†…ċıĉƒ…ċ ħ * @else * Update Display * @endif */ void update(in WorldState state); /** * @if jp * ƒ˘ƒ‡ƒĞèŞ­żèĵż‚’èĦŒ„™€‚ * @param name ƒ˘ƒ‡ƒĞċ * @param url ƒ˘ƒ‡ƒĞƒ•‚Ħ‚¤ƒĞURL * @endif */ void load(in string name, in string url); /** * @if jp * 記録•‚ŒŸ„§ĉ›´ĉ–°‚’‚ŻƒŞ‚˘—™€‚ * @endif */ void clearLog(); /** * @if jp * ƒ‡ƒĵ‚ż‚’‚ŻƒŞ‚˘—™€‚ * @endif */ void clearData(); /** * @if jp * èĦ¨ç¤şċ†…ċı‚’ĉ›´ĉ–°—™€‚ update() ¨Żé•„€ĉ›´ĉ–°ċ†…ċı‚’記録—›‚“€‚ * @param state ĉ›´ĉ–°™‚‹èĦ¨ç¤şċ†…ċıĉƒ…ċ ħ * @else * state display without recording '03 Apr.4 s.kajita * @endif */ void drawScene(in WorldState state); /** * @if jp * 線ċı…‚’設ċš—™€‚ * @endif */ void setLineWidth(in float width); /** * @if jp * ‚ı‚ħƒĵƒĞ‚’設ċš—™€‚ * @endif */ void setLineScale(in float scale); /** * @if jp * * @endif */ boolean getPosture(in string robotId, out DblSequence posture); }; }; #endif choreonoid-1.5.0/src/OpenHRPPlugin/corba/OpenHRP/3.0/Controller.idl0000664000000000000000000001101312741425367023254 0ustar rootroot// -*- mode: idl; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*- /* * 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) * General Robotix Inc. */ #ifndef OPENHRP_CONTROLLER_IDL_INCLUDED #define OPENHRP_CONTROLLER_IDL_INCLUDED /** @file Controller/corba/Controller.idl * @if jp * Controller ‚µƒĵƒé–˘é€£‚¤ƒ³‚żƒĵƒ•‚§ƒĵ‚ı * @else * Controller IDL * @endif * @author Ichitaro Kohara Kernel Inc. * @date 2000/03/24 */ #include #include #include module OpenHRP { /** * @if jp * @brief Controller ‚¤ƒ³‚żƒĵƒ•‚§ƒĵ‚ı€‚ * * ċˆĥċĦ‚½ƒ•ƒˆċ½ıċ‰²‚’ĉžœŸ—™€‚ Controller Żäğ下ĉµ‚Œ‚’èĦŒ†‚ˆ†Ğ作ĉˆ—Ĥ •„€‚ * * -# ‚³ƒ³‚ıƒˆƒİ‚Ż‚ż§èµ·ċ‹•ĉ™‚ċˆĉœŸċŒ– * -# start() §‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³é–‹ċ§‹ĉ™‚ċˆĉœŸċŒ– * -# input() §‚·ƒŸƒƒĴƒĵ‚ż‹‚‰‚ğƒ³‚µĉƒ…ċ ħ‚’ċ—‚‹ * -# control() ‚ğƒ³‚µĉƒ…ċ ħ‹‚‰ċˆĥċĦ計痂’èĦŒ† * -# output() §‚˘‚Żƒƒ‚¨ƒĵ‚żĞĉƒ…ċ ħ‚’‚ğƒƒƒˆ™‚‹ * * @note äğŠċŒOpenHRP‚³ƒ³ƒˆƒ­ƒĵƒİŻOpenRTM‚³ƒ³ƒƒĵƒƒ³ƒˆ¨—Ĥ作ĉˆ™‚‹Œĉ¨™ĉş–¨Ş‚Š™€‚ * ċ“£Ĥ€ä¸€èˆĴ的Şä½żç”¨ĞŠ„ĤŻĉœĴ‚¤ƒ³‚żƒ•‚§ƒĵ‚ı‚’ç›´ĉŽä½ż†ċż…èĤŻ‚‚Š›‚“€‚ * * @else * Controller Interface * @endif */ interface Controller { /** * @if jp * @brief DynamicsSimulator ‚’‚ğƒƒƒˆ™‚‹€‚ * * ‚Żƒİ‚¤‚˘ƒ³ƒˆŒ Controller ‚µƒĵƒ‚’ä½żç”¨™‚‹éš›€ DynamicsSimulator ¸ċ‚ç…§‚’‚ğƒƒƒˆ—™€‚ * @param dynamicssimulator_ DynamicsSimulator ¸ċ‚ç…§ * @endif */ void setDynamicsSimulator(in DynamicsSimulator dynamicssimulator_); /** * @if jp * @brief ViewSimulator‚’‚ğƒƒƒˆ™‚‹€‚ * * setDynamicsSimulator() ¨ċŒĉ§˜Ğ ViewSimulator ‚’ä½żç”¨™‚‹ Controller Ğ * ĉŽçĥš™‚‹éš›Ż“ƒĦ‚½ƒƒƒ‰§‚ğƒƒƒˆ—™€‚ * * @param viewsimulator_ ViewSimulator ¸ċ‚ç…§ * @endif */ void setViewSimulator(in ViewSimulator viewsimulator_); /** * @if jp * @brief ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ƒĞƒĵƒ—Œċ§‹‚‹ċ‰Ğïĵ‘ċ›žċ‘ĵ°‚Œ™€‚ * * ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ċ‰ċˆĉœŸċŒ–Ż““Ğĉ›¸„Ĥ •„€‚ * @else * This method is called just before beginning periodic calls of control(). * * Initialization that requires the initial state of a robot * should be done in this method. * @endif */ void start(); /** * @if jp * @brief ċˆĥċĦ計痂’èĦŒ„™€‚ * * ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ƒĞƒĵƒ—ĞŠ„Ĥ input() §ċ–ċ——Ÿĉƒ…ċ ħ‚’ä½żç”¨—Ĥ計痂’èĦŒ„€ output() §ċ‡şċŠ›—™€‚ * @endif */ void control(); /** * @if jp * @brief ‚ğƒ³‚µĉƒ…ċ ħċ–ċ—‚’èĦŒ„™€‚ * * DynamicsSimulator::getCharacterSensorState() 等‚’ä½żç”¨—Ĥ‚ğƒ³‚µĉƒ…ċ ħ‚’ċ–ċ——™€‚ * @endif */ void input(); /** * @if jp * @brief ‚˘‚Żƒƒ‚¨ƒĵ‚żŞİ¸ĉƒ…ċ ħ‚’ċ‡şċŠ›—™€‚ * * DynamicsSimulator::setCharacterLinkData() 等‚’ä½żç”¨—Ĥ‚·ƒŸƒƒĴƒĵ‚ż¸ĉƒ…ċ ħ‚’ċ‡şċŠ›—™€‚ * @endif */ void output(); /** * @if jp * ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ƒĞƒĵƒ—Œçµ‚了—Ÿéš›Ğċ‘ĵ°‚Œ™€‚ * @else * This method is called when the control loop is finished. * @endif */ void stop(); /** * @if jp * ‚µƒĵƒ‚’終了—™€‚ * @endif */ void destroy(); /** * @if jp * controllertimeStep‚’設ċš—™€‚ * @endif */ void setTimeStep(in double timeStep); }; /** * @if jp * Controller Factory * @else * Controller Object Factory * @endif */ interface ControllerFactory : ServerObject { /** * @if jp * Controller ‚’ċ–ċ——™€‚ * @param charname “‚³ƒ³ƒˆƒ­ƒĵƒİŒċˆĥċĦ™‚‹‚­ƒ£ƒİ‚Ż‚żċ * @return ĉ–°—ä½œĉˆ•‚ŒŸ Controller * @else * Create a controller object * @param charname name of the controlled character * @return a newly creatd controller * @endif */ Controller create(in string charname); }; }; #endif choreonoid-1.5.0/src/OpenHRPPlugin/corba/OpenHRP/3.0/ModelLoader.idl0000664000000000000000000001741012741425367023327 0ustar rootroot/* * 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) * General Robotix Inc. */ #ifndef OPENHRP_MODEL_LOADER_IDL_INCLUDED #define OPENHRP_MODEL_LOADER_IDL_INCLUDED /** @file ModelLoader/corba/ModelLoader.idl * @if jp * ModelLoader ‚µƒĵƒé–˘é€£‚¤ƒ³‚żƒĵƒ•‚§ƒĵ‚ı * @endif */ #include module OpenHRP { /** * @if jp * ‚ğƒ³‚µç¨ċˆ * @else * Definition of Sensor Types * @endif */ enum SensorType { FORCE_SENSOR, ///< 6-axis force sensor RATE_GYRO, ACCELERATION_SENSOR, PRESSURE_SENSOR, PHOTO_INTERRUPTER, VISION_SENSOR, TORQUE_SENSOR ///< joint torque sensor }; /** * @if jp * ‚ğƒ³‚µĉƒ…ċ ħ * @endif */ interface SensorInfo { /** * @if jp * ‚ğƒ³‚µID * @endif */ readonly attribute long id; /** * @if jp * ‚ğƒ³‚µċ * @endif */ readonly attribute string name; /** * @if jp * ‚ğƒ³‚µç¨ċˆ * @endif */ readonly attribute SensorType type; /** * @if jp * ‚ğƒ³‚µä½ç½ * @endif */ readonly attribute DblArray3 translation; /** * @if jp * ‚ğƒ³‚µċ§żċ‹˘ * @endif */ readonly attribute DblArray9 rotation; /** * @if jp * ‚ğƒ³‚µĉœ€ċ¤§ċ€¤ * @endif */ readonly attribute DblSequence maxValue; }; /** * SensorInfo Sequence */ typedef sequence SensorInfoSequence; /** * LinkInfo Interface * @author Ichitaro Kohara, MSTC */ interface LinkInfo { /** * @if jp * 位罃™‚ŻƒˆƒĞ * @endif */ readonly attribute DblArray3 translation; /** * @if jp * ċ§żċ‹˘èĦŒċˆ— * @endif */ readonly attribute DblArray9 rotation; /** * @if jp * è³Şé‡ * @endif */ readonly attribute double mass; /** * @if jp * 重ċżƒä½ç½ * @endif */ readonly attribute DblArray3 centerOfMass; /** * @if jp * ĉ…£ĉ€§ * @endif */ readonly attribute DblArray9 inertia; /** * @if jp * 関節ċ€¤ĉœ€ċ¤§ċ€¤ * @endif */ readonly attribute DblSequence ulimit; /** * @if jp * 関節ċ€¤ĉœ€ċ°ċ€¤ * @endif */ readonly attribute DblSequence llimit; /** * @if jp * 関節速ċşĤĉœ€ċ¤§ċ€¤ * @endif */ readonly attribute DblSequence uvlimit; /** * @if jp * 関節速ċşĤĉœ€ċ°ċ€¤ * @endif */ readonly attribute DblSequence lvlimit; //--- for rotor inertia of servomotor '01 Jun.29 s.kajita /** * @if jp * ƒ­ƒĵ‚żĉ…£ĉ€§ * @endif */ readonly attribute double rotorInertia; /** * @if jp * ƒ­ƒĵ‚żĉŠµĉŠ— * @endif */ readonly attribute double rotorResistor; /** * @if jp * ‚‚˘ĉŻ” * @endif */ readonly attribute double gearRatio; /** * @if jp * ‚‚˘ċŠı率 * @endif */ readonly attribute double gearEfficiency; /** * @if jp * ƒˆƒĞ‚Żċšĉ•° * @endif */ readonly attribute double torqueConst; /** * @if jp * ‚¨ƒ³‚³ƒĵƒ€ƒ‘ƒĞ‚ı * @endif */ readonly attribute double encoderPulse; /** * @if jp * 等äĦ集中 * @endif */ readonly attribute double equivalentInertia; /** * @if jp * ƒ‚Ĥƒ³ƒ€ƒŞƒœƒƒ‚Ż‚ı中ċżƒ * @endif */ readonly attribute DblArray3 bboxCenter; /** * @if jp * ƒ‚Ĥƒ³ƒ€ƒŞƒœƒƒ‚Ż‚ı‚µ‚¤‚ş * @endif */ readonly attribute DblArray3 bboxSize; /** * @if jp * ƒ˘ƒ‡ƒĞċ * @endif */ readonly attribute string name; /** * @if jp * Joint ç¨ċˆ * @endif */ readonly attribute string jointType; /** * @if jp * Joint ĞċŻ—Ĥµ‚‰‚ŒŸID * @endif */ readonly attribute long jointId; /** * @if jp * Joint èğ¸ * @endif */ readonly attribute DblArray3 jointAxis; /** * @if jp * èĤރރ³‚Ż * @endif */ readonly attribute long mother; // index /** * @if jp * ċ…„ċĵŸƒŞƒ³‚Ż * @endif */ readonly attribute long sister; // index /** * @if jp * ċ­ƒŞƒ³‚Ż * @endif */ readonly attribute long daughter; // index readonly attribute SensorInfoSequence sensors; /** * @if jp * ċı何ƒ˘ƒ‡ƒĞƒˆƒİ‚¤‚˘ƒ³‚°ƒĞƒĦƒƒ‚·ƒ‚’èŞ­żèĵż™€‚ * @param start 開ċ§‹ƒĦƒƒ‚·ƒç•Şċ· * @param count 何ċ€‹ƒĦƒƒ‚·ƒ‚’èŞ­żèĵ‚€‹ * @return ƒˆƒİ‚¤‚˘ƒ³‚°ƒĞƒĦƒƒ‚·ƒé›†ċˆ * * 9ċ€‹ double ċ€¤§²¨¤ä¸‰è§’ċ½˘‚’示—™€‚ * @else * Read Triangles * @param jointName joint name * @param start * @param count Number of triangles to read * @return group of triangles * every 9 double values represent one triangle * @endif */ DblSequence readTriangles(in long start, in long count); }; typedef sequence LinkInfoSequence; /** * @if jp * @brief CharacterInfo ‚¤ƒ³‚żƒĵƒ•‚§ƒĵ‚ıċšç݁§™€‚ * * ModelLoader Œƒ•‚Ħ‚¤ƒĞ‚’èŞ­żèĵżƒ‘ƒĵ‚ı—ŸçµĉžœŻ“ CharacterInfo ċ½˘§èż”•‚Œ™€‚ * @endif */ interface CharacterInfo { /** * @if jp * ‚­ƒ£ƒİ‚Ż‚żċ * @endif */ readonly attribute string name; /** * @if jp * ƒ˘ƒ‡ƒĞƒ•‚Ħ‚¤ƒĞURL * @endif */ readonly attribute string url; /** * @if jp * TODO * @endif */ readonly attribute StringSequence info; /** * @if jp * ƒŞƒ³‚Żĉƒ…ċ ħŒĉ ĵ納•‚Œ‚‹ LinkInfo é…ċˆ—§™€‚ * @endif */ readonly attribute LinkInfoSequence links; }; /** * @if jp * @brief ModelLoader ‚¤ƒ³‚żƒ•‚§ƒĵ‚ıċšç݁§™€‚ * * ƒ†‚­‚ıƒˆè¨˜èż°•‚ŒŸƒ˘ƒ‡ƒĞĉƒ…ċ ħ‚’èŞ­żèĵż€‚ރ–‚¸‚§‚Żƒˆ¨—Ĥĉä›—™€‚ * ‚Żƒİ‚¤‚˘ƒ³ƒˆ‹‚‰Ż load() —Ĥ CharacterInfo ‚’ċ–ċ——€‚Œ‚’ DynamicsSimulator等Ğç™ğ録—™€‚ * @endif * @author Keisuke Saito, KernelInc */ interface ModelLoader : ServerObject { /** * @if jp * @brief ModelLoader ‚¨ƒİƒĵç¨ċˆ * @endif */ enum ModelLoaderError { DUMMY, INVALID_OBJECT_NAME, INVALID_LINK_NAME, INVALID_URL }; /** * @if jp * @brief ModelLoader ä‹ċ¤– * @endif */ exception ModelLoaderException { long id; string description; }; /** * @if jp * ƒ•‚Ħ‚¤ƒĞ‹‚‰ƒ­ƒĵƒ‰—™€‚ * @param url ƒ•‚Ħ‚¤ƒĞURL * @return ĉƒ…ċ ħ‚’保ĉŒ—Ÿ‚ރ–‚¸‚§‚Żƒˆ * @endif */ CharacterInfo loadURL(in string url) raises (ModelLoaderException); /** * @if jp * ƒ•‚Ħ‚¤ƒĞ‹‚‰‚­ƒ£ƒƒ‚·ƒ‚’ä½ż‚šĞƒ­ƒĵƒ‰ —™€‚ * @param url ƒ•‚Ħ‚¤ƒĞURL * @return ĉƒ…ċ ħ‚’保ĉŒ—Ÿ‚ރ–‚¸‚§‚Żƒˆ * @endif */ CharacterInfo reloadURL(in string url) raises (ModelLoaderException); /** * @if jp * ‚­ƒ£ƒƒ‚·ƒ‚’‚ŻƒŞ‚˘—™€‚ * @endif */ void clearData(); }; }; #endif choreonoid-1.5.0/src/OpenHRPPlugin/corba/OpenHRP/3.0/CollisionDetector.idl0000664000000000000000000001477112741425367024574 0ustar rootroot #ifndef OPENHRP_COLLISION_DETECTOR_IDL_INCLUDED #define OPENHRP_COLLISION_DETECTOR_IDL_INCLUDED /** @file CollisionDetector/corba/CollisionDetector.idl * @if jp * CollisionDetector ‚µƒĵƒé–˘é€£‚¤ƒ³‚żƒĵƒ•‚§ƒĵ‚ı * @endif */ #include #include module OpenHRP { /** * @if jp * CollisionDetector ‚¤ƒ³‚żƒĵƒ•‚§ƒĵ‚ı * * “‚µƒĵƒŻèĦçށĉ¤œċ‡ş¨ĉ³•ç·šƒ™‚ŻƒˆƒĞç—ċ‡ş‚’èĦŒ„™€‚ * 通ċ¸¸€ DynamicsSimulator ‹‚‰ċ‘ĵ³ċ‡ş•‚Œ‚‹Ÿ‚€ç›´ĉŽ“‚µƒĵƒĞ‚˘‚Ż‚ğ‚ı™‚‹ċż…èĤŻ‚‚Š›‚“€‚ * @endif */ interface CollisionDetector { void destroy(); /** * @if jp * @brief ‚­ƒ£ƒİ‚Ż‚ż‚’èż½ċŠ —™€‚ * @param charName ‚­ƒ£ƒİ‚Ż‚żċ * @param model ƒ˘ƒ‡ƒĞĉƒ…ċ ħ * @else * Adding Objects * @param charName Character Name * @param model model information * @endif */ void addModel ( in string charName, in CharacterInfo model ); /** * @if jp * @brief ċı²ĉ¸‰ƒ‚§ƒƒ‚Żƒš‚˘‚’èż½ċŠ —™€‚ * @param colPair ċı²ĉ¸‰ƒ‚§ƒƒ‚Żƒš‚˘ * @param convexsize1 ƒš‚˘†Ħ€1¤ç›‚’ċ‡¸ċŒ…集ċˆĞċ¤‰ĉ›™‚‹‹ * @param convexsize2 ƒš‚˘†Ħ€2¤ç›‚’ċ‡¸ċŒ…集ċˆĞċ¤‰ĉ›™‚‹‹ * @else * Adding Polygon Set Pairs * @param colPair Collision Pair * @param convexsize1 Flag to set whether object1 * should be converted to a set of Convexes * @param convexsize2 Flag to set whether object2 * should be converted to a set of Convexes * @endif */ void addCollisionPair ( in LinkPair colPair, in boolean convexsize1, in boolean convexsize2 ); /** * @if jp * @brief ƒš‚˘‚’ċ–‚Šé™¤™€‚ * @param colPair ċ–‚Šé™¤ƒš‚˘ * @else * Delete a pair of Polygon Sets * @param colPair Collision Pair * @endif */ void removeCollisionPair ( in LinkPair colPair ); /** * @if jp * ĉ—˘Ğ設ċš•‚ŒŸƒš‚˘‹‚‰èĦçށĉ¤œċ‡ş‚’èĦŒ„™€‚ * @param checkAll ċ…¨Ĥ‚’ƒ‚§ƒƒ‚Ż™‚‹‹(false‚’設ċš™‚‹¨²¨¤èĦçށ‚’ĉ¤œċ‡ş—Ÿĉ™‚ç‚ı§çµ‚了—™) * @param positions ‚­ƒ£ƒİ‚Ż‚żä½ç½/ċ§żċ‹˘ * @param collidedPairs èĦçށ—Ĥ„‚‹ƒš‚˘é…ċˆ—(èĦçށ—Ĥ„Ş‘‚Œ°é•·•Ż0) * @return ²¨¤§‚‚èĦçށ—Ĥ„‚Œ° true, èĦçށ—Ĥ„Ş‘‚Œ° false * @else * Check for Collision between pre-defined Pairs * @param checkAll true: Check All Pairs * false: Stop when 1 collision is found * @param characters Position and Attitude of Object * @param collidedPairs Array of Pairs that are colliding(If none length is 0) * @return true: At least one pair is colliding * false: No pairs are colliding * @endif */ boolean queryIntersectionForDefinedPairs ( in boolean checkAll, in CharacterPositionSequence positions, out LinkPairSequence collidedPairs ); /** * @if jp * ƒš‚˘‚’設ċš—èĦçށĉ¤œċ‡ş‚’èĦŒ„™€‚ * @param checkAll ċ…¨Ĥƒš‚˘‚’ƒ‚§ƒƒ‚Ż™‚‹‹(false‚’設ċš™‚‹¨²¨¤èĦçށ‚’ĉ¤œċ‡ş—Ÿĉ™‚ç‚ı§çµ‚了—™) * @param checkPairs ƒš‚˘ * @param positions ‚­ƒ£ƒİ‚Ż‚żä½ç½/ċ§żċ‹˘ * @param collidedPairs èĦçށ—Ĥ„‚‹ƒš‚˘é…ċˆ—(èĦçށ—Ĥ„Ş‘‚Œ°é•·•Ż0) * @return ²¨¤§‚‚èĦçށ—Ĥ„‚Œ° true, èĦçށ—Ĥ„Ş‘‚Œ° false * @else * Check for Collision between Given Pairs * * @param checkAll true: Check All Pairs * false: Return when 1 collision is found * @param checkPairs Array of Pairs to check for Collision * @param characters Position and Attitude of Object * @param collidedPairs Array of Pairs that are colliding(If none length is 0) * @return true: At least one pair is colliding * false: No pairs are colliding * @endif */ boolean queryIntersectionForGivenPairs ( in boolean checkAll, in LinkPairSequence checkPairs, in CharacterPositionSequence positions, out LinkPairSequence collidedPairs ); /** * @if jp * ™§Ğ設ċš—Ÿƒš‚˘èĦçށĉƒ…ċ ħ‚’ċ–ċ——™€‚ * @param characters ‚­ƒ£ƒİ‚Ż‚żä½ç½/ċ§żċ‹˘ * @param colInfos èĦçށĉƒ…ċ ħ * @return ²¨¤§‚‚èĦçށ—Ĥ„‚Œ° true, èĦçށ—Ĥ„Ş‘‚Œ° false * @else * Get Collision State Information of pre-defined Pairs * * @param characters Position of Object * @param colInfos Collision Information * @return true: At least one pair is colliding * false: No pairs are colliding * @endif */ boolean queryContactDeterminationForDefinedPairs( in CharacterPositionSequence positions, out CollisionSequence collisions ); /** * @if jp * ƒš‚˘‚’与ˆèĦçށĉƒ…ċ ħ‚’ċ–ċ——™€‚ * @param checkPairs ƒš‚˘ * @param characters ‚­ƒ£ƒİ‚Ż‚żä½ç½/ċ§żċ‹˘ * @param colInfos èĦçށĉƒ…ċ ħ * @return ²¨¤§‚‚èĦçށ—Ĥ„‚Œ° true, èĦçށ—Ĥ„Ş‘‚Œ° false * @else * Get Collision State Information for given Pairs * * @param checkPairs Array of pairs to check for collision * @param characters Position of Object * @param colInfos Collision Information * @return true: At least one pair is colliding * false: No pairs are colliding * @endif */ boolean queryContactDeterminationForGivenPairs( in LinkPairSequence checkPairs, in CharacterPositionSequence positions, out CollisionSequence collisions ); /** * @if jp * ‚­ƒ£ƒƒ‚·ƒ‚’‚ŻƒŞ‚˘—™€‚ * @param url ƒ˘ƒ‡ƒĞƒ•‚Ħ‚¤ƒĞURL * @else * Clear the Cache * @param url Data Identifier * @endif */ void clearCache(in string url); }; /** * CollisionDetectorFactory */ interface CollisionDetectorFactory : ServerObject { /** * @if jp * CollisionDetector ‚’ċ–ċ——™€‚ * @endif */ CollisionDetector create(); }; }; #endif choreonoid-1.5.0/src/OpenHRPPlugin/corba/OpenHRP/3.0/DynamicsSimulator.idl0000664000000000000000000004235512741425367024615 0ustar rootroot// -*- mode: idl; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*- /* * 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) * General Robotix Inc. */ #ifndef OPENHRP_DYNAMICS_SIMULATOR_IDL_INCLUDED #define OPENHRP_DYNAMICS_SIMULATOR_IDL_INCLUDED #include #include /** * @file DynamicsSimulator/corba/DynamicsSimulator.idl * @if jp * DynamicsSimulator ‚µƒĵƒé–˘é€£‚¤ƒ³‚żƒĵƒ•‚§ƒĵ‚ı * @endif */ module OpenHRP { /** @if jp ‚­ƒ£ƒİ‚Ż‚żĞċĞ‚Œ‚‹‚ğƒ³‚µĉƒ…ċ ħ ċ„‚ğƒ³‚µĉƒ…ċ ħ‚’ sensorId 順Ğä¸ĤıŸ‚‚§™€‚ @endif */ struct SensorState { /** * @if jp * é–˘çŻ€è§’ċşĤ/ä¸Ĥ進量 * @endif */ DblSequence q; /** * @if jp * é–˘çŻ€è§’é€ŸċşĤ/ä¸Ĥ進速ċşĤ * @endif */ DblSequence dq; /** * @if jp * 関節ƒˆƒĞ‚Ż/ċŠ› * @endif */ DblSequence u; /** * @if jp * ċŠ›‚ğƒ³‚µ * @endif */ sequence force; /** * @if jp * ‚¸ƒ£‚¤ƒ­‚ğƒ³‚µ * @endif */ sequence rateGyro; /** * @if jp * ċŠ é€ŸċşĤ‚ğƒ³‚µ * @endif */ sequence accel; }; typedef sequence SensorStateSequence; /** * @if jp * @brief DynamicsSimulator ‚¤ƒ³‚żƒĵƒ•‚§ƒĵ‚ı * * ċŠ›ċ­Ĥ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³‚’èĦŒ†‚µƒĵƒ§™€‚ä½żç”¨™‚‹éš›Żäğ下ĉµ‚Œ§èĦŒ„™€‚ * * -# DynamicsSimulatorFactory ċ‚ç…§‚’ċ–ċ— * -# DynamicsSimulatorFactory::create() § DynamicsSimulator ‚’ċ–ċ— * -# registerCharacter() §‚­ƒ£ƒİ‚Ż‚ż‚’ç™ğ録 * -# init() §‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³è¨­ċš * -# setGVector() §é‡ċŠ›ƒ™‚ŻƒˆƒĞè¨­ċš * -# setCharacterAllJointModes() §é–˘çŻ€é§†ċ‹•ƒ˘ƒĵƒ‰è¨­ċš * -# setCharacterAllLinkData() §ċˆĉœŸċ§żċ‹˘‚’与ˆ€ calcWorldForwardKinematics() ‚’ċŸèĦŒ—順運ċ‹•ċ­Ĥ‚’ïĵ‘ċ›žċŸèĦŒ * -# registerCollisionCheckPair() ‚’İé–˘çŻ€/‚­ƒ£ƒİ‚Ż‚żĞċŻ—Ĥċı²ĉ¸‰ƒ‚§ƒƒ‚Ż‚’ċŸèĦŒ™‚‹‹‚’設ċš™‚‹ * -# initSimulation() §‚µƒĵƒċˆĉœŸċŒ– * * äğ下€‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ƒĞƒĵƒ— * * -# stepSimulation() §‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³‚’1‚ıƒ†ƒƒƒ—ċŸèĦŒ * -# getWorldState() §çċœ¨çŠĥĉ³‚’ċ–ċ— * @else * Dynamics Server * * @date 2006.02.02 * @version pre2.0 * modified 2006.02.24 some functions needed to specify character name * @endif */ interface DynamicsSimulator { /** * @if jp * @brief 関節é§†ċ‹•ƒ˘ƒĵƒ‰ * @endif */ enum JointDriveMode { HIGH_GAIN_MODE, TORQUE_MODE }; /** * @if jp * @brief ‚ğƒ³‚µĉœ‰ċŠı/ç„ĦċŠı‚’ĉħşċš—™€‚ * @endif */ enum SensorOption { DISABLE_SENSOR, ENABLE_SENSOR }; /** * @if jp * çݍċˆ†ĉ–ıĉ³• (‚Ş‚¤ƒİƒĵĉ³•, ƒĞƒ³‚²‚Żƒƒ‚żĉ³•)§™€‚ * @else * Enum to set Integration Method(Euler, RungeKutta) * @endif */ enum IntegrateMethod { EULER, RUNGE_KUTTA }; /** * @if jp * ‚µƒĵƒ‚’終了—™€‚ * @else * Object Destruction * @endif */ void destroy(); /** * @if jp * @brief ‚­ƒ£ƒİ‚Ż‚ż‚’ç™ğ録™‚‹€‚ * * ModelLoader ‹‚‰ċ—‚‰‚ŒŸĉƒ…ċ ħ§‚­ƒ£ƒİ‚Ż‚ż‚’ç™ğ録—™€‚ * @param name ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³§‚­ƒ£ƒİ‚Ż‚żċ * @param cinfo ModelLoader ‹‚‰ċ—‚‰‚Œ‚‹ CharacterInfo * @else * Register a character * @param name Object Character Name for Simulation * @param cinfo CharacterInfo * @endif */ void registerCharacter(in string name, in CharacterInfo cinfo); /** * @if jp * @brief ‚µƒĵƒ‚’ċˆĉœŸċŒ–—™€‚ * * ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ĉĦäğĥ‚’設ċš—€‚µƒĵƒ‚’ċˆĉœŸċŒ–—™€‚ * @param timeStep ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³1‚ıƒ†ƒƒƒ—”¨ĉ™‚é–“[s] * @param integrateopt çݍċˆ†Ğ用„‚‹ĉ‰‹ĉ³•(‚Ş‚¤ƒİƒĵĉ³•, ƒĞƒ³‚²‚Żƒƒ‚żĉ³•) * @param sensorOpt ‚ğƒ³‚µƒĵ‚’ä½żç”¨™‚‹‹ * @else * Initialise Server * @param timeStep The timestep to be used for integration. * @param integrateOpt The integration method to use. * @param sensorOpt The sensor option to be used. * @endif */ void init( in double timeStep, in IntegrateMethod integrateOpt, in SensorOption sensorOpt ); /** * @if jp * @brief èĦçށĉ¤œċ‡şƒš‚˘‚’èż½ċŠ —™€‚ * * ““§ç™ğ録•‚ŒŸƒš‚˘ċŒċ£ĞèĦçށĉ¤œċ‡şŒèĦŒ‚‚Œ™€‚ * * K ¨ C é•·•‚’0Ğ™‚‹¨‚ıƒ—ƒŞƒ³‚°-ƒ€ƒ³ƒ‘ĉ³•Żä½żç”¨•‚Œ›‚“€‚ * @param char1 ƒŞƒ³‚Ż‚­ƒ£ƒİ‚Ż‚żċ * @param name1 ƒŞƒ³‚Żċ * @param char2 ‚‚†ä¸€ĉ–ı‚­ƒ£ƒİ‚Ż‚żċ * @param name2 ƒŞƒ³‚Żċ * @param staticFriction 静ĉ­˘ĉ‘İĉ“Ĥ係ĉ•° * @param slipFriction ċ‹•ĉ‘İĉ“Ĥ係ĉ•° * @param K °­äż‚ĉ•° * @param C ƒ€ƒ³ƒ‘äż‚ĉ•° * @else * Add Collision Pairs * @param char1 Name of character for first link * @param name1 Name of first link * @param char2 Name of character for second link * @param name2 Name of second link * @param staticFriction Static Friction * @param slipFriction Slip Friction * @param K Parameters for Spring * @param C Parameters for Damper * K and C should be of zero length for no Spring-Damper stuff. * @endif */ void registerCollisionCheckPair ( in string char1, in string name1, in string char2, in string name2, in double staticFriction, in double slipFriction, in DblSequence6 K, in DblSequence6 C ); /** * @if jp * @brief äğĉƒ³ƒŞƒ³‚Ż‚’èż½ċŠ —™€‚ * * @note ċŸè£…•‚ŒĤ„›‚“€‚ * @param char1 ‚­ƒ£ƒİ‚Ż‚żċ * @param link1 ƒŞƒ³‚Żċ * @param char2 ‚‚†ä¸€ĉ–ı‚­ƒ£ƒİ‚Ż‚żċ * @param link2 ƒŞƒ³‚Żċ * @param relTransform µŸ¤ƒŞƒ³‚Żé–˘äż‚ċ›žèğ˘/位罁‚Ż‚݃ĵ‚żƒ‹‚˘ƒ³ * @param transformDefined İĦ‚‰ċ¤‰ĉ›Œä½żç”¨•‚Œ‚‹‹ * @param constraint ĉ‹˜ĉŸ™‚‹è‡Şç”ħċşĤ * @param connectionName äğĉƒ³ƒŞƒ³‚Żċċ‰ * * @else * register Virtual Link * @param char1 Name of character for first link * @param link1 Name of first link * @param char2 Name of character for second link * @param link2 Name of second link * @param relTransform relative pos+att as quaternion transform * @param transformDefined Flag for whether tranform is defined. * @param constraint Constraints to be included in Link. * @param connectionName Name for the virtual link. * Unimplemented * @endif */ void registerVirtualLink ( in string char1, in string link1, in string char2, in string link2, in LinkPosition relTransform, in short transformDefined, in DblSequence9 constraint, in string connectionName ); /** * @if jp * @brief registerVirtualLink() §ç™ğ録—Ÿĉ‹˜ĉŸĞ‹‹‚‹ċŠ›‚’ċ–ċ——™€‚ * * @note ċŸè£…•‚ŒĤ„›‚“ * @param characterName ‚­ƒ£ƒİ‚Ż‚żċ * @param connectionName ‚³ƒ‚Ż‚·ƒ§ƒ³ċ * @param contactForce ĉ‹˜ĉŸĞ‹‹‚‹ċŠ› * * @else * Get Connection Constraint Force * * @param characterName Character Name * @param connectionName Connection Name * @param contactForce Connection Contraint Force * unimplemented * @endif */ void getConnectionConstraintForce ( in string characterName, in string connectionName, out DblSequence6 contactForce ); /** * @if jp * @brief ‚ğƒ³‚µċ€¤‚’ċ–ċ——™€‚ * * @param characterName ‚ğƒ³‚µƒĵŒ¤„Ĥ„‚‹‚­ƒ£ƒİ‚Ż‚żċ * @param sensorName ‚ğƒ³‚µċ * @param sensorOutput ‚ğƒ³‚µċ‡şċŠ› * * @else * Get Sensor Values * @param characterName Name of character with sensor. * @param sensorName Name of sensor. * @param sensorOutput Place to put data from sensor. * @endif */ void getCharacterSensorValues ( in string characterName, in string sensorName, out DblSequence values ); /** * @if jp * @brief ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ċ‰ċˆĉœŸċŒ–‚’Š“Ş„™€‚ * * “ƒĦ‚½ƒƒƒ‰Żċ…¨Ĥè¨­ċšŒçµ‚了—ŸċŒĞċ‘ĵ°‚ŒŞ‘‚Œ°Ş‚Š›‚“€‚ * ƒĦ‚½ƒƒƒ‰ stepSimulation() Ż“ƒĦ‚½ƒƒƒ‰çµ‚了ċŒĞċ‘ĵĥ“¨Œ§™€‚ * @else Initialize the simulation state so that the simulator can begin a simulation. This function must be called after all the configuration of simulation has finished. Method stepSimulation() can be called after calling this function. @endif */ void initSimulation(); /** * @if jp * @brief ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ä¸–ç•Œ§ĉĴĦçŠĥĉ…‹‚’計痁—™€‚ * * ƒĞƒĵƒ—§çı°‚Šèż”—ċ‘ĵĥ“¨Ğ‚ˆ‚Š‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ŒèĦŒ‚‚Œ™€‚ * * ƒĦ‚½ƒƒƒ‰ initSimulation() Ż“ƒĞƒĵƒ—ċ‰Ğċ‘ĵ‚“§ •„€‚ * @else calculate the next state of the simulation world. The function repeatedly called in the simulation loop. Method initSimulaiton() must be called before running the simulation loop. * endif */ void stepSimulation(); /** * @if jp * @brief ċ–ċ—/‚ğƒƒƒˆ§‚‹ƒŞƒ³‚Żƒ‡ƒĵ‚żç¨ċˆ§™€‚ * * @else * Enum for various types of data that can be set * through setCharacterLinkData * @endif */ enum LinkDataType { INVALID_DATA_TYPE, POSITION_GIVEN, // boolean JOINT_VALUE, // double (joint angle or translation) JOINT_VELOCITY, // double JOINT_ACCELERATION, // double JOINT_TORQUE, // double (joint torque or force) ABS_TRANSFORM, // double x 12 (first 3 - translation, last 9 - rotation matrix(row major)) ABS_VELOCITY, // double x 6 (linear, angular) EXTERNAL_FORCE // double x 6 (force ,torque) }; /** * @if jp * @brief ƒ‡ƒĵ‚ż‚’ƒŞƒ³‚Ż¸‚ğƒƒƒˆ—™€‚ * * @param character ‚­ƒ£ƒİ‚Ż‚żċ * @param link ƒŞƒ³‚Żċ * @param type ƒ‡ƒĵ‚żç¨ċˆ * @param data ƒ‡ƒĵ‚ż * @else * Set Data to Link * @param character Character Name * @param link Link Name * @param type Type of data to Set * @param data Data to send * @endif */ void setCharacterLinkData ( in string character, in string link, in LinkDataType type, in DblSequence data ); /** * @if jp * @brief ƒŞƒ³‚Żƒ‡ƒĵ‚ż‚’ċ–ċ——™€‚ * @param characterName ‚­ƒ£ƒİ‚Ż‚żċ * @param link ƒŞƒ³‚Żċ * @param type ċ–ċ—™‚‹ƒ‡ƒĵ‚żç¨ċˆ * @param rdata ƒ‡ƒĵ‚ż * @else * Get Data from Link * @param characterName Character Name * @param link Link Name * @param type Type of data to get * @param rdata Data placement area * @endif */ void getCharacterLinkData ( in string characterName, in string link, in LinkDataType type, out DblSequence rdata ); //! Get Character Data, /** * @if jp * @brief ƒŞƒ³‚Żƒ‡ƒĵ‚ż‚’ċ…¨Ĥċ–ċ——™€‚ * * Joint †Ħ€ jointId Œ¤„Ĥ„‚‹‚‚ƒ‡ƒĵ‚ż‚’ jointId順Ğċ–ċ——™€‚ * * 角ċşĤ€é€ŸċşĤ€ċŠ é€ŸċşĤ€ƒˆƒĞ‚ŻżŒĉœ‰ċŠı§™€‚ * @param characterName ‚­ƒ£ƒİ‚Ż‚żċ * @param type ƒ‡ƒĵ‚żç¨ċˆ (角ċşĤ€é€ŸċşĤ€ċŠ é€ŸċşĤ€ƒˆƒĞ‚ŻżŒĉœ‰ċŠı) * @param wdata ƒ‡ƒĵ‚ż * * @else * Joint - (Angle, Speed, Acceleration, Torque) * for all links * @param characterName Character Name * @param type Data to set.Only valid for: * angle, velocity, acceleration, torque * @param wdata Parameter Value * @endif * todo */ void getCharacterAllLinkData ( in string characterName, in LinkDataType type, out DblSequence wdata ); //! Set Character Data, /** * @if jp * ƒŞƒ³‚Żƒ‡ƒĵ‚ż‚’ċ…¨Ĥ‚ğƒƒƒˆ—™€‚ * * Joint †Ħ€ jointId Œ¤„Ĥ„‚‹‚‚ƒ‡ƒĵ‚ż‚’ jointId順Ğċ–ċ——™€‚ * * 角ċşĤ€é€ŸċşĤ€ċŠ é€ŸċşĤ€ƒˆƒĞ‚ŻżŒĉœ‰ċŠı§™€‚ * * * @param characterName ‚­ƒ£ƒİ‚Ż‚żċ * @param type ƒ‡ƒĵ‚żç¨ċˆ (角ċşĤ€é€ŸċşĤ€ċŠ é€ŸċşĤ€ƒˆƒĞ‚ŻżŒĉœ‰ċŠı) * @param wdata ƒ‡ƒĵ‚ż * @else * Joint - (Angle, Speed, Acceleration, Torque) * for all links * @param characterName Character Name * @param type Data to set.Only valid for: * angle, velocity, acceleration, torque * @param wdata Parameter Value * @endif */ void setCharacterAllLinkData ( in string characterName, in LinkDataType type, in DblSequence wdata ); /** * @if jp * @brief 重ċŠ›ƒ™‚ŻƒˆƒĞ‚’設ċš—™€‚ * * @param wdata 重ċŠ›ƒ™‚ŻƒˆƒĞ * @else * Set World G-Vector * @endif */ void setGVector(in DblSequence3 wdata); /** * @if jp * @brief 重ċŠ›ƒ™‚ŻƒˆƒĞ‚’ċ–ċ——™€‚ * @param 重ċŠ›ƒ™‚ŻƒˆƒĞ * @else * Get World G-Vector * @endif */ void getGVector(out DblSequence3 wdata); /** * @if jp * @brief ‚­ƒ£ƒİ‚Ż‚żċ…¨Ĥ Joint ƒ˘ƒĵƒ‰‚’‚ğƒƒƒˆ—™€‚ * * @param ‚­ƒ£ƒİ‚Ż‚żċ * @param ƒ˘ƒĵƒ‰ * @else * Set Character All Joint Modes * @param characterName * @param jointMode * @endif */ void setCharacterAllJointModes ( in string characterName, in JointDriveMode jointMode ); /** * @if jp * @brief 逆運ċ‹•ċ­Ĥ‚’計痁—™€‚ * @param characterName 計痁™‚‹ċŻèħĦ‚­ƒ£ƒİ‚Ż‚żċ * @param baseLink ƒ™ƒĵ‚ıċ‹•‹Ş„ƒŞƒ³‚Ż * @param targetLink ‚żƒĵ‚²ƒƒƒˆċ‹•ƒŞƒ³‚Ż * @param target ç›ĉ¨™ä½ç½¨ċ§żċ‹˘ * @else * Calculate Inverse Kinematics * @param characterName Name of Character to move * @param baseLink Name of the base link(not moved) * @param targetLink Name of the target link(moved) * @param target Goal position and attitude for target link. * @endif */ boolean calcCharacterInverseKinematics ( in string characterName, in string baseLink, in string targetLink, in LinkPosition target ); /** * @if jp * @brief ‚­ƒ£ƒİ‚Ż‚żé †é‹ċ‹•ċ­Ĥ‚’計痁—™€‚ * @param characterName ‚­ƒ£ƒİ‚Ż‚żċ * @else * Calculate forward kinematics for a character in world. * @param characterName * @endif */ void calcCharacterForwardKinematics(in string characterName); /** * @if jp * @brief ċ…¨Ĥ‚­ƒ£ƒİ‚Ż‚żé †é‹ċ‹•ċ­Ĥ‚’計痁—™€‚ * @else * Calculate all forward kinematics for all characters in world. * @endif */ void calcWorldForwardKinematics(); /** * @if jp * @brief ċ…¨Ĥ‚­ƒ£ƒİ‚Ż‚żé †é‹ċ‹•ċ­Ĥ‚’計痁—€ċı²ĉ¸‰ƒ‚§ƒƒ‚Ż‚’èĦŒ„™€‚ * @else * Check for collision after calculation of kinematics. * @endif */ void checkCollision(); /** * @if jp * @brief ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³çŠĥĉ…‹‚’èĦ¨™WorldState‚’ċ–ċ——™€‚ * @param state ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³çŠĥĉ…‹ * @else * Get state of simulated world * @param state State of simulated world * @endif */ void getWorldState(out WorldState wstate); /** * @if jp * @brief ‚­ƒ£ƒİ‚Ż‚ż‚ğƒ³‚µçŠĥĉ…‹ä¸€èĤ§‚’ċ–ċ——™€‚ * @param characterName ‚­ƒ£ƒİ‚Ż‚żċ * @param sstate ‚ğƒ³‚µçŠĥĉ…‹ä¸€èĤ§ * @endif */ void getCharacterSensorState(in string characterName, out SensorState sstate); /** * @if jp * @brief èĦçށ—Ĥ„‚‹ƒŞƒ³‚Żƒš‚˘‚’ċ–ċ——™€‚ * @param characterName ċ–ċ—™‚‹‚­ƒ£ƒİ‚Ż‚żċ * @param pairs èĦçށ—Ĥ„‚‹ƒš‚˘Ğ¤„Ĥĉƒ…ċ ħ * @else * Get information on colliding pairs * @param characterName Name of Character to check * @param pairs Information on colliding pairs. * @endif */ boolean getCharacterCollidingPairs ( in string characterName, out LinkPairSequence pairs ); /** * @if jp * @brief ‚­ƒ£ƒİ‚Ż‚żĉŒ‡ċš—ŸƒŞƒ³‚Żƒ‘‚ıĞċŻ™‚‹ƒ¤‚³ƒ“‚˘ƒ³‚’ċ–ċ——™€‚ * @param characterName ƒ¤‚³ƒ“‚˘ƒ³‚’計痁™‚‹‚­ƒ£ƒİ‚Ż‚żċ * @param baseLink ƒ™ƒĵ‚ıƒŞƒ³‚Żċ * @param targetLink ‚żƒĵ‚²ƒƒƒˆƒŞƒ³‚Żċ * @param jacobian 結ĉžœƒ¤‚³ƒ“‚˘ƒ³ * @else * compute the Jacobian matrix and its time derivative * @param characterName Name of Character to calculate Jacobian. * @param baseLink Name of base link. * @param targetLink Name of target link. * @param jacobian Jacobian Matrix returned from function here. * @endif */ void calcCharacterJacobian ( in string characterName, in string baseLink, in string targetLink, out DblSequence jacobian ); }; /** * DynamicsSimulator Factory */ interface DynamicsSimulatorFactory : ServerObject { /** * @if jp * @brief DynamicsSimulator ‚’作ĉˆ—™€‚ * @else * Create DynamicsSimulator * @endif */ DynamicsSimulator create(); }; }; #endif choreonoid-1.5.0/src/OpenHRPPlugin/CMakeLists.txt0000664000000000000000000000531212741425367020343 0ustar rootroot # @author Shin'ichiro Nakaoka option(BUILD_OPENHRP_PLUGIN "Building OpenHRPPlugin" OFF) option(BUILD_OPENHRP_PLUGIN_FOR_3_0 "Building OpenHRPPlugin for OpenHRP 3.0.x" OFF) if(NOT BUILD_OPENHRP_PLUGIN) return() elseif(NOT BUILD_OPENRTM_PLUGIN) message(FATAL_ERROR "OpenHRP Plugin requires OpenRTMPlugin.") endif() # set(CMAKE_BUILD_TYPE Debug) if(BUILD_OPENHRP_PLUGIN_FOR_3_0) set(versions 3.1 3.0) else() set(versions 3.1) endif() if(UNIX AND NOT APPLE) # Is this necessary to use both plugins for version 3.0 and 3.1 at the same time ? set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl,-Bsymbolic") endif() include_directories(${OPENRTM_INCLUDE_DIRS}) link_directories(${OPENRTM_LIBRARY_DIRS}) foreach(version ${versions}) #-------------------- Sutbs & Skeletons ------------------------- set(idls OpenHRPCommon ModelLoader DynamicsSimulator CollisionDetector ViewSimulator Controller OnlineViewer) if(version EQUAL 3.0) set(defver "OPENHRP_3_0") else() set(defver "OPENHRP_3_1") set(idls ${idls} World InterpreterService) endif() set(sources OpenHRPControllerBase.cpp ) set(headers OpenHRPControllerBase.h ) make_headers_public(OpenHRPControllerBase.h) set(target CnoidOpenHRP${version}) set(idl_cpp_files "") set(idl_h_files "") idl_compile_cpp(idl_cpp_files idl_h_files corba/OpenHRP/${version} ${idls}) add_cnoid_library(${target} STATIC ${sources} ${idl_cpp_files} ${idl_h_files}) set_target_properties(${target} PROPERTIES COMPILE_DEFINITIONS ${defver}) target_link_libraries(${target} CnoidCorba) apply_common_setting_for_library(${target} "${headers}") # Plugin set(target CnoidOpenHRP${version}Plugin) set(sources OpenHRPPlugin.cpp DynamicsSimulator_impl.cpp OpenHRPControllerItem.cpp OnlineViewerServer.cpp OpenHRPOnlineViewerItem.cpp ) if(version EQUAL 3.1) set(sources ${sources} OpenHRPInterpreterServiceItem.cpp) endif() set(headers exportdecl.h ) if(MSVC) add_definitions(-D__WIN32__ -D__x86__ -D__NT__ -D__OSVERSION__=4 -D_CRT_SECURE_NO_DEPRECATE -D_WIN32_WINNT=0x0500 -DRTC_CORBA_CXXMAPPING11) endif() make_gettext_mofiles(${target} mofiles) add_cnoid_plugin(${target} SHARED ${sources} ${headers} ${mofiles}) set_target_properties(${target} PROPERTIES COMPILE_DEFINITIONS ${defver}) if(version EQUAL 3.0) target_link_libraries(${target} CnoidBodyPlugin CnoidOpenHRP${version}) else() target_link_libraries(${target} CnoidOpenRTMPlugin CnoidBodyPlugin CnoidOpenHRP${version}) endif() apply_common_setting_for_plugin(${target} "${headers}") endforeach() if(ENABLE_PYTHON) add_subdirectory(python) endif() choreonoid-1.5.0/src/OpenHRPPlugin/OpenHRPControllerBase.cpp0000664000000000000000000000517112741425367022424 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "OpenHRPControllerBase.h" #include #include #include using namespace std; using namespace cnoid; using namespace OpenHRP; static const bool DEBUG_CONTROLLER = false; OpenHRPControllerBase::OpenHRPControllerBase(const std::string& charaName) { characterName = charaName; timeStep = 0.001; } OpenHRPControllerBase::~OpenHRPControllerBase() { } void OpenHRPControllerBase::setDynamicsSimulator(DynamicsSimulator_ptr dynamicsSimulator) { this->dynamicsSimulator = DynamicsSimulator::_duplicate(dynamicsSimulator); } void OpenHRPControllerBase::setViewSimulator(ViewSimulator_ptr viewSimulator) { this->viewSimulator = ViewSimulator::_duplicate(viewSimulator); } void OpenHRPControllerBase::setTimeStep(::CORBA::Double timeStep) { this->timeStep = timeStep; } void OpenHRPControllerBase::start() { } void OpenHRPControllerBase::input() { } void OpenHRPControllerBase::control() { } void OpenHRPControllerBase::output() { } void OpenHRPControllerBase::stop() { } void OpenHRPControllerBase::destroy() { PortableServer::POA_var poa = _default_POA(); PortableServer::ObjectId_var id = poa->servant_to_id(this); poa->deactivate_object(id); } #ifdef OPENHRP_3_1 void OpenHRPControllerBase::setModelName(const char* localModelName) { } void OpenHRPControllerBase::initialize() { } void OpenHRPControllerBase::shutdown() { getORB()->shutdown(false); } #endif OpenHRPControllerFactory_impl::OpenHRPControllerFactory_impl() { } OpenHRPControllerFactory_impl::~OpenHRPControllerFactory_impl() { #ifdef OPENHRP_3_0 PortableServer::POA_var poa = _default_POA(); PortableServer::ObjectId_var id = poa->servant_to_id(this); poa->deactivate_object(id); #endif } void OpenHRPControllerFactory_impl::shutdown() { getORB()->shutdown(false); } bool OpenHRPControllerFactory_impl::run(int argc, char* argv[]) { try { initializeCorbaUtil(true); OpenHRPControllerFactory_impl* controllerFactoryImpl = new OpenHRPControllerFactory_impl(); string name = cnoid::executableBasename(); #ifdef OPENHRP_3_0 getDefaultNamingContextHelper()->bindObject(controllerFactoryImpl->_this(), name); #elif OPENHRP_3_1 getDefaultNamingContextHelper()->bindObject(controllerFactoryImpl->create(name.c_str()), name); #endif cout << name << " ready" << endl; getORB()->run(); } catch (CORBA::SystemException& ex) { cerr << ex._rep_id() << endl; getORB()->destroy(); return false; } getORB()->destroy(); return true; } choreonoid-1.5.0/src/OpenHRPPlugin/OpenHRPOnlineViewerItem.cpp0000664000000000000000000005226712741425367022743 0ustar rootroot/** @author Shizuko Hattori */ #include "OpenHRPOnlineViewerItem.h" #ifdef OPENHRP_3_0 #include #elif OPENHRP_3_1 #include #endif #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; using namespace OpenHRP; namespace cnoid { #ifdef OPENHRP_3_0 #define ITEM_NAME N_("OpenHRP3.0OnlineViewerItem") #elif OPENHRP_3_1 #define ITEM_NAME N_("OpenHRP3.1OnlineViewerItem") #endif struct BodyItemInfo { BodyItemPtr bodyItem; std::string logName; BodyMotionItemPtr logItem; bool needToSelectLogItem; ConnectionSet bodyItemConnections; ConnectionSet logItemConnections; BodyItemInfo() : logName("OnlineViewerLog") { needToSelectLogItem = false; } ~BodyItemInfo() { bodyItemConnections.disconnect(); logItemConnections.disconnect(); } }; class OpenHRPOnlineViewerItemImpl : virtual public POA_OpenHRP::OnlineViewer, virtual public PortableServer::RefCountServantBase { public: OpenHRPOnlineViewerItem* self; ostream& os; OpenHRPOnlineViewerItemImpl(OpenHRPOnlineViewerItem* self); OpenHRPOnlineViewerItemImpl(OpenHRPOnlineViewerItem* self, const OpenHRPOnlineViewerItemImpl& org); ~OpenHRPOnlineViewerItemImpl(); void setServerName(const string& newName); void init(); virtual void load(const char* name, const char* url); virtual void update(const OpenHRP::WorldState& state); virtual void clearLog(); virtual void clearData(); virtual void drawScene(const OpenHRP::WorldState& state); virtual void setLineWidth(::CORBA::Float width); virtual void setLineScale(::CORBA::Float scale); virtual ::CORBA::Boolean getPosture(const char* robotId, OpenHRP::DblSequence_out posture); #ifdef OPENHRP_3_1 virtual void setLogName(const char* name); #endif string serverName; typedef std::map BodyItemInfoMap; BodyItemInfoMap bodyItemInfoMap; MessageView* mv; TimeBar* timeBar; CollisionLinkPairListPtr collisions; SceneCollisionPtr sceneCollision; string collisionLogName; WorldItemPtr worldItem; CollisionSeqItem* collisionSeqItem; bool needToSelectCollisionLogItem; ConnectionSet worldItemConnections; ConnectionSet collisionSeqItemConnections; BodyItemInfo* findInfo(const string& name); void loadsub(string name, string url); void registerBodyItem(BodyItemPtr bodyItem); void onBodyItemNameChanged(BodyItem* bodyItem, const std::string& oldName); void onBodyItemDetachedFromRoot(BodyItem* bodyItem); void forEachBody( const WorldState& state, boost::function callback); void drawScenesub(const OpenHRP::WorldState& state); void updateBodyState(BodyItemInfo* info, const LinkPositionSequence& links, int numLinks, double time); void updatesub(const OpenHRP::WorldState& state); void updateLog(BodyItemInfo* info, const LinkPositionSequence& links, int numLinks, double time); void resetLogItem(BodyItemInfo* info, BodyMotionItem* newLogItem); void resetCollisionLogItem(CollisionSeqItem* newCollisionLogItem); void clearLogsub(); void clearDatasub(); //void setLineWidth(::CORBA::Float width); //void setLineScale(::CORBA::Float scale); //::CORBA::Boolean getPosture(const char* robotId, OpenHRP::DblSequence_out posture); void updateCollision(const WorldState& state, CollisionLinkPairList* collisions); void onWorldItemDetachedFromRoot() { worldItem = 0; } #ifdef OPENHRP_3_1 void setLogNamesub(string name); #endif }; } void OpenHRPOnlineViewerItem::initializeClass(ExtensionManager* ext) { ext->itemManager() .registerClass(ITEM_NAME) .addCreationPanel(); } OpenHRPOnlineViewerItem::OpenHRPOnlineViewerItem() { impl = new OpenHRPOnlineViewerItemImpl(this); } OpenHRPOnlineViewerItemImpl::OpenHRPOnlineViewerItemImpl(OpenHRPOnlineViewerItem* self) : self(self), os(MessageView::instance()->cout()), serverName("OnlineViewer") { init(); } OpenHRPOnlineViewerItem::OpenHRPOnlineViewerItem(const OpenHRPOnlineViewerItem& org) : Item(org) { impl = new OpenHRPOnlineViewerItemImpl(this, *org.impl); } OpenHRPOnlineViewerItemImpl::OpenHRPOnlineViewerItemImpl(OpenHRPOnlineViewerItem* self, const OpenHRPOnlineViewerItemImpl& org) : self(self), os(MessageView::instance()->cout()) { serverName = org.serverName; init(); } void OpenHRPOnlineViewerItemImpl::init() { timeBar = TimeBar::instance(); mv = MessageView::instance(); collisions = boost::make_shared(); sceneCollision = new SceneCollision(collisions); sceneCollision->setName("Collisions"); collisionLogName = "OnlineViewerLog"; worldItem = 0; collisionSeqItem = 0; needToSelectCollisionLogItem = true; } OpenHRPOnlineViewerItem::~OpenHRPOnlineViewerItem() { delete impl; } OpenHRPOnlineViewerItemImpl::~OpenHRPOnlineViewerItemImpl() { PortableServer::POA_var poa = _default_POA(); PortableServer::ObjectId_var id = poa->servant_to_id(this); poa->deactivate_object(id); worldItemConnections.disconnect(); } Item* OpenHRPOnlineViewerItem::doDuplicate() const { return new OpenHRPOnlineViewerItem(*this); } void OpenHRPOnlineViewerItem::onConnectedToRoot() { NamingContextHelper* ncHelper = getDefaultNamingContextHelper(); string orgName = impl->serverName; for(int i=0; ; i++){ OnlineViewer_var olvServer = ncHelper->findObject(impl->serverName); if(!CORBA::is_nil(olvServer)) if(ncHelper->isObjectAlive(olvServer)){ impl->os << impl->serverName << " already exists. I will change the server name." << endl; std::stringstream ss; ss << orgName << i; impl->serverName = ss.str(); }else{ ncHelper->unbind(impl->serverName); break; } else break; } ncHelper->bindObject(impl->_this(), impl->serverName); } void OpenHRPOnlineViewerItem::onDisconnectedFromRoot() { getDefaultNamingContextHelper()->unbind(impl->serverName); } void OpenHRPOnlineViewerItem::doPutProperties(PutPropertyFunction& putProperty) { putProperty(_("Server name"), impl->serverName, boost::bind(&OpenHRPOnlineViewerItemImpl::setServerName, impl, _1), true); } bool OpenHRPOnlineViewerItem::store(Archive& archive) { archive.write("serverName", impl->serverName); return true; } bool OpenHRPOnlineViewerItem::restore(const Archive& archive) { impl->setServerName(archive.get("serverName", impl->serverName)); return true; } void OpenHRPOnlineViewerItemImpl::setServerName(const string& newName) { if(serverName != newName){ NamingContextHelper* ncHelper = getDefaultNamingContextHelper(); ncHelper->unbind(serverName); serverName = newName; ncHelper->bindObject(_this(), serverName); } } BodyItemInfo* OpenHRPOnlineViewerItemImpl::findInfo(const string& name) { BodyItemInfoMap::iterator p = bodyItemInfoMap.find(name); if(p != bodyItemInfoMap.end()){ return &p->second; } return 0; } void OpenHRPOnlineViewerItemImpl::load(const char* name, const char* url) { // Wait for the load function to finish because // the function does MessageView::flush(), which may execute other OnlineViewer's functions // before finishing the loading. callSynchronously(boost::bind(&OpenHRPOnlineViewerItemImpl::loadsub, this, string(name), string(url))); } void OpenHRPOnlineViewerItemImpl::loadsub(string name, string url) { string filepath; QRegExp filePattern("(\\w+)://(.+)"); if(filePattern.exactMatch(url.c_str())){ string protocol = filePattern.cap(1).toStdString(); if(protocol == "file"){ filepath = filePattern.cap(2).toStdString(); } else { mv->putln( fmt(_("OnlineViewer: The model file at \"%1%\" cannot be read. %2% protocol is not supported.")) % url % protocol); return; } } else { filepath = url; } // search for registered body items BodyItemInfo* info = findInfo(name); if(info && info->bodyItem->filePath() == filepath){ info->needToSelectLogItem = true; // mv->putln(fmt(_("OnlineViewer: \"%1%\" at \"%2%\" has already been loaded.")) % name % url); return; } // search for existing body items RootItem* rootItem = RootItem::instance(); ItemList bodyItems; bodyItems.extractChildItems(rootItem); for(int i=0; i < bodyItems.size(); ++i){ BodyItemPtr bodyItem = bodyItems[i]; if(bodyItem->name() == name && bodyItem->filePath() == filepath){ registerBodyItem(bodyItem); return; } } // load a new body item BodyItemPtr bodyItem = new BodyItem(); mv->putln(fmt(_("OnlineViewer: Loading \"%1%\" at \"%2%\".")) % name % url); mv->flush(); if(!bodyItem->load(filepath)){ mv->putln(fmt(_("OnlineViewer: Loading \"%1%\" failed.")) % name); } else { bodyItem->setName(name); ItemList worldItems; if(worldItems.extractChildItems(rootItem)){ worldItems.front()->addChildItem(bodyItem); } else { rootItem->addChildItem(bodyItem); } ItemTreeView::instance()->checkItem(bodyItem, true); registerBodyItem(bodyItem); } } void OpenHRPOnlineViewerItemImpl::registerBodyItem(BodyItemPtr bodyItem) { BodyItemInfo info; info.bodyItem = bodyItem; info.needToSelectLogItem = true; info.bodyItemConnections.add( bodyItem->sigNameChanged().connect( boost::bind(&OpenHRPOnlineViewerItemImpl::onBodyItemNameChanged, this, bodyItem.get(), _1))); info.bodyItemConnections.add( bodyItem->sigDisconnectedFromRoot().connect( boost::bind(&OpenHRPOnlineViewerItemImpl::onBodyItemDetachedFromRoot, this, bodyItem.get()))); bodyItemInfoMap.insert(make_pair(bodyItem->name(), info)); } void OpenHRPOnlineViewerItemImpl::onBodyItemNameChanged(BodyItem* bodyItem, const std::string& oldName) { bodyItemInfoMap.erase(oldName); mv->putln(fmt(_("OnlineViewer: \"%1%\" is unregistered because the name has been changed.")) % oldName); } void OpenHRPOnlineViewerItemImpl::onBodyItemDetachedFromRoot(BodyItem* bodyItem) { bodyItemInfoMap.erase(bodyItem->name()); mv->putln(fmt(_("OnlineViewer: \"%1%\" has been removed.")) % bodyItem->name()); } void OpenHRPOnlineViewerItemImpl::forEachBody (const WorldState& state, boost::function callback) { int numBodies = state.characterPositions.length(); for(int i=0; i < numBodies; ++i){ const CharacterPosition& bodyPosition = state.characterPositions[i]; BodyItemInfo* info = findInfo(bodyPosition.characterName.in()); if(info){ const LinkPositionSequence& links = bodyPosition.linkPositions; const BodyPtr& body = info->bodyItem->body(); int numLinks = links.length(); if(body->numLinks() < numLinks){ numLinks = body->numLinks(); } callback(info, links, numLinks, state.time); } } timeBar->setTime(state.time); } void OpenHRPOnlineViewerItemImpl::drawScene(const WorldState& state) { callLater(boost::bind(&OpenHRPOnlineViewerItemImpl::drawScenesub, this, state)); } void OpenHRPOnlineViewerItemImpl::drawScenesub(const WorldState& state) { forEachBody(state, boost::bind(&OpenHRPOnlineViewerItemImpl::updateBodyState, this, _1, _2, _3, _4)); updateCollision(state, collisions.get()); sceneCollision->setDirty(); } void OpenHRPOnlineViewerItemImpl::updateCollision(const WorldState& state, CollisionLinkPairList* collisions) { collisions->clear(); unsigned int n = state.collisions.length(); for(int i=0; i(); unsigned int numPoints = source.points.length(); for(int j=0; jcollisions.push_back(Collision()); Collision& col = dest->collisions.back(); col.point = Vector3(point.position[0], point.position[1], point.position[2]); col.normal = Vector3(point.normal[0], point.normal[1], point.normal[2]); col.depth = point.idepth; } //std::cout <bodyItem->body(); dest->body[j] = body; dest->link[j] = body->link(i? source.pair.linkName2.in() : source.pair.linkName1.in()); int linkIndex = dest->link[j]->index(); } } collisions->push_back(dest); } } void OpenHRPOnlineViewerItemImpl::updateBodyState (BodyItemInfo* info, const LinkPositionSequence& links, int numLinks, double time) { const BodyPtr& body = info->bodyItem->body(); for(int j=0; j < numLinks; ++j){ Link* link = body->link(j); link->p() = Eigen::Map(const_cast(links[j].p)); link->setAttitude(Eigen::Map(const_cast(links[j].R)).transpose()); } info->bodyItem->notifyKinematicStateChange(); } void OpenHRPOnlineViewerItemImpl::update(const WorldState& state) { callLater(boost::bind(&OpenHRPOnlineViewerItemImpl::updatesub, this, state)); } void OpenHRPOnlineViewerItemImpl::updatesub(const WorldState& state) { if(!worldItem){ RootItem* rootItem = RootItem::instance(); ItemList worldItems; if(worldItems.extractChildItems(rootItem)){ worldItem = worldItems.front(); } else { worldItem = new WorldItem(); worldItem->setName("World"); rootItem->addChildItem(worldItem); ItemTreeView::instance()->checkItem(worldItem, true); } worldItemConnections.add( worldItem->sigDisconnectedFromRoot().connect( boost::bind(&OpenHRPOnlineViewerItemImpl::onWorldItemDetachedFromRoot, this))); } if(!collisionSeqItem){ collisionSeqItem = worldItem->findChildItem(collisionLogName); if(!collisionSeqItem){ collisionSeqItem = new CollisionSeqItem(); collisionSeqItem->setTemporal(); collisionSeqItem->setName(collisionLogName); worldItem->addChildItem(collisionSeqItem); } resetCollisionLogItem(collisionSeqItem); needToSelectCollisionLogItem = true; } if(needToSelectCollisionLogItem){ ItemTreeView::instance()->selectItem(collisionSeqItem, true); needToSelectCollisionLogItem = false; } const CollisionSeqPtr& colSeq = collisionSeqItem->collisionSeq(); int frame = colSeq->frameOfTime(state.time); int lastFrame = std::max(0, std::min(frame, colSeq->numFrames())); colSeq->setNumFrames(frame + 1); CollisionLinkPairListPtr collisionPairs = boost::make_shared(); updateCollision(state, collisionPairs.get()); for(int i=lastFrame; i <= frame; ++i){ CollisionSeq::Frame collisionPairs0 = colSeq->frame(i); collisionPairs0[0] = collisionPairs; } forEachBody(state, boost::bind(&OpenHRPOnlineViewerItemImpl::updateLog, this, _1, _2, _3, _4)); } void OpenHRPOnlineViewerItemImpl::updateLog (BodyItemInfo* info, const LinkPositionSequence& links, int numLinks, double time) { BodyMotionItem* motionItem = info->logItem.get(); if(!motionItem){ motionItem = info->bodyItem->findChildItem(info->logName); if(!motionItem){ motionItem = new BodyMotionItem(); motionItem->setTemporal(); motionItem->setName(info->logName); info->bodyItem->addChildItem(motionItem); } resetLogItem(info, motionItem); } if(info->needToSelectLogItem){ ItemTreeView::instance()->selectItem(motionItem, true); info->needToSelectLogItem = false; } MultiSE3SeqPtr& seq = motionItem->motion()->linkPosSeq(); int frame = seq->frameOfTime(time); int lastFrame = std::max(0, std::min(frame, seq->numFrames())); seq->setNumFrames(frame + 1); const BodyPtr& body = info->bodyItem->body(); for(int i=lastFrame; i <= frame; ++i){ MultiSE3Seq::Frame positions = seq->frame(i); for(int j=0; j < numLinks; ++j){ SE3& se3 = positions[j]; se3.translation() = Eigen::Map(const_cast(links[j].p)); Matrix3 Rs = body->link(j)->Rs().transpose(); se3.rotation() = Eigen::Map(const_cast(links[j].R)).transpose() * Rs; } } } void OpenHRPOnlineViewerItemImpl::resetLogItem(BodyItemInfo* info, BodyMotionItem* newLogItem) { info->logItemConnections.disconnect(); info->logItem = newLogItem; if(newLogItem){ BodyMotionPtr motion = newLogItem->motion(); motion->jointPosSeq()->setDimension(0, 0); motion->linkPosSeq()->setNumParts(info->bodyItem->body()->numLinks()); motion->setFrameRate(timeBar->frameRate()); info->logItemConnections.add( newLogItem->sigPositionChanged().connect( boost::bind(&OpenHRPOnlineViewerItemImpl::resetLogItem, this, info, (BodyMotionItem*)0))); info->logItemConnections.add( newLogItem->sigNameChanged().connect( boost::bind(&OpenHRPOnlineViewerItemImpl::resetLogItem, this, info, (BodyMotionItem*)0))); } } void OpenHRPOnlineViewerItemImpl::resetCollisionLogItem(CollisionSeqItem* collisionSeqItem_) { collisionSeqItemConnections.disconnect(); collisionSeqItem = collisionSeqItem_; if(collisionSeqItem){ CollisionSeqPtr colSeq = collisionSeqItem->collisionSeq(); colSeq->setFrameRate(timeBar->frameRate()); colSeq->setNumParts(1); collisionSeqItemConnections.add( collisionSeqItem->sigPositionChanged().connect( boost::bind(&OpenHRPOnlineViewerItemImpl::resetCollisionLogItem, this, (CollisionSeqItem*)0))); collisionSeqItemConnections.add( collisionSeqItem->sigNameChanged().connect( boost::bind(&OpenHRPOnlineViewerItemImpl::resetCollisionLogItem, this, (CollisionSeqItem*)0))); } } #ifdef OPENHRP_3_1 void OpenHRPOnlineViewerItemImpl::setLogName(const char* name) { callLater(boost::bind(&OpenHRPOnlineViewerItemImpl::setLogNamesub, this, string(name))); } void OpenHRPOnlineViewerItemImpl::setLogNamesub(string name) { BodyItemInfo* info = findInfo(name); if(info){ info->logName = name; if(info->logItem && info->logItem->name() != name){ info->logItem = 0; } } collisionLogName = name; if(collisionSeqItem && collisionSeqItem->name() != name){ collisionSeqItem = 0; } } #endif void OpenHRPOnlineViewerItemImpl::clearLog() { callLater(boost::bind(&OpenHRPOnlineViewerItemImpl::clearLogsub, this)); } void OpenHRPOnlineViewerItemImpl::clearLogsub() { for(BodyItemInfoMap::iterator p = bodyItemInfoMap.begin(); p != bodyItemInfoMap.end(); ++p){ BodyItemInfo& info = p->second; if(info.logItem){ info.logItem->motion()->setNumFrames(0); } } collisionSeqItem->collisionSeq()->setNumFrames(0); } void OpenHRPOnlineViewerItemImpl::clearData() { callLater(boost::bind(&OpenHRPOnlineViewerItemImpl::clearDatasub, this)); } void OpenHRPOnlineViewerItemImpl::clearDatasub() { bodyItemInfoMap.clear(); } void OpenHRPOnlineViewerItemImpl::setLineWidth(::CORBA::Float width) { } void OpenHRPOnlineViewerItemImpl::setLineScale(::CORBA::Float scale) { } ::CORBA::Boolean OpenHRPOnlineViewerItemImpl::getPosture(const char* robotId, DblSequence_out posture) { return false; } SgNode* OpenHRPOnlineViewerItem::getScene() { return impl->sceneCollision; } choreonoid-1.5.0/src/OpenHRPPlugin/OpenHRPOnlineViewerItem.h0000664000000000000000000000200712741425367022373 0ustar rootroot/** @author Shizuko Hattori */ #ifndef CNOID_OPENHRP_PLUGIN_ONLINE_VIEWER_ITEM_H_INCLUDED #define CNOID_OPENHRP_PLUGIN_ONLINE_VIEWER_ITEM_H_INCLUDED #include #include namespace cnoid { class OpenHRPOnlineViewerItemImpl; class OpenHRPOnlineViewerItem : public Item, public SceneProvider { public: static void initializeClass(ExtensionManager* ext); OpenHRPOnlineViewerItem(); OpenHRPOnlineViewerItem(const OpenHRPOnlineViewerItem& org); virtual ~OpenHRPOnlineViewerItem(); protected: virtual Item* doDuplicate() const; virtual void onConnectedToRoot(); //virtual void onPositionChanged(){}; virtual void onDisconnectedFromRoot(); virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); virtual SgNode* getScene(); private: OpenHRPOnlineViewerItemImpl* impl; }; typedef ref_ptr OpenHRPOnlineViewerItemPtr; } #endif choreonoid-1.5.0/src/OpenHRPPlugin/OnlineViewerServer.cpp0000664000000000000000000002702612741425367022112 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "OnlineViewerServer.h" #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; using namespace OpenHRP; namespace cnoid { struct BodyItemInfo { BodyItemPtr bodyItem; std::string logName; BodyMotionItemPtr logItem; bool needToSelectLogItem; ConnectionSet bodyItemConnections; ConnectionSet logItemConnections; BodyItemInfo() : logName("OnlineViewerLog") { needToSelectLogItem = false; } ~BodyItemInfo() { bodyItemConnections.disconnect(); logItemConnections.disconnect(); } }; class OnlineViewerServerImpl { public: typedef std::map BodyItemInfoMap; BodyItemInfoMap bodyItemInfoMap; TimeBar* timeBar; MessageView* mv; OnlineViewerServerImpl(); ~OnlineViewerServerImpl(); BodyItemInfo* findInfo(const string& name); void load(string name, string url); void registerBodyItem(BodyItemPtr bodyItem); void onBodyItemNameChanged(BodyItem* bodyItem, const std::string& oldName); void onBodyItemDetachedFromRoot(BodyItem* bodyItem); void forEachBody( const WorldState& state, boost::function callback); void drawScene(const OpenHRP::WorldState& state); void updateBodyState(BodyItemInfo* info, const LinkPositionSequence& links, int numLinks, double time); void update(const OpenHRP::WorldState& state); void updateLog(BodyItemInfo* info, const LinkPositionSequence& links, int numLinks, double time); void resetLogItem(BodyItemInfo* info, BodyMotionItem* newLogItem); void clearLog(); void clearData(); void setLineWidth(::CORBA::Float width); void setLineScale(::CORBA::Float scale); ::CORBA::Boolean getPosture(const char* robotId, OpenHRP::DblSequence_out posture); #ifdef OPENHRP_3_1 void setLogName(string name); #endif }; } OnlineViewerServer::OnlineViewerServer() { impl = new OnlineViewerServerImpl(); } OnlineViewerServerImpl::OnlineViewerServerImpl() { timeBar = TimeBar::instance(); mv = MessageView::instance(); } OnlineViewerServer::~OnlineViewerServer() { delete impl; PortableServer::POA_var poa = _default_POA(); PortableServer::ObjectId_var id = poa->servant_to_id(this); poa->deactivate_object(id); } OnlineViewerServerImpl::~OnlineViewerServerImpl() { } BodyItemInfo* OnlineViewerServerImpl::findInfo(const string& name) { BodyItemInfoMap::iterator p = bodyItemInfoMap.find(name); if(p != bodyItemInfoMap.end()){ return &p->second; } return 0; } void OnlineViewerServer::load(const char* name, const char* url) { // Wait for the load function to finish because // the function does MessageView::flush(), which may execute other OnlineViewer's functions // before finishing the loading. callSynchronously(boost::bind(&OnlineViewerServerImpl::load, impl, string(name), string(url))); } void OnlineViewerServerImpl::load(string name, string url) { string filepath; QRegExp filePattern("(\\w+)://(.+)"); if(filePattern.exactMatch(url.c_str())){ string protocol = filePattern.cap(1).toStdString(); if(protocol == "file"){ filepath = filePattern.cap(2).toStdString(); } else { mv->putln( fmt(_("OnlineViewer: The model file at \"%1%\" cannot be read. %2% protocol is not supported.")) % url % protocol); return; } } else { filepath = url; } // search for registered body items BodyItemInfo* info = findInfo(name); if(info && info->bodyItem->filePath() == filepath){ info->needToSelectLogItem = true; // mv->putln(fmt(_("OnlineViewer: \"%1%\" at \"%2%\" has already been loaded.")) % name % url); return; } // search for existing body items RootItem* rootItem = RootItem::instance(); ItemList bodyItems; bodyItems.extractChildItems(rootItem); for(int i=0; i < bodyItems.size(); ++i){ BodyItemPtr bodyItem = bodyItems[i]; if(bodyItem->name() == name && bodyItem->filePath() == filepath){ registerBodyItem(bodyItem); return; } } // load a new body item BodyItemPtr bodyItem = new BodyItem(); mv->putln(fmt(_("OnlineViewer: Loading \"%1%\" at \"%2%\".")) % name % url); mv->flush(); if(!bodyItem->load(filepath)){ mv->putln(fmt(_("OnlineViewer: Loading \"%1%\" failed.")) % name); } else { bodyItem->setName(name); ItemList worldItems; if(worldItems.extractChildItems(rootItem)){ worldItems.front()->addChildItem(bodyItem); } else { rootItem->addChildItem(bodyItem); } ItemTreeView::instance()->checkItem(bodyItem, true); registerBodyItem(bodyItem); } } void OnlineViewerServerImpl::registerBodyItem(BodyItemPtr bodyItem) { BodyItemInfo info; info.bodyItem = bodyItem; info.needToSelectLogItem = true; info.bodyItemConnections.add( bodyItem->sigNameChanged().connect( boost::bind(&OnlineViewerServerImpl::onBodyItemNameChanged, this, bodyItem.get(), _1))); info.bodyItemConnections.add( bodyItem->sigDisconnectedFromRoot().connect( boost::bind(&OnlineViewerServerImpl::onBodyItemDetachedFromRoot, this, bodyItem.get()))); bodyItemInfoMap.insert(make_pair(bodyItem->name(), info)); } void OnlineViewerServerImpl::onBodyItemNameChanged(BodyItem* bodyItem, const std::string& oldName) { bodyItemInfoMap.erase(oldName); mv->putln(fmt(_("OnlineViewer: \"%1%\" is unregistered because the name has been changed.")) % oldName); } void OnlineViewerServerImpl::onBodyItemDetachedFromRoot(BodyItem* bodyItem) { bodyItemInfoMap.erase(bodyItem->name()); mv->putln(fmt(_("OnlineViewer: \"%1%\" has been removed.")) % bodyItem->name()); } void OnlineViewerServerImpl::forEachBody (const WorldState& state, boost::function callback) { int numBodies = state.characterPositions.length(); for(int i=0; i < numBodies; ++i){ const CharacterPosition& bodyPosition = state.characterPositions[i]; BodyItemInfo* info = findInfo(bodyPosition.characterName.in()); if(info){ const LinkPositionSequence& links = bodyPosition.linkPositions; const BodyPtr& body = info->bodyItem->body(); int numLinks = links.length(); if(body->numLinks() < numLinks){ numLinks = body->numLinks(); } callback(info, links, numLinks, state.time); } } timeBar->setTime(state.time); } void OnlineViewerServer::drawScene(const WorldState& state) { callLater(boost::bind(&OnlineViewerServerImpl::drawScene, impl, state)); } void OnlineViewerServerImpl::drawScene(const WorldState& state) { forEachBody(state, boost::bind(&OnlineViewerServerImpl::updateBodyState, this, _1, _2, _3, _4)); } void OnlineViewerServerImpl::updateBodyState (BodyItemInfo* info, const LinkPositionSequence& links, int numLinks, double time) { const BodyPtr& body = info->bodyItem->body(); for(int j=0; j < numLinks; ++j){ Link* link = body->link(j); link->p() = Eigen::Map(const_cast(links[j].p)); link->setAttitude(Eigen::Map(const_cast(links[j].R)).transpose()); } info->bodyItem->notifyKinematicStateChange(); } void OnlineViewerServer::update(const WorldState& state) { callLater(boost::bind(&OnlineViewerServerImpl::update, impl, state)); } void OnlineViewerServerImpl::update(const WorldState& state) { forEachBody(state, boost::bind(&OnlineViewerServerImpl::updateLog, this, _1, _2, _3, _4)); } void OnlineViewerServerImpl::updateLog (BodyItemInfo* info, const LinkPositionSequence& links, int numLinks, double time) { BodyMotionItem* motionItem = info->logItem.get(); if(!motionItem){ motionItem = info->bodyItem->findChildItem(info->logName); if(!motionItem){ motionItem = new BodyMotionItem(); motionItem->setName(info->logName); info->bodyItem->addChildItem(motionItem); } resetLogItem(info, motionItem); } if(info->needToSelectLogItem){ ItemTreeView::instance()->selectItem(motionItem, true); info->needToSelectLogItem = false; } MultiSE3SeqPtr& seq = motionItem->motion()->linkPosSeq(); int frame = seq->frameOfTime(time); int lastFrame = std::max(0, std::min(frame, seq->numFrames())); seq->setNumFrames(frame + 1); const BodyPtr& body = info->bodyItem->body(); for(int i=lastFrame; i <= frame; ++i){ MultiSE3Seq::Frame positions = seq->frame(i); for(int j=0; j < numLinks; ++j){ SE3& se3 = positions[j]; se3.translation() = Eigen::Map(const_cast(links[j].p)); Matrix3 Rs = body->link(j)->Rs().transpose(); se3.rotation() = Eigen::Map(const_cast(links[j].R)).transpose() * Rs; } } } void OnlineViewerServerImpl::resetLogItem(BodyItemInfo* info, BodyMotionItem* newLogItem) { info->logItemConnections.disconnect(); info->logItem = newLogItem; if(newLogItem){ BodyMotionPtr motion = newLogItem->motion(); motion->jointPosSeq()->setDimension(0, 0); motion->linkPosSeq()->setNumParts(info->bodyItem->body()->numLinks()); motion->setFrameRate(timeBar->frameRate()); info->logItemConnections.add( newLogItem->sigPositionChanged().connect( boost::bind(&OnlineViewerServerImpl::resetLogItem, this, info, (BodyMotionItem*)0))); info->logItemConnections.add( newLogItem->sigNameChanged().connect( boost::bind(&OnlineViewerServerImpl::resetLogItem, this, info, (BodyMotionItem*)0))); } } #ifdef OPENHRP_3_1 void OnlineViewerServer::setLogName(const char* name) { callLater(boost::bind(&OnlineViewerServerImpl::setLogName, impl, string(name))); } void OnlineViewerServerImpl::setLogName(string name) { BodyItemInfo* info = findInfo(name); if(info){ info->logName = name; if(info->logItem && info->logItem->name() != name){ info->logItem = 0; } } } #endif void OnlineViewerServer::clearLog() { callLater(boost::bind(&OnlineViewerServerImpl::clearLog, impl)); } void OnlineViewerServerImpl::clearLog() { for(BodyItemInfoMap::iterator p = bodyItemInfoMap.begin(); p != bodyItemInfoMap.end(); ++p){ BodyItemInfo& info = p->second; if(info.logItem){ info.logItem->motion()->setNumFrames(0); } } } void OnlineViewerServer::clearData() { callLater(boost::bind(&OnlineViewerServerImpl::clearData, impl)); } void OnlineViewerServerImpl::clearData() { bodyItemInfoMap.clear(); } void OnlineViewerServer::setLineWidth(::CORBA::Float width) { } void OnlineViewerServer::setLineScale(::CORBA::Float scale) { } ::CORBA::Boolean OnlineViewerServer::getPosture(const char* robotId, DblSequence_out posture) { return false; } choreonoid-1.5.0/src/OpenHRPPlugin/OpenHRPPlugin.cpp0000664000000000000000000000246512741425367020747 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "OpenHRPControllerItem.h" #include "OnlineViewerServer.h" #include "OpenHRPOnlineViewerItem.h" #ifdef OPENHRP_3_1 #include "OpenHRPInterpreterServiceItem.h" #endif #include #include #include "gettext.h" using namespace cnoid; namespace { #ifdef OPENHRP_3_0 #define PLUGIN_NAME "OpenHRP3.0" #define ITEM_NAME N_("OpenHRP3.0ControllerItem") #elif OPENHRP_3_1 #define PLUGIN_NAME "OpenHRP3.1" #define ITEM_NAME N_("OpenHRP3.1ControllerItem") #endif class OpenHRPPlugin : public Plugin { public: OpenHRPPlugin() : Plugin(PLUGIN_NAME) { require("Body"); require("OpenRTM"); } virtual bool initialize() { itemManager().registerClass(ITEM_NAME); itemManager().addCreationPanel(); #ifdef OPENHRP_3_1 OpenHRPInterpreterServiceItem::initializeClass(this); #endif // OnlineViewerServer* onlineViewer = new OnlineViewerServer(); // getDefaultNamingContextHelper()->bindObject(onlineViewer->_this(), "OnlineViewer"); OpenHRPOnlineViewerItem::initializeClass(this); return true; } virtual bool finalize() { return true; } }; } CNOID_IMPLEMENT_PLUGIN_ENTRY(OpenHRPPlugin); choreonoid-1.5.0/src/OpenHRPPlugin/DynamicsSimulator_impl.h0000664000000000000000000001012712741425367022444 0ustar rootroot #ifndef CNOID_OPENHRP_DYNAMICS_SIMULATOR_IMPL_H_INCLUDED #define CNOID_OPENHRP_DYNAMICS_SIMULATOR_IMPL_H_INCLUDED #ifdef OPENHRP_3_0 #include #elif OPENHRP_3_1 #include #endif #include #include namespace OpenHRP { class DynamicsSimulator_impl : virtual public POA_OpenHRP::DynamicsSimulator, virtual public PortableServer::RefCountServantBase { public: DynamicsSimulator_impl(const cnoid::BodyPtr& body); virtual ~DynamicsSimulator_impl(); #ifdef OPENHRP_3_0 virtual void registerCharacter(const char* name, CharacterInfo_ptr cinfo); virtual void registerCollisionCheckPair(const char* char1, const char* name1, const char* char2, const char* name2, ::CORBA::Double staticFriction, ::CORBA::Double slipFriction, const DblSequence6& K, const DblSequence6& C); virtual void checkCollision(); #elif OPENHRP_3_1 virtual void registerCharacter(const char* name, BodyInfo_ptr cinfo); virtual void registerCollisionCheckPair(const char* char1, const char* name1, const char* char2, const char* name2, ::CORBA::Double staticFriction, ::CORBA::Double slipFriction, const DblSequence6& K, const DblSequence6& C, ::CORBA::Double culling_thresh); virtual void registerIntersectionCheckPair(const char* char1, const char* name1, const char* char2, const char* name2, ::CORBA::Double tolerance); virtual ::CORBA::Boolean checkCollision(::CORBA::Boolean checkAll); virtual LinkPairSequence* checkIntersection(::CORBA::Boolean checkAll); virtual DistanceSequence* checkDistance(); #endif virtual void destroy(); virtual void init(::CORBA::Double timeStep, OpenHRP::DynamicsSimulator::IntegrateMethod integrateOpt, OpenHRP::DynamicsSimulator::SensorOption sensorOpt); virtual void registerVirtualLink(const char* char1, const char* link1, const char* char2, const char* link2, const LinkPosition& relTransform, ::CORBA::Short transformDefined, const DblSequence9& constraint, const char* connectionName); virtual void getConnectionConstraintForce(const char* characterName, const char* connectionName, DblSequence6_out contactForce); virtual void getCharacterSensorValues(const char* characterName, const char* sensorName, DblSequence_out values); virtual void initSimulation(); virtual void stepSimulation(); virtual void setCharacterLinkData(const char* character, const char* link, OpenHRP::DynamicsSimulator::LinkDataType type, const DblSequence& data); virtual void getCharacterLinkData(const char* characterName, const char* link, OpenHRP::DynamicsSimulator::LinkDataType type, DblSequence_out rdata); virtual void getCharacterAllLinkData(const char* characterName, OpenHRP::DynamicsSimulator::LinkDataType type, DblSequence_out wdata); virtual void setCharacterAllLinkData(const char* characterName, OpenHRP::DynamicsSimulator::LinkDataType type, const DblSequence& wdata); virtual void setGVector(const DblSequence3& wdata); virtual void getGVector(DblSequence3_out wdata); virtual void setCharacterAllJointModes(const char* characterName, OpenHRP::DynamicsSimulator::JointDriveMode jointMode); virtual ::CORBA::Boolean calcCharacterInverseKinematics(const char* characterName, const char* baseLink, const char* targetLink, const LinkPosition& target); virtual void calcCharacterForwardKinematics(const char* characterName); virtual void calcWorldForwardKinematics(); virtual void getWorldState(WorldState_out wstate); virtual void getCharacterSensorState(const char* characterName, SensorState_out sstate); virtual ::CORBA::Boolean getCharacterCollidingPairs(const char* characterName, LinkPairSequence_out pairs); virtual void calcCharacterJacobian(const char* characterName, const char* baseLink, const char* targetLink, DblSequence_out jacobian); private: cnoid::BodyPtr body; cnoid::DeviceList forceSensorIdMap; cnoid::DeviceList gyroIdMap; cnoid::DeviceList accelSensorIdMap; }; } #endif choreonoid-1.5.0/src/OpenHRPPlugin/DynamicsSimulator_impl.cpp0000664000000000000000000002642112741425367023003 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "DynamicsSimulator_impl.h" #include using namespace std; using namespace cnoid; using namespace OpenHRP; DynamicsSimulator_impl::DynamicsSimulator_impl(const BodyPtr& body) { this->body = body; forceSensorIdMap = body->devices().getSortedById(); gyroIdMap = body->devices().getSortedById(); accelSensorIdMap = body->devices().getSortedById(); } DynamicsSimulator_impl::~DynamicsSimulator_impl() { PortableServer::POA_var poa = _default_POA(); PortableServer::ObjectId_var id = poa->servant_to_id(this); poa->deactivate_object(id); } void DynamicsSimulator_impl::destroy() { } #ifdef OPENHRP_3_0 void DynamicsSimulator_impl::registerCharacter(const char* name, CharacterInfo_ptr cinfo) { } #elif OPENHRP_3_1 void DynamicsSimulator_impl::registerCharacter(const char* name, BodyInfo_ptr cinfo) { } #endif #ifdef OPENHRP_3_0 void DynamicsSimulator_impl::registerCollisionCheckPair( const char* char1, const char* name1, const char* char2, const char* name2, ::CORBA::Double staticFriction, ::CORBA::Double slipFriction, const DblSequence6& K, const DblSequence6& C) { } #elif OPENHRP_3_1 void DynamicsSimulator_impl::registerCollisionCheckPair( const char* char1, const char* name1, const char* char2, const char* name2, ::CORBA::Double staticFriction, ::CORBA::Double slipFriction, const DblSequence6& K, const DblSequence6& C, ::CORBA::Double culling_thresh) { } void DynamicsSimulator_impl::registerIntersectionCheckPair(const char* char1, const char* name1, const char* char2, const char* name2, ::CORBA::Double tolerance) { } #endif void DynamicsSimulator_impl::init( ::CORBA::Double timeStep, OpenHRP::DynamicsSimulator::IntegrateMethod integrateOpt, OpenHRP::DynamicsSimulator::SensorOption sensorOpt) { } void DynamicsSimulator_impl::registerVirtualLink( const char* char1, const char* link1, const char* char2, const char* link2, const LinkPosition& relTransform, ::CORBA::Short transformDefined, const DblSequence9& constraint, const char* connectionName) { } void DynamicsSimulator_impl::getConnectionConstraintForce( const char* characterName, const char* connectionName, DblSequence6_out contactForce) { } void DynamicsSimulator_impl::getCharacterSensorValues (const char* character, const char* sensorName, DblSequence_out out_values) { DblSequence_var values = new DblSequence; if(Device* sensor = body->findDevice(sensorName)){ values->length(sensor->stateSize()); sensor->writeState(&values[0]); } out_values = values._retn(); } void DynamicsSimulator_impl::initSimulation() { } void DynamicsSimulator_impl::stepSimulation() { } void DynamicsSimulator_impl::setCharacterLinkData( const char* character, const char* linkName, OpenHRP::DynamicsSimulator::LinkDataType type, const DblSequence& data) { Link* link = body->link(linkName); if(link){ switch(type) { case OpenHRP::DynamicsSimulator::POSITION_GIVEN: // set property to inform that this joint should be handled as the high-gain mode break; case OpenHRP::DynamicsSimulator::JOINT_VALUE: if(!link->isFixedJoint()){ link->q() = data[0]; } break; case OpenHRP::DynamicsSimulator::JOINT_VELOCITY: if(!link->isFixedJoint()){ link->dq() = data[0]; } break; case OpenHRP::DynamicsSimulator::JOINT_ACCELERATION: if(!link->isFixedJoint()){ link->ddq() = data[0]; } break; case OpenHRP::DynamicsSimulator::JOINT_TORQUE: if(!link->isFixedJoint() || link->jointType() == Link::CRAWLER_JOINT){ link->u() = data[0]; } break; case OpenHRP::DynamicsSimulator::ABS_TRANSFORM: { link->p() = Eigen::Map(&data[0]); Matrix3 R; R << data[3], data[4], data[5], data[6], data[7], data[8], data[9], data[10], data[11]; link->setAttitude(R); break; } case OpenHRP::DynamicsSimulator::ABS_VELOCITY: { link->v() = Eigen::Map(&data[0]); link->w() = Eigen::Map(&data[3]); break; } case OpenHRP::DynamicsSimulator::EXTERNAL_FORCE: { link->f_ext() = Eigen::Map(&data[0]); link->tau_ext() = Eigen::Map(&data[3]); break; } default: break; } } } void DynamicsSimulator_impl::getCharacterLinkData( const char* characterName, const char* linkName, OpenHRP::DynamicsSimulator::LinkDataType type, DblSequence_out out_rdata) { const Link* link = body->link(linkName); DblSequence_var rdata = new DblSequence; if(link){ switch(type) { case OpenHRP::DynamicsSimulator::JOINT_VALUE: rdata->length(1); rdata[0] = link->q(); break; case OpenHRP::DynamicsSimulator::JOINT_VELOCITY: rdata->length(1); rdata[0] = link->dq(); break; case OpenHRP::DynamicsSimulator::JOINT_ACCELERATION: rdata->length(1); rdata[0] = link->ddq(); break; case OpenHRP::DynamicsSimulator::JOINT_TORQUE: rdata->length(1); rdata[0] = link->u(); break; case OpenHRP::DynamicsSimulator::ABS_TRANSFORM: { rdata->length(12); rdata[0] = link->p().x(); rdata[1] = link->p().y(); rdata[2] = link->p().z(); const Matrix3 R = link->attitude(); for(int i=0; i < 3; ++i){ for(int j=0; j < 3; ++j){ rdata[3 + i * 3 + j] = R(i, j); } } } break; case OpenHRP::DynamicsSimulator::ABS_VELOCITY: rdata->length(6); rdata[0] = link->v().x(); rdata[1] = link->v().y(); rdata[2] = link->v().z(); rdata[3] = link->w().x(); rdata[4] = link->w().y(); rdata[5] = link->w().z(); break; case OpenHRP::DynamicsSimulator::EXTERNAL_FORCE: rdata->length(6); rdata[0] = link->f_ext().x(); rdata[1] = link->f_ext().y(); rdata[2] = link->f_ext().z(); rdata[3] = link->tau_ext().x(); rdata[4] = link->tau_ext().y(); rdata[5] = link->tau_ext().z(); break; default: break; } } out_rdata = rdata._retn(); } void DynamicsSimulator_impl::getCharacterAllLinkData( const char* characterName, OpenHRP::DynamicsSimulator::LinkDataType type, DblSequence_out rdata) { const int n = body->numJoints(); rdata = new DblSequence(); rdata->length(n); switch(type) { case OpenHRP::DynamicsSimulator::JOINT_VALUE: for(int i=0; i < n; ++i){ (*rdata)[i] = body->joint(i)->q(); } break; case OpenHRP::DynamicsSimulator::JOINT_VELOCITY: for(int i=0; i < n; ++i){ (*rdata)[i] = body->joint(i)->dq(); } break; case OpenHRP::DynamicsSimulator::JOINT_ACCELERATION: for(int i=0; i < n; ++i){ (*rdata)[i] = body->joint(i)->ddq(); } break; case OpenHRP::DynamicsSimulator::JOINT_TORQUE: for(int i=0; i < n; ++i){ (*rdata)[i] = body->joint(i)->u(); } break; default: // put error here break; } } void DynamicsSimulator_impl::setCharacterAllLinkData( const char* characterName, OpenHRP::DynamicsSimulator::LinkDataType type, const DblSequence& wdata) { int n = wdata.length(); if(n > body->numJoints()){ n = body->numJoints(); } switch(type) { case OpenHRP::DynamicsSimulator::JOINT_VALUE: for(int i=0; i < n; ++i){ body->joint(i)->q() = wdata[i]; } break; case OpenHRP::DynamicsSimulator::JOINT_VELOCITY: for(int i=0; i < n; ++i){ body->joint(i)->dq() = wdata[i]; } break; case OpenHRP::DynamicsSimulator::JOINT_ACCELERATION: for(int i=0; i < n; ++i){ body->joint(i)->ddq() = wdata[i]; } break; case OpenHRP::DynamicsSimulator::JOINT_TORQUE: for(int i=0; i < n; ++i){ body->joint(i)->u() = wdata[i]; } break; default: // put error here break; } } void DynamicsSimulator_impl::setGVector(const DblSequence3& wdata) { } void DynamicsSimulator_impl::getGVector(DblSequence3_out wdata) { } void DynamicsSimulator_impl::setCharacterAllJointModes(const char* characterName, OpenHRP::DynamicsSimulator::JointDriveMode jointMode) { } ::CORBA::Boolean DynamicsSimulator_impl::calcCharacterInverseKinematics( const char* characterName, const char* baseLink, const char* targetLink, const LinkPosition& target) { return true; } void DynamicsSimulator_impl::calcCharacterForwardKinematics(const char* characterName) { } void DynamicsSimulator_impl::calcWorldForwardKinematics() { } #ifdef OPENHRP_3_0 void DynamicsSimulator_impl::checkCollision() { } #elif OPENHRP_3_1 ::CORBA::Boolean DynamicsSimulator_impl::checkCollision(::CORBA::Boolean checkAll) { return false; } LinkPairSequence* DynamicsSimulator_impl::checkIntersection(::CORBA::Boolean checkAll) { return 0; } DistanceSequence* DynamicsSimulator_impl::checkDistance() { return 0; } #endif void DynamicsSimulator_impl::getWorldState(WorldState_out wstate) { } void DynamicsSimulator_impl::getCharacterSensorState(const char* characterName, SensorState_out sstate) { sstate = new SensorState; int numJoints = body->numJoints(); sstate->q.length(numJoints); sstate->dq.length(numJoints); sstate->u.length(numJoints); sstate->force.length(forceSensorIdMap.size()); sstate->rateGyro.length(gyroIdMap.size()); sstate->accel.length(accelSensorIdMap.size()); for(int j=0; j < numJoints; j++){ Link* joint = body->joint(j); sstate->q [j] = joint->q(); sstate->dq[j] = joint->dq(); sstate->u [j] = joint->u(); } for(size_t id = 0; id < forceSensorIdMap.size(); ++id){ Eigen::Map(&sstate->force[id][0]) = forceSensorIdMap[id]->F(); } for(size_t id = 0; id < gyroIdMap.size(); ++id){ Eigen::Map(sstate->rateGyro[id]) = gyroIdMap[id]->w(); } for(size_t id = 0; id < accelSensorIdMap.size(); ++id){ Eigen::Map(sstate->accel[id]) = accelSensorIdMap[id]->dv(); } } ::CORBA::Boolean DynamicsSimulator_impl::getCharacterCollidingPairs(const char* characterName, LinkPairSequence_out pairs) { return true; } void DynamicsSimulator_impl::calcCharacterJacobian( const char* characterName, const char* baseLink, const char* targetLink, DblSequence_out jacobian) { } choreonoid-1.5.0/src/OpenHRPPlugin/po/0000775000000000000000000000000012741425367016220 5ustar rootrootchoreonoid-1.5.0/src/OpenHRPPlugin/po/ja.po0000664000000000000000000001364612741425367017164 0ustar rootroot# Japanese translations for PACKAGE package. # Copyright (C) 2012 THE PACKAGE'S COPYRIGHT HOLDER # This file is distributed under the same license as the PACKAGE package. # nakaoka , 2012. # msgid "" msgstr "" "Project-Id-Version: PACKAGE VERSION\n" "Report-Msgid-Bugs-To: \n" "POT-Creation-Date: 2015-12-19 00:02+0900\n" "PO-Revision-Date: 2012-02-01 15:19+0000\n" "Last-Translator: nakaoka \n" "Language-Team: Japanese\n" "Language: ja\n" "MIME-Version: 1.0\n" "Content-Type: text/plain; charset=UTF-8\n" "Content-Transfer-Encoding: 8bit\n" "Plural-Forms: nplurals=1; plural=0;\n" #: OnlineViewerServer.cpp:139 OpenHRPOnlineViewerItem.cpp:306 msgid "" "OnlineViewer: The model file at \"%1%\" cannot be read. %2% protocol is not " "supported." msgstr "" "‚ރ³ƒİ‚¤ƒ³ƒ“ƒƒĵ‚˘: %2%ƒ—ƒ­ƒˆ‚³ƒĞŻ‚µƒƒĵƒˆ•‚ŒĤ„Ş„Ÿ‚€\"%1%\"ƒ˘ƒ‡ƒĞ" "ƒ•‚Ħ‚¤ƒĞŻèŞ­żèĵ‚›‚“€‚" #: OnlineViewerServer.cpp:168 OpenHRPOnlineViewerItem.cpp:335 msgid "OnlineViewer: Loading \"%1%\" at \"%2%\"." msgstr "‚ރ³ƒİ‚¤ƒ³ƒ“ƒƒĵ‚˘: \"%1%\"‚’\"%2%\"‹‚‰èŞ­żèĵ‚“§„™€‚" #: OnlineViewerServer.cpp:172 OpenHRPOnlineViewerItem.cpp:339 msgid "OnlineViewer: Loading \"%1%\" failed." msgstr "‚ރ³ƒİ‚¤ƒ³ƒ“ƒƒĵ‚˘: \"%1%\"èŞ­żèĵżĞċ¤ħĉ•———Ÿ€‚" #: OnlineViewerServer.cpp:209 OpenHRPOnlineViewerItem.cpp:376 msgid "" "OnlineViewer: \"%1%\" is unregistered because the name has been changed." msgstr "" "‚ރ³ƒİ‚¤ƒ³ƒ“ƒƒĵ‚˘: \"%1%\"Żċċ‰Œċ¤‰ĉ›´•‚ŒŸŸ‚ç™ğ録Œè§£é™¤•‚Œ—Ÿ€‚" #: OnlineViewerServer.cpp:217 OpenHRPOnlineViewerItem.cpp:384 msgid "OnlineViewer: \"%1%\" has been removed." msgstr "‚ރ³ƒİ‚¤ƒ³ƒ“ƒƒĵ‚˘: \"%1%\"Żċ‰Šé™¤•‚Œ—Ÿ€‚" #: OpenHRPControllerItem.cpp:114 msgid "Controller server process \"%1%\" cannot be executed." msgstr "‚³ƒ³ƒˆƒ­ƒĵƒİ‚µƒĵƒƒ—ƒ­‚ğ‚ı\"%1%\"ŻċŸèĦŒ§›‚“€‚" #: OpenHRPControllerItem.cpp:116 msgid " This file does not exist." msgstr " “ƒ•‚Ħ‚¤ƒĞŻċ­˜ċœ¨—›‚“€‚" #: OpenHRPControllerItem.cpp:122 msgid "Controller server process \"%1%\" has been executed by %2%." msgstr "%2%Ğ‚ˆ£Ĥ‚³ƒ³ƒˆƒ­ƒĵƒİ‚µƒĵƒƒ—ƒ­‚ğ‚ı\"%1%\"Œèµ·ċ‹••‚Œ—Ÿ€‚" #: OpenHRPControllerItem.cpp:143 msgid "Controller server object \"%1%\" is not found in the name server." msgstr "" "‚³ƒ³ƒˆƒ­ƒĵƒİ‚µƒĵƒ‚ރ–‚¸‚§‚Żƒˆ\"%1%\"Żƒƒĵƒ ‚µƒĵƒĞç™ğ録•‚ŒĤ„›‚“€‚" #: OpenHRPControllerItem.cpp:156 msgid "" "The CORBA object of controller \"%1%\" has been created by the factory \"%2%" "\"." msgstr "" "‚³ƒ³ƒˆƒ­ƒĵƒİ\"%1%\"CORBA‚ރ–‚¸‚§‚ŻƒˆŒƒ•‚Ħ‚ŻƒˆƒŞ\"%2%\"Ğ‚ˆ£Ĥ生ĉˆ•‚Œ—" "Ÿ€‚" #: OpenHRPControllerItem.cpp:163 msgid "The CORBA object \"%1%\" of controller \"%2%\" has been obtained." msgstr "‚³ƒ³ƒˆƒ­ƒĵƒİ\"%2%\"CORBA‚ރ–‚¸‚§‚Żƒˆ\"%1%\"‚’ċ–ċ———Ÿ€‚" #: OpenHRPControllerItem.cpp:231 msgid "Controller server name" msgstr "‚³ƒ³ƒˆƒ­ƒĵƒİƒ•‚Ħ‚ŻƒˆƒŞċ" #: OpenHRPControllerItem.cpp:233 msgid "Controller server command" msgstr "‚³ƒ³ƒˆƒ­ƒĵƒİ‚µƒĵƒ‚³ƒžƒ³ƒ‰" #: OpenHRPInterpreterServiceItem.cpp:99 msgid "OpenHRPInterpreterServiceItem" msgstr "OpenHRP‚¤ƒ³‚żƒ—ƒŞ‚ż‚µƒĵƒ“‚ı‚˘‚¤ƒ†ƒ " #: OpenHRPInterpreterServiceItem.cpp:196 msgid "RTC \"%1%\" of \"%2%\" has been created." msgstr "\"%2%\"RTC\"%1%\"‚’生ĉˆ——Ÿ€‚" #: OpenHRPInterpreterServiceItem.cpp:199 msgid "RTC \"%1%\" of \"%2%\" cannot be created." msgstr "\"%2\"RTC\"%1%\"‚’生ĉˆ§›‚“€‚" #: OpenHRPInterpreterServiceItem.cpp:211 msgid "RTC \"%1%\" of \"%2%\" has been deleted." msgstr "\"%2%\"RTC\"%1%\"‚’ċ‰Šé™¤——Ÿ€‚" #: OpenHRPInterpreterServiceItem.cpp:215 msgid "RTC \"%1%\" of \"%2%\" cannot be deleted." msgstr "\"%2%\"RTC\"%1%\"‚’ċ‰Šé™¤§›‚“€‚" #: OpenHRPInterpreterServiceItem.cpp:257 msgid "RTC Instance name" msgstr "RTC‚¤ƒ³‚ı‚żƒ³‚ıċ" #: OpenHRPInterpreterServiceItem.cpp:259 msgid "Force main thread execution" msgstr "ƒĦ‚¤ƒ³‚ıƒĴƒƒƒ‰ċŸèĦŒ‚’ċĵ·èĤ" #: OpenHRPInterpreterServiceItem.cpp:261 msgid "Put script text to interpret" msgstr "ċŸèĦŒ™‚‹‚ı‚ŻƒŞƒ—ƒˆƒ†‚­‚ıƒˆ‚’èĦ¨ç¤ş" #: OpenHRPInterpreterServiceItem.cpp:333 msgid "%1%: interpret(\"%2%\")" msgstr "" #: OpenHRPInterpreterServiceItem.cpp:338 msgid "" "The owner script item of %1% is not found. The interpret function cannot be " "executed." msgstr "%1%‚’ĉ‰€ĉœ‰™‚‹‚ı‚ŻƒŞƒ—ƒˆ‚˘‚¤ƒ†ƒ ŒèĤ‹¤‹‚Š›‚“€‚interpret関ĉ•°ŻċŸèĦŒ§›‚“€‚" #: OpenHRPInterpreterServiceItem.cpp:342 msgid "" "Owner script item \"%1%\" is running now. The interpret function cannot be " "executed." msgstr "ĉ‰€ĉœ‰è€…§‚‚‹‚ı‚ŻƒŞƒ—ƒˆ‚˘‚¤ƒ†ƒ \"%1%\"ŒċŸèĦŒä¸­§™€‚interpret関ĉ•°ŻċŸèĦŒ§›‚“€‚" #: OpenHRPInterpreterServiceItem.cpp:346 msgid "Executing the script given to the interpret function failed." msgstr "interpret関ĉ•°Ğĉ¸Ħ•‚ŒŸ‚ı‚ŻƒŞƒ—ƒˆċŸèĦŒĞċ¤ħĉ•———Ÿ€‚" #: OpenHRPInterpreterServiceItem.cpp:349 msgid "The script does not return." msgstr "‚ı‚ŻƒŞƒ—ƒˆċŸèĦŒŒĉˆğ‚Š›‚“€‚" #: OpenHRPInterpreterServiceItem.cpp:354 msgid "%1%: interpret() returns %2%." msgstr "%1%: interpret() Œ %2% ‚’èż”——Ÿ€‚" #: OpenHRPInterpreterServiceItem.cpp:356 msgid "%1%: interpret() finished." msgstr "%1%: interpret() Œçµ‚了——Ÿ€‚" #: OpenHRPOnlineViewerItem.cpp:43 msgid "OpenHRP3.0OnlineViewerItem" msgstr "OpenHRP3.0‚³ƒ³ƒˆƒ­ƒĵƒİ‚˘‚¤ƒ†ƒ " #: OpenHRPOnlineViewerItem.cpp:45 msgid "OpenHRP3.1OnlineViewerItem" msgstr "OpenHRP3.1‚ރ³ƒİ‚¤ƒ³ƒ“ƒƒĵ‚˘‚˘‚¤ƒ†ƒ " #: OpenHRPOnlineViewerItem.cpp:246 msgid "Server name" msgstr "‚µƒĵƒċ" #: OpenHRPPlugin.cpp:23 msgid "OpenHRP3.0ControllerItem" msgstr "OpenHRP3.0‚³ƒ³ƒˆƒ­ƒĵƒİ‚˘‚¤ƒ†ƒ " #: OpenHRPPlugin.cpp:26 msgid "OpenHRP3.1ControllerItem" msgstr "OpenHRP3.1‚³ƒ³ƒˆƒ­ƒĵƒİ‚˘‚¤ƒ†ƒ " choreonoid-1.5.0/src/OpenHRPPlugin/OnlineViewerServer.h0000664000000000000000000000215212741425367021550 0ustar rootroot #ifndef CNOID_OPENHRP_PLUGIN_ONLINE_VIEWER_SERVER_H_INCLUDED #define CNOID_OPENHRP_PLUGIN_ONLINE_VIEWER_SERVER_H_INCLUDED #ifdef OPENHRP_3_0 #include #elif OPENHRP_3_1 #include #endif namespace cnoid { class MessageView; class OnlineViewerServerImpl; class OnlineViewerServer : virtual public POA_OpenHRP::OnlineViewer, virtual public PortableServer::RefCountServantBase { public: OnlineViewerServer(); virtual ~OnlineViewerServer(); virtual void load(const char* name, const char* url); virtual void update(const OpenHRP::WorldState& state); virtual void clearLog(); virtual void clearData(); virtual void drawScene(const OpenHRP::WorldState& state); virtual void setLineWidth(::CORBA::Float width); virtual void setLineScale(::CORBA::Float scale); virtual ::CORBA::Boolean getPosture(const char* robotId, OpenHRP::DblSequence_out posture); #ifdef OPENHRP_3_1 virtual void setLogName(const char* name); #endif private: OnlineViewerServerImpl* impl; }; } #endif choreonoid-1.5.0/src/OpenHRPPlugin/OpenHRPInterpreterServiceItem.h0000664000000000000000000000213112741425367023607 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_OPENHRP_PLUGIN_INTERPRETER_SERVICE_ITEM_H #define CNOID_OPENHRP_PLUGIN_INTERPRETER_SERVICE_ITEM_H #include #include "exportdecl.h" namespace cnoid { class OpenHRPInterpreterServiceItemImpl; class CNOID_EXPORT OpenHRPInterpreterServiceItem : public Item { public: static void initializeClass(ExtensionManager* ext); OpenHRPInterpreterServiceItem(); OpenHRPInterpreterServiceItem(const OpenHRPInterpreterServiceItem& org); virtual ~OpenHRPInterpreterServiceItem(); void setRTCInstanceName(const std::string& name); protected: virtual Item* doDuplicate() const; virtual void onConnectedToRoot(); virtual void onPositionChanged(); virtual void onDisconnectedFromRoot(); virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: OpenHRPInterpreterServiceItemImpl* impl; }; typedef ref_ptr OpenHRPInterpreterServiceItemPtr; } #endif choreonoid-1.5.0/src/OpenHRPPlugin/python/0000775000000000000000000000000012741425367017123 5ustar rootrootchoreonoid-1.5.0/src/OpenHRPPlugin/python/PyItems.cpp0000664000000000000000000000111112741425367021213 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include "../OpenHRPInterpreterServiceItem.h" #include using namespace boost::python; using namespace cnoid; BOOST_PYTHON_MODULE(OpenHRP31Plugin) { class_< OpenHRPInterpreterServiceItem, OpenHRPInterpreterServiceItemPtr, bases > ("OpenHRPInterpreterServiceItem") .def("setRTCInstanceName", &OpenHRPInterpreterServiceItem::setRTCInstanceName); implicitly_convertible(); PyItemList("OpenHRPInterpreterServiceItemList"); }; choreonoid-1.5.0/src/OpenHRPPlugin/python/CMakeLists.txt0000664000000000000000000000022112741425367021656 0ustar rootroot set(target PyOpenHRP31Plugin) add_cnoid_python_module(${target} PyItems.cpp) target_link_libraries(${target} CnoidOpenHRP3.1Plugin CnoidPyBase) choreonoid-1.5.0/src/Python/0000775000000000000000000000000012741425367014431 5ustar rootrootchoreonoid-1.5.0/src/Python/exportdecl.h0000664000000000000000000000203412741425367016752 0ustar rootroot#ifndef CNOID_PYTHON_EXPORTDECL_H_INCLUDED # define CNOID_PYTHON_EXPORTDECL_H_INCLUDED # if defined _WIN32 || defined __CYGWIN__ # define CNOID_PYTHON_DLLIMPORT __declspec(dllimport) # define CNOID_PYTHON_DLLEXPORT __declspec(dllexport) # define CNOID_PYTHON_DLLLOCAL # else # if __GNUC__ >= 4 # define CNOID_PYTHON_DLLIMPORT __attribute__ ((visibility("default"))) # define CNOID_PYTHON_DLLEXPORT __attribute__ ((visibility("default"))) # define CNOID_PYTHON_DLLLOCAL __attribute__ ((visibility("hidden"))) # else # define CNOID_PYTHON_DLLIMPORT # define CNOID_PYTHON_DLLEXPORT # define CNOID_PYTHON_DLLLOCAL # endif # endif # ifdef CNOID_PYTHON_STATIC # define CNOID_PYTHON_DLLAPI # define CNOID_PYTHON_LOCAL # else # ifdef CnoidPython_EXPORTS # define CNOID_PYTHON_DLLAPI CNOID_PYTHON_DLLEXPORT # else # define CNOID_PYTHON_DLLAPI CNOID_PYTHON_DLLIMPORT # endif # define CNOID_PYTHON_LOCAL CNOID_PYTHON_DLLLOCAL # endif #endif #ifdef CNOID_EXPORT # undef CNOID_EXPORT #endif #define CNOID_EXPORT CNOID_PYTHON_DLLAPI choreonoid-1.5.0/src/Python/CMakeLists.txt0000664000000000000000000000060612741425367017173 0ustar rootroot # @author Shin'ichiro Nakaoka #set(CMAKE_BUILD_TYPE Debug) if(NOT ENABLE_PYTHON) return() endif() set(sources PythonUtil.cpp ) set(headers PythonUtil.h ) set(target CnoidPython) add_cnoid_library(${target} SHARED ${sources} ${headers}) target_link_libraries(${target} ${PYTHON_LIBRARIES} ${Boost_PYTHON_LIBRARY}) apply_common_setting_for_library(${target} "${headers}") choreonoid-1.5.0/src/Python/PythonUtil.cpp0000664000000000000000000000056012741425367017255 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include "PythonUtil.h" #include void cnoid::handlePythonException() { if(PyErr_Occurred()){ PyObject* ptype; PyObject* pvalue; PyObject* ptraceback; PyErr_Fetch(&ptype, &pvalue, &ptraceback); PyErr_Restore(ptype, pvalue, ptraceback); PyErr_Print(); } } choreonoid-1.5.0/src/Python/PythonUtil.h0000664000000000000000000000032012741425367016714 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_PYTHON_PYTHON_UTIL_H #define CNOID_PYTHON_PYTHON_UTIL_H #include "exportdecl.h" namespace cnoid { CNOID_EXPORT void handlePythonException(); } #endif choreonoid-1.5.0/src/SceneEditPlugin/0000775000000000000000000000000012741425367016172 5ustar rootrootchoreonoid-1.5.0/src/SceneEditPlugin/SceneGraphPropertyView.h0000664000000000000000000000075412741425367022770 0ustar rootroot/** @author Shizuko Hattori */ #ifndef CNOID_SCENE_GRAPH_PROPERTY_VIEW_H_INCLUDED #define CNOID_SCENE_GRAPH_PROPERTY_VIEW_H_INCLUDED #include namespace cnoid { class SceneGraphPropertyViewImpl; class SceneGraphPropertyView : public View { public: static void initializeClass(ExtensionManager* ext); SceneGraphPropertyView(); ~SceneGraphPropertyView(); private: SceneGraphPropertyViewImpl* impl; void keyPressEvent(QKeyEvent* event); }; } #endif choreonoid-1.5.0/src/SceneEditPlugin/SceneGraphView.cpp0000664000000000000000000004040512741425367021553 0ustar rootroot/** @author Shizuko Hattori */ #include "SceneGraphView.h" #include #include #include #include #include #include #include #include #include #include #include #include #ifdef _WIN32 #include #endif #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { class SgvMarkerItem; class SgvItem : public QTreeWidgetItem { public: SgvItem(SgObject* node, QTreeWidget* widget=0) : QTreeWidgetItem(widget), node(node), markerNode(0), markerItem_(0){ } ~SgvItem(); inline SgvMarkerItem* markerItem() { return markerItem_; } inline void setMarkerItem(SgvMarkerItem* markerItem) { markerItem_ = markerItem; } SgObject* node; SgGroup* group; SgvItem* groupItem; SgNode* markerNode; SgvMarkerItem* markerItem_; }; class SgvMarkerItem : public QTreeWidgetItem { public: SgvMarkerItem(); ~SgvMarkerItem(); SgCustomGLNodePtr marker; }; } namespace cnoid { class SceneGraphViewImpl : public TreeWidget, public SceneVisitor { public: SceneGraphViewImpl(SceneGraphView* self, SgNode* sceneRoot); ~SceneGraphViewImpl(); SceneGraphView* self; SgNode* sceneRoot; SgvItem* rootItem; SgvItem* parentItem; SgvItem* sgvItem; Connection connectionOfsceneUpdated; SgvItem* selectedSgvItem; SgObject* selectedSgObject; Signal sigSelectionChanged; void createGraph(); void createGraph(SgvItem* item, SgNode* node); void onActivated(bool on); void onSceneGraphUpdated(const SgUpdate& update); SgvItem* findItem(SgvItem* parent, SgObject* obj); SgNode* findAddNode(SgGroup* group); SgvItem* findRemoveItem(SgGroup* group); void removeItem(SgvItem* item); void visitObject(SgObject* obj); virtual void visitNode(SgNode* node); virtual void visitGroup(SgGroup* group); virtual void visitShape(SgShape* shape); virtual void visitPointSet(SgPointSet* pointSet); void onSelectionChanged(); void addSelectedMarker(); void removeSelectedMarker(); void renderMarker(GLSceneRenderer& renderer); const SgObject* selectedObject(); }; } SgvItem::~SgvItem() { if(markerItem_) delete markerItem_; } SgvMarkerItem::SgvMarkerItem() { marker = new SgCustomGLNode(); marker->setName("GraphViewMarker"); setFlags(Qt::NoItemFlags); setText(0, QString("GraphViewMarker (SgCustomGLNode)")); } SgvMarkerItem::~SgvMarkerItem() { if(parent()) ((SgvItem*)parent())->markerItem_ = 0; } void SceneGraphView::initializeClass(ExtensionManager* ext) { ext->viewManager().registerClass( "SceneGraphView", N_("Scene Graph"), ViewManager::SINGLE_OPTIONAL); } SceneGraphView::SceneGraphView() { setDefaultLayoutArea(View::LEFT); impl = new SceneGraphViewImpl(this, SceneView::instance()->scene()); QVBoxLayout* layout = new QVBoxLayout(); layout->addWidget(impl); setLayout(layout); } SceneGraphView::~SceneGraphView() { } SceneGraphViewImpl::SceneGraphViewImpl(SceneGraphView* self, SgNode* sceneRoot) : self(self), sceneRoot(sceneRoot) { setColumnCount(2); header()->setStretchLastSection(false); #if QT_VERSION < QT_VERSION_CHECK(5, 0, 0) header()->setResizeMode(0, QHeaderView::Stretch); header()->setResizeMode(1, QHeaderView::ResizeToContents); header()->setMinimumSectionSize(0); #else header()->setSectionResizeMode(0, QHeaderView::Stretch); header()->setSectionResizeMode(1, QHeaderView::ResizeToContents); #endif header()->swapSections(0, 1); setWordWrap(true); setFrameShape(QFrame::NoFrame); setHeaderHidden(true); setIndentation(12); setSelectionMode(QAbstractItemView::SingleSelection); self->sigActivated().connect(boost::bind(&SceneGraphViewImpl::onActivated, this, true)); self->sigDeactivated().connect(boost::bind(&SceneGraphViewImpl::onActivated, this ,false)); sigItemSelectionChanged().connect(boost::bind(&SceneGraphViewImpl::onSelectionChanged, this)); parentItem = rootItem = 0; visitNode(sceneRoot); selectedSgObject = 0; selectedSgvItem = 0; } SceneGraphViewImpl::~SceneGraphViewImpl() { if(selectedSgvItem && selectedSgvItem->markerItem()) selectedSgvItem->groupItem->removeChild(selectedSgvItem->markerItem()); } void SceneGraphViewImpl::createGraph() { createGraph(rootItem, sceneRoot); } void SceneGraphViewImpl::createGraph(SgvItem* item, SgNode* node) { SgvItem* oldParent = parentItem; parentItem = item; list children; for(int i=0; ichildCount(); i++) children.push_back((SgvItem*)item->child(i)); SgGroup* group = dynamic_cast(node); if(group){ for(SgGroup::const_iterator p = group->begin(); p != group->end(); ++p){ SgvItem* item_ = findItem(parentItem, (*p).get()); if(item_){ createGraph(item_, (*p).get()); children.remove(item_); }else{ (*p)->accept(*this); } } for(list::iterator it = children.begin(); it != children.end(); it++){ removeItem(*it); } } parentItem = oldParent; } void SceneGraphViewImpl::visitNode(SgNode* node) { if(!parentItem){ sgvItem = new SgvItem(node,this); sgvItem->group = dynamic_cast(node); sgvItem->groupItem = sgvItem; rootItem = sgvItem; parentItem = sgvItem; }else{ sgvItem = new SgvItem(node); SgGroup* group_ = dynamic_cast(node); if(group_){ sgvItem->group = group_; sgvItem->groupItem = sgvItem; }else{ sgvItem->group = parentItem->group; sgvItem->groupItem = parentItem->groupItem; } parentItem->addChild(sgvItem); } string type; if(dynamic_cast(node)) type = "Fog"; else if(dynamic_cast(node)) type = "SgOrthographicCamera"; else if(dynamic_cast(node)) type = "SgPerspectiveCamera"; else if(dynamic_cast(node)) type = "SgCamera"; else if(dynamic_cast(node)) type = "SgSpotLight"; else if(dynamic_cast(node)) type = "SgPointLight"; else if(dynamic_cast(node)) type = "SgDirectionalLight"; else if(dynamic_cast(node)) type = "SgLight"; else if(dynamic_cast(node)) type = "SgLineSet"; else if(dynamic_cast(node)) type = "SgPointSet"; else if(dynamic_cast(node)) type = "SgPlot"; else if(dynamic_cast(node)) type = "SgShape"; else if(dynamic_cast(node)) type = "SphereMarker"; else if(dynamic_cast(node)) type = "SgPosTransform"; else if(dynamic_cast(node)) type = "SgScaleTransform"; else if(dynamic_cast(node)) type = "SgTransform"; else if(dynamic_cast(node)) type = "SgInvariantGroup"; else if(dynamic_cast(node)) type = "BoundingBoxMarker"; else if(dynamic_cast(node)) type = "SgGroup"; else if(dynamic_cast(node)) type = "CrossMarker"; else if(dynamic_cast(node)) type = "SgCustomGLNode"; else if(dynamic_cast(node)) type = "SgNode"; string name = node->name(); name += " (" + type + ")"; sgvItem->setText(0, QString(name.c_str())); } void SceneGraphViewImpl::visitGroup(SgGroup* group) { visitNode(group); SgvItem* oldParent = parentItem; parentItem = sgvItem; for(SgGroup::const_iterator p = group->begin(); p != group->end(); ++p){ (*p)->accept(*this); } parentItem = oldParent; } void SceneGraphViewImpl::visitObject(SgObject* obj) { sgvItem = new SgvItem(obj); SgGroup* group_ = dynamic_cast(obj); if(group_){ sgvItem->group = group_; sgvItem->groupItem = sgvItem; }else{ sgvItem->group = parentItem->group; sgvItem->groupItem = parentItem->groupItem; } parentItem->addChild(sgvItem); string type; if(dynamic_cast(obj)) type = "SgPolygonMesh"; else if(dynamic_cast(obj)) type = "SgMesh"; else if(dynamic_cast(obj)) type = "SgMeshBase"; else if(dynamic_cast(obj)){ sgvItem->markerNode = (SgNode*)parentItem->node; type = "SgTexture"; }else if(dynamic_cast(obj)){ sgvItem->markerNode = (SgNode*)parentItem->node; type = "SgTextureTransform"; }else if(dynamic_cast(obj)){ sgvItem->markerNode = (SgNode*)parentItem->node; type = "SgMaterial"; } else if(dynamic_cast(obj)) type = "SgObject"; string name = obj->name(); name += " (" + type + ")"; sgvItem->setText(0, QString(name.c_str())); } void SceneGraphViewImpl::visitShape(SgShape* shape) { visitNode(shape); SgvItem* oldParent = parentItem; parentItem = sgvItem; if(shape->material()) visitObject(shape->material()); if(shape->mesh()) visitObject(shape->mesh()); if(shape->texture()) visitObject(shape->texture()); parentItem = oldParent; } void SceneGraphViewImpl::visitPointSet(SgPointSet* pointSet) { visitNode(pointSet); SgvItem* oldParent = parentItem; parentItem = sgvItem; if(pointSet->material()) visitObject(pointSet->material()); parentItem = oldParent; } void SceneGraphViewImpl::onActivated(bool on) { if(on){ createGraph(); connectionOfsceneUpdated = sceneRoot->sigUpdated().connect(boost::bind(&SceneGraphViewImpl::onSceneGraphUpdated, this, _1)); }else{ connectionOfsceneUpdated.disconnect(); } } SgNode* SceneGraphViewImpl::findAddNode(SgGroup* group) { for(SgGroup::const_iterator it = group->begin(); it != group->end(); it++){ SgNode* node = it->get(); if(!findItem(parentItem, node)) return node; } return 0; } SgvItem* SceneGraphViewImpl::findRemoveItem(SgGroup* group) { int num = parentItem->childCount(); for(int i=0; ichild(i); if(!group->contains((SgNode*)childItem->node)) return childItem; } return 0; } SgvItem* SceneGraphViewImpl::findItem(SgvItem* parent, SgObject* obj) { int num = parent->childCount(); for(int i=0; ichild(i); if( obj == childItem->node ) return childItem; } return 0; } void SceneGraphViewImpl::onSceneGraphUpdated(const SgUpdate& update) { if(update.action() & (SgUpdate::ADDED)){ parentItem = rootItem; SgUpdate::Path path = update.path(); if(path.size() > 1){ for(SgUpdate::Path::reverse_iterator it = ++path.rbegin(); it != path.rend(); ++it){ parentItem = findItem(parentItem, *it); if(!parentItem) return; } } SgObject* parent = update.path().front(); SgGroup* group = dynamic_cast(parent); if(group){ SgNode* node = findAddNode(group); if(node){ node->accept(*this); } } } if(update.action() & (SgUpdate::REMOVED)){ parentItem = rootItem; SgUpdate::Path path = update.path(); if(path.size() > 1){ for(SgUpdate::Path::reverse_iterator it = ++path.rbegin(); it != path.rend(); ++it){ parentItem = findItem(parentItem, *it); if(!parentItem) return; } } SgObject* parent = update.path().front(); SgGroup* group = dynamic_cast(parent); if(group){ SgvItem* item = findRemoveItem(group); if(item){ removeItem(item); } } } } void SceneGraphViewImpl::removeItem(SgvItem* item) { int num = item->childCount(); if(num){ SgvItem* oldParent = parentItem; parentItem = item; SgvItem* child = (SgvItem*)item->child(0); while(child){ removeItem(child); child = (SgvItem*)item->child(0); } parentItem = oldParent; } parentItem->removeChild(item); if(item->node->name()!="GraphViewMarker") delete item; } void SceneGraphViewImpl::addSelectedMarker() { if(!selectedSgvItem->markerItem()){ selectedSgvItem->setMarkerItem( new SgvMarkerItem() ); selectedSgvItem->markerItem()->marker->setRenderingFunction( boost::bind(&SceneGraphViewImpl::renderMarker, this, _1)); } SgCustomGLNodePtr marker = selectedSgvItem->markerItem()->marker; if(marker && !selectedSgvItem->group->contains(marker)){ selectedSgvItem->group->addChild(marker); selectedSgvItem->groupItem->addChild(selectedSgvItem->markerItem()); selectedSgvItem->group->notifyUpdate(); } } void SceneGraphViewImpl::removeSelectedMarker() { if(selectedSgvItem){ SgvMarkerItem* markerItem_ = selectedSgvItem->markerItem(); if(markerItem_){ selectedSgvItem->group->removeChild(markerItem_->marker); selectedSgvItem->groupItem->removeChild(markerItem_); selectedSgvItem->group->notifyUpdate(); } } } void SceneGraphViewImpl::onSelectionChanged() { removeSelectedMarker(); selectedSgObject = 0; QList selected = selectedItems(); for(int i=0; i < selected.size(); ++i){ selectedSgvItem = dynamic_cast(selected[i]); if(selectedSgvItem){ addSelectedMarker(); selectedSgObject = selectedSgvItem->node; sigSelectionChanged(selectedSgObject); } } } const SgObject* SceneGraphView::selectedObject() { return impl->selectedObject(); } const SgObject* SceneGraphViewImpl::selectedObject() { return selectedSgObject; } void SceneGraphViewImpl::renderMarker(GLSceneRenderer& renderer) { SgNode* node = 0; SgTransform* trans = 0; SgMeshBase* mesh = 0; if(selectedSgvItem->markerNode){ node = selectedSgvItem->markerNode; }else if(dynamic_cast(selectedSgvItem->node) || dynamic_cast(selectedSgvItem->node)){ trans = dynamic_cast(selectedSgvItem->node); }else{ mesh = dynamic_cast(selectedSgvItem->node); if(!mesh) node = dynamic_cast(selectedSgvItem->node); } BoundingBoxf bb; if(trans) bb = trans->untransformedBoundingBox(); else if(mesh){ bb = mesh->boundingBox(); }else if(node){ bb = node->boundingBox(); }else return; if(bb.empty()) return; glPushAttrib(GL_LIGHTING_BIT | GL_CURRENT_BIT); glDisable(GL_LIGHTING); glColor3f(1.0f, 0.0f, 1.0f); glBegin(GL_LINES); const Vector3f& min = bb.min(); const Vector3f& max = bb.max(); float y[2]; y[0] = min.y(); y[1] = max.y(); for(int i=0; i < 2; ++i){ glVertex3f(min.x(), y[i], min.z()); glVertex3f(min.x(), y[i], max.z()); glVertex3f(min.x(), y[i], max.z()); glVertex3f(max.x(), y[i], max.z()); glVertex3f(max.x(), y[i], max.z()); glVertex3f(max.x(), y[i], min.z()); glVertex3f(max.x(), y[i], min.z()); glVertex3f(min.x(), y[i], min.z()); } float z[2]; z[0] = min.z(); z[1] = max.z(); for(int i=0; i < 2; ++i){ glVertex3f(min.x(), min.y(), z[i]); glVertex3f(min.x(), max.y(), z[i]); glVertex3f(max.x(), min.y(), z[i]); glVertex3f(max.x(), max.y(), z[i]); } glEnd(); glPopAttrib(); } SignalProxy SceneGraphView::sigSelectionChanged() { return impl->sigSelectionChanged; } choreonoid-1.5.0/src/SceneEditPlugin/CMakeLists.txt0000664000000000000000000000107712741425367020737 0ustar rootroot option(BUILD_SCENEEDIT_PLUGIN "Building Scene Edit Plugin" OFF) if(NOT BUILD_SCENEEDIT_PLUGIN) return() endif() set(sources SceneEditPlugin.cpp SceneGraphView.cpp SceneGraphPropertyView.cpp ) set(headers SceneGraphView.h SceneGraphPropertyView.h ) set(target CnoidSceneEditPlugin) make_gettext_mofiles(${target} mofiles) include_directories(${CMAKE_CURRENT_SOURCE_DIR}) add_cnoid_plugin(${target} SHARED ${sources} ${headers} ${mofiles} ) target_link_libraries(${target} CnoidUtil CnoidBase ) apply_common_setting_for_plugin(${target} "${headers}") choreonoid-1.5.0/src/SceneEditPlugin/SceneEditPlugin.cpp0000664000000000000000000000067512741425367021730 0ustar rootroot#include "SceneGraphView.h" #include "SceneGraphPropertyView.h" #include using namespace cnoid; class SceneEditPlugin : public Plugin { public: SceneEditPlugin() : Plugin("SceneEdit") { } virtual bool initialize() { SceneGraphView::initializeClass(this); SceneGraphPropertyView::initializeClass(this); return true; } }; CNOID_IMPLEMENT_PLUGIN_ENTRY(SceneEditPlugin); choreonoid-1.5.0/src/SceneEditPlugin/SceneGraphView.h0000664000000000000000000000076612741425367021226 0ustar rootroot/** @author Shizuko Hattori */ #ifndef CNOID_SCENE_GRAPH_VIEW_H #define CNOID_SCENE_GRAPH_VIEW_H #include #include namespace cnoid { class SceneGraphViewImpl; class SceneGraphView : public View { public: static void initializeClass(ExtensionManager* ext); SceneGraphView(); ~SceneGraphView(); const SgObject* selectedObject(); SignalProxy sigSelectionChanged(); private: SceneGraphViewImpl* impl; }; } #endif choreonoid-1.5.0/src/SceneEditPlugin/po/0000775000000000000000000000000012741425367016610 5ustar rootrootchoreonoid-1.5.0/src/SceneEditPlugin/po/ja.po0000664000000000000000000001171412741425367017546 0ustar rootroot# Japanese translations for PACKAGE package. # Copyright (C) 2014 THE PACKAGE'S COPYRIGHT HOLDER # This file is distributed under the same license as the PACKAGE package. # hattori , 2014. # msgid "" msgstr "" "Project-Id-Version: PACKAGE VERSION\n" "Report-Msgid-Bugs-To: \n" "POT-Creation-Date: 2014-01-07 11:54+0900\n" "PO-Revision-Date: 2014-01-06 14:28+0900\n" "Last-Translator: hattori \n" "Language-Team: Japanese\n" "Language: ja\n" "MIME-Version: 1.0\n" "Content-Type: text/plain; charset=UTF-8\n" "Content-Transfer-Encoding: 8bit\n" "Plural-Forms: nplurals=1; plural=0;\n" #: SceneGraphPropertyView.cpp:260 msgid "Scene Graph Property" msgstr "‚·ƒĵƒ³‚°ƒİƒ•€€ƒ—ƒ­ƒ‘ƒ†‚£" #: SceneGraphPropertyView.cpp:332 msgid "name" msgstr "ċċ‰" #: SceneGraphPropertyView.cpp:352 msgid "num of children" msgstr "ċ­ċ€‹ĉ•°" #: SceneGraphPropertyView.cpp:371 SceneGraphPropertyView.cpp:411 msgid "translation" msgstr "位ç½" #: SceneGraphPropertyView.cpp:375 SceneGraphPropertyView.cpp:405 msgid "rotation" msgstr "ċ§żċ‹˘" #: SceneGraphPropertyView.cpp:382 SceneGraphPropertyView.cpp:408 msgid "scale" msgstr "‚ı‚ħƒĵƒĞ" #: SceneGraphPropertyView.cpp:388 SceneGraphPropertyView.cpp:526 msgid "ambientIntensity" msgstr "ċċ°„率" #: SceneGraphPropertyView.cpp:390 msgid "diffuseColor" msgstr "ç‰İ体è‰²" #: SceneGraphPropertyView.cpp:392 msgid "emissiveColor" msgstr "発ċ…‰è‰²" #: SceneGraphPropertyView.cpp:393 msgid "shininess" msgstr "èĵ" #: SceneGraphPropertyView.cpp:395 msgid "specularColor" msgstr "ƒ‚¤ƒİ‚¤ƒˆè‰²" #: SceneGraphPropertyView.cpp:396 msgid "transparency" msgstr "透ĉ˜ŽċşĤ" #: SceneGraphPropertyView.cpp:404 msgid "center" msgstr "中ċ¤ä½ç½" #: SceneGraphPropertyView.cpp:417 msgid "width" msgstr "ċı…" #: SceneGraphPropertyView.cpp:418 SceneGraphPropertyView.cpp:461 #: SceneGraphPropertyView.cpp:470 SceneGraphPropertyView.cpp:570 msgid "height" msgstr "éИ•" #: SceneGraphPropertyView.cpp:419 msgid "num of components" msgstr "‚³ƒ³ƒƒĵƒƒ³ƒˆĉ•°" #: SceneGraphPropertyView.cpp:420 msgid "repeatS" msgstr "Sĉ–ıċ‘çı°‚Šèż”—" #: SceneGraphPropertyView.cpp:421 msgid "repeatT" msgstr "Tĉ–ıċ‘çı°‚Šèż”—" #: SceneGraphPropertyView.cpp:428 SceneGraphPropertyView.cpp:493 msgid "num of vertices" msgstr "頂ç‚ıĉ•°" #: SceneGraphPropertyView.cpp:430 SceneGraphPropertyView.cpp:495 msgid "num of normals" msgstr "ĉ³•ç·šĉ•°" #: SceneGraphPropertyView.cpp:432 SceneGraphPropertyView.cpp:497 msgid "num of colors" msgstr "色ƒ™‚ŻƒˆƒĞĉ•°" #: SceneGraphPropertyView.cpp:434 msgid "num of texCoord" msgstr "ƒ†‚Ż‚ıƒƒ£ċş§ĉ¨™ĉ•°" #: SceneGraphPropertyView.cpp:435 msgid "num of normalIndices" msgstr "ĉ³•ç·š‚¤ƒ³ƒ‡ƒƒ‚Ż‚ıĉ•°" #: SceneGraphPropertyView.cpp:436 SceneGraphPropertyView.cpp:510 msgid "num of colorIndices" msgstr "色‚¤ƒ³ƒ‡ƒƒ‚Ż‚ıĉ•°" #: SceneGraphPropertyView.cpp:437 msgid "num of texCoordIndices" msgstr "ƒ†‚Ż‚ıƒƒ£ċş§ĉ¨™‚¤ƒ³ƒ‡ƒƒ‚Ż‚ıĉ•°" #: SceneGraphPropertyView.cpp:438 msgid "is Solid" msgstr "ċ‰›ä½“" #: SceneGraphPropertyView.cpp:444 msgid "num of triangles" msgstr "三角ċ½˘ĉ•°" #: SceneGraphPropertyView.cpp:448 SceneGraphPropertyView.cpp:454 #: SceneGraphPropertyView.cpp:458 SceneGraphPropertyView.cpp:467 msgid "primitive type" msgstr "ċŸşĉœĴċ½˘çŠĥ‚ż‚¤ƒ—" #: SceneGraphPropertyView.cpp:450 msgid "size" msgstr "‚µ‚¤‚ş" #: SceneGraphPropertyView.cpp:455 SceneGraphPropertyView.cpp:460 #: SceneGraphPropertyView.cpp:469 msgid "radius" msgstr "ċŠċ„" #: SceneGraphPropertyView.cpp:462 SceneGraphPropertyView.cpp:471 msgid "bottom" msgstr "ċş•ĉœ‰ç„Ħ" #: SceneGraphPropertyView.cpp:463 SceneGraphPropertyView.cpp:472 msgid "side" msgstr "ċ´ĉœ‰ç„Ħ" #: SceneGraphPropertyView.cpp:464 msgid "top" msgstr "頂ĉœ‰ç„Ħ" #: SceneGraphPropertyView.cpp:480 msgid "num of polygonVertices" msgstr "ƒƒŞ‚´ƒ³é ‚ç‚ıĉ•°" #: SceneGraphPropertyView.cpp:503 msgid "point size" msgstr "ç‚ı‚µ‚¤‚ş" #: SceneGraphPropertyView.cpp:509 msgid "line width" msgstr "線‚µ‚¤‚ş" #: SceneGraphPropertyView.cpp:522 msgid "on/off" msgstr "‚ރ³/‚ރ•" #: SceneGraphPropertyView.cpp:524 msgid "color" msgstr "色" #: SceneGraphPropertyView.cpp:525 msgid "intensity" msgstr "照ċşĤ" #: SceneGraphPropertyView.cpp:533 SceneGraphPropertyView.cpp:549 msgid "direction" msgstr "ĉ–ıċ‘" #: SceneGraphPropertyView.cpp:540 msgid "location" msgstr "位ç½" #: SceneGraphPropertyView.cpp:542 msgid "attenuation" msgstr "ĉ¸›èĦ°" #: SceneGraphPropertyView.cpp:550 msgid "beam width" msgstr "ċ…‰ç·šċı…" #: SceneGraphPropertyView.cpp:551 msgid "cut off Angle" msgstr "‚Ѓƒƒˆ‚ރ•è§’" #: SceneGraphPropertyView.cpp:557 msgid "near distance" msgstr "‚ŻƒŞƒƒƒ”ƒ³‚°ĉ·ħċşĤ€€èż‘è·é›˘" #: SceneGraphPropertyView.cpp:558 msgid "far distance" msgstr "‚ŻƒŞƒƒƒ”ƒ³‚°ĉ·ħċşĤ€€é è·é›˘" #: SceneGraphPropertyView.cpp:564 msgid "field of view" msgstr "èĤ–野角" #: SceneGraphView.cpp:129 msgid "Scene Graph" msgstr "‚·ƒĵƒ³‚°ƒİƒ•" choreonoid-1.5.0/src/SceneEditPlugin/po/messages.pot0000664000000000000000000001030312741425367021140 0ustar rootroot# SOME DESCRIPTIVE TITLE. # Copyright (C) YEAR THE PACKAGE'S COPYRIGHT HOLDER # This file is distributed under the same license as the PACKAGE package. # FIRST AUTHOR , YEAR. # #, fuzzy msgid "" msgstr "" "Project-Id-Version: PACKAGE VERSION\n" "Report-Msgid-Bugs-To: \n" "POT-Creation-Date: 2014-01-07 11:54+0900\n" "PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" "Last-Translator: FULL NAME \n" "Language-Team: LANGUAGE \n" "Language: \n" "MIME-Version: 1.0\n" "Content-Type: text/plain; charset=CHARSET\n" "Content-Transfer-Encoding: 8bit\n" #: SceneGraphPropertyView.cpp:260 msgid "Scene Graph Property" msgstr "" #: SceneGraphPropertyView.cpp:332 msgid "name" msgstr "" #: SceneGraphPropertyView.cpp:352 msgid "num of children" msgstr "" #: SceneGraphPropertyView.cpp:371 SceneGraphPropertyView.cpp:411 msgid "translation" msgstr "" #: SceneGraphPropertyView.cpp:375 SceneGraphPropertyView.cpp:405 msgid "rotation" msgstr "" #: SceneGraphPropertyView.cpp:382 SceneGraphPropertyView.cpp:408 msgid "scale" msgstr "" #: SceneGraphPropertyView.cpp:388 SceneGraphPropertyView.cpp:526 msgid "ambientIntensity" msgstr "" #: SceneGraphPropertyView.cpp:390 msgid "diffuseColor" msgstr "" #: SceneGraphPropertyView.cpp:392 msgid "emissiveColor" msgstr "" #: SceneGraphPropertyView.cpp:393 msgid "shininess" msgstr "" #: SceneGraphPropertyView.cpp:395 msgid "specularColor" msgstr "" #: SceneGraphPropertyView.cpp:396 msgid "transparency" msgstr "" #: SceneGraphPropertyView.cpp:404 msgid "center" msgstr "" #: SceneGraphPropertyView.cpp:417 msgid "width" msgstr "" #: SceneGraphPropertyView.cpp:418 SceneGraphPropertyView.cpp:461 #: SceneGraphPropertyView.cpp:470 SceneGraphPropertyView.cpp:570 msgid "height" msgstr "" #: SceneGraphPropertyView.cpp:419 msgid "num of components" msgstr "" #: SceneGraphPropertyView.cpp:420 msgid "repeatS" msgstr "" #: SceneGraphPropertyView.cpp:421 msgid "repeatT" msgstr "" #: SceneGraphPropertyView.cpp:428 SceneGraphPropertyView.cpp:493 msgid "num of vertices" msgstr "" #: SceneGraphPropertyView.cpp:430 SceneGraphPropertyView.cpp:495 msgid "num of normals" msgstr "" #: SceneGraphPropertyView.cpp:432 SceneGraphPropertyView.cpp:497 msgid "num of colors" msgstr "" #: SceneGraphPropertyView.cpp:434 msgid "num of texCoord" msgstr "" #: SceneGraphPropertyView.cpp:435 msgid "num of normalIndices" msgstr "" #: SceneGraphPropertyView.cpp:436 SceneGraphPropertyView.cpp:510 msgid "num of colorIndices" msgstr "" #: SceneGraphPropertyView.cpp:437 msgid "num of texCoordIndices" msgstr "" #: SceneGraphPropertyView.cpp:438 msgid "is Solid" msgstr "" #: SceneGraphPropertyView.cpp:444 msgid "num of triangles" msgstr "" #: SceneGraphPropertyView.cpp:448 SceneGraphPropertyView.cpp:454 #: SceneGraphPropertyView.cpp:458 SceneGraphPropertyView.cpp:467 msgid "primitive type" msgstr "" #: SceneGraphPropertyView.cpp:450 msgid "size" msgstr "" #: SceneGraphPropertyView.cpp:455 SceneGraphPropertyView.cpp:460 #: SceneGraphPropertyView.cpp:469 msgid "radius" msgstr "" #: SceneGraphPropertyView.cpp:462 SceneGraphPropertyView.cpp:471 msgid "bottom" msgstr "" #: SceneGraphPropertyView.cpp:463 SceneGraphPropertyView.cpp:472 msgid "side" msgstr "" #: SceneGraphPropertyView.cpp:464 msgid "top" msgstr "" #: SceneGraphPropertyView.cpp:480 msgid "num of polygonVertices" msgstr "" #: SceneGraphPropertyView.cpp:503 msgid "point size" msgstr "" #: SceneGraphPropertyView.cpp:509 msgid "line width" msgstr "" #: SceneGraphPropertyView.cpp:522 msgid "on/off" msgstr "" #: SceneGraphPropertyView.cpp:524 msgid "color" msgstr "" #: SceneGraphPropertyView.cpp:525 msgid "intensity" msgstr "" #: SceneGraphPropertyView.cpp:533 SceneGraphPropertyView.cpp:549 msgid "direstion" msgstr "" #: SceneGraphPropertyView.cpp:540 msgid "location" msgstr "" #: SceneGraphPropertyView.cpp:542 msgid "attenuation" msgstr "" #: SceneGraphPropertyView.cpp:550 msgid "beam width" msgstr "" #: SceneGraphPropertyView.cpp:551 msgid "cut off Angle" msgstr "" #: SceneGraphPropertyView.cpp:557 msgid "near distance" msgstr "" #: SceneGraphPropertyView.cpp:558 msgid "far distance" msgstr "" #: SceneGraphPropertyView.cpp:564 msgid "field of view" msgstr "" #: SceneGraphView.cpp:129 msgid "Scene Graph" msgstr "" choreonoid-1.5.0/src/SceneEditPlugin/SceneGraphPropertyView.cpp0000664000000000000000000006604012741425367023323 0ustar rootroot/** @author Shizuko Hattori //ItemPropertyView.cpp‚’ċ…ƒĞ編集 // */ #include "SceneGraphPropertyView.h" #include "SceneGraphView.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { struct Int { int value; int min, max; Int(int v, int min=std::numeric_limits::min(), int max= std::numeric_limits::max()) { value = v; this->min = min; this->max = max; }; }; struct Double { double value; int decimals; double min, max; Double(double v, int d=2, double min= -std::numeric_limits::max(), double max=std::numeric_limits::max()) { value = v; decimals = d; this->min = min; this->max = max; }; }; typedef variant ValueVariant; typedef variant, boost::function, boost::function, boost::function > FunctionVariant; enum TypeId { TYPE_BOOL, TYPE_INT, TYPE_DOUBLE, TYPE_STRING }; class PropertyItem : public QTableWidgetItem { public: PropertyItem(SceneGraphPropertyViewImpl* viewImpl, ValueVariant value); PropertyItem(SceneGraphPropertyViewImpl* viewImpl, ValueVariant value, FunctionVariant func); virtual QVariant data(int role) const; virtual void setData(int role, const QVariant& qvalue); SceneGraphPropertyViewImpl* sceneGraphPropertyViewImpl; ValueVariant value; FunctionVariant func; }; class CustomizedTableWidget : public QTableWidget { public: CustomizedTableWidget(QWidget* parent) : QTableWidget(parent) { } PropertyItem* itemFromIndex(const QModelIndex& index) const { return dynamic_cast(QTableWidget::itemFromIndex(index)); } }; class CustomizedItemDelegate : public QStyledItemDelegate { public: CustomizedTableWidget* tableWidget; int decimals; CustomizedItemDelegate(CustomizedTableWidget* tableWidget) : tableWidget(tableWidget) { decimals = 2; } virtual QWidget* createEditor(QWidget* parent, const QStyleOptionViewItem& option, const QModelIndex& index) const { QWidget* editor = QStyledItemDelegate::createEditor(parent, option, index); PropertyItem* item = tableWidget->itemFromIndex(index); if(item){ if(QSpinBox* spinBox = dynamic_cast(editor)){ ValueVariant& value = item->value; if(value.which() == TYPE_INT){ Int& v = get(value); spinBox->setRange(v.min, v.max); } } else if(QDoubleSpinBox* doubleSpinBox = dynamic_cast(editor)){ ValueVariant& value = item->value; if(value.which() == TYPE_DOUBLE){ Double& v = get(value); if(v.decimals >= 0){ doubleSpinBox->setDecimals(v.decimals); doubleSpinBox->setSingleStep(pow(10.0, -v.decimals)); } doubleSpinBox->setRange(v.min, v.max); } } } return editor; } virtual QString displayText(const QVariant& value, const QLocale& locale) const { if(value.type() == QVariant::Double){ return QString::number(value.toDouble(), 'f', decimals); } return QStyledItemDelegate::displayText(value, locale); } void paint(QPainter* painter, const QStyleOptionViewItem& option, const QModelIndex& index) const { PropertyItem* item = tableWidget->itemFromIndex(index); if(item && item->value.which() == TYPE_DOUBLE){ int& d = const_cast(decimals); d = get(item->value).decimals; } QStyledItemDelegate::paint(painter, option, index); } }; } namespace cnoid { class SceneGraphPropertyViewImpl { public: SceneGraphPropertyViewImpl(SceneGraphPropertyView* self); ~SceneGraphPropertyViewImpl(); SceneGraphPropertyView* self; CustomizedTableWidget* tableWidget; int fontPointSizeDiff; SgObject* currentObject; Connection selectionChangedConnection; Connection connectionOfsceneUpdated; void setProperty(SgObject* obj); bool setName(const string& name); void setProperty(SgNode* node); void setProperty(SgGroup* group); void setProperty(SgInvariantGroup* invGroup); void setProperty(SgTransform* trans); void setProperty(SgPosTransform* posTrans); void setProperty(SgScaleTransform* scaleTrans); void setProperty(SgMaterial* material); void setProperty(SgTextureTransform* textureTrans); void setProperty(SgTexture* texture); void setProperty(SgMeshBase* meshBase); void setProperty(SgMesh* mesh); void setProperty(SgPolygonMesh* pMesh); void setProperty(SgShape* shape); void setProperty(SgPlot* plot); void setProperty(SgPointSet* pointSet); void setProperty(SgLineSet* lineSet); void setProperty(SgPreprocessed* preprocessed); void setProperty(SgLight* light); void setProperty(SgDirectionalLight* dlight); void setProperty(SgPointLight* plight); void setProperty(SgSpotLight* slight); void setProperty(SgCamera* camera); void setProperty(SgPerspectiveCamera* pcamera); void setProperty(SgOrthographicCamera* ocamera); void setProperty(SgFog* fog); void addProperty(const std::string& name, PropertyItem* propertyItem); void updateProperties(); void onActivated(bool on); void onItemSelectionChanged(const SgObject* object); void onSceneGraphUpdated(const SgUpdate& update); void zoomFontSize(int pointSizeDiff); }; } PropertyItem::PropertyItem(SceneGraphPropertyViewImpl* viewImpl, ValueVariant value) : sceneGraphPropertyViewImpl(viewImpl), value(value) { setFlags(Qt::ItemIsEnabled); } PropertyItem::PropertyItem(SceneGraphPropertyViewImpl* viewImpl, ValueVariant value, FunctionVariant func) : sceneGraphPropertyViewImpl(viewImpl), value(value), func(func) { setFlags(Qt::ItemIsEnabled|Qt::ItemIsEditable); } QVariant PropertyItem::data(int role) const { if(role == Qt::DisplayRole || role == Qt::EditRole){ switch(value.which()){ case TYPE_BOOL: return get(value); case TYPE_INT: return get(value).value; case TYPE_DOUBLE: return get(value).value; case TYPE_STRING: return get(value).c_str(); } } return QTableWidgetItem::data(role); } void PropertyItem::setData(int role, const QVariant& qvalue) { bool accepted = false; if(role == Qt::EditRole){ try { switch(qvalue.type()){ case QVariant::Bool: accepted = get< boost::function >(func)(qvalue.toBool()); break; case QVariant::String: accepted = get< boost::function >(func)(qvalue.toString().toStdString()); break; case QVariant::Int: accepted = get< boost::function >(func)(qvalue.toInt()); break; case QVariant::Double: accepted = get< boost::function >(func)(qvalue.toDouble()); break; default: break; } } catch(const boost::bad_lexical_cast& ex) { } } } void SceneGraphPropertyView::initializeClass(ExtensionManager* ext) { ext->viewManager().registerClass( "SceneGraphPropertyView", N_("Scene Graph Property"), ViewManager::SINGLE_OPTIONAL); } SceneGraphPropertyView::SceneGraphPropertyView() { setDefaultLayoutArea(View::LEFT_BOTTOM); impl = new SceneGraphPropertyViewImpl(this); } SceneGraphPropertyView::~SceneGraphPropertyView() { delete impl; } SceneGraphPropertyViewImpl::SceneGraphPropertyViewImpl(SceneGraphPropertyView* self) : self(self) { tableWidget = new CustomizedTableWidget(self); tableWidget->setFrameShape(QFrame::NoFrame); tableWidget->setColumnCount(2); tableWidget->setSelectionBehavior(QAbstractItemView::SelectRows); tableWidget->setSelectionMode(QAbstractItemView::NoSelection); tableWidget->horizontalHeader()->hide(); tableWidget->horizontalHeader()->setStretchLastSection(true); tableWidget->verticalHeader()->hide(); #if QT_VERSION < QT_VERSION_CHECK(5, 0, 0) tableWidget->verticalHeader()->setResizeMode(QHeaderView::ResizeToContents); #else tableWidget->verticalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents); #endif QStyledItemDelegate* delegate = new CustomizedItemDelegate(tableWidget); QItemEditorFactory* factory = new QItemEditorFactory; QItemEditorCreatorBase* selectionListCreator = new QStandardItemEditorCreator(); factory->registerEditor(QVariant::StringList, selectionListCreator); delegate->setItemEditorFactory(factory); tableWidget->setItemDelegate(delegate); QVBoxLayout* layout = new QVBoxLayout(); layout->addWidget(tableWidget); self->setLayout(layout); self->sigActivated().connect(boost::bind(&SceneGraphPropertyViewImpl::onActivated, this, true)); self->sigDeactivated().connect(boost::bind(&SceneGraphPropertyViewImpl::onActivated, this ,false)); currentObject = 0; fontPointSizeDiff = 0; MappingPtr config = AppConfig::archive()->openMapping("SceneGraphPropertyView"); int storedFontPointSizeDiff; if(config->read("fontZoom", storedFontPointSizeDiff)){ zoomFontSize(storedFontPointSizeDiff); } } SceneGraphPropertyViewImpl::~SceneGraphPropertyViewImpl() { selectionChangedConnection.disconnect(); connectionOfsceneUpdated.disconnect(); } void SceneGraphPropertyViewImpl::setProperty(SgObject* obj) { // boost::function f = boost::bind(&SceneGraphPropertyViewImpl::setName, this, _1); // addProperty("name", new PropertyItem(this, obj->name(), (FunctionVariant)f)); addProperty(_("name"), new PropertyItem(this, obj->name())); } bool SceneGraphPropertyViewImpl::setName(const string& name) { currentObject->setName(name); // currentObject->notifyUpdate(); return true; } void SceneGraphPropertyViewImpl::setProperty(SgNode* node) { } void SceneGraphPropertyViewImpl::setProperty(SgGroup* group) { addProperty(_("num of children"), new PropertyItem(this, Int(group->numChildren()))); } void SceneGraphPropertyViewImpl::setProperty(SgInvariantGroup* invGroup) { } void SceneGraphPropertyViewImpl::setProperty(SgTransform* trans) { } void SceneGraphPropertyViewImpl::setProperty(SgPosTransform* posTrans) { Affine3::TranslationPart t = posTrans->translation(); addProperty(_("translation"), new PropertyItem(this, str(Vector3(t.x(), t.y(), t.z())))); AngleAxis angleAxis(posTrans->rotation()); Vector3 axis(angleAxis.axis()); string s = str(format("%1% %2% %3% %4%") % axis[0] % axis[1] % axis[2] % angleAxis.angle() ); addProperty(_("rotation"), new PropertyItem(this, s)); } void SceneGraphPropertyViewImpl::setProperty(SgScaleTransform* scaleTrans) { addProperty(_("scale"), new PropertyItem(this, str(scaleTrans->scale()))); } void SceneGraphPropertyViewImpl::setProperty(SgMaterial* material) { addProperty(_("ambientIntensity"), new PropertyItem(this, Double(material->ambientIntensity(), 1, 0.0, 1.0))); Vector3f diffuseColor = material->diffuseColor(); addProperty(_("diffuseColor"), new PropertyItem(this,str(Vector3(diffuseColor.x(), diffuseColor.y(), diffuseColor.z())))); Vector3f emissiveColor = material->emissiveColor(); addProperty(_("emissiveColor"), new PropertyItem(this,str(Vector3(emissiveColor.x(), emissiveColor.y(), emissiveColor.z())))); addProperty(_("shininess"), new PropertyItem(this, Double(material->shininess(), 1, 0.0, 1.0))); Vector3f specularColor = material->specularColor(); addProperty(_("specularColor"), new PropertyItem(this,str(Vector3(specularColor.x(), specularColor.y(), specularColor.z())))); addProperty(_("transparency"), new PropertyItem(this, Double(material->transparency(), 1, 0.0, 1.0))); } void SceneGraphPropertyViewImpl::setProperty(SgTextureTransform* textureTrans) { Vector2 center = textureTrans->center(); string s = str(format("%1% %2%") % center[0] % center[1]); addProperty(_("center"), new PropertyItem(this, s)); addProperty(_("rotation"), new PropertyItem(this, Double(textureTrans->rotation(), 3))); Vector2 scale = textureTrans->scale(); s = str(format("%1% %2%") % scale[0] % scale[1]); addProperty(_("scale"), new PropertyItem(this, s)); Vector2 translation = textureTrans->translation(); s = str(format("%1% %2%") % translation[0] % translation[1]); addProperty(_("translation"), new PropertyItem(this, s)); } void SceneGraphPropertyViewImpl::setProperty(SgTexture* texture) { SgImage* image = texture->image(); if(image){ addProperty(_("width"), new PropertyItem(this, Int(image->width()))); addProperty(_("height"), new PropertyItem(this, Int(image->height()))); addProperty(_("num of components"), new PropertyItem(this, Int(image->numComponents()))); } addProperty(_("repeatS"), new PropertyItem(this, texture->repeatS())); addProperty(_("repeatT"), new PropertyItem(this, texture->repeatT())); } void SceneGraphPropertyViewImpl::setProperty(SgMeshBase* meshBase) { if(meshBase->hasVertices()) addProperty(_("num of vertices"), new PropertyItem(this, Int(meshBase->vertices()->size()))); if(meshBase->hasNormals()) addProperty(_("num of normals"), new PropertyItem(this, Int(meshBase->normals()->size()))); if(meshBase->hasColors()) addProperty(_("num of colors"), new PropertyItem(this, Int(meshBase->colors()->size()))); if(meshBase->hasTexCoords()) addProperty(_("num of texCoord"), new PropertyItem(this, Int(meshBase->texCoords()->size()))); addProperty(_("num of normalIndices"), new PropertyItem(this, Int(meshBase->normalIndices().size()))); addProperty(_("num of colorIndices"), new PropertyItem(this, Int(meshBase->colorIndices().size()))); addProperty(_("num of texCoordIndices"), new PropertyItem(this, Int(meshBase->texCoordIndices().size()))); addProperty(_("is Solid"), new PropertyItem(this, meshBase->isSolid())); } void SceneGraphPropertyViewImpl::setProperty(SgMesh* mesh) { addProperty(_("num of triangles"), new PropertyItem(this, Int(mesh->numTriangles()))); switch(mesh->primitiveType()) { case SgMesh::BOX : { addProperty(_("primitive type"), new PropertyItem(this, string("Box"))); const Vector3& size = mesh->primitive().size; addProperty(_("size"), new PropertyItem(this,str(Vector3(size.x(), size.y(), size.z())))); break; } case SgMesh::SPHERE : { double radius = mesh->primitive().radius; addProperty(_("primitive type"), new PropertyItem(this, string("Sphere"))); addProperty(_("radius"), new PropertyItem(this,Double(radius,3))); break; } case SgMesh::CYLINDER : { addProperty(_("primitive type"), new PropertyItem(this, string("Cylinder"))); SgMesh::Cylinder cylinder = mesh->primitive(); addProperty(_("radius"), new PropertyItem(this,Double(cylinder.radius,3))); addProperty(_("height"), new PropertyItem(this,Double(cylinder.height,3))); addProperty(_("bottom"), new PropertyItem(this,cylinder.bottom)); addProperty(_("side"), new PropertyItem(this,cylinder.side)); addProperty(_("top"), new PropertyItem(this,cylinder.top)); break; } case SgMesh::CONE :{ addProperty(_("primitive type"), new PropertyItem(this, string("Cone"))); SgMesh::Cone cone = mesh->primitive(); addProperty(_("radius"), new PropertyItem(this,Double(cone.radius,3))); addProperty(_("height"), new PropertyItem(this,Double(cone.height,3))); addProperty(_("bottom"), new PropertyItem(this,cone.bottom)); addProperty(_("side"), new PropertyItem(this,cone.side)); break; } } } void SceneGraphPropertyViewImpl::setProperty(SgPolygonMesh* pMesh) { addProperty(_("num of polygonVertices"), new PropertyItem(this, Int(pMesh->polygonVertices().size()))); } void SceneGraphPropertyViewImpl::setProperty(SgShape* shape) { } void SceneGraphPropertyViewImpl::setProperty(SgPlot* plot) { if(plot->hasVertices()) addProperty(_("num of vertices"), new PropertyItem(this, Int(plot->vertices()->size()))); if(plot->hasNormals()) addProperty(_("num of normals"), new PropertyItem(this, Int(plot->normals()->size()))); if(plot->hasColors()) addProperty(_("num of colors"), new PropertyItem(this, Int(plot->colors()->size()))); } void SceneGraphPropertyViewImpl::setProperty(SgPointSet* pointSet) { addProperty(_("point size"), new PropertyItem(this, Double(pointSet->pointSize()))); } void SceneGraphPropertyViewImpl::setProperty(SgLineSet* lineSet) { addProperty(_("line width"), new PropertyItem(this, Double(lineSet->lineWidth()))); addProperty(_("num of colorIndices"), new PropertyItem(this, Int(lineSet->colorIndices().size()))); } void SceneGraphPropertyViewImpl::setProperty(SgPreprocessed* preprocessed) { } void SceneGraphPropertyViewImpl::setProperty(SgLight* light) { addProperty(_("on/off"), new PropertyItem(this, light->on()? string("ON") : string("OFF") )); Vector3f color = light->color(); addProperty(_("color"), new PropertyItem(this,str(Vector3(color.x(), color.y(), color.z())))); addProperty(_("intensity"), new PropertyItem(this,Double(light->intensity(), 2, 0.0, 1.0))); addProperty(_("ambientIntensity"), new PropertyItem(this,Double(light->ambientIntensity(), 2, 0.0, 1.0))); } void SceneGraphPropertyViewImpl::setProperty(SgDirectionalLight* dlight) { addProperty(_("direction"), new PropertyItem(this,str(dlight->direction()))); } void SceneGraphPropertyViewImpl::setProperty(SgPointLight* plight) { addProperty(_("constant attenuation"), new PropertyItem(this, Double(plight->constantAttenuation(), 2, 0.0))); addProperty(_("linear attenuation"), new PropertyItem(this, Double(plight->linearAttenuation(), 2, 0.0))); addProperty(_("quadratic attenuation"), new PropertyItem(this, Double(plight->quadraticAttenuation(), 2, 0.0))); } void SceneGraphPropertyViewImpl::setProperty(SgSpotLight* slight) { addProperty(_("direction"), new PropertyItem(this,str(slight->direction()))); addProperty(_("beam width"), new PropertyItem(this,Double(slight->beamWidth(), 3))); addProperty(_("cut off Angle"), new PropertyItem(this,Double(slight->cutOffAngle(), 3))); } void SceneGraphPropertyViewImpl::setProperty(SgCamera* camera) { addProperty(_("near distance"), new PropertyItem(this,Double(camera->nearClipDistance(), 3))); addProperty(_("far distance"), new PropertyItem(this,Double(camera->farClipDistance(), 3))); } void SceneGraphPropertyViewImpl::setProperty(SgPerspectiveCamera* pcamera) { addProperty(_("field of view"), new PropertyItem(this,Double(pcamera->fieldOfView(), 3))); } void SceneGraphPropertyViewImpl::setProperty(SgOrthographicCamera* ocamera) { addProperty(_("height"), new PropertyItem(this,Double(ocamera->height(), 3))); } void SceneGraphPropertyViewImpl::setProperty(SgFog* fog) { } void SceneGraphPropertyViewImpl::updateProperties() { tableWidget->clear(); tableWidget->setRowCount(0); if(currentObject){ setProperty(currentObject); SgNode* node = dynamic_cast(currentObject); if(node){ SgGroup* group = dynamic_cast(node); if(group){ setProperty(group); SgInvariantGroup* invGroup = dynamic_cast(group); if(invGroup){ setProperty(invGroup); return; } SgTransform* trans = dynamic_cast(group); if(trans){ setProperty(trans); SgPosTransform* posTrans = dynamic_cast(trans); if(posTrans){ setProperty(posTrans); return; } SgScaleTransform* scaleTrans = dynamic_cast(trans); if(scaleTrans){ setProperty(scaleTrans); return; } return; } return; } SgShape* shape = dynamic_cast(node); if(shape){ setProperty(shape); return; } SgPlot* plot = dynamic_cast(node); if(plot){ setProperty(plot); SgPointSet* pointSet = dynamic_cast(plot); if(pointSet){ setProperty(pointSet); return; } SgLineSet* lineSet = dynamic_cast(plot); if(lineSet){ setProperty(lineSet); return; } return; } SgPreprocessed* preprocessed = dynamic_cast(node); if(preprocessed){ setProperty(preprocessed); SgLight* light = dynamic_cast(preprocessed); if(light){ setProperty(light); SgDirectionalLight* dlight = dynamic_cast(light); if(dlight){ setProperty(dlight); return; } SgPointLight* plight = dynamic_cast(light); if(plight){ setProperty(plight); return; } SgSpotLight* slight = dynamic_cast(light); if(slight){ setProperty(slight); return; } return; } SgCamera* camera = dynamic_cast(preprocessed); if(camera){ setProperty(camera); SgPerspectiveCamera* pcamera = dynamic_cast(camera); if(pcamera){ setProperty(pcamera); return; } SgOrthographicCamera* ocamera = dynamic_cast(camera); if(ocamera){ setProperty(ocamera); return; } return; } SgFog* fog = dynamic_cast(preprocessed); if(fog){ setProperty(fog); return; } return; } return; } SgMaterial* material = dynamic_cast(currentObject); if(material){ setProperty(material); return; } SgTextureTransform* textureTrans = dynamic_cast(currentObject); if(textureTrans){ setProperty(textureTrans); return; } SgTexture* texture = dynamic_cast(currentObject); if(texture){ setProperty(texture); return; } SgMeshBase* meshBase = dynamic_cast(currentObject); if(meshBase){ setProperty(meshBase); SgMesh* mesh = dynamic_cast(meshBase); if(mesh){ setProperty(mesh); return; } SgPolygonMesh* polygonMesh = dynamic_cast(meshBase); if(polygonMesh){ setProperty(polygonMesh); return; } return; } return; } } void SceneGraphPropertyViewImpl::addProperty(const std::string& name, PropertyItem* propertyItem) { int row = tableWidget->rowCount(); tableWidget->setRowCount(row + 1); QTableWidgetItem* nameItem = new QTableWidgetItem(name.c_str()); nameItem->setFlags(Qt::ItemIsEnabled); tableWidget->setItem(row, 0, nameItem); tableWidget->setItem(row, 1, propertyItem); } void SceneGraphPropertyViewImpl::onActivated(bool on) { selectionChangedConnection.disconnect(); if(on){ SceneGraphView* sceneGraphView = ViewManager::findView(); if(sceneGraphView){ onItemSelectionChanged(sceneGraphView->selectedObject()); selectionChangedConnection = sceneGraphView->sigSelectionChanged().connect( boost::bind(&SceneGraphPropertyViewImpl::onItemSelectionChanged, this, _1)); } } else { connectionOfsceneUpdated.disconnect(); currentObject = 0; } } void SceneGraphPropertyViewImpl::onItemSelectionChanged(const SgObject* object) { if(!object) return; if(object != currentObject){ connectionOfsceneUpdated.disconnect(); currentObject = (SgObject*)object; if(currentObject) connectionOfsceneUpdated = currentObject->sigUpdated().connect(boost::bind(&SceneGraphPropertyViewImpl::onSceneGraphUpdated, this, _1)); updateProperties(); } } void SceneGraphPropertyViewImpl::onSceneGraphUpdated(const SgUpdate& update) { if(update.action() & (SgUpdate::MODIFIED)) updateProperties(); } void SceneGraphPropertyView::keyPressEvent(QKeyEvent* event) { if(event->modifiers() & Qt::ControlModifier){ switch(event->key()){ case Qt::Key_Plus: case Qt::Key_Semicolon: impl->zoomFontSize(1); return; case Qt::Key_Minus: impl->zoomFontSize(-1); return; defaut: break; } } View::keyPressEvent(event); } void SceneGraphPropertyViewImpl::zoomFontSize(int pointSizeDiff) { QFont font = tableWidget->font(); font.setPointSize(font.pointSize() + pointSizeDiff); tableWidget->setFont(font); fontPointSizeDiff += pointSizeDiff; AppConfig::archive()->openMapping("SceneGraphPropertyView")->write("fontZoom", fontPointSizeDiff); } choreonoid-1.5.0/src/Corba/0000775000000000000000000000000012741425367014176 5ustar rootrootchoreonoid-1.5.0/src/Corba/exportdecl.h0000664000000000000000000000200612741425367016516 0ustar rootroot#ifndef CNOID_CORBA_EXPORTDECL_H_INCLUDED # define CNOID_CORBA_EXPORTDECL_H_INCLUDED # if defined _WIN32 || defined __CYGWIN__ # define CNOID_CORBA_DLLIMPORT __declspec(dllimport) # define CNOID_CORBA_DLLEXPORT __declspec(dllexport) # define CNOID_CORBA_DLLLOCAL # else # if __GNUC__ >= 4 # define CNOID_CORBA_DLLIMPORT __attribute__ ((visibility("default"))) # define CNOID_CORBA_DLLEXPORT __attribute__ ((visibility("default"))) # define CNOID_CORBA_DLLLOCAL __attribute__ ((visibility("hidden"))) # else # define CNOID_CORBA_DLLIMPORT # define CNOID_CORBA_DLLEXPORT # define CNOID_CORBA_DLLLOCAL # endif # endif # ifdef CNOID_CORBA_STATIC # define CNOID_CORBA_DLLAPI # define CNOID_CORBA_LOCAL # else # ifdef CnoidCorba_EXPORTS # define CNOID_CORBA_DLLAPI CNOID_CORBA_DLLEXPORT # else # define CNOID_CORBA_DLLAPI CNOID_CORBA_DLLIMPORT # endif # define CNOID_CORBA_LOCAL CNOID_CORBA_DLLLOCAL # endif #endif #ifdef CNOID_EXPORT # undef CNOID_EXPORT #endif #define CNOID_EXPORT CNOID_CORBA_DLLAPI choreonoid-1.5.0/src/Corba/NameServer.cpp0000664000000000000000000000300512741425367016747 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "CosNaming_impl.h" #include #include using namespace std; using namespace cnoid; namespace cnoid { PortableServer::POA_var nspoa; } int main(int argc, char* argv[]) { char** argv2 = new char*[5]; int argc2 = 0; argv2[argc2++] = (char*)"choreonoid"; int listeningPort = 2809; string endpoint; if(listeningPort >= 0){ stringstream endpoint; endpoint << "giop:tcp::" << listeningPort; argv2[argc2++] = (char*)"-ORBendPoint"; argv2[argc2++] = (char*)endpoint.str().c_str(); argv2[argc2++] = (char*)"-ORBpoaUniquePersistentSystemIds"; argv2[argc2++] = (char*)"1"; } CORBA::ORB_ptr orb = CORBA::ORB_init(argc2, argv2); CORBA::Object_var obj = orb->resolve_initial_references("omniINSPOA"); nspoa = PortableServer::POA::_narrow(obj); PortableServer::POAManager_var poaManager = nspoa->the_POAManager(); poaManager->activate(); PortableServer::ObjectId_var refid = PortableServer::string_to_ObjectId("NameService"); NamingContext_impl* nameServer = new NamingContext_impl(nspoa, refid); nameServer->_remove_ref(); CORBA::Object_var poaObj = orb->resolve_initial_references("RootPOA"); PortableServer::POA_var poa = PortableServer::POA::_narrow(poaObj); PortableServer::POAManager_var manager = poa->the_POAManager(); manager->activate(); cout << "Starting a CORBA name server." << endl; orb->run(); orb->destroy(); } choreonoid-1.5.0/src/Corba/CorbaUtil.cpp0000664000000000000000000001563412741425367016577 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "CorbaUtil.h" #include #include using namespace std; using namespace boost; using namespace cnoid; namespace { CORBA::ORB_ptr orb = 0; NamingContextHelper namingContextHelper; } CORBA::ORB_ptr cnoid::getORB() { return orb; } NamingContextHelper* cnoid::getDefaultNamingContextHelper() { return &namingContextHelper; } NamingContextHelper::NamingContextHelper() { } void cnoid::initializeCorbaUtil(bool activatePOAManager, int listeningPort) { if(orb){ return; // already initialized } int numArgs = (listeningPort >= 0) ? 5 : 1; char** argv = new char*[numArgs]; int argc = 0; argv[argc++] = (char*)"choreonoid"; string endpoint; if(listeningPort >= 0){ endpoint = str(format("giop:tcp::%1%") % listeningPort); argv[argc++] = (char*)"-ORBendPoint"; argv[argc++] = (char*)endpoint.c_str(); argv[argc++] = (char*)"-ORBpoaUniquePersistentSystemIds"; argv[argc++] = (char*)"1"; } // Initialize ORB orb = CORBA::ORB_init(argc, argv); delete [] argv; initializeCorbaUtil(orb, activatePOAManager); } void cnoid::initializeCorbaUtil(CORBA::ORB_ptr orb_, bool activatePOAManager) { if(!orb){ orb = orb_; } namingContextHelper.setLocation("localhost", 2809); if(activatePOAManager){ CORBA::Object_var poaObj = orb->resolve_initial_references("RootPOA"); PortableServer::POA_var poa = PortableServer::POA::_narrow(poaObj); PortableServer::POAManager_var manager = poa->the_POAManager(); manager->activate(); } } NamingContextHelper::NamingContextHelper(const std::string& host, int port) { setLocation(host, port); } void NamingContextHelper::setLocation(const std::string& host, int port) { host_ = host; port_ = port; namingContextLocation = str(format("corbaloc:iiop:%1%:%2%/NameService") % host % port); namingContext = CosNaming::NamingContext::_nil(); } bool NamingContextHelper::isAlive(bool doRescan) { if(doRescan){ return checkOrUpdateNamingContext(); } else { return !CORBA::is_nil(namingContext); } } const std::string& NamingContextHelper::errorMessage() { return errorMessage_; } bool NamingContextHelper::checkOrUpdateNamingContext() { if(!CORBA::is_nil(namingContext)){ return true; } try { #ifdef WIN32 omniORB::setClientCallTimeout(250); #endif CORBA::Object_var obj = getORB()->string_to_object(namingContextLocation.c_str()); namingContext = CosNaming::NamingContext::_narrow(obj); #ifndef WIN32 omniORB::setClientCallTimeout(namingContext, 250); #endif if(CORBA::is_nil(namingContext)){ errorMessage_ = str(format("The object at %1% is not a NamingContext object.") % namingContextLocation); } } catch(CORBA::SystemException& ex) { errorMessage_ = str(format("A NameService doesn't exist at \"%1%\".") % namingContextLocation); namingContext = CosNaming::NamingContext::_nil(); } #ifdef WIN32 omniORB::setClientCallTimeout(0); // reset the global timeout setting? #endif return (!CORBA::is_nil(namingContext)); } CORBA::Object_ptr NamingContextHelper::findObjectSub(const std::string& name, const std::string& kind) { CORBA::Object_ptr obj = CORBA::Object::_nil(); if(checkOrUpdateNamingContext()){ CosNaming::Name ncName; ncName.length(1); ncName[0].id = CORBA::string_dup(name.c_str()); ncName[0].kind = CORBA::string_dup(kind.c_str()); try { obj = namingContext->resolve(ncName); } catch(const CosNaming::NamingContext::NotFound &ex) { errorMessage_ = str(format("\"%1%\" is not found: ") % name); switch(ex.why) { case CosNaming::NamingContext::missing_node: errorMessage_ += "Missing Node"; break; case CosNaming::NamingContext::not_context: errorMessage_ += "Not Context"; break; case CosNaming::NamingContext::not_object: errorMessage_ += "Not Object"; break; default: errorMessage_ += "Unknown Error"; break; } } catch(CosNaming::NamingContext::CannotProceed &exc) { errorMessage_ = str(format("Resolving \"%1%\" cannot be proceeded.") % name); } catch(CosNaming::NamingContext::AlreadyBound &exc) { errorMessage_ = str(format("\"%1%\" has already been bound.") % name); } catch(const CORBA::TRANSIENT &){ errorMessage_ = str(format("Resolving \"%1% \" failed with the TRANSIENT exception.") % name); } } return obj; } NamingContextHelper::ObjectInfoList NamingContextHelper::getObjectList() { ObjectInfoList objects; if(checkOrUpdateNamingContext()){ CosNaming::BindingList_var bList; CosNaming::BindingIterator_var bIter; const CORBA::ULong batchSize = 100; namingContext->list(batchSize, bList, bIter); appendBindingList(bList, objects); if(!CORBA::is_nil(bIter) && isObjectAlive(bIter)){ while(bIter->next_n(batchSize, bList)){ appendBindingList(bList, objects); } } } return objects; } void NamingContextHelper::appendBindingList(CosNaming::BindingList_var& bList, ObjectInfoList& objects) { for(CORBA::ULong i=0; i < bList->length(); ++i){ ObjectInfo info; info.id = bList[i].binding_name[0].id; info.kind = bList[i].binding_name[0].kind; CORBA::Object_ptr obj = findObject(info.id, info.kind); info.isAlive = isObjectAlive(obj); CORBA::release(obj); objects.push_back(info); } } bool NamingContextHelper::isObjectAlive(CORBA::Object_ptr obj) { bool isAlive = false; if(obj && !CORBA::is_nil(obj)){ omniORB::setClientCallTimeout(obj, 250); try { if(!obj->_non_existent()){ isAlive = true; } } catch(const CORBA::TRANSIENT &){ } catch(...){ } omniORB::setClientCallTimeout(obj, 0); } return isAlive; } bool NamingContextHelper::bindObject(CORBA::Object_ptr object, const std::string& name) { if(isAlive()){ CosNaming::Name nc; nc.length(1); nc[0].id = CORBA::string_dup(name.c_str()); nc[0].kind = CORBA::string_dup(""); namingContext->rebind(nc, object); return true; } return false; } void NamingContextHelper::unbind(const std::string& name) { if(isAlive()){ CosNaming::Name nc; nc.length(1); nc[0].id = CORBA::string_dup(name.c_str()); nc[0].kind = CORBA::string_dup(""); namingContext->unbind(nc); } } choreonoid-1.5.0/src/Corba/corba/0000775000000000000000000000000012741425367015264 5ustar rootrootchoreonoid-1.5.0/src/Corba/corba/Naming.idl0000664000000000000000000000540312741425367017171 0ustar rootroot// // Package : omniORB3 // Naming.idl // // // // Description: // IDL interfaces for COSS Extended Naming Service // #ifndef __NAMING_IDL__ #define __NAMING_IDL__ #pragma prefix "omg.org" module CosNaming { typedef string Istring; struct NameComponent { Istring id; Istring kind; }; typedef sequence Name; enum BindingType {nobject, ncontext}; struct Binding { Name binding_name; BindingType binding_type; }; // Note: In struct Binding, binding_name is incorrectly defined // as a Name instead of a NameComponent. This definition is // unchanged for compatibility reasons. typedef sequence BindingList; interface BindingIterator; interface NamingContext { enum NotFoundReason {missing_node, not_context, not_object}; exception NotFound { NotFoundReason why; Name rest_of_name; }; exception CannotProceed { NamingContext cxt; Name rest_of_name; }; exception InvalidName {}; exception AlreadyBound {}; exception NotEmpty {}; void bind (in Name n, in Object obj) raises (NotFound, CannotProceed, InvalidName, AlreadyBound); void rebind (in Name n, in Object obj) raises (NotFound, CannotProceed, InvalidName); void bind_context (in Name n, in NamingContext nc) raises (NotFound, CannotProceed, InvalidName, AlreadyBound); void rebind_context (in Name n, in NamingContext nc) raises (NotFound, CannotProceed, InvalidName); Object resolve (in Name n) raises (NotFound, CannotProceed, InvalidName); void unbind (in Name n) raises (NotFound, CannotProceed, InvalidName); NamingContext new_context (); NamingContext bind_new_context (in Name n) raises (NotFound, CannotProceed, InvalidName, AlreadyBound); void destroy () raises (NotEmpty); void list (in unsigned long how_many, out BindingList bl, out BindingIterator bi); }; interface BindingIterator { boolean next_one (out Binding b); boolean next_n (in unsigned long how_many, out BindingList bl); void destroy (); }; interface NamingContextExt : NamingContext { typedef string StringName; typedef string Address; typedef string URLString; StringName to_string(in Name n) raises(InvalidName); Name to_name(in StringName sn) raises(InvalidName); exception InvalidAddress {}; URLString to_url(in Address addr, in StringName sn) raises(InvalidAddress, InvalidName); Object resolve_str(in StringName n) raises(NotFound, CannotProceed, InvalidName, AlreadyBound); }; }; // Bug workaround for omniidl2 #pragma prefix "" #endif // __NAMING_IDL__ choreonoid-1.5.0/src/Corba/CMakeLists.txt0000664000000000000000000000134512741425367016741 0ustar rootroot # @author Shin'ichiro Nakaoka #set(CMAKE_BUILD_TYPE Debug) if(NOT ENABLE_CORBA) return() endif() set(target CnoidCorba) set(sources CorbaUtil.cpp ) set(headers CorbaUtil.h ) add_cnoid_library(${target} SHARED ${sources} ${headers}) target_link_libraries(${target} ${OMNIORB_LIBRARIES} ${Boost_THREAD_LIBRARY}) # omniDynamic4 apply_common_setting_for_library(${target} "${headers}") # name server set(target cnoid-nameserver) idl_compile_cpp(idl_cpp_files idl_h_files corba Naming) add_cnoid_executable(${target} NameServer.cpp CosNaming_impl.cpp ${idl_cpp_files}) target_link_libraries(${target} ${OMNIORB_LIBRARIES} ${Boost_SYSTEM_LIBRARY} ${Boost_THREAD_LIBRARY}) if(ENABLE_PYTHON) add_subdirectory(python) endif() choreonoid-1.5.0/src/Corba/CosNaming_impl.h0000664000000000000000000000540212741425367017247 0ustar rootroot #ifndef CNOID_COS_NAMING_IMPL_H #define CNOID_COS_NAMING_IMPL_H #include #include namespace cnoid { extern PortableServer::POA_var nspoa; class NamingContext_impl; class BindingNode { public: CosNaming::Binding binding; CORBA::Object_var object; NamingContext_impl* context; BindingNode* prev; BindingNode* next; BindingNode(const CosNaming::Name& n, CosNaming::BindingType t, CORBA::Object_ptr o, NamingContext_impl* nc); ~BindingNode(); }; class NamingContext_impl : public POA_CosNaming::NamingContextExt, public PortableServer::RefCountServantBase { friend class BindingNode; public: NamingContext_impl(PortableServer::POA_ptr poa, const PortableServer::ObjectId& id); virtual void bind(const CosNaming::Name& n, CORBA::Object_ptr obj); virtual void rebind(const CosNaming::Name& n, CORBA::Object_ptr obj); virtual void bind_context(const CosNaming::Name& n, CosNaming::NamingContext_ptr nc); virtual void rebind_context(const CosNaming::Name& n, CosNaming::NamingContext_ptr nc); virtual CORBA::Object_ptr resolve(const CosNaming::Name& n); virtual void unbind(const CosNaming::Name& n); virtual CosNaming::NamingContext_ptr new_context(); virtual CosNaming::NamingContext_ptr bind_new_context(const CosNaming::Name& n); virtual void destroy(); virtual void list(CORBA::ULong how_many, CosNaming::BindingList_out bl, CosNaming::BindingIterator_out bi); virtual char* to_string(const CosNaming::Name& n); virtual CosNaming::Name* to_name(const char* sn); virtual char* to_url(const char* addr, const char* sn); virtual CORBA::Object_ptr resolve_str(const char* n); private: PortableServer::POA_ptr poa; // Multiple-readers, single-writer lock static boost::shared_mutex mutex; BindingNode* firstNode; BindingNode* lastNode; int size; ~NamingContext_impl(); void bind_sub(const CosNaming::Name& n, CORBA::Object_ptr obj, CosNaming::BindingType t, CORBA::Boolean rebind); BindingNode* resolve_single(const CosNaming::Name& name); CosNaming::NamingContext_ptr resolve_multi(const CosNaming::Name& name, CosNaming::Name& restOfName); }; class BindingIterator_impl : public POA_CosNaming::BindingIterator, public PortableServer::RefCountServantBase { public: BindingIterator_impl(PortableServer::POA_ptr poa, CosNaming::BindingList* list); virtual CORBA::Boolean next_one(CosNaming::Binding_out b); virtual CORBA::Boolean next_n(CORBA::ULong how_many, CosNaming::BindingList_out bl); virtual void destroy(void); private: CosNaming::BindingList* list; ~BindingIterator_impl(); }; } #endif choreonoid-1.5.0/src/Corba/CosNaming_impl.cpp0000664000000000000000000002614712741425367017613 0ustar rootroot #include #include "CosNaming_impl.h" #include #include #include using namespace std; using namespace boost; using namespace cnoid; namespace { const bool TRACE_FUNCTIONS = false; } boost::shared_mutex NamingContext_impl::mutex; BindingNode::BindingNode (const CosNaming::Name& n, CosNaming::BindingType t, CORBA::Object_ptr o, NamingContext_impl* nc) { binding.binding_name = n; binding.binding_type = t; object = CORBA::Object::_duplicate(o); context = nc; next = 0; prev = context->lastNode; context->lastNode = this; if(prev){ prev->next = this; } else { context->firstNode = this; } ++context->size; } BindingNode::~BindingNode() { if(prev) { prev->next = next; } else { context->firstNode = next; } if(next){ next->prev = prev; } else { context->lastNode = prev; } --context->size; } NamingContext_impl::NamingContext_impl(PortableServer::POA_ptr poa, const PortableServer::ObjectId& id) : poa(poa) { firstNode = 0; lastNode = 0; size = 0; poa->activate_object_with_id(id, this); } NamingContext_impl::~NamingContext_impl() { if(TRACE_FUNCTIONS){ cout << "NamingContext_impl::~NamingContext_impl()" << endl; } } void NamingContext_impl::bind(const CosNaming::Name& n, CORBA::Object_ptr obj) { if(TRACE_FUNCTIONS){ cout << "NamingContext_impl::bind()" << endl; } bind_sub(n, obj, CosNaming::nobject, false); } void NamingContext_impl::rebind(const CosNaming::Name& n, CORBA::Object_ptr obj) { if(TRACE_FUNCTIONS){ cout << "NamingContext_impl::rebind()" << endl; } bind_sub(n, obj, CosNaming::nobject, true); } void NamingContext_impl::bind_context(const CosNaming::Name& n, CosNaming::NamingContext_ptr nc) { if(TRACE_FUNCTIONS){ cout << "NamingContext_impl::bind_context()" << endl; } bind_sub(n, nc, CosNaming::ncontext, false); } void NamingContext_impl::rebind_context(const CosNaming::Name& n, CosNaming::NamingContext_ptr nc) { if(TRACE_FUNCTIONS){ cout << "NamingContext_impl::rebind_context()" << endl; } bind_sub(n, nc, CosNaming::ncontext, true); } CORBA::Object_ptr NamingContext_impl::resolve(const CosNaming::Name& n) { if(TRACE_FUNCTIONS){ cout << "NamingContext_impl::resolve()" << endl; } if(n.length() == 1) { shared_lock lock(mutex); BindingNode* node = resolve_single(n); return CORBA::Object::_duplicate(node->object); } else { CosNaming::Name restOfName; CosNaming::NamingContext_var context = resolve_multi(n, restOfName); return context->resolve(restOfName); } } void NamingContext_impl::unbind(const CosNaming::Name& n) { if(TRACE_FUNCTIONS){ cout << "NamingContext_impl::unbind()" << endl; } if(n.length() == 1) { unique_lock lock(mutex); BindingNode* node = resolve_single(n); CosNaming::NamingContext_var nc = _this(); delete node; } else { CosNaming::Name restOfName; CosNaming::NamingContext_var context = resolve_multi(n, restOfName); context->unbind(restOfName); } } CosNaming::NamingContext_ptr NamingContext_impl::new_context() { if(TRACE_FUNCTIONS){ cout << "NamingContext_impl::new_context()" << endl; } CORBA::Object_var ref = nspoa->create_reference(CosNaming::NamingContext::_PD_repoId); PortableServer::ObjectId_var id = nspoa->reference_to_id(ref); NamingContext_impl* nc = new NamingContext_impl(nspoa, id); CosNaming::NamingContext_ptr ncref = nc->_this(); nc->_remove_ref(); return ncref; } CosNaming::NamingContext_ptr NamingContext_impl::bind_new_context(const CosNaming::Name& n) { if(TRACE_FUNCTIONS){ cout << "NamingContext_impl::bind_new_context()" << endl; } if(n.length() == 1) { CosNaming::NamingContext_ptr nc = new_context(); try { bind_context(n, nc); } catch (...) { nc->destroy(); CORBA::release(nc); throw; } return nc; } else { CosNaming::Name restOfName; CosNaming::NamingContext_var context = resolve_multi(n, restOfName); return context->bind_new_context(restOfName); } } void NamingContext_impl::destroy() { if(TRACE_FUNCTIONS){ cout << "NamingContext_impl::destroy()" << endl; } unique_lock lock(mutex); if(firstNode){ throw CosNaming::NamingContext::NotEmpty(); } CosNaming::NamingContext_var nc = _this(); PortableServer::ObjectId_var id = poa->servant_to_id(this); poa->deactivate_object(id); } void NamingContext_impl::list(CORBA::ULong how_many, CosNaming::BindingList_out bl, CosNaming::BindingIterator_out bi) { if(TRACE_FUNCTIONS){ cout << "NamingContext_impl::list()" << endl; } CosNaming::BindingList* allBindings; { shared_lock lock(mutex); allBindings = new CosNaming::BindingList(size); allBindings->length(size); int index = 0; for(BindingNode* node = firstNode; node; node = node->next){ (*allBindings)[index++] = node->binding; } } if(allBindings->length() <= how_many) { bi = CosNaming::BindingIterator::_nil(); bl = allBindings; return; } BindingIterator_impl* bii = new BindingIterator_impl(nspoa, allBindings); bi = bii->_this(); bii->_remove_ref(); if(!CORBA::is_nil(bi.ptr())) { bi->next_n(how_many, bl); } } char* NamingContext_impl::to_string(const CosNaming::Name& name) { if(TRACE_FUNCTIONS){ cout << "NamingContext_impl::to_string()" << endl; } return omni::omniURI::nameToString(name); } CosNaming::Name* NamingContext_impl::to_name(const char* sn) { if(TRACE_FUNCTIONS){ cout << "NamingContext_impl::to_name()" << endl; } return omni::omniURI::stringToName(sn); } char* NamingContext_impl::to_url(const char* addr, const char* sn) { if(TRACE_FUNCTIONS){ cout << "NamingContext_impl::to_url()" << endl; } return omni::omniURI::addrAndNameToURI(addr, sn); } CORBA::Object_ptr NamingContext_impl::resolve_str(const char* sn) { if(TRACE_FUNCTIONS){ cout << "NamingContext_impl::resolve_str()" << endl; } CosNaming::Name_var name = omni::omniURI::stringToName(sn); return resolve(name); } BindingNode* NamingContext_impl::resolve_single(const CosNaming::Name& n) { if(TRACE_FUNCTIONS){ cout << "NamingContext_impl::resolve_single()" << endl; } for(BindingNode* node = firstNode; node; node = node->next){ if((strcmp(n[0].id, node->binding.binding_name[0].id) == 0) && (strcmp(n[0].kind, node->binding.binding_name[0].kind) == 0)){ return node; } } throw CosNaming::NamingContext::NotFound(CosNaming::NamingContext::missing_node, n); return 0; } CosNaming::NamingContext_ptr NamingContext_impl::resolve_multi(const CosNaming::Name& n, CosNaming::Name& restOfName) { if(TRACE_FUNCTIONS){ cout << "NamingContext_impl::resolve_multi()" << endl; } if(n.length() == 0){ throw CosNaming::NamingContext::InvalidName(); } CosNaming::Name contextName = n; contextName.length(1); restOfName.length(n.length() - 1); for(unsigned int i = 0; i < n.length() - 1; ++i){ restOfName[i] = n[i + 1]; } BindingNode* node; shared_lock lock(mutex); try { node = resolve_single(contextName); } catch (CosNaming::NamingContext::NotFound& ex) { ex.rest_of_name = n; throw; } CosNaming::NamingContext_var context = CosNaming::NamingContext::_narrow(node->object); if(CORBA::is_nil((CosNaming::NamingContext_ptr)context) || (node->binding.binding_type != CosNaming::ncontext)) { throw CosNaming::NamingContext::NotFound(CosNaming::NamingContext::not_context, n); } return CosNaming::NamingContext::_duplicate(context); } void NamingContext_impl::bind_sub (const CosNaming::Name& n, CORBA::Object_ptr obj, CosNaming::BindingType t, CORBA::Boolean rebind) { if(TRACE_FUNCTIONS){ cout << "NamingContext_impl::bind_sub()" << endl; } if(n.length() == 1){ unique_lock lock(mutex); BindingNode* node = 0; try { node = resolve_single(n); if(!rebind){ throw CosNaming::NamingContext::AlreadyBound(); } } catch (CosNaming::NamingContext::NotFound& ex) { node = 0; } CosNaming::NamingContext_var nc = _this(); if(node){ delete node; } new BindingNode(n, t, obj, this); } else { CosNaming::Name restOfName; CosNaming::NamingContext_var context = resolve_multi(n, restOfName); if(t == CosNaming::nobject){ if(rebind){ context->rebind(restOfName, obj); } else { context->bind(restOfName, obj); } } else { if(rebind){ context->rebind_context(restOfName, CosNaming::NamingContext::_narrow(obj)); } else { context->bind_context(restOfName, CosNaming::NamingContext::_narrow(obj)); } } } } BindingIterator_impl::BindingIterator_impl(PortableServer::POA_ptr poa, CosNaming::BindingList* list) : list(list) { if(TRACE_FUNCTIONS){ cout << "BindingIterator_impl::BindingIterator_impl()" << endl; } PortableServer::ObjectId_var id = poa->activate_object(this); } BindingIterator_impl::~BindingIterator_impl() { if(TRACE_FUNCTIONS){ cout << "BindingIterator_impl::~BindingIterator_impl()" << endl; } delete list; } CORBA::Boolean BindingIterator_impl::next_one(CosNaming::Binding_out b) { if(TRACE_FUNCTIONS){ cout << "BindingIterator_impl::next_one" << endl; } CosNaming::BindingList* blist; CORBA::Boolean ret = next_n(1, blist); b = new CosNaming::Binding; if(ret){ *b = (*blist)[0]; } else { b.ptr()->binding_type = CosNaming::nobject; } delete blist; return ret; } CORBA::Boolean BindingIterator_impl::next_n(CORBA::ULong how_many, CosNaming::BindingList_out bl) { if(TRACE_FUNCTIONS){ cout << "BindingIterator_impl::next_n" << endl; } if(list->length() < how_many){ how_many = list->length(); } bl = list; list = new CosNaming::BindingList(bl->length() - how_many); list->length(bl->length() - how_many); for(unsigned int i = 0; i < list->length(); ++i){ (*list)[i] = (*bl)[i + how_many]; } bl->length(how_many); return (how_many == 0) ? false : true; } void BindingIterator_impl::destroy(void) { if(TRACE_FUNCTIONS){ cout << "BindingIterator_impl::destroy" << endl; } PortableServer::ObjectId_var id = nspoa->servant_to_id(this); nspoa->deactivate_object(id); } choreonoid-1.5.0/src/Corba/package-list.txt0000664000000000000000000000017012741425367017301 0ustar rootroot Ubuntu 10.04: libomniorb4-dev libcos4-dev omniidl4 omniorb4-nameserver Ubuntu 11.04 - omniidl omniorb-nameserver choreonoid-1.5.0/src/Corba/CorbaUtil.h0000664000000000000000000000430212741425367016232 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_CORBAPLUGIN_CORBA_UTIL_H_INCLUDED #define CNOID_CORBAPLUGIN_CORBA_UTIL_H_INCLUDED #include #include #include #include "exportdecl.h" namespace cnoid { CNOID_EXPORT void initializeCorbaUtil(bool activatePOAManager = false, int listeningPort = -1); /** do initialization with an existing orb */ CNOID_EXPORT void initializeCorbaUtil(CORBA::ORB_ptr orb, bool activatePOAManager = false); CNOID_EXPORT CORBA::ORB_ptr getORB(); class CNOID_EXPORT NamingContextHelper { public: NamingContextHelper(); NamingContextHelper(const std::string& host, int port); void setLocation(const std::string& host, int port); template typename T::_ptr_type findObject(const std::string& name, const std::string& kind = "") { CORBA::Object_ptr obj = findObjectSub(name, kind); if(CORBA::is_nil(obj)){ return T::_nil(); } else { typename T::_ptr_type narrowed = T::_narrow(obj); CORBA::release(obj); return narrowed; } } CORBA::Object::_ptr_type findObject(const std::string& name, const std::string& kind = "") { return findObjectSub(name, kind); } const std::string& host() { return host_; } int port() { return port_; } const std::string& errorMessage(); bool isAlive(bool doRescan = true); bool isObjectAlive(CORBA::Object_ptr obj); struct ObjectInfo { std::string id; std::string kind; bool isAlive; }; typedef std::vector ObjectInfoList; ObjectInfoList getObjectList(); bool bindObject(CORBA::Object_ptr object, const std::string& name); void unbind(const std::string& name); private: bool checkOrUpdateNamingContext(); CORBA::Object_ptr findObjectSub(const std::string& name, const std::string& kind); void appendBindingList(CosNaming::BindingList_var& bList, ObjectInfoList& objects); CosNaming::NamingContext_var namingContext; std::string errorMessage_; std::string namingContextLocation; std::string host_; int port_; }; CNOID_EXPORT NamingContextHelper* getDefaultNamingContextHelper(); } #endif choreonoid-1.5.0/src/Corba/python/0000775000000000000000000000000012741425367015517 5ustar rootrootchoreonoid-1.5.0/src/Corba/python/test1.py0000664000000000000000000000055712741425367017140 0ustar rootrootfrom omniORB import CORBA, any, cdrUnmarshal, cdrMarshal import CosNaming import cnoid.Corba cnoid.Corba.helloCorba() global rootnc, orb #orb = CORBA.ORB_init(sys.argv, CORBA.ORB_ID) orb = cnoid.Corba.getORB() nameserver = orb.resolve_initial_references("NameService"); rootnc = nameserver._narrow(CosNaming.NamingContext) if(rootnc): print "rootnc found!" choreonoid-1.5.0/src/Corba/python/CMakeLists.txt0000664000000000000000000000040412741425367020255 0ustar rootroot # @author Shin'ichiro Nakaoka set(target PyCorba) add_cnoid_python_module(${target} PyCorba.cpp) target_link_libraries(${target} CnoidCorba ${PYTHON_LIBRARIES} ${Boost_PYTHON_LIBRARY}) configure_file(omniORBpy.h ${PROJECT_SOURCE_DIR}/include/cnoid COPYONLY) choreonoid-1.5.0/src/Corba/python/PyCorba.cpp0000664000000000000000000000123012741425367017556 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include #include "omniORBpy.h" #include using namespace std; using namespace boost; using namespace cnoid; namespace { omniORBpyAPI* api; PyObject* getPyORB() { CORBA::ORB_ptr orb = getORB(); PyObject* pyOrb = api->cxxObjRefToPyObjRef(orb, true); return pyOrb; } } BOOST_PYTHON_MODULE(Corba) { PyObject* omnipy = PyImport_ImportModule((char*)"_omnipy"); PyObject* pyapi = PyObject_GetAttrString(omnipy, (char*)"API"); api = (omniORBpyAPI*)PyCObject_AsVoidPtr(pyapi); Py_DECREF(pyapi); python::def("getORB", &getPyORB); } choreonoid-1.5.0/src/Corba/python/omniORBpy.h0000664000000000000000000001201612741425367017546 0ustar rootroot// -*- Mode: C++; -*- // Package : omniORBpy // omniORBpy.h Created on: 2002/05/25 // Author : Duncan Grisby (dgrisby) // // Copyright (C) 2002 Duncan Grisby // // This file is part of the omniORBpy library // // The omniORBpy library is free software; you can redistribute it // and/or modify it under the terms of the GNU Lesser General // Public License as published by the Free Software Foundation; // either version 2.1 of the License, or (at your option) any later // version. // // This library is distributed in the hope that it will be useful, // but WITHOUT ANY WARRANTY; without even the implied warranty of // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the // GNU Lesser General Public License for more details. // // You should have received a copy of the GNU Lesser General Public // License along with this library; if not, write to the Free // Software Foundation, Inc., 59 Temple Place - Suite 330, Boston, // MA 02111-1307, USA // // Description: // Header for the C++ API to omniORBpy #ifndef _omniORBpy_h_ #define _omniORBpy_h_ // The file including this file must include the correct Python.h // header. This file does not include it, to avoid difficulties with // its name. #include // The omniORBpy C++ API consists of a singleton structure containing // function pointers. A pointer to the API struct is stored as a // PyCObject in the _omnipy module with the name API. Access it with // code like: // // PyObject* omnipy = PyImport_ImportModule((char*)"_omnipy"); // PyObject* pyapi = PyObject_GetAttrString(omnipy, (char*)"API"); // omniORBpyAPI* api = (omniORBpyAPI*)PyCObject_AsVoidPtr(pyapi); // Py_DECREF(pyapi); // // Obviously, you MUST NOT modify the function pointers! // // This arrangement of things means you do not have to link to the // _omnipymodule library to be able to use the API. struct omniORBpyAPI { PyObject* (*cxxObjRefToPyObjRef)(const CORBA::Object_ptr cxx_obj, CORBA::Boolean hold_lock); // Convert a C++ object reference to a Python object reference. // If is true, caller holds the Python interpreter lock. CORBA::Object_ptr (*pyObjRefToCxxObjRef)(PyObject* py_obj, CORBA::Boolean hold_lock); // Convert a Python object reference to a C++ object reference. // Raises BAD_PARAM if the Python object is not an object reference. // If is true, caller holds the Python interpreter lock. PyObject* (*handleCxxSystemException)(const CORBA::SystemException& ex); // Sets the Python exception state to reflect the given C++ system // exception. Always returns NULL. The caller must hold the Python // interpreter lock. void (*handlePythonSystemException)(); // Handles the current Python exception. An exception must have // occurred. Handles all system exceptions and omniORB. // LocationForward; all other exceptions print a traceback and raise // CORBA::UNKNOWN. The caller must hold the Python interpreter lock. void (*marshalPyObject)(cdrStream& stream, PyObject* desc, PyObject* obj, CORBA::Boolean hold_lock); // Marshal the Python object into the stream, based on the type // descriptor desc. PyObject* (*unmarshalPyObject)(cdrStream& stream, PyObject* desc, CORBA::Boolean hold_lock); // Unmarshal a Python object from the stream, based on type // descriptor desc. void (*marshalTypeDesc)(cdrStream& stream, PyObject* desc, CORBA::Boolean hold_lock); // Marshal the type descriptor into the stream as a TypeCode. PyObject* (*unmarshalTypeDesc)(cdrStream& stream, CORBA::Boolean hold_lock); // Unmarshal a TypeCode from the stream, giving a type descriptor. omniORBpyAPI(); // Constructor for the singleton. Sets up the function pointers. }; // Macros to catch all C++ system exceptions and convert to Python // exceptions. Use like // // try { // ... // } // OMNIORBPY_CATCH_AND_HANDLE_SYSTEM_EXCEPTIONS // // The macros assume that api is a pointer to the omniORBpyAPI // structure above. #ifdef HAS_Cplusplus_catch_exception_by_base #define OMNIORBPY_CATCH_AND_HANDLE_SYSTEM_EXCEPTIONS \ catch (const CORBA::SystemException& ex) { \ return api->handleCxxSystemException(ex); \ } #else #define OMNIORBPY_CATCH_AND_HANDLE_SPECIFIED_EXCEPTION(exc) \ catch (const CORBA::exc& ex) { \ return api->handleCxxSystemException(ex); \ } #define OMNIORBPY_CATCH_AND_HANDLE_SYSTEM_EXCEPTIONS \ OMNIORB_FOR_EACH_SYS_EXCEPTION(OMNIORBPY_CATCH_AND_HANDLE_SPECIFIED_EXCEPTION) #endif // Extensions to omniORB / omniORBpy may create their own pseudo // object reference types. To provide a Python mapping for these, a // function must be provided that takes a CORBA::Object_ptr and // returns a suitable PyObject. Functions are registered by appending // PyCObjects to the list _omnipy.pseudoFns. The CObjects must contain // pointers to functions with this signature: typedef PyObject* (*omniORBpyPseudoFn)(const CORBA::Object_ptr); #endif // _omniORBpy_h_ choreonoid-1.5.0/src/SimpleControllerPlugin/0000775000000000000000000000000012741425367017624 5ustar rootrootchoreonoid-1.5.0/src/SimpleControllerPlugin/exportdecl.h0000664000000000000000000000257412741425367022156 0ustar rootroot#ifndef CNOID_SIMPLECONTROLLERPLUGIN_EXPORTDECL_H_INCLUDED # define CNOID_SIMPLECONTROLLERPLUGIN_EXPORTDECL_H_INCLUDED # if defined _WIN32 || defined __CYGWIN__ # define CNOID_SIMPLECONTROLLERPLUGIN_DLLIMPORT __declspec(dllimport) # define CNOID_SIMPLECONTROLLERPLUGIN_DLLEXPORT __declspec(dllexport) # define CNOID_SIMPLECONTROLLERPLUGIN_DLLLOCAL # else # if __GNUC__ >= 4 # define CNOID_SIMPLECONTROLLERPLUGIN_DLLIMPORT __attribute__ ((visibility("default"))) # define CNOID_SIMPLECONTROLLERPLUGIN_DLLEXPORT __attribute__ ((visibility("default"))) # define CNOID_SIMPLECONTROLLERPLUGIN_DLLLOCAL __attribute__ ((visibility("hidden"))) # else # define CNOID_SIMPLECONTROLLERPLUGIN_DLLIMPORT # define CNOID_SIMPLECONTROLLERPLUGIN_DLLEXPORT # define CNOID_SIMPLECONTROLLERPLUGIN_DLLLOCAL # endif # endif # ifdef CNOID_SIMPLECONTROLLERPLUGIN_STATIC # define CNOID_SIMPLECONTROLLERPLUGIN_DLLAPI # define CNOID_SIMPLECONTROLLERPLUGIN_LOCAL # else # ifdef CnoidSimpleControllerPlugin_EXPORTS # define CNOID_SIMPLECONTROLLERPLUGIN_DLLAPI CNOID_SIMPLECONTROLLERPLUGIN_DLLEXPORT # else # define CNOID_SIMPLECONTROLLERPLUGIN_DLLAPI CNOID_SIMPLECONTROLLERPLUGIN_DLLIMPORT # endif # define CNOID_SIMPLECONTROLLERPLUGIN_LOCAL CNOID_SIMPLECONTROLLERPLUGIN_DLLLOCAL # endif #endif #ifdef CNOID_EXPORT # undef CNOID_EXPORT #endif #define CNOID_EXPORT CNOID_SIMPLECONTROLLERPLUGIN_DLLAPI choreonoid-1.5.0/src/SimpleControllerPlugin/CMakeLists.txt0000664000000000000000000000135612741425367022371 0ustar rootroot # @author Shin'ichiro Nakaoka option(BUILD_SIMPLE_CONTROLLER_PLUGIN "Building SimpleControllerPlugin" ON) if(NOT BUILD_SIMPLE_CONTROLLER_PLUGIN) return() endif() # set(CMAKE_BUILD_TYPE Debug) add_subdirectory(library) set(plugin CnoidSimpleControllerPlugin) set(sources SimpleControllerPlugin.cpp SimpleControllerItem.cpp ) set(headers SimpleControllerItem.h exportdecl.h gettext.h ) make_gettext_mofiles(${plugin} mofiles) add_cnoid_plugin(${plugin} SHARED ${sources} ${headers} ${mofiles}) target_link_libraries(${plugin} CnoidBodyPlugin CnoidSimpleController) apply_common_setting_for_plugin(${plugin} "${headers}") if(QT5) qt5_use_modules(${plugin} Gui Widgets) endif() if(ENABLE_PYTHON) add_subdirectory(python) endif() choreonoid-1.5.0/src/SimpleControllerPlugin/library/0000775000000000000000000000000012741425367021270 5ustar rootrootchoreonoid-1.5.0/src/SimpleControllerPlugin/library/exportdecl.h0000664000000000000000000000237012741425367023614 0ustar rootroot#ifndef CNOID_SIMPLECONTROLLER_EXPORTDECL_H_INCLUDED # define CNOID_SIMPLECONTROLLER_EXPORTDECL_H_INCLUDED # if defined _WIN32 || defined __CYGWIN__ # define CNOID_SIMPLECONTROLLER_DLLIMPORT __declspec(dllimport) # define CNOID_SIMPLECONTROLLER_DLLEXPORT __declspec(dllexport) # define CNOID_SIMPLECONTROLLER_DLLLOCAL # else # if __GNUC__ >= 4 # define CNOID_SIMPLECONTROLLER_DLLIMPORT __attribute__ ((visibility("default"))) # define CNOID_SIMPLECONTROLLER_DLLEXPORT __attribute__ ((visibility("default"))) # define CNOID_SIMPLECONTROLLER_DLLLOCAL __attribute__ ((visibility("hidden"))) # else # define CNOID_SIMPLECONTROLLER_DLLIMPORT # define CNOID_SIMPLECONTROLLER_DLLEXPORT # define CNOID_SIMPLECONTROLLER_DLLLOCAL # endif # endif # ifdef CNOID_SIMPLECONTROLLER_STATIC # define CNOID_SIMPLECONTROLLER_DLLAPI # define CNOID_SIMPLECONTROLLER_LOCAL # else # ifdef CnoidSimpleController_EXPORTS # define CNOID_SIMPLECONTROLLER_DLLAPI CNOID_SIMPLECONTROLLER_DLLEXPORT # else # define CNOID_SIMPLECONTROLLER_DLLAPI CNOID_SIMPLECONTROLLER_DLLIMPORT # endif # define CNOID_SIMPLECONTROLLER_LOCAL CNOID_SIMPLECONTROLLER_DLLLOCAL # endif #endif #ifdef CNOID_EXPORT # undef CNOID_EXPORT #endif #define CNOID_EXPORT CNOID_SIMPLECONTROLLER_DLLAPI choreonoid-1.5.0/src/SimpleControllerPlugin/library/SimpleController.cpp0000664000000000000000000000212212741425367025266 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "SimpleController.h" using namespace std; using namespace boost; using namespace cnoid; SimpleController::SimpleController() { io = 0; } SimpleController::~SimpleController() { } bool SimpleController::initialize(SimpleControllerIO* io) { return false; } bool SimpleController::initialize() { return false; } bool SimpleController::start() { return true; } void SimpleController::setIO(SimpleControllerIO* io) { this->io = io; } void SimpleController::setJointOutput(bool on) { if(on){ io->setJointOutput(JOINT_TORQUE); } else { io->setJointOutput(0); } } void SimpleController::setJointOutput(int jointId, bool on) { if(on){ io->setLinkOutput(io->body()->joint(jointId), JOINT_TORQUE); } else { io->setLinkOutput(io->body()->joint(jointId), 0); } } Body* SimpleController::ioBody() { return io->body(); } double SimpleController::timeStep() const { return io->timeStep(); } std::ostream& SimpleController::os() const { return io->os(); } choreonoid-1.5.0/src/SimpleControllerPlugin/library/CMakeLists.txt0000664000000000000000000000251212741425367024030 0ustar rootroot set(target CnoidSimpleController) set(sources SimpleController.cpp) set(headers SimpleController.h exportdecl.h) add_cnoid_library(${target} SHARED ${sources} ${headers}) target_link_libraries(${target} CnoidBody) apply_common_setting_for_library(${target} "${headers}") function(add_cnoid_simple_controller) set(target ${ARGV0}) list(REMOVE_AT ARGV 0) add_library(${target} SHARED ${ARGV}) target_link_libraries(${target} CnoidSimpleController) set_target_properties(${target} PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR}/simplecontroller LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR}/simplecontroller PREFIX "") if(ENABLE_INSTALL_RPATH) set_target_properties(${target} PROPERTIES INSTALL_RPATH "$ORIGIN") endif() install(TARGETS ${target} RUNTIME DESTINATION ${CNOID_PLUGIN_SUBDIR}/simplecontroller CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel LIBRARY DESTINATION ${CNOID_PLUGIN_SUBDIR}/simplecontroller CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel) endfunction() file(MAKE_DIRECTORY ${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR}/simplecontroller) install( DIRECTORY ${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR}/simplecontroller DESTINATION ${CNOID_PLUGIN_SUBDIR}/simplecontroller FILES_MATCHING PATTERN "*" EXCLUDE) choreonoid-1.5.0/src/SimpleControllerPlugin/library/SimpleController.h0000664000000000000000000000626612741425367024750 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_SIMPLE_CONTROLLER_SIMPLE_CONTROLLER_H #define CNOID_SIMPLE_CONTROLLER_SIMPLE_CONTROLLER_H #include #include "exportdecl.h" namespace cnoid { class SimpleControllerIO { public: virtual std::string optionString() const = 0; virtual std::vector options() const = 0; virtual std::ostream& os() const = 0; virtual Body* body() = 0; virtual double timeStep() const = 0; enum StateType { JOINT_ANGLE = 1 << 0, JOINT_DISPLACEMENT = 1 << 0, JOINT_VELOCITY = 1 << 1, JOINT_ACCELERATION = 1 << 2, JOINT_TORQUE = 1 << 3, JOINT_FORCE = 1 << 3, LINK_POSITION = 1 << 4 }; virtual void setJointInput(int stateTypes) = 0; virtual void setJointOutput(int stateTypes) = 0; virtual void setLinkInput(Link* link, int stateTypes) = 0; virtual void setLinkOutput(Link* link, int stateTypes) = 0; }; class SimulationSimpleControllerIO : public SimpleControllerIO { public: virtual bool isImmediateMode() const = 0; virtual void setImmediateMode(bool on) = 0; }; class CNOID_EXPORT SimpleController { public: typedef SimpleController* (*Factory)(); virtual ~SimpleController(); virtual bool initialize(SimpleControllerIO* io); virtual bool initialize(); ///< \deprecated virtual bool start(); virtual bool control() = 0; /* The following function is defined for the deprecated functions, and is called from SimpleControllerItem. */ void setIO(SimpleControllerIO* io); enum StateType { JOINT_ANGLE = SimpleControllerIO::JOINT_ANGLE, JOINT_DISPLACEMENT = SimpleControllerIO::JOINT_DISPLACEMENT, JOINT_VELOCITY = SimpleControllerIO::JOINT_VELOCITY, JOINT_ACCELERATION = SimpleControllerIO::JOINT_ACCELERATION, JOINT_TORQUE = SimpleControllerIO::JOINT_TORQUE, JOINT_FORCE = SimpleControllerIO::JOINT_FORCE, LINK_POSITION = SimpleControllerIO::LINK_POSITION }; protected: SimpleController(); Body* ioBody(); ///< \deprecated double timeStep() const; ///< \deprecated std::ostream& os() const; ///< \deprecated void setJointOutput(bool on); ///< \deprecated void setJointOutput(int jointId, bool on); ///< \deprecated private: SimpleController(const SimpleController& org) { } /** This variable will be removed when the deprecated functions are removed. */ SimpleControllerIO* io; }; } #if defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__) #define CNOID_SIMPLE_CONTROLLER_EXPORT __declspec(dllexport) #elif __GNUC__ >= 4 #define CNOID_SIMPLE_CONTROLLER_EXPORT __attribute__ ((visibility("default"))) #else #define CNOID_SIMPLE_CONTROLLER_EXPORT #endif extern "C" CNOID_SIMPLE_CONTROLLER_EXPORT cnoid::SimpleController* createSimpleController(); #define CNOID_IMPLEMENT_SIMPLE_CONTROLLER_FACTORY(ControllerClassName) \ extern "C" CNOID_SIMPLE_CONTROLLER_EXPORT cnoid::SimpleController* createSimpleController() \ { \ return new ControllerClassName(); \ } #endif choreonoid-1.5.0/src/SimpleControllerPlugin/po/0000775000000000000000000000000012741425367020242 5ustar rootrootchoreonoid-1.5.0/src/SimpleControllerPlugin/po/ja.po0000664000000000000000000000546212741425367021203 0ustar rootroot# Japanese translations for PACKAGE package. # Copyright (C) 2012 THE PACKAGE'S COPYRIGHT HOLDER # This file is distributed under the same license as the PACKAGE package. # nakaoka , 2012. # msgid "" msgstr "" "Project-Id-Version: PACKAGE VERSION\n" "Report-Msgid-Bugs-To: \n" "POT-Creation-Date: 2016-07-05 00:59+0900\n" "PO-Revision-Date: 2012-07-17 00:29+0100\n" "Last-Translator: nakaoka \n" "Language-Team: Japanese\n" "Language: ja\n" "MIME-Version: 1.0\n" "Content-Type: text/plain; charset=UTF-8\n" "Content-Transfer-Encoding: 8bit\n" "Plural-Forms: nplurals=1; plural=0;\n" #: SimpleControllerItem.cpp:134 msgid "Controller directory" msgstr "‚³ƒ³ƒˆƒ­ƒĵƒİƒ‡‚£ƒĴ‚ŻƒˆƒŞ" #: SimpleControllerItem.cpp:135 msgid "Project directory" msgstr "ƒ—ƒ­‚¸‚§‚Żƒˆƒ‡‚£ƒĴ‚ŻƒˆƒŞ" #: SimpleControllerItem.cpp:181 msgid "The controller module \"%2%\" of %1% has been unloaded." msgstr "%1%‚³ƒ³ƒˆƒ­ƒĵƒİƒ˘‚¸ƒƒĵƒĞ\"%2%\"‚’‚˘ƒ³ƒ­ƒĵƒ‰——Ÿ€‚" #: SimpleControllerItem.cpp:264 msgid "Please save the project." msgstr "ƒ—ƒ­‚¸‚§‚Żƒˆ‚’保ċ­˜—Ĥ •„€‚" #: SimpleControllerItem.cpp:275 msgid "The controller module of %1% has already been loaded." msgstr "%1%‚³ƒ³ƒˆƒ­ƒĵƒİƒ˘‚¸ƒƒĵƒĞŻĉ—˘Ğƒ­ƒĵƒ‰•‚ŒĤ„™€‚" #: SimpleControllerItem.cpp:282 msgid "Loading the controller module \"%2%\" of %1% ... " msgstr "%1%‚³ƒ³ƒˆƒ­ƒĵƒİƒ˘‚¸ƒƒĵƒĞ\"%2%\"‚’ƒ­ƒĵƒ‰ä¸­ï½ï½ï½" #: SimpleControllerItem.cpp:285 msgid "Failed.\n" msgstr "ċ¤ħĉ•—€‚\n" #: SimpleControllerItem.cpp:288 msgid "OK!" msgstr "OK!" #: SimpleControllerItem.cpp:296 msgid "" "The factory function \"createSimpleController()\" is not found in the " "controller module." msgstr "" "ƒ•‚Ħ‚ŻƒˆƒŞé–˘ĉ•°\"createSimpleController()\"Œ‚³ƒ³ƒˆƒ­ƒĵƒİƒ˘‚¸ƒƒĵƒĞċ†…ĞèĤ‹¤‹" "‚Š›‚“€‚" #: SimpleControllerItem.cpp:300 msgid "The factory failed to create a controller instance." msgstr "ƒ•‚Ħ‚ŻƒˆƒŞŻ‚³ƒ³ƒˆƒ­ƒĵƒİ‚¤ƒ³‚ı‚żƒ³‚ıç”ŸĉˆĞċ¤ħĉ•———Ÿ€‚" #: SimpleControllerItem.cpp:302 msgid "A controller instance has successfully been created." msgstr "‚³ƒ³ƒˆƒ­ƒĵƒİ‚¤ƒ³‚ı‚żƒ³‚ı‚’生ĉˆ——Ÿ€‚" #: SimpleControllerItem.cpp:335 msgid "%1%'s initialize method failed." msgstr "%1%initializeƒĦ‚½ƒƒƒ‰Œċ¤ħĉ•———Ÿ€‚" #: SimpleControllerItem.cpp:708 msgid "Relative Path Base" msgstr "相ċŻƒ‘‚ıƒ™ƒĵ‚ı" #: SimpleControllerItem.cpp:711 msgid " Dynamic Link Library " msgstr " ċ…ħĉœ‰ƒİ‚¤ƒ–ƒİƒŞ " #: SimpleControllerItem.cpp:719 msgid "Controller module" msgstr "‚³ƒ³ƒˆƒ­ƒĵƒİƒ˘‚¸ƒƒĵƒĞ" #: SimpleControllerItem.cpp:721 msgid "Reloading" msgstr "ċ†èŞ­èĵ" #: SimpleControllerPlugin.cpp:23 msgid "SimpleControllerItem" msgstr "‚·ƒ³ƒ—ƒĞ‚³ƒ³ƒˆƒ­ƒĵƒİ‚˘‚¤ƒ†ƒ " choreonoid-1.5.0/src/SimpleControllerPlugin/SimpleControllerItem.h0000664000000000000000000000236412741425367024116 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_SIMPLE_CONTROLLER_PLUGIN_SIMPLE_CONTROLLER_ITEM_H #define CNOID_SIMPLE_CONTROLLER_PLUGIN_SIMPLE_CONTROLLER_ITEM_H #include #include "exportdecl.h" namespace cnoid { class SimpleControllerItemImpl; class SimpleController; class MessageView; class CNOID_EXPORT SimpleControllerItem : public ControllerItem { public: SimpleControllerItem(); SimpleControllerItem(const SimpleControllerItem& org); virtual ~SimpleControllerItem(); void setController(const std::string& name); virtual bool initialize(ControllerItemIO* io); virtual bool start(); virtual double timeStep() const; virtual void input(); virtual bool control(); virtual void output(); virtual void stop(); SimpleController* initialize(ControllerItemIO* io, Body* sharedIoBody); protected: virtual void onDisconnectedFromRoot(); virtual Item* doDuplicate() const; virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: SimpleControllerItemImpl* impl; }; typedef ref_ptr SimpleControllerItemPtr; } #endif choreonoid-1.5.0/src/SimpleControllerPlugin/SimpleControllerItem.cpp0000664000000000000000000005403712741425367024455 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "SimpleControllerItem.h" #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { enum { INPUT_JOINT_DISPLACEMENT = 0, INPUT_JOINT_FORCE = 1, INPUT_JOINT_VELOCITY = 2, INPUT_JOINT_ACCELERATION = 3, INPUT_LINK_POSITION = 4, INPUT_NONE = 5 }; enum { OUTPUT_JOINT_FORCE = 0, OUTPUT_JOINT_DISPLACEMENT = 1, OUTPUT_JOINT_VELOCITY = 2, OUTPUT_JOINT_ACCELERATION = 3, OUTPUT_LINK_POSITION = 4, OUTPUT_NONE = 5 }; } namespace cnoid { class SimpleControllerItemImpl : public SimulationSimpleControllerIO { public: SimpleControllerItem* self; SimpleController* controller; Body* simulationBody; BodyPtr ioBody; ControllerItemIO* io; bool isInputStateTypeSetUpdated; bool isOutputStateTypeSetUpdated; vector inputLinkIndices; vector inputStateTypes; vector outputLinkIndices; vector outputStateTypes; ConnectionSet inputDeviceStateConnections; boost::dynamic_bitset<> inputDeviceStateChangeFlag; ConnectionSet outputDeviceStateConnections; boost::dynamic_bitset<> outputDeviceStateChangeFlag; vector childControllerItems; vector linkIndexToInputStateTypeMap; vector linkIndexToOutputStateTypeMap; MessageView* mv; std::string controllerModuleName; std::string controllerModuleFileName; QLibrary controllerModule; bool doReloading; Selection pathBase; enum PathBase { CONTROLLER_DIRECTORY = 0, PROJECT_DIRECTORY, N_PATH_BASE }; SimpleControllerItemImpl(SimpleControllerItem* self); SimpleControllerItemImpl(SimpleControllerItem* self, const SimpleControllerItemImpl& org); ~SimpleControllerItemImpl(); void unloadController(); void initializeIoBody(Body* body); bool initialize(ControllerItemIO* io, Body* sharedIoBody); void input(); void onInputDeviceStateChanged(int deviceIndex); void onOutputDeviceStateChanged(int deviceIndex); void output(); bool onReloadingChanged(bool on); void doPutProperties(PutPropertyFunction& putProperty); bool store(Archive& archive); bool restore(const Archive& archive); // virtual functions of SimpleControllerIO virtual std::string optionString() const; virtual std::vector options() const; virtual Body* body(); virtual double timeStep() const; virtual std::ostream& os() const; virtual void setJointOutput(int stateTypes); virtual void setLinkOutput(Link* link, int stateTypes); virtual void setJointInput(int stateTypes); virtual void setLinkInput(Link* link, int stateTypes); virtual bool isImmediateMode() const; virtual void setImmediateMode(bool on); }; } SimpleControllerItem::SimpleControllerItem() { setName("SimpleController"); impl = new SimpleControllerItemImpl(this); } SimpleControllerItemImpl::SimpleControllerItemImpl(SimpleControllerItem* self) : self(self), pathBase(N_PATH_BASE, CNOID_GETTEXT_DOMAIN_NAME) { controller = 0; io = 0; mv = MessageView::instance(); doReloading = true; pathBase.setSymbol(CONTROLLER_DIRECTORY, N_("Controller directory")); pathBase.setSymbol(PROJECT_DIRECTORY, N_("Project directory")); pathBase.select(CONTROLLER_DIRECTORY); } SimpleControllerItem::SimpleControllerItem(const SimpleControllerItem& org) : ControllerItem(org) { impl = new SimpleControllerItemImpl(this, *org.impl); } SimpleControllerItemImpl::SimpleControllerItemImpl(SimpleControllerItem* self, const SimpleControllerItemImpl& org) : self(self), pathBase(org.pathBase) { controller = 0; io = 0; mv = MessageView::instance(); controllerModuleName = org.controllerModuleName; doReloading = org.doReloading; } SimpleControllerItem::~SimpleControllerItem() { delete impl; } SimpleControllerItemImpl::~SimpleControllerItemImpl() { unloadController(); inputDeviceStateConnections.disconnect(); outputDeviceStateConnections.disconnect(); } void SimpleControllerItemImpl::unloadController() { if(controller){ delete controller; controller = 0; } if(controllerModule.unload()){ mv->putln(fmt(_("The controller module \"%2%\" of %1% has been unloaded.")) % self->name() % controllerModuleFileName); } } void SimpleControllerItem::onDisconnectedFromRoot() { if(!isActive()){ impl->unloadController(); } impl->childControllerItems.clear(); } Item* SimpleControllerItem::doDuplicate() const { return new SimpleControllerItem(*this); } void SimpleControllerItem::setController(const std::string& name) { impl->unloadController(); impl->controllerModuleName = name; impl->controllerModuleFileName.clear(); } void SimpleControllerItemImpl::initializeIoBody(Body* body) { ioBody = body->clone(); inputDeviceStateConnections.disconnect(); outputDeviceStateConnections.disconnect(); const DeviceList<>& devices = body->devices(); const DeviceList<>& ioDevices = ioBody->devices(); inputDeviceStateChangeFlag.resize(devices.size()); inputDeviceStateChangeFlag.reset(); outputDeviceStateChangeFlag.resize(ioDevices.size()); outputDeviceStateChangeFlag.reset(); for(size_t i=0; i < devices.size(); ++i){ inputDeviceStateConnections.add( devices[i]->sigStateChanged().connect( boost::bind(&SimpleControllerItemImpl::onInputDeviceStateChanged, this, i))); outputDeviceStateConnections.add( ioDevices[i]->sigStateChanged().connect( boost::bind(&SimpleControllerItemImpl::onOutputDeviceStateChanged, this, i))); } } bool SimpleControllerItem::initialize(ControllerItemIO* io) { return impl->initialize(io, 0); } SimpleController* SimpleControllerItem::initialize(ControllerItemIO* io, Body* sharedIoBody) { if(impl->initialize(io, sharedIoBody)){ return impl->controller; } return 0; } bool SimpleControllerItemImpl::initialize(ControllerItemIO* io, Body* sharedIoBody) { this->io = io; bool result = false; if(!controller){ filesystem::path dllPath(controllerModuleName); if(!checkAbsolute(dllPath)){ if (pathBase.is(CONTROLLER_DIRECTORY)) dllPath = filesystem::path(executableTopDirectory()) / CNOID_PLUGIN_SUBDIR / "simplecontroller" / dllPath; else { const string& projectFileName = ProjectManager::instance()->getProjectFileName(); if (projectFileName.empty()){ mv->putln(_("Please save the project.")); return false; }else{ dllPath = boost::filesystem::path(projectFileName).parent_path() / dllPath; } } } controllerModuleFileName = getNativePathString(dllPath); controllerModule.setFileName(controllerModuleFileName.c_str()); if(controllerModule.isLoaded()){ mv->putln(fmt(_("The controller module of %1% has already been loaded.")) % self->name()); // This should be called to make the reference to the DLL. // Otherwise, QLibrary::unload() unloads the DLL without considering this instance. controllerModule.load(); } else { mv->put(fmt(_("Loading the controller module \"%2%\" of %1% ... ")) % self->name() % controllerModuleFileName); if(!controllerModule.load()){ mv->put(_("Failed.\n")); mv->putln(controllerModule.errorString()); } else { mv->putln(_("OK!")); } } if(controllerModule.isLoaded()){ SimpleController::Factory factory = (SimpleController::Factory)controllerModule.resolve("createSimpleController"); if(!factory){ mv->putln(_("The factory function \"createSimpleController()\" is not found in the controller module.")); } else { controller = factory(); if(!controller){ mv->putln(_("The factory failed to create a controller instance.")); } else { mv->putln(_("A controller instance has successfully been created.")); } } } } childControllerItems.clear(); if(controller){ ioBody = sharedIoBody; if(!ioBody){ initializeIoBody(io->body()); } controller->setIO(this); isInputStateTypeSetUpdated = true; isOutputStateTypeSetUpdated = true; inputLinkIndices.clear(); inputStateTypes.clear(); outputLinkIndices.clear(); outputStateTypes.clear(); result = controller->initialize(this); // try the old API if(!result){ setJointOutput(SimpleControllerIO::JOINT_TORQUE); setJointInput(SimpleControllerIO::JOINT_DISPLACEMENT); result = controller->initialize(); } if(!result){ mv->putln(fmt(_("%1%'s initialize method failed.")) % self->name()); if(doReloading){ self->stop(); } } else { simulationBody = io->body(); for(Item* child = self->childItem(); child; child = child->nextItem()){ SimpleControllerItem* childControllerItem = dynamic_cast(child); if(childControllerItem){ SimpleController* childController = childControllerItem->initialize(io, ioBody); if(childController){ childControllerItems.push_back(childControllerItem); } } } } } return result; } std::string SimpleControllerItemImpl::optionString() const { if(io){ const std::string& opt1 = io->optionString(); const std::string& opt2 = self->optionString(); if(!opt1.empty()){ if(opt2.empty()){ return opt1; } else { return opt1 + " " + opt2; } } } return self->optionString(); } std::vector SimpleControllerItemImpl::options() const { vector options; self->splitOptionString(optionString(), options); return options; } Body* SimpleControllerItemImpl::body() { return ioBody; } double SimpleControllerItem::timeStep() const { return impl->io ? impl->io->timeStep() : 0.0; } double SimpleControllerItemImpl::timeStep() const { return io->timeStep(); } std::ostream& SimpleControllerItemImpl::os() const { return mv->cout(); } void SimpleControllerItemImpl::setJointInput(int stateTypes) { if(!stateTypes){ linkIndexToInputStateTypeMap.clear(); } else { linkIndexToInputStateTypeMap.resize(ioBody->numLinks(), 0); const int nj = ioBody->numJoints(); for(int i=0; i < nj; ++i){ int linkIndex = ioBody->joint(i)->index(); if(linkIndex >= 0){ linkIndexToInputStateTypeMap[linkIndex] |= stateTypes; } } } isInputStateTypeSetUpdated = true; } void SimpleControllerItemImpl::setLinkInput(Link* link, int stateTypes) { if(link->index() >= linkIndexToInputStateTypeMap.size()){ linkIndexToInputStateTypeMap.resize(link->index() + 1, 0); } linkIndexToInputStateTypeMap[link->index()] |= stateTypes; isInputStateTypeSetUpdated = true; } void SimpleControllerItemImpl::setJointOutput(int stateTypes) { if(!stateTypes){ linkIndexToOutputStateTypeMap.clear(); } else { linkIndexToOutputStateTypeMap.resize(ioBody->numLinks(), 0); const int nj = ioBody->numJoints(); for(int i=0; i < nj; ++i){ int linkIndex = ioBody->joint(i)->index(); if(linkIndex >= 0){ linkIndexToOutputStateTypeMap[linkIndex] |= stateTypes; } } } isOutputStateTypeSetUpdated = true; } void SimpleControllerItemImpl::setLinkOutput(Link* link, int stateTypes) { if(link->index() >= linkIndexToOutputStateTypeMap.size()){ linkIndexToOutputStateTypeMap.resize(link->index() + 1, 0); } linkIndexToOutputStateTypeMap[link->index()] |= stateTypes; isOutputStateTypeSetUpdated = true; } static int getInputStateTypeIndex(int type){ switch(type){ case SimpleControllerIO::JOINT_DISPLACEMENT: return INPUT_JOINT_DISPLACEMENT; case SimpleControllerIO::JOINT_VELOCITY: return INPUT_JOINT_VELOCITY; case SimpleControllerIO::JOINT_ACCELERATION: return INPUT_JOINT_ACCELERATION; case SimpleControllerIO::JOINT_FORCE: return INPUT_JOINT_FORCE; case SimpleControllerIO::LINK_POSITION: return INPUT_LINK_POSITION; default: return INPUT_NONE; } } static int getOutputStateTypeIndex(int type){ switch(type){ case SimpleControllerIO::JOINT_DISPLACEMENT: return OUTPUT_JOINT_DISPLACEMENT; case SimpleControllerIO::JOINT_VELOCITY: return OUTPUT_JOINT_VELOCITY; case SimpleControllerIO::JOINT_ACCELERATION: return OUTPUT_JOINT_ACCELERATION; case SimpleControllerIO::JOINT_FORCE: return OUTPUT_JOINT_FORCE; case SimpleControllerIO::LINK_POSITION: return OUTPUT_LINK_POSITION; default: return OUTPUT_NONE; } } static void updateIOStateTypeSet (vector& linkIndexToStateTypeMap, vector& linkIndices, vector& stateTypes, boost::function getStateTypeIndex) { linkIndices.clear(); stateTypes.clear(); for(size_t i=0; i < linkIndexToStateTypeMap.size(); ++i){ bitset<5> types(linkIndexToStateTypeMap[i]); if(types.any()){ const int n = types.count(); linkIndices.push_back(i); stateTypes.push_back(n); for(int j=0; j < 5; ++j){ if(types.test(j)){ stateTypes.push_back(getStateTypeIndex(1 << j)); } } } } } bool SimpleControllerItemImpl::isImmediateMode() const { return self->isImmediateMode(); } void SimpleControllerItemImpl::setImmediateMode(bool on) { self->setImmediateMode(on); } bool SimpleControllerItem::start() { if(impl->controller->start()){ for(size_t i=0; i < impl->childControllerItems.size(); ++i){ if(!impl->childControllerItems[i]->start()){ return false; } } } return true; } void SimpleControllerItem::input() { impl->input(); for(size_t i=0; i < impl->childControllerItems.size(); ++i){ impl->childControllerItems[i]->impl->input(); } } void SimpleControllerItemImpl::input() { if(isInputStateTypeSetUpdated){ updateIOStateTypeSet(linkIndexToInputStateTypeMap, inputLinkIndices, inputStateTypes, getInputStateTypeIndex); isInputStateTypeSetUpdated = false; } int typeArrayIndex = 0; for(size_t i=0; i < inputLinkIndices.size(); ++i){ const int linkIndex = inputLinkIndices[i]; const Link* simLink = simulationBody->link(linkIndex); Link* ioLink = ioBody->link(linkIndex); const int n = inputStateTypes[typeArrayIndex++]; for(int j=0; j < n; ++j){ switch(inputStateTypes[typeArrayIndex++]){ case INPUT_JOINT_DISPLACEMENT: ioLink->q() = simLink->q(); break; case INPUT_JOINT_FORCE: ioLink->u() = simLink->u(); break; case INPUT_LINK_POSITION: ioLink->T() = simLink->T(); break; case INPUT_JOINT_VELOCITY: ioLink->dq() = simLink->dq(); break; case INPUT_JOINT_ACCELERATION: ioLink->ddq() = simLink->ddq(); break; default: break; } } } if(inputDeviceStateChangeFlag.any()){ const DeviceList<>& devices = simulationBody->devices(); const DeviceList<>& ioDevices = ioBody->devices(); boost::dynamic_bitset<>::size_type i = inputDeviceStateChangeFlag.find_first(); while(i != inputDeviceStateChangeFlag.npos){ Device* ioDevice = ioDevices[i]; ioDevice->copyStateFrom(*devices[i]); outputDeviceStateConnections.block(i); ioDevice->notifyStateChange(); outputDeviceStateConnections.unblock(i); i = inputDeviceStateChangeFlag.find_next(i); } inputDeviceStateChangeFlag.reset(); } } void SimpleControllerItemImpl::onInputDeviceStateChanged(int deviceIndex) { inputDeviceStateChangeFlag.set(deviceIndex); } bool SimpleControllerItem::control() { bool result = impl->controller->control(); for(size_t i=0; i < impl->childControllerItems.size(); ++i){ if(impl->childControllerItems[i]->impl->controller->control()){ result = true; } } return result; } void SimpleControllerItemImpl::onOutputDeviceStateChanged(int deviceIndex) { outputDeviceStateChangeFlag.set(deviceIndex); } void SimpleControllerItem::output() { impl->output(); for(size_t i=0; i < impl->childControllerItems.size(); ++i){ impl->childControllerItems[i]->impl->output(); } } void SimpleControllerItemImpl::output() { if(isOutputStateTypeSetUpdated){ updateIOStateTypeSet(linkIndexToOutputStateTypeMap, outputLinkIndices, outputStateTypes, getOutputStateTypeIndex); isOutputStateTypeSetUpdated = false; } int typeArrayIndex = 0; for(size_t i=0; i < outputLinkIndices.size(); ++i){ const int linkIndex = outputLinkIndices[i]; Link* simLink = simulationBody->link(linkIndex); const Link* ioLink = ioBody->link(linkIndex); const int n = outputStateTypes[typeArrayIndex++]; for(int j=0; j < n; ++j){ switch(outputStateTypes[typeArrayIndex++]){ case OUTPUT_JOINT_FORCE: simLink->u() = ioLink->u(); break; case OUTPUT_JOINT_DISPLACEMENT: simLink->q() = ioLink->q(); break; case OUTPUT_JOINT_VELOCITY: simLink->dq() = ioLink->dq(); break; case OUTPUT_JOINT_ACCELERATION: simLink->ddq() = ioLink->ddq(); break; case OUTPUT_LINK_POSITION: simLink->T() = ioLink->T(); break; default: break; } } } if(outputDeviceStateChangeFlag.any()){ const DeviceList<>& devices = simulationBody->devices(); const DeviceList<>& ioDevices = ioBody->devices(); boost::dynamic_bitset<>::size_type i = outputDeviceStateChangeFlag.find_first(); while(i != outputDeviceStateChangeFlag.npos){ Device* device = devices[i]; device->copyStateFrom(*ioDevices[i]); inputDeviceStateConnections.block(i); device->notifyStateChange(); inputDeviceStateConnections.unblock(i); i = outputDeviceStateChangeFlag.find_next(i); } outputDeviceStateChangeFlag.reset(); } } void SimpleControllerItem::stop() { if(impl->doReloading || !findRootItem()){ impl->unloadController(); } for(size_t i=0; i < impl->childControllerItems.size(); ++i){ impl->childControllerItems[i]->stop(); } impl->childControllerItems.clear(); impl->io = 0; } bool SimpleControllerItemImpl::onReloadingChanged(bool on) { doReloading = on; return true; } void SimpleControllerItem::doPutProperties(PutPropertyFunction& putProperty) { ControllerItem::doPutProperties(putProperty); impl->doPutProperties(putProperty); } void SimpleControllerItemImpl::doPutProperties(PutPropertyFunction& putProperty) { putProperty(_("Relative Path Base"), pathBase, changeProperty(pathBase)); FileDialogFilter filter; filter.push_back( string(_(" Dynamic Link Library ")) + DLLSFX ); string dir; if(!controllerModuleName.empty() && checkAbsolute(filesystem::path(controllerModuleName))) dir = filesystem::path(controllerModuleName).parent_path().string(); else{ if(pathBase.is(CONTROLLER_DIRECTORY)) dir = (filesystem::path(executableTopDirectory()) / CNOID_PLUGIN_SUBDIR / "simplecontroller").string(); } putProperty(_("Controller module"), FilePath(controllerModuleName, filter, dir), boost::bind(&SimpleControllerItem::setController, self, _1), true); putProperty(_("Reloading"), doReloading, boost::bind(&SimpleControllerItemImpl::onReloadingChanged, this, _1)); } bool SimpleControllerItem::store(Archive& archive) { if(!ControllerItem::store(archive)){ return false; } return impl->store(archive); } bool SimpleControllerItemImpl::store(Archive& archive) { archive.writeRelocatablePath("controller", controllerModuleName); archive.write("reloading", doReloading); archive.write("RelativePathBase", pathBase.selectedSymbol(), DOUBLE_QUOTED); return true; } bool SimpleControllerItem::restore(const Archive& archive) { if(!ControllerItem::restore(archive)){ return false; } return impl->restore(archive); } bool SimpleControllerItemImpl::restore(const Archive& archive) { string value; if(archive.read("controller", value)){ controllerModuleName = archive.expandPathVariables(value); } archive.read("reloading", doReloading); string symbol; if (archive.read("RelativePathBase", symbol)){ pathBase.select(symbol); } return true; } choreonoid-1.5.0/src/SimpleControllerPlugin/SimpleControllerPlugin.cpp0000664000000000000000000000126012741425367025003 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "SimpleControllerItem.h" #include #include #include "gettext.h" using namespace cnoid; namespace { class SimpleControllerPlugin : public Plugin { public: SimpleControllerPlugin() : Plugin("SimpleController") { require("Body"); } virtual bool initialize() { itemManager().registerClass(N_("SimpleControllerItem")); itemManager().addCreationPanel(); return true; } virtual bool finalize() { return true; } }; } CNOID_IMPLEMENT_PLUGIN_ENTRY(SimpleControllerPlugin); choreonoid-1.5.0/src/SimpleControllerPlugin/python/0000775000000000000000000000000012741425367021145 5ustar rootrootchoreonoid-1.5.0/src/SimpleControllerPlugin/python/PySimpleControllerPlugin.cpp0000664000000000000000000000056112741425367026640 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include "../SimpleControllerItem.h" #include using namespace boost::python; using namespace cnoid; BOOST_PYTHON_MODULE(SimpleControllerPlugin) { class_< SimpleControllerItem, SimpleControllerItemPtr, bases >("SimpleControllerItem") .def("setController", &SimpleControllerItem::setController); } choreonoid-1.5.0/src/SimpleControllerPlugin/python/CMakeLists.txt0000664000000000000000000000031712741425367023706 0ustar rootroot set(target PySimpleControllerPlugin) add_cnoid_python_module(${target} PySimpleControllerPlugin.cpp) target_link_libraries(${target} CnoidSimpleControllerPlugin ${PYTHON_LIBRARIES} ${Boost_PYTHON_LIBRARY}) choreonoid-1.5.0/src/MediaPlugin/0000775000000000000000000000000012741425367015346 5ustar rootrootchoreonoid-1.5.0/src/MediaPlugin/MediaUtil.h0000664000000000000000000000043212741425367017373 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_MEDIA_PLUGIN_MEDIA_UTIL_H #define CNOID_MEDIA_PLUGIN_MEDIA_UTIL_H #include #include "exportdecl.h" namespace cnoid { CNOID_EXPORT bool playAudioFile(const std::string& filename, double volumeRatio = -1.0); } #endif choreonoid-1.5.0/src/MediaPlugin/PulseAudioManager.cpp0000664000000000000000000005057612741425367021434 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "PulseAudioManager.h" #include "AudioItem.h" #include "MediaUtil.h" #include #include #include #include #include #include #include #include #include #include //#include // for debug #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { const bool TRACE_FUNCTIONS = true; PulseAudioManager* pulseAudioManager = 0; class Source { public: PulseAudioManagerImpl* manager; AudioItemPtr audioItem; pa_stream* stream; int currentFrame; bool isConnected; bool isActive_; bool doAdjustTime; bool initialWritingDone; bool hasAllFramesWritten; double volumeRatio; double timeToFinish; pa_sample_spec sampleSpec; vector silenceBuf; pa_operation* operation; LazyCaller stopLater; Source(PulseAudioManagerImpl* manager, AudioItemPtr audioItem); ~Source(); bool waitForOperation(); bool initialize(); bool connectStream(); bool disconnectStream(); void finalize(); bool isActive() const { return isActive_; } void seek(double time); void initializePlayback(double time); void startPlayback(); void write(size_t nbytes, bool isDoingInitialization); void onAllFramesWritten(pa_usec_t latency); void onBufferOverflow(); void onBufferUnderflow(); void adjustTime(const char* reason); void stop(); }; typedef boost::shared_ptr SourcePtr; } namespace cnoid { /** \todo To support timeout, mainloop should be manually handled instead of using threaded-mainloop because thread-mainloop does not provide any API which accepts a tiemout parameter. */ class PulseAudioManagerImpl { public: std::ostream& os; TimeBar* timeBar; /** In some environments, playback is somtimes delayed if the playback is done while keeping the stream connection after the previous playback. To avoid this, the connection is established and closed every time a playback starts and stops by default. Sine keeping the connection seems more natural from the viewpoint of API design, the code for doing that way has not been removed and can be enabled. */ Action* connectionKeepCheck; Action* fullSyncPlaybackMenuItem; double maxTimeOfActiveSources; pa_threaded_mainloop* mainloop; pa_context* context; typedef map SourceMap; SourceMap activeSources; Connection sigTimeChangedConnection; PulseAudioManagerImpl(ExtensionManager* ext); ~PulseAudioManagerImpl(); void finalize(); void onItemCheckToggled(Item* item, bool isChecked); void onFullSyncPlaybackToggled(); bool onPlaybackInitialized(double time); void onPlaybackStarted(double time); void onPlaybackStopped(double time); bool onTimeChanged(double time); bool store(Archive& archive); void restore(const Archive& archive); bool playAudioFile(const std::string& filename, double volumeRatio); void onAudioFilePlaybackStopped(AudioItemPtr audioItem); }; bool playAudioFile(const std::string& filename, double volumeRatio) { return PulseAudioManager::instance()->playAudioFile(filename, volumeRatio); } } namespace { void pa_context_state_callback(pa_context* context, void* userdata) { PulseAudioManagerImpl* manager = (PulseAudioManagerImpl*)userdata; pa_threaded_mainloop_signal(manager->mainloop, 0); } } void PulseAudioManager::initialize(ExtensionManager* ext) { if(!pulseAudioManager){ pulseAudioManager = ext->manage(new PulseAudioManager(ext)); } } PulseAudioManager* PulseAudioManager::instance() { assert(pulseAudioManager); return pulseAudioManager; } PulseAudioManager::PulseAudioManager(ExtensionManager* ext) { impl = new PulseAudioManagerImpl(ext); } PulseAudioManagerImpl::PulseAudioManagerImpl(ExtensionManager* ext) : os(mvout()) { context = 0; mainloop = pa_threaded_mainloop_new(); if(!mainloop){ os << _("PulseAudio's main loop cannot be created.") << endl; return; } pa_threaded_mainloop_start(mainloop); pa_threaded_mainloop_lock(mainloop); context = pa_context_new(pa_threaded_mainloop_get_api(mainloop), "Choreonoid"); if(!context){ os << _("PulseAudio's context cannot be created.") << endl; finalize(); return; } pa_context_set_state_callback(context, pa_context_state_callback, (void*)this); pa_context_connect(context, NULL, PA_CONTEXT_NOFLAGS, NULL); while(true){ pa_context_state_t state = pa_context_get_state(context); if(state == PA_CONTEXT_READY){ break; } if(state == PA_CONTEXT_FAILED || state == PA_CONTEXT_TERMINATED){ os << _("PulseAudio's context cannot be connected to the server.") << endl; finalize(); break; } pa_threaded_mainloop_wait(mainloop); } pa_threaded_mainloop_unlock(mainloop); if(!context){ return; } maxTimeOfActiveSources = -std::numeric_limits::max(); MenuManager& mm = ext->menuManager(); mm.setPath("/Options").setPath(N_("PulseAudio")); connectionKeepCheck = mm.addCheckItem(_("Keep Stream Connections")); fullSyncPlaybackMenuItem = mm.addCheckItem(_("Fully-Synchronized Audio Playback")); fullSyncPlaybackMenuItem->sigToggled().connect( boost::bind(&PulseAudioManagerImpl::onFullSyncPlaybackToggled, this)); ext->setProjectArchiver( "PulseAudioManager", boost::bind(&PulseAudioManagerImpl::store, this, _1), boost::bind(&PulseAudioManagerImpl::restore, this, _1)); ItemTreeView::mainInstance()->sigCheckToggled().connect( boost::bind(&PulseAudioManagerImpl::onItemCheckToggled, this, _1, _2)); timeBar = TimeBar::instance(); timeBar->sigPlaybackInitialized().connect( boost::bind(&PulseAudioManagerImpl::onPlaybackInitialized, this, _1)); timeBar->sigPlaybackStarted().connect( boost::bind(&PulseAudioManagerImpl::onPlaybackStarted, this, _1)); timeBar->sigPlaybackStopped().connect( boost::bind(&PulseAudioManagerImpl::onPlaybackStopped, this, _1)); // In some environments, the initial stream connection after starting up an // operating system produces an undesired playback timing offset. // To avoid that, an empty connection is done. AudioItemPtr audioItem = new AudioItem; audioItem->setName("initial connection"); Source source(this, audioItem); if(source.initialize()){ source.initializePlayback(0.0); } } PulseAudioManager::~PulseAudioManager() { delete impl; } PulseAudioManagerImpl::~PulseAudioManagerImpl() { activeSources.clear(); finalize(); } void PulseAudioManagerImpl::finalize() { if(context){ pa_threaded_mainloop_lock(mainloop); pa_context_disconnect(context); pa_context_unref(context); pa_threaded_mainloop_unlock(mainloop); context = 0; } if(mainloop){ pa_threaded_mainloop_stop(mainloop); pa_threaded_mainloop_free(mainloop); mainloop = 0; } } /** This function must be thread safe */ bool PulseAudioManager::playAudioFile(const std::string& filename, double volumeRatio) { return impl->playAudioFile(filename, volumeRatio); } bool PulseAudioManagerImpl::playAudioFile(const std::string& filename, double volumeRatio) { AudioItemPtr audioItem = new AudioItem(); if(audioItem->load(filename)){ SourcePtr source = boost::make_shared(this, audioItem); source->volumeRatio = volumeRatio; if(source->initialize()){ if(timeBar->isDoingPlayback()){ timeBar->stopPlayback(); } activeSources[audioItem] = source; timeBar->sigPlaybackStopped().connect( boost::bind(&PulseAudioManagerImpl::onAudioFilePlaybackStopped, this, audioItem)); timeBar->setTime(0.0); timeBar->startPlayback(); return true; } } return false; } void PulseAudioManagerImpl::onAudioFilePlaybackStopped(AudioItemPtr audioItem) { activeSources.erase(audioItem); } void PulseAudioManagerImpl::onItemCheckToggled(Item* item, bool isChecked) { if(AudioItem* audioItem = dynamic_cast(item)){ if(isChecked){ SourcePtr source = boost::make_shared(this, audioItem); if(source->initialize()){ activeSources[audioItem] = source; if(sigTimeChangedConnection.connected()){ source->initializePlayback(timeBar->realPlaybackTime()); source->startPlayback(); } } else { os << audioItem->name() << " cannot be initialized." << endl; } } else { activeSources.erase(audioItem); } } } void PulseAudioManagerImpl::onFullSyncPlaybackToggled() { } bool PulseAudioManagerImpl::onPlaybackInitialized(double time) { if(!sigTimeChangedConnection.connected()){ for(SourceMap::iterator p = activeSources.begin(); p != activeSources.end(); ++p){ SourcePtr& source = p->second; source->initializePlayback(time); } sigTimeChangedConnection = timeBar->sigTimeChanged().connect( boost::bind(&PulseAudioManagerImpl::onTimeChanged, this, _1)); } return true; } void PulseAudioManagerImpl::onPlaybackStarted(double time) { for(SourceMap::iterator p = activeSources.begin(); p != activeSources.end(); ++p){ SourcePtr& source = p->second; source->startPlayback(); } } void PulseAudioManagerImpl::onPlaybackStopped(double time) { for(SourceMap::iterator p = activeSources.begin(); p != activeSources.end(); ++p){ SourcePtr& source = p->second; source->stop(); } sigTimeChangedConnection.disconnect(); } bool PulseAudioManagerImpl::onTimeChanged(double time) { bool isActive = false; for(SourceMap::iterator p = activeSources.begin(); p != activeSources.end(); ++p){ SourcePtr& source = p->second; if(time >= source->timeToFinish){ source->stop(); } else if(source->isActive()){ isActive |= true; } } return isActive; } bool PulseAudioManagerImpl::store(Archive& archive) { archive.write("keepStreamConnection", connectionKeepCheck->isChecked()); return true; } void PulseAudioManagerImpl::restore(const Archive& archive) { connectionKeepCheck->setChecked(archive.get("keepStreamConnection", connectionKeepCheck->isChecked())); } Source::Source(PulseAudioManagerImpl* manager, AudioItemPtr audioItem) : manager(manager), audioItem(audioItem), stopLater(boost::bind(&Source::stop, this)) { stream = 0; currentFrame = 0; isConnected = false; isActive_ = false; operation = 0; doAdjustTime = false; initialWritingDone = false; hasAllFramesWritten = false; volumeRatio = -1.0; // using the default volume } Source::~Source() { finalize(); } namespace { void pa_stream_state_callback(pa_stream* stream, void* userdata) { Source* source = (Source*)userdata; pa_threaded_mainloop_signal(source->manager->mainloop, 0); } void pa_stream_write_callback(pa_stream* stream, size_t nbytes, void* userdata) { Source* source = (Source*)userdata; source->write(nbytes, false); } void pa_stream_success_callback(pa_stream* stream, int success, void* userdata) { Source* source = (Source*)userdata; pa_threaded_mainloop_signal(source->manager->mainloop, 0); } void pa_stream_overflow_notify_callback(pa_stream* stream, void* userdata) { Source* source = (Source*)userdata; callLater(boost::bind(&Source::onBufferOverflow, source)); } void pa_stream_underflow_notify_callback(pa_stream* stream, void* userdata) { Source* source = (Source*)userdata; if(!source->hasAllFramesWritten){ callLater(boost::bind(&Source::onBufferUnderflow, source)); } } } bool Source::waitForOperation() { bool waited = false; if(operation){ while(pa_operation_get_state(operation) == PA_OPERATION_RUNNING){ waited = true; pa_threaded_mainloop_wait(manager->mainloop); } pa_operation_unref(operation); operation = 0; } return waited; } bool Source::initialize() { pa_threaded_mainloop_lock(manager->mainloop); sampleSpec.format = PA_SAMPLE_FLOAT32NE; sampleSpec.rate = audioItem->samplingRate(); sampleSpec.channels = audioItem->numChannels(); bool initialized; if(manager->connectionKeepCheck->isChecked()){ initialized = connectStream(); } else { initialized = true; } pa_threaded_mainloop_unlock(manager->mainloop); if(!initialized){ finalize(); } return initialized; } bool Source::connectStream() { if(!stream){ stream = pa_stream_new(manager->context, audioItem->name().c_str(), &sampleSpec, NULL); if(!stream){ manager->os << _("PulseAudio's stream cannot be created.") << endl; return false; } pa_stream_set_state_callback(stream, pa_stream_state_callback, (void*)this); isConnected = false; } if(isConnected){ return true; } pa_buffer_attr* pattr = 0; //pa_stream_flags_t flags = PA_STREAM_START_CORKED; pa_stream_flags_t flags = (pa_stream_flags)(PA_STREAM_START_CORKED | PA_STREAM_AUTO_TIMING_UPDATE | PA_STREAM_INTERPOLATE_TIMING); /* pa_buffer_attr attr; attr.maxlength = -1; attr.tlength = -1; attr.prebuf = -1; attr.minreq = -1; attr.fragsize = -1; flags = (pa_stream_flags_t)( flags | PA_STREAM_ADJUST_LATENCY | PA_STREAM_INTERPOLATE_TIMING | PA_STREAM_AUTO_TIMING_UPDATE); pattr = &attr; */ int result = pa_stream_connect_playback(stream, NULL, pattr, flags, NULL, NULL); if(result < 0){ manager->os << "PulseAudio stream cannot be connected: " << pa_strerror(result) << endl; } else { // wait for ready pa_stream_state_t state; while(true){ state = pa_stream_get_state(stream); if(state == PA_STREAM_READY || state == PA_STREAM_FAILED || state == PA_STREAM_TERMINATED){ break; } pa_threaded_mainloop_wait(manager->mainloop); } if(state != PA_STREAM_READY){ manager->os << "PulseAudio stream cannot be ready." << endl; result = -1; } else { if(volumeRatio >= 0.0 && volumeRatio <= 1.0){ const int sinkIndex = pa_stream_get_index(stream); //const int sinkIndex = pa_stream_get_device_index(stream); pa_volume_t v = pa_sw_volume_from_linear(volumeRatio); pa_cvolume volume; pa_cvolume_set(&volume, sampleSpec.channels, v); pa_context_set_sink_input_volume(manager->context, sinkIndex, &volume, NULL, NULL); //pa_context_set_sink_volume_by_index(manager->context, sinkIndex, &volume, NULL, NULL); } isConnected = true; } } return isConnected; } bool Source::disconnectStream() { if(stream && isConnected){ if(isConnected){ pa_stream_set_state_callback(stream, 0, 0); pa_stream_disconnect(stream); isConnected = false; } pa_stream_unref(stream); stream = 0; } } void Source::finalize() { if(stream){ if(isActive_){ stop(); } pa_threaded_mainloop_lock(manager->mainloop); waitForOperation(); disconnectStream(); pa_threaded_mainloop_unlock(manager->mainloop); } } void Source::seek(double time) { currentFrame = floor((time - audioItem->offsetTime()) * audioItem->samplingRate()); hasAllFramesWritten = false; } void Source::initializePlayback(double time) { pa_threaded_mainloop_lock(manager->mainloop); waitForOperation(); if(!isActive_ && connectStream()){ seek(time); initialWritingDone = false; size_t writableSize = pa_stream_writable_size(stream); if(writableSize <= 0){ manager->os << (format(_("PulseAudio stream for %1% cannot be written.")) % audioItem->name()) << endl; disconnectStream(); } else { timeToFinish = std::numeric_limits::max(); write(writableSize, true); isActive_ = true; pa_stream_set_write_callback(stream, pa_stream_write_callback, (void*)this); pa_stream_set_overflow_callback(stream, pa_stream_overflow_notify_callback, (void*)this); pa_stream_set_underflow_callback(stream, pa_stream_underflow_notify_callback, (void*)this); } } pa_threaded_mainloop_unlock(manager->mainloop); } void Source::startPlayback() { if(stream && isActive_){ pa_threaded_mainloop_lock(manager->mainloop); operation = pa_stream_cork(stream, 0, pa_stream_success_callback, this); pa_threaded_mainloop_unlock(manager->mainloop); } } void Source::write(size_t nbytes, bool isDoingInitialization) { const int frameSize = sizeof(float) * sampleSpec.channels; int numBufFrames = nbytes / frameSize; pa_seek_mode_t seekMode; if(!initialWritingDone){ seekMode = PA_SEEK_RELATIVE; } else if(doAdjustTime){ seekMode = PA_SEEK_RELATIVE_ON_READ; doAdjustTime = false; } else { seekMode = PA_SEEK_RELATIVE; } int numSilentFrames = 0; if(currentFrame < 0){ numSilentFrames = std::min((0 - currentFrame), numBufFrames); silenceBuf.resize(numSilentFrames * sampleSpec.channels, 0.0f); pa_stream_write(stream, &silenceBuf[0], (numSilentFrames * frameSize), NULL, 0, seekMode); currentFrame += numSilentFrames; numBufFrames = pa_stream_writable_size(stream); seekMode = PA_SEEK_RELATIVE; } const std::vector& data = audioItem->samplingData(); const int numAllFrames = data.size() / sampleSpec.channels; int numFrames = std::min(numAllFrames - currentFrame, numBufFrames); if(numFrames > 0){ const float* p = &data[currentFrame * sampleSpec.channels]; pa_stream_write(stream, p, (numFrames * frameSize), NULL, 0, seekMode); currentFrame += numFrames; } else if(numSilentFrames == 0){ if(!isDoingInitialization && !hasAllFramesWritten){ hasAllFramesWritten = true; pa_usec_t latency; int negative; pa_stream_get_latency(stream, &latency, &negative); if(negative){ latency = 0; } callLater(boost::bind(&Source::onAllFramesWritten, this, latency)); } } } void Source::onAllFramesWritten(pa_usec_t latency) { timeToFinish = manager->timeBar->realPlaybackTime() + latency / 1000000.0; } void Source::onBufferOverflow() { adjustTime(_("overflowed")); } void Source::onBufferUnderflow() { adjustTime(_("underflowed")); } void Source::adjustTime(const char* reason) { pa_threaded_mainloop_lock(manager->mainloop); double time = manager->timeBar->realPlaybackTime(); seek(time); doAdjustTime = true; pa_threaded_mainloop_unlock(manager->mainloop); manager->os << (format(_("PulseAudioManager: Buffer of %1% %2%. Its playback time is adjusted to %3%.")) % audioItem->name() % reason % time) << endl; } void Source::stop() { if(stream && isActive_){ pa_threaded_mainloop_lock(manager->mainloop); waitForOperation(); pa_stream_set_write_callback(stream, 0, 0); pa_stream_set_overflow_callback(stream, 0, 0); pa_stream_set_underflow_callback(stream, 0, 0); operation = pa_stream_cork(stream, 1, pa_stream_success_callback, this); waitForOperation(); if(manager->connectionKeepCheck->isChecked()){ operation = pa_stream_flush(stream, pa_stream_success_callback, this); //waitForOperation(); } else { disconnectStream(); } pa_threaded_mainloop_unlock(manager->mainloop); } isActive_ = false; } choreonoid-1.5.0/src/MediaPlugin/exportdecl.h0000664000000000000000000000221512741425367017670 0ustar rootroot #ifndef CNOID_MEDIAPLUGIN_EXPORTDECL_H_INCLUDED # define CNOID_MEDIAPLUGIN_EXPORTDECL_H_INCLUDED # if defined _WIN32 || defined __CYGWIN__ # define CNOID_MEDIAPLUGIN_DLLIMPORT __declspec(dllimport) # define CNOID_MEDIAPLUGIN_DLLEXPORT __declspec(dllexport) # define CNOID_MEDIAPLUGIN_DLLLOCAL # else # if __GNUC__ >= 4 # define CNOID_MEDIAPLUGIN_DLLIMPORT __attribute__ ((visibility("default"))) # define CNOID_MEDIAPLUGIN_DLLEXPORT __attribute__ ((visibility("default"))) # define CNOID_MEDIAPLUGIN_DLLLOCAL __attribute__ ((visibility("hidden"))) # else # define CNOID_MEDIAPLUGIN_DLLIMPORT # define CNOID_MEDIAPLUGIN_DLLEXPORT # define CNOID_MEDIAPLUGIN_DLLLOCAL # endif # endif # ifdef CNOID_MEDIAPLUGIN_STATIC # define CNOID_MEDIAPLUGIN_DLLAPI # define CNOID_MEDIAPLUGIN_LOCAL # else # ifdef CnoidMediaPlugin_EXPORTS # define CNOID_MEDIAPLUGIN_DLLAPI CNOID_MEDIAPLUGIN_DLLEXPORT # else # define CNOID_MEDIAPLUGIN_DLLAPI CNOID_MEDIAPLUGIN_DLLIMPORT # endif # define CNOID_MEDIAPLUGIN_LOCAL CNOID_MEDIAPLUGIN_DLLLOCAL # endif #endif #ifdef CNOID_EXPORT # undef CNOID_EXPORT #endif #define CNOID_EXPORT CNOID_MEDIAPLUGIN_DLLAPI choreonoid-1.5.0/src/MediaPlugin/MediaItem.cpp0000664000000000000000000000742112741425367017714 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "MediaItem.h" #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace filesystem = boost::filesystem; namespace { bool loadMediaItem(MediaItemPtr item, const std::string& filepath, std::ostream& os, Item* parentItem) { bool loaded = item->setMediaFilePath(filepath); if(!loaded){ os << item->lastErrorMessage() << endl; } return loaded; } void onSigOptionsParsed(boost::program_options::variables_map& v) { if(v.count("media")){ vector mediaFilenames = v["media"].as< vector >(); for(size_t i=0; i < mediaFilenames.size(); ++i){ MediaItemPtr item(new MediaItem()); if(item->setMediaFilePath(mediaFilenames[i])){ RootItem::mainInstance()->addChildItem(item); } } } } } void MediaItem::initialize(ExtensionManager* ext) { ext->itemManager().registerClass(N_("MediaItem")); ext->itemManager().addLoader(_("Media file"), "MEDIA-GENERIC", "", loadMediaItem); ext->optionManager().addOption("media", boost::program_options::value< vector >(), _("load an media file")); ext->optionManager().sigOptionsParsed().connect(onSigOptionsParsed); } MediaItem::MediaItem() { offsetTime_ = 0.0; } MediaItem::MediaItem(const MediaItem& org) : Item(org) { offsetTime_ = org.offsetTime_; if(!org.mediaFilePath().empty()){ setMediaFilePath(org.mediaFilePath()); } else { setMediaURI(org.mediaURI()); } } MediaItem::~MediaItem() { } bool MediaItem::setMediaURI(const std::string& uri) { mediaURI_ = uri; mediaFilePath_.clear(); /// \todo set filenae_ when uri points a local file path return true; } bool MediaItem::setMediaFilePath(const std::string& filepath) { mediaFilePath_.clear(); mediaURI_.clear(); filesystem::path fpath(filepath); if(filesystem::exists(fpath) && !filesystem::is_directory(fpath)){ mediaFilePath_ = filepath; filesystem::path fullpath = getAbsolutePath(fpath); mediaURI_ = str(fmt("file://%1%") % getPathString(fullpath)); return true; } else { lastErrorMessage_ = str(fmt(_("Media file \"%1%\" does not exist.")) % filepath); return false; } } void MediaItem::setOffsetTime(double offset) { offsetTime_ = offset; } Item* MediaItem::doDuplicate() const { return new MediaItem(*this); } void MediaItem::doPutProperties(PutPropertyFunction& putProperty) { putProperty(_("uri"), mediaURI_); putProperty(_("offset"), offsetTime_, (boost::lambda::bind(&MediaItem::setOffsetTime, this, boost::lambda::_1), true)); } bool MediaItem::store(Archive& archive) { if(!mediaFilePath_.empty()){ archive.writeRelocatablePath("file", mediaFilePath_); if(!fileFormat().empty()){ archive.write("format", fileFormat()); } } else if(!mediaURI_.empty()){ archive.write("uri", mediaURI_, DOUBLE_QUOTED); } archive.write("offsetTime", offsetTime_); return true; } bool MediaItem::restore(const Archive& archive) { bool restored = false; string location; string format = "MEDIA-GENERIC"; if(archive.readRelocatablePath("file", location)){ archive.read("format", format); restored = load(location, format); } else { restored = setMediaURI(archive.get("uri", "")); } setOffsetTime(archive.get("offsetTime", 0.0)); return restored; } choreonoid-1.5.0/src/MediaPlugin/DSMediaView.cpp0000664000000000000000000004537212741425367020166 0ustar rootroot/** @author Saeki, Keisuke @author Shin'ichiro Nakaoka */ #include "DSMediaView.h" #include "MediaItem.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { const bool TRACE_FUNCTIONS = false; bool initialized = false; Action* aspectRatioCheck = 0; Action* orgSizeCheck = 0; const UINT WM_DSHOW_NOTIFY = WM_USER + 21; } namespace cnoid { class DSMediaViewImpl { public: DSMediaViewImpl(DSMediaView* self); ~DSMediaViewImpl(); DSMediaView* self; MessageView* mv; ConnectionSet timeBarConnections; MediaItemPtr currentMediaItem; enum PLAYSTATE { Empty, Stopped, Paused, Running } currentState; // DirectShow interfaces IGraphBuilder* graphBuilder; IMediaControl* mediaControl; IMediaEventEx* mediaEvent; IMediaSeeking* mediaSeeking; IVideoWindow* videoWindow; IBasicVideo* basicVideo; IVideoFrameStep* videoFrameStep; // windows handle HWND hwnd; bool bMapped; bool bLoaded; bool bCanSeek; // Original Window Procedure WNDPROC orgWinProc; void onWindowIdChanged(); void onAspectRatioCheckToggled(); void onOrgSizeCheckToggled(); void onItemCheckToggled(Item* item, bool isChecked); void initializeScreenWindow(); void clearScreenWindow(); void load(); void unload(); HRESULT adjustVideoWindow(); void connectTimeBarSignals(); bool onPlaybackInitialized(double time); void onPlaybackStarted(double time); bool onTimeChanged(double time); void onPlaybackStopped(double time); HRESULT seekMedia(double time); HRESULT playMedia(); HRESULT pauseMedia(); HRESULT stopMedia(); HRESULT HandleDShowEvent(); bool storeState(Archive& archive); bool restoreState(const Archive& archive); }; } bool DSMediaView::initialize(ExtensionManager* ext) { if(TRACE_FUNCTIONS){ cout << "DSMediaView::initialize()" << endl; } if(!initialized){ if(!SUCCEEDED(CoInitializeEx(NULL, COINIT_APARTMENTTHREADED))){ MessageView::mainInstance()->putln(_("CoInitialize failed. MediaView is not available.")); return false; } ext->viewManager().registerClass( "MediaView", N_("Media"), ViewManager::SINGLE_OPTIONAL); MenuManager& mm = ext->menuManager(); mm.setPath("/Options").setPath(N_("Media View")); aspectRatioCheck = mm.addCheckItem(_("Keep Aspect Ratio")); aspectRatioCheck->setChecked(true); orgSizeCheck = mm.addCheckItem(_("Keep Original Size")); orgSizeCheck->setChecked(true); initialized = true; } return initialized; } void DSMediaView::finalize() { if(TRACE_FUNCTIONS){ cout << "DSMediaView::finalize()" << endl; } if(initialized){ CoUninitialize(); } } DSMediaView::DSMediaView() { if(TRACE_FUNCTIONS){ cout << "DSMediaView::DSMediaView()" << endl; } setName(N_("Media")); setDefaultLayoutArea(View::CENTER); setAttribute(Qt::WA_NativeWindow); setAttribute(Qt::WA_PaintOnScreen); setAttribute(Qt::WA_OpaquePaintEvent); impl = new DSMediaViewImpl(this); } DSMediaViewImpl::DSMediaViewImpl(DSMediaView* self) : self(self), mv(MessageView::mainInstance()) { if(TRACE_FUNCTIONS){ cout << "DSMediaViewImpl::DSMediaViewImpl()" << endl; } graphBuilder = 0; mediaControl = 0; mediaEvent = 0; videoWindow = 0; basicVideo = 0; mediaSeeking = 0; videoFrameStep = 0; hwnd = 0; bMapped = false; bLoaded = false; bCanSeek = false; currentState = Empty; orgWinProc = NULL; aspectRatioCheck->sigToggled().connect( boost::bind(&DSMediaViewImpl::onAspectRatioCheckToggled, this)); orgSizeCheck->sigToggled().connect( boost::bind(&DSMediaViewImpl::onOrgSizeCheckToggled, this)); ItemTreeView::mainInstance()->sigCheckToggled().connect( boost::bind(&DSMediaViewImpl::onItemCheckToggled, this, _1, _2)); } DSMediaView::~DSMediaView() { if(TRACE_FUNCTIONS){ cout << "DSMediaView::~DSMediaView()" << endl; } delete impl; } DSMediaViewImpl::~DSMediaViewImpl() { timeBarConnections.disconnect(); } /* bool DSMediaView::event(QEvent* event) { if(TRACE_FUNCTIONS){ cout << "DSMediaView::event()" << endl; } if(event->type() == QEvent::WinIdChange){ impl->onWindowIdChanged(); return true; } //return QWidget::event(event); return false; } */ namespace { LRESULT CALLBACK videoWindowProc(HWND hwnd, UINT uMsg, WPARAM wParam, LPARAM lParam) { if(TRACE_FUNCTIONS){ cout << "DSMediaView::videoWindowProc()" << endl; } DSMediaViewImpl* impl = (DSMediaViewImpl*)GetWindowLongPtr(hwnd, GWLP_USERDATA); switch(uMsg) { case WM_DSHOW_NOTIFY: impl->HandleDShowEvent(); break; } return CallWindowProc(impl->orgWinProc, hwnd, uMsg, wParam, lParam); } } void DSMediaViewImpl::onWindowIdChanged() { hwnd = (HWND)self->winId(); if(TRACE_FUNCTIONS){ cout << "DSMediaView::onWindowIdChanged(): hwnd = " << hwnd << endl; } initializeScreenWindow(); } void DSMediaView::resizeEvent(QResizeEvent* event) { if(TRACE_FUNCTIONS){ cout << "DSMediaView::resizeEvent()" << endl; } if(impl->bLoaded){ impl->adjustVideoWindow(); } } void DSMediaView::paintEvent(QPaintEvent* event) { if(TRACE_FUNCTIONS){ cout << "DSMediaView::paintEvent()" << endl; } QPainter painter(this); painter.fillRect(0, 0, width(), height(), QColor(Qt::black)); } QPaintEngine* DSMediaView::paintEngine () const { //return 0; return View::paintEngine(); } void DSMediaView::onActivated() { if(TRACE_FUNCTIONS){ cout << "DSMediaView::onActivated()" << endl; } impl->initializeScreenWindow(); } void DSMediaView::onDeactivated() { if(impl->bLoaded){ impl->unload(); } impl->clearScreenWindow(); } void DSMediaViewImpl::onAspectRatioCheckToggled() { if(bLoaded){ adjustVideoWindow(); } } void DSMediaViewImpl::onOrgSizeCheckToggled() { if(bLoaded){ adjustVideoWindow(); } } void DSMediaViewImpl::onItemCheckToggled(Item* item, bool isChecked) { if(TRACE_FUNCTIONS){ cout << "DSMediaViewImpl::onItemCheckToggled()" << endl; } MediaItem* mediaItem = dynamic_cast(item); if(mediaItem){ ItemList checkedItems = ItemTreeView::mainInstance()->checkedItems(); MediaItemPtr targetItem; if(!checkedItems.empty()){ targetItem = checkedItems.front(); } if(targetItem != currentMediaItem){ if(currentMediaItem){ if(bLoaded){ unload(); } } currentMediaItem = targetItem; if(bMapped && currentMediaItem){ load(); } } } } void DSMediaViewImpl::initializeScreenWindow() { hwnd = (HWND)self->winId(); if(TRACE_FUNCTIONS){ cout << "DSMediaView::initializeScreenWindow(): hwnd = " << hwnd << endl; } if(hwnd != NULL && orgWinProc == NULL){ #ifdef _WIN64 orgWinProc = (WNDPROC)GetWindowLongPtr(hwnd, GWLP_WNDPROC); //SetWindowLong(hwnd, GWL_WNDPROC, (LONG)(WNDPROC)videoWindowProc); SetWindowLongPtr(hwnd, GWLP_WNDPROC, (LONG_PTR)videoWindowProc); SetWindowLongPtr(hwnd, GWLP_USERDATA, (LONG_PTR)this); #else orgWinProc = (WNDPROC)GetWindowLong(hwnd, GWL_WNDPROC); //SetWindowLong(hwnd, GWL_WNDPROC, (LONG)(WNDPROC)videoWindowProc); SetWindowLongPtr(hwnd, GWL_WNDPROC, (LONG_PTR)videoWindowProc); SetWindowLongPtr(hwnd, GWL_USERDATA, (LONG_PTR)this); #endif bMapped = true; if(currentMediaItem){ load(); } } } void DSMediaViewImpl::clearScreenWindow() { if(hwnd != NULL && orgWinProc != NULL){ #ifdef _WIN64 SetWindowLongPtr(hwnd, GWLP_WNDPROC, (LONG_PTR)orgWinProc); #else SetWindowLongPtr(hwnd, GWL_WNDPROC, (LONG_PTR)orgWinProc); #endif } orgWinProc = NULL; hwnd = NULL; bMapped = false; } void DSMediaViewImpl::load() { if(TRACE_FUNCTIONS){ cout << "DSMediaView::load()" << endl; } HRESULT result; #define EIF(x) \ result = (x); \ if(FAILED(result)) { \ throw DSException(str(fmt("FAILED(hr=0x%x) in" TEXT(#x)) % result)); \ } struct DSException { DSException(std::string m) : message(m) { } std::string message; }; try{ // Get the interface for DirectShow's GraphBuilder EIF(CoCreateInstance(CLSID_FilterGraph, NULL, CLSCTX_INPROC_SERVER, IID_IGraphBuilder, (void**)&graphBuilder)); WCHAR wFile[MAX_PATH]; // Convert filename to wide character string MultiByteToWideChar(_getmbcp(), 0, currentMediaItem->mediaURI().c_str(), -1, wFile, sizeof(wFile)); // Have the graph builder construct its the appropriate graph automatically EIF(graphBuilder->RenderFile(wFile, NULL)); // QueryInterface for DirectShow interfaces EIF(graphBuilder->QueryInterface(IID_IMediaControl, (void**)&mediaControl)); EIF(graphBuilder->QueryInterface(IID_IMediaEventEx, (void**)&mediaEvent)); EIF(graphBuilder->QueryInterface(IID_IMediaSeeking, (void**)&mediaSeeking)); // Check seekable DWORD caps = AM_SEEKING_CanSeekAbsolute | AM_SEEKING_CanGetDuration; bCanSeek = (S_OK == mediaSeeking->CheckCapabilities(&caps)); if(!bCanSeek){ mv->putln(_("This media file is not able to seek!")); } // Query for video interfaces, which may not be relevant for audio files EIF(graphBuilder->QueryInterface(IID_IVideoWindow, (void**)&videoWindow)); EIF(graphBuilder->QueryInterface(IID_IBasicVideo, (void**)&basicVideo)); // Have the graph signal event via window callbacks for performance EIF(mediaEvent->SetNotifyWindow((OAHWND)hwnd, WM_DSHOW_NOTIFY, 0)); // Setup the video window EIF(videoWindow->put_Owner((OAHWND)hwnd)); EIF(videoWindow->put_WindowStyle(WS_CHILD | WS_CLIPSIBLINGS)); EIF(adjustVideoWindow()); EIF(videoWindow->SetWindowForeground(OATRUE)); EIF(videoWindow->put_Visible(OATRUE)); connectTimeBarSignals(); seekMedia(TimeBar::instance()->time()); mediaControl->StopWhenReady(); currentState = Stopped; bLoaded = true; } catch (const DSException& ex){ mv->putln(ex.message); bLoaded = false; } } void DSMediaViewImpl::unload() { if(TRACE_FUNCTIONS){ cout << "DSMediaView::unload()" << endl; } #define SAFE_RELEASE(x) { if(x) x->Release(); x = 0; } timeBarConnections.disconnect(); // Release and zero DirectShow interfaces SAFE_RELEASE(mediaEvent); SAFE_RELEASE(mediaSeeking); SAFE_RELEASE(mediaControl); SAFE_RELEASE(basicVideo); SAFE_RELEASE(videoWindow); SAFE_RELEASE(videoFrameStep); SAFE_RELEASE(graphBuilder); currentState = Empty; bLoaded = false; } HRESULT DSMediaViewImpl::adjustVideoWindow() { if(TRACE_FUNCTIONS){ cout << "DSMediaView::adjustVideoWindow()" << endl; } if(videoWindow && basicVideo){ LONG screenWidth = self->width(); LONG screenHeight = self->height(); LONG width, height; if(basicVideo->GetVideoSize(&width, &height) != E_NOINTERFACE){ if(orgSizeCheck->isChecked()){ if(width <= screenWidth && height <= screenHeight){ return videoWindow->SetWindowPosition( (screenWidth - width) / 2, (screenHeight - height) / 2, width, height); } else { return videoWindow->SetWindowPosition(0, 0, width, height); } } else if(aspectRatioCheck->isChecked()){ double r1 = (double)screenWidth / width; double r2 = (double)screenHeight / height; LONG w = (LONG)(width * (std::min)(r1, r2)); LONG h = (LONG)(height * (std::min)(r1, r2)); return videoWindow->SetWindowPosition( (screenWidth - w) / 2, (screenHeight - h) / 2, w, h); } } return videoWindow->SetWindowPosition(0, 0, screenWidth, screenHeight); } return S_OK; } void DSMediaViewImpl::connectTimeBarSignals() { if(timeBarConnections.empty()){ TimeBar* timeBar = TimeBar::instance(); timeBarConnections.add( timeBar->sigPlaybackInitialized().connect( boost::bind(&DSMediaViewImpl::onPlaybackInitialized, this, _1))); timeBarConnections.add( timeBar->sigPlaybackStarted().connect( boost::bind(&DSMediaViewImpl::onPlaybackStarted, this, _1))); timeBarConnections.add( timeBar->sigPlaybackStopped().connect( boost::bind(&DSMediaViewImpl::onPlaybackStopped, this, _1))); timeBarConnections.add( timeBar->sigTimeChanged().connect( boost::bind(&DSMediaViewImpl::onTimeChanged, this, _1))); } } bool DSMediaViewImpl::onPlaybackInitialized(double time) { seekMedia(time); pauseMedia(); OAFilterState state; mediaControl->GetState(1000, &state); return true; } void DSMediaViewImpl::onPlaybackStarted(double time) { playMedia(); } bool DSMediaViewImpl::onTimeChanged(double time) { if(currentState == Running){ return true; } else { seekMedia(time); mediaControl->StopWhenReady(); } return false; } void DSMediaViewImpl::onPlaybackStopped(double time) { pauseMedia(); } HRESULT DSMediaViewImpl::seekMedia(double time) { HRESULT result = S_OK; if(bCanSeek){ LONGLONG llNow; const LONGLONG ONE_SECOND = 10000000; llNow = (LONGLONG)((time + currentMediaItem->offsetTime()) * ONE_SECOND); result = mediaSeeking->SetPositions( &llNow, AM_SEEKING_AbsolutePositioning, NULL, AM_SEEKING_NoPositioning); } return result; } HRESULT DSMediaViewImpl::playMedia() { HRESULT result = S_OK; if(currentState == Stopped || currentState == Paused){ result = mediaControl->Run(); if(FAILED(result)){ mv->putln("MediaView failed to play media"); } else { currentState = Running; } } return result; } HRESULT DSMediaViewImpl::pauseMedia() { HRESULT result = S_OK; if(currentState == Running){ result = mediaControl->Pause(); if(FAILED(result)){ mv->putln("MediaView failed to pause media"); } else { currentState = Paused; } } return result; } HRESULT DSMediaViewImpl::stopMedia() { HRESULT result = S_OK; if(currentState == Running || currentState == Paused){ result = mediaControl->Stop(); currentState = Stopped; seekMedia(0.0); result = mediaControl->Pause(); if(FAILED(result)){ mv->putln("MediaView failed to pause media"); } else { currentState = Paused; } } return result; } HRESULT DSMediaViewImpl::HandleDShowEvent() { if(TRACE_FUNCTIONS){ cout << "DSMediaView::HandleDShowEvent()" << endl; } // Make sure that we don't access the media event interface // after it has already been released. if(!mediaEvent){ return S_OK; } LONG evCode; LONG_PTR evParam1, evParam2; HRESULT result = S_OK; // Process all queued events while(SUCCEEDED(mediaEvent->GetEvent(&evCode, &evParam1, &evParam2, 0))){ // Free memory associated with callback, since we're not using it result = mediaEvent->FreeEventParams(evCode, evParam1, evParam2); // If this is the end of the clip, reset to beginning if(EC_COMPLETE == evCode){ LONGLONG pos = 0; if(SUCCEEDED(result = mediaControl->Pause())){ currentState = Paused; } else { if (SUCCEEDED(result = mediaControl->Stop())){ currentState = Stopped; } else { mv->putln(fmt(_("Failed(%1%) to stop media clip!\n")) % result); unload(); break; } } /* //os << "repeat!!" << endl; // Reset to first frame of movie hr = mediaSeeking->SetPositions(&pos, AM_SEEKING_AbsolutePositioning , NULL, AM_SEEKING_NoPositioning); if (FAILED(hr)) { // Some custom filters (like the Windows CE MIDI filter) // may not implement seeking interfaces (IMediaSeeking) // to allow seeking to the start. In that case, just stop // and restart for the same effect. This should not be // necessary in most cases. if (FAILED(hr = mediaControl->Stop())) { os << fmt("Failed(0x%08lx) to stop media clip!\n") % hr << endl; break; } if (FAILED(hr = mediaControl->Run())) { os << fmt("Failed(0x%08lx) to reset media clip!\n") % hr << endl; break; } } */ } } return result; } bool DSMediaView::storeState(Archive& archive) { return impl->storeState(archive); } bool DSMediaViewImpl::storeState(Archive& archive) { if(TRACE_FUNCTIONS){ cout << "DSMediaViewImpl::storeState()" << endl; } archive.write("keepAspectRatio", aspectRatioCheck->isChecked()); archive.write("keepOriginalSize", orgSizeCheck->isChecked()); return true; } bool DSMediaView::restoreState(const Archive& archive) { return impl->restoreState(archive); } bool DSMediaViewImpl::restoreState(const Archive& archive) { if(TRACE_FUNCTIONS){ cout << "DSMediaViewImpl::restoreState()" << endl; } aspectRatioCheck->setChecked(archive.get("keepAspectRatio", aspectRatioCheck->isChecked())); orgSizeCheck->setChecked(archive.get("keepOriginalSize", orgSizeCheck->isChecked())); return true; } choreonoid-1.5.0/src/MediaPlugin/GSMediaView.cpp0000664000000000000000000004632012741425367020163 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "GSMediaView.h" #include "MediaItem.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { const bool TRACE_FUNCTIONS = false; const bool TRACE_FUNCTIONS2 = false; Action* aspectRatioCheck = 0; Action* orgSizeCheck = 0; } namespace cnoid { class GSMediaViewImpl { public: GSMediaView* self; MessageView* mv; ScopedConnectionSet connections; TimeBar* timeBar; ConnectionSet timeBarConnections; MediaItemPtr currentMediaItem; GstElement* playbin; GstElement* videoSink; WId windowId; Display* display; GC gc; gint videoWidth; gint videoHeight; vector rects; gint64 duration; bool isPlaying; bool isEOS; bool isSeeking; bool hasPendingSeek; bool isWaitingForPositiveSeekPos; gint64 currentSeekPos; Timer pendingSeekTimer; GSMediaViewImpl(GSMediaView* self); ~GSMediaViewImpl(); void updateRenderRectangle(); void onWindowIdChanged(); GstBusSyncReply onBusMessageSync(GstMessage* msg); void onBusMessageAsync(GstMessage* msg); void putGstMessage( GstMessage* message, boost::function parse, const char* prefix); GstPadProbeReturn onVideoPadGotBuffer(GstPad* pad, GstPadProbeInfo* info); void seek(double time); void seek(); void checkPendingSeek(); void onItemCheckToggled(Item* item, bool isChecked); void activateCurrentMediaItem(); bool onPlaybackInitialized(double time); void onPlaybackStarted(double time); bool onTimeChanged(double time); void onPlaybackStopped(double time); void stopPlayback(); void onZoomPropertyChanged(); bool storeState(Archive& archive); bool restoreState(const Archive& archive); }; } static GstBusSyncReply busSyncHandler(GstBus* bus, GstMessage* message, gpointer instance) { return ((GSMediaViewImpl*)instance)->onBusMessageSync(message); } static GstPadProbeReturn videoPadBufferProbeCallback(GstPad* pad, GstPadProbeInfo* info, gpointer instance) { return ((GSMediaViewImpl*)instance)->onVideoPadGotBuffer(pad, info); } bool GSMediaView::initializeClass(ExtensionManager* ext) { static bool initialized = false; if(!initialized){ #ifndef GLIB_VERSION_2_32 g_thread_init(NULL); #endif GError* error = NULL; if(!gst_init_check(NULL, NULL, &error)){ MessageView::mainInstance()->put(_("GStreamer cannot be initialized:")); if(error){ MessageView::mainInstance()->putln(error->message); g_error_free(error); } return false; } ext->viewManager().registerClass( "MediaView", N_("Media"), ViewManager::SINGLE_OPTIONAL); MenuManager& mm = ext->menuManager(); mm.setPath("/Options").setPath(N_("Media View")); aspectRatioCheck = mm.addCheckItem(_("Keep Aspect Ratio")); aspectRatioCheck->setChecked(true); orgSizeCheck = mm.addCheckItem(_("Keep Original Size")); orgSizeCheck->setChecked(true); initialized = true; } return initialized; } GSMediaView::GSMediaView() { setName(N_("Media")); setDefaultLayoutArea(View::CENTER); setAttribute(Qt::WA_NativeWindow); setAttribute(Qt::WA_PaintOnScreen); setAttribute(Qt::WA_OpaquePaintEvent); impl = new GSMediaViewImpl(this); } GSMediaViewImpl::GSMediaViewImpl(GSMediaView* self) : self(self), mv(MessageView::mainInstance()), timeBar(TimeBar::instance()), playbin(0), videoSink(0), windowId(0), display(0), gc(0) { playbin = gst_element_factory_make("playbin", NULL); if(!playbin){ mv->putln(_("Initialization of the GSMediaView failed. The playbin plugin is missing.")); return; } videoSink = gst_element_factory_make("xvimagesink", NULL); if(videoSink){ GstStateChangeReturn sret = gst_element_set_state(GST_ELEMENT(videoSink), GST_STATE_READY); if(sret != GST_STATE_CHANGE_SUCCESS){ gst_element_set_state(GST_ELEMENT(videoSink), GST_STATE_NULL); gst_object_unref(videoSink); videoSink = 0; } } if(!videoSink){ videoSink = gst_element_factory_make("ximagesink", NULL); if(videoSink){ GstStateChangeReturn sret = gst_element_set_state(GST_ELEMENT(videoSink), GST_STATE_READY); if(sret != GST_STATE_CHANGE_SUCCESS){ gst_element_set_state(GST_ELEMENT(videoSink), GST_STATE_NULL); gst_object_unref(videoSink); videoSink = 0; } } } if(!videoSink){ mv->putln(_("Initialization of the GSMediaView failed. The ximagesink could not be created.")); return; } g_object_set(G_OBJECT(videoSink), "force-aspect-ratio", (gboolean)TRUE, NULL); g_object_set(G_OBJECT(videoSink), "pixel-aspect-ratio", "1/1", NULL); g_object_set(G_OBJECT(playbin), "video-sink", videoSink, NULL); GstBus* bus = gst_pipeline_get_bus(GST_PIPELINE(playbin)); gst_bus_set_sync_handler(GST_BUS(bus), busSyncHandler, (gpointer)this, NULL); gst_object_unref(GST_OBJECT(bus)); videoWidth = -1; videoHeight = -1; isPlaying = false; isSeeking = false; hasPendingSeek = false; currentSeekPos = 0; pendingSeekTimer.setSingleShot(true); pendingSeekTimer.setInterval(200); pendingSeekTimer.sigTimeout().connect( boost::bind(&GSMediaViewImpl::checkPendingSeek, this)); connections.add( aspectRatioCheck->sigToggled().connect( boost::bind(&GSMediaViewImpl::onZoomPropertyChanged, this))); connections.add( orgSizeCheck->sigToggled().connect( boost::bind(&GSMediaViewImpl::onZoomPropertyChanged, this))); connections.add( ItemTreeView::mainInstance()->sigCheckToggled().connect( boost::bind(&GSMediaViewImpl::onItemCheckToggled, this, _1, _2))); } GSMediaView::~GSMediaView() { delete impl; } GSMediaViewImpl::~GSMediaViewImpl() { if(playbin){ stopPlayback(); // unset busSyncHandler GstBus* bus = gst_pipeline_get_bus(GST_PIPELINE(playbin)); gst_bus_set_sync_handler(GST_BUS(bus), NULL, NULL, NULL); gst_object_unref(GST_OBJECT(bus)); } timeBarConnections.disconnect(); if(playbin){ gst_object_unref(GST_OBJECT(playbin)); } if(display && gc){ XFreeGC(display, gc); } } bool GSMediaView::event(QEvent* event) { if(event->type() == QEvent::WinIdChange){ impl->onWindowIdChanged(); } return QWidget::event(event); } void GSMediaViewImpl::onWindowIdChanged() { windowId = self->winId(); if(display && gc){ XFreeGC(display, gc); } display = QX11Info::display(); gc = XCreateGC(display, windowId, 0, 0); unsigned long black = BlackPixel(display, QX11Info::appScreen()); XSetForeground(display, gc, black); gst_video_overlay_set_window_handle(GST_VIDEO_OVERLAY(playbin), windowId); } void GSMediaView::resizeEvent(QResizeEvent* event) { impl->updateRenderRectangle(); if(!impl->isPlaying && impl->currentMediaItem){ impl->seek(); } } void GSMediaViewImpl::updateRenderRectangle() { int x = 0; int y = 0; int width = self->width(); int height = self->height(); QRegion background = QRect(0, 0, width, height); if(orgSizeCheck->isChecked()){ if(videoWidth > 0 && videoHeight > 0){ x = (width - videoWidth) / 2; y = (height - videoHeight) / 2; width = videoWidth; height = videoHeight; } } else { if(width >= 3 && height >= 3){ x = 1; y = 1; width -= 2; height -= 2; } } gst_video_overlay_set_render_rectangle(GST_VIDEO_OVERLAY(playbin), x, y, width, height); background = background.subtracted(QRegion(x, y, width, height)); QVector qrects = background.rects(); rects.resize(qrects.size()); for(int i=0; i < qrects.size(); ++i){ XRectangle& r = rects[i]; QRect& qr = qrects[i]; r.x = qr.x(); r.y = qr.y(); r.width = qr.width(); r.height = qr.height(); } } QPaintEngine* GSMediaView::paintEngine () const { return 0; } void GSMediaView::paintEvent(QPaintEvent* event) { if(!impl->currentMediaItem){ XFillRectangle(impl->display, impl->windowId, impl->gc, 0, 0, width(), height()); } else if(impl->rects.size() > 0){ XFillRectangles(impl->display, impl->windowId, impl->gc, &impl->rects[0], impl->rects.size()); } if(!impl->isPlaying && impl->currentMediaItem){ impl->seek(); } } void GSMediaView::onActivated() { if(!impl->isPlaying && impl->currentMediaItem){ impl->seek(); } } void GSMediaView::onDeactivated() { } GstBusSyncReply GSMediaViewImpl::onBusMessageSync(GstMessage* message) { if(TRACE_FUNCTIONS2){ cout << "GSMediaViewImpl::onBusMessageSync(" << GST_MESSAGE_TYPE_NAME(message) << ")" << endl; } callLater(boost::bind(&GSMediaViewImpl::onBusMessageAsync, this, gst_message_copy(message))); return GST_BUS_DROP; } void GSMediaViewImpl::onBusMessageAsync(GstMessage* msg) { if(TRACE_FUNCTIONS2){ cout << "GSMediaView::onBusMessageAsync(" << GST_MESSAGE_TYPE_NAME(msg) << ")" << endl; } switch(GST_MESSAGE_TYPE(msg)){ case GST_MESSAGE_ASYNC_DONE: checkPendingSeek(); break; case GST_MESSAGE_EOS: isEOS = true; break; case GST_MESSAGE_ERROR: putGstMessage(msg, gst_message_parse_error, "GStreamer error"); stopPlayback(); break; case GST_MESSAGE_WARNING: putGstMessage(msg, gst_message_parse_warning, "GStreamer warning"); break; case GST_MESSAGE_INFO: putGstMessage(msg, gst_message_parse_info, "GStreamer info"); break; default: break; } gst_message_unref(msg); } void GSMediaViewImpl::putGstMessage (GstMessage* message, boost::function parse, const char* prefix) { gchar* debug; GError* err; parse(message, &err, &debug); g_free(debug); mv->putln(MessageView::HIGHLIGHT, format(_("%1%: %2%")) % prefix % err->message); g_error_free(err); } GstPadProbeReturn GSMediaViewImpl::onVideoPadGotBuffer(GstPad* pad, GstPadProbeInfo* info) { if(TRACE_FUNCTIONS2){ cout << "GSMediaView::onVideoPadGotBuffer()" << endl; } GstBuffer* buffer = GST_PAD_PROBE_INFO_BUFFER(info); if(buffer){ GstCaps* caps = gst_pad_get_current_caps(pad); const GstStructure* structure = gst_caps_get_structure(caps, 0); if(gst_structure_get_int(structure, "width", &videoWidth) && gst_structure_get_int(structure, "height", &videoHeight)){ callLater(boost::bind(&GSMediaViewImpl::updateRenderRectangle, this)); } } return GST_PAD_PROBE_REMOVE; } void GSMediaViewImpl::seek(double time) { if(TRACE_FUNCTIONS){ cout << "GSMediaView::seek(" << time << ")" << endl; } currentSeekPos = (time + currentMediaItem->offsetTime()) * GST_SECOND; seek(); } void GSMediaViewImpl::seek() { if(TRACE_FUNCTIONS){ cout << "GSMediaViewImpl::seek()" << endl; } if(isSeeking){ hasPendingSeek = true; if(!pendingSeekTimer.isActive()){ /** This is needed to avoid the dead lock because sometimes the bus does not returns the ASYNC_DONE message after calling the seek function. This bug is reported in the following page: https://bugzilla.gnome.org/show_bug.cgi?id=740121 */ pendingSeekTimer.start(); } } else { isSeeking = true; hasPendingSeek = false; gst_element_seek_simple( playbin, GST_FORMAT_TIME, (GstSeekFlags)(GST_SEEK_FLAG_ACCURATE|GST_SEEK_FLAG_FLUSH), std::max((gint64)0, currentSeekPos)); } } void GSMediaViewImpl::checkPendingSeek() { isSeeking = false; if(hasPendingSeek){ hasPendingSeek = false; pendingSeekTimer.stop(); seek(); } } void GSMediaViewImpl::onItemCheckToggled(Item* item, bool isChecked) { if(TRACE_FUNCTIONS){ cout << "GSMediaViewImpl::onItemCheckToggled()" << endl; } MediaItem* mediaItem = dynamic_cast(item); if(mediaItem){ ItemList checkedItems = ItemTreeView::mainInstance()->checkedItems(); MediaItemPtr targetItem; if(!checkedItems.empty()){ targetItem = checkedItems.front(); } if(targetItem != currentMediaItem){ if(currentMediaItem){ stopPlayback(); } currentMediaItem = targetItem; if(!currentMediaItem || currentMediaItem->mediaURI().empty()){ g_object_set(G_OBJECT(playbin), "uri", "", NULL); timeBarConnections.disconnect(); } else { GstPad* pad = gst_element_get_static_pad(GST_ELEMENT(videoSink), "sink"); gst_pad_add_probe(pad, GST_PAD_PROBE_TYPE_BUFFER, (GstPadProbeCallback)videoPadBufferProbeCallback, this, NULL); gst_object_unref(pad); if(self->winId()){ activateCurrentMediaItem(); } } } } } void GSMediaViewImpl::activateCurrentMediaItem() { if(TRACE_FUNCTIONS){ cout << "GSMediaViewImpl::activateCurrentMediaItem()" << endl; } if(currentMediaItem){ g_object_set(G_OBJECT(videoSink), "show-preroll-frame", (gboolean)FALSE, NULL); g_object_set(G_OBJECT(playbin), "uri", currentMediaItem->mediaURI().c_str(), NULL); gst_element_set_state(GST_ELEMENT(playbin), GST_STATE_PAUSED); GstState state, pending; gst_element_get_state(GST_ELEMENT(playbin), &state, &pending, GST_CLOCK_TIME_NONE); // wait seek(timeBar->time()); g_object_set(G_OBJECT(videoSink), "show-preroll-frame", (gboolean)TRUE, NULL); if(timeBarConnections.empty()){ timeBarConnections.add( timeBar->sigPlaybackInitialized().connect( boost::bind(&GSMediaViewImpl::onPlaybackInitialized, this, _1))); timeBarConnections.add( timeBar->sigPlaybackStarted().connect( boost::bind(&GSMediaViewImpl::onPlaybackStarted, this, _1))); timeBarConnections.add( timeBar->sigPlaybackStopped().connect( boost::bind(&GSMediaViewImpl::onPlaybackStopped, this, _1))); timeBarConnections.add( timeBar->sigTimeChanged().connect( boost::bind(&GSMediaViewImpl::onTimeChanged, this, _1))); } self->update(); } } bool GSMediaViewImpl::onPlaybackInitialized(double time) { if(TRACE_FUNCTIONS){ cout << "GSMediaViewImpl::onPlaybackInitialized(%1):" << endl; } GstState state, pending; gst_element_set_state(GST_ELEMENT(playbin), GST_STATE_PAUSED); gst_element_get_state(GST_ELEMENT(playbin), &state, &pending, GST_CLOCK_TIME_NONE); // wait seek(time); gst_element_get_state(GST_ELEMENT(playbin), &state, &pending, GST_CLOCK_TIME_NONE); // wait for seek return true; } void GSMediaViewImpl::onPlaybackStarted(double time) { if(TRACE_FUNCTIONS){ cout << "GSMediaViewImpl::onPlaybackStarted(%1)" << endl; } isPlaying = true; isEOS = false; if(currentSeekPos >= 0){ isWaitingForPositiveSeekPos = false; GstStateChangeReturn ret = gst_element_set_state(GST_ELEMENT(playbin), GST_STATE_PLAYING); } else { isWaitingForPositiveSeekPos = true; } } bool GSMediaViewImpl::onTimeChanged(double time) { if(TRACE_FUNCTIONS){ cout << "GSMediaViewImpl::onTimeChanged(" << time << ")" << endl; } if(!self->isActive()){ if(TRACE_FUNCTIONS){ cout << "GSMediaViewImpl::onTimeChanged(): view is not active." << endl; } return false; } bool doContinue = false; if(isPlaying){ currentSeekPos = (time + currentMediaItem->offsetTime()) * GST_SECOND; if(isWaitingForPositiveSeekPos){ if(currentSeekPos >= 0){ gst_element_seek_simple(playbin, GST_FORMAT_TIME, (GstSeekFlags)(GST_SEEK_FLAG_ACCURATE|GST_SEEK_FLAG_FLUSH), currentSeekPos); gst_element_set_state(GST_ELEMENT(playbin), GST_STATE_PLAYING); isWaitingForPositiveSeekPos = false; } } doContinue = !isEOS; } else { seek(time); } return doContinue; } void GSMediaViewImpl::onPlaybackStopped(double time) { if(TRACE_FUNCTIONS){ cout << "GSMediaViewImpl::onPlaybackStopped()" << endl; } if(isPlaying){ GstStateChangeReturn ret = gst_element_set_state(GST_ELEMENT(playbin), GST_STATE_PAUSED); if(TRACE_FUNCTIONS){ cout << "ret = " << ret << endl; } isPlaying = false; } } void GSMediaViewImpl::stopPlayback() { if(TRACE_FUNCTIONS){ cout << "GSMediaViewImpl::stopPlayback()" << endl; } GstStateChangeReturn ret = gst_element_set_state(GST_ELEMENT(playbin), GST_STATE_NULL); if(TRACE_FUNCTIONS){ cout << "ret = " << ret << endl; } isPlaying = false; } void GSMediaViewImpl::onZoomPropertyChanged() { if(orgSizeCheck->isChecked()){ g_object_set(G_OBJECT(videoSink), "force-aspect-ratio", (gboolean)FALSE, NULL); updateRenderRectangle(); self->update(); } else { g_object_set(G_OBJECT(videoSink), "force-aspect-ratio", (gboolean)aspectRatioCheck->isChecked(), NULL); updateRenderRectangle(); gst_video_overlay_expose(GST_VIDEO_OVERLAY(videoSink)); } } bool GSMediaView::storeState(Archive& archive) { return impl->storeState(archive); } bool GSMediaViewImpl::storeState(Archive& archive) { archive.write("keepAspectRatio", aspectRatioCheck->isChecked()); archive.write("keepOriginalSize", orgSizeCheck->isChecked()); return true; } bool GSMediaView::restoreState(const Archive& archive) { return impl->restoreState(archive); } bool GSMediaViewImpl::restoreState(const Archive& archive) { aspectRatioCheck->setChecked(archive.get("keepAspectRatio", aspectRatioCheck->isChecked())); orgSizeCheck->setChecked(archive.get("keepOriginalSize", orgSizeCheck->isChecked())); return true; } choreonoid-1.5.0/src/MediaPlugin/CMakeLists.txt0000664000000000000000000000331712741425367020112 0ustar rootroot # @author Shin'ichiro Nakaoka if(APPLE) # Gstreamer doesn't support MacOS X #return() endif() option(BUILD_MEDIA_PLUGIN "Building MediaPlugin" OFF) if(NOT BUILD_MEDIA_PLUGIN) return() endif() #set(CMAKE_BUILD_TYPE Debug) if(UNIX) set(sources MediaPlugin.cpp MediaItem.cpp GSMediaView.cpp AudioItem.cpp ) pkg_check_modules(GSTREAMER REQUIRED gstreamer-1.0 gstreamer-video-1.0 gstreamer-base-1.0) include_directories(${GSTREAMER_INCLUDE_DIRS}) pkg_check_modules(SNDFILE REQUIRED sndfile) include_directories(${SNDFILE_INCLUDE_DIRS}) set_source_files_properties(AudioItem.cpp PROPERTIES COMPILE_DEFINITIONS "CNOID_MEDIA_PLUGIN_USE_LIBSNDFILE") set(libraries CnoidUtil CnoidBase ${GSTREAMER_LIBRARIES} ${SNDFILE_LIBRARIES} X11 ) if(NOT APPLE) pkg_check_modules(LIBPULSE REQUIRED libpulse) include_directories(${LIBPULSE_INCLUDE_DIRS}) set(sources ${sources} PulseAudioManager.cpp) set_source_files_properties(MediaPlugin.cpp PROPERTIES COMPILE_DEFINITIONS "CNOID_MEDIA_PLUGIN_USE_PULSEAUDIO") set(libraries ${libraries} ${LIBPULSE_LIBRARIES}) endif() elseif(WIN32) set(sources MediaPlugin.cpp MediaItem.cpp DSMediaView.cpp AudioItem.cpp ) set(libraries CnoidUtil CnoidBase Strmiids.lib) endif() set(headers MediaUtil.h MediaItem.h AudioItem.h ) make_headers_public(${headers}) set(target CnoidMediaPlugin) make_gettext_mofiles(${target} mofiles) add_cnoid_plugin(${target} SHARED ${sources} ${headers} ${mofiles}) target_link_libraries(${target} ${libraries}) apply_common_setting_for_plugin(${target} "${headers}") message(STATUS "libraries = ${libraries}") if(ENABLE_PYTHON) add_subdirectory(python) endif() choreonoid-1.5.0/src/MediaPlugin/PulseAudioManager.h0000664000000000000000000000115112741425367021062 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_MEDIA_PLUGIN_PULSE_AUDIO_MANAGER_H #define CNOID_MEDIA_PLUGIN_PULSE_AUDIO_MANAGER_H #include #include "exportdecl.h" namespace cnoid { class ExtensionManager; class PulseAudioManagerImpl; class PulseAudioManager { public: static void initialize(ExtensionManager* ext); static PulseAudioManager* instance(); virtual ~PulseAudioManager(); bool playAudioFile(const std::string& filename, double volumeRatio = -1.0); private: PulseAudioManager(ExtensionManager* ext); PulseAudioManagerImpl* impl; }; } #endif choreonoid-1.5.0/src/MediaPlugin/MediaPlugin.cpp0000664000000000000000000000215012741425367020246 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "MediaItem.h" #ifdef WIN32 #include "DSMediaView.h" #else #include "GSMediaView.h" #endif #include "AudioItem.h" #ifdef CNOID_MEDIA_PLUGIN_USE_PULSEAUDIO #include "PulseAudioManager.h" #endif #include #include #include #include using namespace std; using namespace cnoid; namespace { class MediaPlugin : public Plugin { public: MediaPlugin() : Plugin("Media") { } virtual ~MediaPlugin() { } virtual bool initialize() { MediaItem::initialize(this); #ifdef WIN32 DSMediaView::initialize(this); #else GSMediaView::initializeClass(this); #endif AudioItem::initialize(this); #ifdef CNOID_MEDIA_PLUGIN_USE_PULSEAUDIO PulseAudioManager::initialize(this); #endif return true; } virtual bool finalize() { #ifdef WIN32 DSMediaView::finalize(); #endif return true; } }; } CNOID_IMPLEMENT_PLUGIN_ENTRY(MediaPlugin); choreonoid-1.5.0/src/MediaPlugin/MediaItem.h0000664000000000000000000000240412741425367017355 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_MEDIAPLUGIN_MEDIA_ITEM_H #define CNOID_MEDIAPLUGIN_MEDIA_ITEM_H #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT MediaItem : public Item { public: static void initialize(ExtensionManager* ext); MediaItem(); MediaItem(const MediaItem& org); bool setMediaURI(const std::string& uri); const std::string& mediaURI() const { return mediaURI_; } bool setMediaFilePath(const std::string& path); const std::string& mediaFilePath() const { return mediaFilePath_; } void setOffsetTime(double offset); double offsetTime() const { return offsetTime_; } const std::string& lastErrorMessage() const { return lastErrorMessage_; } protected: virtual ~MediaItem(); virtual Item* doDuplicate() const; virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: std::string mediaURI_; std::string mediaFilePath_; double offsetTime_; std::string lastErrorMessage_; }; typedef ref_ptr MediaItemPtr; } #endif choreonoid-1.5.0/src/MediaPlugin/DSMediaView.h0000664000000000000000000000141112741425367017615 0ustar rootroot #ifndef CNOID_MEDIAPLUGIN_DS_MEDIA_VIEW_H_INCLUDED #define CNOID_MEDIAPLUGIN_DS_MEDIA_VIEW_H_INCLUDED #include #include namespace cnoid { class DSMediaViewImpl; class DSMediaView : public View { public: static bool initialize(ExtensionManager* ext); static void finalize(); DSMediaView(); ~DSMediaView(); virtual bool storeState(Archive& archive); virtual bool restoreState(const Archive& archive); protected: //virtual bool event(QEvent* event); virtual void resizeEvent(QResizeEvent* event); virtual void paintEvent(QPaintEvent* event); virtual QPaintEngine* paintEngine () const; virtual void onActivated(); virtual void onDeactivated(); private: DSMediaViewImpl* impl; }; } #endif choreonoid-1.5.0/src/MediaPlugin/AudioItem.cpp0000664000000000000000000001232312741425367017733 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "AudioItem.h" #include #include #include #include #include #ifdef CNOID_MEDIA_PLUGIN_USE_LIBSNDFILE #include #endif #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { boost::shared_ptr< std::vector > emptySamplingData; } void AudioItem::initialize(ExtensionManager* ext) { static bool initialized = false; if(!initialized){ emptySamplingData = boost::make_shared< std::vector >(); ext->itemManager().registerClass(N_("AudioItem")); #ifdef CNOID_MEDIA_PLUGIN_USE_LIBSNDFILE ext->itemManager().addLoader(_("Audio File"), "AUDIO-GENERIC", "wav;ogg", boost::bind(&AudioItem::loadAudioFile, _1, _2, _3, _4)); #endif initialized = true; } } AudioItem::AudioItem() : samplingData_(emptySamplingData) { numChannels_ = 1; samplingRate_ = 44100.0; offsetTime_ = 0.0; } AudioItem::AudioItem(const AudioItem& org) : Item(org), samplingData_(org.samplingData_), offsetTime_(org.offsetTime_), numChannels_(org.numChannels_), samplingRate_(org.samplingRate_), title(org.title), copyright(org.copyright), artists(org.artists), comment(org.comment), date(org.date) { } Item* AudioItem::doDuplicate() const { return new AudioItem(*this); } AudioItem::~AudioItem() { } void AudioItem::clear() { numChannels_ = 1; samplingData_ = emptySamplingData; title.clear(); copyright.clear(); artists.clear(); comment.clear(); date.clear(); clearFileInformation(); } void AudioItem::setOffsetTime(double offset) { offsetTime_ = offset; notifyUpdate(); } #ifdef CNOID_MEDIA_PLUGIN_USE_LIBSNDFILE namespace { void setTextInfo(SNDFILE* sndfile, int type, std::string& out_text) { const char* text = sf_get_string(sndfile, type); if(text){ out_text = text; } else { out_text.clear(); } } } bool AudioItem::loadAudioFile(const std::string& filename, std::ostream& os, Item* parentItem) { clear(); bool result = false; SF_INFO sfinfo; std::memset(&sfinfo, 0, sizeof(sfinfo)); SNDFILE* sndfile = sf_open(filename.c_str(), SFM_READ, &sfinfo); if(!sndfile){ os << sf_strerror(sndfile); } else if(sfinfo.channels < 1 || sfinfo.channels > 2){ os << str(format("channels = %d") % sfinfo.channels); } else { if(false){ os << str(format(" format mask = %x, sub mask = %x, endian = %x\n") % (sfinfo.format & SF_FORMAT_TYPEMASK) % (sfinfo.format & SF_FORMAT_SUBMASK) % (sfinfo.format & SF_FORMAT_ENDMASK)); } numChannels_ = sfinfo.channels; samplingRate_ = sfinfo.samplerate; samplingData_ = boost::make_shared< std::vector >(sfinfo.frames * sfinfo.channels); sf_count_t framesRead = sf_readf_float(sndfile, &(*samplingData_)[0], sfinfo.frames); if(framesRead < sfinfo.frames){ samplingData_->resize(framesRead * sfinfo.channels); } setTextInfo(sndfile, SF_STR_TITLE, title); setTextInfo(sndfile, SF_STR_COPYRIGHT, copyright); setTextInfo(sndfile, SF_STR_ARTIST, artists); setTextInfo(sndfile, SF_STR_COMMENT, comment); setTextInfo(sndfile, SF_STR_DATE, date); result = true; } if(sndfile){ sf_close(sndfile); } return result; } #else bool AudioItem::loadAudioFile(const std::string& filename, std::ostream& os, Item* parentItem) { os << "Loading an AudioItem is not supported by this platform."; return false; } #endif void AudioItem::doPutProperties(PutPropertyFunction& putProperty) { if(!samplingData_->empty()){ putProperty("title", title); putProperty("length", timeLength()); putProperty("offset", offsetTime(), boost::bind(&AudioItem::setOffsetTime, this, _1), true); putProperty("channels", numChannels()); putProperty("sampling rate", samplingRate()); if(!copyright.empty()) putProperty("copyright", copyright); if(!artists.empty()) putProperty("artists", artists); if(!comment.empty()) putProperty("comment", comment); if(!date.empty()) putProperty("date", date); } } bool AudioItem::store(Archive& archive) { if(!filePath().empty()){ archive.writeRelocatablePath("file", filePath()); if(!fileFormat().empty()){ archive.write("format", fileFormat()); } } archive.write("offsetTime", offsetTime_); return true; } bool AudioItem::restore(const Archive& archive) { bool restored = false; string filepath, format; if(!archive.readRelocatablePath("file", filepath)){ /* for backward compatibility */ archive.readRelocatablePath("audioFile", filepath); } if(!filepath.empty()){ archive.read("format", format); restored = load(filepath, format); } offsetTime_ = archive.get("offsetTime", 0.0); return restored; } choreonoid-1.5.0/src/MediaPlugin/AudioItem.h0000664000000000000000000000315112741425367017377 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_MEDIA_PLUGIN_AUDIO_ITEM_H #define CNOID_MEDIA_PLUGIN_AUDIO_ITEM_H #include #include #include "exportdecl.h" namespace cnoid { class ExtensionManager; class CNOID_EXPORT AudioItem : public Item { public: static void initialize(ExtensionManager* ext); AudioItem(); AudioItem(const AudioItem& org); int numChannels() { return numChannels_; } int numFrames() { return samplingData_->size() / numChannels_; } double timeLength() { return numFrames() / samplingRate_; } double samplingRate() { return samplingRate_; } void setOffsetTime(double offset); double offsetTime() { return offsetTime_; } int offsetFrame() { return offsetTime_ * samplingRate_; } const std::vector& samplingData() { return *samplingData_; } protected: ~AudioItem(); virtual Item* doDuplicate() const; virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: boost::shared_ptr< std::vector > samplingData_; double offsetTime_; int numChannels_; double samplingRate_; std::string title; std::string copyright; std::string artists; std::string comment; std::string date; void clear(); bool loadAudioFile(const std::string& filename, std::ostream& os, Item* parentItem); }; typedef ref_ptr AudioItemPtr; }; #endif choreonoid-1.5.0/src/MediaPlugin/po/0000775000000000000000000000000012741425367015764 5ustar rootrootchoreonoid-1.5.0/src/MediaPlugin/po/ja.po0000664000000000000000000001007212741425367016716 0ustar rootroot# Japanese translations for PACKAGE package. # Copyright (C) 2011 THE PACKAGE'S COPYRIGHT HOLDER # This file is distributed under the same license as the PACKAGE package. # nakaoka , 2011. # msgid "" msgstr "" "Project-Id-Version: PACKAGE VERSION\n" "Report-Msgid-Bugs-To: \n" "POT-Creation-Date: 2016-07-05 00:54+0900\n" "PO-Revision-Date: 2011-11-15 21:47+0000\n" "Last-Translator: nakaoka \n" "Language-Team: Japanese\n" "Language: ja\n" "MIME-Version: 1.0\n" "Content-Type: text/plain; charset=UTF-8\n" "Content-Transfer-Encoding: 8bit\n" "Plural-Forms: nplurals=1; plural=0;\n" #: AudioItem.cpp:33 msgid "AudioItem" msgstr "音ċ£°‚˘‚¤ƒ†ƒ " #: AudioItem.cpp:36 msgid "Audio File" msgstr "音ċ£°ƒ•‚Ħ‚¤ƒĞ" #: DSMediaView.cpp:109 msgid "CoInitialize failed. MediaView is not available." msgstr "" "CoInitialize関ĉ•°ċŸèĦŒĞċ•éĦŒŒ‚‚‹Ÿ‚€ƒĦƒ‡‚£‚˘ƒ“ƒƒĵ‚’ċˆİ用§›‚“€‚" #: DSMediaView.cpp:114 DSMediaView.cpp:151 GSMediaView.cpp:129 #: GSMediaView.cpp:150 msgid "Media" msgstr "ƒĦƒ‡‚£‚˘" #: DSMediaView.cpp:118 GSMediaView.cpp:133 msgid "Media View" msgstr "ƒĦƒ‡‚£‚˘ƒ“ƒƒĵ" #: DSMediaView.cpp:120 GSMediaView.cpp:135 msgid "Keep Aspect Ratio" msgstr "‚˘‚ıƒš‚ŻƒˆĉŻ”‚’çĥ­ĉŒ" #: DSMediaView.cpp:123 GSMediaView.cpp:138 msgid "Keep Original Size" msgstr "ċ…ƒ‚µ‚¤‚ş‚’çĥ­ĉŒ" #: DSMediaView.cpp:453 msgid "This media file is not able to seek!" msgstr "ĉœĴƒĦƒ‡‚£‚˘ƒ•‚Ħ‚¤ƒĞŻ‚·ƒĵ‚Żċ‡şĉ›‚“€‚" #: DSMediaView.cpp:691 msgid "Failed(%1%) to stop media clip!\n" msgstr "ƒĦƒ‡‚£‚˘‚ŻƒŞƒƒƒ—ċœĉ­˘Œċ‡şĉ›‚“(%1)€‚\n" #: GSMediaView.cpp:120 msgid "GStreamer cannot be initialized:" msgstr "GStreamer ċˆĉœŸċŒ–Œċ‡şĉ›‚“€‚" #: GSMediaView.cpp:174 msgid "" "Initialization of the GSMediaView failed. The playbin plugin is missing." msgstr "GSMediaViewċˆĉœŸċŒ–Ğċ¤ħĉ•———Ÿ€‚playbinƒ—ƒİ‚°‚¤ƒ³Œ‚‚Š›‚“€‚" #: GSMediaView.cpp:199 msgid "" "Initialization of the GSMediaView failed. The ximagesink could not be " "created." msgstr "" "GStreamerximagesinkŒç”Ÿĉˆ§Ş„Ÿ‚€GSMediaView‚’ċˆĉœŸċŒ–ċ‡şĉ›‚“€‚" #: GSMediaView.cpp:426 msgid "%1%: %2%" msgstr "" #: MediaItem.cpp:51 msgid "MediaItem" msgstr "ƒĦƒ‡‚£‚˘‚˘‚¤ƒ†ƒ " #: MediaItem.cpp:52 msgid "Media file" msgstr "ƒĦƒ‡‚£‚˘ƒ•‚Ħ‚¤ƒĞ" #: MediaItem.cpp:54 msgid "load an media file" msgstr "ƒĦƒ‡‚£‚˘ƒ•‚Ħ‚¤ƒĞèŞ­żèĵż" #: MediaItem.cpp:106 msgid "Media file \"%1%\" does not exist." msgstr "ƒĦƒ‡‚£‚˘ƒ•‚Ħ‚¤ƒĞ \"%1%\" Œċ­˜ċœ¨—›‚“€‚" #: MediaItem.cpp:126 msgid "uri" msgstr "" #: MediaItem.cpp:127 msgid "offset" msgstr "‚ރ•‚ğƒƒƒˆ" #: PulseAudioManager.cpp:170 msgid "PulseAudio's main loop cannot be created." msgstr "PulseAudioƒĦ‚¤ƒ³ƒĞƒĵƒ—‚’生ĉˆ§›‚“€‚" #: PulseAudioManager.cpp:179 msgid "PulseAudio's context cannot be created." msgstr "PulseAudio‚³ƒ³ƒ†‚­‚ıƒˆ‚’生ĉˆ§›‚“€‚" #: PulseAudioManager.cpp:193 msgid "PulseAudio's context cannot be connected to the server." msgstr "PulseAudio‚³ƒ³ƒ†‚­‚ıƒˆ‚’‚µƒĵƒĞĉŽçĥš§›‚“€‚" #: PulseAudioManager.cpp:208 msgid "PulseAudio" msgstr "" #: PulseAudioManager.cpp:210 msgid "Keep Stream Connections" msgstr "‚ıƒˆƒŞƒĵƒ ĉŽçĥš‚’çĥ­ĉŒ" #: PulseAudioManager.cpp:212 msgid "Fully-Synchronized Audio Playback" msgstr "音ċ£°ċ†ç”ŸċŒċ…¨ċŒĉœŸ" #: PulseAudioManager.cpp:511 msgid "PulseAudio's stream cannot be created." msgstr "PulseAudio‚ıƒˆƒŞƒĵƒ ‚’生ĉˆ§›‚“€‚" #: PulseAudioManager.cpp:625 msgid "PulseAudio stream for %1% cannot be written." msgstr "%1%PulseAudio‚ıƒˆƒŞƒĵƒ Ğĉ›¸èĵż§›‚“€‚" #: PulseAudioManager.cpp:711 msgid "overflowed" msgstr "‚ރĵƒƒ•ƒ­ƒĵ" #: PulseAudioManager.cpp:716 msgid "underflowed" msgstr "‚˘ƒ³ƒ€ƒĵƒ•ƒ­ƒĵ" #: PulseAudioManager.cpp:728 msgid "" "PulseAudioManager: Buffer of %1% %2%. Its playback time is adjusted to %3%." msgstr "PulseAudioManager: %1%ƒƒƒƒ•‚ĦŒ%2%§™€‚ċ†ç”Ÿĉ™‚ċˆğ‚’%3%ĞèŞżĉ•´—™€‚" choreonoid-1.5.0/src/MediaPlugin/GSMediaView.h0000664000000000000000000000135212741425367017624 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_MEDIAPLUGIN_GS_MEDIA_VIEW_H #define CNOID_MEDIAPLUGIN_GS_MEDIA_VIEW_H #include namespace cnoid { class GSMediaViewImpl; class GSMediaView : public View { public: static bool initializeClass(ExtensionManager* ext); GSMediaView(); ~GSMediaView(); virtual bool storeState(Archive& archive); virtual bool restoreState(const Archive& archive); protected: virtual bool event(QEvent* event); virtual void resizeEvent(QResizeEvent* event); virtual QPaintEngine* paintEngine() const; virtual void paintEvent(QPaintEvent* event); virtual void onActivated(); virtual void onDeactivated(); private: GSMediaViewImpl* impl; }; } #endif choreonoid-1.5.0/src/MediaPlugin/python/0000775000000000000000000000000012741425367016667 5ustar rootrootchoreonoid-1.5.0/src/MediaPlugin/python/CMakeLists.txt0000664000000000000000000000024212741425367021425 0ustar rootroot set(target PyMedia) add_cnoid_python_module(${target} PyMedia.cpp) target_link_libraries(${target} CnoidMediaPlugin ${PYTHON_LIBRARIES} ${Boost_PYTHON_LIBRARY}) choreonoid-1.5.0/src/MediaPlugin/python/PyMedia.cpp0000664000000000000000000000163712741425367020732 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "../MediaUtil.h" #include #include #include using namespace boost; using namespace cnoid; namespace { void pyPlayAudioFileMain(const std::string& filename, double volumeRatio, bool& out_result) { #ifndef WIN32 out_result = cnoid::playAudioFile(filename, volumeRatio); #endif } bool pyPlayAudioFile1(const std::string& filename) { bool result; callSynchronously(boost::bind(pyPlayAudioFileMain, filename, -1.0, boost::ref(result))); return result; } bool pyPlayAudioFile2(const std::string& filename, double volumeRatio) { bool result; callSynchronously(boost::bind(pyPlayAudioFileMain, filename, volumeRatio, boost::ref(result))); return result; } BOOST_PYTHON_MODULE(Media) { python::def("playAudioFile", pyPlayAudioFile1); python::def("playAudioFile", pyPlayAudioFile2); } } choreonoid-1.5.0/src/Body/0000775000000000000000000000000012741425367014045 5ustar rootrootchoreonoid-1.5.0/src/Body/ForwardDynamics.cpp0000664000000000000000000000330712741425367017650 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "ForwardDynamics.h" #include "DyBody.h" using namespace cnoid; ForwardDynamics::ForwardDynamics(DyBody* body) : body(body) { g.setZero(); timeStep = 0.005; integrationMode = RUNGEKUTTA_METHOD; sensorsEnabled = false; } ForwardDynamics::~ForwardDynamics() { } void ForwardDynamics::setTimeStep(double ts) { timeStep = ts; } void ForwardDynamics::setGravityAcceleration(const Vector3& g) { this->g = g; } void ForwardDynamics::setEulerMethod() { integrationMode = EULER_METHOD; } void ForwardDynamics::setRungeKuttaMethod() { integrationMode = RUNGEKUTTA_METHOD; } void ForwardDynamics::enableSensors(bool on) { sensorsEnabled = on; } void ForwardDynamics::setOldAccelSensorCalcMode(bool on) { sensorHelper.setOldAccelSensorCalcMode(on); } /// function from Murray, Li and Sastry p.42 void ForwardDynamics::SE3exp (Position& out_T, const Position& T0, const Vector3& w, const Vector3& vo, double dt) { double norm_w = w.norm(); if(norm_w < std::numeric_limits::epsilon()) { out_T.linear() = T0.linear(); out_T.translation() = T0.translation() + vo * dt; } else { double th = norm_w * dt; Vector3 w_n = w / norm_w; Vector3 vo_n = vo / norm_w; const Matrix3 R(AngleAxisd(th, w_n)); out_T.translation() = R * T0.translation() + (Matrix3::Identity() - R) * w_n.cross(vo_n) + (w_n * w_n.transpose()) * vo_n * th; out_T.linear() = R * T0.linear(); } } void ForwardDynamics::initializeSensors() { body->initializeDeviceStates(); if(sensorsEnabled){ sensorHelper.initialize(body, timeStep, g); } } choreonoid-1.5.0/src/Body/ForceSensor.cpp0000664000000000000000000000330212741425367016777 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "ForceSensor.h" using namespace cnoid; ForceSensor::ForceSensor() : spec(new Spec) { spec->F_max.setConstant(std::numeric_limits::max()); ForceSensor::clearState(); } const char* ForceSensor::typeName() { return "ForceSensor"; } void ForceSensor::copyStateFrom(const ForceSensor& other) { F_ = other.F_; } void ForceSensor::copyStateFrom(const DeviceState& other) { if(typeid(other) != typeid(ForceSensor)){ throw std::invalid_argument("Type mismatch in the Device::copyStateFrom function"); } copyStateFrom(static_cast(other)); } ForceSensor::ForceSensor(const ForceSensor& org, bool copyStateOnly) : Device(org, copyStateOnly) { copyStateFrom(org); if(!copyStateOnly){ spec.reset(new Spec); if(org.spec){ spec->F_max = org.spec->F_max; } else { spec->F_max.setConstant(std::numeric_limits::max()); } } } DeviceState* ForceSensor::cloneState() const { return new ForceSensor(*this, true); } Device* ForceSensor::clone() const { return new ForceSensor(*this); } void ForceSensor::forEachActualType(boost::function func) { if(!func(typeid(ForceSensor))){ Device::forEachActualType(func); } } void ForceSensor::clearState() { F_.setZero(); } int ForceSensor::stateSize() const { return 6; } const double* ForceSensor::readState(const double* buf) { F_ = Eigen::Map(buf); return buf + 6; } double* ForceSensor::writeState(double* out_buf) const { Eigen::Map(out_buf) << F_; return out_buf + 6; } choreonoid-1.5.0/src/Body/ExtraBodyStateAccessor.cpp0000664000000000000000000000136112741425367021137 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "ExtraBodyStateAccessor.h" using namespace cnoid; int ExtraBodyStateAccessor::elementSizes[] = { 1, // BOOL 1, // INT 1, // DOUBLE 1, // ANGLE 1, // STRING 3, // VECTOR3 -1, // VECTORX 0 // NONE }; ExtraBodyStateAccessor::ExtraBodyStateAccessor() { } ExtraBodyStateAccessor::ExtraBodyStateAccessor(const ExtraBodyStateAccessor& org) { // sigStateChanged_ shouldn't be copied. } ExtraBodyStateAccessor::~ExtraBodyStateAccessor() { } bool ExtraBodyStateAccessor::setState(const std::vector& state) const { return false; } bool ExtraBodyStateAccessor::setJointState(const Array2D& jointState) const { return false; } choreonoid-1.5.0/src/Body/Light.cpp0000664000000000000000000000203712741425367015622 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "Light.h" using namespace cnoid; Light::Light() { on_ = true; color_.setConstant(1.0f); intensity_ = 1.0f; } void Light::copyStateFrom(const Light& other) { on_ = other.on_; color_ = other.color_; intensity_ = other.intensity_; } Light::Light(const Light& org, bool copyStateOnly) : Device(org, copyStateOnly) { copyStateFrom(org); } void Light::forEachActualType(boost::function func) { if(!func(typeid(Light))){ Device::forEachActualType(func); } } int Light::lightStateSize() { return 5; } const double* Light::readState(const double* buf) { on_ = buf[0]; color_ = Eigen::Map(buf + 1).cast(); intensity_ = buf[4]; return buf + 5; } double* Light::writeState(double* out_buf) const { out_buf[0] = on_ ? 1.0 : 0.0; out_buf[1] = color_[0]; out_buf[2] = color_[1]; out_buf[3] = color_[2]; out_buf[4] = intensity_; return out_buf + 5; } choreonoid-1.5.0/src/Body/MultiDeviceStateSeq.cpp0000664000000000000000000000276012741425367020442 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "MultiDeviceStateSeq.h" #include "BodyMotion.h" using namespace std; using namespace cnoid; namespace { static const string mdskey("Devices"); } MultiDeviceStateSeq::MultiDeviceStateSeq() : BaseSeqType("MultiDeviceStateSeq") { setSeqContentName(mdskey); } MultiDeviceStateSeq::MultiDeviceStateSeq(int numFrames, int numDevices) : BaseSeqType("MultiDeviceStateSeq", numFrames, numDevices) { setSeqContentName(mdskey); } /** \todo implement deep copy */ MultiDeviceStateSeq::MultiDeviceStateSeq(const MultiDeviceStateSeq& org) : BaseSeqType(org) { } /** \todo implement deep copy */ MultiDeviceStateSeq& MultiDeviceStateSeq::operator=(const MultiDeviceStateSeq& rhs) { if(this != &rhs){ BaseSeqType::operator=(rhs); } return *this; } /** \todo implement deep copy */ AbstractSeqPtr MultiDeviceStateSeq::cloneSeq() const { return boost::make_shared(*this); } MultiDeviceStateSeq::~MultiDeviceStateSeq() { } const std::string& MultiDeviceStateSeq::key() { return mdskey; } MultiDeviceStateSeqPtr cnoid::getMultiDeviceStateSeq(const BodyMotion& motion) { return motion.extraSeq(mdskey); } MultiDeviceStateSeqPtr cnoid::getOrCreateMultiDeviceStateSeq(BodyMotion& motion) { return motion.getOrCreateExtraSeq(mdskey); } void cnoid::clearMultiDeviceStateSeq(BodyMotion& motion) { motion.clearExtraSeq(mdskey); } choreonoid-1.5.0/src/Body/PenetrationBlocker.h0000664000000000000000000000152412741425367020012 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_PENETRATION_BLOCKER_H #define CNOID_BODY_PENETRATION_BLOCKER_H #include "Link.h" #include #include "exportdecl.h" namespace cnoid { class PenetrationBlockerImpl; /** \todo use the CollidionDetector API */ class CNOID_EXPORT PenetrationBlocker { public: /** @param collidionDetector A CollisionDetector object which is only used for the PenetrationBlocker instance. */ PenetrationBlocker(CollisionDetectorPtr collisionDetector, Link* targetLink); void addOpponentLink(Link* link); void setDepth(double depth); void start(); bool adjust(Position& io_T, const Vector3& pushDirection); private: PenetrationBlockerImpl* impl; }; typedef boost::shared_ptr PenetrationBlockerPtr; } #endif choreonoid-1.5.0/src/Body/SceneDevice.cpp0000664000000000000000000001205012741425367016724 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "SceneDevice.h" #include "Link.h" #include "ForceSensor.h" #include "RateGyroSensor.h" #include "AccelerationSensor.h" #include "Camera.h" #include "RangeCamera.h" #include "RangeSensor.h" #include "PointLight.h" #include "SpotLight.h" #include #include #include #include using namespace std; using namespace cnoid; namespace { struct compare { bool operator ()(const std::type_info* a, const std::type_info* b) const { return a->before(*b); } }; typedef std::map SceneDeviceFactoryMap; SceneDeviceFactoryMap sceneDeviceFactories; void updatePerspectiveCamera(Camera* camera, SgPerspectiveCamera* scamera) { scamera->setNearClipDistance(camera->nearClipDistance()); scamera->setFarClipDistance(camera->farClipDistance()); scamera->setFieldOfView(camera->fieldOfView()); } void updateLight(Light* light, SgLight* slight) { slight->on(light->on()); slight->setColor(light->color()); slight->setIntensity(light->intensity()); } void updatePointLight(PointLight* light, SgPointLight* slight) { updateLight(light, slight); slight->setConstantAttenuation(light->constantAttenuation()); slight->setLinearAttenuation(light->linearAttenuation()); slight->setQuadraticAttenuation(light->quadraticAttenuation()); } void updateSpotLight(SpotLight* light, SgSpotLight* slight) { updatePointLight(light, slight); slight->setDirection(light->direction()); slight->setBeamWidth(light->beamWidth()); slight->setCutOffAngle(light->cutOffAngle()); } SceneDevice* createScenePerspectiveCamera(Device* device) { Camera* camera = static_cast(device); SgPerspectiveCamera* scene = new SgPerspectiveCamera(); return new SceneDevice(camera, scene, boost::bind(updatePerspectiveCamera, camera, scene)); } SceneDevice* createScenePointLight(Device* device) { PointLight* pointLight = static_cast(device); SgPointLight* scene = new SgPointLight; return new SceneDevice(pointLight, scene, boost::bind(updatePointLight, pointLight, scene)); } SceneDevice* createSceneSpotLight(Device* device) { SpotLight* spotLight = static_cast(device); SgSpotLight* scene = new SgSpotLight; return new SceneDevice(spotLight, scene, boost::bind(updateSpotLight, spotLight, scene)); } SceneDevice* createNullSceneDevice(Device* device) { return 0; } struct SceneDeviceFactoryMapInitializer { SceneDeviceFactoryMapInitializer() { sceneDeviceFactories[&typeid(ForceSensor)] = createNullSceneDevice; sceneDeviceFactories[&typeid(RateGyroSensor)] = createNullSceneDevice; sceneDeviceFactories[&typeid(AccelerationSensor)] = createNullSceneDevice; sceneDeviceFactories[&typeid(Camera)] = createScenePerspectiveCamera; sceneDeviceFactories[&typeid(RangeCamera)] = createNullSceneDevice; sceneDeviceFactories[&typeid(RangeSensor)] = createNullSceneDevice; sceneDeviceFactories[&typeid(PointLight)] = createScenePointLight; sceneDeviceFactories[&typeid(SpotLight)] = createSceneSpotLight; } }; SceneDeviceFactoryMapInitializer initializer; } void SceneDevice::registerSceneDeviceFactory_(const std::type_info* pTypeInfo, const SceneDeviceFactory& factory) { sceneDeviceFactories[pTypeInfo] = factory; } static bool createSceneDevice(Device* device, const std::type_info& type, SceneDevice*& out_sceneDevice) { SceneDeviceFactoryMap::iterator p = sceneDeviceFactories.find(&type); if(p != sceneDeviceFactories.end()){ SceneDevice::SceneDeviceFactory& factory = p->second; out_sceneDevice = factory(device); if(out_sceneDevice){ out_sceneDevice->updateScene(); return true; } else { return false; } } return false; } SceneDevice* SceneDevice::create(Device* device) { SceneDevice* sceneDevice = 0; device->forEachActualType(boost::bind(createSceneDevice, device, _1, boost::ref(sceneDevice))); return sceneDevice; } SceneDevice::SceneDevice(Device* device) : device_(device) { setTransform(device->link()->Rs().transpose() * device->T_local()); } SceneDevice::SceneDevice(Device* device, SgNode* sceneNode, boost::function sceneUpdateFunction) : device_(device) { setTransform(device->link()->Rs().transpose() * device->T_local()); sceneNode->setName(device->name()); addChild(sceneNode); setSceneUpdateFunction(sceneUpdateFunction); } void SceneDevice::setSceneUpdateFunction(boost::function function) { sceneUpdateFunction = function; } SceneDevice::SceneDevice(const SceneDevice& org) : SgPosTransform(org) { device_ = 0; } SceneDevice::~SceneDevice() { connection.disconnect(); } void SceneDevice::setSceneUpdateConnection(bool on) { connection.disconnect(); if(on && sceneUpdateFunction){ connection = device_->sigStateChanged().connect(sceneUpdateFunction); } } choreonoid-1.5.0/src/Body/ForwardDynamicsCBM.cpp0000664000000000000000000005333712741425367020202 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "ForwardDynamicsCBM.h" #include "DyBody.h" #include "LinkTraverse.h" #include #include #include using namespace std; using namespace boost; using namespace cnoid; static const bool CALC_ALL_JOINT_TORQUES = false; static const bool ROOT_ATT_NORMALIZATION_ENABLED = false; static const bool debugMode = false; #include template static void putMatrix(TMatrix& M, char* name) { if(M.cols() == 1){ std::cout << "Vector " << name << M << std::endl; } else { std::cout << "Matrix " << name << ": \n"; for(size_t i=0; i < M.rows(); i++){ for(size_t j=0; j < M.cols(); j++){ std::cout << boost::format(" %6.3f ") % M(i, j); } std::cout << std::endl; } } } template static void putVector(TVector& M, char* name) { std::cout << "Vector " << name << M << std::endl; } ForwardDynamicsCBM::ForwardDynamicsCBM(DyBody* body) : ForwardDynamics(body) { highGainModeLinkFlag.resize(body->numLinks(), false); } ForwardDynamicsCBM::~ForwardDynamicsCBM() { } void ForwardDynamicsCBM::setHighGainModeForAllJoints() { highGainModeLinkFlag.set(); highGainModeLinkFlag.reset(0); } void ForwardDynamicsCBM::setHighGainMode(int linkIndex, bool on) { highGainModeLinkFlag[linkIndex] = on; } void ForwardDynamicsCBM::initialize() { DyLink* root = body->rootLink(); unknown_rootDof = (root->isFreeJoint() && !highGainModeLinkFlag[0]) ? 6 : 0; given_rootDof = (root->isFreeJoint() && highGainModeLinkFlag[0]) ? 6 : 0; torqueModeJoints.clear(); highGainModeJoints.clear(); const int numLinks = body->numLinks(); for(int i=1; i < numLinks; ++i){ DyLink* link = body->link(i); if(link->isRotationalJoint() || link->isSlideJoint()){ if(highGainModeLinkFlag[i]){ highGainModeJoints.push_back(link); } else { torqueModeJoints.push_back(link); } } } const int n = unknown_rootDof + torqueModeJoints.size(); const int m = highGainModeJoints.size(); isNoUnknownAccelMode = (n == 0); M11.resize(n, n); M12.resize(n, given_rootDof + m); b1. resize(n, 1); c1. resize(n); d1. resize(n); qGiven. resize(m); dqGiven. resize(m); ddqGiven.resize(given_rootDof + m); qGivenPrev. resize(m); dqGivenPrev.resize(m); ddqorg.resize(numLinks); uorg. resize(numLinks); calcPositionAndVelocityFK(); if(!isNoUnknownAccelMode){ calcMassMatrix(); } ddqGivenCopied = false; initializeSensors(); if(integrationMode == RUNGEKUTTA_METHOD){ q0. resize(numLinks); dq0.resize(numLinks); dq. resize(numLinks); ddq.resize(numLinks); preserveHighGainModeJointState(); } } void ForwardDynamicsCBM::solveUnknownAccels() { if(!isNoUnknownAccelMode){ initializeAccelSolver(); solveUnknownAccels(fextTotal, tauextTotal); } } inline void ForwardDynamicsCBM::calcAccelFKandForceSensorValues() { Vector3 f, tau; calcAccelFKandForceSensorValues(body->rootLink(), f, tau); } void ForwardDynamicsCBM::calcNextState() { if(isNoUnknownAccelMode && !sensorHelper.isActive()){ calcPositionAndVelocityFK(); } else { switch(integrationMode){ case EULER_METHOD: calcMotionWithEulerMethod(); break; case RUNGEKUTTA_METHOD: calcMotionWithRungeKuttaMethod(); break; } if(ROOT_ATT_NORMALIZATION_ENABLED && unknown_rootDof){ normalizeRotation(body->rootLink()->T()); } } if(sensorHelper.isActive()){ updateForceSensors(); sensorHelper.updateGyroAndAccelerationSensors(); } ddqGivenCopied = false; } void ForwardDynamicsCBM::calcMotionWithEulerMethod() { sumExternalForces(); solveUnknownAccels(); calcAccelFKandForceSensorValues(); DyLink* root = body->rootLink(); if(unknown_rootDof){ Position T; SE3exp(T, root->T(), root->w(), root->vo(), timeStep); root->T() = T; root->vo() += root->dvo() * timeStep; root->w() += root->dw() * timeStep; } const int n = torqueModeJoints.size(); for(int i=0; i < n; ++i){ DyLink* link = torqueModeJoints[i]; link->q() += link->dq() * timeStep; link->dq() += link->ddq() * timeStep; } calcPositionAndVelocityFK(); calcMassMatrix(); } void ForwardDynamicsCBM::calcMotionWithRungeKuttaMethod() { const int numHighGainJoints = highGainModeJoints.size(); DyLink* root = body->rootLink(); if(given_rootDof){ pGiven = root->p(); RGiven = root->R(); voGiven = root->vo(); wGiven = root->w(); root->p() = pGivenPrev; root->R() = RGivenPrev; root->vo() = voGivenPrev; root->w() = wGivenPrev; } for(int i=0; i < numHighGainJoints; ++i){ DyLink* link = highGainModeJoints[i]; qGiven [i] = link->q(); dqGiven[i] = link->dq(); link->q() = qGivenPrev[i]; link->dq() = dqGivenPrev[i]; } if(unknown_rootDof || given_rootDof){ T0 = root->T(); vo0 = root->vo(); w0 = root->w(); } vo.setZero(); w.setZero(); dvo.setZero(); dw.setZero(); const int numLinks = body->numLinks(); for(int i=1; i < numLinks; ++i){ const DyLink* link = body->link(i); q0 [i] = link->q(); dq0[i] = link->dq(); dq [i] = 0.0; ddq[i] = 0.0; } sumExternalForces(); solveUnknownAccels(); calcAccelFKandForceSensorValues(); integrateRungeKuttaOneStep(1.0 / 6.0, timeStep / 2.0); calcPositionAndVelocityFK(); calcMassMatrix(); solveUnknownAccels(); integrateRungeKuttaOneStep(2.0 / 6.0, timeStep / 2.0); calcPositionAndVelocityFK(); calcMassMatrix(); solveUnknownAccels(); integrateRungeKuttaOneStep(2.0 / 6.0, timeStep); calcPositionAndVelocityFK(); calcMassMatrix(); solveUnknownAccels(); if(unknown_rootDof){ SE3exp(root->T(), T0, w0, vo0, timeStep); root->vo() = vo0 + (dvo + root->dvo() / 6.0) * timeStep; root->w() = w0 + (dw + root->dw() / 6.0) * timeStep; } if(given_rootDof){ root->p() = pGiven; root->R() = RGiven; root->vo() = voGiven; root->w() = wGiven; } for(size_t i=0; i < torqueModeJoints.size(); ++i){ DyLink* link = torqueModeJoints[i]; const int index = link->index(); link->q() = q0 [index] + (dq [index] + link->dq() / 6.0) * timeStep; link->dq() = dq0[index] + (ddq[index] + link->ddq() / 6.0) * timeStep; } for(size_t i=0; i < highGainModeJoints.size(); ++i){ DyLink* link = highGainModeJoints[i]; link->q() = qGiven [i]; link->dq() = dqGiven[i]; } calcPositionAndVelocityFK(); calcMassMatrix(); preserveHighGainModeJointState(); } void ForwardDynamicsCBM::integrateRungeKuttaOneStep(double r, double dt) { DyLink* root = body->rootLink(); if(unknown_rootDof || given_rootDof){ SE3exp(root->T(), T0, root->w(), root->vo(), dt); root->vo() = vo0 + root->dvo() * dt; root->w() = w0 + root->dw() * dt; vo += r * root->vo(); w += r * root->w(); dvo += r * root->dvo(); dw += r * root->dw(); } const int n = body->numLinks(); for(int i=1; i < n; ++i){ DyLink* link = body->link(i); link->q() = q0 [i] + dt * link->dq(); link->dq() = dq0[i] + dt * link->ddq(); dq [i] += r * link->dq(); ddq[i] += r * link->ddq(); } } void ForwardDynamicsCBM::preserveHighGainModeJointState() { if(given_rootDof){ const DyLink* root = body->rootLink(); pGivenPrev = root->p(); RGivenPrev = root->R(); voGivenPrev = root->vo(); wGivenPrev = root->w(); } for(size_t i=0; i < highGainModeJoints.size(); ++i){ const DyLink* link = highGainModeJoints[i]; qGivenPrev [i] = link->q(); dqGivenPrev[i] = link->dq(); } } void ForwardDynamicsCBM::calcPositionAndVelocityFK() { DyLink* root = body->rootLink(); root_w_x_v = root->w().cross(root->vo() + root->w().cross(root->p())); if(given_rootDof){ root->vo() = root->v() - root->w().cross(root->p()); } const LinkTraverse& traverse = body->linkTraverse(); const int n = traverse.numLinks(); for(int i=0; i < n; ++i){ DyLink* link = static_cast(traverse[i]); const DyLink* parent = link->parent(); if(parent){ switch(link->jointType()){ case Link::SLIDE_JOINT: link->p().noalias() = parent->R() * (link->b() + link->q() * link->d()) + parent->p(); link->R() = parent->R(); link->sw().setZero(); link->sv().noalias() = parent->R() * link->d(); link->w() = parent->w(); break; case Link::ROTATIONAL_JOINT: link->R().noalias() = parent->R() * AngleAxisd(link->q(), link->a()); link->p().noalias() = parent->R() * link->b() + parent->p(); link->sw().noalias() = parent->R() * link->a(); link->sv() = link->p().cross(link->sw()); link->w() = link->dq() * link->sw() + parent->w(); break; case Link::FIXED_JOINT: default: link->p().noalias() = parent->R() * link->b() + parent->p(); link->R() = parent->R(); link->w() = parent->w(); link->vo() = parent->vo(); link->sw().setZero(); link->sv().setZero(); link->cv().setZero(); link->cw().setZero(); goto COMMON_CALCS_FOR_ALL_JOINT_TYPES; } link->vo() = link->dq() * link->sv() + parent->vo(); const Vector3 dsv = parent->w().cross(link->sv()) + parent->vo().cross(link->sw()); const Vector3 dsw = parent->w().cross(link->sw()); link->cv() = link->dq() * dsv; link->cw() = link->dq() * dsw; } COMMON_CALCS_FOR_ALL_JOINT_TYPES: /// \todo remove this equation link->v() = link->vo() + link->w().cross(link->p()); link->wc().noalias() = link->R() * link->c() + link->p(); const Matrix3 Iw = link->R() * link->I() * link->R().transpose(); const Matrix3 c_hat = hat(link->wc()); link->Iww().noalias() = link->m() * c_hat * c_hat.transpose() + Iw; link->Iwv() = link->m() * c_hat; const Vector3 P = link->m() * (link->vo() + link->w().cross(link->wc())); const Vector3 L = link->Iww() * link->w() + link->m() * link->wc().cross(link->vo()); link->pf() = link->w().cross(P); link->ptau() = link->vo().cross(P) + link->w().cross(L); } } /** calculate the mass matrix using the unit vector method \todo replace the unit vector method here with a more efficient method that only requires O(n) computation time */ void ForwardDynamicsCBM::calcMassMatrix() { DyLink* root = body->rootLink(); const int numLinks = body->numLinks(); // preserve and clear the joint accelerations for(int i=1; i < numLinks; ++i){ DyLink* link = body->link(i); ddqorg[i] = link->ddq(); uorg [i] = link->u(); link->ddq() = 0.0; } // preserve and clear the root link acceleration dvoorg = root->dvo(); dworg = root->dw(); root->dvo() = -g - root_w_x_v; // dv = g, dw = 0 root->dw().setZero(); setColumnOfMassMatrix(b1, 0); if(unknown_rootDof){ for(int i=0; i < 3; ++i){ root->dvo()[i] += 1.0; setColumnOfMassMatrix(M11, i); root->dvo()[i] -= 1.0; } for(int i=0; i < 3; ++i){ root->dw()[i] = 1.0; Vector3 dw_x_p = root->dw().cross(root->p()); root->dvo() -= dw_x_p; setColumnOfMassMatrix(M11, i + 3); root->dvo() += dw_x_p; root->dw()[i] = 0.0; } } if(given_rootDof){ for(int i=0; i < 3; ++i){ root->dvo()[i] += 1.0; setColumnOfMassMatrix(M12, i); root->dvo()[i] -= 1.0; } for(int i=0; i < 3; ++i){ root->dw()[i] = 1.0; Vector3 dw_x_p = root->dw().cross(root->p()); root->dvo() -= dw_x_p; setColumnOfMassMatrix(M12, i + 3); root->dvo() += dw_x_p; root->dw()[i] = 0.0; } } for(size_t i=0; i < torqueModeJoints.size(); ++i){ DyLink* link = torqueModeJoints[i]; link->ddq() = 1.0; int j = i + unknown_rootDof; setColumnOfMassMatrix(M11, j); M11(j, j) += link->Jm2(); // motor inertia link->ddq() = 0.0; } for(size_t i=0; i < highGainModeJoints.size(); ++i){ DyLink* link = highGainModeJoints[i]; link->ddq() = 1.0; int j = i + given_rootDof; setColumnOfMassMatrix(M12, j); link->ddq() = 0.0; } // subtract the constant term for(int i=0; i < M11.cols(); ++i){ M11.col(i) -= b1; } for(int i=0; i < M12.cols(); ++i){ M12.col(i) -= b1; } for(int i=1; i < numLinks; ++i){ DyLink* link = body->link(i); link->ddq() = ddqorg[i]; link->u() = uorg [i]; } root->dvo() = dvoorg; root->dw() = dworg; accelSolverInitialized = false; } void ForwardDynamicsCBM::setColumnOfMassMatrix(MatrixXd& M, int column) { Vector3 f; Vector3 tau; DyLink* root = body->rootLink(); calcInverseDynamics(root, f, tau); MatrixXd::ColXpr col = M.col(column); if(unknown_rootDof){ tau -= root->p().cross(f); col << f, tau; /* col.head(3) = f; col.segment(3, 3) = tau; */ } for(size_t i=0; i < torqueModeJoints.size(); ++i){ col(i + unknown_rootDof) = torqueModeJoints[i]->u(); } } void ForwardDynamicsCBM::calcInverseDynamics(DyLink* link, Vector3& out_f, Vector3& out_tau) { const DyLink* parent = link->parent(); if(parent){ link->dvo() = parent->dvo() + link->cv() + link->sv() * link->ddq(); link->dw() = parent->dw() + link->cw() + link->sw() * link->ddq(); } out_f = link->pf(); out_tau = link->ptau(); if(link->child()){ Vector3 f_c; Vector3 tau_c; calcInverseDynamics(link->child(), f_c, tau_c); out_f += f_c; out_tau += tau_c; } out_f .noalias() += link->m() * link->dvo() + link->Iwv().transpose() * link->dw(); out_tau.noalias() += link->Iwv() * link->dvo() + link->Iww() * link->dw(); link->u() = link->sv().dot(out_f) + link->sw().dot(out_tau); if(link->sibling()){ Vector3 f_s; Vector3 tau_s; calcInverseDynamics(link->sibling(), f_s, tau_s); out_f += f_s; out_tau += tau_s; } } void ForwardDynamicsCBM::sumExternalForces() { fextTotal.setZero(); tauextTotal.setZero(); const int n = body->numLinks(); for(int i=0; i < n; ++i){ const DyLink* link = body->link(i); fextTotal += link->f_ext(); tauextTotal += link->tau_ext(); } tauextTotal -= body->rootLink()->p().cross(fextTotal); } void ForwardDynamicsCBM::calcd1(DyLink* link, Vector3& out_f, Vector3& out_tau) { out_f = -link->f_ext(); out_tau = -link->tau_ext(); if(link->child()){ Vector3 f_c; Vector3 tau_c; calcd1(link->child(), f_c, tau_c); out_f += f_c; out_tau += tau_c; } link->u() = link->sv().dot(out_f) + link->sw().dot(out_tau); if(link->sibling()){ Vector3 f_s; Vector3 tau_s; calcd1(link->sibling(), f_s, tau_s); out_f += f_s; out_tau += tau_s; } } void ForwardDynamicsCBM::initializeAccelSolver() { if(!accelSolverInitialized){ if(!ddqGivenCopied){ if(given_rootDof){ DyLink* root = body->rootLink(); root->dvo() = root->dv() - root->dw().cross(root->p()) - root->w().cross(root->v()); ddqGiven.head(3) = root->dvo(); ddqGiven.segment(3, 3) = root->dw(); } for(size_t i=0; i < highGainModeJoints.size(); ++i){ ddqGiven(given_rootDof + i) = highGainModeJoints[i]->ddq(); } ddqGivenCopied = true; } b1.noalias() += M12 * ddqGiven; for(int i=1; i < body->numLinks(); ++i){ const DyLink* link = body->link(i); uorg [i] = link->u(); } Vector3 f, tau; DyLink* root = body->rootLink(); calcd1(root, f, tau); for(int i=0; i < unknown_rootDof; i++){ d1(i, 0) = 0; } for(size_t i=0; i < torqueModeJoints.size(); ++i){ d1(i + unknown_rootDof, 0) = torqueModeJoints[i]->u(); } for(int i=1; i < body->numLinks(); ++i){ DyLink* link = body->link(i); link->u() = uorg [i]; } accelSolverInitialized = true; } } //for ConstraintForceSolver void ForwardDynamicsCBM::solveUnknownAccels (DyLink* link, const Vector3& fext, const Vector3& tauext, const Vector3& rootfext, const Vector3& roottauext) { const Vector3 fextorg = link->f_ext(); const Vector3 tauextorg = link->tau_ext(); link->f_ext() = fext; link->tau_ext() = tauext; for(int i=1; i < body->numLinks(); ++i){ const DyLink* link = body->link(i); uorg[i] = link->u(); } Vector3 f, tau; DyLink* root = body->rootLink(); calcd1(root, f, tau); for(int i=0; i < unknown_rootDof; i++){ d1(i, 0) = 0; } for(size_t i=0; i < torqueModeJoints.size(); ++i){ d1(i + unknown_rootDof, 0) = torqueModeJoints[i]->u(); } for(int i=1; i < body->numLinks(); ++i){ DyLink* link = body->link(i); link->u() = uorg[i]; } link->f_ext() = fextorg; link->tau_ext() = tauextorg; solveUnknownAccels(rootfext, roottauext); } void ForwardDynamicsCBM::solveUnknownAccels(const Vector3& fext, const Vector3& tauext) { if(unknown_rootDof){ c1.head(3) = fext; c1.segment(3, 3) = tauext; } for(size_t i=0; i < torqueModeJoints.size(); ++i){ c1(i + unknown_rootDof) = torqueModeJoints[i]->u(); } c1 -= d1; c1 -= b1.col(0); const VectorXd a(M11.colPivHouseholderQr().solve(c1)); if(unknown_rootDof){ DyLink* root = body->rootLink(); root->dw() = a.segment(3, 3); const Vector3 dv = a.head(3); root->dvo() = dv - root->dw().cross(root->p()) - root_w_x_v; } for(size_t i=0; i < torqueModeJoints.size(); ++i){ DyLink* link = torqueModeJoints[i]; link->ddq() = a(i + unknown_rootDof); } } void ForwardDynamicsCBM::calcAccelFKandForceSensorValues(DyLink* link, Vector3& out_f, Vector3& out_tau) { const DyLink* parent = link->parent(); if(parent){ link->dvo() = parent->dvo() + link->cv() + link->sv() * link->ddq(); link->dw() = parent->dw() + link->cw() + link->sw() * link->ddq(); } out_f = link->pf(); out_tau = link->ptau(); for(DyLink* child = link->child(); child; child = child->sibling()){ Vector3 f, tau; calcAccelFKandForceSensorValues(child, f, tau); out_f += f; out_tau += tau; } ForceSensorInfo& info = forceSensorInfo[link->index()]; if(CALC_ALL_JOINT_TORQUES || info.hasSensorsAbove){ Vector3 fg(link->m() * g); Vector3 tg(link->wc().cross(fg)); out_f -= fg; out_tau -= tg; out_f -= link->f_ext(); out_tau -= link->tau_ext(); out_f .noalias() += link->m() * link->dvo() + link->Iwv().transpose() * link->dw(); out_tau.noalias() += link->Iwv() * link->dvo() + link->Iww() * link->dw(); if(CALC_ALL_JOINT_TORQUES && highGainModeLinkFlag[link->index()]){ link->u() = link->sv().dot(out_f) + link->sw().dot(out_tau); } if(info.hasSensor){ info.f = -out_f; info.tau = -out_tau; } } } void ForwardDynamicsCBM::initializeSensors() { ForwardDynamics::initializeSensors(); const int n = body->numLinks(); forceSensorInfo.resize(n); if(sensorsEnabled){ const DeviceList& forceSensors = sensorHelper.forceSensors(); for(size_t i=0; i < forceSensors.size(); ++i){ const ForceSensor* sensor = forceSensors[i]; forceSensorInfo[sensor->link()->index()].hasSensor = true; } updateForceSensorInfo(body->rootLink(), false); } } void ForwardDynamicsCBM::updateForceSensorInfo(DyLink* link, bool hasSensorsAbove) { ForceSensorInfo& info = forceSensorInfo[link->index()]; hasSensorsAbove |= info.hasSensor; info.hasSensorsAbove = hasSensorsAbove; for(DyLink* child = link->child(); child; child = child->sibling()){ updateForceSensorInfo(child, hasSensorsAbove); } } void ForwardDynamicsCBM::updateForceSensors() { const DeviceList& sensors = sensorHelper.forceSensors(); for(size_t i=0; i < sensors.size(); ++i){ ForceSensor* sensor = sensors[i]; const Link* link = sensor->link(); const ForceSensorInfo& info = forceSensorInfo[sensor->link()->index()]; const Matrix3 R = link->R() * sensor->R_local(); const Vector3 p = link->p() + link->R() * sensor->p_local(); sensor->f() = R.transpose() * info.f; sensor->tau() = R.transpose() * (info.tau - p.cross(info.f)); sensor->notifyStateChange(); } } choreonoid-1.5.0/src/Body/DyBody.h0000664000000000000000000001064712741425367015420 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_DYBODY_H #define CNOID_BODY_DYBODY_H #include "Body.h" #include "Link.h" #include "exportdecl.h" namespace cnoid { /** A Link class used for forward dynamics based on the articulated body method (ABM) */ class CNOID_EXPORT DyLink : public Link { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW; DyLink(); DyLink(const Link& link); DyLink* parent() const { return static_cast(Link::parent()); } DyLink* sibling() const { return static_cast(Link::sibling()); } DyLink* child() const { return static_cast(Link::child()); } const Vector3& vo() const { return vo_; } Vector3& vo() { return vo_; } const Vector3& dvo() const { return dvo_; } Vector3& dvo() { return dvo_; } const Vector3& sw() const { return sw_; } Vector3& sw() { return sw_; } const Vector3& sv() const { return sv_; } Vector3& sv() { return sv_; } const Vector3& cv() const { return cv_; } Vector3& cv() { return cv_; } const Vector3& cw() const { return cw_; } Vector3& cw() { return cw_; } const Matrix3& Iww() const { return Iww_; } Matrix3& Iww() { return Iww_; } const Matrix3& Iwv() const { return Iwv_; } Matrix3& Iwv() { return Iwv_; } const Matrix3& Ivv() const { return Ivv_; } Matrix3& Ivv() { return Ivv_; } const Vector3& pf() const { return pf_; } Vector3& pf() { return pf_; } const Vector3& ptau() const { return ptau_; } Vector3& ptau() { return ptau_; } const Vector3& hhv() const { return hhv_; } Vector3& hhv() { return hhv_; } const Vector3& hhw() const { return hhw_; } Vector3& hhw() { return hhw_; } double uu() const { return uu_; } double& uu() { return uu_; } double dd() const { return dd_; } double& dd() { return dd_; } /** This is used for checking or visualizing the actual constraint forces. This is updated if ConstraintForceSolver::enableConstraintForceOutput(true) is called. */ struct ConstraintForce { EIGEN_MAKE_ALIGNED_OPERATOR_NEW ConstraintForce(const Vector3& point, const Vector3& force) : point(point), force(force) { } Vector3 point; Vector3 force; }; typedef std::vector ConstraintForceArray; ConstraintForceArray& constraintForces() { return constraintForces_; } const ConstraintForceArray& constraintForces() const { return constraintForces_; } virtual void prependChild(Link* link); virtual void appendChild(Link* link); private: Vector3 vo_; ///< translation elements of spacial velocity Vector3 dvo_; ///< derivative of vo /** A unit vector of angular velocity (the world coordinate) generated by the joint The value is parent->R * a when the joint is the rotational type. */ Vector3 sw_; /** A unit vector of spatial velocity (the world coordinate) generated by the joint. The value is parent->R * d when the joint is the translation type. */ Vector3 sv_; Vector3 cv_; ///< dsv * dq (cross velocity term) Vector3 cw_; ///< dsw * dq (cross velocity term) Matrix3 Iww_; ///< bottm right block of the articulated inertia Matrix3 Iwv_; ///< bottom left block (transpose of top right block) of the articulated inertia Matrix3 Ivv_; ///< top left block of the articulated inertia Vector3 pf_; ///< bias force (linear element) Vector3 ptau_; ///< bias force (torque element) Vector3 hhv_; ///< top block of Ia * s Vector3 hhw_; ///< bottom bock of Ia * s double uu_; double dd_; ///< Ia * s*s^T std::vector constraintForces_; }; /** A Body class used for forward dynamics based on the articulated body method (ABM) */ class CNOID_EXPORT DyBody : public Body { public: DyBody(); DyBody(const Body& org); virtual Body* clone() const; virtual Link* createLink(const Link* org = 0) const; DyLink* joint(int id) const { return static_cast(Body::joint(id)); } DyLink* link(int index) const { return static_cast(Body::link(index)); } DyLink* link(const std::string& name) const { return static_cast(Body::link(name)); } DyLink* rootLink() const { return static_cast(Body::rootLink()); } void calcSpatialForwardKinematics(); }; typedef ref_ptr DyBodyPtr; }; #endif choreonoid-1.5.0/src/Body/LinkPath.cpp0000664000000000000000000000342512741425367016267 0ustar rootroot/** \file \brief Implementations of the LinkPath class \author Shin'ichiro Nakaoka */ #include "LinkPath.h" #include "Link.h" #include using namespace std; using namespace cnoid; LinkPath::LinkPath() { } LinkPath::LinkPath(Link* base, Link* end) { setPath(base, end); } /// path from the root link LinkPath::LinkPath(Link* base) { setPath(base); } /// This method is disabled. void LinkPath::find(Link* root, bool doUpward, bool doDownward) { throw "The find method for LinkTraverse cannot be used in LinkPath"; } bool LinkPath::setPath(Link* base, Link* end) { links.clear(); numUpwardConnections = 0; bool found = findPathSub(base, 0, end, false); if(!found){ links.clear(); } return found; } bool LinkPath::findPathSub(Link* link, Link* prev, Link* end, bool isUpward) { links.push_back(link); if(isUpward){ ++numUpwardConnections; } if(link == end){ return true; } for(Link* child = link->child(); child; child = child->sibling()){ if(child != prev){ if(findPathSub(child, link, end, false)){ return true; } } } Link* parent = link->parent(); if(parent && parent != prev){ if(findPathSub(parent, link, end, true)){ return true; } } links.pop_back(); if(isUpward){ --numUpwardConnections; } return false; } /// path from the root link void LinkPath::setPath(Link* end) { links.clear(); numUpwardConnections = 0; findPathFromRootSub(end); std::reverse(links.begin(), links.end()); } void LinkPath::findPathFromRootSub(Link* link) { links.push_back(link); if(link->parent()){ findPathFromRootSub(link->parent()); } } choreonoid-1.5.0/src/Body/ZMPSeq.cpp0000664000000000000000000000542612741425367015677 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "ZMPSeq.h" #include "BodyMotion.h" #include using namespace std; using namespace cnoid; namespace { static const string zmpkey("ZMP"); } ZMPSeq::ZMPSeq(int nFrames) : Vector3Seq(nFrames) { setSeqContentName(zmpkey); isRootRelative_ = false; } ZMPSeq::ZMPSeq(const ZMPSeq& org) : Vector3Seq(org) { isRootRelative_ = org.isRootRelative_; } ZMPSeq::ZMPSeq(const Vector3Seq& org) : Vector3Seq(org) { setSeqContentName(zmpkey); isRootRelative_ = false; } ZMPSeq& ZMPSeq::operator=(const ZMPSeq& rhs) { if(this != &rhs){ Vector3Seq::operator=(rhs); isRootRelative_ = rhs.isRootRelative_; } return *this; } AbstractSeq& ZMPSeq::operator=(const AbstractSeq& rhs) { const ZMPSeq* rhsZmpSeq = dynamic_cast(&rhs); if(rhsZmpSeq){ return operator=(*rhsZmpSeq); } else { return Vector3Seq::BaseSeqType::operator=(rhs); } } AbstractSeqPtr ZMPSeq::cloneSeq() const { return boost::make_shared(*this); } const std::string& ZMPSeq::key() { return zmpkey; } void ZMPSeq::setRootRelative(bool on) { isRootRelative_ = on; } bool ZMPSeq::doWriteSeq(YAMLWriter& writer) { if(Vector3Seq::doWriteSeq(writer)){ if(isRootRelative_){ writer.putKeyValue("isRootRelative", true); } return true; } return false; } bool ZMPSeq::doReadSeq(const Mapping& archive) { if(Vector3Seq::doReadSeq(archive)){ archive.read("isRootRelative", isRootRelative_); return true; } return false; } ZMPSeqPtr cnoid::getZMPSeq(const BodyMotion& motion) { return motion.extraSeq(zmpkey); } ZMPSeqPtr cnoid::getOrCreateZMPSeq(BodyMotion& motion) { return motion.getOrCreateExtraSeq(zmpkey); } void cnoid::clearZMPSeq(BodyMotion& motion) { motion.clearExtraSeq(zmpkey); } bool cnoid::makeRootRelative(ZMPSeq& zmpseq, BodyMotion& motion, bool on) { if(zmpseq.isRootRelative() != on){ MultiSE3Seq::Part rootSeq = motion.linkPosSeq()->part(0); if(rootSeq.empty()){ return false; } if(on){ // make the coordinate root relative for(int i=0; i < zmpseq.numFrames(); ++i){ const SE3& p = rootSeq[std::min(i, rootSeq.size() - 1)]; zmpseq[i] = p.rotation().inverse() * zmpseq[i] - p.translation(); } } else { // make the coordinate global for(int i=0; i < zmpseq.numFrames(); ++i){ const SE3& p = rootSeq[std::min(i, rootSeq.size() - 1)]; zmpseq[i] = p.rotation() * zmpseq[i] + p.translation(); } } zmpseq.setRootRelative(on); } return true; } choreonoid-1.5.0/src/Body/SceneDevice.h0000664000000000000000000000334512741425367016400 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_SCENE_DEVICE_H #define CNOID_BODY_SCENE_DEVICE_H #include #include #include "exportdecl.h" namespace cnoid { class Device; class Camera; class Light; class PointLight; class SpotLight; class CNOID_EXPORT SceneDevice : public SgPosTransform { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW; // for integrating new device types typedef boost::function SceneDeviceFactory; template static void registerSceneDeviceFactory(const SceneDeviceFactory& factory) { registerSceneDeviceFactory_(&typeid(DeviceType), factory); } static SceneDevice* create(Device* device); SceneDevice(Device* device); SceneDevice(Device* device, SgNode* sceneNode, boost::function sceneUpdateFunction); template DeviceType* device() { return static_cast(device_); } template const DeviceType* device() const { return static_cast(device_); } Device* device() { return device_; } const Device* device() const { return device_; } void setSceneUpdateFunction(boost::function function); void updateScene() { if(sceneUpdateFunction) sceneUpdateFunction(); } void setSceneUpdateConnection(bool on); protected: ~SceneDevice(); private: SceneDevice(const SceneDevice& org); Device* device_; boost::function sceneUpdateFunction; Connection connection; static void registerSceneDeviceFactory_(const std::type_info* pTypeInfo, const SceneDeviceFactory& factory); }; typedef ref_ptr SceneDevicePtr; } #endif choreonoid-1.5.0/src/Body/Body.cpp0000664000000000000000000003220212741425367015445 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "Body.h" #include "BodyCustomizerInterface.h" #include #include #include using namespace std; using namespace boost; using namespace cnoid; namespace { const bool PUT_DEBUG_MESSAGE = true; bool pluginsInDefaultDirectoriesLoaded = false; #ifndef uint typedef unsigned int uint; #endif struct BodyHandleEntity { Body* body; }; typedef std::map NameToLinkMap; typedef std::map DeviceNameMap; typedef std::map CacheMap; } namespace cnoid { class BodyImpl { public: NameToLinkMap nameToLinkMap; DeviceNameMap deviceNameMap; CacheMap cacheMap; MappingPtr info; Vector3 centerOfMass; double mass; std::string name; std::string modelName; // Members for the customizer BodyCustomizerHandle customizerHandle; BodyCustomizerInterface* customizerInterface; BodyHandleEntity bodyHandleEntity; BodyHandle bodyHandle; bool installCustomizer(BodyCustomizerInterface* customizerInterface); }; } Body::Body() { initialize(); rootLink_ = createLink(); numActualJoints = 0; impl->centerOfMass.setZero(); impl->mass = 0.0; impl->info = new Mapping(); } void Body::initialize() { impl = new BodyImpl; impl->customizerHandle = 0; impl->customizerInterface = 0; impl->bodyHandleEntity.body = this; impl->bodyHandle = &impl->bodyHandleEntity; } Body::Body(const Body& org) { copy(org); } void Body::copy(const Body& org) { initialize(); impl->centerOfMass = org.impl->centerOfMass; impl->mass = org.impl->mass; impl->name = org.impl->name; impl->modelName = org.impl->modelName; impl->info = org.impl->info; setRootLink(cloneLinkTree(org.rootLink())); // deep copy of the devices const DeviceList<>& orgDevices = org.devices(); for(size_t i=0; i < orgDevices.size(); ++i){ const Device& orgDevice = *orgDevices[i]; Device* device = orgDevice.clone(); device->setLink(link(orgDevice.link()->index())); addDevice(device); } // deep copy of the extraJoints for(size_t i=0; i < org.extraJoints_.size(); ++i){ const ExtraJoint& orgExtraJoint = org.extraJoints_[i]; ExtraJoint extraJoint(orgExtraJoint); for(int j=0; j < 2; ++j){ extraJoint.link[j] = link(orgExtraJoint.link[j]->index()); } extraJoints_.push_back(extraJoint); } if(org.impl->customizerInterface){ installCustomizer(org.impl->customizerInterface); } } Link* Body::cloneLinkTree(const Link* orgLink) { Link* link = createLink(orgLink); for(Link* orgChild = orgLink->child(); orgChild; orgChild = orgChild->sibling()){ link->appendChild(cloneLinkTree(orgChild)); } return link; } Body* Body::clone() const { return new Body(*this); } Link* Body::createLink(const Link* org) const { return org ? new Link(*org) : new Link(); } void Body::cloneShapes(SgCloneMap& cloneMap) { const int n = linkTraverse_.numLinks(); for(int i=0; i < n; ++i){ Link* link = linkTraverse_[i]; SgNode* visualShape = link->visualShape(); if(visualShape){ link->setVisualShape(visualShape->cloneNode(cloneMap)); } SgNode* collisionShape = link->collisionShape(); if(collisionShape){ if(collisionShape == visualShape){ link->setCollisionShape(link->visualShape()); } else { link->setCollisionShape(collisionShape->cloneNode(cloneMap)); } } } } Body::~Body() { setRootLink(0); if(impl->customizerHandle){ impl->customizerInterface->destroy(impl->customizerHandle); } delete impl; } void Body::setRootLink(Link* link) { if(rootLink_){ rootLink_->setBody(0); } rootLink_ = link; if(rootLink_){ rootLink_->setBody(this); updateLinkTree(); } } Link* Body::createEmptyJoint(int jointId) { Link* empty = createLink(); empty->setJointId(jointId); return empty; } void Body::updateLinkTree() { isStaticModel_ = true; impl->nameToLinkMap.clear(); linkTraverse_.find(rootLink()); const int numLinks = linkTraverse_.numLinks(); jointIdToLinkArray.clear(); jointIdToLinkArray.reserve(numLinks - 1); numActualJoints = 0; Link** virtualJoints = (Link**)alloca(numLinks * sizeof(Link*)); int numVirtualJoints = 0; double m = 0.0; for(int i=0; i < numLinks; ++i){ Link* link = linkTraverse_[i]; link->setIndex(i); impl->nameToLinkMap[link->name()] = link; const int id = link->jointId(); if(id >= 0){ if(id >= jointIdToLinkArray.size()){ jointIdToLinkArray.resize(id + 1, 0); } if(!jointIdToLinkArray[id]){ jointIdToLinkArray[id] = link; ++numActualJoints; } } if(link->jointType() != Link::FIXED_JOINT){ isStaticModel_ = false; if(i > 0 && id < 0){ virtualJoints[numVirtualJoints++] = link; } } m += link->mass(); } for(size_t i=0; i < jointIdToLinkArray.size(); ++i){ if(!jointIdToLinkArray[i]){ jointIdToLinkArray[i] = createEmptyJoint(i); ++numActualJoints; } } if(numVirtualJoints > 0){ const int n = jointIdToLinkArray.size(); jointIdToLinkArray.resize(n + numVirtualJoints); for(int i=0; i < numVirtualJoints; ++i){ jointIdToLinkArray[n + i] = virtualJoints[i]; } } impl->mass = m; } void Body::resetDefaultPosition(const Position& T) { rootLink_->setOffsetPosition(T); } const std::string& Body::name() const { return impl->name; } void Body::setName(const std::string& name) { impl->name = name; } const std::string& Body::modelName() const { return impl->modelName; } void Body::setModelName(const std::string& name) { impl->modelName = name; } const Mapping* Body::info() const { return impl->info; } Mapping* Body::info() { return impl->info; } void Body::resetInfo(Mapping* info) { impl->info = info; } void Body::addDevice(Device* device) { device->setIndex(devices_.size()); devices_.push_back(device); if(!device->name().empty()){ impl->deviceNameMap[device->name()] = device; } } void Body::clearDevices() { devices_.clear(); impl->deviceNameMap.clear(); } Device* Body::findDeviceSub(const std::string& name) const { DeviceNameMap::const_iterator p = impl->deviceNameMap.find(name); if(p != impl->deviceNameMap.end()){ return p->second; } return 0; } Referenced* Body::findCacheSub(const std::string& name) { CacheMap::iterator p = impl->cacheMap.find(name); if(p != impl->cacheMap.end()){ return p->second; } return 0; } const Referenced* Body::findCacheSub(const std::string& name) const { CacheMap::iterator p = impl->cacheMap.find(name); if(p != impl->cacheMap.end()){ return p->second; } return 0; } void Body::insertCache(const std::string& name, Referenced* cache) { impl->cacheMap[name] = cache; } bool Body::getCaches(PolymorphicReferencedArrayBase<>& out_caches, std::vector& out_names) const { out_caches.clear_elements(); out_names.clear(); for(CacheMap::const_iterator p = impl->cacheMap.begin(); p != impl->cacheMap.end(); ++p){ if(out_caches.try_push_back(p->second)){ out_names.push_back(p->first); } } return !out_names.empty(); } void Body::removeCache(const std::string& name) { impl->cacheMap.erase(name); } Link* Body::link(const std::string& name) const { NameToLinkMap::const_iterator p = impl->nameToLinkMap.find(name); return (p != impl->nameToLinkMap.end()) ? p->second : 0; } double Body::mass() const { return impl->mass; } const Vector3& Body::centerOfMass() const { return impl->centerOfMass; } void Body::initializeState() { rootLink_->T() = rootLink_->Tb(); rootLink_->v().setZero(); rootLink_->w().setZero(); rootLink_->dv().setZero(); rootLink_->dw().setZero(); const int n = linkTraverse_.numLinks(); for(int i=0; i < n; ++i){ Link* link = linkTraverse_[i]; link->u() = 0.0; link->q() = link->initialJointDisplacement(); link->dq() = 0.0; link->ddq() = 0.0; } calcForwardKinematics(true, true); clearExternalForces(); initializeDeviceStates(); } void Body::clearExternalForces() { int n = linkTraverse_.numLinks(); for(int i=0; i < n; ++i){ Link* link = linkTraverse_[i]; link->F_ext().setZero(); } } void Body::initializeDeviceStates() { for(size_t i=0; i < devices_.size(); ++i){ devices_[i]->clearState(); } } const Vector3& Body::calcCenterOfMass() { double m = 0.0; Vector3 mc = Vector3::Zero(); int n = linkTraverse_.numLinks(); for(int i=0; i < n; i++){ Link* link = linkTraverse_[i]; link->wc().noalias() = link->R() * link->c() + link->p(); mc.noalias() += link->m() * link->wc(); m += link->m(); } impl->centerOfMass = mc / m; impl->mass = m; return impl->centerOfMass; } /** assuming Link::v,w is already computed by calcForwardKinematics(true); assuming Link::wc is already computed by calcCenterOfMass(); */ void Body::calcTotalMomentum(Vector3& out_P, Vector3& out_L) { out_P.setZero(); out_L.setZero(); Vector3 dwc; // Center of mass speed in world frame Vector3 P; // Linear momentum of the link Vector3 L; // Angular momentum with respect to the world frame origin Vector3 Llocal; // Angular momentum with respect to the center of mass of the link int n = linkTraverse_.numLinks(); for(int i=0; i < n; i++){ Link* link = linkTraverse_[i]; dwc = link->v() + link->w().cross(link->R() * link->c()); P = link->m() * dwc; //L = cross(link->wc, P) + link->R * link->I * trans(link->R) * link->w; Llocal.noalias() = link->I() * link->R().transpose() * link->w(); L .noalias() = link->wc().cross(P) + link->R() * Llocal; out_P += P; out_L += L; } } BodyCustomizerHandle Body::customizerHandle() const { return impl->customizerHandle; } BodyCustomizerInterface* Body::customizerInterface() const { return impl->customizerInterface; } bool Body::hasVirtualJointForces() const { return (impl->customizerInterface && impl->customizerInterface->setVirtualJointForces); } void Body::setVirtualJointForces() { if(impl->customizerInterface && impl->customizerInterface->setVirtualJointForces){ impl->customizerInterface->setVirtualJointForces(impl->customizerHandle); } } /** The function installs the pre-loaded customizer corresponding to the model name. */ bool Body::installCustomizer() { if(!pluginsInDefaultDirectoriesLoaded){ loadBodyCustomizers(bodyInterface()); pluginsInDefaultDirectoriesLoaded = true; } BodyCustomizerInterface* interface = findBodyCustomizer(impl->modelName); return interface ? installCustomizer(interface) : false; } bool Body::installCustomizer(BodyCustomizerInterface* customizerInterface) { return impl->installCustomizer(customizerInterface); } bool BodyImpl::installCustomizer(BodyCustomizerInterface* customizerInterface) { if(this->customizerInterface){ if(customizerHandle){ this->customizerInterface->destroy(customizerHandle); customizerHandle = 0; } this->customizerInterface = 0; } if(customizerInterface){ customizerHandle = customizerInterface->create(bodyHandle, modelName.c_str()); if(customizerHandle){ this->customizerInterface = customizerInterface; } } return (customizerHandle != 0); } static inline Link* extractLink(BodyHandle bodyHandle, int linkIndex) { return static_cast(bodyHandle)->body->link(linkIndex); } static int getLinkIndexFromName(BodyHandle bodyHandle, const char* linkName) { Body* body = static_cast(bodyHandle)->body; Link* link = body->link(linkName); return (link ? link->index() : -1); } static const char* getLinkName(BodyHandle bodyHandle, int linkIndex) { return extractLink(bodyHandle, linkIndex)->name().c_str(); } static double* getJointValuePtr(BodyHandle bodyHandle, int linkIndex) { return &(extractLink(bodyHandle,linkIndex)->q()); } static double* getJointVelocityPtr(BodyHandle bodyHandle, int linkIndex) { return &(extractLink(bodyHandle, linkIndex)->dq()); } static double* getJointTorqueForcePtr(BodyHandle bodyHandle, int linkIndex) { return &(extractLink(bodyHandle, linkIndex)->u()); } BodyInterface* Body::bodyInterface() { static BodyInterface interface = { BODY_INTERFACE_VERSION, getLinkIndexFromName, getLinkName, getJointValuePtr, getJointVelocityPtr, getJointTorqueForcePtr, }; return &interface; } choreonoid-1.5.0/src/Body/JointPath.h0000664000000000000000000000765712741425367016135 0ustar rootroot/** \file \brief The header file of the JointPath class \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_JOINT_PATH_H #define CNOID_BODY_JOINT_PATH_H #include "LinkPath.h" #include "InverseKinematics.h" #include #include #include #include "exportdecl.h" namespace cnoid { class JointPathIkImpl; class CNOID_EXPORT JointPath : public InverseKinematics { public: JointPath(); JointPath(Link* base, Link* end); JointPath(Link* end); virtual ~JointPath(); bool setPath(Link* base, Link* end); bool setPath(Link* end); //! Deprecated. Use "setPath()" instead of this. bool find(Link* base, Link* end) { return setPath(base, end); } //! Deprecated. Use "setPath()" instead of this. bool find(Link* end) { return setPath(end); } bool empty() const { return joints.empty(); } int numJoints() const { return joints.size(); } Link* joint(int index) const { return joints[index]; } Link* baseLink() const { return linkPath.baseLink(); } Link* endLink() const { return linkPath.endLink(); } bool isJointDownward(int index) const { return (index >= numUpwardJointConnections); } void calcForwardKinematics(bool calcVelocity = false, bool calcAcceleration = false) const { linkPath.calcForwardKinematics(calcVelocity, calcAcceleration); } int indexOf(const Link* link) const; bool isBestEffortIKmode() const; void setBestEffortIKmode(bool on); void setNumericalIKmaxIKerror(double e); void setNumericalIKdeltaScale(double s); void setNumericalIKmaxIterations(int n); void setNumericalIKdampingConstant(double lambda); static double numericalIKdefaultDeltaScale(); static int numericalIKdefaultMaxIterations(); static double numericalIKdefaultMaxIKerror(); static double numericalIKdefaultDampingConstant(); void customizeTarget( int numTargetElements, boost::function errorFunc, boost::function jacobianFunc); // InverseKinematics Interface virtual bool hasAnalyticalIK() const; JointPath& storeCurrentPosition(); JointPath& setGoal(const Vector3& end_p, const Matrix3& end_R) { targetTranslationGoal = end_p; targetRotationGoal = end_R; return *this; } JointPath& setGoal(const Vector3& base_p, const Matrix3& base_R, const Vector3& end_p, const Matrix3& end_R); virtual bool calcInverseKinematics(); bool calcNumericalIK() { return JointPath::calcInverseKinematics(); } int numIterations() const; //! deprecated void calcJacobian(Eigen::MatrixXd& out_J) const; //! deprecated virtual bool calcInverseKinematics(const Vector3& end_p, const Matrix3& end_R); //! deprecated bool calcInverseKinematics( const Vector3& base_p, const Matrix3& base_R, const Vector3& end_p, const Matrix3& end_R); //! deprecated void setNumericalIKtruncateRatio(double r); //! deprecated static double numericalIKdefaultTruncateRatio(); protected: virtual void onJointPathUpdated(); private: JointPath(const JointPath& org); void initialize(); void extractJoints(); JointPathIkImpl* getOrCreateIK(); LinkPath linkPath; std::vector joints; int numUpwardJointConnections; Vector3 targetTranslationGoal; Matrix3 targetRotationGoal; bool needForwardKinematicsBeforeIK; JointPathIkImpl* ik; }; typedef boost::shared_ptr JointPathPtr; class Body; /** This function returns a joint path which may do analytical inverse kinematics when the body has the analytical one for a given path. \todo move back this function to the Body class */ CNOID_EXPORT JointPathPtr getCustomJointPath(Body* body, Link* baseLink, Link* targetLink); }; #endif choreonoid-1.5.0/src/Body/DyBody.cpp0000664000000000000000000000571112741425367015747 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "DyBody.h" #include using namespace std; using namespace boost; using namespace cnoid; DyLink::DyLink() { } DyLink::DyLink(const Link& link) : Link(link) { } void DyLink::prependChild(Link* link) { if(DyLink* dyLink = dynamic_cast(link)){ Link::prependChild(dyLink); } else { throw type_mismatch_error(); } } void DyLink::appendChild(Link* link) { if(DyLink* dyLink = dynamic_cast(link)){ Link::appendChild(dyLink); } else { throw type_mismatch_error(); } } DyBody::DyBody() { } DyBody::DyBody(const Body& org) { copy(org); } Body* DyBody::clone() const { return new DyBody(*this); } Link* DyBody::createLink(const Link* org) const { return org ? new DyLink(*org) : new DyLink(); } void DyBody::calcSpatialForwardKinematics() { const LinkTraverse& traverse = linkTraverse(); const int n = traverse.numLinks(); for(int i=0; i < n; ++i){ DyLink* link = static_cast(traverse[i]); const DyLink* parent = link->parent(); if(parent){ switch(link->jointType()){ case Link::ROTATIONAL_JOINT: link->R().noalias() = parent->R() * AngleAxisd(link->q(), link->a()); link->p().noalias() = parent->R() * link->b() + parent->p(); link->sw().noalias() = parent->R() * link->a(); link->sv().noalias() = link->p().cross(link->sw()); link->w().noalias() = link->dq() * link->sw() + parent->w(); break; case Link::SLIDE_JOINT: link->p().noalias() = parent->R() * (link->b() + link->q() * link->d()) + parent->p(); link->R() = parent->R(); link->sw().setZero(); link->sv().noalias() = parent->R() * link->d(); link->w() = parent->w(); break; case Link::FIXED_JOINT: default: link->p().noalias() = parent->R() * link->b() + parent->p(); link->R() = parent->R(); link->w() = parent->w(); link->vo() = parent->vo(); link->sw().setZero(); link->sv().setZero(); link->cv().setZero(); link->cw().setZero(); goto COMMON_CALCS_FOR_ALL_JOINT_TYPES; } // Common for ROTATE and SLIDE link->vo().noalias() = link->dq() * link->sv() + parent->vo(); const Vector3 dsv = parent->w().cross(link->sv()) + parent->vo().cross(link->sw()); const Vector3 dsw = parent->w().cross(link->sw()); link->cv() = link->dq() * dsv; link->cw() = link->dq() * dsw; } COMMON_CALCS_FOR_ALL_JOINT_TYPES: link->v().noalias() = link->vo() + link->w().cross(link->p()); link->wc().noalias() = link->R() * link->c() + link->p(); } } choreonoid-1.5.0/src/Body/exportdecl.h0000664000000000000000000000175712741425367016401 0ustar rootroot#ifndef CNOID_BODY_EXPORTDECL_H_INCLUDED # define CNOID_BODY_EXPORTDECL_H_INCLUDED # if defined _WIN32 || defined __CYGWIN__ # define CNOID_BODY_DLLIMPORT __declspec(dllimport) # define CNOID_BODY_DLLEXPORT __declspec(dllexport) # define CNOID_BODY_DLLLOCAL # else # if __GNUC__ >= 4 # define CNOID_BODY_DLLIMPORT __attribute__ ((visibility("default"))) # define CNOID_BODY_DLLEXPORT __attribute__ ((visibility("default"))) # define CNOID_BODY_DLLLOCAL __attribute__ ((visibility("hidden"))) # else # define CNOID_BODY_DLLIMPORT # define CNOID_BODY_DLLEXPORT # define CNOID_BODY_DLLLOCAL # endif # endif # ifdef CNOID_BODY_STATIC # define CNOID_BODY_DLLAPI # define CNOID_BODY_LOCAL # else # ifdef CnoidBody_EXPORTS # define CNOID_BODY_DLLAPI CNOID_BODY_DLLEXPORT # else # define CNOID_BODY_DLLAPI CNOID_BODY_DLLIMPORT # endif # define CNOID_BODY_LOCAL CNOID_BODY_DLLLOCAL # endif #endif #ifdef CNOID_EXPORT # undef CNOID_EXPORT #endif #define CNOID_EXPORT CNOID_BODY_DLLAPI choreonoid-1.5.0/src/Body/RateGyroSensor.h0000664000000000000000000000240212741425367017142 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_RATE_GYRO_SENSOR_H #define CNOID_BODY_RATE_GYRO_SENSOR_H #include "Device.h" #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT RateGyroSensor : public Device { Vector3 w_; // w = omega = angular velocity struct Spec { Vector3 w_max; }; boost::scoped_ptr spec; public: RateGyroSensor(); RateGyroSensor(const RateGyroSensor& org, bool copyStateOnly = false); virtual const char* typeName(); void copyStateFrom(const RateGyroSensor& other); virtual void copyStateFrom(const DeviceState& other); virtual DeviceState* cloneState() const; virtual Device* clone() const; virtual void forEachActualType(boost::function func); virtual void clearState(); virtual int stateSize() const; virtual const double* readState(const double* buf); virtual double* writeState(double* out_buf) const; const Vector3& w() const { return w_; } Vector3& w() { return w_; } const Vector3& w_max() const { return spec->w_max; } Vector3& w_max() { return spec->w_max; } }; typedef ref_ptr RateGyroSensorPtr; }; #endif choreonoid-1.5.0/src/Body/RateGyroSensor.cpp0000664000000000000000000000341212741425367017477 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "RateGyroSensor.h" using namespace cnoid; RateGyroSensor::RateGyroSensor() : spec(new Spec) { spec->w_max.setConstant(std::numeric_limits::max()); RateGyroSensor::clearState(); } const char* RateGyroSensor::typeName() { return "RateGyroSensor"; } void RateGyroSensor::copyStateFrom(const RateGyroSensor& other) { w_ = other.w_; } void RateGyroSensor::copyStateFrom(const DeviceState& other) { if(typeid(other) != typeid(RateGyroSensor)){ throw std::invalid_argument("Type mismatch in the Device::copyStateFrom function"); } copyStateFrom(static_cast(other)); } RateGyroSensor::RateGyroSensor(const RateGyroSensor& org, bool copyStateOnly) : Device(org, copyStateOnly) { copyStateFrom(org); if(!copyStateOnly){ spec.reset(new Spec); if(org.spec){ spec->w_max = org.spec->w_max; } else { spec->w_max.setConstant(std::numeric_limits::max()); } } } DeviceState* RateGyroSensor::cloneState() const { return new RateGyroSensor(*this, true); } Device* RateGyroSensor::clone() const { return new RateGyroSensor(*this); } void RateGyroSensor::forEachActualType(boost::function func) { if(!func(typeid(RateGyroSensor))){ Device::forEachActualType(func); } } void RateGyroSensor::clearState() { w_.setZero(); } int RateGyroSensor::stateSize() const { return 3; } const double* RateGyroSensor::readState(const double* buf) { w_ = Eigen::Map(buf); return buf + 3; } double* RateGyroSensor::writeState(double* out_buf) const { Eigen::Map(out_buf) << w_; return out_buf + 3; } choreonoid-1.5.0/src/Body/LinkTraverse.h0000664000000000000000000000334612741425367016635 0ustar rootroot/** \file \brief The header file of the LinkTraverse class \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_LINK_TRAVERSE_H #define CNOID_BODY_LINK_TRAVERSE_H #include #include "exportdecl.h" namespace cnoid { class Link; class CNOID_EXPORT LinkTraverse { public: LinkTraverse(); LinkTraverse(int size); LinkTraverse(Link* root, bool doUpward = false, bool doDownward = true); virtual ~LinkTraverse(); void clear(); virtual void find(Link* root, bool doUpward = false, bool doDownward = true); int numLinks() const { return links.size(); } bool empty() const { return links.empty(); } std::size_t size() const { return links.size(); } Link* rootLink() const { return (links.empty() ? 0 : links.front()); } Link* link(int index) const { return links[index]; } Link* operator[] (int index) const { return links[index]; } std::vector::const_iterator begin() const { return links.begin(); } std::vector::const_iterator end() const { return links.end(); } /** If the connection from the queried link to the next link is downward (forward) direction, the method returns true. Otherwise, returns false. The range of valid indices is 0 to (numLinks() - 2). */ bool isDownward(int index) const { return (index >= numUpwardConnections); } void calcForwardKinematics(bool calcVelocity = false, bool calcAcceleration = false) const; protected: std::vector links; int numUpwardConnections; private: void traverse(Link* link, bool doUpward, bool doDownward, bool isUpward, Link* prev); }; }; #endif choreonoid-1.5.0/src/Body/BodyLoader.h0000664000000000000000000000171012741425367016241 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_BODY_LOADER_H #define CNOID_BODY_BODY_LOADER_H #include "AbstractBodyLoader.h" #include #include "exportdecl.h" namespace cnoid { class BodyLoaderImpl; class CNOID_EXPORT BodyLoader : public AbstractBodyLoader { public: static bool registerLoader(const std::string& extension, boost::function factory); BodyLoader(); ~BodyLoader(); virtual const char* format() const; virtual void setMessageSink(std::ostream& os); virtual void setVerbose(bool on); virtual void setShapeLoadingEnabled(bool on); virtual void setDefaultDivisionNumber(int n); virtual void setDefaultCreaseAngle(double theta); virtual bool load(Body* body, const std::string& filename); Body* load(const std::string& filename); AbstractBodyLoaderPtr lastActualBodyLoader() const; private: BodyLoaderImpl* impl; }; } #endif choreonoid-1.5.0/src/Body/DyWorld.h0000664000000000000000000001305712741425367015610 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_DYWORLD_H #define CNOID_BODY_DYWORLD_H #include "ForwardDynamics.h" #include #include #include "exportdecl.h" namespace cnoid { class DyLink; class DyBody; typedef ref_ptr DyBodyPtr; #ifdef ENABLE_SIMULATION_PROFILING const bool BODY_SIMULATION_PROFILING = true; #else const bool BODY_SIMULATION_PROFILING = false; #endif class CNOID_EXPORT WorldBase { public: WorldBase(); virtual ~WorldBase(); /** @brief get the number of bodies in this world @return the number of bodies */ int numBodies() const { return bodyInfoArray.size(); } /** @brief get body by index @param index of the body @return body */ DyBody* body(int index) const; /** @brief get body by name @param name of the body @return body */ DyBody* body(const std::string& name) const; /** @brief get forward dynamics computation method for body @param index index of the body @return forward dynamics computation method */ ForwardDynamicsPtr& forwardDynamics(int index) { return bodyInfoArray[index].forwardDynamics; } /** @brief get index of body by name @param name of the body @return index of the body */ int bodyIndex(const std::string& name) const; /** @brief add body to this world @param body @return index of the body @note This must be called before initialize() is called. */ int addBody(DyBody* body); /** Use this method instead of addBody(const DyBodyPtr& body) when you want to specify a forward dynamics calculater. */ int addBody(DyBody* body, const ForwardDynamicsPtr& forwardDynamics); /** @brief clear bodies in this world */ void clearBodies(); /** @brief clear collision pairs */ void clearCollisionPairs(); /** @brief set time step @param dt time step[s] */ void setTimeStep(double dt); /** @brief get time step @return time step[s] */ double timeStep(void) const { return timeStep_; } /** @brief set current time @param tm current time[s] */ void setCurrentTime(double tm); /** @brief get current time @return current time[s] */ double currentTime(void) const { return currentTime_; } /** @brief set gravity acceleration @param g gravity acceleration[m/s^2] */ void setGravityAcceleration(const Vector3& g); /** @brief get gravity acceleration @return gravity accleration */ inline const Vector3& gravityAcceleration() const { return g; } /** @brief enable/disable sensor simulation @param on true to enable, false to disable @note This must be called before initialize() is called. */ void enableSensors(bool on); void setOldAccelSensorCalcMode(bool on); /** @brief choose euler method for integration */ void setEulerMethod(); /** @brief choose runge-kutta method for integration */ void setRungeKuttaMethod(); /** @brief initialize this world. This must be called after all bodies are registered. */ virtual void initialize(); void setVirtualJointForces(); /** @brief compute forward dynamics and update current state */ virtual void calcNextState(); /** @brief get index of link pairs @param link1 link1 @param link2 link2 @return pair of index and flag. The flag is true if the pair was already registered, false othewise. */ std::pair getIndexOfLinkPairs(DyLink* link1, DyLink* link2); protected: double currentTime_; double timeStep_; struct BodyInfo { DyBodyPtr body; ForwardDynamicsPtr forwardDynamics; bool hasVirtualJointForces; }; std::vector bodyInfoArray; bool sensorsAreEnabled; bool isOldAccelSensorCalcMode; private: typedef std::map NameToIndexMap; NameToIndexMap nameToBodyIndexMap; typedef std::map BodyToIndexMap; BodyToIndexMap bodyToIndexMap; Vector3 g; bool isEulerMethod; // Euler or Runge Kutta ? struct LinkPairKey { DyLink* link1; DyLink* link2; bool operator<(const LinkPairKey& pair2) const; }; typedef std::map LinkPairKeyToIndexMap; LinkPairKeyToIndexMap linkPairKeyToIndexMap; int numRegisteredLinkPairs; }; template class World : public WorldBase { public: TConstraintForceSolver constraintForceSolver; #ifdef ENABLE_SIMULATION_PROFILING double forceSolveTime; double forwardDynamicsTime; double customizerTime; TimeMeasure timer; #endif World() : constraintForceSolver(*this) { } virtual void initialize() { WorldBase::initialize(); constraintForceSolver.initialize(); } virtual void calcNextState(){ #ifdef ENABLE_SIMULATION_PROFILING timer.begin(); #endif WorldBase::setVirtualJointForces(); #ifdef ENABLE_SIMULATION_PROFILING customizerTime = timer.measure(); timer.begin(); #endif constraintForceSolver.solve(); #ifdef ENABLE_SIMULATION_PROFILING forceSolveTime = timer.measure(); timer.begin(); #endif WorldBase::calcNextState(); #ifdef ENABLE_SIMULATION_PROFILING forwardDynamicsTime = timer.measure(); #endif } }; }; #endif choreonoid-1.5.0/src/Body/BodyCollisionDetectorUtil.cpp0000664000000000000000000000664612741425367021666 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "BodyCollisionDetectorUtil.h" #include #include using namespace std; using namespace boost; using namespace cnoid; namespace { void setStaticFlags(Link* link, dynamic_bitset<>& staticFlags) { staticFlags.set(link->index()); for(Link* child = link->child(); child; child = child->sibling()){ if(child->isFixedJoint()){ setStaticFlags(child, staticFlags); } } } } /** @return top of the geometry indices assigned to the body. The geometry id corresponding to a link is + index()>. */ int cnoid::addBodyToCollisionDetector(Body& body, CollisionDetector& detector, bool enableSelfCollisions) { const int idTop = detector.numGeometries(); const int numLinks = body.numLinks(); int excludeTreeDepth = 3; dynamic_bitset<> exclusions(numLinks); dynamic_bitset<> staticFlags(numLinks); const Mapping& cdInfo = *body.info()->findMapping("collisionDetection"); if(cdInfo.isValid()){ excludeTreeDepth = cdInfo.get("excludeTreeDepth", excludeTreeDepth); const Listing& excludeLinks = *cdInfo.findListing("excludeLinks"); for(int i=0; i < excludeLinks.size(); ++i){ Link* link = body.link(excludeLinks[i].toString()); if(link){ exclusions[link->index()] = true; } } } if(body.isStaticModel() || body.rootLink()->isFixedJoint()){ setStaticFlags(body.rootLink(), staticFlags); } for(int i=0; i < numLinks; ++i){ if(exclusions[i]){ detector.addGeometry(0); } else { int id = detector.addGeometry(body.link(i)->collisionShape()); if(staticFlags[i]){ detector.setGeometryStatic(id); } } } if(!enableSelfCollisions){ // exclude all the self link pairs for(int i=0; i < numLinks; ++i){ if(!exclusions[i]){ for(int j=i+1; j < numLinks; ++j){ if(!exclusions[j]){ detector.setNonInterfarenceGeometyrPair(i + idTop, j + idTop); } } } } } else { // exclude the link pairs whose distance in the tree is less than excludeTreeDepth for(int i=0; i < numLinks; ++i){ if(!exclusions[i]){ Link* link1 = body.link(i); for(int j=i+1; j < numLinks; ++j){ if(!exclusions[j]){ Link* link2 = body.link(j); Link* parent1 = link1; Link* parent2 = link2; for(int k=0; k < excludeTreeDepth; ++k){ if(parent1){ parent1 = parent1->parent(); } if(parent2){ parent2 = parent2->parent(); } if(!parent1 && !parent2){ break; } if(parent1 == link2 || parent2 == link1){ detector.setNonInterfarenceGeometyrPair(i + idTop, j + idTop); } } } } } } } return idTop; } choreonoid-1.5.0/src/Body/SceneBody.cpp0000664000000000000000000002160112741425367016424 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "SceneBody.h" #include "SceneDevice.h" #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; SceneLink::SceneLink(Link* link) : link_(link) { setName(link->name()); shapeTransform = new SgPosTransform; shapeTransform->setRotation(link->Rs().transpose()); addChild(shapeTransform); visualShape_ = link->visualShape(); collisionShape_ = link->collisionShape(); currentShapeGroup = shapeTransform; isVisible_ = true; isVisualShapeVisible_ = true; isCollisionShapeVisible_ = false; updateVisibility(0, false); transparency_ = 0.0; } SceneLink::SceneLink(const SceneLink& org) : SgPosTransform(org) { link_ = 0; currentShapeGroup = shapeTransform; isVisible_ = false; isVisualShapeVisible_ = false; isCollisionShapeVisible_ = false; transparency_ = 0.0; } void SceneLink::setShapeGroup(SgGroup* group) { if(group != currentShapeGroup){ if(shapeGroup){ shapeTransform->removeChild(shapeGroup); } if(visualShape_){ currentShapeGroup->removeChild(visualShape_); } if(collisionShape_){ currentShapeGroup->removeChild(collisionShape_); } shapeGroup = group; if(shapeGroup){ currentShapeGroup = shapeGroup; shapeTransform->addChild(shapeGroup); } else { currentShapeGroup = shapeTransform; } int action = updateVisibility(SgUpdate::ADDED|SgUpdate::REMOVED, false); notifyUpdate(action); } } void SceneLink::resetShapeGroup() { setShapeGroup(0); } int SceneLink::cloneShape(SgCloneMap& cloneMap, bool doNotify) { int action = 0; SgNode* orgVisualShape = link_->visualShape(); if(orgVisualShape){ if(currentShapeGroup->removeChild(visualShape_)){ action |= SgUpdate::REMOVED; } visualShape_ = orgVisualShape->cloneNode(cloneMap); } SgNode* orgCollisionShape = link_->collisionShape(); if(orgCollisionShape == orgVisualShape){ collisionShape_ = visualShape_; } else { if(orgCollisionShape){ if(currentShapeGroup->removeChild(collisionShape_)){ action |= SgUpdate::REMOVED; } collisionShape_ = orgCollisionShape->cloneNode(cloneMap); } } return updateVisibility(action, doNotify); } void SceneLink::cloneShape(SgCloneMap& cloneMap) { cloneShape(cloneMap, true); } int SceneLink::updateVisibility(int action, bool doNotify) { if(visualShape_){ if(isVisible_ && isVisualShapeVisible_){ if(currentShapeGroup->addChildOnce(visualShape_)){ action |= SgUpdate::ADDED; } } else { if(currentShapeGroup->removeChild(visualShape_)){ action |= SgUpdate::REMOVED; } } } if(collisionShape_ != visualShape_){ if(collisionShape_){ if(isVisible_ && isCollisionShapeVisible_){ if(currentShapeGroup->addChildOnce(collisionShape_)){ action |= SgUpdate::ADDED; } } else { if(currentShapeGroup->removeChild(collisionShape_)){ action |= SgUpdate::REMOVED; } } } } if(action && doNotify){ currentShapeGroup->notifyUpdate((SgUpdate::Action)action); } return action; } void SceneLink::setVisible(bool on) { if(on != isVisible_){ isVisible_ = on; updateVisibility(0, true); } } void SceneLink::setVisibleShapeTypes(bool visual, bool collision) { if(visualShape_ == collisionShape_){ if(visual || collision){ visual = true; } else { visual = false; } collision = false; } if(visual != isVisualShapeVisible_ || collision != isCollisionShapeVisible_){ isVisualShapeVisible_ = visual; isCollisionShapeVisible_ = collision; updateVisibility(0, true); } } void SceneLink::makeTransparent(float transparency, SgCloneMap& cloneMap) { if(transparency == transparency_){ return; } transparency_ = transparency; if(visualShape_){ int action = 0; if(visualShape_ == link_->visualShape()){ action = cloneShape(cloneMap, false); } cnoid::makeTransparent(visualShape_, transparency, cloneMap, true); visualShape_->notifyUpdate((SgUpdate::Action)action); } } void SceneLink::makeTransparent(float transparency) { SgCloneMap cloneMap; cloneMap.setNonNodeCloning(false); makeTransparent(transparency, cloneMap); } void SceneLink::addSceneDevice(SceneDevice* sdev) { if(!deviceGroup){ deviceGroup = new SgGroup(); addChild(deviceGroup); } sceneDevices_.push_back(sdev); deviceGroup->addChild(sdev); } SceneDevice* SceneLink::getSceneDevice(Device* device) { for(size_t i=0; i < sceneDevices_.size(); ++i){ SceneDevice* sdev = sceneDevices_[i]; if(sdev->device() == device){ return sdev; } } return 0; } namespace { SceneLink* createSceneLink(Link* link) { return new SceneLink(link); } } SceneBody::SceneBody(Body* body) { initialize(body, createSceneLink); } SceneBody::SceneBody(Body* body, boost::function sceneLinkFactory) { initialize(body, sceneLinkFactory); } void SceneBody::initialize(Body* body, const boost::function& sceneLinkFactory) { this->sceneLinkFactory = sceneLinkFactory; body_ = body; sceneLinkGroup = new SgGroup; addChild(sceneLinkGroup); updateModel(); isVisualShapeVisible = true; isCollisionShapeVisible = false; } SceneBody::SceneBody(const SceneBody& org) : SgPosTransform(org) { } SceneBody::~SceneBody() { } void SceneBody::updateModel() { setName(body_->name()); if(sceneLinks_.empty()){ sceneLinkGroup->clearChildren(); sceneLinks_.clear(); } sceneDevices.clear(); const int n = body_->numLinks(); for(int i=0; i < n; ++i){ Link* link = body_->link(i); SceneLink* sLink = sceneLinkFactory(link); sceneLinkGroup->addChild(sLink); sceneLinks_.push_back(sLink); } const DeviceList& devices = body_->devices(); for(size_t i=0; i < devices.size(); ++i){ Device* device = devices[i]; SceneDevice* sceneDevice = SceneDevice::create(device); if(sceneDevice){ sceneLinks_[device->link()->index()]->addSceneDevice(sceneDevice); sceneDevices.push_back(sceneDevice); } } updateLinkPositions(); updateSceneDevices(); notifyUpdate(SgUpdate::REMOVED | SgUpdate::ADDED | SgUpdate::MODIFIED); } void SceneBody::cloneShapes(SgCloneMap& cloneMap) { for(size_t i=0; i < sceneLinks_.size(); ++i){ sceneLinks_[i]->cloneShape(cloneMap); } } void SceneBody::setVisibleShapeTypes(bool visual, bool collision) { if(visual != isVisualShapeVisible || collision != isCollisionShapeVisible){ for(size_t i=0; i < sceneLinks_.size(); ++i){ sceneLinks_[i]->setVisibleShapeTypes(visual, collision); } isVisualShapeVisible = visual; isCollisionShapeVisible = collision; } } void SceneBody::updateLinkPositions() { const int n = sceneLinks_.size(); for(int i=0; i < n; ++i){ SceneLinkPtr& sLink = sceneLinks_[i]; sLink->setRotation(sLink->link()->attitude()); sLink->setTranslation(sLink->link()->translation()); } } void SceneBody::updateLinkPositions(SgUpdate& update) { const int n = sceneLinks_.size(); for(int i=0; i < n; ++i){ SceneLinkPtr& sLink = sceneLinks_[i]; sLink->setRotation(sLink->link()->attitude()); sLink->setTranslation(sLink->link()->translation()); sLink->notifyUpdate(update); } } SceneDevice* SceneBody::getSceneDevice(Device* device) { const int linkIndex = device->link()->index(); if(linkIndex < sceneLinks_.size()){ return sceneLinks_[linkIndex]->getSceneDevice(device); } return 0; } void SceneBody::setSceneDeviceUpdateConnection(bool on) { for(size_t i=0; i < sceneDevices.size(); ++i){ sceneDevices[i]->setSceneUpdateConnection(on); } } void SceneBody::updateSceneDevices() { for(size_t i=0; i < sceneDevices.size(); ++i){ sceneDevices[i]->updateScene(); } } void SceneBody::makeTransparent(float transparency, SgCloneMap& cloneMap) { for(size_t i=0; i < sceneLinks_.size(); ++i){ sceneLinks_[i]->makeTransparent(transparency, cloneMap); } } void SceneBody::makeTransparent(float transparency) { SgCloneMap cloneMap; cloneMap.setNonNodeCloning(false); makeTransparent(transparency, cloneMap); } choreonoid-1.5.0/src/Body/ForwardDynamicsABM.h0000664000000000000000000000266212741425367017640 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_FORWARD_DYNAMICS_ABM_H #define CNOID_BODY_FORWARD_DYNAMICS_ABM_H #include "ForwardDynamics.h" #include "exportdecl.h" namespace cnoid { /** Forward dynamics calculation using Featherstone's Articulated Body Method (ABM) */ class CNOID_EXPORT ForwardDynamicsABM : public ForwardDynamics { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW; ForwardDynamicsABM(DyBody* body); ~ForwardDynamicsABM(); virtual void initialize(); virtual void calcNextState(); private: void calcMotionWithEulerMethod(); void integrateRungeKuttaOneStep(double r, double dt); void calcMotionWithRungeKuttaMethod(); /** compute position/orientation/velocity */ void calcABMPhase1(bool updateNonSpatialVariables); /** compute articulated inertia */ void calcABMPhase2(); void calcABMPhase2Part1(); void calcABMPhase2Part2(); /** compute joint acceleration/spatial acceleration */ void calcABMPhase3(); inline void calcABMFirstHalf(); inline void calcABMLastHalf(); void updateForceSensors(); // Buffers for the Runge Kutta Method Position T0; Vector3 vo0; Vector3 w0; std::vector q0; std::vector dq0; Vector3 vo; Vector3 w; Vector3 dvo; Vector3 dw; std::vector dq; std::vector ddq; }; }; #endif choreonoid-1.5.0/src/Body/JointPath.cpp0000664000000000000000000003507012741425367016456 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "JointPath.h" #include "Jacobian.h" #include "Body.h" #include "BodyCustomizerInterface.h" #include #include #include #include using namespace std; using namespace cnoid; double JointPath::numericalIKdefaultDeltaScale() { return 0.9; } double JointPath::numericalIKdefaultTruncateRatio() { return TruncatedSVD::defaultTruncateRatio(); } int JointPath::numericalIKdefaultMaxIterations() { return 50; } double JointPath::numericalIKdefaultMaxIKerror() { return 1.0e-6; } double JointPath::numericalIKdefaultDampingConstant() { return 1.0e-6; } namespace cnoid { class JointPathIkImpl { public: bool isBestEffortIKmode; double deltaScale; int maxIterations; int iteration; double maxIKerrorSqr; double dampingConstantSqr; MatrixXd J; VectorXd dTask; VectorXd dq; vector q0; MatrixXd JJ; Eigen::ColPivHouseholderQR QR; TruncatedSVD svd; boost::function errorFunc; boost::function jacobianFunc; JointPathIkImpl() { deltaScale = JointPath::numericalIKdefaultDeltaScale(); maxIterations = JointPath::numericalIKdefaultMaxIterations(); iteration = 0; dTask.resize(6); isBestEffortIKmode = false; double e = JointPath::numericalIKdefaultMaxIKerror(); maxIKerrorSqr = e * e; double d = JointPath::numericalIKdefaultDampingConstant(); dampingConstantSqr = d * d; } void resize(int numJoints){ J.resize(dTask.size(), numJoints); dq.resize(numJoints); } }; } JointPath::JointPath() { initialize(); } JointPath::JointPath(Link* base, Link* end) : linkPath(base, end), joints(linkPath.size()) { initialize(); extractJoints(); } JointPath::JointPath(Link* end) : linkPath(end), joints(linkPath.size()) { initialize(); extractJoints(); } void JointPath::initialize() { ik = 0; needForwardKinematicsBeforeIK = false; } JointPath::~JointPath() { if(ik){ delete ik; } } bool JointPath::setPath(Link* base, Link* end) { if(linkPath.setPath(base, end)){ extractJoints(); } onJointPathUpdated(); return (!joints.empty()); } bool JointPath::setPath(Link* end) { linkPath.setPath(end); extractJoints(); onJointPathUpdated(); return !joints.empty(); } void JointPath::extractJoints() { numUpwardJointConnections = 0; int n = linkPath.size(); if(n <= 1){ joints.clear(); } else { int i = 0; if(linkPath.isDownward(i)){ i++; } joints.resize(n); // reserve size n buffer joints.clear(); int m = n - 1; while(i < m){ Link* link = linkPath[i]; if(link->jointId() >= 0){ if(link->isRotationalJoint() || link->isSlideJoint()){ joints.push_back(link); if(!linkPath.isDownward(i)){ numUpwardJointConnections++; } } } ++i; } if(linkPath.isDownward(m-1)){ Link* link = linkPath[m]; if(link->jointId() >= 0){ if(link->isRotationalJoint() || link->isSlideJoint()){ joints.push_back(link); } } } } } int JointPath::indexOf(const Link* link) const { for(size_t i=0; i < joints.size(); ++i){ if(joints[i] == link){ return i; } } return -1; } void JointPath::onJointPathUpdated() { if(ik){ ik->errorFunc.clear(); ik->jacobianFunc.clear(); } } void JointPath::calcJacobian(Eigen::MatrixXd& out_J) const { const int n = joints.size(); out_J.resize(6, n); if(n > 0){ //! \todo compare the efficiency for the following codes if(false){ setJacobian<0x3f, 0, 0>(*this, linkPath.endLink(), out_J); } else { Link* targetLink = linkPath.endLink(); for(int i=0; i < n; ++i){ Link* link = joints[i]; switch(link->jointType()){ case Link::ROTATIONAL_JOINT: { Vector3 omega = link->R() * link->a(); const Vector3 arm = targetLink->p() - link->p(); if(!isJointDownward(i)){ omega = -omega; } out_J.col(i) << omega.cross(arm), omega; } break; case Link::SLIDE_JOINT: { Vector3 dp = link->R() * link->d(); if(!isJointDownward(i)){ dp = -dp; } out_J.col(i) << dp, Vector3::Zero(); } break; default: out_J.col(i).setZero(); } } } } } inline JointPathIkImpl* JointPath::getOrCreateIK() { if(!ik){ ik = new JointPathIkImpl(); } return ik; } bool JointPath::isBestEffortIKmode() const { return ik ? ik->isBestEffortIKmode : false; } void JointPath::setBestEffortIKmode(bool on) { getOrCreateIK()->isBestEffortIKmode = on; } void JointPath::setNumericalIKmaxIKerror(double e) { getOrCreateIK()->maxIKerrorSqr = e * e; } void JointPath::setNumericalIKdeltaScale(double s) { getOrCreateIK()->deltaScale = s; } void JointPath::setNumericalIKtruncateRatio(double r) { getOrCreateIK()->svd.setTruncateRatio(r); } void JointPath::setNumericalIKmaxIterations(int n) { getOrCreateIK()->maxIterations = n; } void JointPath::setNumericalIKdampingConstant(double lambda) { getOrCreateIK()->dampingConstantSqr = lambda * lambda; } void JointPath::customizeTarget (int numTargetElements, boost::function errorFunc, boost::function jacobianFunc) { if(!ik){ ik = new JointPathIkImpl; } ik->dTask.resize(numTargetElements); ik->errorFunc = errorFunc; ik->jacobianFunc = jacobianFunc; } JointPath& JointPath::setGoal (const Vector3& base_p, const Matrix3& base_R, const Vector3& end_p, const Matrix3& end_R) { targetTranslationGoal = end_p; targetRotationGoal = end_R; Link* baseLink = linkPath.baseLink(); baseLink->p() = base_p; baseLink->R() = base_R; needForwardKinematicsBeforeIK = true; return *this; } bool JointPath::calcInverseKinematics (const Vector3& base_p, const Matrix3& base_R, const Vector3& end_p, const Matrix3& end_R) { targetTranslationGoal = end_p; targetRotationGoal = end_R; Link* baseLink = linkPath.baseLink(); baseLink->p() = base_p; baseLink->R() = base_R; if(hasAnalyticalIK()){ return calcInverseKinematics(targetTranslationGoal, targetRotationGoal); } else { needForwardKinematicsBeforeIK = true; return calcInverseKinematics(); } } bool JointPath::calcInverseKinematics(const Vector3& end_p, const Matrix3& end_R) { targetTranslationGoal = end_p; targetRotationGoal = end_R; return calcInverseKinematics(); } bool JointPath::calcInverseKinematics() { const bool USE_USUAL_INVERSE_SOLUTION_FOR_6x6_NON_BEST_EFFORT_PROBLEM = false; const bool USE_SVD_FOR_BEST_EFFORT_IK = false; if(joints.empty()){ if(linkPath.empty()){ return false; } if(baseLink() == endLink()){ baseLink()->p() = targetTranslationGoal; baseLink()->R() = targetRotationGoal; return true; } else { // \todo implement here return false; } } const int n = numJoints(); if(!ik){ ik = new JointPathIkImpl(); } if(!ik->jacobianFunc){ ik->jacobianFunc = boost::bind(setJacobian<0x3f, 0, 0>, boost::ref(*this), endLink(), _1); } ik->resize(n); Link* target = linkPath.endLink(); if(needForwardKinematicsBeforeIK){ calcForwardKinematics(); needForwardKinematicsBeforeIK = false; } ik->q0.resize(n); if(!ik->isBestEffortIKmode){ for(int i=0; i < n; ++i){ ik->q0[i] = joints[i]->q(); } } double prevErrsqr = std::numeric_limits::max(); bool completed = false; bool useUsualInverseSolution = false; if(USE_USUAL_INVERSE_SOLUTION_FOR_6x6_NON_BEST_EFFORT_PROBLEM){ if(!ik->isBestEffortIKmode && (n == 6) && (ik->dTask.size() == 6)){ useUsualInverseSolution = true; } } if(USE_SVD_FOR_BEST_EFFORT_IK && !useUsualInverseSolution && !ik->isBestEffortIKmode){ // disable truncation ik->svd.setTruncateRatio(std::numeric_limits::max()); } for(ik->iteration = 0; ik->iteration < ik->maxIterations; ++ik->iteration){ double errorSqr; if(ik->errorFunc){ errorSqr = ik->errorFunc(ik->dTask); } else { ik->dTask.head<3>() = targetTranslationGoal - target->p(); ik->dTask.segment<3>(3) = target->R() * omegaFromRot(target->R().transpose() * targetRotationGoal); errorSqr = ik->dTask.squaredNorm(); } if(errorSqr < ik->maxIKerrorSqr){ completed = true; break; } if(prevErrsqr - errorSqr < ik->maxIKerrorSqr){ if(ik->isBestEffortIKmode && (errorSqr > prevErrsqr)){ for(int j=0; j < n; ++j){ joints[j]->q() = ik->q0[j]; } calcForwardKinematics(); } break; } prevErrsqr = errorSqr; ik->jacobianFunc(ik->J); if(useUsualInverseSolution){ ik->dq = ik->QR.compute(ik->J).solve(ik->dTask); } else { if(USE_SVD_FOR_BEST_EFFORT_IK){ ik->svd.compute(ik->J).solve(ik->dTask, ik->dq); } else { // The damped least squares (singurality robust inverse) method ik->JJ = ik->J * ik->J.transpose() + ik->dampingConstantSqr * MatrixXd::Identity(ik->J.rows(), ik->J.rows()); ik->dq = ik->J.transpose() * ik->QR.compute(ik->JJ).solve(ik->dTask); } } if(ik->isBestEffortIKmode){ for(int j=0; j < n; ++j){ double& q = joints[j]->q(); ik->q0[j] = q; q += ik->deltaScale * ik->dq(j); } } else { for(int j=0; j < n; ++j){ joints[j]->q() += ik->deltaScale * ik->dq(j); } } calcForwardKinematics(); } if(!completed && !ik->isBestEffortIKmode){ for(int i=0; i < n; ++i){ joints[i]->q() = ik->q0[i]; } calcForwardKinematics(); } return completed; } int JointPath::numIterations() const { return ik ? ik->iteration : 0; } bool JointPath::hasAnalyticalIK() const { return false; } std::ostream& operator<<(std::ostream& os, JointPath& path) { int n = path.numJoints(); for(int i=0; i < n; ++i){ Link* link = path.joint(i); os << link->name(); if(i != n){ os << (path.isJointDownward(i) ? " => " : " <= "); } } os << std::endl; return os; } namespace { class CustomJointPath : public JointPath { BodyPtr body; int ikTypeId; bool isCustomizedIkPathReversed; virtual void onJointPathUpdated(); public: CustomJointPath(const BodyPtr& body, Link* baseLink, Link* targetLink); virtual ~CustomJointPath(); virtual bool calcInverseKinematics(const Vector3& end_p, const Matrix3& end_R); virtual bool hasAnalyticalIK() const; }; } CustomJointPath::CustomJointPath(const BodyPtr& body, Link* baseLink, Link* targetLink) : JointPath(baseLink, targetLink), body(body) { onJointPathUpdated(); } CustomJointPath::~CustomJointPath() { } void CustomJointPath::onJointPathUpdated() { ikTypeId = body->customizerInterface()->initializeAnalyticIk( body->customizerHandle(), baseLink()->index(), endLink()->index()); if(ikTypeId){ isCustomizedIkPathReversed = false; } else { // try reversed path ikTypeId = body->customizerInterface()->initializeAnalyticIk( body->customizerHandle(), endLink()->index(), baseLink()->index()); if(ikTypeId){ isCustomizedIkPathReversed = true; } } } bool CustomJointPath::calcInverseKinematics(const Vector3& end_p, const Matrix3& end_R) { bool solved; if(ikTypeId == 0 || isBestEffortIKmode()){ solved = JointPath::calcInverseKinematics(end_p, end_R); } else { #if 0 std::vector qorg(numJoints()); for(int i=0; i < numJoints(); ++i){ qorg[i] = joint(i)->q(); } #endif const Link* targetLink = endLink(); const Link* baseLink_ = baseLink(); Vector3 p_relative; Matrix3 R_relative; if(!isCustomizedIkPathReversed){ p_relative.noalias() = baseLink_->R().transpose() * (end_p - baseLink_->p()); R_relative.noalias() = baseLink_->R().transpose() * end_R; } else { p_relative.noalias() = end_R.transpose() * (baseLink_->p() - end_p); R_relative.noalias() = end_R.transpose() * baseLink_->R(); } solved = body->customizerInterface()-> calcAnalyticIk(body->customizerHandle(), ikTypeId, p_relative, R_relative); if(solved){ calcForwardKinematics(); #if 0 double errsqr = (end_p - targetLink->p()).squaredNorm() + omegaFromRot(targetLink->R().transpose() * end_R).squaredNorm(); if(errsqr < maxIKerrorSqr()){ solved = true; } else { solved = false; for(int i=0; i < numJoints(); ++i){ joint(i)->q() = qorg[i]; } calcForwardKinematics(); } #endif } } return solved; } bool CustomJointPath::hasAnalyticalIK() const { return (ikTypeId != 0); } JointPathPtr cnoid::getCustomJointPath(Body* body, Link* baseLink, Link* targetLink) { if(body->customizerInterface() && body->customizerInterface()->initializeAnalyticIk){ return boost::make_shared(body, baseLink, targetLink); } else { return boost::make_shared(baseLink, targetLink); } } choreonoid-1.5.0/src/Body/BodyMotionUtil.h0000664000000000000000000000264512741425367017146 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_BODY_MOTION_UTIL_H #define CNOID_BODY_BODY_MOTION_UTIL_H #include #include #include #include "exportdecl.h" namespace cnoid { class Body; class BodyMotion; class Vector3Seq; class MultiSE3Seq; class MultiValueSeq; class PoseProvider; class AccelerationSensor; CNOID_EXPORT bool loadHrpsysSeqFileSet( BodyMotion& motion, const std::string& filename, std::ostream& os); CNOID_EXPORT bool saveHrpsysSeqFileSet( BodyMotion& motion, Body* body, const std::string& filename, std::ostream& os); CNOID_EXPORT void calcLinkAccSeq( MultiSE3Seq& linkPosSeq, AccelerationSensor* gsens, int frameBegin, int numFrames, Vector3Seq& out_accSeq); CNOID_EXPORT bool applyVelocityLimitFilter( MultiValueSeq& seq, Body* body, std::ostream& os = nullout()); CNOID_EXPORT bool applyVelocityLimitFilter2(MultiValueSeq& seq, int part, double absLimit); CNOID_EXPORT bool applyVelocityLimitFilterDummy(); CNOID_EXPORT bool applyPollardVelocityLimitFilter( MultiValueSeq& seq, Body* body, double ks, std::ostream& os = nullout()); CNOID_EXPORT void applyGaussianFilter( MultiValueSeq& seq, double sigma, int range, std::ostream& os = nullout()); CNOID_EXPORT void applyRangeLimitFilter( MultiValueSeq& seq, Body* body, double limitGrad, double edgeGradRatio, double margin, std::ostream& os = nullout()); } #endif choreonoid-1.5.0/src/Body/YAMLBodyLoader.cpp0000664000000000000000000010204012741425367017255 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "YAMLBodyLoader.h" #include "Body.h" #include "ForceSensor.h" #include "RateGyroSensor.h" #include "AccelerationSensor.h" #include "Camera.h" #include "RangeCamera.h" #include "RangeSensor.h" #include "PointLight.h" #include "SpotLight.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { typedef bool (YAMLBodyLoaderImpl::*NodeFunction)(Mapping& node); struct NodeFunctionInfo { NodeFunction function; bool isTransformDerived; void set(NodeFunction function, bool isTransformDerived){ this->function = function; this->isTransformDerived = isTransformDerived; } }; typedef map NodeFunctionMap; NodeFunctionMap nodeFunctionMap; typedef SgNodePtr (YAMLBodyLoaderImpl::*SceneNodeFunction)(Mapping& node); typedef map SceneNodeFunctionMap; SceneNodeFunctionMap sceneNodeFunctionMap; } namespace cnoid { class YAMLBodyLoaderImpl { public: YAMLReader reader; filesystem::path directoryPath; Body* body; struct LinkInfo : public Referenced { LinkPtr link; MappingPtr node; std::string parent; }; typedef ref_ptr LinkInfoPtr; vector linkInfos; typedef map LinkMap; LinkMap linkMap; LinkPtr currentLink; vector nameStack; typedef vector > Affine3Vector; Affine3Vector transformStack; struct RigidBody { EIGEN_MAKE_ALIGNED_OPERATOR_NEW; Vector3 c; double m; Matrix3 I; }; typedef vector > RigidBodyVector; RigidBodyVector rigidBodies; SgGroupPtr currentSceneGroup; // temporary variables for reading values int id; double value; string symbol; bool on; Vector3f color; Vector3 v; Matrix3 M; bool isDegreeMode; bool isVerbose; int divisionNumber; ostream* os_; dynamic_bitset<> validJointIdSet; int numValidJointIds; MeshGenerator meshGenerator; SgMaterialPtr defaultMaterial; VRMLParser vrmlParser; VRMLToSGConverter sgConverter; ostream& os() { return *os_; } YAMLBodyLoaderImpl(); ~YAMLBodyLoaderImpl(); bool load(Body* body, const std::string& filename); bool readTopNode(Body* body, Mapping* topNode); void setDefaultDivisionNumber(int n); bool readBody(Mapping* topNode); LinkPtr readLink(Mapping* linkNode); void setMassParameters(Link* link); //! \return true if any scene nodes other than Group and Transform are added in the sub tree bool readElements(ValueNode& elements, SgGroupPtr& sceneGroup); bool readNode(Mapping& node, const string& type); bool readContainerNode(Mapping& node, SgGroupPtr& group, NodeFunction nodeFunction); bool readTransformNode(Mapping& node, NodeFunction nodeFunction); bool readGroup(Mapping& node); bool readTransform(Mapping& node); bool readRigidBody(Mapping& node); bool readDevice(Device* device, Mapping& node); bool readForceSensor(Mapping& node); bool readRateGyroSensor(Mapping& node); bool readAccelerationSensor(Mapping& node); bool readCamera(Mapping& node); bool readRangeSensor(Mapping& node); bool readSpotLight(Mapping& node); SgNodePtr readSceneShape(Mapping& node); SgMesh* readSceneGeometry(Mapping& node); SgMesh* readSceneBox(Mapping& node); SgMesh* readSceneCylinder(Mapping& node); SgMesh* readSceneSphere(Mapping& node); SgMesh* readSceneExtrusion(Mapping& node); void readSceneAppearance(SgShape* shape, Mapping& node); void readSceneMaterial(SgShape* shape, Mapping& node); void setDefaultMaterial(SgShape* shape); double toRadian(double angle){ return isDegreeMode ? radian(angle) : angle; } bool readAngle(Mapping& node, const char* key, double& angle){ if(node.read(key, angle)){ angle = toRadian(angle); return true; } return false; } bool readAngles(Mapping& node, const char* key, Vector3& angles){ if(read(node, key, angles)){ if(isDegreeMode){ for(int i=0; i < 3; ++i){ angles[i] = radian(angles[i]); } } return true; } return false; } }; } namespace { template bool extract(Mapping* mapping, const char* key, ValueType& out_value) { ValueNodePtr node = mapping->extract(key); if(node){ out_value = node->to(); return true; } return false; } template bool extractEigen(Mapping* mapping, const char* key, Eigen::MatrixBase& x) { ListingPtr listing = dynamic_pointer_cast(mapping->extract(key)); if(listing){ read(*listing, x); return true; } return false; } // for debug void putLinkInfoValues(Body* body, ostream& os) { for(int i=0; i < body->numLinks(); ++i){ Link* link = body->link(i); os << "link \"" << link->name() << "\"\n"; Mapping* info = link->info(); Mapping::iterator p = info->begin(); while(p != info->end()){ if(p->second->isScalar()){ os << " " << p->first << ": " << p->second->toString() << "\n"; } ++p; } os.flush(); } } } YAMLBodyLoader::YAMLBodyLoader() { impl = new YAMLBodyLoaderImpl(); } YAMLBodyLoaderImpl::YAMLBodyLoaderImpl() { isVerbose = false; body = 0; os_ = &nullout(); if(nodeFunctionMap.empty()){ nodeFunctionMap["Group"].set(&YAMLBodyLoaderImpl::readGroup, false); nodeFunctionMap["Transform"].set(&YAMLBodyLoaderImpl::readTransform, false); nodeFunctionMap["RigidBody"].set(&YAMLBodyLoaderImpl::readRigidBody, true); nodeFunctionMap["ForceSensor"].set(&YAMLBodyLoaderImpl::readForceSensor, true); nodeFunctionMap["RateGyroSensor"].set(&YAMLBodyLoaderImpl::readRateGyroSensor, true); nodeFunctionMap["AccelerationSensor"].set(&YAMLBodyLoaderImpl::readAccelerationSensor, true); nodeFunctionMap["Camera"].set(&YAMLBodyLoaderImpl::readCamera, true); nodeFunctionMap["CameraDevice"].set(&YAMLBodyLoaderImpl::readCamera, true); nodeFunctionMap["RangeSensor"].set(&YAMLBodyLoaderImpl::readRangeSensor, true); nodeFunctionMap["SpotLight"].set(&YAMLBodyLoaderImpl::readSpotLight, true); sceneNodeFunctionMap["Shape"] = &YAMLBodyLoaderImpl::readSceneShape; } setDefaultDivisionNumber(20); } YAMLBodyLoader::~YAMLBodyLoader() { delete impl; } YAMLBodyLoaderImpl::~YAMLBodyLoaderImpl() { } const char* YAMLBodyLoader::format() const { return "ChoreonoidBody"; } void YAMLBodyLoader::setMessageSink(std::ostream& os) { impl->os_ = &os; } void YAMLBodyLoader::setVerbose(bool on) { impl->isVerbose = on; } void YAMLBodyLoader::enableShapeLoading(bool on) { } void YAMLBodyLoader::setDefaultDivisionNumber(int n) { impl->setDefaultDivisionNumber(n); } void YAMLBodyLoaderImpl::setDefaultDivisionNumber(int n) { divisionNumber = n; meshGenerator.setDivisionNumber(divisionNumber); sgConverter.setDivisionNumber(divisionNumber); } bool YAMLBodyLoader::load(Body* body, const std::string& filename) { return impl->load(body, filename); } bool YAMLBodyLoaderImpl::load(Body* body, const std::string& filename) { filesystem::path filepath(filename); directoryPath = filepath.parent_path(); bool result = false; MappingPtr data; try { YAMLReader reader; data = reader.loadDocument(filename)->toMapping(); if(data){ result = readTopNode(body, data); if(result){ if(body->modelName().empty()){ body->setModelName(getBasename(filename)); } } } } catch(const ValueNode::Exception& ex){ os() << ex.message(); } catch(EasyScanner::Exception & ex){ os() << ex.getFullMessage(); } os().flush(); return result; } bool YAMLBodyLoader::read(Body* body, Mapping* topNode) { return impl->readTopNode(body, topNode); } bool YAMLBodyLoaderImpl::readTopNode(Body* body, Mapping* topNode) { bool result = false; this->body = body; body->clearDevices(); body->clearExtraJoints(); linkInfos.clear(); linkMap.clear(); validJointIdSet.clear(); numValidJointIds = 0; defaultMaterial = 0; try { result = readBody(topNode); } catch(const ValueNode::Exception& ex){ os() << ex.message(); } catch(const nonexistent_key_error& error){ if(const std::string* message = get_error_info(error)){ os() << *message << endl; } } linkInfos.clear(); linkMap.clear(); validJointIdSet.clear(); nameStack.clear(); transformStack.clear(); rigidBodies.clear(); os().flush(); if(false){ // for debug putLinkInfoValues(body, os()); } return result; } bool YAMLBodyLoaderImpl::readBody(Mapping* topNode) { double version = 1.0; ValueNodePtr formatNode = topNode->extract("format"); if(formatNode->isValid()){ if(formatNode->toString() != "ChoreonoidBody"){ formatNode->throwException( _("The file format cannot be loaded as a Choreonoid body model")); } ValueNode* versionNode = topNode->find("formatVersion"); if(versionNode->isValid()){ version = versionNode->toDouble(); } } if(version >= 2.0){ topNode->throwException(_("This version of the Choreonoid body format is not supported")); } isDegreeMode = false; ValueNodePtr angleUnitNode = topNode->extract("angleUnit"); if(angleUnitNode){ string unit = angleUnitNode->toString(); if(unit == "radian"){ isDegreeMode = false; } else if(unit == "degree"){ isDegreeMode = true; } else { angleUnitNode->throwException(_("The \"angleUnit\" value must be either \"radian\" or \"degree\"")); } } if(extract(topNode, "name", symbol)){ body->setModelName(symbol); } transformStack.clear(); transformStack.push_back(Affine3::Identity()); ValueNodePtr linksNode = topNode->extract("links"); if(!linksNode){ topNode->throwException(_("There is no \"links\" values for defining the links in the body")); } else { Listing& linkNodes = *linksNode->toListing(); for(int i=0; i < linkNodes.size(); ++i){ Mapping* linkNode = linkNodes[i].toMapping(); LinkInfo* info = new LinkInfo; extract(linkNode, "parent", info->parent); info->link = readLink(linkNode); info->node = linkNode; linkInfos.push_back(info); } } // construct a link tree for(size_t i=0; i < linkInfos.size(); ++i){ LinkInfo* info = linkInfos[i]; const std::string& parent = info->parent; if(!parent.empty()){ LinkMap::iterator p = linkMap.find(parent); if(p != linkMap.end()){ Link* parentLink = p->second; Link* link = info->link; link->setOffsetTranslation(parentLink->Rs() * link->offsetTranslation()); link->setAccumulatedSegmentRotation(parentLink->Rs() * link->offsetRotation()); parentLink->appendChild(link); } else { info->node->throwException( str(format(_("Parent link \"%1%\" of %2% is not defined")) % parent % info->link->name())); } } } ValueNodePtr rootLinkNode = topNode->extract("rootLink"); if(!rootLinkNode){ topNode->throwException(_("There is no \"rootLink\" value for specifying the root link.")); } string rootLinkName = rootLinkNode->toString(); LinkMap::iterator p = linkMap.find(rootLinkName); if(p == linkMap.end()){ rootLinkNode->throwException( str(format(_("Link \"%1%\" specified in \"rootLink\" is not defined.")) % rootLinkName)); } Link* rootLink = p->second; body->setRootLink(rootLink); // Warn empty joint ids if(numValidJointIds < validJointIdSet.size()){ for(size_t i=0; i < validJointIdSet.size(); ++i){ if(!validJointIdSet[i]){ os() << str(format("Warning: Joint ID %1% is not specified.") % i) << endl; } } } ValueNodePtr initDNode = topNode->extract("initialJointDisplacement"); if(initDNode){ Listing& initd = *initDNode->toListing(); const int n = std::min(initd.size(), body->numLinks()); for(int i=0; i < n; i++){ body->link(i)->initialJointDisplacement() = toRadian(initd[i].toDouble()); } } body->resetInfo(topNode); body->installCustomizer(); return true; } LinkPtr YAMLBodyLoaderImpl::readLink(Mapping* linkNode) { MappingPtr info = static_cast(linkNode->clone()); LinkPtr link = body->createLink(); ValueNodePtr nameNode = info->extract("name"); if(nameNode){ link->setName(nameNode->toString()); if(!linkMap.insert(make_pair(link->name(), link)).second){ nameNode->throwException( str(format(_("Duplicated link name \"%1%\"")) % link->name())); } } if(extractEigen(info, "translation", v)){ link->setOffsetTranslation(v); } Vector4 r; if(extractEigen(info, "rotation", r)){ link->setOffsetRotation(AngleAxis(toRadian(r[3]), Vector3(r[0], r[1], r[2]))); } if(extract(info, "jointId", id)){ link->setJointId(id); if(id >= 0){ if(id >= validJointIdSet.size()){ validJointIdSet.resize(id + 1); } if(!validJointIdSet[id]){ ++numValidJointIds; validJointIdSet.set(id); } else { os() << str(format("Warning: Joint ID %1% of %2% is duplicated.") % id % link->name()) << endl; } } } ValueNodePtr jointTypeNode = info->find("jointType"); if(jointTypeNode->isValid()){ string jointType = jointTypeNode->toString(); if(jointType == "revolute"){ link->setJointType(Link::REVOLUTE_JOINT); } else if(jointType == "slide"){ link->setJointType(Link::SLIDE_JOINT); } else if(jointType == "free"){ link->setJointType(Link::FREE_JOINT); } else if(jointType == "fixed"){ link->setJointType(Link::FIXED_JOINT); } else if(jointType == "pseudoContinuousTrack"){ link->setJointType(Link::PSEUDO_CONTINUOUS_TRACK); } else if(jointType == "agx_crawler"){ link->setJointType(Link::AGX_CRAWLER_JOINT); } else { jointTypeNode->throwException("Illegal jointType value"); } } ValueNodePtr jointAxisNode = info->find("jointAxis"); if(jointAxisNode->isValid()){ bool isValid = true; Vector3 axis; if(jointAxisNode->isListing()){ read(*jointAxisNode->toListing(), axis); } else if(jointAxisNode->isString()){ string label = jointAxisNode->toString(); if(label == "X"){ axis = Vector3::UnitX(); } else if(label == "Y"){ axis = Vector3::UnitY(); } else if(label == "Z"){ axis = Vector3::UnitZ(); } else { isValid = false; } } else { isValid = false; } if(!isValid){ jointAxisNode->throwException("Illegal jointAxis value"); } link->setJointAxis(axis); } currentLink = link; rigidBodies.clear(); currentSceneGroup = 0; bool hasShape = false; SgGroupPtr shape = new SgInvariantGroup; ValueNodePtr elements = linkNode->extract("elements"); if(elements){ if(readElements(*elements, shape)){ shape->setName(link->name()); hasShape = true; } } RigidBody rbody; if(!extractEigen(info, "centerOfMass", rbody.c)){ rbody.c.setZero(); } if(!extract(info, "mass", rbody.m)){ rbody.m = 0.0; } if(!extractEigen(info, "inertia", rbody.I)){ rbody.I.setZero(); } rigidBodies.push_back(rbody); setMassParameters(link); if(extract(linkNode, "shapeFile", symbol)){ filesystem::path filepath(symbol); if(!checkAbsolute(filepath)){ filepath = directoryPath / filepath; filepath.normalize(); } vrmlParser.load(getAbsolutePathString(filepath)); while(VRMLNodePtr vrmlNode = vrmlParser.readNode()){ SgNodePtr node = sgConverter.convert(vrmlNode); if(node){ shape->addChild(node); hasShape = true; } } } if(hasShape){ link->setShape(shape); } ValueNode* import = linkNode->find("import"); if(import->isValid()){ if(import->isMapping()){ info->insert(import->toMapping()); } else if(import->isListing()){ Listing& importList = *import->toListing(); for(int i=importList.size() - 1; i >= 0; --i){ info->insert(importList[i].toMapping()); } } } link->resetInfo(info); currentLink = 0; return link; } void YAMLBodyLoaderImpl::setMassParameters(Link* link) { /* Mass = Sigma mass C = (Sigma mass * T * c) / Mass I = Sigma(R * I * Rt + m * G) R = Rotation matrix part of T G = y*y+z*z, -x*y, -x*z, -y*x, z*z+x*x, -y*z, -z*x, -z*y, x*x+y*y (x, y, z ) = T * c - C */ Vector3 c = Vector3::Zero(); double m = 0.0; Matrix3 I = Matrix3::Zero(); for(size_t i=0; i < rigidBodies.size(); ++i){ const RigidBody& r = rigidBodies[i]; m += r.m; c += r.m * r.c; } if(m > 0.0){ c = c / m; for(size_t i=0; i < rigidBodies.size(); ++i){ const RigidBody& r = rigidBodies[i]; I += r.I; const Vector3 o = c - r.c; const double x = o.x(); const double y = o.y(); const double z = o.z(); const double m = r.m; I(0,0) += m * (y * y + z * z); I(0,1) += -m * (x * y); I(0,2) += -m * (x * z); I(1,0) += -m * (y * x); I(1,1) += m * (z * z + x * x); I(1,2) += -m * (y * z); I(2,0) += -m * (z * x); I(2,1) += -m * (z * y); I(2,2) += m * (x * x + y * y); } } link->setCenterOfMass(c); link->setMass(m); link->setInertia(I); } bool YAMLBodyLoaderImpl::readElements(ValueNode& elements, SgGroupPtr& sceneGroup) { bool isSceneNodeAdded = false; SgGroupPtr parentSceneGroup = currentSceneGroup; currentSceneGroup = sceneGroup; if(elements.isListing()){ Listing& listing = *elements.toListing(); for(int i=0; i < listing.size(); ++i){ Mapping& element = *listing[i].toMapping(); const string type = element["type"].toString(); if(readNode(element, type)){ isSceneNodeAdded = true; } } } else if(elements.isMapping()){ Mapping& mapping = *elements.toMapping(); Mapping::iterator p = mapping.begin(); while(p != mapping.end()){ const string& type = p->first; Mapping& element = *p->second->toMapping(); ValueNode* typeNode = element.find("type"); if(typeNode->isValid()){ string type2 = typeNode->toString(); if(type2 != type){ element.throwException( str(format(_("The node type \"%1%\" is different from the type \"%2%\" specified in the parent node")) % type2 % type)); } } if(readNode(element, type)){ isSceneNodeAdded = true; } ++p; } } if(parentSceneGroup && isSceneNodeAdded){ parentSceneGroup->addChild(sceneGroup); } currentSceneGroup = parentSceneGroup; return isSceneNodeAdded; } bool YAMLBodyLoaderImpl::readNode(Mapping& node, const string& type) { bool isSceneNodeAdded = false; nameStack.push_back(string()); node.read("name", nameStack.back()); NodeFunctionMap::iterator p = nodeFunctionMap.find(type); if(p != nodeFunctionMap.end()){ NodeFunctionInfo& info = p->second; if(info.isTransformDerived){ if(readTransformNode(node, info.function)){ isSceneNodeAdded = true; } } else { if((this->*info.function)(node)){ isSceneNodeAdded = true; } } } else { SceneNodeFunctionMap::iterator q = sceneNodeFunctionMap.find(type); if(q != sceneNodeFunctionMap.end()){ SceneNodeFunction readSceneNode = q->second; SgNodePtr scene = (this->*readSceneNode)(node); if(scene){ currentSceneGroup->addChild(scene); isSceneNodeAdded = true; } } else { node.throwException(str(format(_("The node type \"%1%\" is not defined.")) % type)); } } nameStack.pop_back(); return isSceneNodeAdded; } bool YAMLBodyLoaderImpl::readContainerNode(Mapping& node, SgGroupPtr& group, NodeFunction nodeFunction) { bool isSceneNodeAdded = false; group->setName(nameStack.back()); if(nodeFunction){ if((this->*nodeFunction)(node)){ isSceneNodeAdded = true; } } ValueNode& elements = *node.find("elements"); if(elements.isValid()){ if(readElements(elements, group)){ isSceneNodeAdded = true; } } return isSceneNodeAdded; } bool YAMLBodyLoaderImpl::readTransformNode(Mapping& node, NodeFunction nodeFunction) { bool isSceneNodeAdded = false; Affine3 T = Affine3::Identity(); bool isIdentity = true; if(read(node, "translation", v)){ T.translation() = v; isIdentity = false; } Vector4 r; if(read(node, "rotation", r)){ T.linear() = Matrix3(AngleAxis(toRadian(r[3]), Vector3(r[0], r[1], r[2]))); isIdentity = false; } if(!isIdentity){ transformStack.push_back(transformStack.back() * T); } SgGroupPtr group; if(isIdentity){ group = new SgGroup; } else { group = new SgPosTransform(T); } if(readContainerNode(node, group, nodeFunction)){ isSceneNodeAdded = true; } if(!isIdentity){ transformStack.pop_back(); } return isSceneNodeAdded; } bool YAMLBodyLoaderImpl::readGroup(Mapping& node) { SgGroupPtr group = new SgGroup; return readContainerNode(node, group, 0); } bool YAMLBodyLoaderImpl::readTransform(Mapping& node) { return readTransformNode(node, 0); } bool YAMLBodyLoaderImpl::readRigidBody(Mapping& node) { RigidBody rbody; const Affine3& T = transformStack.back(); if(read(node, "centerOfMass", v)){ rbody.c = T.linear() * v + T.translation(); } else { rbody.c.setZero(); } if(!node.read("mass", rbody.m)){ rbody.m = 0.0; } if(read(node, "inertia", M)){ rbody.I = T.linear() * M * T.linear().transpose(); } else { rbody.I.setZero(); } rigidBodies.push_back(rbody); return false; } bool YAMLBodyLoaderImpl::readDevice(Device* device, Mapping& node) { device->setName(nameStack.back()); if(node.read("id", id)) device->setId(id); const Affine3& T = transformStack.back(); device->setLocalTranslation(currentLink->Rs() * T.translation()); device->setLocalRotation(currentLink->Rs() * T.linear()); device->setLink(currentLink); body->addDevice(device); return false; } bool YAMLBodyLoaderImpl::readForceSensor(Mapping& node) { ForceSensorPtr sensor = new ForceSensor; if(read(node, "maxForce", v)) sensor->F_max().head<3>() = v; if(read(node, "maxTorque", v)) sensor->F_max().tail<3>() = v; readDevice(sensor, node); return true; } bool YAMLBodyLoaderImpl::readRateGyroSensor(Mapping& node) { RateGyroSensorPtr sensor = new RateGyroSensor; if(readAngles(node, "maxAngularVelocity", v)) sensor->w_max() = v; return readDevice(sensor, node); } bool YAMLBodyLoaderImpl::readAccelerationSensor(Mapping& node) { AccelerationSensorPtr sensor = new AccelerationSensor(); if(read(node, "maxAcceleration", v)) sensor->dv_max() = v; return readDevice(sensor, node); } bool YAMLBodyLoaderImpl::readCamera(Mapping& node) { CameraPtr camera; RangeCamera* range = 0; string format; if(node.read("format", format)){ if(format == "COLOR"){ camera = new Camera; camera->setImageType(Camera::COLOR_IMAGE); } else if(format == "DEPTH"){ range = new RangeCamera; range->setOrganized(true); range->setImageType(Camera::NO_IMAGE); } else if(format == "COLOR_DEPTH"){ range = new RangeCamera; range->setOrganized(true); range->setImageType(Camera::COLOR_IMAGE); } else if(format == "POINT_CLOUD"){ range = new RangeCamera; range->setOrganized(false); range->setImageType(Camera::NO_IMAGE); } else if(format == "COLOR_POINT_CLOUD"){ range = new RangeCamera; range->setOrganized(false); range->setImageType(Camera::COLOR_IMAGE); } } if(!camera){ if(range){ camera = range; } else { camera = new Camera; } } if(node.read("on", on)) camera->on(on); if(node.read("width", value)) camera->setResolutionX(value); if(node.read("height", value)) camera->setResolutionY(value); if(readAngle(node, "fieldOfView", value)) camera->setFieldOfView(value); if(node.read("nearClipDistance", value)) camera->setNearClipDistance(value); if(node.read("farClipDistance", value)) camera->setFarClipDistance(value); if(node.read("frameRate", value)) camera->setFrameRate(value); return readDevice(camera, node); } bool YAMLBodyLoaderImpl::readRangeSensor(Mapping& node) { RangeSensorPtr rangeSensor = new RangeSensor; if(node.read("on", on)) rangeSensor->on(on); if(readAngle(node, "scanAngle", value)) rangeSensor->setYawRange(value); rangeSensor->setPitchRange(0.0); if(readAngle(node, "scanStep", value)) rangeSensor->setYawResolution(rangeSensor->yawRange() / value); if(node.read("minDistance", value)) rangeSensor->setMinDistance(value); if(node.read("maxDistance", value)) rangeSensor->setMaxDistance(value); if(node.read("scanRate", value)) rangeSensor->setFrameRate(value); return readDevice(rangeSensor, node); } bool YAMLBodyLoaderImpl::readSpotLight(Mapping& node) { SpotLightPtr light = new SpotLight(); if(node.read("on", on)) light->on(on); if(read(node, "color", color)) light->setColor(color); if(node.read("intensity", value)) light->setIntensity(value); if(read(node, "direction", v)) light->setDirection(v); if(readAngle(node, "beamWidth", value)) light->setBeamWidth(value); if(readAngle(node, "cutOffAngle", value)) light->setCutOffAngle(value); if(read(node, "attenuation", color)){ light->setConstantAttenuation(color[0]); light->setLinearAttenuation(color[1]); light->setQuadraticAttenuation(color[2]); } return readDevice(light, node); } SgNodePtr YAMLBodyLoaderImpl::readSceneShape(Mapping& node) { SgShapePtr shape = new SgShape; Mapping& geometry = *node.findMapping("geometry"); if(geometry.isValid()){ shape->setMesh(readSceneGeometry(geometry)); } Mapping& appearance = *node.findMapping("appearance"); if(appearance.isValid()){ readSceneAppearance(shape, appearance); } else { setDefaultMaterial(shape); } return shape; } SgMesh* YAMLBodyLoaderImpl::readSceneGeometry(Mapping& node) { SgMesh* mesh; ValueNode& typeNode = node["type"]; string type = typeNode.toString(); if(type == "Box"){ mesh = readSceneBox(node); } else if(type == "Cylinder"){ mesh = readSceneCylinder(node); } else if(type == "Sphere"){ mesh = readSceneSphere(node); } else if(type == "Extrusion"){ mesh = readSceneExtrusion(node); } else { typeNode.throwException( str(format(_("Unknown geometry \"%1%\"")) % type)); } return mesh; } SgMesh* YAMLBodyLoaderImpl::readSceneBox(Mapping& node) { Vector3 size; if(!read(node, "size", size)){ size.setOnes(1.0); } return meshGenerator.generateBox(size); } SgMesh* YAMLBodyLoaderImpl::readSceneCylinder(Mapping& node) { double radius = node.get("radius", 1.0); double height = node.get("height", 1.0); bool bottom = node.get("bottom", true); bool side = node.get("side", true); return meshGenerator.generateCylinder(radius, height, bottom, side); } SgMesh* YAMLBodyLoaderImpl::readSceneSphere(Mapping& node) { return meshGenerator.generateSphere(node.get("radius", 1.0)); } SgMesh* YAMLBodyLoaderImpl::readSceneExtrusion(Mapping& node) { MeshGenerator::Extrusion extrusion; Listing& crossSectionNode = *node.findListing("crossSection"); if(crossSectionNode.isValid()){ const int n = crossSectionNode.size() / 2; MeshGenerator::Vector2Array& crossSection = extrusion.crossSection; crossSection.resize(n); for(int i=0; i < n; ++i){ Vector2& s = crossSection[i]; for(int j=0; j < 2; ++j){ s[j] = crossSectionNode[i*2+j].toDouble(); } } } Listing& spineNode = *node.findListing("spine"); if(spineNode.isValid()){ const int n = spineNode.size() / 3; MeshGenerator::Vector3Array& spine = extrusion.spine; spine.resize(n); for(int i=0; i < n; ++i){ Vector3& s = spine[i]; for(int j=0; j < 3; ++j){ s[j] = spineNode[i*3+j].toDouble(); } } } Listing& orientationNode = *node.findListing("orientation"); if(orientationNode.isValid()){ const int n = orientationNode.size() / 4; MeshGenerator::AngleAxisArray& orientation = extrusion.orientation; orientation.resize(n); for(int i=0; i < n; ++i){ AngleAxis& aa = orientation[i]; Vector3& axis = aa.axis(); for(int j=0; j < 4; ++j){ axis[j] = orientationNode[i*4+j].toDouble(); } aa.angle() = toRadian(orientationNode[i*4+3].toDouble()); } } Listing& scaleNode = *node.findListing("scale"); if(scaleNode.isValid()){ const int n = scaleNode.size() / 2; MeshGenerator::Vector2Array& scale = extrusion.scale; scale.resize(n); for(int i=0; i < n; ++i){ Vector2& s = scale[i]; for(int j=0; j < 2; ++j){ s[j] = scaleNode[i*2+j].toDouble(); } } } readAngle(node, "creaseAngle", extrusion.creaseAngle); node.read("beginCap", extrusion.beginCap); node.read("endCap", extrusion.endCap); return meshGenerator.generateExtrusion(extrusion); } void YAMLBodyLoaderImpl::readSceneAppearance(SgShape* shape, Mapping& node) { Mapping& material = *node.findMapping("material"); if(material.isValid()){ readSceneMaterial(shape, material); } else { setDefaultMaterial(shape); } } void YAMLBodyLoaderImpl::readSceneMaterial(SgShape* shape, Mapping& node) { SgMaterialPtr material = new SgMaterial; material->setAmbientIntensity(node.get("ambientIntensity", 0.2)); if(read(node, "diffuseColor", color)){ material->setDiffuseColor(color); } else { material->setDiffuseColor(Vector3f(0.8f, 0.8f, 0.8f)); } if(read(node, "emissiveColor", color)) material->setEmissiveColor(color); material->setShininess(node.get("shininess", 0.2)); if(read(node, "specularColor", color)) material->setSpecularColor(color); if(node.read("transparency", value)) material->setTransparency(value); shape->setMaterial(material); } void YAMLBodyLoaderImpl::setDefaultMaterial(SgShape* shape) { if(!defaultMaterial){ defaultMaterial = new SgMaterial; defaultMaterial->setDiffuseColor(Vector3f(0.8f, 0.8f, 0.8f)); defaultMaterial->setAmbientIntensity(0.2f); defaultMaterial->setShininess(0.2f); } shape->setMaterial(defaultMaterial); } choreonoid-1.5.0/src/Body/RangeCamera.h0000664000000000000000000000323312741425367016364 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_RANGE_CAMERA_H #define CNOID_BODY_RANGE_CAMERA_H #include "Camera.h" #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT RangeCamera : public Camera { public: RangeCamera(); RangeCamera(const RangeCamera& org, bool copyStateOnly = false); virtual const char* typeName(); void copyStateFrom(const RangeCamera& other); virtual void copyStateFrom(const DeviceState& other); virtual DeviceState* cloneState() const; virtual Device* clone() const; virtual void forEachActualType(boost::function func); virtual void clearState(); int numPoints() const { return points_->size(); } typedef std::vector PointData; const PointData& points() const { return *points_; } const PointData& constPoints() const { return *points_; } PointData& points(); PointData& newPoints(); bool isOrganized() const { return isOrganized_; } void setOrganized(bool on); boost::shared_ptr sharedPoints() const { return points_; } /** Move semantics. If the use_count() of the given shared point data pointer is one, the data is moved to the Camera object and the ownership of the given pointer is released. Otherwise, the data is copied. */ void setPoints(boost::shared_ptr& points); private: boost::shared_ptr< std::vector > points_; bool isOrganized_; RangeCamera(const RangeCamera& org, int x); void copyRangeCameraStateFrom(const RangeCamera& other); }; typedef ref_ptr RangeCameraPtr; }; #endif choreonoid-1.5.0/src/Body/BodyMotionUtil.cpp0000664000000000000000000003707412741425367017505 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "BodyMotionUtil.h" #include "BodyMotion.h" #include "ZMPSeq.h" #include "Body.h" #include "ForceSensor.h" #include "RateGyroSensor.h" #include "AccelerationSensor.h" #include #include #include #include #include #include #include #include #include #include #include using namespace std; using namespace boost; using namespace cnoid; static bool saveRootLinkAttAsRpyFormat(BodyMotion& motion, const std::string& filename, std::ostream& os) { format f("%1$.4f %2$g %3$g %4$g\n"); const MultiSE3SeqPtr& linkPosSeq = motion.linkPosSeq(); const int nFrames = linkPosSeq->numFrames(); if(nFrames > 0 && linkPosSeq->numParts() > 0){ ofstream ofs(filename.c_str()); if(!ofs){ os << filename + " cannot be opened."; return false; } const double r = linkPosSeq->frameRate(); MultiSE3Seq::Part root = linkPosSeq->part(0); for(int i=0; i < nFrames; ++i){ Vector3 rpy(rpyFromRot(Matrix3(root[i].rotation()))); for(int j=0; j < 3; ++j){ if(fabs(rpy[j]) < 1.0e-14){ rpy[j] = 0.0; } } ofs << (f % (i / r) % rpy[0] % rpy[1] % rpy[2]); } return true; } return false; } static bool saveRootLinkAccAsGsensFile(BodyMotion& motion, Body* body, const std::string& filename, std::ostream& os) { if(!body){ return false; } format f("%1$.4f %2$g %3$g %4$g\n"); const MultiSE3SeqPtr& linkPosSeq = motion.linkPosSeq(); AccelerationSensor* gsens = 0; DeviceList accelSensors(body->devices()); if(!accelSensors.empty()){ gsens = accelSensors[0]; } if(!gsens || !gsens->link() || gsens->link()->index() >= linkPosSeq->numParts()){ return false; } const int nFrames = linkPosSeq->numFrames(); if(nFrames > 0){ ofstream ofs(filename.c_str()); ofs.setf(ios::fixed); if(!ofs){ os << filename + " cannot be opened."; return false; } Vector3Seq accSeq; calcLinkAccSeq(*linkPosSeq, gsens, 0, nFrames, accSeq); const double r = linkPosSeq->frameRate(); for(int i=0; i < nFrames; ++i){ Vector3 a = accSeq[i]; for(int j=0; j < 3; ++j){ if(fabs(a[j]) < 1.0e-14){ a[j] = 0.0; } } ofs << (f % (i / r) % a[0] % a[1] % a[2]); } return true; } return false; } /** \todo The localRotaion of gsens should be considered. */ void cnoid::calcLinkAccSeq (MultiSE3Seq& linkPosSeq, AccelerationSensor* gsens, int frameBegin, int numFrames, Vector3Seq& out_accSeq) { const double r = linkPosSeq.frameRate(); const double dt = 1.0 / r; vector vseq(numFrames); MultiSE3Seq::Part pseq = linkPosSeq.part(gsens->link()->index()); int last = numFrames - 1; for(int i=0; i < last; ++i){ const SE3& P0 = pseq[frameBegin + i]; const SE3& P1 = pseq[frameBegin + i + 1]; // \todo verify the following code AngleAxis a(P0.rotation().inverse() * P1.rotation()); Vector3 w = a.axis() * a.angle() / dt; // original code //Vector3 w = omegaFromRot(P0.linear().transpose() * P1.linear()) / dt; vseq[i].noalias() = (P1.translation() - P0.translation()) / dt + P0.rotation() * w.cross(gsens->localTranslation()); } vseq[last].setZero(); out_accSeq.setNumFrames(numFrames); out_accSeq[0].noalias() = (pseq[frameBegin].rotation().inverse() * vseq[0]) / dt; for(int i=1; i < numFrames; ++i){ out_accSeq[i].noalias() = pseq[frameBegin + i].rotation().inverse() * (vseq[i] - vseq[i-1]) / dt; } } bool cnoid::loadHrpsysSeqFileSet(BodyMotion& motion, const std::string& filename, std::ostream& os) { motion.setNumFrames(0); filesystem::path orgpath(filename); bool loaded = false; MultiValueSeqPtr jointPosSeq; filesystem::path posFile = filesystem::change_extension(orgpath, ".pos"); if(filesystem::exists(posFile) && !filesystem::is_directory(posFile)){ string posFileString = getNativePathString(posFile); jointPosSeq = motion.jointPosSeq(); if(!jointPosSeq->loadPlainFormat(posFileString)){ os << jointPosSeq->seqMessage(); jointPosSeq.reset(); } else { if(posFileString == filename){ loaded = true; } } } MultiSE3SeqPtr rootLinkAttSeq; filesystem::path hipFile = filesystem::change_extension(orgpath, ".hip"); if(filesystem::exists(hipFile) && !filesystem::is_directory(hipFile)){ string hipFileString = getNativePathString(hipFile); rootLinkAttSeq = motion.linkPosSeq(); if(!rootLinkAttSeq->loadPlainRpyFormat(hipFileString)){ os << rootLinkAttSeq->seqMessage(); rootLinkAttSeq.reset(); } else { if(hipFileString == filename){ loaded = true; } } } MultiSE3SeqPtr linkPosSeq; filesystem::path waistFile = filesystem::change_extension(orgpath, ".waist"); if(filesystem::exists(waistFile) && !filesystem::is_directory(waistFile)){ string waistFileString = getNativePathString(waistFile); linkPosSeq = motion.linkPosSeq(); if(!linkPosSeq->loadPlainMatrixFormat(waistFileString)){ os << linkPosSeq->seqMessage(); linkPosSeq.reset(); } else { if(waistFileString == filename){ loaded = true; } } } ZMPSeqPtr zmpseq; if(jointPosSeq || linkPosSeq){ filesystem::path zmpFile = filesystem::change_extension(orgpath, ".zmp"); if(filesystem::exists(zmpFile) && !filesystem::is_directory(zmpFile)){ string zmpFileString = getNativePathString(zmpFile); zmpseq = getOrCreateZMPSeq(motion); if(!zmpseq->loadPlainFormat(zmpFileString)){ os << zmpseq->seqMessage(); clearZMPSeq(motion); zmpseq.reset(); } else { if(!linkPosSeq){ zmpseq->setRootRelative(true); } else { // make the coordinate global MultiSE3Seq::Part rootSeq = linkPosSeq->part(0); for(int i=0; i < zmpseq->numFrames(); ++i){ const SE3& p = rootSeq[std::min(i, rootSeq.size() - 1)]; (*zmpseq)[i] = p.rotation() * (*zmpseq)[i] + p.translation(); } zmpseq->setRootRelative(false); } if(zmpFileString == filename){ loaded = true; } } } } if(loaded){ double frameRate = 0.0; if(jointPosSeq){ frameRate = jointPosSeq->frameRate(); } else if(linkPosSeq){ frameRate = linkPosSeq->frameRate(); } else if(zmpseq){ frameRate = zmpseq->frameRate(); } if((jointPosSeq && jointPosSeq->frameRate() != frameRate) || (linkPosSeq && linkPosSeq->frameRate() != frameRate) || (zmpseq && zmpseq->frameRate() != frameRate)){ os << "Frame rate is not consistent."; loaded = false; } else { motion.setFrameRate(frameRate); } } if(!loaded){ motion.setNumFrames(0); } return loaded; } bool cnoid::saveHrpsysSeqFileSet(BodyMotion& motion, Body* body, const std::string& filename, std::ostream& os) { filesystem::path orgpath(filename); filesystem::path bpath(orgpath.branch_path() / filesystem::path(basename(orgpath))); if(motion.jointPosSeq()->saveAsPlainFormat( getNativePathString(filesystem::change_extension(orgpath, ".pos"))) && motion.linkPosSeq()->saveTopPartAsPlainMatrixFormat( getNativePathString(filesystem::change_extension(orgpath, ".waist"))) && saveRootLinkAttAsRpyFormat( motion, getNativePathString(filesystem::change_extension(orgpath, ".hip")), os)) { saveRootLinkAccAsGsensFile( motion, body, getNativePathString(filesystem::change_extension(orgpath, ".gsens")), os); ZMPSeqPtr zmpseq = getZMPSeq(motion); if(zmpseq){ // make the coordinate relative to the waist Vector3Seq relZMP(zmpseq->numFrames()); relZMP.setFrameRate(zmpseq->frameRate()); MultiSE3Seq::Part rootSeq = motion.linkPosSeq()->part(0); for(int i=0; i < zmpseq->numFrames(); ++i){ const SE3& p = rootSeq[std::min(i, rootSeq.size() - 1)]; relZMP[i].noalias() = p.rotation().inverse() * (zmpseq->at(i) - p.translation()); } return relZMP.saveAsPlainFormat( getNativePathString(filesystem::change_extension(orgpath, ".zmp"))); } return true; } return false; } static void applyPollardVelocityLimitFilterSub (MultiValueSeq::Part seq, double deltaUVLimit, double deltaLVLimit, double deltaKs, vector& forward, vector& backward) { const double sqrtDeltaKs = sqrt(deltaKs); const int n = seq.size(); const int last = n - 1; double v0, vv0, vv1; double aa1; // forward pass forward[0] = seq[0]; v0 = 0.0; vv0 = 0.0; for(int i = 0; i < last; ++i){ aa1 = 2.0 * sqrtDeltaKs * (v0 - vv0) + deltaKs * (seq[i] - forward[i]); vv1 = vv0 + aa1; if(vv1 > deltaUVLimit){ vv1 = deltaUVLimit; } else if(vv1 < deltaLVLimit) { vv1 = deltaLVLimit; } forward[i+1] = forward[i] + vv1; v0 = seq[i+1] - seq[i]; vv0 = vv1; } // backward pass v0 = 0.0; vv0 = 0.0; backward[last] = seq[last]; for(int i = last; i > 0; --i) { aa1 = 2.0 * sqrtDeltaKs * (v0 - vv0) + deltaKs * (seq[i] - backward[i]); vv1 = vv0 + aa1; if(vv1 > -deltaLVLimit){ vv1 = -deltaLVLimit; } else if(vv1 < -deltaUVLimit){ vv1 = -deltaUVLimit; } backward[i-1] = backward[i] + vv1; v0 = seq[i-1] - seq[i]; vv0 = vv1; } // average the forward and backward passes for(int i=0; i < n; i++){ seq[i] = 0.5 * (forward[i] + backward[i]); } } static void applyVelocityLimitFilterSub (MultiValueSeq::Part seq, double deltaUVLimit, double deltaLVLimit, vector& forward, vector& backward) { const int n = seq.size(); const int last = n - 1; // forward pass forward[0] = seq[0]; for(int i = 0; i < last; ++i){ double v = (seq[i+1] - forward[i]); if(v > deltaUVLimit){ v = deltaUVLimit; } else if(v < deltaLVLimit){ v = deltaLVLimit; } forward[i+1] = forward[i] + v; } // backward pass backward[last] = seq[last]; for(int i = last; i > 0; --i) { double v = (seq[i-1] - backward[i]); if(v > -deltaLVLimit){ v = -deltaLVLimit; } else if(v < -deltaUVLimit){ v = -deltaUVLimit; } backward[i-1] = backward[i] + v; } // average the forward and backward passes for(int i=0; i < n; i++){ seq[i] = 0.5 * (forward[i] + backward[i]); } } bool cnoid::applyVelocityLimitFilter2(MultiValueSeq& seq, int part, double absLimit) { const int numFrames = seq.numFrames(); const double frameRate = seq.frameRate(); vector forward(numFrames); vector backward(numFrames); const double deltaUVLimit = absLimit / frameRate; const double deltaLVLimit = -absLimit / frameRate; applyVelocityLimitFilterSub(seq.part(part), deltaUVLimit, deltaLVLimit, forward, backward); return true; } bool cnoid::applyVelocityLimitFilterDummy() { return false; } static bool applyVelocityLimitFilterMain (MultiValueSeq& seq, Body* body, double ks, bool usePollardMethod, std::ostream& os) { bool applied = false; os << "applying the velocity limit filter ..." << endl; const int numParts = seq.numParts(); const int numFrames = seq.numFrames(); const double frameRate = seq.frameRate(); const double deltaKs = ks / frameRate; vector forward(numFrames); vector backward(numFrames); int n = std::min(numParts, body->numJoints()); for(int i=0; i < n; ++i){ Link* joint = body->joint(i); if(joint->dq_upper() != std::numeric_limits::max() || joint->dq_lower() != -std::numeric_limits::max()){ const double deltaUVLimit = joint->dq_upper() / frameRate; const double deltaLVLimit = joint->dq_lower() / frameRate; os << str(format(" seq %1%: lower limit = %2%, upper limit = %3%") % i % joint->dq_lower() % joint->dq_upper()) << endl; if(usePollardMethod){ applyPollardVelocityLimitFilterSub( seq.part(i), deltaUVLimit, deltaLVLimit, deltaKs, forward, backward); } else { applyVelocityLimitFilterSub( seq.part(i), deltaUVLimit, deltaLVLimit, forward, backward); } applied = true; } } return applied; } bool cnoid::applyPollardVelocityLimitFilter (MultiValueSeq& seq, Body* body, double ks, std::ostream& os) { return applyVelocityLimitFilterMain(seq, body, ks, true, os); } bool cnoid::applyVelocityLimitFilter (MultiValueSeq& seq, Body* body, std::ostream& os) { return applyVelocityLimitFilterMain(seq, body, 1.0, false, os); } void cnoid::applyGaussianFilter (MultiValueSeq& seq, double sigma, int range, std::ostream& os) { vector gwin; setGaussWindow(sigma, range, gwin); vector orgseq(seq.numFrames()); for(int i=0; i < seq.numParts(); ++i){ if(i==0){ os << str(format("applying the gaussian filter (sigma = %1%, range = %2%) to seq") % sigma % range) << endl; } os << " " << i; MultiValueSeq::Part part = seq.part(i); std::copy(part.begin(), part.end(), orgseq.begin()); applyGaussianFilter(part, orgseq, gwin, 0.0); } } void cnoid::applyRangeLimitFilter (MultiValueSeq& seq, Body* body, double limitGrad, double edgeGradRatio, double margin, std::ostream& os) { RangeLimiter limiter; os << "applying the joint position range limit filter ..." << endl; const int numParts = seq.numParts(); int n = std::min(numParts, body->numJoints()); for(int i=0; i < n; ++i){ Link* joint = body->joint(i); if(joint->q_upper() != std::numeric_limits::max() || joint->q_lower() != -std::numeric_limits::max()){ const double upper = joint->q_upper() - margin; const double lower = joint->q_lower() + margin; if(upper > lower){ os << str(format(" seq %1%: lower limit = %2%, upper limit = %3%") % i % joint->q_lower() % joint->q_upper()) << endl; MultiValueSeq::Part part = seq.part(i); limiter.apply(part, upper, lower, limitGrad, edgeGradRatio); } } } } choreonoid-1.5.0/src/Body/PinDragIK.h0000664000000000000000000000261312741425367015770 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_PIN_DRAG_IK_H #define CNOID_BODY_PIN_DRAG_IK_H #include "InverseKinematics.h" #include "exportdecl.h" namespace cnoid { class Body; class Link; class PinDragIKImpl; class CNOID_EXPORT PinDragIK : public InverseKinematics { public: PinDragIK(Body* body); ~PinDragIK(); Body* body() const; void setBaseLink(Link* baseLink); void setFreeRootWeight(double translation, double rotation); void setTargetLink(Link* targetLink, bool isAttitudeEnabled = false); void setJointWeight(int jointId, double weight); void setPin(Link* link, InverseKinematics::AxisSet axes = InverseKinematics::TRANSLATION_3D, double weight = 1.0); InverseKinematics::AxisSet pinAxes(Link* link); void clearPins(); int numPinnedLinks(); virtual void setIKErrorThresh(double e); virtual bool hasAnalyticalIK(); virtual InverseKinematics::AxisSet targetAxes() const; void setSRInverseParameters(double k0, double w0); void enableJointRangeConstraints(bool on); /** this must be called before the initial calcInverseKinematics() call after settings have been changed. */ bool initialize(); virtual bool calcInverseKinematics(const Vector3& end_p, const Matrix3& end_R); private: PinDragIKImpl* impl; }; typedef boost::shared_ptr PinDragIKptr; } #endif choreonoid-1.5.0/src/Body/CompositeIK.cpp0000664000000000000000000000500612741425367016740 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "CompositeIK.h" #include "Link.h" #include "JointPath.h" using namespace std; using namespace boost; using namespace cnoid; CompositeIK::CompositeIK() { targetLink_ = 0; isAnalytical_ = false; } CompositeIK::CompositeIK(Body* body, Link* targetLink) { reset(body, targetLink); } CompositeIK::~CompositeIK() { } void CompositeIK::reset(Body* body, Link* targetLink) { body_ = body; targetLink_ = targetLink; isAnalytical_ = false; pathList.clear(); } bool CompositeIK::addBaseLink(Link* baseLink) { if(baseLink && targetLink_){ JointPathPtr path = getCustomJointPath(body_, targetLink_, baseLink); if(path){ isAnalytical_ = pathList.empty() ? path->hasAnalyticalIK() : (isAnalytical_ && path->hasAnalyticalIK()); PathInfo info; info.path = path; info.endLink = baseLink; pathList.push_back(info); return true; } } return false; } void CompositeIK::setMaxIKerror(double e) { for(size_t i=0; i < pathList.size(); ++i){ pathList[i].path->setNumericalIKmaxIKerror(e); } } bool CompositeIK::hasAnalyticalIK() const { return isAnalytical_; } bool CompositeIK::calcInverseKinematics(const Vector3& p, const Matrix3& R) { const int n = body_->numJoints(); Vector3 p0 = targetLink_->p(); Matrix3 R0 = targetLink_->R(); std::vector q0(n); for(int i=0; i < n; ++i){ q0[i] = body_->joint(i)->q(); } targetLink_->p() = p; targetLink_->R() = R; bool solved = true; for(size_t i=0; i < pathList.size(); ++i){ PathInfo& info = pathList[i]; info.p_given = info.endLink->p(); info.R_given = info.endLink->R(); //solved = info.path->setGoal(p, R, info.p_given, info.R_given).calcInverseKinematics(); solved = info.path->calcInverseKinematics(p, R, info.p_given, info.R_given); if(!solved){ break; } info.endLink->p() = info.p_given; info.endLink->R() = info.R_given; } if(!solved){ targetLink_->p() = p0; targetLink_->R() = R0; for(int i=0; i < n; ++i){ body_->joint(i)->q() = q0[i]; } for(size_t i=0; i < pathList.size(); ++i){ PathInfo& info = pathList[i]; info.path->calcForwardKinematics(); info.endLink->p() = info.p_given; info.endLink->R() = info.R_given; } } return solved; } choreonoid-1.5.0/src/Body/SceneCollision.cpp0000664000000000000000000000324612741425367017467 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "SceneCollision.h" #include using namespace std; using namespace cnoid; SceneCollision::SceneCollision(boost::shared_ptr< std::vector > collisionPairs) : collisionPairs(collisionPairs) { vertices_ = setVertices(new SgVertexArray); setMaterial(new SgMaterial)->setDiffuseColor(Vector3f(0.0f, 1.0f, 0.0f)); isDirty = true; } SceneCollision::SceneCollision(const SceneCollision& org) { } void SceneCollision::accept(SceneVisitor& visitor) { if(!visitor.property()->get("collision", false)){ visitor.visitNode(this); return; } if(isDirty){ vertices_->clear(); lineVertices().clear(); for(size_t i=0; i < collisionPairs->size(); ++i){ const CollisionLinkPair& pair = *(*collisionPairs)[i]; const vector& cols = pair.collisions; // flip the line direction so that the line is always from the staic object to the dynamic one double direction = 1.0; if(pair.body[1] && pair.body[0]){ direction = (pair.body[1]->isStaticModel() && !pair.body[0]->isStaticModel()) ? -1.0 : 1.0; } for(size_t j=0; j < cols.size(); ++j){ const Collision& c = cols[j]; const int index = vertices_->size(); addLine(index, index + 1); vertices_->push_back(c.point.cast()); vertices_->push_back((c.point + direction * 50.0 * c.depth * c.normal).cast()); } } isDirty = false; } visitor.visitLineSet(this); } choreonoid-1.5.0/src/Body/Light.h0000664000000000000000000000206712741425367015272 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_LIGHT_H #define CNOID_BODY_LIGHT_H #include "Device.h" #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT Light : public Device { protected: Light(); Light(const Light& org, bool copyStateOnly = false); public: void copyStateFrom(const Light& other); virtual void forEachActualType(boost::function func); static int lightStateSize(); virtual const double* readState(const double* buf); virtual double* writeState(double* out_buf) const; bool on() const { return on_; } void on(bool on) { on_ = on; } const Vector3f& color() const { return color_; } void setColor(const Vector3f& c) { color_ = c; } void setColor(const Vector3& c) { color_ = c.cast(); } float intensity() const { return intensity_; } void setIntensity(float intensity) { intensity_ = intensity; } private: Vector3f color_; float intensity_; bool on_; }; typedef ref_ptr LightPtr; } #endif choreonoid-1.5.0/src/Body/BodyMotion.cpp0000664000000000000000000002307012741425367016636 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "BodyMotion.h" #include "Body.h" #include "Link.h" #include "ZMPSeq.h" #include #include #include using namespace std; using namespace cnoid; namespace { //bool TRACE_FUNCTIONS = false; } BodyMotion::BodyMotion() : AbstractMultiSeq("BodyMotion"), jointPosSeq_(new MultiValueSeq()), linkPosSeq_(new MultiSE3Seq()) { jointPosSeq_->setSeqContentName("JointPosition"); linkPosSeq_->setSeqContentName("LinkPosition"); } BodyMotion::BodyMotion(const BodyMotion& org) : AbstractMultiSeq(org), jointPosSeq_(new MultiValueSeq(*org.jointPosSeq_)), linkPosSeq_(new MultiSE3Seq(*org.linkPosSeq_)) { for(ExtraSeqMap::const_iterator p = org.extraSeqs.begin(); p != org.extraSeqs.end(); ++p){ extraSeqs.insert(ExtraSeqMap::value_type(p->first, p->second->cloneSeq())); } } BodyMotion& BodyMotion::operator=(const BodyMotion& rhs) { if(this != &rhs){ AbstractMultiSeq::operator=(rhs); } *jointPosSeq_ = *rhs.jointPosSeq_; *linkPosSeq_ = *rhs.linkPosSeq_; //! \todo do copy instead of replacing the pointers to the cloned ones extraSeqs.clear(); for(ExtraSeqMap::const_iterator p = rhs.extraSeqs.begin(); p != rhs.extraSeqs.end(); ++p){ extraSeqs.insert(ExtraSeqMap::value_type(p->first, p->second->cloneSeq())); } sigExtraSeqsChanged_(); return *this; } AbstractSeqPtr BodyMotion::cloneSeq() const { return boost::make_shared(*this); } /* This function sets the number of joints */ void BodyMotion::setNumParts(int numParts, bool clearNewElements) { jointPosSeq_->setNumParts(numParts, clearNewElements); } /** This function returns the number of joints */ int BodyMotion::getNumParts() const { return jointPosSeq_->numParts(); } double BodyMotion::getFrameRate() const { return frameRate(); } void BodyMotion::setFrameRate(double frameRate) { jointPosSeq_->setFrameRate(frameRate); linkPosSeq_->setFrameRate(frameRate); for(ExtraSeqMap::iterator p = extraSeqs.begin(); p != extraSeqs.end(); ++p){ p->second->setFrameRate(frameRate); } } int BodyMotion::getNumFrames() const { return numFrames(); } void BodyMotion::setNumFrames(int n, bool clearNewArea) { jointPosSeq_->setNumFrames(n, clearNewArea); linkPosSeq_->setNumFrames(n, clearNewArea); for(ExtraSeqMap::iterator p = extraSeqs.begin(); p != extraSeqs.end(); ++p){ p->second->setNumFrames(n, clearNewArea); } } int BodyMotion::getOffsetTimeFrame() const { return linkPosSeq_->offsetTimeFrame(); } void BodyMotion::setDimension(int numFrames, int numJoints, int numLinks, bool clearNewArea) { jointPosSeq_->setDimension(numFrames, numJoints, clearNewArea); linkPosSeq_->setDimension(numFrames, numLinks, clearNewArea); for(ExtraSeqMap::iterator p = extraSeqs.begin(); p != extraSeqs.end(); ++p){ p->second->setNumFrames(numFrames, clearNewArea); } } void BodyMotion::setDimension(int numFrames, int numJoints, bool clearNewArea) { jointPosSeq_->setDimension(numFrames, numJoints, clearNewArea); linkPosSeq_->setNumFrames(numFrames, clearNewArea); for(ExtraSeqMap::iterator p = extraSeqs.begin(); p != extraSeqs.end(); ++p){ p->second->setNumFrames(numFrames, clearNewArea); } } void BodyMotion::setExtraSeq(AbstractSeqPtr seq) { extraSeqs[seq->seqContentName()] = seq; sigExtraSeqsChanged_(); } bool BodyMotion::loadStandardYAMLformat(const std::string& filename) { bool result = false; clearSeqMessage(); YAMLReader reader; reader.expectRegularMultiListing(); try { result = read(*reader.loadDocument(filename)->toMapping()); } catch(const ValueNode::Exception& ex){ addSeqMessage(ex.message()); } return result; } bool BodyMotion::read(const Mapping& archive) { setDimension(0, 1, 1); bool result = true; bool loaded = false; ZMPSeqPtr zmpSeq; try { if(archive["type"].toString() != "BodyMotion"){ result = false; } else { const Listing& components = *archive["components"].toListing(); for(int i=0; i < components.size(); ++i){ const Mapping& component = *components[i].toMapping(); const string& type = component["type"]; string content; if(!component.read("content", content)){ component.read("purpose", content); } if(type == "MultiValueSeq" && content == "JointPosition"){ result &= jointPosSeq_->readSeq(component); if(result){ loaded = true; } else { addSeqMessage(jointPosSeq_->seqMessage()); } } else if((type == "MultiAffine3Seq" || type == "MultiSe3Seq" || type == "MultiSE3Seq") && content == "LinkPosition"){ result &= linkPosSeq_->readSeq(component); if(result){ loaded = true; } else { addSeqMessage(linkPosSeq_->seqMessage()); } } else if(type == "Vector3Seq") { bool isRelativeZmp = false; if(content == "RelativeZMP" || content == "RelativeZmp"){ isRelativeZmp = true; } else if(content != "ZMP"){ continue; } zmpSeq = getOrCreateExtraSeq("ZMP"); result = zmpSeq->readSeq(component); if(result){ if(isRelativeZmp){ zmpSeq->setRootRelative(true); } } else { addSeqMessage(zmpSeq->seqMessage()); } } if(!result){ break; } } } } catch(const ValueNode::Exception& ex){ addSeqMessage(ex.message()); result = false; } if(!result){ setDimension(0, 1, 1); } return (result && loaded); } bool BodyMotion::write(YAMLWriter& writer) { writer.startListing(); if(jointPosSeq_->numFrames() > 0){ if(!jointPosSeq_->writeSeq(writer)){ addSeqMessage(jointPosSeq_->seqMessage()); return false; } } if(linkPosSeq_->numFrames() > 0){ if(!linkPosSeq_->writeSeq(writer)){ addSeqMessage(linkPosSeq_->seqMessage()); return false; } } for(ExtraSeqMap::iterator p = extraSeqs.begin(); p != extraSeqs.end(); ++p){ AbstractSeqPtr& seq = p->second; if(!seq->writeSeq(writer)){ addSeqMessage(seq->seqMessage()); return false; } } writer.endListing(); return true; } bool BodyMotion::saveAsStandardYAMLformat(const std::string& filename) { YAMLWriter writer(filename); writer.setDoubleFormat("%.9g"); writer.putComment("Body motion data set format version 1.0 defined by Choreonoid\n"); writer.startMapping(); writer.putKeyValue("type", "BodyMotion"); writer.putKey("components"); bool result = write(writer); writer.endMapping(); return result; } void BodyMotion::clearExtraSeq(const std::string& contentName) { if(extraSeqs.erase(contentName) > 0){ sigExtraSeqsChanged_(); } } static void copyBodyStateToFrame(const Body& body, BodyMotion::Frame& frame) { BodyMotion& motion = frame.motion(); int numJoints = std::min(body.numJoints(), motion.numJoints()); MultiValueSeq::Frame q = motion.jointPosSeq()->frame(frame.frame()); for(int i=0; i < numJoints; ++i){ q[i] = body.joint(i)->q(); } int numLinks = std::min(body.numLinks(), motion.numLinks()); MultiSE3Seq::Frame p = motion.linkPosSeq()->frame(frame.frame()); for(int i=0; i < numLinks; ++i){ const Link* link = body.link(i); p[i].set(link->p(), link->R()); } } template static void copyFrameToBodyState(FrameType& frame, Body& body) { const BodyMotion& motion = frame.motion(); int numJoints = std::min(body.numJoints(), motion.numJoints()); const MultiValueSeq::Frame q = motion.jointPosSeq()->frame(frame.frame()); for(int i=0; i < numJoints; ++i){ body.joint(i)->q() = q[i]; } int numLinks = std::min(body.numLinks(), motion.numLinks()); const MultiSE3Seq::Frame p = motion.linkPosSeq()->frame(frame.frame()); for(int i=0; i < numLinks; ++i){ Link* link = body.link(i); link->p() = p[i].translation(); link->R() = p[i].rotation().toRotationMatrix(); } } namespace cnoid { BodyMotion::Frame operator<<(BodyMotion::Frame frame, const Body& body) { copyBodyStateToFrame(body, frame); return frame; } const Body& operator>>(const Body& body, BodyMotion::Frame frame) { copyBodyStateToFrame(body, frame); return body; } BodyMotion::Frame operator>>(BodyMotion::Frame frame, Body& body) { copyFrameToBodyState(frame, body); return frame; } BodyMotion::ConstFrame operator>>(BodyMotion::ConstFrame frame, Body& body) { copyFrameToBodyState(frame, body); return frame; } Body& operator<<(Body& body, BodyMotion::Frame frame) { copyFrameToBodyState(frame, body); return body; } Body& operator<<(Body& body, BodyMotion::ConstFrame frame) { copyFrameToBodyState(frame, body); return body; } } choreonoid-1.5.0/src/Body/RangeSensor.cpp0000664000000000000000000001157612741425367017011 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "RangeSensor.h" #include using namespace std; using namespace cnoid; namespace { const double PI = 3.14159265358979323846; } const char* RangeSensor::typeName() { return "RangeSensor"; } RangeSensor::RangeSensor() { on_ = true; isRangeDataStateClonable_ = false; yawRange_ = PI / 2.0; yawResolution_ = 100; pitchRange_ = 0.0; pitchResolution_ = 1; minDistance_ = 0.01; maxDistance_ = 10.0; frameRate_ = 10.0; delay_ = 0.0; rangeData_ = boost::make_shared(); } void RangeSensor::copyStateFrom(const DeviceState& other) { if(typeid(other) != typeid(RangeSensor)){ throw std::invalid_argument("Type mismatch in the Device::copyStateFrom function"); } copyStateFrom(static_cast(other)); } void RangeSensor::copyStateFrom(const RangeSensor& other) { copyRangeSensorStateFrom(other); rangeData_ = other.rangeData_; } void RangeSensor::copyRangeSensorStateFrom(const RangeSensor& other) { on_ = other.on_; isRangeDataStateClonable_ = other.isRangeDataStateClonable_; yawResolution_ = other.yawResolution_; pitchResolution_ = other.pitchResolution_; yawRange_ = other.yawRange_; pitchRange_ = other.pitchRange_; minDistance_ = other.minDistance_; maxDistance_ = other.maxDistance_; frameRate_ = other.frameRate_; delay_ = other.delay_; } RangeSensor::RangeSensor(const RangeSensor& org, bool copyStateOnly) : Device(org, copyStateOnly), rangeData_(org.rangeData_) { copyRangeSensorStateFrom(org); } Device* RangeSensor::clone() const { return new RangeSensor(*this); } /** Used for cloneState() */ RangeSensor::RangeSensor(const RangeSensor& org, int x /* dummy */) : Device(org, true) { copyRangeSensorStateFrom(org); if(org.isRangeDataStateClonable_){ rangeData_ = org.rangeData_; } else { rangeData_ = boost::make_shared(); } } DeviceState* RangeSensor::cloneState() const { return new RangeSensor(*this, false); } void RangeSensor::forEachActualType(boost::function func) { if(!func(typeid(RangeSensor))){ Device::forEachActualType(func); } } void RangeSensor::setYawRange(double angle) { if(angle > 0.0){ yawRange_ = angle; } } void RangeSensor::setYawResolution(int n) { if(n >= 1 ){ yawResolution_ = n; } } double RangeSensor::yawStep() const { if(yawResolution_ >= 2){ return yawRange_ / (yawResolution_ - 1); } else { return 0.0; } } void RangeSensor::setPitchRange(double angle) { if(angle >= 0.0){ pitchRange_ = angle; } } void RangeSensor::setPitchResolution(double n) { if(n >= 1){ pitchResolution_ = n; } } double RangeSensor::pitchStep() const { if(pitchResolution_ >= 2){ return pitchRange_ / (pitchResolution_ - 1); } else { return 0.0; } } void RangeSensor::setMaxDistance(double d) { if(d > 0.0){ if(d > minDistance_){ maxDistance_ = d; } else { minDistance_ = d; } } } void RangeSensor::setMinDistance(double d) { if(d > 0.0){ if(d < maxDistance_){ minDistance_ = d; } else { maxDistance_ = d; } } } void RangeSensor::setFrameRate(double r) { if(r > 0.0){ frameRate_ = r; } } RangeSensor::RangeData& RangeSensor::rangeData() { if(rangeData_.use_count() > 1){ rangeData_ = boost::make_shared(*rangeData_); } return *rangeData_; } RangeSensor::RangeData& RangeSensor::newRangeData() { rangeData_ = boost::make_shared(); return *rangeData_; } void RangeSensor::setRangeData(boost::shared_ptr& data) { if(data.use_count() == 1){ rangeData_ = data; } else { rangeData_ = boost::make_shared(*data); } data.reset(); } void RangeSensor::clearState() { if(rangeData_.use_count() == 1){ rangeData_->clear(); } else { rangeData_ = boost::make_shared(); } } int RangeSensor::stateSize() const { return 9; } const double* RangeSensor::readState(const double* buf) { on_ = buf[0]; yawRange_ = buf[1]; yawResolution_ = buf[2]; pitchRange_ = buf[3]; pitchResolution_ = buf[4]; minDistance_ = buf[5]; maxDistance_ = buf[6]; frameRate_ = buf[7]; delay_ = buf[8]; return buf + 9; } double* RangeSensor::writeState(double* out_buf) const { out_buf[0] = on_ ? 1.0 : 0.0; out_buf[1] = yawRange_; out_buf[2] = yawResolution_; out_buf[3] = pitchRange_; out_buf[4] = pitchResolution_; out_buf[5] = minDistance_; out_buf[6] = maxDistance_; out_buf[7] = frameRate_; out_buf[8] = delay_; return out_buf + 9; } choreonoid-1.5.0/src/Body/BasicSensorSimulationHelper.cpp0000664000000000000000000001263712741425367022202 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "BasicSensorSimulationHelper.h" #include "Body.h" #include using namespace std; using namespace boost; using namespace cnoid; namespace cnoid { class BasicSensorSimulationHelperImpl { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW BasicSensorSimulationHelper* self; BodyPtr body; // gravity acceleration Vector3 g; bool isOldAccelSensorCalcMode; // preview control gain matrices for acceleration sensors Matrix2 A; Vector2 B; struct KFState { EIGEN_MAKE_ALIGNED_OPERATOR_NEW Vector2 x[3]; }; typedef vector > KFStateArray; KFStateArray kfStates; BasicSensorSimulationHelperImpl(BasicSensorSimulationHelper* self); void initialize(Body* body, double timeStep, const Vector3& gravityAcceleration); }; } namespace { typedef BasicSensorSimulationHelperImpl Impl; } BasicSensorSimulationHelper::BasicSensorSimulationHelper() { isActive_ = false; impl = new BasicSensorSimulationHelperImpl(this); } BasicSensorSimulationHelperImpl::BasicSensorSimulationHelperImpl(BasicSensorSimulationHelper* self) : self(self) { isOldAccelSensorCalcMode = false; } BasicSensorSimulationHelper::~BasicSensorSimulationHelper() { delete impl; } void BasicSensorSimulationHelper::setOldAccelSensorCalcMode(bool on) { impl->isOldAccelSensorCalcMode = on; } void BasicSensorSimulationHelper::initialize(Body* body, double timeStep, const Vector3& gravityAcceleration) { isActive_ = false; DeviceList<> devices = body->devices(); if(!devices.empty()){ forceSensors_.extractFrom(devices); rateGyroSensors_.extractFrom(devices); accelerationSensors_.extractFrom(devices); if(!forceSensors_.empty() || !rateGyroSensors_.empty() || !accelerationSensors_.empty()){ impl->initialize(body, timeStep, gravityAcceleration); isActive_ = true; } } } void Impl::initialize(Body* body, double timeStep, const Vector3& gravityAcceleration) { this->body = body; g = gravityAcceleration; if(!isOldAccelSensorCalcMode){ return; } const DeviceList& accelerationSensors = self->accelerationSensors_; if(accelerationSensors.empty()){ return; } // Kalman filter design static const double n_input = 100.0; // [N] static const double n_output = 0.001; // [m/s] // Analytical solution of Kalman filter (continuous domain) // s.kajita 2003 Jan.22 Matrix2 Ac; Ac << -sqrt(2.0 * n_input / n_output), 1.0, -n_input / n_output , 0.0; Vector2 Bc(sqrt(2.0 * n_input / n_output), n_input / n_output); A.setIdentity(); Matrix2 An = Matrix2::Identity(); Matrix2 An2; B = timeStep * Bc; Vector2 Bn = B; Vector2 Bn2; double factorial[14]; double r = 1.0; factorial[1] = r; for(int i=2; i <= 13; ++i){ r += 1.0; factorial[i] = factorial[i-1] * r; } for(int i=1; i <= 12; i++){ An2.noalias() = Ac * An; An = timeStep * An2; A += (1.0 / factorial[i]) * An; Bn2.noalias() = Ac * Bn; Bn = timeStep * Bn2; B += (1.0 / factorial[i+1]) * Bn; } // initialize kalman filtering kfStates.resize(accelerationSensors.size()); for(int i=0; i < accelerationSensors.size(); ++i){ const AccelerationSensor* sensor = accelerationSensors[i]; const Link* link = sensor->link(); const Vector3 o_Vgsens = link->R() * (link->R().transpose() * link->w()).cross(sensor->localTranslation()) + link->v(); KFState& s = kfStates[i]; for(int i=0; i < 3; ++i){ s.x[i](0) = o_Vgsens(i); s.x[i](1) = 0.0; } } } void BasicSensorSimulationHelper::updateGyroAndAccelerationSensors() { for(size_t i=0; i < rateGyroSensors_.size(); ++i){ RateGyroSensor* gyro = rateGyroSensors_[i]; const Link* link = gyro->link(); gyro->w() = gyro->R_local().transpose() * link->R().transpose() * link->w(); gyro->notifyStateChange(); } if(!impl->isOldAccelSensorCalcMode){ for(size_t i=0; i < accelerationSensors_.size(); ++i){ AccelerationSensor* sensor = accelerationSensors_[i]; const Link* link = sensor->link(); sensor->dv() = sensor->R_local().transpose() * link->R().transpose() * (link->dv() - impl->g); sensor->notifyStateChange(); } } else if(!accelerationSensors_.empty()){ const Matrix2& A = impl->A; const Vector2& B = impl->B; for(size_t i=0; i < accelerationSensors_.size(); ++i){ AccelerationSensor* sensor = accelerationSensors_[i]; const Link* link = sensor->link(); // kalman filtering Impl::KFState& s = impl->kfStates[i]; const Vector3 o_Vgsens = link->R() * (link->R().transpose() * link->w()).cross(sensor->p_local()) + link->v(); for(int i=0; i < 3; ++i){ s.x[i] = A * s.x[i] + o_Vgsens(i) * B; } Vector3 o_Agsens(s.x[0](1), s.x[1](1), s.x[2](1)); o_Agsens -= impl->g; sensor->dv() = sensor->R_local().transpose() * link->R().transpose() * o_Agsens; sensor->notifyStateChange(); } } } choreonoid-1.5.0/src/Body/VRMLBody.cpp0000664000000000000000000000254712741425367016157 0ustar rootroot/*! @file */ #include "VRMLBody.h" #include using namespace cnoid; using namespace boost::assign; VRMLHumanoid::VRMLHumanoid() { } VRMLJoint::VRMLJoint() : VRMLTransform() { jointId = -1; jointType = ""; jointAxis << 0.0, 0.0, 1.0; gearRatio = 1; rotorInertia = 0; rotorResistor = 0; torqueConst = 1; encoderPulse = 1; } VRMLSegment::VRMLSegment() : VRMLGroup() { mass = 0.0; centerOfMass << 0.0, 0.0, 0.0; momentsOfInertia += 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0; } VRMLSurface::VRMLSurface() { } VRMLVisionSensor::VRMLVisionSensor() : VRMLTransform() { sensorId = -1; type = "NONE"; width = 320; height = 240; frameRate = 30; fieldOfView = 0.785398; frontClipDistance = 0.01; backClipDistance = 10.0; } VRMLForceSensor::VRMLForceSensor() : VRMLTransform() { sensorId = -1; maxForce << -1, -1, -1; maxTorque << -1, -1, -1; } VRMLGyro::VRMLGyro() : VRMLTransform() { sensorId = -1; maxAngularVelocity << -1, -1, -1; } VRMLAccelerationSensor::VRMLAccelerationSensor() : VRMLTransform() { sensorId = -1; maxAcceleration << -1, -1, -1; } VRMLRangeSensor::VRMLRangeSensor() : VRMLTransform() { sensorId = -1; scanAngle = 3.14159; scanStep = 0.1; scanRate = 10; minDistance = 0.01; maxDistance = 10; } choreonoid-1.5.0/src/Body/MultiDeviceStateSeq.h0000664000000000000000000000213512741425367020103 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_MULTI_DEVICE_STATE_SEQ_H_INCLUDED #define CNOID_BODY_MULTI_DEVICE_STATE_SEQ_H_INCLUDED #include "Device.h" #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT MultiDeviceStateSeq : public MultiSeq { typedef MultiSeq BaseSeqType; public: typedef boost::shared_ptr Ptr; static const std::string& key(); MultiDeviceStateSeq(); MultiDeviceStateSeq(int numFrames, int numDevices = 1); MultiDeviceStateSeq(const MultiDeviceStateSeq& org); virtual ~MultiDeviceStateSeq(); MultiDeviceStateSeq& operator=(const MultiDeviceStateSeq& rhs); virtual AbstractSeqPtr cloneSeq() const; }; typedef MultiDeviceStateSeq::Ptr MultiDeviceStateSeqPtr; class BodyMotion; CNOID_EXPORT MultiDeviceStateSeqPtr getMultiDeviceStateSeq(const BodyMotion& motion); CNOID_EXPORT MultiDeviceStateSeqPtr getOrCreateMultiDeviceStateSeq(BodyMotion& motion); CNOID_EXPORT void clearMultiDeviceStateSeq(BodyMotion& motion); } #endif choreonoid-1.5.0/src/Body/ExtraBodyStateAccessor.h0000664000000000000000000001032612741425367020605 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_EXTRA_BODY_STATE_ACCESSOR_H #define CNOID_BODY_EXTRA_BODY_STATE_ACCESSOR_H #include #include #include #include #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT ExtraBodyStateAccessor : public Referenced { static int elementSizes[]; Signal sigStateChanged_; public: class Angle { double angle; public: Angle(double rad) : angle(rad) { } double value() const { return angle; } //operator double() const { return angle; } }; struct None { } none; enum Attribute { NORMAL = 0, WARNING = 1 << 0, STRONG_WARNING = WARNING | 1 << 1 }; enum { BOOL, INT, DOUBLE, ANGLE, STRING, VECTOR3, VECTORX, NONE }; class Value { /** Vector2 cannot be contained in variant because it is an Eigen type which must be aligned but the variant type does not seem to ahieve that for its elements */ boost::variant value; int attr; public: Value() : attr(0) { } Value& operator=(const Value& rhs) { value = rhs.value; attr = rhs.attr; return *this; } template Value& operator=(const T& rhs) { value = rhs; return *this; } bool getBool() const { return boost::get(value); } int getInt() const { return boost::get(value); } double getDouble() const { return boost::get(value); } double getAngle() const { return boost::get(value).value(); } void setAngle(double rad) { value = Angle(rad); } const std::string& getString() const { return boost::get(value); } const Vector3f& getVector3f() const { return boost::get(value); } Vector3 getVector3() const { return boost::get(value).cast(); } const VectorX& getVectorX() const { return boost::get(value); } int which() const { return value.which(); } bool empty() const { return value.empty(); } void setAttribute(int attribute) { attr = attribute; } int attribute() const { return attr; } }; ExtraBodyStateAccessor(); ExtraBodyStateAccessor(const ExtraBodyStateAccessor& org); virtual ~ExtraBodyStateAccessor(); static int getNumValueElements(const Value& v){ int n = elementSizes[v.which()]; if(n < 0){ n = v.getVectorX().size(); } return n; } virtual int getNumStateItems() const = 0; virtual int getNumJointStateItems() const = 0; virtual const char* getStateItemName(int stateIndex) const = 0; //! Translated version of getStateItemName() virtual const char* getStateItemLabel(int stateIndex) const = 0; virtual const char* getJointStateItemName(int jointStateIndex) const = 0; //! Translated version of getJointStateItemName() virtual const char* getJointStateItemLabel(int jointStateIndex) const = 0; virtual void getState(std::vector& out_state) const = 0; /** This function returns false by default. The function which updates the state values and returns true should be implementedin a inherited class. */ virtual bool setState(const std::vector& state) const; /** @return out_jointState 2D array of (jointIndex, itemIndex) */ virtual void getJointState(Array2D& out_jointState) const = 0; /** This function returns false by default. The function which updates the state values and returns true should be implementedin the inherited class. */ virtual bool setJointState(const Array2D& jointState) const; SignalProxy sigStateChanged() { return sigStateChanged_; } void notifyStateChange() { sigStateChanged_(); } }; template<> inline ExtraBodyStateAccessor::Value& ExtraBodyStateAccessor::Value::operator=(const Vector3& rhs) { value = Vector3f(rhs.cast()); return *this; } typedef ref_ptr ExtraBodyStateAccessorPtr; }; #endif choreonoid-1.5.0/src/Body/DyWorld.cpp0000664000000000000000000001132012741425367016132 0ustar rootroot/** \author Shin'ichiro Nakaoka */ #include "DyWorld.h" #include "DyBody.h" #include "ForwardDynamicsABM.h" #include "ForwardDynamicsCBM.h" #include #include #include using namespace std; using namespace boost; using namespace cnoid; static const double DEFAULT_GRAVITY_ACCELERATION = 9.80665; static const bool debugMode = false; WorldBase::WorldBase() { currentTime_ = 0.0; timeStep_ = 0.005; g << 0.0, 0.0, -DEFAULT_GRAVITY_ACCELERATION; isEulerMethod =false; sensorsAreEnabled = false; isOldAccelSensorCalcMode = false; numRegisteredLinkPairs = 0; } WorldBase::~WorldBase() { } int WorldBase::bodyIndex(const std::string& name) const { NameToIndexMap::const_iterator p = nameToBodyIndexMap.find(name); return (p != nameToBodyIndexMap.end()) ? p->second : -1; } DyBody* WorldBase::body(int index) const { if(index < 0 || (int)bodyInfoArray.size() <= index){ return 0; } return bodyInfoArray[index].body; } DyBody* WorldBase::body(const std::string& name) const { int idx = bodyIndex(name); if(idx < 0 || (int)bodyInfoArray.size() <= idx){ return 0; } return bodyInfoArray[idx].body; } void WorldBase::setTimeStep(double ts) { timeStep_ = ts; } void WorldBase::setCurrentTime(double time) { currentTime_ = time; } void WorldBase::setGravityAcceleration(const Vector3& g) { this->g = g; } void WorldBase::enableSensors(bool on) { sensorsAreEnabled = on; } void WorldBase::setOldAccelSensorCalcMode(bool on) { isOldAccelSensorCalcMode = on; } void WorldBase::initialize() { const int n = bodyInfoArray.size(); for(int i=0; i < n; ++i){ BodyInfo& info = bodyInfoArray[i]; if(!info.forwardDynamics){ info.forwardDynamics = make_shared_aligned(info.body); } if(isEulerMethod){ info.forwardDynamics->setEulerMethod(); } else { info.forwardDynamics->setRungeKuttaMethod(); } info.forwardDynamics->setGravityAcceleration(g); info.forwardDynamics->setTimeStep(timeStep_); info.forwardDynamics->enableSensors(sensorsAreEnabled); info.forwardDynamics->setOldAccelSensorCalcMode(isOldAccelSensorCalcMode); info.forwardDynamics->initialize(); } } void WorldBase::setVirtualJointForces() { for(size_t i=0; i < bodyInfoArray.size(); ++i){ BodyInfo& info = bodyInfoArray[i]; if(info.hasVirtualJointForces){ info.body->setVirtualJointForces(); } } } void WorldBase::calcNextState() { if(debugMode){ cout << "World current time = " << currentTime_ << endl; } const int n = bodyInfoArray.size(); for(int i=0; i < n; ++i){ BodyInfo& info = bodyInfoArray[i]; info.forwardDynamics->calcNextState(); } currentTime_ += timeStep_; } int WorldBase::addBody(DyBody* body) { if(!body->name().empty()){ nameToBodyIndexMap[body->name()] = bodyInfoArray.size(); } BodyInfo info; info.body = body; info.hasVirtualJointForces = body->hasVirtualJointForces(); bodyInfoArray.push_back(info); return bodyInfoArray.size() - 1; } int WorldBase::addBody(DyBody* body, const ForwardDynamicsPtr& forwardDynamics) { int index = addBody(body); bodyInfoArray[index].forwardDynamics = forwardDynamics; return index; } void WorldBase::clearBodies() { nameToBodyIndexMap.clear(); bodyInfoArray.clear(); } void WorldBase::clearCollisionPairs() { linkPairKeyToIndexMap.clear(); numRegisteredLinkPairs = 0; } void WorldBase::setEulerMethod() { isEulerMethod = true; } void WorldBase::setRungeKuttaMethod() { isEulerMethod = false; } std::pair WorldBase::getIndexOfLinkPairs(DyLink* link1, DyLink* link2) { int index = -1; bool isRegistered = false; if(link1 != link2){ LinkPairKey linkPair; if(link1 < link2){ linkPair.link1 = link1; linkPair.link2 = link2; } else { linkPair.link1 = link2; linkPair.link2 = link1; } LinkPairKeyToIndexMap::iterator p = linkPairKeyToIndexMap.find(linkPair); if(p != linkPairKeyToIndexMap.end()){ index = p->second; isRegistered = true; } else { index = numRegisteredLinkPairs++; linkPairKeyToIndexMap[linkPair] = index; } } return std::make_pair(index, isRegistered); } bool WorldBase::LinkPairKey::operator<(const LinkPairKey& pair2) const { if(link1 < pair2.link1){ return true; } else if(link1 == pair2.link1){ return (link2 < pair2.link2); } else { return false; } } choreonoid-1.5.0/src/Body/SceneCollision.h0000664000000000000000000000131612741425367017130 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_SCENE_COLLISION_H #define CNOID_BODY_SCENE_COLLISION_H #include "CollisionLinkPair.h" #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT SceneCollision : public SgLineSet { public: SceneCollision(boost::shared_ptr< std::vector > collisionPairs); void setDirty() { isDirty = true; } virtual void accept(SceneVisitor& visitor); private: SceneCollision(const SceneCollision& org); boost::shared_ptr< std::vector > collisionPairs; SgVertexArrayPtr vertices_; bool isDirty; }; typedef ref_ptr SceneCollisionPtr; } #endif choreonoid-1.5.0/src/Body/VRMLBodyLoader.h0000664000000000000000000000140112741425367016737 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_VRML_BODY_LOADER_H #define CNOID_BODY_VRML_BODY_LOADER_H #include "AbstractBodyLoader.h" #include #include "exportdecl.h" namespace cnoid { class Link; class VRMLBodyLoaderImpl; class CNOID_EXPORT VRMLBodyLoader : public AbstractBodyLoader { public: VRMLBodyLoader(); ~VRMLBodyLoader(); virtual const char* format() const; virtual void setMessageSink(std::ostream& os); virtual void setVerbose(bool on); virtual void enableShapeLoading(bool on); virtual void setDefaultDivisionNumber(int n); virtual bool load(Body* body, const std::string& filename); VRMLNodePtr getOriginalNode(Link* link); private: VRMLBodyLoaderImpl* impl; }; } #endif choreonoid-1.5.0/src/Body/PoseProviderToBodyMotionConverter.h0000664000000000000000000000122512741425367023036 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_POSE_PROVIDER_TO_BODY_MOTION_CONVERTER_H #define CNOID_BODY_POSE_PROVIDER_TO_BODY_MOTION_CONVERTER_H #include "exportdecl.h" namespace cnoid { class Body; class BodyMotion; class PoseProvider; class CNOID_EXPORT PoseProviderToBodyMotionConverter { public: PoseProviderToBodyMotionConverter(); void setTimeRange(double lower, double upper); void setFullTimeRange(); void setAllLinkPositionOutput(bool on); bool convert(Body* body, PoseProvider* provider, BodyMotion& motion); private: double lowerTime; double upperTime; bool allLinkPositionOutputMode; }; } #endif choreonoid-1.5.0/src/Body/BodyMotionPoseProvider.h0000664000000000000000000000301712741425367020644 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_BODY_MOTION_POSE_PROVIDER_H #define CNOID_BODY_BODY_MOTION_POSE_PROVIDER_H #include "Body.h" #include "PoseProvider.h" #include "BodyMotion.h" #include "ZMPSeq.h" #include #include "exportdecl.h" namespace cnoid { class Link; class JointPath; typedef boost::shared_ptr JointPathPtr; class CNOID_EXPORT BodyMotionPoseProvider : public PoseProvider { public: BodyMotionPoseProvider(); BodyMotionPoseProvider(Body* body, BodyMotionPtr motion); void initialize(Body* body, BodyMotionPtr motion); bool updateMotion(); virtual Body* body() const; virtual double beginningTime() const; virtual double endingTime() const; virtual bool seek(double time); virtual bool seek(double time, int waistLinkIndex, const Vector3& waistTranslation); virtual int baseLinkIndex() const; virtual bool getBaseLinkPosition(Position& out_T) const; virtual void getJointPositions(std::vector< boost::optional >& out_q) const; virtual boost::optional ZMP() const; private: BodyPtr body_; BodyMotionPtr motion; ZMPSeqPtr zmpSeq; int minNumJoints; std::vector footLinks; std::vector ikPaths; MultiAffine3SeqPtr footLinkPositions; std::vector qTranslated; Vector3 p_waist; Matrix3 R_waist; Vector3 ZMP_; bool seek(double time, int waistLinkIndex, const Vector3& waistTranslation, bool applyWaistTranslation); }; } #endif choreonoid-1.5.0/src/Body/Device.h0000664000000000000000000000734612741425367015427 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_DEVICE_H #define CNOID_BODY_DEVICE_H #include #include #include #include "exportdecl.h" namespace cnoid { class Link; class CNOID_EXPORT DeviceState : public Referenced { protected: DeviceState() { } DeviceState(const DeviceState& org) { } public: virtual ~DeviceState() { } virtual const char* typeName() = 0; virtual void copyStateFrom(const DeviceState& other) = 0; virtual DeviceState* cloneState() const = 0; /** Size of the double-precision floating numbers for representing the state. */ virtual int stateSize() const = 0; /** @return The position in the buf after reading. The value is used when the super class's readState is called by the inherited class. */ virtual const double* readState(const double* buf) = 0; /** @return The position in the buf after reading. The value is used when the super class's readState is called by the inherited class. */ virtual double* writeState(double* out_buf) const = 0; }; typedef ref_ptr DeviceStatePtr; class CNOID_EXPORT Device : public DeviceState { struct NonState { EIGEN_MAKE_ALIGNED_OPERATOR_NEW int index; // automatically assigned int id; // pre-defined id std::string name; Link* link; Isometry3 T_local; double cycle; const Isometry3& const_T_local() const { return T_local; } Signal sigStateChanged; }; NonState* ns; protected: Device(); Device(const Device& org, bool copyStateOnly = false); public: virtual ~Device(); void setIndex(int index) { ns->index = index; } void setId(int id) { ns->id = id; } void setName(const std::string& name) { ns->name = name; } void setLink(Link* link) { ns->link = link; } virtual Device* clone() const = 0; virtual void forEachActualType(boost::function func); virtual void clearState(); bool hasStateOnly() const { return (ns != 0); } const int index() const { return ns->index; } const int id() const { return ns->id; } const std::string& name() const { return ns->name; } const Link* link() const { return ns->link; } Link* link() { return ns->link; } Isometry3& T_local() { return ns->T_local; } const Isometry3& T_local() const { return ns->T_local; } Isometry3::ConstLinearPart R_local() const { return ns->const_T_local().linear(); } Isometry3::LinearPart R_local() { return ns->T_local.linear(); } Isometry3::ConstLinearPart localRotation() const { return ns->const_T_local().linear(); } Isometry3::LinearPart localRotaion() { return ns->T_local.linear(); } template void setLocalRotation(const Eigen::MatrixBase& R) { ns->T_local.linear() = R; } Isometry3::ConstTranslationPart p_local() const { return ns->const_T_local().translation(); } Isometry3::TranslationPart p_local() { return ns->T_local.translation(); } Isometry3::ConstTranslationPart localTranslation() const { return ns->const_T_local().translation(); } Isometry3::TranslationPart localTranslation() { return ns->T_local.translation(); } template void setLocalTranslation(const Eigen::MatrixBase& p) { ns->T_local.translation() = p; } double cycle() const { return ns->cycle; } void setCycle(double msec) { ns->cycle = msec; } SignalProxy sigStateChanged() { return ns->sigStateChanged; } void notifyStateChange() { ns->sigStateChanged(); } }; typedef ref_ptr DevicePtr; }; #endif choreonoid-1.5.0/src/Body/BodyCollisionDetectorUtil.h0000664000000000000000000000061712741425367021323 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_BODY_COLLISION_DETECTOR_UTIL_H_INCLUDED #define CNOID_BODY_BODY_COLLISION_DETECTOR_UTIL_H_INCLUDED #include #include #include "exportdecl.h" namespace cnoid { CNOID_EXPORT int addBodyToCollisionDetector(Body& body, CollisionDetector& detector, bool enableSelfCollisions = true); } #endif choreonoid-1.5.0/src/Body/VRMLBody.h0000664000000000000000000000502712741425367015620 0ustar rootroot/*! @file */ #ifndef CNOID_BODY_VRMLBODY_H #define CNOID_BODY_VRMLBODY_H #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT VRMLHumanoid : public VRMLNode { public: VRMLHumanoid(); MFNode humanoidBody; MFNode segments; MFNode joints; }; typedef boost::intrusive_ptr VRMLHumanoidPtr; class CNOID_EXPORT VRMLJoint : public VRMLTransform { public: VRMLJoint(); SFInt32 jointId; SFString jointType; SFVec3f jointAxis; MFFloat llimit; MFFloat lvlimit; MFFloat ulimit; MFFloat uvlimit; SFFloat gearRatio; SFFloat rotorInertia; SFFloat rotorResistor; SFFloat torqueConst; SFFloat encoderPulse; }; typedef boost::intrusive_ptr VRMLJointPtr; class CNOID_EXPORT VRMLSegment : public VRMLGroup { public: VRMLSegment(); SFFloat mass; SFVec3f centerOfMass; MFFloat momentsOfInertia; }; typedef boost::intrusive_ptr VRMLSegmentPtr; class CNOID_EXPORT VRMLSurface : public VRMLNode { public: VRMLSurface(); MFNode visual; MFNode collision; }; typedef boost::intrusive_ptr VRMLSurfacePtr; class CNOID_EXPORT VRMLVisionSensor : public VRMLTransform { public: VRMLVisionSensor(); SFInt32 sensorId; SFString type; SFInt32 width; SFInt32 height; SFFloat frameRate; SFFloat fieldOfView; SFFloat frontClipDistance; SFFloat backClipDistance; }; typedef boost::intrusive_ptr VRMLVisionSensorPtr; class CNOID_EXPORT VRMLForceSensor : public VRMLTransform { public: VRMLForceSensor(); SFInt32 sensorId; SFVec3f maxForce; SFVec3f maxTorque; }; typedef boost::intrusive_ptr VRMLForceSensorPtr; class CNOID_EXPORT VRMLGyro : public VRMLTransform { public: VRMLGyro(); SFInt32 sensorId; SFVec3f maxAngularVelocity; }; typedef boost::intrusive_ptr VRMLGyroPtr; class CNOID_EXPORT VRMLAccelerationSensor : public VRMLTransform { public: VRMLAccelerationSensor(); SFInt32 sensorId; SFVec3f maxAcceleration; }; typedef boost::intrusive_ptr VRMLAccelerationSensorPtr; class CNOID_EXPORT VRMLRangeSensor : public VRMLTransform { public: VRMLRangeSensor(); SFInt32 sensorId; SFFloat scanAngle; SFFloat scanStep; SFFloat scanRate; SFFloat minDistance; SFFloat maxDistance; }; typedef boost::intrusive_ptr VRMLRangeSensorPtr; }; #endif choreonoid-1.5.0/src/Body/DeviceList.h0000664000000000000000000000204312741425367016250 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_DEVICE_LIST_H #define CNOID_BODY_DEVICE_LIST_H #include "Device.h" #include #include "exportdecl.h" namespace cnoid { template > class DeviceList : public PolymorphicReferencedArray { typedef PolymorphicReferencedArray ArrayBase; public: DeviceList() { } template DeviceList(const DeviceList& rhs) : ArrayBase(rhs) { } DeviceList getSortedById() const { DeviceList sorted; for(size_t i=0; i < ArrayBase::size(); ++i){ DeviceType* device = (*this)[i]; const int id = device->id(); if(id >= 0){ if(sorted.size() <= id){ sorted.resize(id + 1); } sorted[id] = device; } } return sorted; } }; }; #endif choreonoid-1.5.0/src/Body/CMakeLists.txt0000664000000000000000000000721712741425367016614 0ustar rootroot # @author Shin'ichiro Nakaoka #set(CMAKE_BUILD_TYPE Debug) #set_source_files_properties(SceneBody.cpp PROPERTIES COMPILE_FLAGS "-O0 -g") set(target CnoidBody) set(sources Body.cpp VRMLBody.cpp LinkTraverse.cpp Link.cpp LinkPath.cpp JointPath.cpp Jacobian.cpp Device.cpp ForceSensor.cpp RateGyroSensor.cpp AccelerationSensor.cpp BasicSensorSimulationHelper.cpp Camera.cpp RangeCamera.cpp RangeSensor.cpp Light.cpp PointLight.cpp SpotLight.cpp MultiDeviceStateSeq.cpp ExtraBodyStateAccessor.cpp SceneBody.cpp SceneDevice.cpp SceneCollision.cpp CompositeIK.cpp PinDragIK.cpp LinkGroup.cpp LeggedBodyHelper.cpp BodyCollisionDetectorUtil.cpp BodyMotion.cpp BodyMotionPoseProvider.cpp BodyState.cpp BodyCustomizerInterface.cpp ZMPSeq.cpp ForwardDynamics.cpp ForwardDynamicsABM.cpp ForwardDynamicsCBM.cpp DyBody.cpp DyWorld.cpp MassMatrix.cpp ConstraintForceSolver.cpp InverseDynamics.cpp PenetrationBlocker.cpp AbstractBodyLoader.cpp BodyLoader.cpp YAMLBodyLoader.cpp VRMLBodyLoader.cpp VRMLBodyWriter.cpp ColladaBodyLoader.cpp PoseProviderToBodyMotionConverter.cpp BodyMotionUtil.cpp ) set(headers Body.h VRMLBody.h BodyCustomizerInterface.h AbstractBodyLoader.h VRMLBodyLoader.h ColladaBodyLoader.h BodyLoader.h VRMLBodyWriter.h ZMPSeq.h Link.h LinkTraverse.h LinkPath.h JointPath.h LinkGroup.h BodyCollisionDetectorUtil.h MultiDeviceStateSeq.h Device.h DeviceList.h ForceSensor.h RateGyroSensor.h AccelerationSensor.h BasicSensorSimulationHelper.h Camera.h RangeCamera.h RangeSensor.h Light.h PointLight.h SpotLight.h SceneBody.h SceneDevice.h SceneCollision.h InverseKinematics.h CompositeIK.h PinDragIK.h LeggedBodyHelper.h PenetrationBlocker.h ForwardDynamics.h ForwardDynamicsABM.h ForwardDynamicsCBM.h DyBody.h DyWorld.h InverseDynamics.h Jacobian.h MassMatrix.h ContactAttribute.h ConstraintForceSolver.h PoseProvider.h BodyMotion.h BodyMotionPoseProvider.h PoseProviderToBodyMotionConverter.h BodyMotionUtil.h BodyState.h exportdecl.h gettext.h CollisionLinkPair.h ) make_gettext_mofiles(${target} mofiles) add_cnoid_library(${target} SHARED ${sources} ${headers} ${mofiles}) if(UNIX) target_link_libraries(${target} CnoidUtil CnoidAISTCollisionDetector dl) elseif(MSVC) target_link_libraries(${target} CnoidUtil CnoidAISTCollisionDetector) endif() apply_common_setting_for_library(${target} "${headers}") function(add_cnoid_body_customizer) set(target ${ARGV0}) list(REMOVE_AT ARGV 0) add_library(${target} SHARED ${ARGV}) set_target_properties(${target} PROPERTIES PREFIX "" COMPILE_DEFINITIONS "CNOID_BODY_CUSTOMIZER" LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR}/customizer) if(ENABLE_INSTALL_RPATH) set_target_properties(${target} PROPERTIES INSTALL_RPATH "$ORIGIN") endif() if(QT5) qt5_use_modules(${target} Widgets) endif() install(TARGETS ${target} RUNTIME DESTINATION ${CNOID_PLUGIN_SUBDIR}/customizer CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel LIBRARY DESTINATION ${CNOID_PLUGIN_SUBDIR}/customizer CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel) endfunction() # Body Customizers set(BODY_CUSTOMIZERS ${BODY_CUSTOMIZERS} CACHE FILEPATH "Source files of body customizers") if(BODY_CUSTOMIZERS) foreach(src ${BODY_CUSTOMIZERS}) get_filename_component(customizer ${src} NAME_WE) add_cnoid_body_customizer(${customizer} ${src}) endforeach() endif() install_external_libraries(${Boost_LIBRARY_DIRS} ${Boost_LIBRARY_DIRS}) if(ENABLE_PYTHON) add_subdirectory(python) endif() choreonoid-1.5.0/src/Body/BodyMotionPoseProvider.cpp0000664000000000000000000001170312741425367021200 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "BodyMotionPoseProvider.h" #include "JointPath.h" #include "LeggedBodyHelper.h" using namespace std; using namespace boost; using namespace cnoid; #if defined(_MSC_VER) && _MSC_VER < 1800 namespace { inline long lround(double x) { return static_cast((x > 0.0) ? floor(x + 0.5) : ceil(x -0.5)); } } #endif BodyMotionPoseProvider::BodyMotionPoseProvider() { } BodyMotionPoseProvider::BodyMotionPoseProvider(Body* body_, BodyMotionPtr motion) { initialize(body_, motion); } void BodyMotionPoseProvider::initialize(Body* body__, BodyMotionPtr motion) { body_ = body__->clone(); this->motion = motion; footLinkPositions.reset(new MultiAffine3Seq()); footLinks.clear(); ikPaths.clear(); LeggedBodyHelperPtr legged = getLeggedBodyHelper(body_); if(legged->isValid()){ for(int i=0; i < legged->numFeet(); ++i){ Link* link = legged->footLink(i); JointPathPtr ikPath = getCustomJointPath(body_, body_->rootLink(), link); if(ikPath){ if(ikPath->hasAnalyticalIK() || ikPath->numJoints() == 6){ footLinks.push_back(link); ikPaths.push_back(ikPath); } } } ZMP_ = legged->homeCopOfSoles(); } else { ZMP_.setZero(); } updateMotion(); } bool BodyMotionPoseProvider::updateMotion() { const int numFrames = motion->numFrames(); footLinkPositions->setDimension(numFrames, footLinks.size()); footLinkPositions->setFrameRate(motion->frameRate()); MultiValueSeqPtr qseq = motion->jointPosSeq(); MultiSE3SeqPtr pseq = motion->linkPosSeq(); zmpSeq = getZMPSeq(*motion); if(pseq->numParts() < 1){ return false; } Link* rootLink = body_->rootLink(); minNumJoints = std::min(body_->numJoints(), qseq->numParts()); qTranslated.resize(minNumJoints); for(int frame=0; frame < numFrames; ++frame){ const SE3& p = pseq->at(frame, 0); rootLink->p() = p.translation(); rootLink->R() = p.rotation().toRotationMatrix(); MultiValueSeq::Frame q = qseq->frame(frame); for(int i=0; i < minNumJoints; ++i){ body_->joint(i)->q() = q[i]; } body_->calcForwardKinematics(); for(size_t i=0; i < footLinks.size(); ++i){ Link* footLink = footLinks[i]; Affine3& p = footLinkPositions->at(frame, i); p.translation() = footLink->p(); p.linear() = footLink->R(); } } return true; } Body* BodyMotionPoseProvider::body() const { return body_.get(); } double BodyMotionPoseProvider::beginningTime() const { return 0.0; } double BodyMotionPoseProvider::endingTime() const { return (motion->numFrames() - 1) / motion->frameRate(); } bool BodyMotionPoseProvider::seek (double time, int waistLinkIndex, const Vector3& waistTranslation, bool applyWaistTranslation) { int frame = lround(time * motion->frameRate()); if(frame >= motion->numFrames()){ frame = motion->numFrames() - 1; } const MultiValueSeq::Frame q = motion->jointPosSeq()->frame(frame); for(int i=0; i < minNumJoints; ++i){ qTranslated[i] = q[i]; } if(waistLinkIndex != 0){ return false; } const SE3& waist = motion->linkPosSeq()->at(frame, 0); p_waist = waist.translation(); R_waist = waist.rotation(); if(applyWaistTranslation){ p_waist += waistTranslation; for(size_t i=0; i < footLinks.size(); ++i){ const Affine3& foot = footLinkPositions->at(frame, i); JointPathPtr ikPath = ikPaths[i]; ikPath->calcInverseKinematics(p_waist, R_waist, foot.translation(), foot.linear()); for(int j=0; j < ikPath->numJoints(); ++j){ Link* joint = ikPath->joint(j); qTranslated[joint->jointId()] = joint->q(); } } } if(zmpSeq){ if(zmpSeq->isRootRelative()){ ZMP_.noalias() = R_waist * zmpSeq->at(frame) + p_waist; } else { ZMP_.noalias() = zmpSeq->at(frame); } } return true; } bool BodyMotionPoseProvider::seek(double time) { return seek(time, 0, Vector3::Zero(), false); } bool BodyMotionPoseProvider::seek(double time, int waistLinkIndex, const Vector3& waistTranslation) { return seek(time, waistLinkIndex, waistTranslation, true); } int BodyMotionPoseProvider::baseLinkIndex() const { return 0; } bool BodyMotionPoseProvider::getBaseLinkPosition(Position& out_T) const { out_T.linear() = R_waist; out_T.translation() = p_waist; return true; } void BodyMotionPoseProvider::getJointPositions(std::vector< boost::optional >& out_q) const { int n = body_->numJoints(); out_q.resize(n); for(int i=0; i < n; ++i){ out_q[i] = qTranslated[i]; } } boost::optional BodyMotionPoseProvider::ZMP() const { return ZMP_; } choreonoid-1.5.0/src/Body/BodyState.h0000664000000000000000000000245112741425367016116 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_BODY_STATE_H #define CNOID_BODY_BODY_STATE_H #include #include #include "exportdecl.h" namespace cnoid { class Body; /** \todo implement functions to store the state into ValueTree and restore the state from it */ class CNOID_EXPORT BodyState : public DataMap { public: enum DataType { JOINT_POSITIONS, LINK_POSITIONS, JOINT_FORCE_OR_TORQUE, ZMP }; BodyState(); BodyState(const Body& body); void storePositions(const Body& body); bool restorePositions(Body& io_body) const; void setRootLinkPosition(const Position& T); void setRootLinkPosition(const SE3& position); bool getRootLinkPosition(Position& out_T) const; bool getRootLinkPosition(SE3& out_position) const; void setZMP(const Vector3& zmp); bool getZMP(Vector3& out_zmp) const; #ifdef CNOID_BACKWARD_COMPATIBILITY void setRootLinkPosition(const Vector3& translation, const Matrix3& rotation); bool getRootLinkPosition(Vector3& translation, Matrix3& rotation) const; #endif protected: virtual std::map& nameToIdMap(); virtual std::map& idToNameMap(); virtual int nextDynamicId(); }; }; #endif choreonoid-1.5.0/src/Body/PinDragIK.cpp0000664000000000000000000005741012741425367016330 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "PinDragIK.h" #include "Body.h" //#include "Link.h" #include "JointPath.h" #include #include #include #include using namespace std; using namespace boost; using namespace cnoid; namespace { const bool SOLVE_CONSTRAINTS_BY_SR_INVERSE = false; const bool SOLVE_CONSTRAINTS_BY_SVD = !SOLVE_CONSTRAINTS_BY_SR_INVERSE; double calcLU(int n, MatrixXd& a, std::vector& pivots); void solveByLU(int n, MatrixXd& a, std::vector& pivots, const MatrixXd::ColXpr& x, const VectorXd& b); bool makeInverseMatrix(int n, MatrixXd& org, MatrixXd& inv, double minValidDet); bool makePseudoInverseType1(int m, int n, const MatrixXd& J, MatrixXd& Jinv, MatrixXd& JJ, MatrixXd& JJinv, double minValidDet); bool makePseudoInverseType2(int m, int n, const MatrixXd& J, MatrixXd& Jinv, MatrixXd& JJ, MatrixXd& JJinv, const VectorXd& weights, double minValidDet); bool makeSRInverseMatrix(int m, int n, const MatrixXd& J, MatrixXd& Jinv, MatrixXd& JJ, MatrixXd& JJ2, MatrixXd& JJinv, std::vector& pivots, double srk0, double srw0); } namespace cnoid { class PinDragIKImpl { public: PinDragIKImpl(Body* body); BodyPtr body_; int maxIteration; //! calculation is iterated until the erro is less than this value double ikErrorSqrThresh; // number of joints (body->numJoints()) int NJ; // dimension of joint space (this can includes elements of 6-DOF free root) int N; // dimension of target space. 3 means position only, 6 means position and orientation. int M; Link* baseLink; Link* targetLink; bool isJointRangeConstraintsEnabled; VectorXd q_org; Vector3 base_p_org; Matrix3 base_R_org; MatrixXd J; // Jacobian Matrix (M x N) MatrixXd Jinv; // J^-1 (N x N) or pseudo inverse of J (N x M) // temporary matrix variables MatrixXd JJ; // (J^T * J) (N < M, N x N) or (J * J^T) (N > M, M x M) MatrixXd JJinv; // JJ^-1 VectorXd dr_p; // d(x, y, z, w_x, w_y, w_z) / dt double minValidDet; // dimension of constrained variables (vector p_aux) int C; // Matrices MatrixXd Jaux; // Jacobian Matrix (C x N) MatrixXd Jauxinv; MatrixXd W; MatrixXd S; // (C x N) MatrixXd Sinv; MatrixXd JJ2; // Joint space vector to solve (size N) // This vector includes elements of 6-DOF root joint (dx, dy, dz, OmegaX, OmegaY, OmegaZ) // in the tail when root free model is enabled. VectorXd dq; // weight of joint space vector (size N) // this includes 6-DOF root joint like dq VectorXd qWeights; VectorXd y; // size N std::vector pivots; bool isBaseLinkFreeMode; bool isTargetAttitudeEnabled; LinkTraverse fkTraverse; JointPath targetJointPath; struct PinProperty { double weight; InverseKinematics::AxisSet axes; JointPathPtr jointPath; Vector3 p; Matrix3 R; Vector3 prevStep_p; Matrix3 prevStep_R; PinProperty() : jointPath(new JointPath()) { } }; typedef std::map PinPropertyMap; PinPropertyMap pinPropertyMap; std::vector constraintWeightsSqrt; // size C struct JointConstrain { JointConstrain(int jointId, double dq) : jointId(jointId), dq(dq) { } int jointId; double dq; }; std::vector jointConstraints; VectorXd dPaux; // size C double srk0; // k of the singular point double srw0; // threshold value to calc k enum IKStepResult { ERROR, PINS_NOT_CONVERGED, PINS_CONVERGED }; void setBaseLink(Link* baseLink); void setFreeRootWeight(double translation, double rotation); void setTargetLink(Link* targetLink, bool isAttitudeEnabled); void setJointWeight(int jointId, double weight); void setPin(Link* link, InverseKinematics::AxisSet axes, double weight); InverseKinematics::AxisSet pinAxes(Link* link); void setIKErrorThresh(double e); void setSRInverseParameters(double k0, double w0); void enableJointRangeConstraints(bool on); bool initialize(); bool calcInverseKinematics(const Vector3& end_p, const Matrix3& end_R); IKStepResult calcOneStep(const Vector3& v, const Vector3& omega); void solveConstraints(); void setJacobianForOnePath(MatrixXd& J, int row, JointPath& jointPath, int axes); void setJacobianForFreeRoot(MatrixXd& J, int row, JointPath& jointPath, int axes); void addPinConstraints(); void addJointRangeConstraints(); int solveLinearEquationWithSVD(MatrixXd& A, VectorXd& b, VectorXd& x, double sv_ratio); }; } PinDragIK::PinDragIK(Body* body) { impl = new PinDragIKImpl(body); } PinDragIKImpl::PinDragIKImpl(Body* body) : body_(body), NJ(body->numJoints()), q_org(NJ), qWeights(NJ + 6) { M = 0; N = 0; maxIteration = 50; //minValidDet = 1.0e-12; //minValidDet = 1.0e-5 minValidDet = 1.0e-9; setBaseLink(0); setTargetLink(0, false); qWeights.head(qWeights.size() - 6).fill(1.0); setFreeRootWeight(30.0, 1.0); setIKErrorThresh(1.0e-5); setSRInverseParameters(0.1, 0.001); //enableJointRangeConstraints(true); enableJointRangeConstraints(false); } PinDragIK::~PinDragIK() { delete impl; } Body* PinDragIK::body() const { return impl->body_; } void PinDragIK::setBaseLink(Link* baseLink) { impl->setBaseLink(baseLink); } //! if root is zero, root is virtual free 6-DOF link on the top link void PinDragIKImpl::setBaseLink(Link* baseLink) { if(baseLink){ this->baseLink = baseLink; isBaseLinkFreeMode = false; } else { this->baseLink = body_->rootLink(); isBaseLinkFreeMode = true; } } void PinDragIK::setFreeRootWeight(double translation, double rotation) { impl->setFreeRootWeight(translation, rotation); } void PinDragIKImpl::setFreeRootWeight(double translation, double rotation) { for(int i=0; i < 3; i++){ qWeights(NJ + i) = translation; qWeights(NJ + 3 + i) = rotation; } } void PinDragIK::setTargetLink(Link* targetLink, bool isAttitudeEnabled) { impl->setTargetLink(targetLink, isAttitudeEnabled); } void PinDragIKImpl::setTargetLink(Link* targetLink, bool isAttitudeEnabled) { this->targetLink = targetLink; isTargetAttitudeEnabled = isAttitudeEnabled; M = isAttitudeEnabled ? 6 : 3; } void PinDragIK::setJointWeight(int jointId, double weight) { impl->setJointWeight(jointId, weight); } void PinDragIKImpl::setJointWeight(int jointId, double weight) { qWeights(jointId) = weight; } void PinDragIK::setPin(Link* link, InverseKinematics::AxisSet axes, double weight) { impl->setPin(link, axes, weight); } void PinDragIKImpl::setPin(Link* link, InverseKinematics::AxisSet axes, double weight) { if(link){ if(axes == InverseKinematics::NO_AXES){ pinPropertyMap.erase(link); } else { PinProperty& property = pinPropertyMap[link]; property.axes = axes; property.weight = weight; } } } InverseKinematics::AxisSet PinDragIK::pinAxes(Link* link) { return impl->pinAxes(link); } InverseKinematics::AxisSet PinDragIKImpl::pinAxes(Link* link) { PinPropertyMap::iterator p = pinPropertyMap.find(link); if(p == pinPropertyMap.end()){ return PinDragIK::NO_AXES; } return p->second.axes; } void PinDragIK::clearPins() { impl->pinPropertyMap.clear(); } int PinDragIK::numPinnedLinks() { return impl->pinPropertyMap.size(); } void PinDragIK::setIKErrorThresh(double e) { impl->setIKErrorThresh(e); } void PinDragIKImpl::setIKErrorThresh(double e) { ikErrorSqrThresh = e * e; } bool PinDragIK::hasAnalyticalIK() { return false; } InverseKinematics::AxisSet PinDragIK::targetAxes() const { return impl->isTargetAttitudeEnabled ? InverseKinematics::TRANSFORM_6D : InverseKinematics::TRANSLATION_3D; } void PinDragIK::setSRInverseParameters(double k0, double w0) { impl->setSRInverseParameters(k0, w0); } void PinDragIKImpl::setSRInverseParameters(double k0, double w0) { srk0 = k0; srw0 = w0; } void PinDragIK::enableJointRangeConstraints(bool on) { impl->enableJointRangeConstraints(on); } void PinDragIKImpl::enableJointRangeConstraints(bool on) { isJointRangeConstraintsEnabled = on; } bool PinDragIK::initialize() { return impl->initialize(); } bool PinDragIKImpl::initialize() { if(!targetLink){ return false; } N = body_->numJoints(); if(baseLink == targetLink){ isBaseLinkFreeMode = true; } if(isBaseLinkFreeMode){ N += 6; } targetJointPath.find(baseLink, targetLink); pinPropertyMap.erase(targetLink); C = 0; constraintWeightsSqrt.clear(); PinPropertyMap::iterator p = pinPropertyMap.begin(); while(p != pinPropertyMap.end()){ Link* link = p->first; PinProperty& property = p->second; if(!property.jointPath->find(baseLink, link)){ return false; } double weightSqrt = sqrt(property.weight); if(property.axes & InverseKinematics::TRANSLATION_3D){ property.p = link->p(); for(int i=0; i < 3; i++){ constraintWeightsSqrt.push_back(weightSqrt); } C += 3; } if(property.axes & InverseKinematics::ROTATION_3D){ property.R = link->R(); for(int i=0; i < 3; i++){ constraintWeightsSqrt.push_back(weightSqrt); } C += 3; } p++; } dq.resize(N); y.resize(N); dr_p.resize(M); J.resize(M, N); Jinv.resize(N, M); J.setZero(); jointConstraints.clear(); Jaux.resize(C, N); Jauxinv.resize(N, C); S.resize(C, N); Sinv.resize(N, C); Jaux.setZero(); dPaux.resize(C); int JJsize; if(C <= N && M <= N){ JJsize = C > M ? C : M; } else { JJsize = N; } JJ.resize(JJsize, JJsize); JJ2.resize(JJsize, JJsize); JJinv.resize(JJsize, JJsize); W.resize(N, N); pivots.resize(C); fkTraverse.find(baseLink, true, true); return true; } bool PinDragIK::calcInverseKinematics(const Vector3& end_p, const Matrix3& end_R) { return impl->calcInverseKinematics(end_p, end_R); } bool PinDragIKImpl::calcInverseKinematics(const Vector3& end_p, const Matrix3& end_R) { for(int i=0; i < NJ; i++){ q_org[i] = body_->joint(i)->q(); } if(isBaseLinkFreeMode){ base_p_org = baseLink->p(); base_R_org = baseLink->R(); } for(PinPropertyMap::iterator p = pinPropertyMap.begin(); p != pinPropertyMap.end(); p++){ Link* link = p->first; PinProperty& property = p->second; property.prevStep_p = link->p(); property.prevStep_R = link->R(); } IKStepResult result = (C > 0) ? PINS_CONVERGED : PINS_NOT_CONVERGED; int i; for(i=0; i < maxIteration; i++){ const Vector3 dp = end_p - targetLink->p(); const Vector3 omega = targetLink->R() * omegaFromRot(targetLink->R().transpose() * end_R); if((dp.squaredNorm() + omega.squaredNorm()) < ikErrorSqrThresh && result == PINS_CONVERGED){ break; } result = calcOneStep(dp, omega); if(result == ERROR){ for(int i=0; i < NJ; i++){ body_->joint(i)->q() = q_org[i]; } if(isBaseLinkFreeMode){ baseLink->p() = base_p_org; baseLink->R() = base_R_org; } fkTraverse.calcForwardKinematics(); break; } } return (result != ERROR); } PinDragIKImpl::IKStepResult PinDragIKImpl::calcOneStep(const Vector3& v, const Vector3& omega) { //€€make Jacobian matrix for the target link int axes = InverseKinematics::TRANSLATION_3D; if(isTargetAttitudeEnabled){ axes |= InverseKinematics::ROTATION_3D; } setJacobianForOnePath(J, 0, targetJointPath, axes); if(isBaseLinkFreeMode){ setJacobianForFreeRoot(J, 0, targetJointPath, axes); } bool isOk; if(N >= M){ isOk = makePseudoInverseType2(M, N, J, Jinv, JJ, JJinv, qWeights, minValidDet); } else { isOk = makePseudoInverseType1(M, N, J, Jinv, JJ, JJinv, minValidDet); } if(!isOk){ return ERROR; } // dq0 = J# dr_p dr_p[0] = v[0]; dr_p[1] = v[1]; dr_p[2] = v[2]; if(isTargetAttitudeEnabled){ dr_p[3] = omega[0]; dr_p[4] = omega[1]; dr_p[5] = omega[2]; } dq.noalias() = Jinv * dr_p; if(C > 0){ solveConstraints(); } double maxq = 0.0; for(int i=0; i < N; ++i){ maxq = std::max(dq[i], maxq); } double thresh = 0.1; if(maxq > thresh){ dq *= (thresh / maxq); } for(int i=0; i < NJ; i++){ body_->joint(i)->q() += dq[i]; } if(isBaseLinkFreeMode){ base_p_org = baseLink->p(); base_R_org = baseLink->R(); for(int i=0; i < 3; i++){ baseLink->p()[i] += dq[NJ+i]; } baseLink->R() = rotFromRpy(dq[NJ+3], dq[NJ+4], dq[NJ+5]) * baseLink->R(); normalizeRotation(baseLink->T()); } fkTraverse.calcForwardKinematics(); double maxErrorSqr = 0.0; for(PinPropertyMap::iterator p = pinPropertyMap.begin(); p != pinPropertyMap.end(); p++){ Link* link = p->first; PinProperty& property = p->second; double errsqr = 0.0; if(property.axes & InverseKinematics::TRANSLATION_3D){ const Vector3 dp = property.prevStep_p - link->p(); errsqr += dq.squaredNorm(); property.prevStep_p = link->p(); } if(property.axes & InverseKinematics::ROTATION_3D){ const Vector3 omega = omegaFromRot(link->R().transpose() * property.prevStep_R); errsqr += omega.squaredNorm(); property.prevStep_R = link->R(); } maxErrorSqr = std::max(errsqr, maxErrorSqr); } return (maxErrorSqr < ikErrorSqrThresh) ? PINS_CONVERGED : PINS_NOT_CONVERGED; } void PinDragIKImpl::solveConstraints() { // W = (E - J# J) (size N x N) W.noalias() = MatrixXd::Identity(N, N) - Jinv * J; // normalize W for weighted theta /* for(int i=0; i < N; i++){ double norm2 = 0.0; for(int j=0; j < N; j++){ double a = W(j,i); norm2 += qWeights[j] * a * a; } double norm = sqrt(norm2); if(norm > 0.0001){ for(int j=0; j < N; j++){ W(j,i) /= norm; } } } */ addPinConstraints(); if(isJointRangeConstraintsEnabled){ addJointRangeConstraints(); } // deltaPaux = dPaux - dPaux0, (dPaux0 = Jaux dq0) dPaux.noalias() -= Jaux * dq; VectorXd& deltaPaux = dPaux; S.noalias() = Jaux * W; // normalize S and deltaPaux for weighted targets (weights of constraned positions) /* for(int i=0; i < C; i++){ double w = constraintWeightsSqrt[i]; for(int j=0; j < N; j++){ S(i,j) *= w; } deltaPaux[i] *= w; } */ if(SOLVE_CONSTRAINTS_BY_SR_INVERSE){ makeSRInverseMatrix(C, N, S, Sinv, JJ, JJ2, JJinv, pivots, srk0, srw0); y.noalias() = Sinv * deltaPaux; } else if(SOLVE_CONSTRAINTS_BY_SVD){ y = Eigen::JacobiSVD(S, Eigen::ComputeThinU | Eigen::ComputeThinV).solve(deltaPaux); } // dq = dq0 + W y dq.noalias() += W * y; } void PinDragIKImpl::setJacobianForOnePath(MatrixXd& J, int row, JointPath& jointPath, int axes) { int col; const int n = jointPath.numJoints(); if(n > 0){ Link* target = jointPath.endLink(); for(int i=0; i < n; i++){ Link* link = jointPath.joint(i); col = link->jointId(); Vector3 omega(link->R() * link->a()); if(!jointPath.isJointDownward(i)){ omega = -omega; } int r = row; if(axes & InverseKinematics::TRANSLATION_3D){ const Vector3 dp = omega.cross(target->p() - link->p()); J(r++, col) = dp(0); J(r++, col) = dp(1); J(r++, col) = dp(2); } if(axes & InverseKinematics::ROTATION_3D){ J(r++, col) = omega(0); J(r++, col) = omega(1); J(r++, col) = omega(2); } } } } void PinDragIKImpl::setJacobianForFreeRoot(MatrixXd& J, int row, JointPath& jointPath, int axes) { Link* target; if(jointPath.numJoints() > 0){ target = jointPath.endLink(); } else { target = baseLink; } int col = NJ; if(axes & InverseKinematics::TRANSLATION_3D){ Vector3 omega = Vector3::Zero(); for(int i=0; i < 3; i++){ omega[i] = 1.0; const Vector3 dp = omega.cross(target->p() - baseLink->p()); for(int j=0; j < 3; j++){ if(j == i){ J(row + j, col + i) = 1.0; } J(row + j, col + i + 3) = dp(j); } omega[i] = 0.0; } row += 3; } if(axes & InverseKinematics::ROTATION_3D){ for(int i=0; i < 3; i++){ J(row + i, col + i + 3) = 1.0; } } } void PinDragIKImpl::addPinConstraints() { int row = 0; for(PinPropertyMap::iterator p = pinPropertyMap.begin(); p != pinPropertyMap.end(); p++){ Link* link = p->first; PinProperty& property = p->second; setJacobianForOnePath(Jaux, row, *property.jointPath, property.axes); if(isBaseLinkFreeMode){ setJacobianForFreeRoot(Jaux, row, *property.jointPath, property.axes); } if(property.axes & InverseKinematics::TRANSLATION_3D){ const Vector3 dp = property.p - link->p(); dPaux[row++] = dp[0]; dPaux[row++] = dp[1]; dPaux[row++] = dp[2]; } if(property.axes & InverseKinematics::ROTATION_3D){ const Vector3 omega = link->R() * omegaFromRot(link->R().transpose() * property.R); dPaux[row++] = omega[0]; dPaux[row++] = omega[1]; dPaux[row++] = omega[2]; } } } void PinDragIKImpl::addJointRangeConstraints() { jointConstraints.clear(); for(int i=0; i < NJ; ++i){ Link* link = body_->joint(i); if(link->q() < link->q_lower()){ jointConstraints.push_back(JointConstrain(i, link->q_lower() - link->q())); } else if(link->q() > link->q_upper()){ jointConstraints.push_back(JointConstrain(i, link->q_upper() - link->q())); } } const int C2 = jointConstraints.size(); Jaux.conservativeResize(C + C2, N); dPaux.conservativeResize(C + C2); S.resize(C + C2, N); for(int i=0; i < C2; ++i){ int r = C + i; for(int j=0; j < N; ++j){ Jaux(r, j) = 0.0; } JointConstrain& limit = jointConstraints[i]; Jaux(r, limit.jointId) = 1.0; dPaux[r] = limit.dq; } } namespace { /** \param pivots row exchange index in LU decomposition (size = n) */ double calcLU(int n, MatrixXd& a, std::vector& pivots) { double det = 1.0; std::vector weight(n); // get the max element and a scaling value in each row double v, max; for(int k = 0; k < n; k++) { pivots[k] = k; max = 0.0; for(int j = 0; j < n; j++) { v = fabs(a(k,j)); if (v > max) max = v; } if(max == 0.0) return 0.0; // Factorization is impossible ! weight[k] = 1.0 / max; } for(int k = 0; k < n; k++) { // get the next pivot row max = -1; int maxrow; for(int i = k; i < n; i++) { int ix = pivots[i]; v = fabs(a(ix,k)) * weight[ix]; if (v > max){ max = v; maxrow = i; } } int ik = pivots[maxrow]; if (maxrow != k) { pivots[maxrow] = pivots[k]; pivots[k] = ik; det = -det; } double d = a(ik,k); det *= d; if(d == 0) return det; for(int i = k + 1; i < n; i++) { int ix = pivots[i]; double t = (a(ix,k) /= d); for (int j = k + 1; j < n; j++){ a(ix,j) -= t * a(ik,j); } } } return det; } /** Solve Ax = b for x */ void solveByLU(int n, MatrixXd& a, std::vector& pivots, const MatrixXd::ColXpr& x, const VectorXd& b) { int ix; double t; for(int i = 0; i < n; i++) { ix = pivots[i]; t = b(ix); for (int j = 0; j < i; j++){ t -= a(ix, j) * x(j); } const_cast(x)(i) = t; } for(int i = n - 1; i >= 0; i--) { t = x(i); ix = pivots[i]; for (int j = i + 1; j < n; j++){ t -= a(ix, j) * x(j); } const_cast(x)(i) = t / a(ix, i); } } bool makeInverseMatrix(int n, MatrixXd& org, MatrixXd& inv, double minValidDet) { std::vector pivots(n); VectorXd unitVector(n); unitVector.setZero(); double det = calcLU(n, org, pivots); if(det > minValidDet || det < -minValidDet){ for(int i=0; i < n; i++){ unitVector[i] = 1.0; solveByLU(n, org, pivots, inv.col(i), unitVector); unitVector[i] = 0.0; } return true; } else { return false; } } // N < M bool makePseudoInverseType1 (int m, int n, const MatrixXd& J, MatrixXd& Jinv, MatrixXd& JJ, MatrixXd& JJinv, double minValidDet) { // JJ = J^T * J JJ.noalias() = J.transpose() * J; // Jinv = (J^T * J)^-1 * J^T if(makeInverseMatrix(n, JJ, JJinv, minValidDet)){ Jinv.noalias() = JJinv * J.transpose(); return true; } return false; } // N > M bool makePseudoInverseType2 (int m, int n, const MatrixXd& J, MatrixXd& Jinv, MatrixXd& JJ, MatrixXd& JJinv, const VectorXd& weights, double minValidDet) { // JJ = J * W^-1 * J^T for(int i=0; i < m; i++){ for(int j=0; j < m; j++){ JJ(i, j) = 0.0; for(int k=0; k < n; k++){ JJ(i,j) += J(i,k) * (J(j,k) / weights(k)); } } } // Jinv = W^-1 * J^T * (J * W^-1 * J^T)^-1 if(makeInverseMatrix(m, JJ, JJinv, minValidDet)){ for(int i=0; i < n; i++){ for(int j=0; j < m; j++){ Jinv(i,j) = 0.0; for(int k=0; k < m; k++){ Jinv(i,j) += J(k,i) * JJinv(k,j); } Jinv(i,j) /= weights(i); } } return true; } return false; } // calculate J^T(J J^T + kI)^-1 bool makeSRInverseMatrix (int m, int n, const MatrixXd& J, MatrixXd& Jinv, MatrixXd& JJ, MatrixXd& JJ2, MatrixXd& JJinv, std::vector& pivots, double srk0, double srw0) { // JJ = J J^T JJ.noalias() = J * J.transpose(); JJ2 = JJ; double det = calcLU(m, JJ2, pivots); double w = sqrt(det); double k; if(w < srw0){ double a = 1.0 - (w / srw0); k = srk0 * a * a; static int counter = 0; cout << "srk0 enabled(" << counter++ << ")" << endl; } else { k = 0.0; } // JJ' = JJ + kI for(int i=0; i < m; i++){ JJ(i,i) += k; } // J^T JJ'^-1 if(makeInverseMatrix(m, JJ, JJinv, 0.0)){ Jinv.noalias() = J.transpose() * JJinv; return true; } return false; } } choreonoid-1.5.0/src/Body/RangeCamera.cpp0000664000000000000000000000500212741425367016713 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "RangeCamera.h" #include using namespace cnoid; RangeCamera::RangeCamera() { setImageType(NO_IMAGE); points_ = boost::make_shared(); isOrganized_ = false; } const char* RangeCamera::typeName() { return "RangeCamera"; } void RangeCamera::copyStateFrom(const DeviceState& other) { if(typeid(other) != typeid(RangeCamera)){ throw std::invalid_argument("Type mismatch in the Device::copyStateFrom function"); } copyStateFrom(static_cast(other)); } void RangeCamera::copyStateFrom(const RangeCamera& other) { Camera::copyStateFrom(other); copyRangeCameraStateFrom(other); points_ = other.points_; } void RangeCamera::copyRangeCameraStateFrom(const RangeCamera& other) { isOrganized_ = other.isOrganized_; } RangeCamera::RangeCamera(const RangeCamera& org, bool copyStateOnly) : Camera(org, copyStateOnly), points_(org.points_) { copyRangeCameraStateFrom(org); } Device* RangeCamera::clone() const { return new RangeCamera(*this); } /** Used for cloneState() */ RangeCamera::RangeCamera(const RangeCamera& org, int x /* dummy */) : Camera(org, true) { copyRangeCameraStateFrom(org); if(org.isImageStateClonable()){ points_ = org.points_; } else { points_ = boost::make_shared(); } } DeviceState* RangeCamera::cloneState() const { return new RangeCamera(*this, false); } void RangeCamera::forEachActualType(boost::function func) { if(!func(typeid(RangeCamera))){ Camera::forEachActualType(func); } } RangeCamera::PointData& RangeCamera::points() { if(points_.use_count() > 1){ points_ = boost::make_shared(*points_); } return *points_; } RangeCamera::PointData& RangeCamera::newPoints() { points_ = boost::make_shared(); return *points_; } void RangeCamera::setPoints(boost::shared_ptr& points) { if(points.use_count() == 1){ points_ = points; } else { points_ = boost::make_shared(*points); } points.reset(); } void RangeCamera::clearState() { Camera::clearState(); if(points_.use_count() == 1){ points_->clear(); } else { points_ = boost::make_shared(); } } void RangeCamera::setOrganized(bool on) { if(on != isOrganized_){ clearState(); } isOrganized_ = on; } choreonoid-1.5.0/src/Body/LinkTraverse.cpp0000664000000000000000000001364512741425367017173 0ustar rootroot/** \file \brief Implementations of the LinkTraverse class \author Shin'ichiro Nakaoka */ #include "LinkTraverse.h" #include "Link.h" using namespace std; using namespace cnoid; LinkTraverse::LinkTraverse() { } LinkTraverse::LinkTraverse(int size) : links(size) { links.clear(); } LinkTraverse::LinkTraverse(Link* root, bool doUpward, bool doDownward) { find(root, doUpward, doDownward); } LinkTraverse::~LinkTraverse() { } void LinkTraverse::clear() { links.clear(); numUpwardConnections = 0; } void LinkTraverse::find(Link* root, bool doUpward, bool doDownward) { numUpwardConnections = 0; links.clear(); traverse(root, doUpward, doDownward, false, 0); } void LinkTraverse::traverse(Link* link, bool doUpward, bool doDownward, bool isUpward, Link* prev) { links.push_back(link); if(isUpward){ ++numUpwardConnections; } if(doUpward && link->parent()){ traverse(link->parent(), doUpward, true, true, link); } if(doDownward){ for(Link* child = link->child(); child; child = child->sibling()){ if(child != prev){ traverse(child, false, true, false, 0); } } } } void LinkTraverse::calcForwardKinematics(bool calcVelocity, bool calcAcceleration) const { Vector3 arm; int i; for(i=1; i <= numUpwardConnections; ++i){ Link* link = links[i]; const Link* child = links[i-1]; switch(child->jointType()){ case Link::ROTATIONAL_JOINT: link->R().noalias() = child->R() * AngleAxisd(child->q(), child->a()).inverse(); arm.noalias() = link->R() * child->b(); link->p().noalias() = child->p() - arm; if(calcVelocity){ const Vector3 sw(link->R() * child->a()); link->w() = child->w() - child->dq() * sw; link->v() = child->v() - link->w().cross(arm); if(calcAcceleration){ link->dw() = child->dw() - child->dq() * child->w().cross(sw) - (child->ddq() * sw); link->dv() = child->dv() - child->w().cross(child->w().cross(arm)) - child->dw().cross(arm); } } break; case Link::SLIDE_JOINT: link->R() = child->R(); arm.noalias() = link->R() * (child->b() + child->q() * child->d()); link->p().noalias() = child->p() - arm; if(calcVelocity){ const Vector3 sv(link->R() * child->d()); link->w() = child->w(); link->v().noalias() = child->v() - child->dq() * sv; if(calcAcceleration){ link->dw() = child->dw(); link->dv().noalias() = child->dv() - child->w().cross(child->w().cross(arm)) - child->dw().cross(arm) - 2.0 * child->dq() * child->w().cross(sv) - child->ddq() * sv; } } break; case Link::FIXED_JOINT: default: arm.noalias() = link->R() * child->b(); link->R() = child->R(); link->p().noalias() = child->p() - arm; if(calcVelocity){ link->w() = child->w(); link->v() = child->v() - link->w().cross(arm); if(calcAcceleration){ link->dw() = child->dw(); link->dv() = child->dv() - child->w().cross(child->w().cross(arm)) - child->dw().cross(arm);; } } break; } } const int n = links.size(); for( ; i < n; ++i){ Link* link = links[i]; const Link* parent = link->parent(); switch(link->jointType()){ case Link::ROTATIONAL_JOINT: link->R().noalias() = parent->R() * AngleAxisd(link->q(), link->a()); arm.noalias() = parent->R() * link->b(); link->p().noalias() = parent->p() + arm; if(calcVelocity){ const Vector3 sw(parent->R() * link->a()); link->w().noalias() = parent->w() + sw * link->dq(); link->v().noalias() = parent->v() + parent->w().cross(arm); if(calcAcceleration){ link->dw().noalias() = parent->dw() + link->dq() * parent->w().cross(sw) + (link->ddq() * sw); link->dv().noalias() = parent->dv() + parent->w().cross(parent->w().cross(arm)) + parent->dw().cross(arm); } } break; case Link::SLIDE_JOINT: link->R() = parent->R(); arm.noalias() = parent->R() * (link->b() + link->q() * link->d()); link->p() = parent->p() + arm; if(calcVelocity){ const Vector3 sv(parent->R() * link->d()); link->w() = parent->w(); link->v().noalias() = parent->v() + sv * link->dq(); if(calcAcceleration){ link->dw() = parent->dw(); link->dv().noalias() = parent->dv() + parent->w().cross(parent->w().cross(arm)) + parent->dw().cross(arm) + 2.0 * link->dq() * parent->w().cross(sv) + link->ddq() * sv; } } break; case Link::FIXED_JOINT: default: arm.noalias() = parent->R() * link->b(); link->R() = parent->R(); link->p().noalias() = arm + parent->p(); if(calcVelocity){ link->w() = parent->w(); link->v() = parent->v() + parent->w().cross(arm);; if(calcAcceleration){ link->dw() = parent->dw(); link->dv().noalias() = parent->dv() + parent->w().cross(parent->w().cross(arm)) + parent->dw().cross(arm); } } break; } } } choreonoid-1.5.0/src/Body/AccelerationSensor.cpp0000664000000000000000000000356312741425367020343 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "AccelerationSensor.h" using namespace cnoid; AccelerationSensor::AccelerationSensor() : spec(new Spec) { spec->dv_max.setConstant(std::numeric_limits::max()); AccelerationSensor::clearState(); } const char* AccelerationSensor::typeName() { return "AccelerationSensor"; } void AccelerationSensor::copyStateFrom(const AccelerationSensor& other) { dv_ = other.dv_; } void AccelerationSensor::copyStateFrom(const DeviceState& other) { if(typeid(other) != typeid(AccelerationSensor)){ throw std::invalid_argument("Type mismatch in the Device::copyStateFrom function"); } copyStateFrom(static_cast(other)); } AccelerationSensor::AccelerationSensor(const AccelerationSensor& org, bool copyStateOnly) : Device(org, copyStateOnly) { copyStateFrom(org); if(!copyStateOnly){ spec.reset(new Spec); if(org.spec){ spec->dv_max = org.spec->dv_max; } else { spec->dv_max.setConstant(std::numeric_limits::max()); } } } DeviceState* AccelerationSensor::cloneState() const { return new AccelerationSensor(*this, true); } Device* AccelerationSensor::clone() const { return new AccelerationSensor(*this); } void AccelerationSensor::forEachActualType(boost::function func) { if(!func(typeid(AccelerationSensor))){ Device::forEachActualType(func); } } void AccelerationSensor::clearState() { dv_.setZero(); } int AccelerationSensor::stateSize() const { return 3; } const double* AccelerationSensor::readState(const double* buf) { dv_ = Eigen::Map(buf); return buf + 3; } double* AccelerationSensor::writeState(double* out_buf) const { Eigen::Map(out_buf) << dv_; return out_buf + 3; } choreonoid-1.5.0/src/Body/BodyMotion.h0000664000000000000000000001153612741425367016307 0ustar rootroot/** @file @author Shin'ichiro NAKAOKA */ #ifndef CNOID_BODY_BODY_MOTION_H #define CNOID_BODY_BODY_MOTION_H #include #include #include #include #include #include "exportdecl.h" namespace cnoid { class Body; class CNOID_EXPORT BodyMotion : public AbstractMultiSeq { public: BodyMotion(); BodyMotion(const BodyMotion& org); BodyMotion& operator=(const BodyMotion& rhs); virtual AbstractSeqPtr cloneSeq() const; virtual void setDimension(int numFrames, int numJoints, bool clearNewArea = false); void setDimension(int numFrames, int numJoints, int numLinks, bool clearNewArea = false); virtual void setNumParts(int numParts, bool clearNewElements = false); virtual int getNumParts() const; int numJoints() const { return jointPosSeq_->numParts(); } int numLinks() const { return linkPosSeq_->numParts(); } double frameRate() const { return jointPosSeq_->frameRate(); } virtual double getFrameRate() const; virtual void setFrameRate(double frameRate); double timeStep() const { return jointPosSeq_->timeStep(); } virtual int getOffsetTimeFrame() const; int numFrames() const { return std::max(jointPosSeq_->numFrames(), linkPosSeq_->numFrames()); } virtual int getNumFrames() const; virtual void setNumFrames(int n, bool clearNewArea = false); MultiValueSeqPtr& jointPosSeq() { return jointPosSeq_; } const MultiValueSeqPtr& jointPosSeq() const { return jointPosSeq_; } MultiSE3SeqPtr& linkPosSeq() { return linkPosSeq_; } const MultiSE3SeqPtr& linkPosSeq() const { return linkPosSeq_; } class Frame { BodyMotion& motion_; const int frame_; Frame(BodyMotion& motion, int frame) : motion_(motion), frame_(frame) { } public: Frame(const Frame& org) : motion_(org.motion_), frame_(org.frame_) { } BodyMotion& motion() { return motion_; } int frame() const { return frame_; } friend class BodyMotion; }; class ConstFrame { const BodyMotion& motion_; const int frame_; ConstFrame(const BodyMotion& motion, int frame) : motion_(motion), frame_(frame) { } public: ConstFrame(const Frame& org) : motion_(org.motion_), frame_(org.frame_) { } const BodyMotion& motion() const { return motion_; } int frame() const { return frame_; } friend class BodyMotion; }; Frame frame(int frame) { return Frame(*this, frame); } ConstFrame frame(int frame) const { return ConstFrame(*this, frame); } virtual bool read(const Mapping& archive); virtual bool write(YAMLWriter& writer); bool loadStandardYAMLformat(const std::string& filename); bool saveAsStandardYAMLformat(const std::string& filename); typedef std::map ExtraSeqMap; typedef ExtraSeqMap::const_iterator ConstSeqIterator; ConstSeqIterator extraSeqBegin() const { return extraSeqs.begin(); } ConstSeqIterator extraSeqEnd() const { return extraSeqs.end(); } template boost::shared_ptr extraSeq(const std::string& contentName) const { ExtraSeqMap::const_iterator p = extraSeqs.find(contentName); return ((p != extraSeqs.end()) ? boost::dynamic_pointer_cast(p->second) : boost::shared_ptr()); } void setExtraSeq(AbstractSeqPtr seq); template boost::shared_ptr getOrCreateExtraSeq(const std::string& contentName) { AbstractSeqPtr& base = extraSeqs[contentName]; boost::shared_ptr seq; if(base){ seq = boost::dynamic_pointer_cast(base); } if(!seq){ seq = boost::make_shared(numFrames()); seq->setFrameRate(frameRate()); base = seq; sigExtraSeqsChanged_(); } return seq; } void clearExtraSeq(const std::string& contentName); SignalProxy sigExtraSeqsChanged() { return sigExtraSeqsChanged_; } private: MultiValueSeqPtr jointPosSeq_; MultiSE3SeqPtr linkPosSeq_; ExtraSeqMap extraSeqs; Signal sigExtraSeqsChanged_; }; typedef boost::shared_ptr BodyMotionPtr; class Body; CNOID_EXPORT BodyMotion::Frame operator<<(BodyMotion::Frame frame, const Body& body); CNOID_EXPORT BodyMotion::Frame operator>>(BodyMotion::Frame frame, Body& body); CNOID_EXPORT BodyMotion::ConstFrame operator>>(BodyMotion::ConstFrame frame, Body& body); CNOID_EXPORT Body& operator<<(Body& body, BodyMotion::Frame frame); CNOID_EXPORT Body& operator<<(Body& body, BodyMotion::ConstFrame frame); CNOID_EXPORT const Body& operator>>(const Body& body, BodyMotion::Frame frame); } #endif choreonoid-1.5.0/src/Body/AbstractBodyLoader.h0000664000000000000000000000171112741425367017726 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_ABSTRACT_BODY_LOADER_H #define CNOID_BODY_ABSTRACT_BODY_LOADER_H #include #include #include "exportdecl.h" namespace cnoid { class Body; class CNOID_EXPORT AbstractBodyLoader { public: AbstractBodyLoader(); virtual ~AbstractBodyLoader(); /** \todo Modify the API for getting the format information so that multipule formats can be supported and more detailed information can be obtained. */ virtual const char* format() const = 0; virtual void setMessageSink(std::ostream& os); virtual void setVerbose(bool on); virtual void setShapeLoadingEnabled(bool on); virtual void setDefaultDivisionNumber(int n); virtual void setDefaultCreaseAngle(double theta); virtual bool load(Body* body, const std::string& filename) = 0; }; typedef boost::shared_ptr AbstractBodyLoaderPtr; } #endif choreonoid-1.5.0/src/Body/ContactAttribute.h0000664000000000000000000000121312741425367017472 0ustar rootroot/** \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_CONTACT_ATTRIBUTE_H #define CNOID_BODY_CONTACT_ATTRIBUTE_H namespace cnoid { class ContactAttribute { public: double staticFriction() const { return staticFriction_; } double dynamicFriction() const { return dynamicFriction_; } double restitution() const { return restitution_; } void setStaticFriction(double mu) { staticFriction_ = mu; } void setDynamicFriction(double mu) { dynamicFriction_ = mu; } void setRestitution(double r) { restitution_ = r; } private: double staticFriction_; double dynamicFriction_; double restitution_; }; } #endif choreonoid-1.5.0/src/Body/Jacobian.h0000664000000000000000000000677212741425367015740 0ustar rootroot #ifndef CNOID_BODY_JACOBIAN_H #define CNOID_BODY_JACOBIAN_H #include "Body.h" #include "Link.h" #include "JointPath.h" #include "exportdecl.h" namespace cnoid { CNOID_EXPORT void calcCMJacobian(Body* body, Link* base, Eigen::MatrixXd& J); CNOID_EXPORT void calcAngularMomentumJacobian(Body* body, Link* base, Eigen::MatrixXd& H); template void setJacobian(const JointPath& path, Link* targetLink, const Vector3& targetLinkLocalPos, MatrixXd& out_J) { const bool isTranslationValid = (elementMask & 0x7); int n = path.numJoints(); int i = 0; while(i < n){ Link* link = path.joint(i); int row = rowOffset; MatrixXd::ColXpr Ji = out_J.col(i + colOffset); switch(link->jointType()){ case Link::ROTATIONAL_JOINT: { Vector3 omega = link->R() * link->a(); if(!path.isJointDownward(i)){ omega = -omega; } if(isTranslationValid){ Vector3 arm; if(useTargetLinkLocalPos){ arm = targetLink->p() + targetLink->R() * targetLinkLocalPos - link->p(); } else { arm = targetLink->p() - link->p(); } const Vector3 dp = omega.cross(arm); if(elementMask & 0x1) Ji(row++) = dp.x(); if(elementMask & 0x2) Ji(row++) = dp.y(); if(elementMask & 0x4) Ji(row++) = dp.z(); } if(elementMask & 0x8) Ji(row++) = omega.x(); if(elementMask & 0x10) Ji(row++) = omega.y(); if(elementMask & 0x20) Ji(row ) = omega.z(); } break; case Link::SLIDE_JOINT: { if(isTranslationValid){ Vector3 dp = link->R() * link->d(); if(!path.isJointDownward(i)){ dp = -dp; } if(elementMask & 0x1) Ji(row++) = dp.x(); if(elementMask & 0x2) Ji(row++) = dp.y(); if(elementMask & 0x4) Ji(row++) = dp.z(); } if(elementMask & 0x8) Ji(row++) = 0.0; if(elementMask & 0x10) Ji(row++) = 0.0; if(elementMask & 0x20) Ji(row ) = 0.0; } break; default: if(elementMask & 0x1) Ji(row++) = 0.0; if(elementMask & 0x2) Ji(row++) = 0.0; if(elementMask & 0x4) Ji(row++) = 0.0; if(elementMask & 0x8) Ji(row++) = 0.0; if(elementMask & 0x10) Ji(row++) = 0.0; if(elementMask & 0x20) Ji(row ) = 0.0; } ++i; if(link == targetLink){ break; } } while(i < n){ MatrixXd::ColXpr Ji = out_J.col(i + colOffset); int row = rowOffset; if(elementMask & 0x1) Ji(row++) = 0.0; if(elementMask & 0x2) Ji(row++) = 0.0; if(elementMask & 0x4) Ji(row++) = 0.0; if(elementMask & 0x8) Ji(row++) = 0.0; if(elementMask & 0x10) Ji(row++) = 0.0; if(elementMask & 0x20) Ji(row ) = 0.0; ++i; } } template void setJacobian(const JointPath& path, Link* targetLink, MatrixXd& out_J) { static const Vector3 targetLinkLocalPos(Vector3::Zero()); setJacobian( path, targetLink, targetLinkLocalPos, out_J); } } #endif choreonoid-1.5.0/src/Body/CollisionLinkPair.h0000664000000000000000000000147112741425367017606 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_COLLISION_LINK_PAIR_H #define CNOID_BODY_COLLISION_LINK_PAIR_H #include "Body.h" #include namespace cnoid { struct CollisionLinkPair { CollisionLinkPair() { link[0] = 0; link[1] = 0; } CollisionLinkPair(Body* body1, Link* link1, Body* body2, Link* link2, const CollisionPair& collisionPair){ body[0] = body1; body[1] = body2; link[0] = link1; link[1] = link2; collisions = collisionPair.collisions; } bool isSelfCollision() const { return (body[0] == body[1]); } BodyPtr body[2]; Link* link[2]; std::vector collisions; }; typedef boost::shared_ptr CollisionLinkPairPtr; } #endif choreonoid-1.5.0/src/Body/SpotLight.h0000664000000000000000000000242612741425367016137 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_SPOT_LIGHT_H #define CNOID_BODY_SPOT_LIGHT_H #include "PointLight.h" #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT SpotLight : public PointLight { public: SpotLight(); SpotLight(const SpotLight& org, bool copyStateOnly = false); virtual const char* typeName(); void copyStateFrom(const SpotLight& other); virtual void copyStateFrom(const DeviceState& other); virtual DeviceState* cloneState() const; virtual Device* clone() const; virtual void forEachActualType(boost::function func); virtual int stateSize() const; virtual const double* readState(const double* buf); virtual double* writeState(double* out_buf) const; const Vector3& direction() const { return direction_; } void setDirection(const Vector3& direction) { direction_ = direction; } float beamWidth() const { return beamWidth_; } void setBeamWidth(float beamWidth) { beamWidth_ = beamWidth; } float cutOffAngle() const { return cutOffAngle_; } void setCutOffAngle(float angle) { cutOffAngle_ = angle; } private: Vector3 direction_; float beamWidth_; float cutOffAngle_; }; typedef ref_ptr SpotLightPtr; } #endif choreonoid-1.5.0/src/Body/YAMLBodyLoader.h0000664000000000000000000000135412741425367016730 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_YAML_BODY_LOADER_H #define CNOID_BODY_YAML_BODY_LOADER_H #include "AbstractBodyLoader.h" #include "exportdecl.h" namespace cnoid { class Mapping; class YAMLBodyLoaderImpl; class CNOID_EXPORT YAMLBodyLoader : public AbstractBodyLoader { public: YAMLBodyLoader(); ~YAMLBodyLoader(); virtual const char* format() const; virtual void setMessageSink(std::ostream& os); virtual void setVerbose(bool on); virtual void enableShapeLoading(bool on); virtual void setDefaultDivisionNumber(int n); virtual bool load(Body* body, const std::string& filename); bool read(Body* body, Mapping* data); private: YAMLBodyLoaderImpl* impl; }; } #endif choreonoid-1.5.0/src/Body/LinkPath.h0000664000000000000000000000200212741425367015722 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_LINK_PATH_H #define CNOID_BODY_LINK_PATH_H #include "LinkTraverse.h" #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT LinkPath : public LinkTraverse { public: LinkPath(); LinkPath(Link* base, Link* end); LinkPath(Link* end); bool setPath(Link* base, Link* end); void setPath(Link* end); inline Link* baseLink() const { return links.front(); } inline Link* endLink() const { return links.back(); } #ifdef CNOID_BACKWARD_COMPATIBILITY //! Deprecated. Use "setPath()" instead of this. bool find(Link* base, Link* end) { return setPath(base, end); } //! Deprecated. Use "setPath()" instead of this. void find(Link* end) { return setPath(end); } #endif private: virtual void find(Link* root, bool doUpward, bool doDownward); bool findPathSub(Link* link, Link* prev, Link* end, bool isForwardDirection); void findPathFromRootSub(Link* link); }; } #endif choreonoid-1.5.0/src/Body/Device.cpp0000664000000000000000000000143012741425367015746 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "Device.h" #include "Link.h" using namespace cnoid; Device::Device() { ns = new NonState; ns->index = -1; ns->id = -1; ns->link = 0; T_local().setIdentity(); setCycle(20.0); } Device::Device(const Device& org, bool copyStateOnly) { if(copyStateOnly){ ns = 0; } else { ns = new NonState; ns->index = -1; ns->id = org.ns->id; ns->name = org.ns->name; ns->link = 0; T_local() = org.T_local(); setCycle(org.cycle()); } } Device::~Device() { if(ns){ delete ns; } } void Device::forEachActualType(boost::function func) { func(typeid(Device)); } void Device::clearState() { } choreonoid-1.5.0/src/Body/VRMLBodyWriter.cpp0000664000000000000000000002064212741425367017350 0ustar rootroot/*! @file */ #include "VRMLBodyWriter.h" using namespace std; using namespace boost; using namespace cnoid; VRMLBodyWriter::VRMLBodyWriter(std::ostream& out) : VRMLWriter(out) { registerNodeMethodMap(); } void VRMLBodyWriter::registerNodeMethodMap() { VRMLWriter::registerNodeMethodMap(); registerNodeMethod(typeid(VRMLHumanoid), (VRMLWriterNodeMethod)&VRMLBodyWriter::writeHumanoidNode); registerNodeMethod(typeid(VRMLJoint), (VRMLWriterNodeMethod)&VRMLBodyWriter::writeJointNode); registerNodeMethod(typeid(VRMLSegment), (VRMLWriterNodeMethod)&VRMLBodyWriter::writeSegmentNode); registerNodeMethod(typeid(VRMLSurface), (VRMLWriterNodeMethod)&VRMLBodyWriter::writeSurfaceNode); registerNodeMethod(typeid(VRMLVisionSensor), (VRMLWriterNodeMethod)&VRMLBodyWriter::writeVisionSensorNode); registerNodeMethod(typeid(VRMLForceSensor), (VRMLWriterNodeMethod)&VRMLBodyWriter::writeForceSensorNode); registerNodeMethod(typeid(VRMLGyro), (VRMLWriterNodeMethod)&VRMLBodyWriter::writeGyroNode); registerNodeMethod(typeid(VRMLAccelerationSensor), (VRMLWriterNodeMethod)&VRMLBodyWriter::writeAccelerationSensorNode); registerNodeMethod(typeid(VRMLRangeSensor), (VRMLWriterNodeMethod)&VRMLBodyWriter::writeRangeSensorNode); } void VRMLBodyWriter::writeHumanoidNode(VRMLNodePtr node) { VRMLHumanoidPtr humanoid = static_pointer_cast(node); beginNode("Humanoid", humanoid); if(!humanoid->humanoidBody.empty()){ out << indent << "humanoidBody [\n"; ++indent; for(size_t i=0; i < humanoid->humanoidBody.size(); i++){ writeNodeIter(humanoid->humanoidBody[i]); } out << --indent << "]\n"; } if(!humanoid->joints.empty()){ out << indent << "joints [\n"; ++indent; for(size_t i=0; i < humanoid->joints.size(); i++){ out << indent << "USE " << humanoid->joints[i]->defName; if (i == humanoid->joints.size() - 1) { out << "\n"; } else { out << ",\n"; } } out << --indent << "]\n"; } if(!humanoid->segments.empty()){ out << indent << "segments [\n"; ++indent; for(size_t i=0; i < humanoid->segments.size(); i++){ out << indent << "USE " << humanoid->segments[i]->defName; if (i == humanoid->segments.size() - 1) { out << "\n"; } else { out << ",\n"; } } out << --indent << "]\n"; } endNode(); } void VRMLBodyWriter::writeJointNode(VRMLNodePtr node) { VRMLJointPtr joint = static_pointer_cast(node); beginNode("Joint", joint); if (joint->jointId >= 0) { out << indent << "jointId " << joint->jointId << "\n"; } out << indent << "jointType \"" << joint->jointType << "\"\n"; if (joint->jointType != "free" && joint->jointType != "fixed") { out << indent << "jointAxis " << joint->jointAxis << "\n"; out << indent << "llimit\n"; writeMFValues(joint->llimit, 1); out << indent << "lvlimit\n"; writeMFValues(joint->lvlimit, 1); out << indent << "ulimit\n"; writeMFValues(joint->ulimit, 1); out << indent << "uvlimit\n"; writeMFValues(joint->uvlimit, 1); } out << indent << "gearRatio " << joint->gearRatio << "\n"; out << indent << "rotorInertia " << joint->rotorInertia << "\n"; out << indent << "rotorResistor " << joint->rotorResistor << "\n"; out << indent << "torqueConst " << joint->torqueConst << "\n"; out << indent << "encoderPulse " << joint->encoderPulse << "\n"; out << indent << "center " << joint->center << "\n"; out << indent << "rotation " << joint->rotation << "\n"; out << indent << "scale " << joint->scale << "\n"; out << indent << "scaleOrientation " << joint->scaleOrientation << "\n"; out << indent << "translation " << joint->translation << "\n"; writeGroupFields(joint); endNode(); } void VRMLBodyWriter::writeSegmentNode(VRMLNodePtr node) { VRMLSegmentPtr segment = static_pointer_cast(node); beginNode("Segment", segment); out << indent << "mass " << segment->mass << "\n"; out << indent << "centerOfMass " << segment->centerOfMass << "\n"; out << indent << "momentsOfInertia\n"; writeMFValues(segment->momentsOfInertia, 3); writeGroupFields(segment); endNode(); } void VRMLBodyWriter::writeSurfaceNode(VRMLNodePtr node) { VRMLSurfacePtr surface = static_pointer_cast(node); beginNode("Surface", surface); if(!surface->visual.empty()){ out << indent << "visual [\n"; ++indent; for(size_t i=0; i < surface->visual.size(); i++){ writeNodeIter(surface->visual[i]); } out << --indent << "]\n"; } if(!surface->collision.empty()){ out << indent << "collision [\n"; ++indent; for(size_t i=0; i < surface->collision.size(); i++){ writeNodeIter(surface->collision[i]); } out << --indent << "]\n"; } endNode(); } void VRMLBodyWriter::writeVisionSensorNode(VRMLNodePtr node) { VRMLVisionSensorPtr sensor = static_pointer_cast(node); beginNode("VisionSensor", sensor); out << indent << "rotation " << sensor->rotation << "\n"; out << indent << "translation " << sensor->translation << "\n"; if(sensor->sensorId >= 0){ out << indent << "sensorId " << sensor->sensorId << "\n"; } out << indent << "type \"" << sensor->type << "\"\n"; out << indent << "width " << sensor->width << "\n"; out << indent << "height " << sensor->height << "\n"; out << indent << "frameRate " << sensor->frameRate << "\n"; out << indent << "fieldOfView " << sensor->fieldOfView << "\n"; out << indent << "frontClipDistance " << sensor->frontClipDistance << "\n"; out << indent << "backClipDistance " << sensor->backClipDistance << "\n"; endNode(); } void VRMLBodyWriter::writeForceSensorNode(VRMLNodePtr node) { VRMLForceSensorPtr sensor = static_pointer_cast(node); beginNode("ForceSensor", sensor); out << indent << "rotation " << sensor->rotation << "\n"; out << indent << "translation " << sensor->translation << "\n"; if(sensor->sensorId >= 0){ out << indent << "sensorId " << sensor->sensorId << "\n"; } out << indent << "maxForce " << sensor->maxForce << "\n"; out << indent << "maxTorque " << sensor->maxTorque << "\n"; endNode(); } void VRMLBodyWriter::writeGyroNode(VRMLNodePtr node) { VRMLGyroPtr sensor = static_pointer_cast(node); beginNode("Gyro", sensor); out << indent << "rotation " << sensor->rotation << "\n"; out << indent << "translation " << sensor->translation << "\n"; if(sensor->sensorId >= 0){ out << indent << "sensorId " << sensor->sensorId << "\n"; } out << indent << "maxAngularVelocity " << sensor->maxAngularVelocity << "\n"; endNode(); } void VRMLBodyWriter::writeAccelerationSensorNode(VRMLNodePtr node) { VRMLAccelerationSensorPtr sensor = static_pointer_cast(node); beginNode("AccelerationSensor", sensor); out << indent << "rotation " << sensor->rotation << "\n"; out << indent << "translation " << sensor->translation << "\n"; if(sensor->sensorId >= 0){ out << indent << "sensorId " << sensor->sensorId << "\n"; } out << indent << "maxAcceleration " << sensor->maxAcceleration << "\n"; endNode(); } void VRMLBodyWriter::writeRangeSensorNode(VRMLNodePtr node) { VRMLRangeSensorPtr sensor = static_pointer_cast(node); beginNode("RangeSensor", sensor); out << indent << "rotation " << sensor->rotation << "\n"; out << indent << "translation " << sensor->translation << "\n"; if(sensor->sensorId >= 0){ out << indent << "sensorId " << sensor->sensorId << "\n"; } out << indent << "scanAngle " << sensor->scanAngle << "\n"; out << indent << "scanStep " << sensor->scanStep << "\n"; out << indent << "scanRate " << sensor->scanRate << "\n"; out << indent << "minDistance " << sensor->minDistance << "\n"; out << indent << "maxDistance " << sensor->maxDistance << "\n"; endNode(); } choreonoid-1.5.0/src/Body/Jacobian.cpp0000664000000000000000000001502612741425367016263 0ustar rootroot #include "Jacobian.h" #include "Link.h" #include "JointPath.h" #include using namespace std; using namespace cnoid; namespace { Matrix3d D(Vector3d r) { Matrix3d r_cross; r_cross << 0.0, -r(2), r(1), r(2), 0.0, -r(0), -r(1), r(0), 0.0; return r_cross.transpose() * r_cross; } struct SubMass { double m; Vector3 mwc; Matrix3d Iw; SubMass& operator+=(const SubMass& rhs){ m += rhs.m; mwc += rhs.mwc; Iw += rhs.Iw; return *this; } }; void calcSubMass(Link* link, vector& subMasses, bool calcIw) { Matrix3d R = link->R(); SubMass& sub = subMasses[link->index()]; sub.m = link->m(); sub.mwc = link->m() * link->wc(); for(Link* child = link->child(); child; child = child->sibling()){ calcSubMass(child, subMasses, calcIw); SubMass& childSub = subMasses[child->index()]; sub.m += childSub.m; sub.mwc += childSub.mwc; } if(calcIw){ sub.Iw = R * link->I() * R.transpose() + link->m() * D( link->wc() - sub.mwc/sub.m ); for(Link* child = link->child(); child; child = child->sibling()){ SubMass& childSub = subMasses[child->index()]; sub.Iw += childSub.Iw + childSub.m * D( childSub.mwc/childSub.m - sub.mwc/sub.m ); } } } } namespace cnoid { /** @brief compute CoM Jacobian @param base link fixed to the environment @param J CoM Jacobian @note Link::wc must be computed by calcCM() before calling */ void calcCMJacobian(Body* body, Link* base, Eigen::MatrixXd& J) { // prepare subm, submwc const int nj = body->numJoints(); vector subMasses(body->numLinks()); Link* rootLink = body->rootLink(); JointPath path; if(!base){ calcSubMass(rootLink, subMasses, false); J.resize(3, nj + 6); } else { path.setPath(rootLink, base); Link* skip = path.joint(0); SubMass& sub = subMasses[skip->index()]; sub.m = rootLink->m(); sub.mwc = rootLink->m() * rootLink->wc(); for(Link* child = rootLink->child(); child; child = child->sibling()){ if(child != skip){ calcSubMass(child, subMasses, false); const SubMass& c = subMasses[child->index()]; sub.m += c.m; sub.mwc += c.mwc; } } // assuming there is no branch between base and root for(int i=1; i < path.numJoints(); i++){ Link* joint = path.joint(i); const Link* parent = joint->parent(); SubMass& sub = subMasses[joint->index()]; sub.m = parent->m(); sub.mwc = parent->m() * parent->wc(); const SubMass& p = subMasses[parent->index()]; sub.m += p.m; sub.mwc += p.mwc; } J.resize(3, nj); } // compute Jacobian std::vector sgn(nj, 1); for(int i=0; i < path.numJoints(); i++){ sgn[path.joint(i)->jointId()] = -1; } for(int i=0; i < nj; i++){ Link* joint = body->joint(i); if(joint->isRotationalJoint()){ const Vector3 omega = sgn[joint->jointId()] * joint->R() * joint->a(); const SubMass& sub = subMasses[joint->index()]; const Vector3 arm = (sub.mwc - sub.m * joint->p()) / body->mass(); const Vector3 dp = omega.cross(arm); J.col(joint->jointId()) = dp; } else { std::cerr << "calcCMJacobian() : unsupported jointType(" << joint->jointType() << std::endl; } } if(!base){ const int c = nj; J.block(0, c, 3, 3).setIdentity(); const Vector3 dp = subMasses[0].mwc / body->mass() - rootLink->p(); J.block(0, c + 3, 3, 3) << 0.0, dp(2), -dp(1), -dp(2), 0.0, dp(0), dp(1), -dp(0), 0.0; } } /** @brief compute Angular Momentum Jacobian @param base link fixed to the environment @param H Angular Momentum Jacobian @note Link::wc must be computed by calcCM() before calling */ void calcAngularMomentumJacobian(Body* body, Link* base, Eigen::MatrixXd& H) { // prepare subm, submwc const int nj = body->numJoints(); std::vector subMasses(body->numLinks()); Link* rootLink = body->rootLink(); MatrixXd M; calcCMJacobian( body, base, M ); M.conservativeResize(3, nj); M *= body->mass(); JointPath path; if(!base){ calcSubMass(rootLink, subMasses, true); H.resize(3, nj + 6); } else { path.setPath(rootLink, base); Link* skip = path.joint(0); SubMass& sub = subMasses[skip->index()]; sub.m = rootLink->m(); sub.mwc = rootLink->m() * rootLink->wc(); for(Link* child = rootLink->child(); child; child = child->sibling()){ if(child != skip){ calcSubMass(child, subMasses, true); sub += subMasses[child->index()]; } } // assuming there is no branch between base and root for(int i=1; i < path.numJoints(); i++){ Link* joint = path.joint(i); const Link* parent = joint->parent(); SubMass& sub = subMasses[joint->index()]; sub.m = parent->m(); sub.mwc = parent->m() * parent->wc(); sub += subMasses[parent->index()]; } H.resize(3, nj); } // compute Jacobian std::vector sgn(nj, 1); for(int i=0; i < path.numJoints(); i++){ sgn[path.joint(i)->jointId()] = -1; } for(int i=0; i < nj; ++i){ Link* joint = body->joint(i); if(joint->isRotationalJoint()){ const Vector3 omega = sgn[joint->jointId()] * joint->R() * joint->a(); const SubMass& sub = subMasses[joint->index()]; const Vector3 Mcol = M.col(joint->jointId()); const Vector3 dp = (sub.mwc/sub.m).cross(Mcol) + sub.Iw * omega; H.col(joint->jointId()) = dp; } else { std::cerr << "calcAngularMomentumJacobian() : unsupported jointType(" << joint->jointType() << std::endl; } } if(!base){ const int c = nj; H.block(0, c, 3, 3).setIdentity(); Vector3 cm = body->calcCenterOfMass(); Matrix3d cm_cross; cm_cross << 0.0, -cm(2), cm(1), cm(2), 0.0, -cm(0), -cm(1), cm(0), 0.0; H -= cm_cross * M; } } } choreonoid-1.5.0/src/Body/Camera.h0000664000000000000000000000647612741425367015423 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_CAMERA_H #define CNOID_BODY_CAMERA_H #include "Device.h" #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT Camera : public Device { public: Camera(); Camera(const Camera& org, bool copyStateOnly = false); virtual const char* typeName(); void copyStateFrom(const Camera& other); virtual void copyStateFrom(const DeviceState& other); virtual DeviceState* cloneState() const; virtual Device* clone() const; virtual void forEachActualType(boost::function func); virtual void clearState(); virtual int stateSize() const; virtual const double* readState(const double* buf); virtual double* writeState(double* out_buf) const; void setImageStateClonable(bool on) { isImageStateClonable_ = on; } bool isImageStateClonable() const { return isImageStateClonable_; } enum ImageType { NO_IMAGE, COLOR_IMAGE, GRAYSCALE_IMAGE }; ImageType imageType() const { return imageType_; } void setImageType(ImageType type) { imageType_ = type; } bool on() const { return on_; } void on(bool on) { on_ = on; } double nearClipDistance() const { return nearClipDistance_; } void setNearClipDistance(double d) { nearClipDistance_ = d; } double farClipDistance() const { return farClipDistance_; } void setFarClipDistance(double d) { farClipDistance_ = d; } #ifdef CNOID_BACKWARD_COMPATIBILITY double nearDistance() const { return nearDistance_; } void setNearDistance(double d) { nearDistance_ = d; } double farDistance() const { return farDistance_; } void setFarDistance(double d) { farDistance_ = d; } #endif double fieldOfView() const { return fieldOfView_; } void setFieldOfView(double f) { fieldOfView_ = f; } void setResolution(int x, int y) { resolutionX_ = x; resolutionY_ = y; } void setResolutionX(int x) { resolutionX_ = x; } void setResolutionY(int y) { resolutionY_ = y; } int resolutionX() const { return resolutionX_; } int resolutionY() const { return resolutionY_; } void setFrameRate(double r) { frameRate_ = r; } double frameRate() const { return frameRate_; } const Image& image() const; const Image& constImage() const { return *image_; } Image& image(); Image& newImage(); boost::shared_ptr sharedImage() const { return image_; } /** Move semantics. If the use_count() of the given shared image pointer is one, the data is moved to the Camera object and the ownership of the given pointer is released. Otherwise, the data is copied. */ void setImage(boost::shared_ptr& image); /** Time [s] consumed in shooting the current image */ double delay() const { return delay_; } void setDelay(double time) { delay_ = time; } private: bool on_; bool isImageStateClonable_; ImageType imageType_; int resolutionX_; int resolutionY_; double nearClipDistance_; double farClipDistance_; double fieldOfView_; double frameRate_; double delay_; boost::shared_ptr image_; Camera(const Camera& org, int x); void copyCameraStateFrom(const Camera& other); }; typedef ref_ptr CameraPtr; } #endif choreonoid-1.5.0/src/Body/BodyState.cpp0000664000000000000000000000773612741425367016464 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "BodyState.h" #include "Body.h" #include "Link.h" using namespace std; using namespace cnoid; BodyState::BodyState() { } BodyState::BodyState(const Body& body) { storePositions(body); } void BodyState::setRootLinkPosition(const Position& T) { Data& p = data(LINK_POSITIONS); p.resize(7); Eigen::Map pmap(&p[0]); pmap = T.translation(); Eigen::Map qmap(&p[3]); qmap = T.linear(); } void BodyState::setRootLinkPosition(const SE3& position) { Data& p = data(LINK_POSITIONS); p.resize(7); Eigen::Map pmap(&p[0]); pmap = position.translation(); Eigen::Map qmap(&p[3]); qmap = position.rotation(); } void BodyState::storePositions(const Body& body) { Data& q = data(JOINT_POSITIONS); const int n = body.numAllJoints(); q.resize(n); for(int i=0; i < n; ++i){ q[i] = body.joint(i)->q(); } const Link* rootLink = body.rootLink(); setRootLinkPosition(rootLink->T()); } void BodyState::setZMP(const Vector3& zmp) { Data& zmpData = data(ZMP); zmpData.resize(3); Eigen::Map zmpMap(&zmpData[0]); zmpMap = zmp; } bool BodyState::getRootLinkPosition(SE3& out_position) const { const Data& p = data(LINK_POSITIONS); if(p.size() >= 7){ out_position.translation() = Eigen::Map(&p[0]); out_position.rotation() = Eigen::Map(&p[3]); return true; } return false; } bool BodyState::getRootLinkPosition(Position& T) const { const Data& p = data(LINK_POSITIONS); if(p.size() >= 7){ T.translation() = Eigen::Map(&p[0]); T.linear() = Eigen::Map(&p[3]).toRotationMatrix(); return true; } return false; } #ifdef CNOID_BACKWARD_COMPATIBILITY void BodyState::setRootLinkPosition(const Vector3& translation, const Matrix3& rotation) { Data& p = data(LINK_POSITIONS); p.resize(7); Eigen::Map pmap(&p[0]); pmap = translation; Eigen::Map qmap(&p[3]); qmap = rotation; } bool BodyState::getRootLinkPosition(Vector3& translation, Matrix3& rotation) const { const Data& p = data(LINK_POSITIONS); if(p.size() >= 7){ translation = Eigen::Map(&p[0]); rotation = Eigen::Map(&p[3]); return true; } return false; } #endif bool BodyState::restorePositions(Body& io_body) const { bool isComplete = true; const Data& q = data(JOINT_POSITIONS); size_t n = io_body.numAllJoints(); if(q.size() < n){ n = q.size(); isComplete = false; } for(size_t i=0; i < n; ++i){ io_body.joint(i)->q() = q[i]; } const Data& p = data(LINK_POSITIONS); if(p.size() < 7){ isComplete = false; } else { Link* rootLink = io_body.rootLink(); rootLink->p() = Eigen::Map(&p[0]); rootLink->R() = Eigen::Map(&p[3]).toRotationMatrix(); } io_body.calcForwardKinematics(); if(p.size() > 7){ const int numNonRootLinks = (p.size() - 7) / 7; for(int i=1; i < numNonRootLinks + 1; ++i){ Link* link = io_body.link(i); link->p() = Eigen::Map(&p[i*7]); link->R() = Eigen::Map(&p[i*7 + 3]).toRotationMatrix(); } } return isComplete; } bool BodyState::getZMP(Vector3& out_zmp) const { const Data& zmp = data(ZMP); if(zmp.size() == 3){ out_zmp = Eigen::Map(&zmp[0]); return true; } return false; } std::map& BodyState::nameToIdMap() { static std::map nameToIdMap_; return nameToIdMap_; } std::map& BodyState::idToNameMap() { static std::map idToNameMap_; return idToNameMap_; } int BodyState::nextDynamicId() { static int dynamicIdCounter = MIN_DYNAMIC_ID; return dynamicIdCounter++; } choreonoid-1.5.0/src/Body/BodyCustomizerInterface.cpp0000664000000000000000000001574612741425367021371 0ustar rootroot/** \file \brief The implementation for the BodyCustomizer class \author Shin'ichiro Nakaoka */ #ifdef _WIN64 #define NOT_USE_BOOST_ATOMIC #endif #include "BodyCustomizerInterface.h" #include "Body.h" #include #include #include #include #include #include using namespace cnoid; using namespace std; using namespace boost; #ifdef _WIN32 # include #endif namespace { #ifdef _WIN32 const char* DLLSFX = ".dll"; const char* PATH_DELIMITER = ";"; const char* CNOID_BODY_SHARE_DIR=""; typedef HINSTANCE DllHandle; inline DllHandle loadDll(const char* filename) { return LoadLibrary(filename); } inline void* resolveDllSymbol(DllHandle handle, const char* symbol) { return GetProcAddress(handle, symbol); } inline void unloadDll(DllHandle handle) { FreeLibrary(handle); } #else # include #ifdef __darwin__ const char* DLLSFX = ".dylib"; #else const char* DLLSFX = ".so"; #endif const char* PATH_DELIMITER = ":"; typedef void* DllHandle; inline DllHandle loadDll(const char* filename) { return dlopen(filename, RTLD_LAZY); } inline void* resolveDllSymbol(DllHandle handle, const char* symbol) { return dlsym(handle, symbol); } inline void unloadDll(DllHandle handle) { dlclose(handle); } #endif typedef std::map NameToInterfaceMap; NameToInterfaceMap customizerRepository; bool pluginLoadingFunctionsCalled = false; set customizerDirectories; } static bool checkInterface(BodyCustomizerInterface* customizerInterface) { bool qualified = true && (customizerInterface->version == BODY_CUSTOMIZER_INTERFACE_VERSION) && customizerInterface->getTargetModelNames && customizerInterface->create && customizerInterface->destroy; //&& customizerInterface->initializeAnalyticIk //&& customizerInterface->calcAnalyticIk //&& customizerInterface->setVirtualJointForces; return qualified; } static bool loadCustomizerDll(BodyInterface* bodyInterface, const std::string filename) { BodyCustomizerInterface* customizerInterface = 0; DllHandle dll = loadDll(filename.c_str()); if(dll){ GetBodyCustomizerInterfaceFunc getCustomizerInterface = (GetBodyCustomizerInterfaceFunc)resolveDllSymbol(dll, "getHrpBodyCustomizerInterface"); if(!getCustomizerInterface){ unloadDll(dll); } else { customizerInterface = getCustomizerInterface(bodyInterface); if(customizerInterface){ if(!checkInterface(customizerInterface)){ cerr << "Body customizer \"" << filename << "\" is incomatible and cannot be loaded."; } else { cerr << "Loading body customizer \"" << filename << "\" for "; const char** names = customizerInterface->getTargetModelNames(); for(int i=0; names[i]; ++i){ if(i > 0){ cerr << ", "; } string name(names[i]); if(!name.empty()){ customizerRepository[name] = customizerInterface; } cerr << names[i]; } cerr << endl; } } } } return (customizerInterface != 0); } /** DLLs of body customizer in the path are loaded and they are registered to the customizer repository. The loaded customizers can be obtained by using findBodyCustomizer() function. \param pathString the path to a DLL file or a directory that contains DLLs */ int cnoid::loadBodyCustomizers(const std::string pathString, BodyInterface* bodyInterface) { pluginLoadingFunctionsCalled = true; int numLoaded = 0; filesystem::path pluginPath(pathString); if(filesystem::exists(pluginPath)){ if(!filesystem::is_directory(pluginPath)){ if(loadCustomizerDll(bodyInterface, pathString)){ numLoaded++; } } else { static const string pluginNamePattern(string("Customizer") + DLLSFX); filesystem::directory_iterator end; for(filesystem::directory_iterator it(pluginPath); it != end; ++it){ const filesystem::path& filepath = *it; if(!filesystem::is_directory(filepath)){ string filename(getFilename(filepath)); size_t pos = filename.rfind(pluginNamePattern); if(pos == (filename.size() - pluginNamePattern.size())){ if(loadCustomizerDll(bodyInterface, getNativePathString(filepath))){ numLoaded++; } } } } } } return numLoaded; } int cnoid::loadBodyCustomizers(const std::string pathString) { return loadBodyCustomizers(pathString, Body::bodyInterface()); } /** The function loads the customizers in the directories specified by the environmental variable CNOID_CUSTOMIZER_PATH */ int cnoid::loadBodyCustomizers(BodyInterface* bodyInterface) { int numLoaded = 0; if(!pluginLoadingFunctionsCalled){ pluginLoadingFunctionsCalled = true; char* pathListEnv = getenv("CNOID_CUSTOMIZER_PATH"); if(pathListEnv){ char_separator sep(PATH_DELIMITER); string pathList(pathListEnv); tokenizer< char_separator > paths(pathList, sep); tokenizer< char_separator >::iterator p; for(p = paths.begin(); p != paths.end(); ++p){ numLoaded = loadBodyCustomizers(*p, bodyInterface); } } #ifndef _WIN32 Dl_info info; if(dladdr((void*)&findBodyCustomizer, &info)){ filesystem::path customizerPath = filesystem::path(info.dli_fname).parent_path().parent_path() / CNOID_PLUGIN_SUBDIR / "customizer"; customizerDirectories.insert(getNativePathString(customizerPath)); } #else string customizerPath(CNOID_BODY_SHARE_DIR); customizerPath.append("/customizer"); customizerDirectories.insert(string(CNOID_BODY_SHARE_DIR) + "/customzier"); #endif for(std::set::iterator p = customizerDirectories.begin(); p != customizerDirectories.end(); ++p){ numLoaded += loadBodyCustomizers(*p, bodyInterface); } } return numLoaded; } int cnoid::loadBodyCustomizers() { return loadBodyCustomizers(Body::bodyInterface()); } BodyCustomizerInterface* cnoid::findBodyCustomizer(std::string modelName) { BodyCustomizerInterface* customizerInterface = 0; NameToInterfaceMap::iterator p = customizerRepository.find(modelName); if(p != customizerRepository.end()){ customizerInterface = p->second; } return customizerInterface; } void Body::addCustomizerDirectory(const std::string& path) { customizerDirectories.insert(path); } choreonoid-1.5.0/src/Body/ConstraintForceSolver.h0000664000000000000000000000422312741425367020515 0ustar rootroot/** \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_CONSTRAINT_FORCE_SOLVER_H #define CNOID_BODY_CONSTRAINT_FORCE_SOLVER_H #include #include #include "exportdecl.h" namespace cnoid { class Link; class ConstraintForceSolverImpl; class WorldBase; class ContactAttribute; class CNOID_EXPORT ConstraintForceSolver { ConstraintForceSolverImpl* impl; public: ConstraintForceSolver(WorldBase& world); ~ConstraintForceSolver(); void setCollisionDetector(CollisionDetectorPtr detector); CollisionDetectorPtr collisionDetector(); void setFriction(double staticFriction, double slipFliction); double staticFriction() const; double slipFriction() const; void setContactCullingDistance(double thresh); double contactCullingDistance() const; void setContactCullingDepth(double depth); double contactCullingDepth(); void setCoefficientOfRestitution(double epsilon); double coefficientOfRestitution() const; void setGaussSeidelErrorCriterion(double e); double gaussSeidelErrorCriterion(); void setGaussSeidelMaxNumIterations(int n); int gaussSeidelMaxNumIterations(); void setContactDepthCorrection(double depth, double velocityRatio); double contactCorrectionDepth(); double contactCorrectionVelocityRatio(); void set2Dmode(bool on); void enableConstraintForceOutput(bool on); void initialize(void); void solve(); void clearExternalForces(); CollisionLinkPairListPtr getCollisions(); #ifdef ENABLE_SIMULATION_PROFILING double getCollisionTime(); #endif // experimental functions void setFriction(Link* link1, Link* link2, double staticFriction, double slipFriction); typedef boost::function CollisionHandler; int registerCollisionHandler(const std::string& name, CollisionHandler handler); void unregisterCollisionHandler(int handlerId); int collisionHandlerId(const std::string& name) const; void setCollisionHandler(Link* link1, Link* link2, int handlerId); }; }; #endif choreonoid-1.5.0/src/Body/InverseDynamics.cpp0000664000000000000000000000502012741425367017651 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "InverseDynamics.h" #include "Link.h" #include using namespace cnoid; namespace { /** see Kajita et al. Humanoid Robot Ohm-sha, p.210 */ Vector6 calcInverseDynamicsSub(Link* link, const Vector3& vo_parent, const Vector3& dvo_parent) { Vector3 dvo, sv, sw; Link* parent = link->parent(); if(!parent){ dvo = link->dv() - link->dw().cross(link->p()) - link->w().cross(link->v()); sv.setZero(); sw.setZero(); } else { switch(link->jointType()){ case Link::ROTATIONAL_JOINT: sw.noalias() = link->R() * link->a(); sv.noalias() = link->p().cross(sw); break; case Link::SLIDE_JOINT: sw.setZero(); sv.noalias() = link->R() * link->d(); break; case Link::FIXED_JOINT: default: sw.setZero(); sv.setZero(); break; } const Vector3 dsv = parent->w().cross(sv) + vo_parent.cross(sw); const Vector3 dsw = parent->w().cross(sw); link->dw() = parent->dw() + dsw * link->dq() + sw * link->ddq(); dvo = dvo_parent + dsv * link->dq() + sv * link->ddq(); } const Vector3 c = link->R() * link->c() + link->p(); Matrix3 I = link->R() * link->I() * link->R().transpose(); const Matrix3 c_hat = hat(c); I.noalias() += link->m() * c_hat * c_hat.transpose(); const Vector3 vo = link->v() - link->w().cross(link->p()); const Vector3 P = link->m() * (vo + link->w().cross(c)); const Vector3 L = link->m() * c.cross(vo) + I * link->w(); Vector6 f; f.head<3>() = link->m() * (dvo + link->dw().cross(c)) + link->w().cross(P); f.tail<3>() = link->m() * c.cross(dvo) + I * link->dw() + vo.cross(P) + link->w().cross(L); for(Link* child = link->child(); child; child = child->sibling()){ f += calcInverseDynamicsSub(child, vo, dvo); } link->u() = sv.dot(f.head<3>()) + sw.dot(f.tail<3>()) + link->ddq() * link->Jm2() /* rotor inertia */; return f; } } namespace cnoid { Vector6 calcInverseDynamics(Link* link) { // spatial velocity and acceleration of the parent link Vector3 vo, dvo; Link* parent = link->parent(); if(!parent){ vo.setZero(); dvo.setZero(); } else { vo = parent->v() - parent->w().cross(parent->p()); dvo = parent->dv() - parent->dw().cross(parent->p()) - parent->w().cross(parent->v()); } return calcInverseDynamicsSub(link, vo, dvo); } } choreonoid-1.5.0/src/Body/PoseProviderToBodyMotionConverter.cpp0000664000000000000000000000740512741425367023377 0ustar rootroot/** @file @author Shin'ichiro NAKAOKA */ #include "PoseProviderToBodyMotionConverter.h" #include "Body.h" #include "LinkPath.h" #include "BodyMotion.h" #include "ZMPSeq.h" #include "PoseProvider.h" using namespace std; using namespace cnoid; PoseProviderToBodyMotionConverter::PoseProviderToBodyMotionConverter() { setFullTimeRange(); allLinkPositionOutputMode = true; } void PoseProviderToBodyMotionConverter::setTimeRange(double lower, double upper) { lowerTime = std::max(0.0, lower); upperTime = std::max(lowerTime, upper); } void PoseProviderToBodyMotionConverter::setFullTimeRange() { lowerTime = 0.0; upperTime = std::numeric_limits::max(); } void PoseProviderToBodyMotionConverter::setAllLinkPositionOutput(bool on) { allLinkPositionOutputMode = on; } bool PoseProviderToBodyMotionConverter::convert(Body* body, PoseProvider* provider, BodyMotion& motion) { const double frameRate = motion.frameRate(); const int beginningFrame = static_cast(frameRate * std::max(provider->beginningTime(), lowerTime)); const int endingFrame = static_cast(frameRate * std::min(provider->endingTime(), upperTime)); const int numJoints = body->numJoints(); const int numLinksToPut = (allLinkPositionOutputMode ? body->numLinks() : 1); motion.setDimension(endingFrame + 1, numJoints, numLinksToPut, true); MultiValueSeq& qseq = *motion.jointPosSeq(); MultiSE3Seq& pseq = *motion.linkPosSeq(); ZMPSeq& zmpseq = *getOrCreateZMPSeq(motion); bool isZmpValid = false; Link* rootLink = body->rootLink(); Link* baseLink = rootLink; boost::shared_ptr fkTraverse; if(allLinkPositionOutputMode){ fkTraverse.reset(new LinkTraverse(baseLink, true, true)); } else { fkTraverse.reset(new LinkPath(baseLink, rootLink)); } // store the original state vector orgq(numJoints); for(int i=0; i < numJoints; ++i){ orgq[i] = body->joint(i)->q(); } Vector3 p0 = rootLink->p(); Matrix3 R0 = rootLink->R(); std::vector< boost::optional > jointPositions(numJoints); for(int frame = beginningFrame; frame <= endingFrame; ++frame){ provider->seek(frame / frameRate); const int baseLinkIndex = provider->baseLinkIndex(); if(baseLinkIndex >= 0){ if(baseLinkIndex != baseLink->index()){ baseLink = body->link(baseLinkIndex); if(allLinkPositionOutputMode){ fkTraverse->find(baseLink, true, true); } else { static_pointer_cast(fkTraverse)->setPath(baseLink, rootLink); } } provider->getBaseLinkPosition(baseLink->T()); } MultiValueSeq::Frame qs = qseq.frame(frame); provider->getJointPositions(jointPositions); for(int i=0; i < numJoints; ++i){ const boost::optional& q = jointPositions[i]; qs[i] = q ? *q : 0.0; body->joint(i)->q() = qs[i]; } if(allLinkPositionOutputMode || baseLink != rootLink){ fkTraverse->calcForwardKinematics(); } for(int i=0; i < numLinksToPut; ++i){ SE3& p = pseq(frame, i); Link* link = body->link(i); p.set(link->p(), link->R()); } boost::optional zmp = provider->ZMP(); if(zmp){ zmpseq[frame] = *zmp; isZmpValid = true; } } if(!isZmpValid){ //bodyMotionItem->clearRelativeZmpSeq(); } // restore the original state for(int i=0; i < numJoints; ++i){ body->joint(i)->q() = orgq[i]; } rootLink->p() = p0; rootLink->R() = R0; body->calcForwardKinematics(); return true; } choreonoid-1.5.0/src/Body/ConstraintForceSolver.penalty.cpp0000664000000000000000000021544312741425367022533 0ustar rootroot/* * 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) */ /** \file \brief Implementation of ConstraintForceSolver class \author Shin'ichiro Nakaoka */ #ifdef __WIN32__ #define NOMINMAX #endif #include "ABMWorld.h" #include "ABMBody.h" #include "LinkTraverse.h" #include "ForwardDynamicsCBM.h" #include "ConstraintForceSolver.h" #include #include #include #include #include #include #include #include #include using namespace std; using namespace tvmet; using namespace boost::numeric::ublas; using namespace cnoid; using namespace OpenHRP; // Is LCP solved by Iterative or Pivoting method ? // #define USE_PIVOTING_LCP #ifdef USE_PIVOTING_LCP #include "SimpleLCP_Path.h" static const bool usePivotingLCP = true; #else static const bool usePivotingLCP = false; #endif // settings static const double VEL_THRESH_OF_DYNAMIC_FRICTION = 1.0e-4; static const bool ENABLE_STATIC_FRICTION = true; static const bool ONLY_STATIC_FRICTION_FORMULATION = (true && ENABLE_STATIC_FRICTION); static const bool STATIC_FRICTION_BY_TWO_CONSTRAINTS = true; static const bool IGNORE_CURRENT_VELOCITY_IN_STATIC_FRICTION = false; static const bool ENABLE_TRUE_FRICTION_CONE = (true && ONLY_STATIC_FRICTION_FORMULATION && STATIC_FRICTION_BY_TWO_CONSTRAINTS); static const bool SKIP_REDUNDANT_ACCEL_CALC = true; static const bool ASSUME_SYMMETRIC_MATRIX = false; static const int DEFAULT_MAX_NUM_GAUSS_SEIDEL_ITERATION = 500; static const int DEFAULT_NUM_GAUSS_SEIDEL_ITERATION_BLOCK = 10; static const int DEFAULT_NUM_GAUSS_SEIDEL_INITIAL_ITERATION = 0; static const double DEFAULT_GAUSS_SEIDEL_MAX_REL_ERROR = 1.0e-3; static const bool USE_PREVIOUS_LCP_SOLUTION = true; static const bool ALLOW_SUBTLE_PENETRATION_FOR_STABILITY = true; // normal setting static const double ALLOWED_PENETRATION_DEPTH = 0.0001; //static const double PENETRATION_A = 500.0; //static const double PENETRATION_B = 80.0; static const double NEGATIVE_VELOCITY_RATIO_FOR_PENETRTION = 10.0; // test for mobile robots with wheels //static const double ALLOWED_PENETRATION_DEPTH = 0.005; //static const double PENETRATION_A = 500.0; //static const double PENETRATION_B = 80.0; //static const double NEGATIVE_VELOCITY_RATIO_FOR_PENETRTION = 10.0; //static const bool ENABLE_CONTACT_POINT_THINNING = false; // experimental options static const bool PROPORTIONAL_DYNAMIC_FRICTION = false; static const bool ENABLE_RANDOM_STATIC_FRICTION_BASE = false; // debug options static const bool CFS_DEBUG = false; static const bool CFS_DEBUG_VERBOSE = false; static const bool CFS_DEBUG_VERBOSE_2 = false; static const bool CFS_DEBUG_VERBOSE_3 = false; static const bool CFS_DEBUG_LCPCHECK = false; static const bool CFS_MCP_DEBUG = false; static const bool CFS_MCP_DEBUG_SHOW_ITERATION_STOP = false; static const bool CFS_PUT_NUM_CONTACT_POINTS = false; namespace cnoid { class CFSImpl { public: CFSImpl(WorldBase& world); bool addCollisionCheckLinkPair (int bodyIndex1, Link* link1, int bodyIndex2, Link* link2, double muStatic, double muDynamic, double culling_thresh, double epsilon); void initialize(void); void solve(CollisionSequence& corbaCollisionSequence); inline void clearExternalForces(); #undef PI #ifdef __WIN32__ // Visual C++ bug static const double PI; static const double PI_2; #elif defined(__APPLE__) #define PI M_PI #define PI_2 M_PI/2 #else static const double PI = 3.14159265358979323846; static const double PI_2 = 1.57079632679489661923; #endif WorldBase& world; bool isConstraintForceOutputMode; bool useBuiltinCollisionDetector; struct ConstraintPoint { int globalIndex; Vector3 point; Vector3 normalTowardInside[2]; Vector3 defaultAccel[2]; double normalProjectionOfRelVelocityOn0; double depth; // position error in the case of a connection point double mu; Vector3 relVelocityOn0; int globalFrictionIndex; int numFrictionVectors; Vector3 frictionVector[4][2]; }; typedef std::vector ConstraintPointArray; struct LinkData { Vector3 dvo; Vector3 dw; Vector3 pf0; Vector3 ptau0; double uu; double uu0; double ddq; int numberToCheckAccelCalcSkip; int parentIndex; Link* link; }; typedef std::vector LinkDataArray; struct BodyData { BodyPtr body; bool isStatic; bool hasConstrainedLinks; bool isTestForceBeingApplied; LinkDataArray linksData; Vector3 dpf; Vector3 dptau; /// only used by the ForwardDynamicsMM mode Vector3* rootLinkPosRef; /** If the body includes high-gain mode joints, the ForwardDynamisMM object of the body is set to this pointer. The pointer is null when all the joints are torque mode and the forward dynamics is calculated by ABM. */ ForwardDynamicsMMPtr forwardDynamicsMM; }; std::vector bodiesData; class LinkPair : public ColdetModelPair { public: int index; bool isSameBodyPair; int bodyIndex[2]; BodyData* bodyData[2]; Link* link[2]; LinkData* linkData[2]; ConstraintPointArray constraintPoints; double muStatic; double muDynamic; double culling_thresh; double epsilon; Body::LinkConnection* connection; }; typedef boost::shared_ptr LinkPairPtr; typedef std::vector LinkPairArray; LinkPairArray collisionCheckLinkPairs; LinkPairArray connectedLinkPairs; std::vector constrainedLinkPairs; /** globalNumConstraintVectors = globalNumContactNormalVectors + globalNumConnectionVectors */ int globalNumConstraintVectors; int globalNumContactNormalVectors; int globalNumConnectionVectors; int globalNumFrictionVectors; int prevGlobalNumConstraintVectors; int prevGlobalNumFrictionVectors; bool areThereImpacts; int numUnconverged; // Mlcp * solution + b _|_ solution typedef boost::numeric::ublas::matrix rmdmatrix; rmdmatrix Mlcp; // constant acceleration term when no external force is applied dvector an0; dvector at0; // constant vector of LCP dvector b; // contact force solution: normal forces at contact points dvector solution; // random number generator variate_generator > randomAngle; // for special version of gauss sidel iterative solver std::vector frictionIndexToContactIndex; dvector contactIndexToMu; dvector mcpHi; int maxNumGaussSeidelIteration; int numGaussSeidelInitialIteration; double gaussSeidelMaxRelError; int numGaussSeidelTotalLoops; int numGaussSeidelTotalCalls; void setConstraintPoints(CollisionSequence& collisions); void setContactConstraintPoints(LinkPair& linkPair, CollisionPointSequence& collisionPoints); void setFrictionVectors(ConstraintPoint& constraintPoint); bool setConnectionConstraintPoints(LinkPair& linkPair); void putContactPoints(); void solveImpactConstraints(); void initMatrices(); void setAccelCalcSkipInformation(); void setDefaultAccelerationVector(); void setAccelerationMatrix(); void initABMForceElementsWithNoExtForce(BodyData& bodyData); void calcABMForceElementsWithTestForce(BodyData& bodyData, Link* linkToApplyForce, const Vector3& f, const Vector3& tau); void calcAccelsABM(BodyData& bodyData, int constraintIndex); void calcAccelsMM(BodyData& bodyData, int constraintIndex); void extractRelAccelsOfConstraintPoints (matrix_range& Kxn, matrix_range& Kxt, int testForceIndex, int constraintIndex); void extractRelAccelsFromLinkPairCase1 (matrix_range& Kxn, matrix_range& Kxt, LinkPair& linkPair, int testForceIndex, int constraintIndex); void extractRelAccelsFromLinkPairCase2 (matrix_range& Kxn, matrix_range& Kxt, LinkPair& linkPair, int iTestForce, int iDefault, int testForceIndex, int constraintIndex); void extractRelAccelsFromLinkPairCase3 (matrix_range& Kxn, matrix_range& Kxt, LinkPair& linkPair, int testForceIndex, int constraintIndex); void copySymmetricElementsOfAccelerationMatrix (matrix_range& Knn, matrix_range& Ktn, matrix_range& Knt, matrix_range& Ktt); void clearSingularPointConstraintsOfClosedLoopConnections(); void setConstantVectorAndMuBlock(); void addConstraintForceToLinks(); void addConstraintForceToLink(LinkPair* linkPair, int ipair); void solveMCPByProjectedGaussSeidel (const rmdmatrix& M, const dvector& b, dvector& x); void solveMCPByProjectedGaussSeidelInitial (const rmdmatrix& M, const dvector& b, dvector& x, const int numIteration); void solveMCPByProjectedGaussSeidelMain (const rmdmatrix& M, const dvector& b, dvector& x, const int numIteration); double solveMCPByProjectedGaussSeidelErrorCheck (const rmdmatrix& M, const dvector& b, dvector& x); void checkLCPResult(rmdmatrix& M, dvector& b, dvector& x); void checkMCPResult(rmdmatrix& M, dvector& b, dvector& x); #ifdef USE_PIVOTING_LCP bool callPathLCPSolver(rmdmatrix& Mlcp, dvector& b, dvector& solution); // for PATH solver std::vector lb; std::vector ub; std::vector m_i; std::vector m_j; std::vector m_ij; #endif }; #ifdef __WIN32__ const double CFSImpl::PI = 3.14159265358979323846; const double CFSImpl::PI_2 = 1.57079632679489661923; #endif }; template static void putMatrix(TMatrix& M, const char *name) { if(M.size2() == 1){ std::cout << "Vector " << name << M << std::endl; } else { std::cout << "Matrix " << name << ": \n"; for(size_t i=0; i < M.size1(); i++){ for(size_t j=0; j < M.size2(); j++){ std::cout << boost::format(" %6.3f ") % M(i, j); } std::cout << std::endl; } } } template static void putVector(TVector& M, const char *name) { std::cout << "Vector " << name << M << std::endl; } template static inline void debugPutMatrix(TMatrix& M, const char *name) { if(CFS_DEBUG_VERBOSE) putMatrix(M, name); } template static inline void debugPutVector(TVector& M, const char *name) { if(CFS_DEBUG_VERBOSE) putVector(M, name); } CFSImpl::CFSImpl(WorldBase& world) : world(world), randomAngle(mt19937(), uniform_real<>(0.0, 2.0 * PI)) { maxNumGaussSeidelIteration = DEFAULT_MAX_NUM_GAUSS_SEIDEL_ITERATION; numGaussSeidelInitialIteration = DEFAULT_NUM_GAUSS_SEIDEL_INITIAL_ITERATION; gaussSeidelMaxRelError = DEFAULT_GAUSS_SEIDEL_MAX_REL_ERROR; isConstraintForceOutputMode = false; useBuiltinCollisionDetector = false; } bool CFSImpl::addCollisionCheckLinkPair (int bodyIndex1, Link* link1, int bodyIndex2, Link* link2, double muStatic, double muDynamic, double culling_thresh, double epsilon) { int index; int isRegistered; boost::tie(index, isRegistered) = world.getIndexOfLinkPairs(link1, link2); if(index >= 0){ int n = collisionCheckLinkPairs.size(); if(index >= n){ collisionCheckLinkPairs.resize(index+1); } LinkPairPtr& linkPair = collisionCheckLinkPairs[index]; if(!linkPair){ linkPair = new LinkPair(); } linkPair->set(link1->coldetModel, link2->coldetModel); linkPair->isSameBodyPair = (bodyIndex1 == bodyIndex2); linkPair->bodyIndex[0] = bodyIndex1; linkPair->link[0] = link1; linkPair->bodyIndex[1] = bodyIndex2; linkPair->link[1] = link2; linkPair->index = index; linkPair->muStatic = muStatic; linkPair->muDynamic = muDynamic; linkPair->culling_thresh = culling_thresh; linkPair->epsilon = epsilon; linkPair->connection = 0; } return (index >= 0 && !isRegistered); } void CFSImpl::initialize(void) { if(CFS_MCP_DEBUG){ numGaussSeidelTotalCalls = 0; numGaussSeidelTotalLoops = 0; } int numBodies = world.numBodies(); bodiesData.resize(numBodies); connectedLinkPairs.clear(); for(int bodyIndex=0; bodyIndex < numBodies; ++bodyIndex){ BodyPtr body = world.body(bodyIndex); body->clearExternalForces(); BodyData& bodyData = bodiesData[bodyIndex]; bodyData.body = body; bodyData.linksData.resize(body->numLinks()); bodyData.hasConstrainedLinks = false; bodyData.isTestForceBeingApplied = false; bodyData.isStatic = body->isStaticModel(); bodyData.forwardDynamicsMM = dynamic_pointer_cast(world.forwardDynamics(bodyIndex)); LinkDataArray& linksData = bodyData.linksData; if(bodyData.isStatic && !(bodyData.forwardDynamicsMM)){ int n = linksData.size(); for(int j=0; j < n; ++j){ LinkData& linkData = linksData[j]; linkData.dw = 0.0; linkData.dvo = 0.0; } } // initialize link data const LinkTraverse& traverse = body->linkTraverse(); for(int j=0; j < traverse.numLinks(); ++j){ Link* link = traverse[j]; linksData[link->index].link = link; linksData[link->index].parentIndex = link->parent ? link->parent->index : -1; } // initialize link connection Body::LinkConnectionArray& connections = body->linkConnections; for(size_t j=0; j < connections.size(); ++j){ connectedLinkPairs.push_back(new LinkPair()); LinkPair& linkPair = *connectedLinkPairs.back(); Body::LinkConnection& connection = connections[j]; linkPair.connection = &connection; linkPair.isSameBodyPair = true; linkPair.constraintPoints.resize(connection.numConstraintAxes); for(int k=0; k < connection.numConstraintAxes; ++k){ ConstraintPoint& constraint = linkPair.constraintPoints[k]; constraint.numFrictionVectors = 0; constraint.globalFrictionIndex = numeric_limits::max(); } for(int k=0; k < 2; ++k){ linkPair.bodyIndex[k] = bodyIndex; linkPair.bodyData[k] = &bodiesData[bodyIndex]; Link* link = connection.link[k]; linkPair.link[k] = link; linkPair.linkData[k] = &(bodyData.linksData[link->index]); } } } int numLinkPairs = collisionCheckLinkPairs.size(); for(int i=0; i < numLinkPairs; ++i){ LinkPair& linkPair = *collisionCheckLinkPairs[i]; for(int j=0; j < 2; ++j){ BodyData& bodyData = bodiesData[linkPair.bodyIndex[j]]; linkPair.bodyData[j] = &bodyData; linkPair.linkData[j] = &(bodyData.linksData[linkPair.link[j]->index]); } } prevGlobalNumConstraintVectors = 0; prevGlobalNumFrictionVectors = 0; numUnconverged = 0; randomAngle.engine().seed(); } inline void CFSImpl::clearExternalForces() { for(size_t i=0; i < bodiesData.size(); ++i){ BodyData& bodyData = bodiesData[i]; if(bodyData.hasConstrainedLinks){ bodyData.body->clearExternalForces(); } } } void CFSImpl::solve(CollisionSequence& corbaCollisionSequence) { if(CFS_DEBUG) std::cout << "Time: " << world.currentTime() << std::endl; for(size_t i=0; i < bodiesData.size(); ++i){ bodiesData[i].hasConstrainedLinks = false; if(useBuiltinCollisionDetector){ bodiesData[i].body->updateLinkColdetModelPositions(); } if(isConstraintForceOutputMode){ BodyPtr& body = bodiesData[i].body; const int n = body->numLinks(); for(int j=0; j < n; ++j){ body->link(j)->constraintForces.clear(); } } } globalNumConstraintVectors = 0; globalNumFrictionVectors = 0; areThereImpacts = false; constrainedLinkPairs.clear(); setConstraintPoints(corbaCollisionSequence); if(CFS_PUT_NUM_CONTACT_POINTS){ cout << globalNumContactNormalVectors; } if(globalNumConstraintVectors > 0){ if(CFS_DEBUG){ std::cout << "Num Collisions: " << globalNumContactNormalVectors << std::endl; } if(CFS_DEBUG_VERBOSE) putContactPoints(); const bool constraintsSizeChanged = ((globalNumFrictionVectors != prevGlobalNumFrictionVectors) || (globalNumConstraintVectors != prevGlobalNumConstraintVectors)); if(constraintsSizeChanged){ initMatrices(); } if(areThereImpacts){ solveImpactConstraints(); } if(SKIP_REDUNDANT_ACCEL_CALC){ setAccelCalcSkipInformation(); } setDefaultAccelerationVector(); setAccelerationMatrix(); clearSingularPointConstraintsOfClosedLoopConnections(); setConstantVectorAndMuBlock(); if(CFS_DEBUG_VERBOSE){ debugPutVector(an0, "an0"); debugPutVector(at0, "at0"); debugPutMatrix(Mlcp, "Mlcp"); vector_range b1(b, range(0, globalNumConstraintVectors)); debugPutVector(b1, "b1"); vector_range b2(b, range(globalNumConstraintVectors, globalNumConstraintVectors + globalNumFrictionVectors)); debugPutVector(b2, "b2"); } bool isConverged; #ifdef USE_PIVOTING_LCP isConverged = callPathLCPSolver(Mlcp, b, solution); #else if(!USE_PREVIOUS_LCP_SOLUTION || constraintsSizeChanged){ solution.clear(); } solveMCPByProjectedGaussSeidel(Mlcp, b, solution); isConverged = true; #endif if(!isConverged){ ++numUnconverged; if(CFS_DEBUG) std::cout << "LCP didn't converge" << numUnconverged << std::endl; } else { if(CFS_DEBUG) std::cout << "LCP converged" << std::endl; if(CFS_DEBUG_LCPCHECK){ // checkLCPResult(Mlcp, b, solution); checkMCPResult(Mlcp, b, solution); } addConstraintForceToLinks(); } } prevGlobalNumConstraintVectors = globalNumConstraintVectors; prevGlobalNumFrictionVectors = globalNumFrictionVectors; } void CFSImpl::setConstraintPoints(CollisionSequence& collisions) { static const bool enableNormalVisualization = true; CollisionPointSequence collisionPoints; CollisionPointSequence* pCollisionPoints = 0; if(useBuiltinCollisionDetector && enableNormalVisualization){ collisions.length(collisionCheckLinkPairs.size()); } for(size_t colIndex=0; colIndex < collisionCheckLinkPairs.size(); ++colIndex){ pCollisionPoints = 0; LinkPair& linkPair = *collisionCheckLinkPairs[colIndex]; if( ! useBuiltinCollisionDetector){ CollisionPointSequence& points = collisions[colIndex].points; if(points.length() > 0){ pCollisionPoints = &points; } } else { if(enableNormalVisualization){ Collision& collision = collisions[colIndex]; collision.pair.charName1 = CORBA::string_dup(linkPair.bodyData[0]->body->name().c_str()); collision.pair.charName2 = CORBA::string_dup(linkPair.bodyData[1]->body->name().c_str()); collision.pair.linkName1 = CORBA::string_dup(linkPair.link[0]->name.c_str()); collision.pair.linkName2 = CORBA::string_dup(linkPair.link[1]->name.c_str()); pCollisionPoints = &collision.points; } else { pCollisionPoints = &collisionPoints; } std::vector& cdata = linkPair.detectCollisions(); if(cdata.empty()){ pCollisionPoints = 0; } else { int npoints = 0; for(int i = 0; i < cdata.size(); i++) { for(int j = 0; j < cdata[i].num_of_i_points; j++){ if(cdata[i].i_point_new[j]) npoints++; } } if(npoints == 0){ pCollisionPoints = 0; } else { pCollisionPoints->length(npoints); int idx = 0; for (int i = 0; i < cdata.size(); i++) { collision_data& cd = cdata[i]; for(int j=0; j < cd.num_of_i_points; j++){ if (cd.i_point_new[j]){ CollisionPoint& point = (*pCollisionPoints)[idx]; for(int k=0; k < 3; k++){ point.position[k] = cd.i_points[j][k]; } for(int k=0; k < 3; k++){ point.normal[k] = cd.n_vector[k]; } point.idepth = cd.depth; idx++; } } } } } } if(pCollisionPoints){ constrainedLinkPairs.push_back(&linkPair); setContactConstraintPoints(linkPair, *pCollisionPoints); linkPair.bodyData[0]->hasConstrainedLinks = true; linkPair.bodyData[1]->hasConstrainedLinks = true; } } globalNumContactNormalVectors = globalNumConstraintVectors; for(size_t i=0; i < connectedLinkPairs.size(); ++i){ LinkPair& linkPair = *connectedLinkPairs[i]; constrainedLinkPairs.push_back(&linkPair); if(setConnectionConstraintPoints(linkPair)){ linkPair.bodyData[0]->hasConstrainedLinks = true; linkPair.bodyData[1]->hasConstrainedLinks = true; } else { constrainedLinkPairs.pop_back(); } } globalNumConnectionVectors = globalNumConstraintVectors - globalNumContactNormalVectors; } void CFSImpl::setContactConstraintPoints(LinkPair& linkPair, CollisionPointSequence& collisionPoints) { ConstraintPointArray& constraintPoints = linkPair.constraintPoints; constraintPoints.clear(); int numExtractedPoints = 0; int numContactsInPair = collisionPoints.length(); for(int j=0; j < numContactsInPair; ++j){ CollisionPoint& collision = collisionPoints[j]; constraintPoints.push_back(ConstraintPoint()); ConstraintPoint& contact = constraintPoints.back(); getVector3(contact.point, collision.position); getVector3(contact.normalTowardInside[1], collision.normal); contact.normalTowardInside[0] = -contact.normalTowardInside[1]; contact.depth = collision.idepth; bool isNeighborhood = false; // dense contact points are eliminated for(int k=0; k < numExtractedPoints; ++k){ if(norm2(constraintPoints[k].point - contact.point) < linkPair.culling_thresh){ isNeighborhood = true; break; } } if(isNeighborhood){ constraintPoints.pop_back(); } else { numExtractedPoints++; contact.globalIndex = globalNumConstraintVectors++; // check velocities Vector3 v[2]; for(int k=0; k < 2; ++k){ Link* link = linkPair.link[k]; if(link->isRoot() && link->jointType == Link::FIXED_JOINT){ v[k] = 0.0; } else { v[k] = link->vo + cross(link->w, contact.point); } } contact.relVelocityOn0 = v[1] - v[0]; contact.normalProjectionOfRelVelocityOn0 = dot(contact.normalTowardInside[1], contact.relVelocityOn0); if( ! areThereImpacts){ if(contact.normalProjectionOfRelVelocityOn0 < -1.0e-6){ areThereImpacts = true; } } Vector3 v_tangent(contact.relVelocityOn0 - contact.normalProjectionOfRelVelocityOn0 * contact.normalTowardInside[1]); contact.globalFrictionIndex = globalNumFrictionVectors; double vt_square = dot(v_tangent, v_tangent); static const double vsqrthresh = VEL_THRESH_OF_DYNAMIC_FRICTION * VEL_THRESH_OF_DYNAMIC_FRICTION; bool isSlipping = (vt_square > vsqrthresh); contact.mu = isSlipping ? linkPair.muDynamic : linkPair.muStatic; if( !ONLY_STATIC_FRICTION_FORMULATION && isSlipping){ contact.numFrictionVectors = 1; double vt_mag = sqrt(vt_square); Vector3 t1(v_tangent / vt_mag); Vector3 t2(cross(contact.normalTowardInside[1], t1)); Vector3 t3(cross(t2, contact.normalTowardInside[1])); contact.frictionVector[0][0] = normalize(t3); contact.frictionVector[0][1] = -contact.frictionVector[0][0]; // proportional dynamic friction near zero velocity if(PROPORTIONAL_DYNAMIC_FRICTION){ vt_mag *= 10000.0; if(vt_mag < contact.mu){ contact.mu = vt_mag; } } } else { if(ENABLE_STATIC_FRICTION){ contact.numFrictionVectors = (STATIC_FRICTION_BY_TWO_CONSTRAINTS ? 2 : 4); setFrictionVectors(contact); } else { contact.numFrictionVectors = 0; } } globalNumFrictionVectors += contact.numFrictionVectors; } } } void CFSImpl::setFrictionVectors(ConstraintPoint& contact) { Vector3 u(0.0); int minAxis = 0; Vector3& normal = contact.normalTowardInside[0]; for(int i=1; i < 3; i++){ if(fabs(normal(i)) < fabs(normal(minAxis))){ minAxis = i; } } u(minAxis) = 1.0; Vector3 t1(cross(normal, u)); t1 /= norm2(t1); Vector3 t2(cross(normal, t1)); t2 /= norm2(t2); if(ENABLE_RANDOM_STATIC_FRICTION_BASE){ double theta = randomAngle(); contact.frictionVector[0][0] = cos(theta) * t1 + sin(theta) * t2; theta += PI_2; contact.frictionVector[1][0] = cos(theta) * t1 + sin(theta) * t2; } else { contact.frictionVector[0][0] = t1; contact.frictionVector[1][0] = t2; } if(STATIC_FRICTION_BY_TWO_CONSTRAINTS){ contact.frictionVector[0][1] = -contact.frictionVector[0][0]; contact.frictionVector[1][1] = -contact.frictionVector[1][0]; } else { contact.frictionVector[2][0] = -contact.frictionVector[0][0]; contact.frictionVector[3][0] = -contact.frictionVector[1][0]; contact.frictionVector[0][1] = contact.frictionVector[2][0]; contact.frictionVector[1][1] = contact.frictionVector[3][0]; contact.frictionVector[2][1] = contact.frictionVector[0][0]; contact.frictionVector[3][1] = contact.frictionVector[1][0]; } } bool CFSImpl::setConnectionConstraintPoints(LinkPair& linkPair) { ConstraintPointArray& constraintPoints = linkPair.constraintPoints; Body::LinkConnection* connection = linkPair.connection; Link* link0 = connection->link[0]; Link* link1 = connection->link[1]; Vector3 point[2]; point[0] = link0->p + link0->R * connection->point[0]; point[1] = link1->p + link1->R * connection->point[1]; Vector3 midPoint((point[0] + point[1]) / 2.0); Vector3 error(midPoint - point[0]); if(dot(error, error) > (0.04 * 0.04)){ return false; } // check velocities Vector3 v[2]; for(int k=0; k < 2; ++k){ Link* link = connection->link[k]; if(link->isRoot() && link->jointType == Link::FIXED_JOINT){ v[k] = 0.0; } else { v[k] = link->vo + cross(link->w, point[k]); } } Vector3 relVelocityOn0(v[1] - v[0]); for(int i=0; i < connection->numConstraintAxes; ++i){ ConstraintPoint& constraint = constraintPoints[i]; constraint.point = midPoint; const Vector3 axis(link0->R * connection->constraintAxes[i]); constraint.normalTowardInside[0] = axis; constraint.normalTowardInside[1] = -axis; constraint.depth = dot(axis, error); constraint.globalIndex = globalNumConstraintVectors++; constraint.normalProjectionOfRelVelocityOn0 = dot(constraint.normalTowardInside[1], relVelocityOn0); } return true; } void CFSImpl::putContactPoints() { std::cout << "Contact Points\n"; for(size_t i=0; i < constrainedLinkPairs.size(); ++i){ LinkPair* linkPair = constrainedLinkPairs[i]; if(!linkPair->connection){ std::cout << " " << linkPair->link[0]->name << " of " << linkPair->bodyData[0]->body->modelName(); std::cout << "<-->"; std::cout << " " << linkPair->link[1]->name << " of " << linkPair->bodyData[1]->body->modelName(); ConstraintPointArray& constraintPoints = linkPair->constraintPoints; std::cout << "\n"; for(size_t j=0; j < constraintPoints.size(); ++j){ ConstraintPoint& contact = constraintPoints[j]; std::cout << " index " << contact.globalIndex; std::cout << " point: " << contact.point; std::cout << " normal: " << contact.normalTowardInside[1]; std::cout << " rel velocity: " << contact.relVelocityOn0; std::cout << " tangent: " << contact.frictionVector[0]; std::cout << "\n"; } } } std::cout << std::endl; } void CFSImpl::solveImpactConstraints() { if(CFS_DEBUG) std::cout << "Impacts !" << std::endl; } void CFSImpl::initMatrices() { const int n = globalNumConstraintVectors; const int m = globalNumFrictionVectors; const int dimLCP = usePivotingLCP ? (n + m + m) : (n + m); Mlcp.resize(dimLCP, dimLCP, false); b.resize(dimLCP, false); solution.resize(dimLCP, false); range block1(0, n); range block2(n, n + m); if(usePivotingLCP){ range block3(n + m, n + m + m); project(Mlcp, block1, block3) = dzeromatrix(n, m); project(Mlcp, block3, block1) = dzeromatrix(m, n); // clear mu block didentity identity(m); project(Mlcp, block3, block2) = -identity; project(Mlcp, block3, block3) = dzeromatrix(m, m); project(Mlcp, block2, block3) = identity; project(b, block3) = dzerovector(m); } else { frictionIndexToContactIndex.resize(m); contactIndexToMu.resize(globalNumContactNormalVectors, false); mcpHi.resize(globalNumContactNormalVectors, false); } an0.resize(n, false); at0.resize(m, false); } void CFSImpl::setAccelCalcSkipInformation() { // clear skip check numbers for(size_t i=0; i < bodiesData.size(); ++i){ BodyData& bodyData = bodiesData[i]; if(bodyData.hasConstrainedLinks){ LinkDataArray& linksData = bodyData.linksData; for(size_t j=0; j < linksData.size(); ++j){ linksData[j].numberToCheckAccelCalcSkip = numeric_limits::max(); } } } // add the number of contact points to skip check numbers of the links from a contact target to the root int numLinkPairs = constrainedLinkPairs.size(); for(int i=0; i < numLinkPairs; ++i){ LinkPair* linkPair = constrainedLinkPairs[i]; int constraintIndex = linkPair->constraintPoints.front().globalIndex; for(int j=0; j < 2; ++j){ LinkDataArray& linksData = linkPair->bodyData[j]->linksData; int linkIndex = linkPair->link[j]->index; while(linkIndex >= 0){ LinkData& linkData = linksData[linkIndex]; if(linkData.numberToCheckAccelCalcSkip < constraintIndex){ break; } linkData.numberToCheckAccelCalcSkip = constraintIndex; linkIndex = linkData.parentIndex; } } } } void CFSImpl::setDefaultAccelerationVector() { // calculate accelerations with no constraint force for(size_t i=0; i < bodiesData.size(); ++i){ BodyData& bodyData = bodiesData[i]; if(bodyData.hasConstrainedLinks && ! bodyData.isStatic){ if(bodyData.forwardDynamicsMM){ bodyData.rootLinkPosRef = &(bodyData.body->rootLink()->p); Vector3 zeroForce(0.0); bodyData.forwardDynamicsMM->initializeAccelSolver(); bodyData.forwardDynamicsMM->solveUnknownAccels(zeroForce, zeroForce); calcAccelsMM(bodyData, numeric_limits::max()); } else { initABMForceElementsWithNoExtForce(bodyData); calcAccelsABM(bodyData, numeric_limits::max()); } } } // extract accelerations for(size_t i=0; i < constrainedLinkPairs.size(); ++i){ LinkPair& linkPair = *constrainedLinkPairs[i]; ConstraintPointArray& constraintPoints = linkPair.constraintPoints; for(size_t j=0; j < constraintPoints.size(); ++j){ ConstraintPoint& constraint = constraintPoints[j]; for(int k=0; k < 2; ++k){ if(linkPair.bodyData[k]->isStatic){ constraint.defaultAccel[k] = 0.0; } else { Link* link = linkPair.link[k]; LinkData* linkData = linkPair.linkData[k]; constraint.defaultAccel[k] = linkData->dvo - cross(constraint.point, linkData->dw) + cross(link->w, Vector3(link->vo + cross(link->w, constraint.point))); } } Vector3 relDefaultAccel(constraint.defaultAccel[1] - constraint.defaultAccel[0]); an0[constraint.globalIndex] = dot(constraint.normalTowardInside[1], relDefaultAccel); for(int k=0; k < constraint.numFrictionVectors; ++k){ at0[constraint.globalFrictionIndex + k] = dot(constraint.frictionVector[k][1], relDefaultAccel); } } } } void CFSImpl::setAccelerationMatrix() { const int n = globalNumConstraintVectors; const int m = globalNumFrictionVectors; range block1(0, n); range block2(n, n + m); matrix_range Knn(Mlcp, block1, block1); matrix_range Ktn(Mlcp, block1, block2); matrix_range Knt(Mlcp, block2, block1); matrix_range Ktt(Mlcp, block2, block2); for(size_t i=0; i < constrainedLinkPairs.size(); ++i){ LinkPair& linkPair = *constrainedLinkPairs[i]; int numConstraintsInPair = linkPair.constraintPoints.size(); for(int j=0; j < numConstraintsInPair; ++j){ ConstraintPoint& constraint = linkPair.constraintPoints[j]; int constraintIndex = constraint.globalIndex; // apply test normal force for(int k=0; k < 2; ++k){ BodyData& bodyData = *linkPair.bodyData[k]; if(!bodyData.isStatic){ bodyData.isTestForceBeingApplied = true; const Vector3& f = constraint.normalTowardInside[k]; if(bodyData.forwardDynamicsMM){ //! \todo This code does not work correctly when the links are in the same body. Fix it. Vector3 arm(constraint.point - *(bodyData.rootLinkPosRef)); Vector3 tau(cross(arm, f)); Vector3 tauext = cross(constraint.point, f); bodyData.forwardDynamicsMM->solveUnknownAccels(linkPair.link[k], f, tauext, f, tau); calcAccelsMM(bodyData, constraintIndex); } else { Vector3 tau(cross(constraint.point, f)); calcABMForceElementsWithTestForce(bodyData, linkPair.link[k], f, tau); if(!linkPair.isSameBodyPair || (k > 0)){ calcAccelsABM(bodyData, constraintIndex); } } } } extractRelAccelsOfConstraintPoints(Knn, Knt, constraintIndex, constraintIndex); // apply test friction force for(int l=0; l < constraint.numFrictionVectors; ++l){ for(int k=0; k < 2; ++k){ BodyData& bodyData = *linkPair.bodyData[k]; if(!bodyData.isStatic){ const Vector3& f = constraint.frictionVector[l][k]; if(bodyData.forwardDynamicsMM){ //! \todo This code does not work correctly when the links are in the same body. Fix it. Vector3 arm(constraint.point - *(bodyData.rootLinkPosRef)); Vector3 tau(cross(arm, f)); Vector3 tauext = cross(constraint.point, f); bodyData.forwardDynamicsMM->solveUnknownAccels(linkPair.link[k], f, tauext, f, tau); calcAccelsMM(bodyData, constraintIndex); } else { Vector3 tau(cross(constraint.point, f)); calcABMForceElementsWithTestForce(bodyData, linkPair.link[k], f, tau); if(!linkPair.isSameBodyPair || (k > 0)){ calcAccelsABM(bodyData, constraintIndex); } } } } extractRelAccelsOfConstraintPoints(Ktn, Ktt, constraint.globalFrictionIndex + l, constraintIndex); } linkPair.bodyData[0]->isTestForceBeingApplied = false; linkPair.bodyData[1]->isTestForceBeingApplied = false; } } if(ASSUME_SYMMETRIC_MATRIX){ copySymmetricElementsOfAccelerationMatrix(Knn, Ktn, Knt, Ktt); } } void CFSImpl::initABMForceElementsWithNoExtForce(BodyData& bodyData) { bodyData.dpf = 0; bodyData.dptau = 0; std::vector& linksData = bodyData.linksData; const LinkTraverse& traverse = bodyData.body->linkTraverse(); int n = traverse.numLinks(); for(int i = n-1; i >= 0; --i){ Link* link = traverse[i]; LinkData& data = linksData[i]; data.pf0 = link->pf; data.ptau0 = link->ptau; for(Link* child = link->child; child; child = child->sibling){ LinkData& childData = linksData[child->index]; data.pf0 += childData.pf0; data.ptau0 += childData.ptau0; if(child->jointType != Link::FIXED_JOINT ){ double uu_dd = childData.uu0 / child->dd; data.pf0 += uu_dd * child->hhv; data.ptau0 += uu_dd * child->hhw; } } if(i > 0){ if(link->jointType != Link::FIXED_JOINT){ data.uu0 = link->uu + link->u - (dot(link->sv, data.pf0) + dot(link->sw, data.ptau0)); data.uu = data.uu0; } } } } void CFSImpl::calcABMForceElementsWithTestForce (BodyData& bodyData, Link* linkToApplyForce, const Vector3& f, const Vector3& tau) { std::vector& linksData = bodyData.linksData; Vector3 dpf (-f); Vector3 dptau(-tau); Link* link = linkToApplyForce; while(link->parent){ if(link->jointType != Link::FIXED_JOINT){ LinkData& data = linksData[link->index]; double duu = -(dot(link->sv, dpf) + dot(link->sw, dptau)); data.uu += duu; double duudd = duu / link->dd; dpf += duudd * link->hhv; dptau += duudd * link->hhw; } link = link->parent; } bodyData.dpf += dpf; bodyData.dptau += dptau; } void CFSImpl::calcAccelsABM(BodyData& bodyData, int constraintIndex) { std::vector& linksData = bodyData.linksData; LinkData& rootData = linksData[0]; Link* rootLink = rootData.link; if(rootLink->jointType == Link::FREE_JOINT){ Vector3 pf (rootData.pf0 + bodyData.dpf); Vector3 ptau(rootData.ptau0 + bodyData.dptau); ublas::bounded_matrix Ia; setMatrix3(rootLink->Ivv, Ia, 0, 0); setTransMatrix3(rootLink->Iwv, Ia, 0, 3); setMatrix3(rootLink->Iwv, Ia, 3, 0); setMatrix3(rootLink->Iww, Ia, 3, 3); ublas::bounded_vector p; setVector3(pf, p, 0); setVector3(ptau, p, 3); p *= -1.0; ublas::permutation_matrix pm(6); ublas::lu_factorize (Ia, pm); ublas::lu_substitute(Ia, pm, p); getVector3(rootData.dvo, p, 0); getVector3(rootData.dw, p, 3); } else { rootData.dw = 0.0; rootData.dvo = 0.0; } // reset bodyData.dpf = 0; bodyData.dptau = 0; int skipCheckNumber = ASSUME_SYMMETRIC_MATRIX ? constraintIndex : (numeric_limits::max() - 1); int n = linksData.size(); for(int linkIndex = 1; linkIndex < n; ++linkIndex){ LinkData& linkData = linksData[linkIndex]; if(!SKIP_REDUNDANT_ACCEL_CALC || linkData.numberToCheckAccelCalcSkip <= skipCheckNumber){ Link* link = linkData.link; LinkData& parentData = linksData[linkData.parentIndex]; if(link->jointType != Link::FIXED_JOINT){ linkData.ddq = (linkData.uu - (dot(link->hhv, parentData.dvo) + dot(link->hhw, parentData.dw))) / link->dd; linkData.dvo = parentData.dvo + link->cv + link->sv * linkData.ddq; linkData.dw = parentData.dw + link->cw + link->sw * linkData.ddq; }else{ linkData.ddq = 0.0; linkData.dvo = parentData.dvo; linkData.dw = parentData.dw; } // reset linkData.uu = linkData.uu0; } } } void CFSImpl::calcAccelsMM(BodyData& bodyData, int constraintIndex) { std::vector& linksData = bodyData.linksData; LinkData& rootData = linksData[0]; Link* rootLink = rootData.link; rootData.dvo = rootLink->dvo; rootData.dw = rootLink->dw; int skipCheckNumber = ASSUME_SYMMETRIC_MATRIX ? constraintIndex : (numeric_limits::max() - 1); int n = linksData.size(); for(int linkIndex = 1; linkIndex < n; ++linkIndex){ LinkData& linkData = linksData[linkIndex]; if(!SKIP_REDUNDANT_ACCEL_CALC || linkData.numberToCheckAccelCalcSkip <= skipCheckNumber){ Link* link = linkData.link; LinkData& parentData = linksData[linkData.parentIndex]; if(link->jointType != Link::FIXED_JOINT){ linkData.dvo = parentData.dvo + link->cv + link->ddq * link->sv; linkData.dw = parentData.dw + link->cw + link->ddq * link->sw; }else{ linkData.dvo = parentData.dvo; linkData.dw = parentData.dw; } } } } void CFSImpl::extractRelAccelsOfConstraintPoints (matrix_range& Kxn, matrix_range& Kxt, int testForceIndex, int constraintIndex) { int maxConstraintIndexToExtract = ASSUME_SYMMETRIC_MATRIX ? constraintIndex : globalNumConstraintVectors; for(size_t i=0; i < constrainedLinkPairs.size(); ++i){ LinkPair& linkPair = *constrainedLinkPairs[i]; BodyData& bodyData0 = *linkPair.bodyData[0]; BodyData& bodyData1 = *linkPair.bodyData[1]; if(bodyData0.isTestForceBeingApplied){ if(bodyData1.isTestForceBeingApplied){ extractRelAccelsFromLinkPairCase1(Kxn, Kxt, linkPair, testForceIndex, maxConstraintIndexToExtract); } else { extractRelAccelsFromLinkPairCase2(Kxn, Kxt, linkPair, 0, 1, testForceIndex, maxConstraintIndexToExtract); } } else { if(bodyData1.isTestForceBeingApplied){ extractRelAccelsFromLinkPairCase2(Kxn, Kxt, linkPair, 1, 0, testForceIndex, maxConstraintIndexToExtract); } else { extractRelAccelsFromLinkPairCase3(Kxn, Kxt, linkPair, testForceIndex, maxConstraintIndexToExtract); } } } } void CFSImpl::extractRelAccelsFromLinkPairCase1 (matrix_range& Kxn, matrix_range& Kxt, LinkPair& linkPair, int testForceIndex, int maxConstraintIndexToExtract) { ConstraintPointArray& constraintPoints = linkPair.constraintPoints; for(size_t i=0; i < constraintPoints.size(); ++i){ ConstraintPoint& constraint = constraintPoints[i]; int constraintIndex = constraint.globalIndex; if(ASSUME_SYMMETRIC_MATRIX && constraintIndex > maxConstraintIndexToExtract){ break; } Link* link0 = linkPair.link[0]; Link* link1 = linkPair.link[1]; LinkData* linkData0 = linkPair.linkData[0]; LinkData* linkData1 = linkPair.linkData[1]; //! \todo Can the follwoing equations be simplified ? Vector3 dv0(linkData0->dvo - cross(constraint.point, linkData0->dw) + cross(link0->w, Vector3(link0->vo + cross(link0->w, constraint.point)))); Vector3 dv1(linkData1->dvo - cross(constraint.point, linkData1->dw) + cross(link1->w, Vector3(link1->vo + cross(link1->w, constraint.point)))); Vector3 relAccel(dv1 - dv0); Kxn(constraintIndex, testForceIndex) = dot(constraint.normalTowardInside[1], relAccel) - an0(constraintIndex); for(int j=0; j < constraint.numFrictionVectors; ++j){ const int index = constraint.globalFrictionIndex + j; Kxt(index, testForceIndex) = dot(constraint.frictionVector[j][1], relAccel) - at0(index); } } } void CFSImpl::extractRelAccelsFromLinkPairCase2 (matrix_range& Kxn, matrix_range& Kxt, LinkPair& linkPair, int iTestForce, int iDefault, int testForceIndex, int maxConstraintIndexToExtract) { ConstraintPointArray& constraintPoints = linkPair.constraintPoints; for(size_t i=0; i < constraintPoints.size(); ++i){ ConstraintPoint& constraint = constraintPoints[i]; int constraintIndex = constraint.globalIndex; if(ASSUME_SYMMETRIC_MATRIX && constraintIndex > maxConstraintIndexToExtract){ break; } Link* link = linkPair.link[iTestForce]; LinkData* linkData = linkPair.linkData[iTestForce]; Vector3 dv(linkData->dvo - cross(constraint.point, linkData->dw) + cross(link->w, Vector3(link->vo + cross(link->w, constraint.point)))); if(CFS_DEBUG_VERBOSE_2) std::cout << "dv " << constraintIndex << " = " << dv << "\n"; Vector3 relAccel(constraint.defaultAccel[iDefault] - dv); Kxn(constraintIndex, testForceIndex) = dot(constraint.normalTowardInside[iDefault], relAccel) - an0(constraintIndex); for(int j=0; j < constraint.numFrictionVectors; ++j){ const int index = constraint.globalFrictionIndex + j; Kxt(index, testForceIndex) = dot(constraint.frictionVector[j][iDefault], relAccel) - at0(index); } } } void CFSImpl::extractRelAccelsFromLinkPairCase3 (matrix_range& Kxn, matrix_range& Kxt, LinkPair& linkPair, int testForceIndex, int maxConstraintIndexToExtract) { ConstraintPointArray& constraintPoints = linkPair.constraintPoints; for(size_t i=0; i < constraintPoints.size(); ++i){ ConstraintPoint& constraint = constraintPoints[i]; int constraintIndex = constraint.globalIndex; if(ASSUME_SYMMETRIC_MATRIX && constraintIndex > maxConstraintIndexToExtract){ break; } Kxn(constraintIndex, testForceIndex) = 0.0; for(int j=0; j < constraint.numFrictionVectors; ++j){ Kxt(constraint.globalFrictionIndex + j, testForceIndex) = 0.0; } } } void CFSImpl::copySymmetricElementsOfAccelerationMatrix (matrix_range& Knn, matrix_range& Ktn, matrix_range& Knt, matrix_range& Ktt) { for(size_t linkPairIndex=0; linkPairIndex < constrainedLinkPairs.size(); ++linkPairIndex){ ConstraintPointArray& constraintPoints = constrainedLinkPairs[linkPairIndex]->constraintPoints; for(size_t localConstraintIndex = 0; localConstraintIndex < constraintPoints.size(); ++localConstraintIndex){ ConstraintPoint& constraint = constraintPoints[localConstraintIndex]; int constraintIndex = constraint.globalIndex; int nextConstraintIndex = constraintIndex + 1; for(int i = nextConstraintIndex; i < globalNumConstraintVectors; ++i){ Knn(i, constraintIndex) = Knn(constraintIndex, i); } int frictionTopOfNextConstraint = constraint.globalFrictionIndex + constraint.numFrictionVectors; for(int i = frictionTopOfNextConstraint; i < globalNumFrictionVectors; ++i){ Knt(i, constraintIndex) = Ktn(constraintIndex, i); } for(int localFrictionIndex=0; localFrictionIndex < constraint.numFrictionVectors; ++localFrictionIndex){ int frictionIndex = constraint.globalFrictionIndex + localFrictionIndex; for(int i = nextConstraintIndex; i < globalNumConstraintVectors; ++i){ Ktn(i, frictionIndex) = Knt(frictionIndex, i); } for(int i = frictionTopOfNextConstraint; i < globalNumFrictionVectors; ++i){ Ktt(i, frictionIndex) = Ktt(frictionIndex, i); } } } } } void CFSImpl::clearSingularPointConstraintsOfClosedLoopConnections() { for(size_t i = 0; i < Mlcp.size1(); ++i){ if(Mlcp(i, i) < 1.0e-4){ for(size_t j=0; j < Mlcp.size1(); ++j){ Mlcp(j, i) = 0.0; } Mlcp(i, i) = numeric_limits::max(); } } } void CFSImpl::setConstantVectorAndMuBlock() { double dtinv = 1.0 / world.timeStep(); const int block2 = globalNumConstraintVectors; const int block3 = globalNumConstraintVectors + globalNumFrictionVectors; for(size_t i=0; i < constrainedLinkPairs.size(); ++i){ LinkPair& linkPair = *constrainedLinkPairs[i]; int numConstraintsInPair = linkPair.constraintPoints.size(); for(int j=0; j < numConstraintsInPair; ++j){ ConstraintPoint& constraint = linkPair.constraintPoints[j]; int globalIndex = constraint.globalIndex; // set constant vector of LCP // constraints for normal acceleration if(linkPair.connection){ // connection constraint const double& error = constraint.depth; double v; if(error >= 0){ v = 0.1 * (-1.0 + exp(-error * 20.0)); } else { v = 0.1 * ( 1.0 - exp( error * 20.0)); } b(globalIndex) = an0(globalIndex) + (constraint.normalProjectionOfRelVelocityOn0 + v) * dtinv; } else { // contact constraint if(ALLOW_SUBTLE_PENETRATION_FOR_STABILITY){ double extraNegativeVel; double newDepth = ALLOWED_PENETRATION_DEPTH - constraint.depth; extraNegativeVel = NEGATIVE_VELOCITY_RATIO_FOR_PENETRTION * newDepth; b(globalIndex) = an0(globalIndex) + (constraint.normalProjectionOfRelVelocityOn0 + extraNegativeVel) * dtinv; } else { b(globalIndex) = an0(globalIndex) + constraint.normalProjectionOfRelVelocityOn0 * dtinv; } contactIndexToMu[globalIndex] = constraint.mu; int globalFrictionIndex = constraint.globalFrictionIndex; for(int k=0; k < constraint.numFrictionVectors; ++k){ // constraints for tangent acceleration double tangentProjectionOfRelVelocity = dot(constraint.frictionVector[k][1], constraint.relVelocityOn0); b(block2 + globalFrictionIndex) = at0(globalFrictionIndex); if( !IGNORE_CURRENT_VELOCITY_IN_STATIC_FRICTION || constraint.numFrictionVectors == 1){ b(block2 + globalFrictionIndex) += tangentProjectionOfRelVelocity * dtinv; } if(usePivotingLCP){ // set mu (coefficients of friction) Mlcp(block3 + globalFrictionIndex, globalIndex) = constraint.mu; } else { // for iterative solver frictionIndexToContactIndex[globalFrictionIndex] = globalIndex; } ++globalFrictionIndex; } } } } } void CFSImpl::addConstraintForceToLinks() { int n = constrainedLinkPairs.size(); for(int i=0; i < n; ++i){ LinkPair* linkPair = constrainedLinkPairs[i]; for(int j=0; j < 2; ++j){ // if(!linkPair->link[j]->isRoot() || linkPair->link[j]->jointType != Link::FIXED_JOINT){ addConstraintForceToLink(linkPair, j); // } } } } void CFSImpl::addConstraintForceToLink(LinkPair* linkPair, int ipair) { const bool DO_PENALTY_METHOD_TEST = false; //const double kp = 1.0e3; //const double kd = 1.0e2; //const double kp = 1.0e4; //const double kd = 1.0e3; const double kp = 1.0e5; const double kd = 1.0e3; Vector3 f_total(0.0); Vector3 tau_total(0.0); ConstraintPointArray& constraintPoints = linkPair->constraintPoints; int numConstraintPoints = constraintPoints.size(); Link* link = linkPair->link[ipair]; for(int i=0; i < numConstraintPoints; ++i){ ConstraintPoint& constraint = constraintPoints[i]; int globalIndex = constraint.globalIndex; if(!DO_PENALTY_METHOD_TEST){ Vector3 f(solution(globalIndex) * constraint.normalTowardInside[ipair]); for(int j=0; j < constraint.numFrictionVectors; ++j){ f += solution(globalNumConstraintVectors + constraint.globalFrictionIndex + j) * constraint.frictionVector[j][ipair]; } f_total += f; tau_total += cross(constraint.point, f); if(isConstraintForceOutputMode){ Link::ConstraintForceArray& constraintForces = link->constraintForces; constraintForces.resize(constraintForces.size() + 1); Link::ConstraintForce& cforce = constraintForces.back(); cforce.point = constraint.point; cforce.force = f; } } else { double vn((ipair == 0) ? constraint.normalProjectionOfRelVelocityOn0 : -constraint.normalProjectionOfRelVelocityOn0); double fn(constraint.depth * kp - vn * kd); Vector3 f(fn * constraint.normalTowardInside[ipair]); if(fn > 0.0){ //for(int j=0; j < constraint.numFrictionVectors; ++j){ Vector3 v(constraint.relVelocityOn0 - constraint.normalProjectionOfRelVelocityOn0 * constraint.normalTowardInside[1]); //cout << constraint.relVelocityOn0 << " "; if(ipair == 0){ v = -v; } double s = norm2(v); if(s < 1.0e-3){ f += - (v / 1.0e-3) * fn * constraint.mu; } else { f += - (v / s) * fn * constraint.mu; } //} } f_total += f; tau_total += cross(constraint.point, f); } } link->fext += f_total; link->tauext += tau_total; if(CFS_DEBUG){ std::cout << "Constraint force to " << link->name << ": f = " << f_total << ", tau = " << tau_total << std::endl; } } void CFSImpl::solveMCPByProjectedGaussSeidel(const rmdmatrix& M, const dvector& b, dvector& x) { static const int loopBlockSize = DEFAULT_NUM_GAUSS_SEIDEL_ITERATION_BLOCK; if(numGaussSeidelInitialIteration > 0){ solveMCPByProjectedGaussSeidelInitial(M, b, x, numGaussSeidelInitialIteration); } int numBlockLoops = maxNumGaussSeidelIteration / loopBlockSize; if(numBlockLoops==0) numBlockLoops = 1; if(CFS_MCP_DEBUG) cout << "Iteration "; double error = 0.0; int i=0; while(i < numBlockLoops){ i++; solveMCPByProjectedGaussSeidelMain(M, b, x, loopBlockSize - 1); error = solveMCPByProjectedGaussSeidelErrorCheck(M, b, x); if(error < gaussSeidelMaxRelError){ if(CFS_MCP_DEBUG_SHOW_ITERATION_STOP) cout << "stopped at " << i * loopBlockSize << endl; break; } } if(CFS_MCP_DEBUG){ int n = loopBlockSize * i; numGaussSeidelTotalLoops += n; numGaussSeidelTotalCalls++; cout << n; cout << ", avarage = " << (numGaussSeidelTotalLoops / numGaussSeidelTotalCalls); cout << ", error = " << error; cout << endl; } } void CFSImpl::solveMCPByProjectedGaussSeidelInitial (const rmdmatrix& M, const dvector& b, dvector& x, const int numIteration) { const int size = globalNumConstraintVectors + globalNumFrictionVectors; const double rstep = 1.0 / (numIteration * size); double r = 0.0; for(int i=0; i < numIteration; ++i){ for(int j=0; j < globalNumContactNormalVectors; ++j){ double sum = -M(j, j) * x(j); for(int k=0; k < size; ++k){ sum += M(j, k) * x(k); } const double xx = (-b(j) - sum) / M(j, j); if(xx < 0.0){ x(j) = 0.0; } else { x(j) = r * xx; } r += rstep; mcpHi[j] = contactIndexToMu[j] * x(j); } for(int j=globalNumContactNormalVectors; j < globalNumConstraintVectors; ++j){ double sum = -M(j, j) * x(j); for(int k=0; k < size; ++k){ sum += M(j, k) * x(k); } x(j) = r * (-b(j) - sum) / M(j, j); r += rstep; } if(ENABLE_TRUE_FRICTION_CONE){ int contactIndex = 0; for(int j=globalNumConstraintVectors; j < size; ++j, ++contactIndex){ double sum = -M(j, j) * x(j); for(int k=0; k < size; ++k){ sum += M(j, k) * x(k); } const double fx0 = (-b(j) - sum) / M(j, j); double& fx = x(j); ++j; sum = -M(j, j) * x(j); for(int k=0; k < size; ++k){ sum += M(j, k) * x(k); } const double fy0 = (-b(j) - sum) / M(j, j); double& fy = x(j); const double fmax = mcpHi[contactIndex]; const double fmax2 = fmax * fmax; const double fmag2 = fx0 * fx0 + fy0 * fy0; if(fmag2 > fmax2){ const double s = r * fmax / sqrt(fmag2); fx = s * fx0; fy = s * fy0; } else { fx = r * fx0; fy = r * fy0; } r += (rstep + rstep); } } else { int frictionIndex = 0; for(int j=globalNumConstraintVectors; j < size; ++j, ++frictionIndex){ double sum = -M(j, j) * x(j); for(int k=0; k < size; ++k){ sum += M(j, k) * x(k); } const double xx = (-b(j) - sum) / M(j, j); const int contactIndex = frictionIndexToContactIndex[frictionIndex]; const double fmax = mcpHi[contactIndex]; const double fmin = (STATIC_FRICTION_BY_TWO_CONSTRAINTS ? -fmax : 0.0); if(xx < fmin){ x(j) = fmin; } else if(xx > fmax){ x(j) = fmax; } else { x(j) = xx; } x(j) *= r; r += rstep; } } } } void CFSImpl::solveMCPByProjectedGaussSeidelMain (const rmdmatrix& M, const dvector& b, dvector& x, const int numIteration) { const int size = globalNumConstraintVectors + globalNumFrictionVectors; for(int i=0; i < numIteration; ++i){ for(int j=0; j < globalNumContactNormalVectors; ++j){ double sum = -M(j, j) * x(j); for(int k=0; k < size; ++k){ sum += M(j, k) * x(k); } const double xx = (-b(j) - sum) / M(j, j); if(xx < 0.0){ x(j) = 0.0; } else { x(j) = xx; } mcpHi[j] = contactIndexToMu[j] * x(j); } for(int j=globalNumContactNormalVectors; j < globalNumConstraintVectors; ++j){ double sum = -M(j, j) * x(j); for(int k=0; k < size; ++k){ sum += M(j, k) * x(k); } x(j) = (-b(j) - sum) / M(j, j); } if(ENABLE_TRUE_FRICTION_CONE){ int contactIndex = 0; for(int j=globalNumConstraintVectors; j < size; ++j, ++contactIndex){ double sum = -M(j, j) * x(j); for(int k=0; k < size; ++k){ sum += M(j, k) * x(k); } const double fx0 = (-b(j) - sum) / M(j, j); double& fx = x(j); ++j; sum = -M(j, j) * x(j); for(int k=0; k < size; ++k){ sum += M(j, k) * x(k); } const double fy0 = (-b(j) - sum) / M(j, j); double& fy = x(j); const double fmax = mcpHi[contactIndex]; const double fmax2 = fmax * fmax; const double fmag2 = fx0 * fx0 + fy0 * fy0; if(fmag2 > fmax2){ const double s = fmax / sqrt(fmag2); fx = s * fx0; fy = s * fy0; } else { fx = fx0; fy = fy0; } } } else { int frictionIndex = 0; for(int j=globalNumConstraintVectors; j < size; ++j, ++frictionIndex){ double sum = -M(j, j) * x(j); for(int k=0; k < size; ++k){ sum += M(j, k) * x(k); } const double xx = (-b(j) - sum) / M(j, j); const int contactIndex = frictionIndexToContactIndex[frictionIndex]; const double fmax = mcpHi[contactIndex]; const double fmin = (STATIC_FRICTION_BY_TWO_CONSTRAINTS ? -fmax : 0.0); if(xx < fmin){ x(j) = fmin; } else if(xx > fmax){ x(j) = fmax; } else { x(j) = xx; } } } } } double CFSImpl::solveMCPByProjectedGaussSeidelErrorCheck (const rmdmatrix& M, const dvector& b, dvector& x) { const int size = globalNumConstraintVectors + globalNumFrictionVectors; double error = 0.0; for(int j=0; j < globalNumConstraintVectors; ++j){ double sum = -M(j, j) * x(j); for(int k=0; k < size; ++k){ sum += M(j, k) * x(k); } double xx = (-b(j) - sum) / M(j, j); if(j < globalNumContactNormalVectors){ if(xx < 0.0){ xx = 0.0; } mcpHi[j] = contactIndexToMu[j] * xx; } double d = fabs(xx - x(j)); if(xx > numeric_limits::epsilon()){ d /= xx; } if(d > error){ error = d; } x(j) = xx; } if(ENABLE_TRUE_FRICTION_CONE){ int contactIndex = 0; for(int j=globalNumConstraintVectors; j < size; ++j, ++contactIndex){ double sum = -M(j, j) * x(j); for(int k=0; k < size; ++k){ sum += M(j, k) * x(k); } double fx0 = (-b(j) - sum) / M(j, j); double& fx = x(j); ++j; sum = -M(j, j) * x(j); for(int k=0; k < size; ++k){ sum += M(j, k) * x(k); } double fy0 = (-b(j) - sum) / M(j, j); double& fy = x(j); const double fmax = mcpHi[contactIndex]; const double fmax2 = fmax * fmax; const double fmag2 = fx0 * fx0 + fy0 * fy0; if(fmag2 > fmax2){ const double s = fmax / sqrt(fmag2); fx0 *= s; fy0 *= s; } double d = fabs(fx0 - fx); const double afx0 = fabs(fx0); if(afx0 > numeric_limits::epsilon()){ d /= afx0; } if(d > error){ error = d; } d = fabs(fy0 - fy); const double afy0 = fabs(fy0); if(afy0 > numeric_limits::epsilon()){ d /= afy0; } if(d > error){ error = d; } fx = fx0; fy = fy0; } } else { int frictionIndex = 0; for(int j=globalNumConstraintVectors; j < size; ++j, ++frictionIndex){ double sum = -M(j, j) * x(j); for(int k=0; k < size; ++k){ sum += M(j, k) * x(k); } double xx = (-b(j) - sum) / M(j, j); const int contactIndex = frictionIndexToContactIndex[frictionIndex]; const double fmax = mcpHi[contactIndex]; const double fmin = (STATIC_FRICTION_BY_TWO_CONSTRAINTS ? -fmax : 0.0); if(xx < fmin){ xx = fmin; } else if(xx > fmax){ xx = fmax; } double d = fabs(xx - x(j)); if(xx > numeric_limits::epsilon()){ d /= xx; } if(d > error){ error = d; } x(j) = xx; } } return error; } void CFSImpl::checkLCPResult(rmdmatrix& M, dvector& b, dvector& x) { std::cout << "check LCP result\n"; std::cout << "-------------------------------\n"; dvector z = prod(M, x) + b; int n = x.size(); for(int i=0; i < n; ++i){ std::cout << "(" << x(i) << ", " << z(i) << ")"; if(x(i) < 0.0 || z(i) < 0.0 || x(i) * z(i) != 0.0){ std::cout << " - X"; } std::cout << "\n"; if(i == globalNumConstraintVectors){ std::cout << "-------------------------------\n"; } else if(i == globalNumConstraintVectors + globalNumFrictionVectors){ std::cout << "-------------------------------\n"; } } std::cout << "-------------------------------\n"; std::cout << std::endl; } void CFSImpl::checkMCPResult(rmdmatrix& M, dvector& b, dvector& x) { std::cout << "check MCP result\n"; std::cout << "-------------------------------\n"; dvector z = prod(M, x) + b; for(int i=0; i < globalNumConstraintVectors; ++i){ std::cout << "(" << x(i) << ", " << z(i) << ")"; if(x(i) < 0.0 || z(i) < -1.0e-6){ std::cout << " - X"; } else if(x(i) > 0.0 && fabs(z(i)) > 1.0e-6){ std::cout << " - X"; } else if(z(i) > 1.0e-6 && fabs(x(i)) > 1.0e-6){ std::cout << " - X"; } std::cout << "\n"; } std::cout << "-------------------------------\n"; int j = 0; for(int i=globalNumConstraintVectors; i < globalNumConstraintVectors + globalNumFrictionVectors; ++i, ++j){ std::cout << "(" << x(i) << ", " << z(i) << ")"; int contactIndex = frictionIndexToContactIndex[j]; double hi = contactIndexToMu[contactIndex] * x(contactIndex); std::cout << " hi = " << hi; if(x(i) < 0.0 || x(i) > hi){ std::cout << " - X"; } else if(x(i) == hi && z(i) > -1.0e-6){ std::cout << " - X"; } else if(x(i) < hi && x(i) > 0.0 && fabs(z(i)) > 1.0e-6){ std::cout << " - X"; } std::cout << "\n"; } std::cout << "-------------------------------\n"; std::cout << std::endl; } #ifdef USE_PIVOTING_LCP bool CFSImpl::callPathLCPSolver(rmdmatrix& Mlcp, dvector& b, dvector& solution) { int size = solution.size(); int square = size * size; std::vector lb(size + 1, 0.0); std::vector ub(size + 1, 1.0e20); int m_nnz = 0; std::vector m_i(square + 1); std::vector m_j(square + 1); std::vector m_ij(square + 1); for(int i=0; i < size; ++i){ solution(i) = 0.0; } for(int j=0; j < size; ++j){ for(int i=0; i < size; ++i){ double v = Mlcp(i, j); if(v != 0.0){ m_i[m_nnz] = i+1; m_j[m_nnz] = j+1; m_ij[m_nnz] = v; ++m_nnz; } } } MCP_Termination status; SimpleLCP(size, m_nnz, &m_i[0], &m_j[0], &m_ij[0], &b(0), &lb[0], &ub[0], &status, &solution(0)); return (status == MCP_Solved); } #endif ConstraintForceSolver::ConstraintForceSolver(WorldBase& world) { impl = new CFSImpl(world); } ConstraintForceSolver::~ConstraintForceSolver() { delete impl; } bool ConstraintForceSolver::addCollisionCheckLinkPair (int bodyIndex1, Link* link1, int bodyIndex2, Link* link2, double muStatic, double muDynamic, double culling_thresh, double epsilon) { return impl->addCollisionCheckLinkPair(bodyIndex1, link1, bodyIndex2, link2, muStatic, muDynamic, culling_thresh, epsilon); } void ConstraintForceSolver::clearCollisionCheckLinkPairs() { impl->world.clearCollisionPairs(); impl->collisionCheckLinkPairs.clear(); } void ConstraintForceSolver::setGaussSeidelParameters(int maxNumIteration, int numInitialIteration, double maxRelError) { impl->maxNumGaussSeidelIteration = maxNumIteration; impl->numGaussSeidelInitialIteration = numInitialIteration; impl->gaussSeidelMaxRelError = maxRelError; } void ConstraintForceSolver::enableConstraintForceOutput(bool on) { impl->isConstraintForceOutputMode = on; } void ConstraintForceSolver::useBuiltinCollisionDetector(bool on) { impl->useBuiltinCollisionDetector = on; } void ConstraintForceSolver::initialize(void) { impl->initialize(); } void ConstraintForceSolver::solve(CollisionSequence& corbaCollisionSequence) { impl->solve(corbaCollisionSequence); } void ConstraintForceSolver::clearExternalForces() { impl->clearExternalForces(); } choreonoid-1.5.0/src/Body/ZMPSeq.h0000664000000000000000000000211712741425367015336 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_ZMP_SEQ_H #define CNOID_BODY_ZMP_SEQ_H #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT ZMPSeq : public Vector3Seq { public: static const std::string& key(); ZMPSeq(int nFrames = 0); ZMPSeq(const ZMPSeq& org); ZMPSeq(const Vector3Seq& org); ZMPSeq& operator=(const ZMPSeq& rhs); virtual AbstractSeq& operator=(const AbstractSeq& rhs); virtual AbstractSeqPtr cloneSeq() const; bool isRootRelative() const { return isRootRelative_; } void setRootRelative(bool on); protected: virtual bool doWriteSeq(YAMLWriter& writer); virtual bool doReadSeq(const Mapping& archive); private: bool isRootRelative_; }; typedef boost::shared_ptr ZMPSeqPtr; class BodyMotion; CNOID_EXPORT ZMPSeqPtr getZMPSeq(const BodyMotion& motion); CNOID_EXPORT ZMPSeqPtr getOrCreateZMPSeq(BodyMotion& motion); CNOID_EXPORT void clearZMPSeq(BodyMotion& motion); CNOID_EXPORT bool makeRootRelative(ZMPSeq& zmpseq, BodyMotion& motion, bool on); } #endif choreonoid-1.5.0/src/Body/PoseProvider.h0000664000000000000000000000216412741425367016642 0ustar rootroot/** @file @author Shin'ichiro NAKAOKA */ #ifndef CNOID_BODY_POSE_PROVIDER_H_INCLUDED #define CNOID_BODY_POSE_PROVIDER_H_INCLUDED #include "Body.h" #include #include #include namespace cnoid { class PoseProvider { public: virtual ~PoseProvider() { }; virtual Body* body() const = 0; virtual double beginningTime() const = 0; virtual double endingTime() const = 0; virtual bool seek(double time) = 0; virtual bool seek(double time, int waistLinkIndex, const Vector3& waistTranslation) = 0; virtual int baseLinkIndex() const = 0; virtual bool getBaseLinkPosition(Position& out_T) const = 0; virtual void getJointPositions(std::vector< boost::optional >& out_q) const = 0; virtual boost::optional ZMP() const = 0; #ifdef CNOID_BACKWARD_COMPATIBILITY bool getBaseLinkPosition(Vector3& out_p, Matrix3& out_R) const { Position T; if(getBaseLinkPosition(T)){ out_p = T.translation(); out_R = T.linear(); return true; } return false; } #endif }; } #endif choreonoid-1.5.0/src/Body/ForwardDynamicsABM.cpp0000664000000000000000000004022512741425367020170 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "ForwardDynamicsABM.h" #include "DyBody.h" #include "LinkTraverse.h" #include using namespace std; using namespace boost; using namespace cnoid; static const bool debugMode = false; static const bool rootAttitudeNormalizationEnabled = false; ForwardDynamicsABM::ForwardDynamicsABM(DyBody* body) : ForwardDynamics(body), q0(body->numLinks()), dq0(body->numLinks()), dq(body->numLinks()), ddq(body->numLinks()) { } ForwardDynamicsABM::~ForwardDynamicsABM() { } void ForwardDynamicsABM::initialize() { DyLink* rootLink = body->rootLink(); rootLink->sw().setZero(); rootLink->sv().setZero(); rootLink->cv().setZero(); rootLink->cw().setZero(); rootLink->hhv().setZero(); rootLink->hhw().setZero(); rootLink->uu() = 0.0; rootLink->dd() = 0.0; initializeSensors(); calcABMFirstHalf(); } inline void ForwardDynamicsABM::calcABMFirstHalf() { calcABMPhase1(true); calcABMPhase2Part1(); } inline void ForwardDynamicsABM::calcABMLastHalf() { calcABMPhase2Part2(); calcABMPhase3(); } void ForwardDynamicsABM::calcNextState() { switch(integrationMode){ case EULER_METHOD: calcMotionWithEulerMethod(); break; case RUNGEKUTTA_METHOD: calcMotionWithRungeKuttaMethod(); break; } if(rootAttitudeNormalizationEnabled){ normalizeRotation(body->rootLink()->T()); } calcABMFirstHalf(); if(sensorsEnabled){ sensorHelper.updateGyroAndAccelerationSensors(); } } void ForwardDynamicsABM::calcMotionWithEulerMethod() { calcABMLastHalf(); if(!sensorHelper.forceSensors().empty()){ updateForceSensors(); } DyLink* root = body->rootLink(); if(!root->isFixedJoint()){ root->dv() = root->dvo() - root->p().cross(root->dw()) + root->w().cross(root->vo() + root->w().cross(root->p())); Position T; SE3exp(T, root->T(), root->w(), root->vo(), timeStep); root->T() = T; root->vo() += root->dvo() * timeStep; root->w() += root->dw() * timeStep; } int n = body->numLinks(); for(int i=1; i < n; ++i){ DyLink* link = body->link(i); link->q() += link->dq() * timeStep; link->dq() += link->ddq() * timeStep; } } void ForwardDynamicsABM::integrateRungeKuttaOneStep(double r, double dt) { DyLink* root = body->rootLink(); if(!root->isFixedJoint()){ SE3exp(root->T(), T0, root->w(), root->vo(), dt); root->vo().noalias() = vo0 + root->dvo() * dt; root->w().noalias() = w0 + root->dw() * dt; vo += r * root->vo(); w += r * root->w(); dvo += r * root->dvo(); dw += r * root->dw(); } int n = body->numLinks(); for(int i=1; i < n; ++i){ DyLink* link = body->link(i); link->q() = q0[i] + dt * link->dq(); link->dq() = dq0[i] + dt * link->ddq(); dq[i] += r * link->dq(); ddq[i] += r * link->ddq(); } } void ForwardDynamicsABM::calcMotionWithRungeKuttaMethod() { DyLink* root = body->rootLink(); if(!root->isFixedJoint()){ T0 = root->T(); vo0 = root->vo(); w0 = root->w(); } vo.setZero(); w.setZero(); dvo.setZero(); dw.setZero(); int n = body->numLinks(); for(int i=1; i < n; ++i){ DyLink* link = body->link(i); q0[i] = link->q(); dq0[i] = link->dq(); dq[i] = 0.0; ddq[i] = 0.0; } calcABMLastHalf(); if(!sensorHelper.forceSensors().empty()){ updateForceSensors(); } integrateRungeKuttaOneStep(1.0 / 6.0, timeStep / 2.0); calcABMPhase1(false); calcABMPhase2(); calcABMPhase3(); integrateRungeKuttaOneStep(2.0 / 6.0, timeStep / 2.0); calcABMPhase1(false); calcABMPhase2(); calcABMPhase3(); integrateRungeKuttaOneStep(2.0 / 6.0, timeStep); calcABMPhase1(false); calcABMPhase2(); calcABMPhase3(); if(!root->isFixedJoint()){ root->dvo() = dvo + root->dvo() / 6.0; root->dw() = dw + root->dw() / 6.0; root->dv() = root->dvo() - T0.translation().cross(root->dw()) + w0.cross(vo0 + w0.cross(T0.translation())); root->vo() = vo0 + root->dvo() * timeStep; root->w() = w0 + root->dw() * timeStep; SE3exp(root->T(), T0, w0, vo0, timeStep); } for(int i=1; i < n; ++i){ DyLink* link = body->link(i); link->q() = q0[i] + ( dq[i] + link->dq() / 6.0) * timeStep; link->dq() = dq0[i] + (ddq[i] + link->ddq() / 6.0) * timeStep; } } /** \note v, dv, dw are not used in the forward dynamics, but are calculated for forward dynamics users. */ void ForwardDynamicsABM::calcABMPhase1(bool updateNonSpatialVariables) { const LinkTraverse& traverse = body->linkTraverse(); const int n = traverse.numLinks(); for(int i=0; i < n; ++i){ DyLink* link = static_cast(traverse[i]); const DyLink* parent = link->parent(); if(parent){ switch(link->jointType()){ case Link::ROTATIONAL_JOINT: { const Vector3 arm = parent->R() * link->b(); link->R().noalias() = parent->R() * AngleAxisd(link->q(), link->a()); link->p().noalias() = arm + parent->p(); link->sw().noalias() = parent->R() * link->a(); link->sv().noalias() = link->p().cross(link->sw()); link->w().noalias() = link->dq() * link->sw() + parent->w(); if(updateNonSpatialVariables){ link->dw().noalias() = parent->dw() + link->dq() * parent->w().cross(link->sw()) + (link->ddq() * link->sw()); link->dv().noalias() = parent->dv() + parent->w().cross(parent->w().cross(arm)) + parent->dw().cross(arm); } break; } case Link::SLIDE_JOINT: link->p().noalias() = parent->R() * (link->b() + link->q() * link->d()) + parent->p(); link->R() = parent->R(); link->sw().setZero(); link->sv().noalias() = parent->R() * link->d(); link->w() = parent->w(); if(updateNonSpatialVariables){ link->dw() = parent->dw(); const Vector3 arm = parent->R() * link->b(); link->dv().noalias() = parent->dv() + parent->w().cross(parent->w().cross(arm)) + parent->dw().cross(arm) + 2.0 * link->dq() * parent->w().cross(link->sv()) + link->ddq() * link->sv(); } break; case Link::FIXED_JOINT: default: link->p().noalias() = parent->R() * link->b() + parent->p(); link->R() = parent->R(); link->w() = parent->w(); link->vo() = parent->vo(); link->sw().setZero(); link->sv().setZero(); link->cv().setZero(); link->cw().setZero(); if(updateNonSpatialVariables){ link->dw() = parent->dw(); const Vector3 arm = parent->R() * link->b(); link->dv().noalias() = parent->dv() + parent->w().cross(parent->w().cross(arm)) + parent->dw().cross(arm); } goto COMMON_CALCS_FOR_ALL_JOINT_TYPES; } // Common for ROTATE and SLIDE link->vo().noalias() = link->dq() * link->sv() + parent->vo(); const Vector3 dsv = parent->w().cross(link->sv()) + parent->vo().cross(link->sw()); const Vector3 dsw = parent->w().cross(link->sw()); link->cv() = link->dq() * dsv; link->cw() = link->dq() * dsw; } COMMON_CALCS_FOR_ALL_JOINT_TYPES: if(updateNonSpatialVariables){ link->v().noalias() = link->vo() + link->w().cross(link->p()); } link->wc().noalias() = link->R() * link->c() + link->p(); // compute I^s (Eq.(6.24) of Kajita's textbook)) const Matrix3 Iw = link->R() * link->I() * link->R().transpose(); const double m = link->m(); const Matrix3 c_hat = hat(link->wc()); link->Iww().noalias() = m * c_hat * c_hat.transpose() + Iw; link->Ivv() << m, 0.0, 0.0, 0.0, m, 0.0, 0.0, 0.0, m; link->Iwv() = m * c_hat; // compute P and L (Eq.(6.25) of Kajita's textbook) const Vector3 P = m * (link->vo() + link->w().cross(link->wc())); const Vector3 L = link->Iww() * link->w() + m * link->wc().cross(link->vo()); link->pf().noalias() = link->w().cross(P); link->ptau().noalias() = link->vo().cross(P) + link->w().cross(L); const Vector3 fg = m * g; const Vector3 tg = link->wc().cross(fg); link->pf() -= fg; link->ptau() -= tg; } } void ForwardDynamicsABM::calcABMPhase2() { const LinkTraverse& traverse = body->linkTraverse(); const int n = traverse.numLinks(); for(int i = n-1; i >= 0; --i){ DyLink* link = static_cast(traverse[i]); link->pf() -= link->f_ext(); link->ptau() -= link->tau_ext(); // compute articulated inertia (Eq.(6.48) of Kajita's textbook) for(DyLink* child = link->child(); child; child = child->sibling()){ if(child->isFixedJoint()){ link->Ivv() += child->Ivv(); link->Iwv() += child->Iwv(); link->Iww() += child->Iww(); }else{ const Vector3 hhv_dd = child->hhv() / child->dd(); link->Ivv().noalias() += child->Ivv() - child->hhv() * hhv_dd.transpose(); link->Iwv().noalias() += child->Iwv() - child->hhw() * hhv_dd.transpose(); link->Iww().noalias() += child->Iww() - child->hhw() * (child->hhw() / child->dd()).transpose(); } link->pf() .noalias() += child->Ivv() * child->cv() + child->Iwv().transpose() * child->cw() + child->pf(); link->ptau().noalias() += child->Iwv() * child->cv() + child->Iww() * child->cw() + child->ptau(); if(!child->isFixedJoint()){ const double uu_dd = child->uu() / child->dd(); link->pf() += uu_dd * child->hhv(); link->ptau() += uu_dd * child->hhw(); } } if(i > 0){ if(!link->isFixedJoint()){ // hh = Ia * s link->hhv().noalias() = link->Ivv() * link->sv() + link->Iwv().transpose() * link->sw(); link->hhw().noalias() = link->Iwv() * link->sv() + link->Iww() * link->sw(); // dd = Ia * s * s^T link->dd() = link->sv().dot(link->hhv()) + link->sw().dot(link->hhw()) + link->Jm2(); // uu = u - hh^T*c + s^T*pp link->uu() = link->u() - (link->hhv().dot(link->cv()) + link->hhw().dot(link->cw()) + link->sv().dot(link->pf()) + link->sw().dot(link->ptau())); } } } } // A part of phase 2 (inbound loop) that can be calculated before external forces are given void ForwardDynamicsABM::calcABMPhase2Part1() { const LinkTraverse& traverse = body->linkTraverse(); const int n = traverse.numLinks(); for(int i = n-1; i >= 0; --i){ DyLink* link = static_cast(traverse[i]); for(DyLink* child = link->child(); child; child = child->sibling()){ if(child->isFixedJoint()){ link->Ivv() += child->Ivv(); link->Iwv() += child->Iwv(); link->Iww() += child->Iww(); }else{ const Vector3 hhv_dd = child->hhv() / child->dd(); link->Ivv().noalias() += child->Ivv() - child->hhv() * hhv_dd.transpose(); link->Iwv().noalias() += child->Iwv() - child->hhw() * hhv_dd.transpose(); link->Iww().noalias() += child->Iww() - child->hhw() * (child->hhw() / child->dd()).transpose(); } link->pf() .noalias() += child->Ivv() * child->cv() + child->Iwv().transpose() * child->cw(); link->ptau().noalias() += child->Iwv() * child->cv() + child->Iww() * child->cw(); } if(i > 0){ if(!link->isFixedJoint()){ link->hhv().noalias() = link->Ivv() * link->sv() + link->Iwv().transpose() * link->sw(); link->hhw().noalias() = link->Iwv() * link->sv() + link->Iww() * link->sw(); link->dd() = link->sv().dot(link->hhv()) + link->sw().dot(link->hhw()) + link->Jm2(); link->uu() = -(link->hhv().dot(link->cv()) + link->hhw().dot(link->cw())); } } } } // A remaining part of phase 2 that requires external forces void ForwardDynamicsABM::calcABMPhase2Part2() { const LinkTraverse& traverse = body->linkTraverse(); const int n = traverse.numLinks(); for(int i = n-1; i >= 0; --i){ DyLink* link = static_cast(traverse[i]); link->pf() -= link->f_ext(); link->ptau() -= link->tau_ext(); for(DyLink* child = link->child(); child; child = child->sibling()){ link->pf() += child->pf(); link->ptau() += child->ptau(); if(!child->isFixedJoint()){ const double uu_dd = child->uu() / child->dd(); link->pf() += uu_dd * child->hhv(); link->ptau() += uu_dd * child->hhw(); } } if(i > 0){ if(!link->isFixedJoint()){ link->uu() += link->u() - (link->sv().dot(link->pf()) + link->sw().dot(link->ptau())); } } } } void ForwardDynamicsABM::calcABMPhase3() { const LinkTraverse& traverse = body->linkTraverse(); DyLink* root = static_cast(traverse[0]); if(root->isFreeJoint()){ // - | Ivv trans(Iwv) | * | dvo | = | pf | // | Iwv Iww | | dw | | ptau | Eigen::Matrix M; M << root->Ivv(), root->Iwv().transpose(), root->Iwv(), root->Iww(); Eigen::Matrix f; f << root->pf(), root->ptau(); f *= -1.0; Eigen::Matrix a(M.colPivHouseholderQr().solve(f)); root->dvo() = a.head<3>(); root->dw() = a.tail<3>(); } else { root->dvo().setZero(); root->dw().setZero(); } const int n = traverse.numLinks(); for(int i=1; i < n; ++i){ DyLink* link = static_cast(traverse[i]); const DyLink* parent = link->parent(); if(!link->isFixedJoint()){ link->ddq() = (link->uu() - (link->hhv().dot(parent->dvo()) + link->hhw().dot(parent->dw()))) / link->dd(); link->dvo().noalias() = parent->dvo() + link->cv() + link->sv() * link->ddq(); link->dw().noalias() = parent->dw() + link->cw() + link->sw() * link->ddq(); }else{ link->ddq() = 0.0; link->dvo() = parent->dvo(); link->dw() = parent->dw(); } } } void ForwardDynamicsABM::updateForceSensors() { const DeviceList& sensors = sensorHelper.forceSensors(); for(size_t i=0; i < sensors.size(); ++i){ ForceSensor* sensor = sensors[i]; const DyLink* link = static_cast(sensor->link()); // | f | = | Ivv trans(Iwv) | * | dvo | + | pf | // | tau | | Iwv Iww | | dw | | ptau | const Vector3 f = -(link->Ivv() * link->dvo() + link->Iwv().transpose() * link->dw() + link->pf()); const Vector3 tau = -(link->Iwv() * link->dvo() + link->Iww() * link->dw() + link->ptau()); const Matrix3 R = link->R() * sensor->R_local(); const Vector3 p = link->p() + link->R() * sensor->p_local(); sensor->f().noalias() = R.transpose() * f; sensor->tau().noalias() = R.transpose() * (tau - p.cross(f)); sensor->notifyStateChange(); } } choreonoid-1.5.0/src/Body/ColladaBodyLoader.h0000664000000000000000000000140512741425367017522 0ustar rootroot/*! * @brief Defines the minimum processing for performing pasing file for STL. * @author Hisashi Ikari */ #ifndef CNOID_BODY_COLLADA_BODY_LOADER_H #define CNOID_BODY_COLLADA_BODY_LOADER_H #include "AbstractBodyLoader.h" #include "exportdecl.h" namespace cnoid { class ColladaBodyLoaderImpl; class CNOID_EXPORT ColladaBodyLoader : public AbstractBodyLoader { public: ColladaBodyLoader(); ~ColladaBodyLoader(); virtual const char* format() const; virtual void setMessageSink(std::ostream& os); virtual void setVerbose(bool on); virtual void enableShapeLoading(bool on); virtual void setDefaultDivisionNumber(int n); virtual bool load(Body* body, const std::string& filename); private: ColladaBodyLoaderImpl* impl; }; }; #endif choreonoid-1.5.0/src/Body/Link.cpp0000664000000000000000000001143312741425367015450 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "Link.h" #include #include using namespace std; using namespace cnoid; Link::Link() { index_ = -1; jointId_ = -1; parent_ = 0; body_ = 0; T_.setIdentity(); Tb_.setIdentity(); Rs_.setIdentity(); a_ = Vector3::UnitZ(); jointType_ = FIXED_JOINT; q_ = 0.0; dq_ = 0.0; ddq_ = 0.0; u_ = 0.0; v_.setZero(); w_.setZero(); dv_.setZero(); dw_.setZero(); c_.setZero(); wc_.setZero(); m_ = 0.0; I_.setIdentity(); Jm2_ = 0.0; F_ext_.setZero(); q_upper_ = std::numeric_limits::max(); q_lower_ = -std::numeric_limits::max(); dq_upper_ = std::numeric_limits::max(); dq_lower_ = -std::numeric_limits::max(); info_ = new Mapping; initd_ = 0.0; } Link::Link(const Link& org) : name_(org.name_) { index_ = -1; // should be set by a Body object jointId_ = org.jointId_; parent_ = 0; body_ = 0; T_ = org.T_; Tb_ = org.Tb_; Rs_ = org.Rs_; a_ = org.a_; jointType_ = org.jointType_; q_ = org.q_; dq_ = org.dq_; ddq_ = org.ddq_; u_ = org.u_; v_ = org.v_; w_ = org.w_; dv_ = org.dv_; dw_ = org.dw_; c_ = org.c_; wc_ = org.wc_; m_ = org.m_; I_ = org.I_; Jm2_ = org.Jm2_; F_ext_ = org.F_ext_; q_upper_ = org.q_upper_; q_lower_ = org.q_lower_; dq_upper_ = org.dq_upper_; dq_lower_ = org.dq_lower_; //! \todo add the mode for doing deep copy of the following objects visualShape_ = org.visualShape_; collisionShape_ = org.collisionShape_; info_ = org.info_; initd_ = org.initd_; } Link::~Link() { LinkPtr link = child_; while(link){ link->parent_ = 0; LinkPtr next = link->sibling_; link->sibling_ = 0; link = next; } } void Link::setBody(Body* newBody) { if(body_ != newBody){ setBodySub(newBody); } } void Link::setBodySub(Body* newBody) { body_ = newBody; for(Link* link = child_; link; link = link->sibling_){ link->setBodySub(newBody); } } void Link::prependChild(Link* link) { LinkPtr holder; if(link->parent_){ holder = link; link->parent_->removeChild(link); } link->sibling_ = child_; child_ = link; link->parent_ = this; link->setBody(body_); } void Link::appendChild(Link* link) { LinkPtr holder; if(link->parent_){ holder = link; link->parent_->removeChild(link); } if(!child_){ child_ = link; link->sibling_ = 0; } else { Link* lastChild = child_; while(lastChild->sibling_){ lastChild = lastChild->sibling_; } lastChild->sibling_ = link; link->sibling_ = 0; } link->parent_ = this; link->setBody(body_); } /** A child link is removed from the link. If a link given by the parameter is not a child of the link, false is returned. */ bool Link::removeChild(Link* childToRemove) { bool removed = false; Link* link = child_; Link* prevSibling = 0; while(link){ if(link == childToRemove){ childToRemove->parent_ = 0; childToRemove->sibling_ = 0; if(prevSibling){ prevSibling->sibling_ = link->sibling_; } else { child_ = link->sibling_; } childToRemove->setBody(0); return true; } prevSibling = link; link = link->sibling_; } return false; } void Link::setName(const std::string& name) { name_ = name; } std::string Link::jointTypeString() const { switch(jointType_){ case REVOLUTE_JOINT: return "revolute"; case SLIDE_JOINT: return "prismatic"; case FREE_JOINT: return "free"; case FIXED_JOINT: return "fixed"; case PSEUDO_CONTINUOUS_TRACK: return "pseudo continuous track"; case CRAWLER_JOINT: return "crawler"; case AGX_CRAWLER_JOINT: return "AgX crawler"; default: return "unknown"; } } void Link::setShape(SgNode* shape) { visualShape_ = shape; collisionShape_ = shape; } void Link::setVisualShape(SgNode* shape) { visualShape_ = shape; } void Link::setCollisionShape(SgNode* shape) { collisionShape_ = shape; } void Link::resetInfo(Mapping* info) { info_ = info; } template<> double Link::info(const std::string& key) const { return info_->get(key).toDouble(); } template<> double Link::info(const std::string& key, const double& defaultValue) const { double value; if(info_->read(key, value)){ return value; } return defaultValue; } template<> void Link::setInfo(const std::string& key, const double& value) { info_->write(key, value); } choreonoid-1.5.0/src/Body/PenetrationBlocker.cpp0000664000000000000000000001033512741425367020345 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "PenetrationBlocker.h" #include using namespace std; using namespace cnoid; namespace { const bool TRACE_FUNCTIONS = false; } namespace cnoid { class PenetrationBlockerImpl { public: CollisionDetectorPtr collisionDetector; bool isCollisionDetectorReady; Link* targetLink; vector opponentLinks; double targetDepth; Vector3 pPrevGiven; bool isPrevBlocked; Vector3 prevBlockedPosition; Vector3 prevBlockedNormal; Vector3 s; double maxsdepth; double maxdepth; Vector3 maxnormal; PenetrationBlockerImpl(CollisionDetectorPtr& collisionDetector, Link* targetLink); void addOpponentLink(Link* link); void start(); bool adjust(Position& io_T, const Vector3& pushDirection); void onCollisionDetected(const CollisionPair& collisionPair); }; } PenetrationBlocker::PenetrationBlocker(CollisionDetectorPtr collisionDetector, Link* targetLink) { impl = new PenetrationBlockerImpl(collisionDetector, targetLink); } PenetrationBlockerImpl::PenetrationBlockerImpl(CollisionDetectorPtr& collisionDetector, Link* targetLink) : collisionDetector(collisionDetector), targetLink(targetLink) { collisionDetector->clearGeometries(); collisionDetector->addGeometry(targetLink->collisionShape()); isCollisionDetectorReady = false; pPrevGiven = targetLink->p(); targetDepth = 0.001; isPrevBlocked = false; } void PenetrationBlocker::addOpponentLink(Link* link) { impl->addOpponentLink(link); } void PenetrationBlockerImpl::addOpponentLink(Link* link) { collisionDetector->addGeometry(link->collisionShape()); opponentLinks.push_back(link); isCollisionDetectorReady = false; } void PenetrationBlocker::setDepth(double depth) { impl->targetDepth = depth; } void PenetrationBlocker::start() { impl->start(); } void PenetrationBlockerImpl::start() { if(!isCollisionDetectorReady){ for(size_t i=0; i < opponentLinks.size(); ++i){ for(size_t j=i+1; j < opponentLinks.size(); ++j){ collisionDetector->setNonInterfarenceGeometyrPair(i+1, j+1); } } collisionDetector->makeReady(); isCollisionDetectorReady = true; } isPrevBlocked = false; } bool PenetrationBlocker::adjust(Position& io_T, const Vector3& pushDirection) { return impl->adjust(io_T, pushDirection); } bool PenetrationBlockerImpl::adjust(Position& io_T, const Vector3& pushDirection) { if(isPrevBlocked){ if((io_T.translation() - prevBlockedPosition).dot(prevBlockedNormal) < 0.0){ io_T.translation() = prevBlockedPosition; return true; } } bool blocked = false; s = pushDirection.normalized(); for(size_t i=0; i < opponentLinks.size(); ++i){ collisionDetector->updatePosition(i+1, opponentLinks[i]->position()); } int loop; maxnormal = Vector3::Zero(); for(loop = 0; loop < 100; ++loop){ collisionDetector->updatePosition(0, io_T); maxsdepth = 0.0; maxdepth = 0.0; collisionDetector->detectCollisions(boost::bind(&PenetrationBlockerImpl::onCollisionDetected, this, _1)); if(maxsdepth > 0.0){ io_T.translation() += (maxdepth - targetDepth) * maxnormal; blocked = true; } else { break; } } isPrevBlocked = blocked; prevBlockedPosition = io_T.translation(); prevBlockedNormal = maxnormal; return blocked; } void PenetrationBlockerImpl::onCollisionDetected(const CollisionPair& collisionPair) { double normalSign = (collisionPair.geometryId[0] == 0) ? -1.0 : 1.0; const CollisionArray& collisions = collisionPair.collisions; for(size_t i=0; i < collisions.size(); ++i){ const Collision& c = collisions[i]; if(c.depth > targetDepth){ const Vector3 normal = normalSign * c.normal; double d = -normal.dot(s); if(d > 0.0){ double sdepth = c.depth * d; if(sdepth > maxsdepth){ maxsdepth = sdepth; maxdepth = c.depth; maxnormal = normal; } } } } } choreonoid-1.5.0/src/Body/LeggedBodyHelper.h0000664000000000000000000000277512741425367017376 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_LEGGED_BODY_HELPER_H #define CNOID_BODY_LEGGED_BODY_HELPER_H #include "Body.h" #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT LeggedBodyHelper : public Referenced { public: LeggedBodyHelper(); LeggedBodyHelper(Body* body); LeggedBodyHelper(const LeggedBodyHelper& org); bool isValid() const { return isValid_; } virtual bool resetBody(Body* body); virtual ~LeggedBodyHelper(); Body* body() const { return body_.get(); } int numFeet() const { return footInfos.size(); } Link* footLink(int index) const { return footInfos[index].link; } Link* kneePitchJoint(int footIndex) const { return footInfos[footIndex].kneePitchJoint; } bool doLegIkToMoveCm(const Vector3& c, bool onlyProjectionToFloor = false); bool setStance(double width, Link* baseLink); const Vector3& centerOfSoleLocal(int footIndex) const { return footInfos[footIndex].soleCenter; } Vector3 centerOfSole(int footIndex) const; Vector3 centerOfSoles() const; Vector3 homeCopOfSole(int footIndex) const; Vector3 homeCopOfSoles() const; private: BodyPtr body_; bool isValid_; struct FootInfo { Link* link; Link* kneePitchJoint; Vector3 homeCop; Vector3 soleCenter; }; std::vector footInfos; }; typedef ref_ptr LeggedBodyHelperPtr; CNOID_EXPORT LeggedBodyHelper* getLeggedBodyHelper(Body* body); } #endif choreonoid-1.5.0/src/Body/BodyLoader.cpp0000664000000000000000000001667412741425367016613 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "BodyLoader.h" #include "YAMLBodyLoader.h" #include "VRMLBodyLoader.h" #include "ColladaBodyLoader.h" #include "Body.h" #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace filesystem = boost::filesystem; namespace { typedef boost::function LoaderFactory; typedef map LoaderFactoryMap; LoaderFactoryMap loaderFactoryMap; boost::mutex loaderFactoryMapMutex; AbstractBodyLoaderPtr yamlBodyLoaderFactory() { return boost::make_shared(); } AbstractBodyLoaderPtr vrmlBodyLoaderFactory() { return boost::make_shared(); } AbstractBodyLoaderPtr colladaBodyLoaderFactory() { return boost::make_shared(); } class SceneLoaderAdapter : public AbstractBodyLoader { AbstractSceneLoader* loader; public: SceneLoaderAdapter(AbstractSceneLoader* loader) : loader(loader) { } ~SceneLoaderAdapter() { delete loader; } virtual const char* format() const { return loader->format(); } virtual bool load(Body* body, const std::string& filename) { body->clearDevices(); body->clearExtraJoints(); SgNode* scene = loader->load(filename); if(scene){ Link* link = body->createLink(); link->setName("Root"); link->setShape(scene); link->setMass(1.0); link->setInertia(Matrix3::Identity()); body->setRootLink(link); body->setModelName(getBasename(filename)); } return (scene != 0); } }; AbstractBodyLoaderPtr stlBodyLoaderFactory() { return boost::make_shared(new STLSceneLoader); } struct FactoryRegistration { FactoryRegistration(){ BodyLoader::registerLoader("body", yamlBodyLoaderFactory); BodyLoader::registerLoader("yaml", yamlBodyLoaderFactory); BodyLoader::registerLoader("yml", yamlBodyLoaderFactory); BodyLoader::registerLoader("wrl", vrmlBodyLoaderFactory); BodyLoader::registerLoader("dae", colladaBodyLoaderFactory); BodyLoader::registerLoader("stl", stlBodyLoaderFactory); } } factoryRegistration; } bool BodyLoader::registerLoader(const std::string& extension, boost::function factory) { boost::lock_guard lock(loaderFactoryMapMutex); loaderFactoryMap[extension] = factory; return true; } namespace cnoid { class BodyLoaderImpl { public: ostream* os; AbstractBodyLoaderPtr loader; bool isVerbose; bool isShapeLoadingEnabled; int defaultDivisionNumber; double defaultCreaseAngle; typedef map LoaderMap; LoaderMap loaderMap; BodyLoaderImpl(); ~BodyLoaderImpl(); bool load(Body* body, const std::string& filename); }; } BodyLoader::BodyLoader() { impl = new BodyLoaderImpl(); } BodyLoaderImpl::BodyLoaderImpl() { os = &nullout(); isVerbose = false; isShapeLoadingEnabled = true; defaultDivisionNumber = -1; defaultCreaseAngle = -1.0; } BodyLoader::~BodyLoader() { delete impl; } BodyLoaderImpl::~BodyLoaderImpl() { } const char* BodyLoader::format() const { return "General"; } void BodyLoader::setMessageSink(std::ostream& os) { impl->os = &os; } void BodyLoader::setVerbose(bool on) { impl->isVerbose = on; } void BodyLoader::setShapeLoadingEnabled(bool on) { impl->isShapeLoadingEnabled = on; } void BodyLoader::setDefaultDivisionNumber(int n) { impl->defaultDivisionNumber = n; } void BodyLoader::setDefaultCreaseAngle(double theta) { impl->defaultCreaseAngle = theta; } bool BodyLoader::load(Body* body, const std::string& filename) { return impl->load(body, filename); } Body* BodyLoader::load(const std::string& filename) { Body* body = new Body(); if(load(body, filename)){ return body; } else { delete body; return 0; } } bool BodyLoaderImpl::load(Body* body, const std::string& filename) { bool result = false; filesystem::path orgpath(filename); string ext = getExtension(orgpath); string modelFilename; MappingPtr yamlDoc; try { if(ext != "yaml"){ modelFilename = filename; } else { YAMLReader parser; yamlDoc = parser.loadDocument(filename)->toMapping(); ValueNode* modelFileNode = yamlDoc->find("modelFile"); if(modelFileNode->isValid()){ filesystem::path mpath(modelFileNode->toString()); if(mpath.has_root_path()){ modelFilename = getNativePathString(mpath); } else { modelFilename = getNativePathString(orgpath.parent_path() / mpath); } ext = getExtension(mpath); } } LoaderMap::iterator p = loaderMap.find(ext); if(p != loaderMap.end()){ loader = p->second; } else { boost::lock_guard lock(loaderFactoryMapMutex); LoaderFactoryMap::iterator q = loaderFactoryMap.find(ext); if(q != loaderFactoryMap.end()){ LoaderFactory factory = q->second; loader = factory(); loaderMap[ext] = loader; } } if(!loader){ (*os) << str(boost::format(_("The file format of \"%1%\" is not supported by the body loader.\n")) % getFilename(filesystem::path(modelFilename))); } else { loader->setMessageSink(*os); loader->setVerbose(isVerbose); loader->setShapeLoadingEnabled(isShapeLoadingEnabled); YAMLBodyLoader* yamlBodyLoader = 0; if(yamlDoc){ YAMLBodyLoader* yamlBodyLoader = dynamic_cast(loader.get()); } if(yamlBodyLoader){ result = yamlBodyLoader->read(body, yamlDoc); } else { int dn = defaultDivisionNumber; if(yamlDoc){ Mapping& geometryInfo = *yamlDoc->findMapping("geometry"); if(geometryInfo.isValid()){ geometryInfo.read("divisionNumber", dn); } } if(dn > 0){ loader->setDefaultDivisionNumber(dn); } if(defaultCreaseAngle >= 0.0){ loader->setDefaultCreaseAngle(defaultCreaseAngle); } if(yamlDoc){ body->resetInfo(yamlDoc); } else { body->info()->clear(); } result = loader->load(body, modelFilename); } } } catch(const ValueNode::Exception& ex){ (*os) << ex.message(); } catch(const nonexistent_key_error& error){ if(const std::string* message = boost::get_error_info(error)){ (*os) << *message; } } catch(const std::exception& ex){ (*os) << ex.what(); } os->flush(); return result; } AbstractBodyLoaderPtr BodyLoader::lastActualBodyLoader() const { return impl->loader; } choreonoid-1.5.0/src/Body/ColladaBodyLoader.cpp0000664000000000000000000003552712741425367020071 0ustar rootroot/*! * @brief Defines the minimum processing for performing pasing file for DAE. * @author Hisashi Ikari * @file */ #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #ifdef _OLD_VERSION #include #endif #include #include #include #include "ColladaBodyLoader.h" #include "gettext.h" using namespace std; using namespace boost::algorithm; using boost::format; using boost::lexical_cast; namespace cnoid { typedef map LoaderLinks; typedef vector LoaderJoints; /*! * @brief Creating a model of Joint and Link by using the DaeParser. */ class ColladaBodyLoaderImpl { public: ColladaBodyLoaderImpl(); ~ColladaBodyLoaderImpl(); void loadBody(const string& filename, Body& body); void convertToBody(Body& body); void buildLinks (DaeNode* extNode, DaeNode* parentNode, Link* parentLink, Body& body, int& jointId); void setLink (DaeNode* extNode, Link* parentLink, Body& body); void setJoint (DaeNode* extNode, DaeNode* parentNode, Link* link, int& jointId); void setPosition (DaeNode* extNode, Link* link); void setMass (DaeNode* extNode, Link* link); void setSensor (DaeNode* extNode, Link* link, Body& body); #ifdef _OLD_VERSION void setColdetModel (Link* link, SgGroup* shape); void createColdetModel(SgGroup* group, SgPosTransform* transParent, ColdetModel* model); #endif Link* createLink (Body& body, string name, bool* duplicate); DevicePtr createSensor(DaeSensor* sensor); protected: void throwException(const string& message); public: ostream* os; protected: DaeParser* parser; string fileName; LoaderLinks links; LoaderJoints joints; }; ColladaBodyLoader::ColladaBodyLoader() { impl = new ColladaBodyLoaderImpl; } ColladaBodyLoader::~ColladaBodyLoader() { if (impl) delete impl; } const char* ColladaBodyLoader::format() const { return "Collada-1.5"; } void ColladaBodyLoader::setMessageSink(std::ostream& os) { impl->os = &os; } void ColladaBodyLoader::setVerbose(bool on) { } void ColladaBodyLoader::enableShapeLoading(bool on) { } void ColladaBodyLoader::setDefaultDivisionNumber(int n) { } ColladaBodyLoaderImpl::ColladaBodyLoaderImpl() { } ColladaBodyLoaderImpl::~ColladaBodyLoaderImpl() { } bool ColladaBodyLoader::load(Body* body, const std::string& filename) { impl->loadBody(filename, *body); return true; } void ColladaBodyLoaderImpl::loadBody(const string& fileName, Body& body) { parser = new DaeParser(os); this->fileName = fileName; parser->parse(fileName); convertToBody(body); body.installCustomizer(); if (parser) delete parser; } void ColladaBodyLoaderImpl::throwException(const string& message) { *os << message << endl; ValueNode::SyntaxException error; error.setMessage(message); throw error; } void ColladaBodyLoaderImpl::convertToBody(Body& body) { DaeNode* extNode = parser->findRootLink(); if (!extNode) { SgGroup* scene = parser->createScene(fileName); if(scene){ Link* link = body.createLink(); link->setName("Root"); link->setShape(scene); link->setMass(1.0); link->setInertia(Matrix3::Identity()); body.setRootLink(link); body.setModelName(getBasename(fileName)); } return; } int jointId = 0; links.clear(); joints.clear(); bool duplicate; Link* link = createLink(body, static_cast(extNode)->name, &duplicate); link->setName(static_cast(extNode)->name); body.setRootLink(link); // !!! important !!! // There is no category in the joint of collada. // But joint of the root node must be "FREE-TYPE" or "FIXED-TYPE". // Set to "FIXED-TYPE" if the link of the route had been "grounded". (Ex. PA10) // I have to set "FREE-TYPE" otherwise. (Ex. HRP4C, SR1, GR001, etc, etc) link->setJointType(extNode->transform.translate[2] == 0 ? Link::FIXED_JOINT : Link::FREE_JOINT); body.setModelName(parser->findRootName()); setPosition(extNode, link); buildLinks(extNode, extNode, link, body, jointId); body.updateLinkTree(); } void ColladaBodyLoaderImpl::buildLinks(DaeNode* extNode, DaeNode* parentNode, Link* parentLink, Body& body, int& jointId) { bool duplicate; Link* link = NULL; if (DaeLink* extLink = dynamic_cast(extNode)) { // It will record the link. // The link and joint is one in two. // In addition, link will be child relationship (except root) in the parent joint always. setLink(extNode, parentLink, body); setMass(extLink, parentLink); for (DaeLinkChildren::iterator iterl = extLink->children.begin(); iterl != extLink->children.end(); iterl++) { DaeNode* extJoint = parser->findJointByLink(*iterl); buildLinks(extJoint, extLink, parentLink, body, jointId); } } else if (DaeJoint* extJoint = dynamic_cast(extNode)) { if (!parentLink) { throwException((format(_("joint node can not be root link"))).str()); } // It will record the link. link = createLink(body, static_cast(extNode)->name, &duplicate); // The joint and link is one in the link. setJoint(extNode, parentNode, link, jointId); parentLink->appendChild(link); for (DaeJointChildren::iterator iterj = extJoint->children.begin(); iterj != extJoint->children.end(); iterj++) { // Joint is same as link. (Comprehension) DaeNode* extLink = parser->findLinkByJoint(*iterj); buildLinks(extLink, extJoint, link, body, jointId); } } else { return; } } void ColladaBodyLoaderImpl::setMass(DaeNode* extNode, Link* targetLink) { if (DaeLink* extLink = dynamic_cast(extNode)) { DaeRigid* rigid = static_cast (parser->findRigidByLink(extLink->name)); if (!rigid->massFrame) { *os << format(_("[WARNING]there is no mass:%1%")) % rigid->name << endl; return; } DaeNode* mass = static_cast(rigid->massFrame.get()); // We must use only the last tranlate of mass_frame on collada. // All translate is a translation from the origin. if (mass->transform.translates.size() <= 0) targetLink->setCenterOfMass(Vector3(0.0, 0.0, 0.0)); else targetLink->setCenterOfMass(mass->transform.translates[mass->transform.translates.size() - 1]); targetLink->setMass(rigid->mass); // It defines only the diagonal elements in collada. // And it is x,z,y-values rather than x,y,z-values. Matrix3d mat3 = Matrix3d::Zero(); mat3.diagonal() << rigid->inertia[0], rigid->inertia[2], rigid->inertia[1]; targetLink->setInertia(mat3); } } Link* ColladaBodyLoaderImpl::createLink(Body& body, string name, bool* duplicate) { // It will again use the previous link of the same name. LoaderLinks::iterator iter = links.find(name); Link* result = (iter == links.end() ? body.createLink() : iter->second); *duplicate = !(iter == links.end()); if (iter == links.end()) { links.insert(pair(name, result)); } return result; } void ColladaBodyLoaderImpl::setLink(DaeNode* extNode, Link* parentLink, Body& body) { // joint and link and rigid are associated with attributes of name. DaeNode* value = parser->findNode(static_cast(extNode)->name); // Using the joint name only. SgInvariantGroup* group = (!(parentLink->shape()) ? new SgInvariantGroup : static_cast(parentLink->shape())); parser->createNode(value, static_cast(group)); if (!(parentLink->shape())) parentLink->setShape(group); #ifdef _OLD_VERSION setColdetModel(parentLink, group); #endif setSensor(extNode, parentLink, body); } void ColladaBodyLoaderImpl::setJoint(DaeNode* extNode, DaeNode* parentNode, Link* link, int& jointId) { // joint and link and rigid are associated with attributes of name. string name = static_cast(extNode)->name; link->setName(name); vector split; boost::algorithm::split(split, extNode->id, boost::is_any_of("/")); if (istarts_with(split[split.size() - 1], "jointsid")) { // If the data was converted to dae from wrl in export-collada of OpenHRP. // There is no jointid to dae, but I substitute it with a prefix that jointsid to sid. // If it is a prefix, I will use "THIS NUMBER". // Ex. jointsid29(in collada) -> jointid=29(in wrl). link->setJointId(lexical_cast(split[split.size() - 1].substr(8))); } else { // If the prefix is different, I automatically grants. link->setJointId(jointId); } DaeJoint* joint = static_cast(extNode); if (1 < joint->revolutes.size()) { throwException((format(_("we are sorry, It does not support axis more than one."))).str()); } for (DaeRevoluteChildren::iterator iterr = joint->revolutes.begin(); iterr != joint->revolutes.end(); iterr++) { // Collada does not impose a joint-type. link->setJointType (Link::ROTATIONAL_JOINT); link->setJointAxis ((*iterr)->axis); link->setJointRange((*iterr)->limitMin, (*iterr)->limitMax); } setPosition(extNode, link); try { DaeActuator* actuator = static_cast(parser->findActuator(joint->id)); link->setEquivalentRotorInertia(actuator->rotorInertia); link->setJointVelocityRange(actuator->noLoadSpeed, actuator->maxSpeed); } catch (...) { /* actuator is not required. */ } // joint-id must be unique each link(link same as joint). jointId++; } void ColladaBodyLoaderImpl::setPosition(DaeNode* extNode, Link* link) { SgGroup* sgTransParent = NULL; SgGroup* sgTransChild = NULL; parser->createTransform(extNode, &sgTransParent, &sgTransChild); // it does not need to rotate and translation of the parent. link->setPosition (extNode->transform.rotate.matrix(), extNode->transform.translate.matrix()); link->setOffsetTranslation(extNode->transform.translate.matrix()); link->setOffsetRotation (extNode->transform.rotate.matrix()); } void ColladaBodyLoaderImpl::setSensor(DaeNode* extNode, Link* link, Body& body) { DaeLink* nodeLink = static_cast(extNode); DaeResultSensors* sensors = parser->findSensor(nodeLink->id); if (sensors->size() <= 0) { return; } // ForceSensor--------->force6d // GyroSensor---------->no type(empty string) // AccelerrationSensor->imu(unit sensor) // VisionSensor-------->pin-hole-camera for (DaeResultSensors::iterator iters = sensors->begin(); iters != sensors->end(); iters++) { DaeSensor* sensor = *iters; DevicePtr device = createSensor(sensor); device->setLink(link); device->setLocalTranslation(extNode->transform.translate + sensor->transform.translate); device->setLocalRotation (extNode->transform.rotate.matrix() * sensor->transform.rotate.matrix()); body.addDevice(device); } } DevicePtr ColladaBodyLoaderImpl::createSensor(DaeSensor* sensor) { DevicePtr device; if (sensor->type.size() <= 0) { device = new RateGyroSensor; } else if (iequals(sensor->type, "base_force6d")) { device = new ForceSensor; } else if (iequals(sensor->type, "base_imu")) { device = new AccelerationSensor; } else if (iequals(sensor->type, "base_pinhole_camera")) { device = new Camera; Camera* camera = static_cast(device.get()); camera->setResolution(sensor->imageDimensions[0], sensor->imageDimensions[1]); camera->setNearClipDistance(sensor->focalLength); camera->setFieldOfView (sensor->focalLength); } else { throwException((format(_("invalid sensor-type:%1%")) % sensor->type).str()); } return device; } #ifdef _OLD_VERSION void ColladaBodyLoaderImpl::setColdetModel(Link* link, SgGroup* group) { ColdetModelPtr model(boost::make_shared()); createColdetModel(group, NULL, model.get()); model->setName(link->name()); model->build(); link->setColdetModel(model); } #endif #ifdef _OLD_VERSION void ColladaBodyLoaderImpl::createColdetModel(SgGroup* parentGroup, SgPosTransform* transParent, ColdetModel* model) { if (!parentGroup || parentGroup->empty()) { return; } // Get the coordinates and transforms to create a ColdetModel. if (SgPosTransform* transform = dynamic_cast(parentGroup)) { for (SgGroup::iterator iter = transform->begin(); iter != transform->end(); iter++) { if (SgShape* child = dynamic_cast((*iter).get())) { SgMesh* mesh = child->mesh(); const int vertexIndex = model->getNumVertices(); const SgVertexArray* vertices = mesh->vertices(); const Affine3& t = static_cast(transform->T()); for (unsigned int i = 0; i < vertices->size(); i++) { const Vector3 v = t * vertices->at(i).cast(); model->addVertex(v.x(), v.y(), v.z()); } for (int i = 0; i < mesh->numTriangles(); i++) { int v1 = vertexIndex + mesh->triangle(i)[0]; int v2 = vertexIndex + mesh->triangle(i)[1]; int v3 = vertexIndex + mesh->triangle(i)[2]; model->addTriangle(v1, v2, v3); } } else if (SgGroup* child = dynamic_cast((*iter).get())) { // It will follow the SceneGraph recursive. createColdetModel(child, transform, model); } } } else if (SgGroup* group = dynamic_cast(parentGroup)){ // It will follow the SceneGraph recursive. for (SgGroup::iterator iter = group->begin(); iter != group->end(); iter++) { SgGroup* child = static_cast((*iter).get()); createColdetModel(child, transParent, model); } } } #endif }; // end of namespace choreonoid-1.5.0/src/Body/PointLight.h0000664000000000000000000000260712741425367016304 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_POINT_LIGHT_H #define CNOID_BODY_POINT_LIGHT_H #include "Light.h" #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT PointLight : public Light { public: PointLight(); PointLight(const PointLight& org, bool copyStateOnly = false); virtual const char* typeName(); void copyStateFrom(const PointLight& other); virtual void copyStateFrom(const DeviceState& other); virtual DeviceState* cloneState() const; virtual Device* clone() const; virtual void forEachActualType(boost::function func); static int pointLightStateSize(); virtual int stateSize() const; virtual const double* readState(const double* buf); virtual double* writeState(double* out_buf) const; float constantAttenuation() const { return constantAttenuation_; } void setConstantAttenuation(float a) { constantAttenuation_ = a; } float linearAttenuation() const { return linearAttenuation_; } void setLinearAttenuation(float a) { linearAttenuation_ = a; } float quadraticAttenuation() const { return quadraticAttenuation_; } void setQuadraticAttenuation(float a) { quadraticAttenuation_ = a; } private: float constantAttenuation_; float linearAttenuation_; float quadraticAttenuation_; }; typedef ref_ptr PointLightPtr; } #endif choreonoid-1.5.0/src/Body/InverseKinematics.h0000664000000000000000000000133112741425367017637 0ustar rootroot/** \author Shin'ichiro Nakaoka */ #ifndef CNOID_INVERSE_KINEMATICS_H_INCLUDED #define CNOID_INVERSE_KINEMATICS_H_INCLUDED #include #include #include "exportdecl.h" namespace cnoid { class InverseKinematics { public: enum AxisSet { NO_AXES = 0, TRANSLATION_3D = 0x1, ROTATION_3D = 0x2, TRANSFORM_6D = 0x3 }; virtual ~InverseKinematics() { } virtual AxisSet axisType() const { return TRANSFORM_6D; } /** \todo This should be "bool calcInverseKinematics(const Position& T) = 0 */ virtual bool calcInverseKinematics(const Vector3& end_p, const Matrix3& end_R) = 0; }; typedef boost::shared_ptr InverseKinematicsPtr; } #endif choreonoid-1.5.0/src/Body/CompositeIK.h0000664000000000000000000000240612741425367016406 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_COMPOSITE_IK_H #define CNOID_BODY_COMPOSITE_IK_H #include "Body.h" #include "InverseKinematics.h" #include "exportdecl.h" namespace cnoid { class JointPath; typedef boost::shared_ptr JointPathPtr; class CNOID_EXPORT CompositeIK : public InverseKinematics { public: CompositeIK(); CompositeIK(Body* body, Link* targetLink); ~CompositeIK(); void reset(Body* body, Link* targetLink); bool addBaseLink(Link* link); void setMaxIKerror(double e); Body* body() const { return body_; } Link* targetLink() const { return targetLink_; } int numJointPaths() const { return pathList.size(); } JointPathPtr jointPath(int index) const { return pathList[index].path; } Link* baseLink(int index) const { return pathList[index].endLink; } virtual bool hasAnalyticalIK() const; virtual bool calcInverseKinematics(const Vector3& p, const Matrix3& R); private: BodyPtr body_; Link* targetLink_; struct PathInfo { JointPathPtr path; Link* endLink; Vector3 p_given; Matrix3 R_given; }; std::vector pathList; bool isAnalytical_; }; typedef boost::shared_ptr CompositeIKPtr; } #endif choreonoid-1.5.0/src/Body/po/0000775000000000000000000000000012741425367014463 5ustar rootrootchoreonoid-1.5.0/src/Body/po/ja.po0000664000000000000000000001536312741425367015425 0ustar rootroot# Japanese translations for PACKAGE package. # Copyright (C) 2012 THE PACKAGE'S COPYRIGHT HOLDER # This file is distributed under the same license as the PACKAGE package. # nakaoka , 2012. # msgid "" msgstr "" "Project-Id-Version: PACKAGE VERSION\n" "Report-Msgid-Bugs-To: \n" "POT-Creation-Date: 2016-07-05 00:45+0900\n" "PO-Revision-Date: 2013-12-11 13:29+0900\n" "Last-Translator: nakaoka \n" "Language-Team: Japanese\n" "Language: ja\n" "MIME-Version: 1.0\n" "Content-Type: text/plain; charset=UTF-8\n" "Content-Transfer-Encoding: 8bit\n" "Plural-Forms: nplurals=1; plural=0;\n" #: BodyLoader.cpp:253 msgid "The file format of \"%1%\" is not supported by the body loader.\n" msgstr "%1%ƒ•‚Ħ‚¤ƒĞċ½˘ċĵŻƒœƒ‡‚£ƒ­ƒĵƒ€§Ż‚µƒƒĵƒˆ•‚ŒĤ„›‚“€‚\n" #: ColladaBodyLoader.cpp:227 msgid "joint node can not be root link" msgstr "" "[è­Ĥċ‘Š]jointŻƒĞƒĵƒˆĞŞ‚‹“¨Ż§›‚“€‚joint‚ż‚°èĤށĞlink‚ż‚°‚’ċˆİ用—" "Ĥ€link‚ż‚°‚’ƒĞƒĵƒˆ¨—Ĥċšç݁™‚‹ċż…èĤŒ‚‚Š™€‚" #: ColladaBodyLoader.cpp:252 msgid "[WARNING]there is no mass:%1%" msgstr "" "[è­Ĥċ‘Š]“ċ‰›ä½“ĞŻmass‚ż‚°Ğ‚ˆ‚‹è³Şé‡ŒĉŒ‡ċš•‚ŒĤ„›‚“€‚ċ‰›ä½“ĞŻè³Şé‡‚’”ĉŒ‡" "ċš •„€‚" #: ColladaBodyLoader.cpp:325 msgid "we are sorry, It does not support axis more than one." msgstr "" "[è­Ĥċ‘Š]申—訳”–„›‚“€‚複ĉ•°ċŻċ‹•èğ¸ċšç݁ĞċŻċżœ—Ĥ„›‚“€‚‚‚—複ĉ•°ċŻ" "ċ‹•è𸂒ĉŒ‡ċš™‚‹ċ ´ċˆŻä¸€¤axisä¸­§ċŻċ‹•è𸂒”ċšç݁ •„€‚" #: ColladaBodyLoader.cpp:406 msgid "invalid sensor-type:%1%" msgstr "" "[è­Ĥċ‘Š]sensor‚ż‚°ĞċŻċżœ—Ĥ„Ş„‚ğƒ³‚µƒĵç¨ċˆ(%1%)ŒĉŒ‡ċš•‚ŒĤ„™€‚" "force6d(ForceSensor)€imu(AccelerrationSensor)€pin-hole-" "camera(VisionSensor)€çİşĉ–‡ċ­—(GyroSensor)ċ†…„š‚Œ‹‚’”ċšç݁ •„€‚" #: VRMLBodyLoader.cpp:151 msgid "Proto \"%1%\" must have the \"%2%\" field of %3% type" msgstr "ƒ—ƒ­ƒˆ‚ż‚¤ƒ—\"%1%\"ĞŻ%3%ċž‹ƒ•‚£ƒĵƒĞƒ‰\"%2%\"Œċż…èĤ§™" #: VRMLBodyLoader.cpp:195 msgid "Node \"%1%\" should have the field \"%2%\"" msgstr "ƒŽƒĵƒ‰\"%1%\"ĞŻƒ•‚£ƒĵƒĞƒ‰\"%2%\"Œċż…èĤ§™" #: VRMLBodyLoader.cpp:455 msgid "Humanoid nodes more than one are defined." msgstr "ïĵ’¤äğ上HumanoidƒŽƒĵƒ‰Œċšç݁•‚ŒĤ„™€‚" #: VRMLBodyLoader.cpp:489 msgid "There are no VRML nodes which can be loaded as a Body." msgstr "ƒœƒ‡‚£¨—ĤèŞ­żèĵżċŻèƒ½ŞVRMLƒŽƒĵƒ‰Œ‚‚Š›‚“€‚" #: VRMLBodyLoader.cpp:525 msgid "Prototype of Humanoid must have the \"jointAxis\" field" msgstr "Humanoidƒ—ƒ­ƒˆ‚ż‚¤ƒ—ĞŻ\"jointAxis\"ƒ•‚£ƒĵƒĞƒ‰Œċż…èĤ§™€‚" #: VRMLBodyLoader.cpp:528 msgid "" "The type of \"jointAxis\" field in \"Humanoid\" prototype must be SFString " "or SFVec3f" msgstr "" "\"Humanoid\"ƒ—ƒ­ƒˆ‚ż‚¤ƒ—\"jointAxis\"ƒ•‚£ƒĵƒĞƒ‰ċž‹ŻSFString‹SFVec3f§‚" "‚‹ċż…èĤŒ‚‚Š™€‚" #: VRMLBodyLoader.cpp:549 msgid "The \"equivalentInertia\" field of the Joint node is obsolete." msgstr "JointƒŽƒĵƒ‰equivalentInertiaƒ•‚£ƒĵƒĞƒ‰Żċğƒĉ­˘äşˆċš§™€‚" #: VRMLBodyLoader.cpp:645 msgid "" "The Humanoid node does not have a Joint node in its \"humanoidBody\" field." msgstr "HumanoidƒŽƒĵƒ‰humanoidBodyƒ•‚£ƒĵƒĞƒ‰ĞJointƒŽƒĵƒ‰Œ‚‚Š›‚“€‚" #: VRMLBodyLoader.cpp:647 msgid "" "The Humanoid node must have a unique Joint node in its \"humanoidBody\" " "field." msgstr "HumanoidƒŽƒĵƒ‰humanoidBodyĞċĞ‚‚‰‚Œ‚‹JointƒŽƒĵƒ‰Ż²¨¤ ‘§™€‚" #: VRMLBodyLoader.cpp:672 msgid "Warning: Joint ID %1% is not specified." msgstr "è­Ĥċ‘Š: Joint ID %1% ĉŒ‡ċšŒ‚‚Š›‚“€‚" #: VRMLBodyLoader.cpp:785 msgid "Warning: Joint ID %1% is duplicated." msgstr "è­Ĥċ‘Šïĵš Joint ID %1% Żé‡è¤‡—Ĥ„™€‚" #: VRMLBodyLoader.cpp:813 msgid "" "Warning: A deprecated joint type 'crawler'is specified for %1%. Use " "'pseudoContinousTrack' instead." msgstr "è­Ĥċ‘Šïĵšċğƒĉ­˘äşˆċšé–˘çŻ€‚ż‚¤ƒ—§‚‚‹'crawler'Œ%1%§ĉŒ‡ċš•‚ŒĤ„™€‚“ä𣂏‚ŠĞ'pseudoContinousTrack'‚’ä½ż†‚ˆ†Ğ—Ĥ •„€‚" #: VRMLBodyLoader.cpp:818 VRMLBodyLoader.cpp:1240 msgid "JointType \"%1%\" is not supported." msgstr "JointƒŽƒĵƒ‰\"%1%\"ä½ç½Œĉ­£—‚‚Š›‚“€‚" #: VRMLBodyLoader.cpp:902 msgid "%1% node is not in a correct place." msgstr "%1%ƒŽƒĵƒ‰ä½ç½Œä¸ĉ­£§™€‚" #: VRMLBodyLoader.cpp:911 msgid "Joint node \"%1%\" is not in a correct place." msgstr "JointƒŽƒĵƒ‰\"%1%\"ä½ç½Œĉ­£—‚‚Š›‚“€‚" #: VRMLBodyLoader.cpp:1039 msgid "Sensor type %1% is not supported.\n" msgstr "‚ğƒ³‚µċž‹%1%Ż‚µƒƒĵƒˆ•‚ŒĤ„›‚“€‚\n" #: VRMLBodyLoader.cpp:1229 msgid "" "Field \"link%1%Name\" of a ExtraJoint node does not specify a valid link name" msgstr "ExtraJointƒŽƒĵƒ‰ƒ•‚£ƒĵƒĞƒ‰\"link%1%Name\"§ĉœ‰ċŠıŞƒŞƒ³‚ŻċŒĉŒ‡ċš•‚ŒĤ„›‚“" #: YAMLBodyLoader.cpp:406 msgid "The file format cannot be loaded as a Choreonoid body model" msgstr "" "“ƒ•‚Ħ‚¤ƒĞċ½˘ċĵŻChoreonoidƒœƒ‡‚£ƒ˘ƒ‡ƒĞ¨—ĤèŞ­żèĵ‚€“¨Œ§›‚“€‚" #: YAMLBodyLoader.cpp:414 msgid "This version of the Choreonoid body format is not supported" msgstr "“ƒƒĵ‚¸ƒ§ƒ³Choreonoidƒœƒ‡‚£ċ½˘ċĵŻ‚µƒƒĵƒˆ•‚ŒĤ„›‚“€‚" #: YAMLBodyLoader.cpp:426 msgid "The \"angleUnit\" value must be either \"radian\" or \"degree\"" msgstr "\"angleUnit\"ċ€¤Ż\"radian\"‹\"degree\"§Ş‘‚Œ°Ş‚Š›‚“" #: YAMLBodyLoader.cpp:438 msgid "There is no \"links\" values for defining the links in the body" msgstr "ƒœƒ‡‚£ĞċĞ‚Œ‚‹ƒŞƒ³‚Ż‚’ċšç݁™‚‹\"links\"ċ€¤Œ‚‚Š›‚“€‚" #: YAMLBodyLoader.cpp:465 msgid "Parent link \"%1%\" of %2% is not defined" msgstr "%2%ƒŞƒ³‚ŻèĤރރ³‚Ż%1%Żċšç݁•‚ŒĤ„›‚“€‚" #: YAMLBodyLoader.cpp:472 msgid "There is no \"rootLink\" value for specifying the root link." msgstr "ƒĞƒĵƒˆƒŞƒ³‚Ż‚’ĉŒ‡ċš™‚‹\"rootLink\"ċ€¤Œ‚‚Š›‚“€‚" #: YAMLBodyLoader.cpp:478 msgid "Link \"%1%\" specified in \"rootLink\" is not defined." msgstr "\"rootLink\"§ĉŒ‡ċš•‚ŒĤ„‚‹%1%ƒŞƒ³‚ŻŒċšç݁•‚ŒĤ„›‚“€‚" #: YAMLBodyLoader.cpp:520 msgid "Duplicated link name \"%1%\"" msgstr "ƒŞƒ³‚Żċ\"%1%\"Żé‡è¤‡—Ĥ„™€‚" #: YAMLBodyLoader.cpp:735 msgid "" "The node type \"%1%\" is different from the type \"%2%\" specified in the " "parent node" msgstr "ƒŽƒĵƒˆċž‹%1%ŻèĤރŽƒĵƒ‰§ĉŒ‡ċš•‚ŒĤ„‚‹%2%ċž‹¨ç•°Ş‚Š™€‚" #: YAMLBodyLoader.cpp:784 msgid "The node type \"%1%\" is not defined." msgstr "ƒŽƒĵƒ‰ċž‹%1%Żċšç݁•‚ŒĤ„›‚“€‚" #: YAMLBodyLoader.cpp:1055 msgid "Unknown geometry \"%1%\"" msgstr "不ĉ˜ŽŞ‚¸‚ރĦƒˆƒŞ%1%" choreonoid-1.5.0/src/Body/SceneBody.h0000664000000000000000000000611612741425367016075 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_SCENE_BODY_H #define CNOID_BODY_SCENE_BODY_H #include "Body.h" #include "SceneDevice.h" #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT SceneLink : public SgPosTransform { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW; SceneLink(Link* link); Link* link() { return link_; } const Link* link() const { return link_; } const SgNode* visualShape() const { return visualShape_; } SgNode* visualShape() { return visualShape_; } const SgNode* collisionShape() const { return collisionShape_; } SgNode* collisionShape() { return collisionShape_; } void setShapeGroup(SgGroup* group); void resetShapeGroup(); void cloneShape(SgCloneMap& cloneMap); void setVisible(bool on); void setVisibleShapeTypes(bool visual, bool collision); void makeTransparent(float transparency); void makeTransparent(float transparency, SgCloneMap& cloneMap); void addSceneDevice(SceneDevice* sdev); SceneDevice* getSceneDevice(Device* device); private: SceneLink(const SceneLink& org); Link* link_; SgPosTransformPtr shapeTransform; SgNodePtr visualShape_; SgNodePtr collisionShape_; SgGroup* currentShapeGroup; SgGroupPtr shapeGroup; bool isVisible_; bool isVisualShapeVisible_; bool isCollisionShapeVisible_; std::vector sceneDevices_; SgGroupPtr deviceGroup; float transparency_; int cloneShape(SgCloneMap& cloneMap, bool doNotify); int updateVisibility(int action, bool doNotify); }; typedef ref_ptr SceneLinkPtr; class CNOID_EXPORT SceneBody : public SgPosTransform { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW; SceneBody(Body* body); SceneBody(Body* body, boost::function sceneLinkFactory); Body* body() { return body_; } const Body* body() const { return body_; } void cloneShapes(SgCloneMap& cloneMap); void setVisibleShapeTypes(bool visual, bool collision); int numSceneLinks() const { return sceneLinks_.size(); } SceneLink* sceneLink(int index) { return sceneLinks_[index]; } const SceneLink* sceneLink(int index) const { return sceneLinks_[index]; } void updateLinkPositions(); void updateLinkPositions(SgUpdate& update); SceneDevice* getSceneDevice(Device* device); void setSceneDeviceUpdateConnection(bool on); void updateSceneDevices(); void makeTransparent(float transparency); void makeTransparent(float transparency, SgCloneMap& cloneMap); virtual void updateModel(); protected: BodyPtr body_; SgGroupPtr sceneLinkGroup; std::vector sceneLinks_; std::vector sceneDevices; virtual ~SceneBody(); private: boost::function sceneLinkFactory; bool isVisualShapeVisible; bool isCollisionShapeVisible; SceneBody(const SceneBody& org); void initialize(Body* body, const boost::function& sceneLinkFactory); }; typedef ref_ptr SceneBodyPtr; } #endif choreonoid-1.5.0/src/Body/InverseDynamics.h0000664000000000000000000000052312741425367017321 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_INVERSE_DYNAMICS_H_INCLUDED #define CNOID_BODY_INVERSE_DYNAMICS_H_INCLUDED #include #include "exportdecl.h" namespace cnoid { class Link; /** @return force being applied to the root link */ CNOID_EXPORT Vector6 calcInverseDynamics(Link* link); } #endif choreonoid-1.5.0/src/Body/VRMLBodyLoader.cpp0000664000000000000000000011651512741425367017307 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "VRMLBodyLoader.h" #include "Body.h" #include "ForceSensor.h" #include "RateGyroSensor.h" #include "AccelerationSensor.h" #include "Camera.h" #include "RangeCamera.h" #include "RangeSensor.h" #include "PointLight.h" #include "SpotLight.h" #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace cnoid { class VRMLBodyLoaderImpl { public: enum { PROTO_UNDEFINED = 0, PROTO_HUMANOID, PROTO_JOINT, PROTO_SEGMENT, PROTO_SURFACE, PROTO_DEVICE, PROTO_EXTRAJOINT, NUM_PROTOS }; typedef std::bitset ProtoIdSet; struct SegmentInfo { Vector3 c; double m; }; struct LinkInfo { Link* link; double m; Vector3 c; Matrix3 I; vector segments; SgGroupPtr visualShape; SgGroupPtr collisionShape; bool isSurfaceNodeUsed; }; VRMLParser vrmlParser; Body* body; VRMLProtoInstancePtr rootJointNode; std::vector extraJointNodes; dynamic_bitset<> validJointIdSet; int numValidJointIds; VRMLToSGConverter sgConverter; int divisionNumber; ostream* os_; bool isVerbose; int messageIndent; typedef boost::function DeviceFactory; typedef map DeviceFactoryMap; static DeviceFactoryMap deviceFactories; typedef map LinkOriginalMap; LinkOriginalMap linkOriginalMap; ostream& os() { return *os_; } void putMessage(const std::string& message){ os() << string(messageIndent, ' ') + message + "\n"; } VRMLBodyLoaderImpl(); ~VRMLBodyLoaderImpl(); VRMLNodePtr getOriginalNode(Link* link); bool load(Body* body, const std::string& filename); void readTopNodes(); void checkHumanoidProto(VRMLProto* proto); void checkJointProto(VRMLProto* proto); void checkSegmentProto(VRMLProto* proto); void checkSurfaceProto(VRMLProto* proto); void checkSensorProtoCommon(VRMLProto* proto); void checkDeviceProtoCommon(VRMLProto* proto); void checkVisionSensorProto(VRMLProto* proto); void checkRangeSensorProto(VRMLProto* proto); void checkSpotLightDeviceProto(VRMLProto* proto); void checkExtraJointProto(VRMLProto* proto); void readHumanoidNode(VRMLProtoInstance* humanoidNode); Link* readJointNode(VRMLProtoInstance* jointNode, const Matrix3& parentRs); Link* createLink(VRMLProtoInstance* jointNode, const Matrix3& parentRs); void readJointSubNodes(LinkInfo& iLink, MFNode& childNodes, const ProtoIdSet& acceptableProtoIds, const Affine3& T); void readSegmentNode(LinkInfo& iLink, VRMLProtoInstance* segmentNode, const Affine3& T); void readSurfaceNode(LinkInfo& iLink, VRMLProtoInstance* segmentShapeNode, const Affine3& T); void readDeviceNode(LinkInfo& iLink, VRMLProtoInstance* deviceNode, const Affine3& T); static void readDeviceCommonParameters(Device& device, VRMLProtoInstance* node); static ForceSensorPtr createForceSensor(VRMLProtoInstance* node); static RateGyroSensorPtr createRateGyroSensor(VRMLProtoInstance* node); static AccelerationSensorPtr createAccelerationSensor(VRMLProtoInstance* node); static CameraPtr createCamera(VRMLProtoInstance* node); static RangeSensorPtr createRangeSensor(VRMLProtoInstance* node); static void readLightDeviceCommonParameters(Light& light, VRMLProtoInstance* node); static SpotLightPtr createSpotLight(VRMLProtoInstance* node); void setExtraJoints(); }; } VRMLBodyLoaderImpl::DeviceFactoryMap VRMLBodyLoaderImpl::deviceFactories; namespace { typedef void (VRMLBodyLoaderImpl::*ProtoCheckFunc)(VRMLProto* proto); struct ProtoInfo { ProtoInfo() { } ProtoInfo(int id, ProtoCheckFunc func) : id(id), protoCheckFunc(func) { } int id; ProtoCheckFunc protoCheckFunc; }; typedef map ProtoInfoMap; ProtoInfoMap protoInfoMap; void throwExceptionOfIllegalField(VRMLProto* proto, const std::string& name, const char* label) { throw invalid_argument( str(format(_("Proto \"%1%\" must have the \"%2%\" field of %3% type")) % proto->protoName % name % label)); } template void requireField(VRMLProto* proto, const std::string& name){ VRMLVariantField* field = proto->findField(name); if(!field || field->type() != typeid(TValue)){ throwExceptionOfIllegalField(proto, name, labelOfVRMLfieldType()); } } template VRMLVariantField* addField(VRMLProto* proto, const std::string& name, const TValue& defaultValue) { VRMLVariantField* field = proto->findField(name); if(!field){ field = &proto->field(name); (*field) = defaultValue; } else if(field->type() != typeid(TValue)){ throwExceptionOfIllegalField(proto, name, labelOfVRMLfieldType()); } return field; } template VRMLVariantField* addField(VRMLProto* proto, const std::string& name) { return addField(proto, name, TValue()); } double getLimitValue(VRMLVariantField& field, double defaultValue) { MFFloat& values = get(field); if(values.empty()){ return defaultValue; } return values[0]; } template ValueType getValue(VRMLProtoInstance* node, const char* fieldName) { VRMLProtoFieldMap::const_iterator p = node->fields.find(fieldName); if(p == node->fields.end()){ BOOST_THROW_EXCEPTION( nonexistent_key_error() << error_info_key(fieldName) << error_info_message(str(format(_("Node \"%1%\" should have the field \"%2%\"")) % node->proto->protoName % fieldName))); } return boost::get(p->second); } void readVRMLfield(VRMLVariantField& field, string& out_s) { switch(field.which()){ case SFSTRING: out_s = get(field); break; case MFSTRING: { MFString& strings = get(field); out_s = ""; for(size_t i=0; i < strings.size(); i++){ out_s += strings[i] + "\n"; } } break; default: break; } } bool checkAndReadVRMLfield(VRMLProtoInstance* node, const char* key, bool& out_value) { VRMLVariantField* field = node->findField(key); if(field && field->which() == SFBOOL){ out_value = get(*field); return true; } return false; } void readVRMLfield(VRMLVariantField& field, int& out_value) { out_value = get(field); } bool checkAndReadVRMLfield(VRMLProtoInstance* node, const char* key, int& out_value) { VRMLVariantField* field = node->findField(key); if(field && field->which() == SFINT32){ out_value = get(*field); return true; } return false; } void readVRMLfield(VRMLVariantField& field, double& out_value) { out_value = get(field); } bool checkAndReadVRMLfield(VRMLProtoInstance* node, const char* key, SFVec3f& out_value) { VRMLVariantField* field = node->findField(key); if(field && field->which() == SFVEC3F){ out_value = get(*field); return true; } return false; } void readVRMLfield(VRMLVariantField& field, Vector3& out_v) { out_v = get(field); } void readVRMLfield(VRMLVariantField& field, Matrix3& out_R) { if(field.which() == SFROTATION){ out_R = get(field).toRotationMatrix(); } else if(field.which() == MFFLOAT){ MFFloat& mf = get(field); if(mf.size() >= 9){ out_R << mf[0], mf[1], mf[2], mf[3], mf[4], mf[5], mf[6], mf[7], mf[8]; } } } } VRMLBodyLoader::VRMLBodyLoader() { impl = new VRMLBodyLoaderImpl(); } VRMLBodyLoaderImpl::VRMLBodyLoaderImpl() { divisionNumber = sgConverter.divisionNumber(); isVerbose = false; body = 0; os_ = &nullout(); if(protoInfoMap.empty()){ protoInfoMap["Humanoid"] = ProtoInfo(PROTO_HUMANOID, &VRMLBodyLoaderImpl::checkHumanoidProto); protoInfoMap["Joint"] = ProtoInfo(PROTO_JOINT, &VRMLBodyLoaderImpl::checkJointProto); protoInfoMap["Segment"] = ProtoInfo(PROTO_SEGMENT, &VRMLBodyLoaderImpl::checkSegmentProto); protoInfoMap["Surface"] = ProtoInfo(PROTO_SURFACE, &VRMLBodyLoaderImpl::checkSurfaceProto); protoInfoMap["ForceSensor"] = ProtoInfo(PROTO_DEVICE, &VRMLBodyLoaderImpl::checkSensorProtoCommon); protoInfoMap["Gyro"] = ProtoInfo(PROTO_DEVICE, &VRMLBodyLoaderImpl::checkSensorProtoCommon); protoInfoMap["AccelerationSensor"] = ProtoInfo(PROTO_DEVICE, &VRMLBodyLoaderImpl::checkSensorProtoCommon); protoInfoMap["RangeSensor"] = ProtoInfo(PROTO_DEVICE, &VRMLBodyLoaderImpl::checkSensorProtoCommon); protoInfoMap["PressureSensor"] = ProtoInfo(PROTO_DEVICE, &VRMLBodyLoaderImpl::checkSensorProtoCommon); protoInfoMap["VisionSensor"] = ProtoInfo(PROTO_DEVICE, &VRMLBodyLoaderImpl::checkVisionSensorProto); protoInfoMap["RangeSensor"] = ProtoInfo(PROTO_DEVICE, &VRMLBodyLoaderImpl::checkRangeSensorProto); protoInfoMap["SpotLightDevice"] = ProtoInfo(PROTO_DEVICE, &VRMLBodyLoaderImpl::checkSpotLightDeviceProto); protoInfoMap["ExtraJoint"] = ProtoInfo(PROTO_EXTRAJOINT, &VRMLBodyLoaderImpl::checkExtraJointProto); } if(deviceFactories.empty()){ deviceFactories["ForceSensor"] = &VRMLBodyLoaderImpl::createForceSensor; deviceFactories["Gyro"] = &VRMLBodyLoaderImpl::createRateGyroSensor; deviceFactories["AccelerationSensor"] = &VRMLBodyLoaderImpl::createAccelerationSensor; //sensorTypeMap["PressureSensor"] = Sensor::PRESSURE; //sensorTypeMap["PhotoInterrupter"] = Sensor::PHOTO_INTERRUPTER; //sensorTypeMap["TorqueSensor"] = Sensor::TORQUE; deviceFactories["RangeSensor"] = &VRMLBodyLoaderImpl::createRangeSensor; deviceFactories["VisionSensor"] = &VRMLBodyLoaderImpl::createCamera; deviceFactories["SpotLightDevice"] = &VRMLBodyLoaderImpl::createSpotLight; } } VRMLBodyLoader::~VRMLBodyLoader() { delete impl; } VRMLBodyLoaderImpl::~VRMLBodyLoaderImpl() { } const char* VRMLBodyLoader::format() const { return "OpenHRP3-VRML97"; } void VRMLBodyLoader::setMessageSink(std::ostream& os) { impl->os_ = &os; impl->sgConverter.setMessageSink(os); } void VRMLBodyLoader::setVerbose(bool on) { impl->isVerbose = on; } /** \todo fully implement this mode */ void VRMLBodyLoader::enableShapeLoading(bool on) { impl->sgConverter.setTriangulationEnabled(on); impl->sgConverter.setNormalGenerationEnabled(on); } void VRMLBodyLoader::setDefaultDivisionNumber(int n) { impl->divisionNumber = n; } VRMLNodePtr VRMLBodyLoader::getOriginalNode(Link* link) { return impl->getOriginalNode(link); } VRMLNodePtr VRMLBodyLoaderImpl::getOriginalNode(Link* link) { LinkOriginalMap::iterator it; it = linkOriginalMap.find(link); if (it == linkOriginalMap.end()) { return NULL; } return it->second; } bool VRMLBodyLoader::load(Body* body, const std::string& filename) { body->clearDevices(); body->clearExtraJoints(); return impl->load(body, filename); } bool VRMLBodyLoaderImpl::load(Body* body, const std::string& filename) { bool result = false; this->body = body; rootJointNode = 0; extraJointNodes.clear(); validJointIdSet.clear(); numValidJointIds = 0; try { sgConverter.setDivisionNumber(divisionNumber); vrmlParser.load(filename); readTopNodes(); if(body->modelName().empty()){ body->setModelName(getBasename(filename)); } result = true; os().flush(); } catch(const ValueNode::Exception& ex){ os() << ex.message() << endl; } catch(EasyScanner::Exception & ex){ os() << ex.getFullMessage() << endl; } catch(const nonexistent_key_error& error){ if(const std::string* message = get_error_info(error)){ os() << *message << endl; } } catch(const std::exception& ex){ os() << ex.what() << endl; } return result; } void VRMLBodyLoaderImpl::readTopNodes() { bool humanoidNodeLoaded = false; VRMLGroupPtr nonHumanoidNodeGroup; while(VRMLNodePtr node = vrmlParser.readNode()){ if(node->isCategoryOf(PROTO_DEF_NODE)){ VRMLProto* proto = static_cast(node.get()); ProtoInfoMap::iterator p = protoInfoMap.find(proto->protoName); if(p != protoInfoMap.end()){ ProtoInfo& info = p->second; (this->*info.protoCheckFunc)(proto); } continue; } else if(node->isCategoryOf(PROTO_INSTANCE_NODE)){ VRMLProtoInstance* instance = static_cast(node.get()); if(instance->proto->protoName == "Humanoid") { if(humanoidNodeLoaded){ throw invalid_argument(_("Humanoid nodes more than one are defined.")); } readHumanoidNode(instance); humanoidNodeLoaded = true; continue; } else if(instance->proto->protoName == "ExtraJoint") { extraJointNodes.push_back(instance); continue; } } if(!nonHumanoidNodeGroup){ nonHumanoidNodeGroup = new VRMLGroup; } nonHumanoidNodeGroup->children.push_back(node); } vrmlParser.checkEOF(); bool loaded = humanoidNodeLoaded; if(humanoidNodeLoaded){ setExtraJoints(); } else if(!nonHumanoidNodeGroup->children.empty()){ SgNodePtr scene = sgConverter.convert(nonHumanoidNodeGroup); if(scene){ Link* link = body->createLink(); link->setName("Root"); link->setShape(scene); link->setMass(1.0); link->setInertia(Matrix3::Identity()); body->setRootLink(link); loaded = true; } } if(!loaded){ throw invalid_argument(_("There are no VRML nodes which can be loaded as a Body.")); } } void VRMLBodyLoaderImpl::checkHumanoidProto(VRMLProto* proto) { // required fields requireField(proto, "center"); requireField(proto, "humanoidBody"); requireField(proto, "rotation"); requireField(proto, "translation"); // optional fields addField(proto, "info"); addField(proto, "name"); addField(proto, "version"); addField(proto, "scaleOrientation"); addField(proto, "scale", SFVec3f::Constant(1.0)); } void VRMLBodyLoaderImpl::checkJointProto(VRMLProto* proto) { // required fields requireField(proto, "center"); requireField(proto, "children"); requireField(proto, "rotation"); requireField(proto, "translation"); requireField(proto, "jointType"); requireField(proto, "jointId"); VRMLVariantField* field; field = proto->findField("jointAxis"); if(!field){ throw invalid_argument(_("Prototype of Humanoid must have the \"jointAxis\" field")); } if(field->type() != typeid(SFString) && field->type() != typeid(SFVec3f)){ throw invalid_argument(_("The type of \"jointAxis\" field in \"Humanoid\" prototype must be SFString or SFVec3f")); } // optional fields addField(proto, "llimit"); addField(proto, "ulimit"); addField(proto, "lvlimit"); addField(proto, "uvlimit"); addField(proto, "limitOrientation"); addField(proto, "name"); addField(proto, "gearRatio", 1.0); addField(proto, "rotorInertia", 0.0); addField(proto, "rotorResistor", 0.0); addField(proto, "torqueConst", 1.0); addField(proto, "encoderPulse", 1.0); addField(proto, "jointValue", 0.0); addField(proto, "scale", SFVec3f::Constant(1.0)); if(proto->findField("equivalentInertia")){ os() << _("The \"equivalentInertia\" field of the Joint node is obsolete.") << endl; } } void VRMLBodyLoaderImpl::checkSegmentProto(VRMLProto* proto) { requireField(proto, "centerOfMass"); requireField(proto, "mass"); requireField(proto, "momentsOfInertia"); addField(proto, "name"); } void VRMLBodyLoaderImpl::checkSurfaceProto(VRMLProto* proto) { requireField(proto, "visual"); requireField(proto, "collision"); } void VRMLBodyLoaderImpl::checkSensorProtoCommon(VRMLProto* proto) { requireField(proto, "sensorId"); requireField(proto, "translation"); requireField(proto, "rotation"); } void VRMLBodyLoaderImpl::checkDeviceProtoCommon(VRMLProto* proto) { requireField(proto, "translation"); requireField(proto, "rotation"); } void VRMLBodyLoaderImpl::checkVisionSensorProto(VRMLProto* proto) { checkDeviceProtoCommon(proto); requireField(proto, "type"); requireField(proto, "width"); requireField(proto, "height"); requireField(proto, "fieldOfView"); requireField(proto, "frontClipDistance"); requireField(proto, "backClipDistance"); addField(proto, "frameRate", 30.0); } void VRMLBodyLoaderImpl::checkRangeSensorProto(VRMLProto* proto) { checkDeviceProtoCommon(proto); requireField(proto, "scanAngle"); requireField(proto, "scanStep"); requireField(proto, "scanRate"); requireField(proto, "maxDistance"); addField(proto, "minDistance", 0.01); } void VRMLBodyLoaderImpl::checkSpotLightDeviceProto(VRMLProto* proto) { checkDeviceProtoCommon(proto); requireField(proto, "attenuation"); requireField(proto, "beamWidth"); requireField(proto, "color"); requireField(proto, "cutOffAngle"); requireField(proto, "direction"); requireField(proto, "intensity"); requireField(proto, "on"); } void VRMLBodyLoaderImpl::checkExtraJointProto(VRMLProto* proto) { requireField(proto, "link1Name"); requireField(proto, "link2Name"); requireField(proto, "link1LocalPos"); requireField(proto, "link2LocalPos"); requireField(proto, "jointType"); requireField(proto, "jointAxis"); } void VRMLBodyLoaderImpl::readHumanoidNode(VRMLProtoInstance* humanoidNode) { if(isVerbose) putMessage("Humanoid node"); body->setModelName(humanoidNode->defName); MFNode& nodes = get(humanoidNode->fields["humanoidBody"]); if(nodes.size() == 0){ throw invalid_argument(_("The Humanoid node does not have a Joint node in its \"humanoidBody\" field.")); } else if(nodes.size() > 1){ throw invalid_argument(_("The Humanoid node must have a unique Joint node in its \"humanoidBody\" field.")); } if(nodes[0]->isCategoryOf(PROTO_INSTANCE_NODE)){ VRMLProtoInstance* jointNode = dynamic_cast(nodes[0].get()); if(jointNode && jointNode->proto->protoName == "Joint"){ rootJointNode = jointNode; Matrix3 Rs = Matrix3::Identity(); Link* rootLink = readJointNode(jointNode, Rs); VRMLProtoFieldMap& f = jointNode->fields; Vector3 defaultRootPos; readVRMLfield(f["translation"], defaultRootPos); Matrix3 defaultRootR; readVRMLfield(f["rotation"], defaultRootR); rootLink->setOffsetTranslation(defaultRootPos); rootLink->setOffsetRotation(defaultRootR); body->setRootLink(rootLink); // Warn empty joint ids if(numValidJointIds < validJointIdSet.size()){ for(size_t i=0; i < validJointIdSet.size(); ++i){ if(!validJointIdSet[i]){ os() << str(format(_("Warning: Joint ID %1% is not specified.")) % i) << endl; } } } body->installCustomizer(); } } } static void setShape(Link* link, SgGroup* shape, bool isVisual) { SgNodePtr node; if(shape->empty()){ node = new SgNode; } else { SgInvariantGroup* invariant = new SgInvariantGroup; if(link->Rs().isApprox(Matrix3::Identity())){ shape->copyChildrenTo(invariant); } else { SgPosTransform* transformRs = new SgPosTransform; transformRs->setRotation(link->Rs()); shape->copyChildrenTo(transformRs); invariant->addChild(transformRs); } node = invariant; } if(node){ if(isVisual){ link->setVisualShape(node); } else { link->setCollisionShape(node); } } } Link* VRMLBodyLoaderImpl::readJointNode(VRMLProtoInstance* jointNode, const Matrix3& parentRs) { if(isVerbose) putMessage(string("Joint node") + jointNode->defName); Link* link = createLink(jointNode, parentRs); LinkInfo iLink; iLink.link = link; iLink.m = 0.0; iLink.c = Vector3::Zero(); iLink.I = Matrix3::Zero(); iLink.visualShape = new SgGroup; iLink.collisionShape = new SgGroup; iLink.isSurfaceNodeUsed = false; MFNode& childNodes = get(jointNode->fields["children"]); Affine3 T(Affine3::Identity()); ProtoIdSet acceptableProtoIds; acceptableProtoIds.set(PROTO_JOINT); acceptableProtoIds.set(PROTO_SEGMENT); acceptableProtoIds.set(PROTO_DEVICE); readJointSubNodes(iLink, childNodes, acceptableProtoIds, T); Matrix3& I = iLink.I; for(size_t i=0; i < iLink.segments.size(); ++i){ const SegmentInfo& segment = iLink.segments[i]; const Vector3 o = segment.c - iLink.c; const double& x = o.x(); const double& y = o.y(); const double& z = o.z(); const double& m = segment.m; I(0,0) += m * (y * y + z * z); I(0,1) += -m * (x * y); I(0,2) += -m * (x * z); I(1,0) += -m * (y * x); I(1,1) += m * (z * z + x * x); I(1,2) += -m * (y * z); I(2,0) += -m * (z * x); I(2,1) += -m * (z * y); I(2,2) += m * (x * x + y * y); } link->setMass(iLink.m); link->setCenterOfMass(link->Rs() * iLink.c); link->setInertia(link->Rs() * iLink.I * link->Rs().transpose()); setShape(link, iLink.visualShape, true); if(iLink.isSurfaceNodeUsed){ setShape(link, iLink.collisionShape, false); } else { link->setCollisionShape(link->visualShape()); } return link; } Link* VRMLBodyLoaderImpl::createLink(VRMLProtoInstance* jointNode, const Matrix3& parentRs) { Link* link = body->createLink(); link->setName(jointNode->defName); VRMLProtoFieldMap& jf = jointNode->fields; link->setJointId(get(jf["jointId"])); if(link->jointId() >= 0){ if(link->jointId() >= validJointIdSet.size()){ validJointIdSet.resize(link->jointId() + 1); } if(!validJointIdSet[link->jointId()]){ ++numValidJointIds; validJointIdSet.set(link->jointId()); } else { os() << str(format(_("Warning: Joint ID %1% is duplicated.")) % link->jointId()) << endl; } } if(jointNode != rootJointNode){ Vector3 b; readVRMLfield(jf["translation"], b); link->setOffsetTranslation(parentRs * b); Matrix3 R; readVRMLfield(jf["rotation"], R); link->setAccumulatedSegmentRotation(parentRs * R); } string jointType; readVRMLfield(jf["jointType"], jointType); if(jointType == "fixed" ){ link->setJointType(Link::FIXED_JOINT); } else if(jointType == "free" ){ link->setJointType(Link::FREE_JOINT); } else if(jointType == "rotate" ){ link->setJointType(Link::ROTATIONAL_JOINT); } else if(jointType == "slide" ){ link->setJointType(Link::SLIDE_JOINT); } else if(jointType == "pseudoContinuousTrack"){ link->setJointType(Link::PSEUDO_CONTINUOUS_TRACK); } else if(jointType == "crawler"){ link->setJointType(Link::CRAWLER_JOINT); os() << str(format(_("Warning: A deprecated joint type 'crawler'is specified for %1%. Use 'pseudoContinousTrack' instead.")) % link->name()) << endl; } else if(jointType == "agx_crawler"){ link->setJointType(Link::AGX_CRAWLER_JOINT); } else { throw invalid_argument(str(format(_("JointType \"%1%\" is not supported.")) % jointType)); } if(link->jointType() == Link::FREE_JOINT || link->jointType() == Link::FIXED_JOINT){ link->setJointAxis(Vector3::Zero()); } else { Vector3 jointAxis; VRMLVariantField& jointAxisField = jf["jointAxis"]; switch(jointAxisField.which()){ case SFSTRING: { SFString& axisLabel = get(jointAxisField); if(axisLabel == "X"){ jointAxis = Vector3::UnitX(); } else if(axisLabel == "Y"){ jointAxis = Vector3::UnitY(); } else if(axisLabel == "Z"){ jointAxis = Vector3::UnitZ(); } } break; case SFVEC3F: readVRMLfield(jointAxisField, jointAxis); break; default: jointAxis = Vector3::UnitZ(); break; } link->setJointAxis(link->Rs() * jointAxis); } double Ir, gearRatio, torqueConst, encoderPulse, rotorResistor; readVRMLfield(jf["rotorInertia"], Ir); readVRMLfield(jf["gearRatio"], gearRatio); readVRMLfield(jf["torqueConst"], torqueConst); readVRMLfield(jf["encoderPulse"], encoderPulse); readVRMLfield(jf["rotorResistor"], rotorResistor); VRMLVariantField* field = jointNode->findField("equivalentInertia"); if(field){ link->setEquivalentRotorInertia(get(*field)); } else { link->setEquivalentRotorInertia(gearRatio * gearRatio * Ir); } link->setInfo("rotorInertia", Ir); link->setInfo("gearRatio", gearRatio); link->setInfo("torqueConst", torqueConst); link->setInfo("encoderPulse", encoderPulse); link->setInfo("rotorResistor", rotorResistor); double maxlimit = numeric_limits::max(); link->setJointRange( getLimitValue(jf["llimit"], -maxlimit), getLimitValue(jf["ulimit"], +maxlimit)); link->setJointVelocityRange( getLimitValue(jf["lvlimit"], -maxlimit), getLimitValue(jf["uvlimit"], +maxlimit)); return link; } void VRMLBodyLoaderImpl::readJointSubNodes(LinkInfo& iLink, MFNode& childNodes, const ProtoIdSet& acceptableProtoIds, const Affine3& T) { for(size_t i = 0; i < childNodes.size(); ++i){ bool doTraverse = false; VRMLNode* childNode = childNodes[i].get(); if(!childNode->isCategoryOf(PROTO_INSTANCE_NODE)){ doTraverse = true; } else { VRMLProtoInstance* protoInstance = static_cast(childNode); int id = PROTO_UNDEFINED; const string& protoName = protoInstance->proto->protoName; ProtoInfoMap::iterator p = protoInfoMap.find(protoName); if(p == protoInfoMap.end()){ doTraverse = true; childNode = protoInstance->actualNode.get(); } else { id = p->second.id; if(!acceptableProtoIds.test(id)){ throw invalid_argument(str(format(_("%1% node is not in a correct place.")) % protoName)); } if(isVerbose){ messageIndent += 2; } switch(id){ case PROTO_JOINT: if(!T.matrix().isApprox(Affine3::MatrixType::Identity())){ throw invalid_argument( str(format(_("Joint node \"%1%\" is not in a correct place.")) % protoInstance->defName)); } iLink.link->appendChild(readJointNode(protoInstance, iLink.link->Rs())); break; case PROTO_SEGMENT: readSegmentNode(iLink, protoInstance, T); linkOriginalMap[iLink.link] = childNodes[i]; break; case PROTO_SURFACE: readSurfaceNode(iLink, protoInstance, T); break; case PROTO_DEVICE: readDeviceNode(iLink, protoInstance, T); break; default: doTraverse = true; break; } if(isVerbose){ messageIndent -= 2; } } } if(doTraverse && childNode->isCategoryOf(GROUPING_NODE)){ VRMLGroup* group = static_cast(childNode); if(VRMLTransform* transform = dynamic_cast(group)){ readJointSubNodes(iLink, group->getChildren(), acceptableProtoIds, T * transform->toAffine3d()); } else { readJointSubNodes(iLink, group->getChildren(), acceptableProtoIds, T); } } } } void VRMLBodyLoaderImpl::readSegmentNode(LinkInfo& iLink, VRMLProtoInstance* segmentNode, const Affine3& T) { if(isVerbose) putMessage(string("Segment node ") + segmentNode->defName); /* Mass = Sigma mass C = (Sigma mass * T * c) / Mass I = Sigma(R * I * Rt + G) R = Rotation matrix part of T G = y*y+z*z, -x*y, -x*z, -y*x, z*z+x*x, -y*z, -z*x, -z*y, x*x+y*y (x, y, z ) = T * c - C */ VRMLProtoFieldMap& sf = segmentNode->fields; SegmentInfo iSegment; readVRMLfield(sf["mass"], iSegment.m); Vector3 c; readVRMLfield(sf["centerOfMass"], c); iSegment.c = T.linear() * c + T.translation(); iLink.c = (iSegment.c * iSegment.m + iLink.c * iLink.m) / (iLink.m + iSegment.m); iLink.m += iSegment.m; Matrix3 I; readVRMLfield(sf["momentsOfInertia"], I); iLink.I.noalias() += T.linear() * I * T.linear().transpose(); MFNode& childNodes = get(segmentNode->fields["children"]); ProtoIdSet acceptableProtoIds; acceptableProtoIds.set(PROTO_SURFACE); acceptableProtoIds.set(PROTO_DEVICE); readJointSubNodes(iLink, childNodes, acceptableProtoIds, T); SgNodePtr node = sgConverter.convert(segmentNode); if(node){ if(T.isApprox(Affine3::Identity())){ node->setName(segmentNode->defName); iLink.visualShape->addChild(node); } else { SgPosTransform* transform = new SgPosTransform(T); transform->addChild(node); transform->setName(segmentNode->defName); iLink.visualShape->addChild(transform); } } else { node = new SgNode; node->setName(segmentNode->defName); iLink.visualShape->addChild(node); } } void VRMLBodyLoaderImpl::readSurfaceNode(LinkInfo& iLink, VRMLProtoInstance* segmentShapeNode, const Affine3& T) { const string& typeName = segmentShapeNode->proto->protoName; if(isVerbose) putMessage(string("Surface node ") + segmentShapeNode->defName); iLink.isSurfaceNodeUsed = true; // check if another Surface node does not appear in the subtree MFNode& visualNodes = get(segmentShapeNode->fields["visual"]); ProtoIdSet acceptableProtoIds; readJointSubNodes(iLink, visualNodes, acceptableProtoIds, T); MFNode& collisionNodes = get(segmentShapeNode->fields["collision"]); readJointSubNodes(iLink, collisionNodes, acceptableProtoIds, T); SgGroup* group; SgPosTransform* transform = 0; if(T.isApprox(Affine3::Identity())){ group = iLink.collisionShape; } else { transform = new SgPosTransform(T); group = transform; } for(size_t i=0; i < collisionNodes.size(); ++i){ SgNodePtr node = sgConverter.convert(collisionNodes[i]); if(node){ group->addChild(node); } } if(transform && !transform->empty()){ transform->setName(segmentShapeNode->defName); iLink.collisionShape->addChild(transform); } } void VRMLBodyLoaderImpl::readDeviceNode(LinkInfo& iLink, VRMLProtoInstance* deviceNode, const Affine3& T) { const string& typeName = deviceNode->proto->protoName; if(isVerbose) putMessage(typeName + " node " + deviceNode->defName); DeviceFactoryMap::iterator p = deviceFactories.find(typeName); if(p == deviceFactories.end()){ os() << str(format(_("Sensor type %1% is not supported.\n")) % typeName) << endl; } else { DeviceFactory& factory = p->second; DevicePtr device = factory(deviceNode); if(device){ device->setLink(iLink.link); const Matrix3 RsT = iLink.link->Rs(); device->setLocalTranslation(RsT * (T * device->localTranslation())); device->setLocalRotation(RsT * (T.linear() * device->localRotation())); body->addDevice(device); } } } void VRMLBodyLoaderImpl::readDeviceCommonParameters(Device& device, VRMLProtoInstance* node) { device.setName(node->defName); int id = -1; if(!checkAndReadVRMLfield(node, "deviceId", id)){ checkAndReadVRMLfield(node, "sensorId", id); } device.setId(id); device.setLocalTranslation(getValue(node, "translation")); Matrix3 R; readVRMLfield(node->fields["rotation"], R); device.setLocalRotation(R); } ForceSensorPtr VRMLBodyLoaderImpl::createForceSensor(VRMLProtoInstance* node) { ForceSensorPtr sensor = new ForceSensor(); readDeviceCommonParameters(*sensor, node); SFVec3f f_max, t_max; if(checkAndReadVRMLfield(node, "maxForce", f_max)){ sensor->F_max().head<3>() = f_max; } if(checkAndReadVRMLfield(node, "maxTorque", t_max)){ sensor->F_max().tail<3>() = t_max; } return sensor; } RateGyroSensorPtr VRMLBodyLoaderImpl::createRateGyroSensor(VRMLProtoInstance* node) { RateGyroSensorPtr sensor = new RateGyroSensor(); readDeviceCommonParameters(*sensor, node); SFVec3f w_max; if(checkAndReadVRMLfield(node, "maxAngularVelocity", w_max)){ sensor->w_max() = w_max; } return sensor; } AccelerationSensorPtr VRMLBodyLoaderImpl::createAccelerationSensor(VRMLProtoInstance* node) { AccelerationSensorPtr sensor = new AccelerationSensor(); readDeviceCommonParameters(*sensor, node); SFVec3f dv_max; if(checkAndReadVRMLfield(node, "maxAngularVelocity", dv_max)){ sensor->dv_max() = dv_max; } return sensor; } CameraPtr VRMLBodyLoaderImpl::createCamera(VRMLProtoInstance* node) { CameraPtr camera; RangeCamera* range = 0; const SFString& type = get(node->fields["type"]); if(type == "COLOR"){ camera = new Camera; camera->setImageType(Camera::COLOR_IMAGE); } else if(type == "DEPTH"){ range = new RangeCamera; range->setOrganized(true); range->setImageType(Camera::NO_IMAGE); } else if(type == "COLOR_DEPTH"){ range = new RangeCamera; range->setOrganized(true); range->setImageType(Camera::COLOR_IMAGE); } else if(type == "POINT_CLOUD"){ range = new RangeCamera; range->setOrganized(false); range->setImageType(Camera::NO_IMAGE); } else if(type == "COLOR_POINT_CLOUD"){ range = new RangeCamera; range->setOrganized(false); range->setImageType(Camera::COLOR_IMAGE); } if(range){ camera = range; } else { camera = new Camera; } readDeviceCommonParameters(*camera, node); bool on = true; if(checkAndReadVRMLfield(node, "on", on)){ camera->on(on); } camera->setResolution(getValue(node, "width"), getValue(node, "height")); camera->setFieldOfView(getValue(node, "fieldOfView")); camera->setNearClipDistance(getValue(node, "frontClipDistance")); camera->setFarClipDistance(getValue(node, "backClipDistance")); camera->setFrameRate(getValue(node, "frameRate")); return camera; } RangeSensorPtr VRMLBodyLoaderImpl::createRangeSensor(VRMLProtoInstance* node) { RangeSensorPtr rangeSensor = new RangeSensor; readDeviceCommonParameters(*rangeSensor, node); bool on = true; if(checkAndReadVRMLfield(node, "on", on)){ rangeSensor->on(on); } rangeSensor->setYawRange(getValue(node, "scanAngle")); rangeSensor->setPitchRange(0.0); const double scanStep = getValue(node, "scanStep"); rangeSensor->setYawResolution(rangeSensor->yawRange() / scanStep); rangeSensor->setMinDistance(getValue(node, "minDistance")); rangeSensor->setMaxDistance(getValue(node, "maxDistance")); rangeSensor->setFrameRate(getValue(node, "scanRate")); return rangeSensor; } void VRMLBodyLoaderImpl::readLightDeviceCommonParameters(Light& light, VRMLProtoInstance* node) { readDeviceCommonParameters(light, node); light.on(getValue(node, "on")); light.setColor(getValue(node, "color")); light.setIntensity(getValue(node, "intensity")); } SpotLightPtr VRMLBodyLoaderImpl::createSpotLight(VRMLProtoInstance* node) { SpotLightPtr light = new SpotLight(); readLightDeviceCommonParameters(*light, node); light->setDirection(getValue(node, "direction")); light->setBeamWidth(getValue(node, "beamWidth")); light->setCutOffAngle(getValue(node, "cutOffAngle")); SFVec3f attenuation = getValue(node, "attenuation"); light->setConstantAttenuation(attenuation[0]); light->setLinearAttenuation(attenuation[1]); light->setQuadraticAttenuation(attenuation[2]); return light; } void VRMLBodyLoaderImpl::setExtraJoints() { for(size_t i=0; i < extraJointNodes.size(); ++i){ VRMLProtoFieldMap& f = extraJointNodes[i]->fields; Body::ExtraJoint joint; string link1Name, link2Name; readVRMLfield(f["link1Name"], link1Name); readVRMLfield(f["link2Name"], link2Name); joint.link[0] = body->link(link1Name); joint.link[1] = body->link(link2Name); for(int j=0; j < 2; ++j){ if(!joint.link[j]){ throw invalid_argument( str(format(_("Field \"link%1%Name\" of a ExtraJoint node does not specify a valid link name")) % (j+1))); } } SFString& jointType = get(f["jointType"]); if(jointType == "piston"){ joint.type = Body::EJ_PISTON; joint.axis = get(f["jointAxis"]); } else if(jointType == "ball"){ joint.type = Body::EJ_BALL; } else { throw invalid_argument(str(format(_("JointType \"%1%\" is not supported.")) % jointType)); } readVRMLfield(f["link1LocalPos"], joint.point[0]); readVRMLfield(f["link2LocalPos"], joint.point[1]); body->addExtraJoint(joint); } } choreonoid-1.5.0/src/Body/LeggedBodyHelper.cpp0000664000000000000000000001422212741425367017717 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "LeggedBodyHelper.h" #include "Link.h" #include "JointPath.h" #include #include using namespace std; using namespace boost; using namespace cnoid; namespace cnoid { LeggedBodyHelper* getLeggedBodyHelper(Body* body) { LeggedBodyHelper* legged = body->getOrCreateCache("LeggedBodyHelper"); if(!legged->body()){ legged->resetBody(body); } return legged; } } LeggedBodyHelper::LeggedBodyHelper() { isValid_ = false; } LeggedBodyHelper::LeggedBodyHelper(Body* body) { resetBody(body); } LeggedBodyHelper::LeggedBodyHelper(const LeggedBodyHelper& org) { resetBody(org.body_); } LeggedBodyHelper::~LeggedBodyHelper() { } bool LeggedBodyHelper::resetBody(Body* body) { body_ = body; footInfos.clear(); const Listing& footLinkNodes = *body_->info()->findListing("footLinks"); if(footLinkNodes.isValid()){ for(int i=0; i < footLinkNodes.size(); ++i){ FootInfo footInfo; const Mapping& footLinkNode = *footLinkNodes[i].toMapping(); footInfo.link = body_->link(footLinkNode["link"].toString()); if(footInfo.link){ readEx(footLinkNode, "soleCenter", footInfo.soleCenter); if(!read(footLinkNode, "homeCop", footInfo.homeCop)){ footInfo.homeCop = footInfo.soleCenter; } string kneePitchJointLabel; if(footLinkNode.read("kneePitchJoint", kneePitchJointLabel)){ footInfo.kneePitchJoint = body_->link(kneePitchJointLabel); } footInfos.push_back(footInfo); } } } isValid_ = !footInfos.empty(); return isValid_; } bool LeggedBodyHelper::doLegIkToMoveCm(const Vector3& c, bool onlyProjectionToFloor) { if(!isValid_){ return false; } static const int MAX_ITERATION = 100; static const double ERROR_THRESH_SQR = 1.0e-6 * 1.0e-6; Link* baseFoot = footInfos[0].link; Link* waist = body_->rootLink(); LinkTraverse fkTraverse(waist); Vector3 c0 = body_->calcCenterOfMass(); bool failed = false; int loopCounter = 0; while(true){ Vector3 e = c - c0; if(onlyProjectionToFloor){ e.z() = 0.0; } if(e.squaredNorm() < ERROR_THRESH_SQR){ break; } size_t numDone = 0; JointPathPtr baseToWaist = getCustomJointPath(body_, baseFoot, waist); if(baseToWaist && baseToWaist->calcInverseKinematics(waist->p() + e, waist->R())){ numDone++; for(size_t j=1; j < footInfos.size(); ++j){ Link* foot = footInfos[j].link; JointPathPtr waistToFoot = getCustomJointPath(body_, waist, foot); if(waistToFoot){ bool ikDone; if(waistToFoot->hasAnalyticalIK()){ ikDone = waistToFoot->calcInverseKinematics(foot->p(), foot->R()); } else { Vector3 p0 = foot->p(); Matrix3 R0 = foot->R(); waistToFoot->calcForwardKinematics(); ikDone = waistToFoot->calcInverseKinematics(p0, R0); } if(ikDone){ numDone++; } else { break; } } } } if(numDone < footInfos.size()){ failed = true; break; } if(++loopCounter < MAX_ITERATION){ fkTraverse.calcForwardKinematics(); c0 = body_->calcCenterOfMass(); } else { break; } } return !failed; } bool LeggedBodyHelper::setStance(double width, Link* baseLink) { if(footInfos.size() != 2){ return false; } bool result = false; Link* foot[2]; double sign; if(footInfos[1].link == baseLink){ foot[0] = footInfos[1].link; foot[1] = footInfos[0].link; sign = -1.0; } else { foot[0] = footInfos[0].link; foot[1] = footInfos[1].link; sign = 1.0; } const Matrix3& R0 = foot[0]->R(); const Vector3 baseY(R0(0,1), sign * R0(1,1), 0.0); Link* waist = body_->rootLink(); foot[1]->p() = foot[0]->p() + baseY * width; Vector3 wp = (foot[0]->p() + foot[1]->p()) / 2.0; wp[2] = waist->p()[2]; JointPathPtr ikPath = getCustomJointPath(body_, foot[0], waist); if(ikPath && ikPath->calcInverseKinematics(wp, waist->R())){ ikPath = getCustomJointPath(body_, waist, foot[1]); if(ikPath && ikPath->calcInverseKinematics(foot[1]->p(), foot[1]->R())){ LinkTraverse fkTraverse(baseLink); fkTraverse.calcForwardKinematics(); result = true; } } return result; } Vector3 LeggedBodyHelper::centerOfSole(int footIndex) const { const FootInfo& info = footInfos[footIndex]; return info.link->p() + info.link->R() * info.soleCenter; } Vector3 LeggedBodyHelper::centerOfSoles() const { Vector3 p = Vector3::Zero(); int n = footInfos.size(); if(n == 0){ throw "LeggedBodyHelper::centerOfSoles(): not foot information"; } else { for(int i=0; i < n; ++i){ const FootInfo& info = footInfos[i]; p.noalias() += info.link->p() + info.link->R() * info.soleCenter; } } return p / n; } Vector3 LeggedBodyHelper::homeCopOfSole(int footIndex) const { const FootInfo& info = footInfos[footIndex]; return info.link->p() + info.link->R() * info.homeCop; } Vector3 LeggedBodyHelper::homeCopOfSoles() const { Vector3 p = Vector3::Zero(); int n = footInfos.size(); if(n == 0){ throw "LeggedBodyHelper::homeCopOfSoles(): not foot information"; } else { for(size_t i=0; i < footInfos.size(); ++i){ const FootInfo& info = footInfos[i]; p.noalias() += info.link->p() + info.link->R() * info.homeCop; } } return p / n; } choreonoid-1.5.0/src/Body/Body.h0000664000000000000000000001653612741425367015126 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_BODY_H #define CNOID_BODY_BODY_H #include "LinkTraverse.h" #include "Link.h" #include "DeviceList.h" #include "exportdecl.h" namespace cnoid { class Body; class BodyImpl; class Mapping; class SgCloneMap; struct BodyInterface; struct BodyCustomizerInterface; typedef void* BodyCustomizerHandle; typedef ref_ptr BodyPtr; class CNOID_EXPORT Body : public Referenced { public: Body(); Body(const Body& org); virtual Body* clone() const; virtual Link* createLink(const Link* org = 0) const; virtual ~Body(); const std::string& name() const; void setName(const std::string& name); const std::string& modelName() const; void setModelName(const std::string& name); void setRootLink(Link* link); /** This function must be called when the structure of the link tree is changed. */ void updateLinkTree(); void initializeState(); /** The number of the links that are actual joints. The joints given joint ids are recognized as such joints. Note that the acutal value is the maximum joint ID plus one. Thus there may be a case where the value does not correspond to the actual number of the joints with ids. In other words, the value represents the size of the link sequence obtained by joint() function. */ int numJoints() const { return numActualJoints; } /** The number of the joints without joint ids. For example, a joint for simulating a spring is usually handled as such a joint. You can get the joints by giving the index after the last joint id to the joint() function. */ int numVirtualJoints() const { return jointIdToLinkArray.size() - numActualJoints; } /** The number of all the joints including both the actual and virtual joints. */ int numAllJoints() const { return jointIdToLinkArray.size(); } /** This function returns a link that has a given joint ID. If there is no link that has a given joint ID, the function returns a dummy link object whose ID is minus one. If the body has virtual joints, this function returns them by giving the ids over the last one. */ Link* joint(int id) const { return jointIdToLinkArray[id]; } /** The number of all the links the body has. The value corresponds to the size of the sequence obtained by link() function. */ int numLinks() const { return linkTraverse_.numLinks(); } /** This function returns the link of a given index in the whole link sequence. The order of the sequence corresponds to a link-tree traverse from the root link. The size of the sequence can be obtained by numLinks(). */ Link* link(int index) const { return linkTraverse_.link(index); } /** LinkTraverse object that traverses all the links from the root link */ const LinkTraverse& linkTraverse() const { return linkTraverse_; } /** This function returns a link object whose name of Joint node matches a given name. Null is returned when the body has no joint of the given name. */ Link* link(const std::string& name) const; /** The root link of the body */ Link* rootLink() const { return rootLink_; } int numDevices() const { return devices_.size(); } Device* device(int index) const { return devices_[index]; } /** Example: DeviceList forceSensors(body->devices()); or forceSensors << body->devices(); */ const DeviceList<>& devices() const { return devices_; } template DeviceList devices() const { return devices_; } template DeviceType* findDevice(const std::string& name) const { return dynamic_cast(findDeviceSub(name)); } Device* findDevice(const std::string& name) const { return findDeviceSub(name); } void addDevice(Device* device); void initializeDeviceStates(); void clearDevices(); /** This function returns true when the whole body is a static, fixed object like a floor. */ bool isStaticModel() const { return isStaticModel_; } bool isFixedRootModel() const { return rootLink_->isFixedJoint(); } void resetDefaultPosition(const Position& T); const Position& defaultPosition() const { return rootLink_->Tb(); } double mass() const; const Vector3& calcCenterOfMass(); const Vector3& centerOfMass() const; void calcTotalMomentum(Vector3& out_P, Vector3& out_L); void calcForwardKinematics(bool calcVelocity = false, bool calcAcceleration = false) { linkTraverse_.calcForwardKinematics(calcVelocity, calcAcceleration); } void clearExternalForces(); enum ExtraJointType { EJ_PISTON, EJ_BALL }; struct ExtraJoint { ExtraJointType type; Vector3 axis; Link* link[2]; Vector3 point[2]; }; int numExtraJoints() const { return extraJoints_.size(); } ExtraJoint& extraJoint(int index) { return extraJoints_[index]; } const ExtraJoint& extraJoint(int index) const { return extraJoints_[index]; } void addExtraJoint(const ExtraJoint& extraJoint) { extraJoints_.push_back(extraJoint); } void clearExtraJoints() { extraJoints_.clear(); } const Mapping* info() const; Mapping* info(); void resetInfo(Mapping* info); void cloneShapes(SgCloneMap& cloneMap); template T* findCache(const std::string& name) { return dynamic_cast(findCacheSub(name)); } template const T* findCache(const std::string& name) const { return dynamic_cast(findCacheSub(name)); } template T* getOrCreateCache(const std::string& name) { T* cache = findCache(name); if(!cache){ cache = new T(); insertCache(name, cache); } return cache; } bool getCaches(PolymorphicReferencedArrayBase<>& out_caches, std::vector& out_names) const; void removeCache(const std::string& name); BodyCustomizerHandle customizerHandle() const; BodyCustomizerInterface* customizerInterface() const; bool installCustomizer(); bool installCustomizer(BodyCustomizerInterface* customizerInterface); bool hasVirtualJointForces() const; void setVirtualJointForces(); static void addCustomizerDirectory(const std::string& path); static BodyInterface* bodyInterface(); protected: void copy(const Body& org); private: LinkTraverse linkTraverse_; LinkPtr rootLink_; bool isStaticModel_; std::vector jointIdToLinkArray; int numActualJoints; DeviceList<> devices_; std::vector extraJoints_; BodyImpl* impl; void initialize(); Link* cloneLinkTree(const Link* orgLink); Link* createEmptyJoint(int jointId); Device* findDeviceSub(const std::string& name) const; Referenced* findCacheSub(const std::string& name); const Referenced* findCacheSub(const std::string& name) const; void insertCache(const std::string& name, Referenced* cache); void setVirtualJointForcesSub(); }; } #endif choreonoid-1.5.0/src/Body/PointLight.cpp0000664000000000000000000000364612741425367016643 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "PointLight.h" using namespace cnoid; namespace { const int LightStateSize = Light::lightStateSize(); } PointLight::PointLight() { constantAttenuation_ = 1.0f; linearAttenuation_ = 0.0f; quadraticAttenuation_ = 0.0f; } const char* PointLight::typeName() { return "PointLight"; } void PointLight::copyStateFrom(const PointLight& other) { Light::copyStateFrom(other); constantAttenuation_ = other.constantAttenuation_; linearAttenuation_ = other.linearAttenuation_; quadraticAttenuation_ = other.quadraticAttenuation_; } void PointLight::copyStateFrom(const DeviceState& other) { if(typeid(other) != typeid(PointLight)){ throw std::invalid_argument("Type mismatch in the Device::copyStateFrom function"); } copyStateFrom(static_cast(other)); } PointLight::PointLight(const PointLight& org, bool copyStateOnly) : Light(org, copyStateOnly) { copyStateFrom(org); } DeviceState* PointLight::cloneState() const { return new PointLight(*this, true); } Device* PointLight::clone() const { return new PointLight(*this); } void PointLight::forEachActualType(boost::function func) { if(!func(typeid(PointLight))){ Light::forEachActualType(func); } } int PointLight::pointLightStateSize() { return LightStateSize + 3; } int PointLight::stateSize() const { return LightStateSize + 3; } const double* PointLight::readState(const double* buf) { buf = Light::readState(buf); constantAttenuation_ = buf[0]; linearAttenuation_ = buf[1]; quadraticAttenuation_ = buf[2]; return buf + 3; } double* PointLight::writeState(double* out_buf) const { out_buf = Light::writeState(out_buf); out_buf[0] = constantAttenuation_; out_buf[1] = linearAttenuation_; out_buf[2] = quadraticAttenuation_; return out_buf + 3; } choreonoid-1.5.0/src/Body/LinkGroup.cpp0000664000000000000000000000344312741425367016467 0ustar rootroot/* @author Shin'ichiro Nakaoka */ #include "LinkGroup.h" #include "Body.h" #include "Link.h" #include #include using namespace cnoid; LinkGroup::LinkGroup(private_tag tag) { } LinkGroup::LinkGroup(const LinkGroup& org) { } LinkGroup::~LinkGroup() { } /** @param linkGroupSeq YAML node defining a ling group set. If linkGroupSeq.isValid() is false, a whole body group that contains all the links is created. */ LinkGroupPtr LinkGroup::create(const Body& body) { const Listing& linkGroupList = *body.info()->findListing("linkGroup"); LinkGroupPtr group = boost::make_shared(private_tag()); group->setName("Whole Body"); if(!linkGroupList.isValid() || !group->load(body, linkGroupList)){ group->setFlatLinkList(body); } return group; } bool LinkGroup::load(const Body& body, const Listing& linkGroupList) { for(int i=0; i < linkGroupList.size(); ++i){ const ValueNode& node = linkGroupList[i]; if(node.isScalar()){ Link* link = body.link(node.toString()); if(!link){ return false; } elements.push_back(link->index()); } else if(node.isMapping()){ const Mapping& group = *node.toMapping(); LinkGroupPtr linkGroup = boost::make_shared(private_tag()); linkGroup->setName(group["name"]); if(linkGroup->load(body, *group["links"].toListing())){ elements.push_back(linkGroup); } else { return false; } } else { return false; } } return true; } void LinkGroup::setFlatLinkList(const Body& body) { for(int i=0; i < body.numLinks(); ++i){ elements.push_back(i); } } choreonoid-1.5.0/src/Body/ForwardDynamics.h0000664000000000000000000000324312741425367017314 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_FORWARD_DYNAMICS_H #define CNOID_BODY_FORWARD_DYNAMICS_H #include "BasicSensorSimulationHelper.h" #include "Link.h" #include #include "exportdecl.h" namespace cnoid { class DyBody; typedef ref_ptr DyBodyPtr; /** This class calculates the forward dynamics of a Body object by using the Featherstone's articulated body algorithm. The class also integrates motion using the Euler method or RungeKutta method. */ class CNOID_EXPORT ForwardDynamics { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW; ForwardDynamics(DyBody* body); virtual ~ForwardDynamics(); void setGravityAcceleration(const Vector3& g); void setEulerMethod(); void setRungeKuttaMethod(); void setTimeStep(double timeStep); void enableSensors(bool on); void setOldAccelSensorCalcMode(bool on); virtual void initialize() = 0; virtual void calcNextState() = 0; protected: virtual void initializeSensors(); /** @brief update position/orientation using spatial velocity @param out_p p(t+dt) @param out_R R(t+dt) @param p0 p(t) @param R0 R(t) @param w angular velocity @param v0 spatial velocity @param dt time step[s] */ static void SE3exp(Position& out_T, const Position& T0, const Vector3& w, const Vector3& vo, double dt); DyBodyPtr body; Vector3 g; double timeStep; bool sensorsEnabled; BasicSensorSimulationHelper sensorHelper; enum { EULER_METHOD, RUNGEKUTTA_METHOD } integrationMode; }; typedef boost::shared_ptr ForwardDynamicsPtr; }; #endif choreonoid-1.5.0/src/Body/VRMLBodyWriter.h0000664000000000000000000000161212741425367017011 0ustar rootroot /*! @file */ #ifndef CNOID_BODY_VRMLBODY_WRITER_INCLUDED #define CNOID_BODY_VRMLBODY_WRITER_INCLUDED #include #include "VRMLBody.h" #include #include #include #include #include "exportdecl.h" namespace cnoid { class VRMLBodyWriter; class CNOID_EXPORT VRMLBodyWriter : public VRMLWriter { public: VRMLBodyWriter(std::ostream& out); protected: void registerNodeMethodMap(); private: void writeHumanoidNode(VRMLNodePtr node); void writeJointNode(VRMLNodePtr node); void writeSegmentNode(VRMLNodePtr node); void writeSurfaceNode(VRMLNodePtr node); void writeVisionSensorNode(VRMLNodePtr node); void writeForceSensorNode(VRMLNodePtr node); void writeGyroNode(VRMLNodePtr node); void writeAccelerationSensorNode(VRMLNodePtr node); void writeRangeSensorNode(VRMLNodePtr node); }; }; #endif choreonoid-1.5.0/src/Body/SpotLight.cpp0000664000000000000000000000345612741425367016476 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "SpotLight.h" using namespace cnoid; namespace { const int PointLightStateSize = PointLight::pointLightStateSize(); } SpotLight::SpotLight() { direction_ << 0.0f, 0.0f, -1.0f; beamWidth_ = 1.570796f; cutOffAngle_ = 0.785398f; } const char* SpotLight::typeName() { return "SpotLight"; } void SpotLight::copyStateFrom(const SpotLight& other) { PointLight::copyStateFrom(other); direction_ = other.direction_; beamWidth_ = other.beamWidth_; cutOffAngle_ = other.cutOffAngle_; } void SpotLight::copyStateFrom(const DeviceState& other) { if(typeid(other) != typeid(SpotLight)){ throw std::invalid_argument("Type mismatch in the Device::copyStateFrom function"); } copyStateFrom(static_cast(other)); } SpotLight::SpotLight(const SpotLight& org, bool copyStateOnly) : PointLight(org, copyStateOnly) { copyStateFrom(org); } DeviceState* SpotLight::cloneState() const { return new SpotLight(*this, true); } Device* SpotLight::clone() const { return new SpotLight(*this); } void SpotLight::forEachActualType(boost::function func) { if(!func(typeid(SpotLight))){ PointLight::forEachActualType(func); } } int SpotLight::stateSize() const { return PointLightStateSize + 5; } const double* SpotLight::readState(const double* buf) { buf = PointLight::readState(buf); direction_ = Eigen::Map(buf); beamWidth_ = buf[3]; cutOffAngle_ = buf[4]; return buf + 5; } double* SpotLight::writeState(double* out_buf) const { out_buf = PointLight::writeState(out_buf); Eigen::Map(out_buf) << direction_; out_buf[3] = beamWidth_; out_buf[4] = cutOffAngle_; return out_buf + 5; } choreonoid-1.5.0/src/Body/MassMatrix.cpp0000664000000000000000000000566712741425367016657 0ustar rootroot/** \author Shin'ichiro Nakaoka */ #include "MassMatrix.h" #include "Link.h" #include "InverseDynamics.h" using namespace cnoid; namespace { void setColumnOfMassMatrix(Body* body, MatrixXd& out_M, int column) { Link* rootLink = body->rootLink(); Vector6 f = calcInverseDynamics(rootLink); if(!rootLink->isFixedJoint()){ f.tail<3>() -= rootLink->p().cross(f.head<3>()); out_M.block<6, 1>(0, column) = f; } const int n = body->numJoints(); for(int i = 0; i < n; ++i){ Link* joint = body->joint(i); out_M(i + 6, column) = joint->u(); } } } namespace cnoid { /** calculate the mass matrix using the unit vector method \todo replace the unit vector method here with a more efficient method The motion equation (dv != dvo) | | | dv | | | | fext | | out_M | * | dw | + | b1 | = | tauext | | | |ddq | | | | u | */ void calcMassMatrix(Body* body, const Vector3& g, Eigen::MatrixXd& out_M) { const int nj = body->numJoints(); Link* rootLink = body->rootLink(); const int totaldof = rootLink->isFixedJoint() ? nj : nj + 6; out_M.resize(totaldof, totaldof); // preserve and clear the joint accelerations VectorXd ddqorg(nj); VectorXd uorg(nj); for(int i = 0; i < nj; ++i){ Link* joint = body->joint(i); ddqorg[i] = joint->ddq(); uorg [i] = joint->u(); joint->ddq() = 0.0; } // preserve and clear the root link acceleration const Vector3 dvorg = rootLink->dv(); const Vector3 dworg = rootLink->dw(); //const Vector3 root_w_x_v = rootLink->w().cross(rootLink->vo() + rootLink->w().cross(rootLink->p())); rootLink->dv() = g; rootLink->dw().setZero(); MatrixXd b1(totaldof, 1); setColumnOfMassMatrix(body, b1, 0); if(!rootLink->isFixedJoint()){ for(int i=0; i < 3; ++i){ rootLink->dv()[i] += 1.0; setColumnOfMassMatrix(body, out_M, i); rootLink->dv()[i] -= 0.0; } for(int i=0; i < 3; ++i){ rootLink->dw()[i] = 1.0; setColumnOfMassMatrix(body, out_M, i + 3); rootLink->dw()[i] = 0.0; } } for(int i = 0; i < nj; ++i){ Link* joint = body->joint(i); joint->ddq() = 1.0; int j = i + 6; setColumnOfMassMatrix(body, out_M, j); out_M(j, j) += joint->Jm2(); // motor inertia joint->ddq() = 0.0; } // subtract the constant term for(int i = 0; i < out_M.cols(); ++i){ out_M.col(i) -= b1; } // recover state for(int i = 0; i < nj; ++i){ Link* joint = body->joint(i); joint->ddq() = ddqorg[i]; joint->u() = uorg [i]; } rootLink->dv() = dvorg; rootLink->dw() = dworg; } void calcMassMatrix(const BodyPtr& body, MatrixXd& out_M) { const Vector3 g(0, 0, 9.8); calcMassMatrix(body, g, out_M); } } choreonoid-1.5.0/src/Body/BodyCustomizerInterface.h0000664000000000000000000000611712741425367021026 0ustar rootroot/** \file \brief The definitions of the body customizer interface for increasing binary compatibility \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_CUSTOMIZER_INTERFACE_H_INCLUDED #define CNOID_BODY_CUSTOMIZER_INTERFACE_H_INCLUDED #include #include #include #include "exportdecl.h" namespace cnoid { typedef void* BodyHandle; typedef void* BodyCustomizerHandle; typedef int (*BodyGetLinkIndexFromNameFunc) (BodyHandle bodyHandle, const char* linkName); typedef const char* (*BodyGetLinkNameFunc) (BodyHandle bodyHandle, int linkIndex); typedef double* (*BodyGetLinkDoubleValuePtrFunc)(BodyHandle bodyHandle, int linkIndex); static const int BODY_INTERFACE_VERSION = 1; struct BodyInterface { int version; BodyGetLinkIndexFromNameFunc getLinkIndexFromName; BodyGetLinkNameFunc getLinkName; BodyGetLinkDoubleValuePtrFunc getJointValuePtr; BodyGetLinkDoubleValuePtrFunc getJointVelocityPtr; BodyGetLinkDoubleValuePtrFunc getJointForcePtr; }; typedef const char** (*BodyCustomizerGetTargetModelNamesFunc)(); typedef BodyCustomizerHandle (*BodyCustomizerCreateFunc)(BodyHandle bodyHandle, const char* modelName); typedef void (*BodyCustomizerDestroyFunc) (BodyCustomizerHandle customizerHandle); typedef int (*BodyCustomizerInitializeAnalyticIkFunc) (BodyCustomizerHandle customizerHandle, int baseLinkIndex, int targetLinkIndex); /* p and R are based on the coordinate of a base link */ typedef bool (*BodyCustomizerCalcAnalyticIkFunc) (BodyCustomizerHandle customizerHandle, int ikPathId, const Vector3& p, const Matrix3& R); typedef void (*BodyCustomizerSetVirtualJointForcesFunc)(BodyCustomizerHandle customizerHandle); static const int BODY_CUSTOMIZER_INTERFACE_VERSION = 1; struct BodyCustomizerInterface { int version; BodyCustomizerGetTargetModelNamesFunc getTargetModelNames; BodyCustomizerCreateFunc create; BodyCustomizerDestroyFunc destroy; BodyCustomizerInitializeAnalyticIkFunc initializeAnalyticIk; BodyCustomizerCalcAnalyticIkFunc calcAnalyticIk; BodyCustomizerSetVirtualJointForcesFunc setVirtualJointForces; }; typedef BodyCustomizerInterface* (*GetBodyCustomizerInterfaceFunc)(BodyInterface* bodyInterface); CNOID_EXPORT int loadBodyCustomizers(const std::string pathString, BodyInterface* bodyInterface); CNOID_EXPORT int loadBodyCustomizers(const std::string pathString); CNOID_EXPORT int loadBodyCustomizers(BodyInterface* bodyInterface); CNOID_EXPORT int loadBodyCustomizers(); CNOID_EXPORT BodyCustomizerInterface* findBodyCustomizer(std::string modelName); } #if defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__) #define CNOID_BODY_CUSTOMIZER_EXPORT extern "C" __declspec(dllexport) //extern "C" __declspec(dllexport) cnoid::BodyCustomizerInterface* //getHrpBodyCustomizerInterface(cnoid::Bodyinterface* bodyinterface); #else #define CNOID_BODY_CUSTOMIZER_EXPORT extern "C" //extern "C" cnoid::BodyCustomizerInterface* //getHrpBodyCustomizerInterface(cnoid::Bodyinterface* bodyinterface); #endif #endif choreonoid-1.5.0/src/Body/AbstractBodyLoader.cpp0000664000000000000000000000107212741425367020261 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "AbstractBodyLoader.h" #include using namespace boost; using namespace cnoid; AbstractBodyLoader::AbstractBodyLoader() { } AbstractBodyLoader::~AbstractBodyLoader() { } void AbstractBodyLoader::setMessageSink(std::ostream& os) { } void AbstractBodyLoader::setVerbose(bool on) { } void AbstractBodyLoader::setShapeLoadingEnabled(bool on) { } void AbstractBodyLoader::setDefaultDivisionNumber(int n) { } void AbstractBodyLoader::setDefaultCreaseAngle(double theta) { } choreonoid-1.5.0/src/Body/ConstraintForceSolver.cpp0000664000000000000000000023601112741425367021052 0ustar rootroot/** \file \brief Implementation of ConstraintForceSolver class \author Shin'ichiro Nakaoka */ #ifdef __WIN32__ #define NOMINMAX #endif #include "DyWorld.h" #include "DyBody.h" #include "LinkTraverse.h" #include "ContactAttribute.h" #include "ForwardDynamicsCBM.h" #include "ConstraintForceSolver.h" #include "BodyCollisionDetectorUtil.h" #include #include #include #include #include #include #include #include #include #include #include #include #include using namespace std; using namespace cnoid; // Is LCP solved by Iterative or Pivoting method ? // #define USE_PIVOTING_LCP #ifdef USE_PIVOTING_LCP #include "SimpleLCP_Path.h" static const bool usePivotingLCP = true; #else static const bool usePivotingLCP = false; #endif // settings static const double VEL_THRESH_OF_DYNAMIC_FRICTION = 1.0e-4; static const bool ENABLE_STATIC_FRICTION = true; static const bool ONLY_STATIC_FRICTION_FORMULATION = (true && ENABLE_STATIC_FRICTION); static const bool STATIC_FRICTION_BY_TWO_CONSTRAINTS = true; static const bool IGNORE_CURRENT_VELOCITY_IN_STATIC_FRICTION = false; static const bool ENABLE_TRUE_FRICTION_CONE = (true && ONLY_STATIC_FRICTION_FORMULATION && STATIC_FRICTION_BY_TWO_CONSTRAINTS); static const bool SKIP_REDUNDANT_ACCEL_CALC = true; static const bool ASSUME_SYMMETRIC_MATRIX = false; static const int DEFAULT_MAX_NUM_GAUSS_SEIDEL_ITERATION = 1000; //static const int DEFAULT_NUM_GAUSS_SEIDEL_ITERATION_BLOCK = 10; static const int DEFAULT_NUM_GAUSS_SEIDEL_ITERATION_BLOCK = 1; static const int DEFAULT_NUM_GAUSS_SEIDEL_INITIAL_ITERATION = 0; static const double DEFAULT_GAUSS_SEIDEL_ERROR_CRITERION = 1.0e-3; static const double THRESH_TO_SWITCH_REL_ERROR = 1.0e-8; //static const double THRESH_TO_SWITCH_REL_ERROR = numeric_limits::epsilon(); static const bool USE_PREVIOUS_LCP_SOLUTION = true; static const bool ENABLE_CONTACT_DEPTH_CORRECTION = true; // normal setting static const double DEFAULT_CONTACT_CORRECTION_DEPTH = 0.0001; //static const double PENETRATION_A = 500.0; //static const double PENETRATION_B = 80.0; static const double DEFAULT_CONTACT_CORRECTION_VELOCITY_RATIO = 1.0; static const double DEFAULT_CONTACT_CULLING_DISTANCE = 0.005; static const double DEFAULT_CONTACT_CULLING_DEPTH = 0.05; // test for mobile robots with wheels //static const double DEFAULT_CONTACT_CORRECTION_DEPTH = 0.005; //static const double PENETRATION_A = 500.0; //static const double PENETRATION_B = 80.0; //static const double NEGATIVE_VELOCITY_RATIO_FOR_PENETRATION = 10.0; //static const bool ENABLE_CONTACT_POINT_THINNING = false; // experimental options static const bool PROPORTIONAL_DYNAMIC_FRICTION = false; static const bool ENABLE_RANDOM_STATIC_FRICTION_BASE = false; // debug options static const bool CFS_DEBUG = false; static const bool CFS_DEBUG_VERBOSE = false; static const bool CFS_DEBUG_VERBOSE_2 = false; static const bool CFS_DEBUG_VERBOSE_3 = false; static const bool CFS_DEBUG_LCPCHECK = false; static const bool CFS_MCP_DEBUG = false; static const bool CFS_MCP_DEBUG_SHOW_ITERATION_STOP = false; static const bool CFS_PUT_NUM_CONTACT_POINTS = false; static const Vector3 local2dConstraintPoints[3] = { Vector3( 1.0, 0.0, (-sqrt(3.0) / 2.0)), Vector3(-1.0, 0.0, (-sqrt(3.0) / 2.0)), Vector3( 0.0, 0.0, ( sqrt(3.0) / 2.0)) }; namespace cnoid { class ConstraintForceSolverImpl { public: ConstraintForceSolverImpl(WorldBase& world); ~ConstraintForceSolverImpl(); void initialize(void); void solve(); inline void clearExternalForces(); WorldBase& world; bool isConstraintForceOutputMode; struct ConstraintPoint { int globalIndex; Vector3 point; Vector3 normalTowardInside[2]; Vector3 defaultAccel[2]; double normalProjectionOfRelVelocityOn0; double depth; // position error in the case of a connection point double mu; Vector3 relVelocityOn0; int globalFrictionIndex; int numFrictionVectors; Vector3 frictionVector[4][2]; }; typedef std::vector ConstraintPointArray; struct LinkData { Vector3 dvo; Vector3 dw; Vector3 pf0; Vector3 ptau0; double uu; double uu0; double ddq; int numberToCheckAccelCalcSkip; int parentIndex; DyLink* link; }; typedef std::vector LinkDataArray; struct BodyData { DyBodyPtr body; bool isStatic; bool hasConstrainedLinks; bool isTestForceBeingApplied; int geometryId; LinkDataArray linksData; Vector3 dpf; Vector3 dptau; /** If the body includes high-gain mode joints, the ForwardDynamisCBM object of the body is set to this pointer. The pointer is null when all the joints are torque mode and the forward dynamics is calculated by ABM. */ ForwardDynamicsCBMPtr forwardDynamicsCBM; }; std::vector bodiesData; typedef ConstraintForceSolver::CollisionHandler CollisionHandler; class ContactAttributeEx : public ContactAttribute { public: double contactCullingDistance; double contactCullingDepth; CollisionHandler collisionHandler; Connection collisionHandlerConnection; void onCollisionHandlerUnregistered(){ collisionHandler = CollisionHandler(); collisionHandlerConnection.disconnect(); } ~ContactAttributeEx(){ collisionHandlerConnection.disconnect(); } }; typedef std::map, ContactAttributeEx> ContactAttributeMap; ContactAttributeMap contactAttributeMap; typedef std::map CollisionHandlerIndexMap; CollisionHandlerIndexMap collisionHandlerIndexMap; struct CollisionHandlerInfo : public Referenced { CollisionHandler handler; Signal sigHandlerUnregisterd; ~CollisionHandlerInfo(){ sigHandlerUnregisterd(); } }; typedef ref_ptr CollisionHandlerInfoPtr; vector collisionHandlers; class LinkPair { public: virtual ~LinkPair() { } bool isSameBodyPair; int bodyIndex[2]; BodyData* bodyData[2]; DyLink* link[2]; LinkData* linkData[2]; ConstraintPointArray constraintPoints; bool isNonContactConstraint; ContactAttributeEx attr; }; CollisionDetectorPtr collisionDetector; vector geometryIdToBodyIndexMap; typedef std::map, LinkPair> GeometryPairToLinkPairMap; GeometryPairToLinkPairMap geometryPairToLinkPairMap; double defaultStaticFriction; double defaultSlipFriction; double defaultContactCullingDistance; double defaultContactCullingDepth; double defaultCoefficientOfRestitution; class ExtraJointLinkPair : public LinkPair { public: Vector3 jointPoint[2]; Vector3 jointConstraintAxes[3]; }; typedef boost::shared_ptr ExtraJointLinkPairPtr; vector extraJointLinkPairs; bool is2Dmode; DyBodyPtr bodyFor2dConstraint; BodyData bodyDataFor2dConstraint; class Constrain2dLinkPair : public LinkPair { public: double globalYpositions[3]; }; typedef boost::shared_ptr Constrain2dLinkPairPtr; vector constrain2dLinkPairs; std::vector constrainedLinkPairs; int globalNumConstraintVectors; int globalNumContactNormalVectors; int globalNumFrictionVectors; int prevGlobalNumConstraintVectors; int prevGlobalNumFrictionVectors; bool areThereImpacts; int numUnconverged; typedef Eigen::Matrix MatrixX; typedef VectorXd VectorX; // Mlcp * solution + b _|_ solution MatrixX Mlcp; // constant acceleration term when no external force is applied VectorX an0; VectorX at0; // constant vector of LCP VectorX b; // contact force solution: normal forces at contact points VectorX solution; // random number generator boost::variate_generator > randomAngle; // for special version of gauss sidel iterative solver std::vector frictionIndexToContactIndex; VectorX contactIndexToMu; VectorX mcpHi; int maxNumGaussSeidelIteration; int numGaussSeidelInitialIteration; double gaussSeidelErrorCriterion; double contactCorrectionDepth; double contactCorrectionVelocityRatio; int numGaussSeidelTotalLoops; int numGaussSeidelTotalCalls; int numGaussSeidelTotalLoopsMax; void initBody(const DyBodyPtr& body, BodyData& bodyData); void initExtraJoints(int bodyIndex); void init2Dconstraint(int bodyIndex); void setConstraintPoints(); void setDefaultContactAttributeValues(ContactAttributeEx& attr); void extractConstraintPoints(const CollisionPair& collisionPair); bool setContactConstraintPoint(LinkPair& linkPair, const Collision& collision); void setFrictionVectors(ConstraintPoint& constraintPoint); void setExtraJointConstraintPoints(const ExtraJointLinkPairPtr& linkPair); void set2dConstraintPoints(const Constrain2dLinkPairPtr& linkPair); void putContactPoints(); void solveImpactConstraints(); void initMatrices(); void setAccelCalcSkipInformation(); void setDefaultAccelerationVector(); void setAccelerationMatrix(); void initABMForceElementsWithNoExtForce(BodyData& bodyData); void calcABMForceElementsWithTestForce(BodyData& bodyData, DyLink* linkToApplyForce, const Vector3& f, const Vector3& tau); void calcAccelsABM(BodyData& bodyData, int constraintIndex); void calcAccelsMM(BodyData& bodyData, int constraintIndex); void extractRelAccelsOfConstraintPoints (Eigen::Block& Kxn, Eigen::Block& Kxt, int testForceIndex, int constraintIndex); void extractRelAccelsFromLinkPairCase1 (Eigen::Block& Kxn, Eigen::Block& Kxt, LinkPair& linkPair, int testForceIndex, int constraintIndex); void extractRelAccelsFromLinkPairCase2 (Eigen::Block& Kxn, Eigen::Block& Kxt, LinkPair& linkPair, int iTestForce, int iDefault, int testForceIndex, int constraintIndex); void extractRelAccelsFromLinkPairCase3 (Eigen::Block& Kxn, Eigen::Block& Kxt, LinkPair& linkPair, int testForceIndex, int constraintIndex); void copySymmetricElementsOfAccelerationMatrix (Eigen::Block& Knn, Eigen::Block& Ktn, Eigen::Block& Knt, Eigen::Block& Ktt); void clearSingularPointConstraintsOfClosedLoopConnections(); void setConstantVectorAndMuBlock(); void addConstraintForceToLinks(); void addConstraintForceToLink(LinkPair* linkPair, int ipair); void solveMCPByProjectedGaussSeidel (const MatrixX& M, const VectorX& b, VectorX& x); void solveMCPByProjectedGaussSeidelMainStep (const MatrixX& M, const VectorX& b, VectorX& x); void solveMCPByProjectedGaussSeidelInitial (const MatrixX& M, const VectorX& b, VectorX& x, const int numIteration); void checkLCPResult(MatrixX& M, VectorX& b, VectorX& x); void checkMCPResult(MatrixX& M, VectorX& b, VectorX& x); #ifdef USE_PIVOTING_LCP bool callPathLCPSolver(MatrixX& Mlcp, VectorX& b, VectorX& solution); // for PATH solver std::vector lb; std::vector ub; std::vector m_i; std::vector m_j; std::vector m_ij; #endif ofstream os; ContactAttributeEx& getOrCreateContactAttribute(Link* link1, Link* link2); int registerCollisionHandler(const std::string& name, CollisionHandler& handler); template void putMatrix(TMatrix& M, const char *name) { if(M.cols() == 1){ os << "Vector " << name << M << std::endl; } else { os << "Matrix " << name << ": \n"; for(int i=0; i < M.rows(); i++){ for(int j=0; j < M.cols(); j++){ //os << boost::format(" %6.3f ") % M(i, j); os << boost::format(" %.50g ") % M(i, j); } os << std::endl; } } } template void putVector(const TVector& M, const char *name) { os << "Vector " << name << M << std::endl; } template void debugPutMatrix(const TMatrix& M, const char *name) { if(CFS_DEBUG_VERBOSE) putMatrix(M, name); } template void debugPutVector(const TVector& M, const char *name) { if(CFS_DEBUG_VERBOSE) putVector(M, name); } CollisionLinkPairListPtr getCollisions(); #ifdef ENABLE_SIMULATION_PROFILING double collisionTime; TimeMeasure timer; #endif }; /* #ifdef _MSC_VER const double CFSImpl::PI = 3.14159265358979323846; const double CFSImpl::PI_2 = 1.57079632679489661923; #endif */ } namespace { typedef ConstraintForceSolverImpl CFSImpl; } CFSImpl::ConstraintForceSolverImpl(WorldBase& world) : world(world), randomAngle(boost::mt19937(), boost::uniform_real<>(0.0, 2.0 * PI)) { defaultStaticFriction = 1.0; defaultSlipFriction = 1.0; defaultContactCullingDistance = DEFAULT_CONTACT_CULLING_DISTANCE; defaultContactCullingDepth = DEFAULT_CONTACT_CULLING_DEPTH; defaultCoefficientOfRestitution = 0.0; maxNumGaussSeidelIteration = DEFAULT_MAX_NUM_GAUSS_SEIDEL_ITERATION; numGaussSeidelInitialIteration = DEFAULT_NUM_GAUSS_SEIDEL_INITIAL_ITERATION; gaussSeidelErrorCriterion = DEFAULT_GAUSS_SEIDEL_ERROR_CRITERION; contactCorrectionDepth = DEFAULT_CONTACT_CORRECTION_DEPTH; contactCorrectionVelocityRatio = DEFAULT_CONTACT_CORRECTION_VELOCITY_RATIO; isConstraintForceOutputMode = false; is2Dmode = false; } CFSImpl::~ConstraintForceSolverImpl() { if(CFS_DEBUG){ os.close(); } } void CFSImpl::initBody(const DyBodyPtr& body, BodyData& bodyData) { body->clearExternalForces(); bodyData.body = body; bodyData.linksData.resize(body->numLinks()); bodyData.hasConstrainedLinks = false; bodyData.isTestForceBeingApplied = false; bodyData.isStatic = body->isStaticModel(); LinkDataArray& linksData = bodyData.linksData; const int n = body->numLinks(); for(int i=0; i < n; ++i){ DyLink* link = body->link(i); linksData[link->index()].link = link; linksData[link->index()].parentIndex = link->parent() ? link->parent()->index() : -1; } } // initialize extra joints for making closed links void CFSImpl::initExtraJoints(int bodyIndex) { const DyBodyPtr& body = world.body(bodyIndex); BodyData& bodyData = bodiesData[bodyIndex]; for(int j=0; j < body->numExtraJoints(); ++j){ Body::ExtraJoint& bodyExtraJoint = body->extraJoint(j); ExtraJointLinkPairPtr linkPair; if(bodyExtraJoint.type == Body::EJ_PISTON){ linkPair = boost::make_shared(); linkPair->isSameBodyPair = true; linkPair->isNonContactConstraint = true; // generate two vectors orthogonal to the joint axis Vector3 u = Vector3::Zero(); int minElem = 0; Vector3& axis = bodyExtraJoint.axis; for(int k=1; k < 3; k++){ if(fabs(axis(k)) < fabs(axis(minElem))){ minElem = k; } } u(minElem) = 1.0; linkPair->constraintPoints.resize(2); const Vector3 t1 = axis.cross(u).normalized(); linkPair->jointConstraintAxes[0] = t1; linkPair->jointConstraintAxes[1] = axis.cross(t1).normalized(); } else if(bodyExtraJoint.type == Body::EJ_BALL){ } if(linkPair){ int numConstraints = linkPair->constraintPoints.size(); for(int k=0; k < numConstraints; ++k){ ConstraintPoint& constraint = linkPair->constraintPoints[k]; constraint.numFrictionVectors = 0; constraint.globalFrictionIndex = numeric_limits::max(); } for(int k=0; k < 2; ++k){ linkPair->bodyIndex[k] = bodyIndex; linkPair->bodyData[k] = &bodiesData[bodyIndex]; DyLink* link = static_cast(bodyExtraJoint.link[k]); linkPair->link[k] = link; linkPair->linkData[k] = &(bodyData.linksData[link->index()]); linkPair->jointPoint[k] = bodyExtraJoint.point[k]; } extraJointLinkPairs.push_back(linkPair); } } } void CFSImpl::init2Dconstraint(int bodyIndex) { if(!bodyFor2dConstraint){ bodyFor2dConstraint = new DyBody(); Link* link = bodyFor2dConstraint->createLink(); bodyFor2dConstraint->setRootLink(link); link->p().setZero(); link->R().setIdentity(); initBody(bodyFor2dConstraint, bodyDataFor2dConstraint); LinkData& linkData0 = bodyDataFor2dConstraint.linksData[0]; linkData0.dw.setZero(); linkData0.dvo.setZero(); } DyLink* rootLink = world.body(bodyIndex)->rootLink(); Constrain2dLinkPairPtr linkPair = boost::make_shared(); linkPair->isSameBodyPair = false; linkPair->isNonContactConstraint = true; linkPair->constraintPoints.resize(3); for(int i=0; i < 3; ++i){ ConstraintPoint& constraint = linkPair->constraintPoints[i]; constraint.numFrictionVectors = 0; constraint.globalFrictionIndex = numeric_limits::max(); linkPair->globalYpositions[i] = (rootLink->R() * local2dConstraintPoints[i] + rootLink->p()).y(); } linkPair->bodyIndex[0] = -1; linkPair->bodyData[0] = &bodyDataFor2dConstraint; linkPair->link[0] = bodyFor2dConstraint->rootLink(); linkPair->linkData[0] = &bodyDataFor2dConstraint.linksData[0]; linkPair->bodyIndex[1] = bodyIndex; linkPair->bodyData[1] = &bodiesData[bodyIndex]; linkPair->link[1] = rootLink; linkPair->linkData[1] = &bodiesData[bodyIndex].linksData[0]; constrain2dLinkPairs.push_back(linkPair); } void CFSImpl::initialize(void) { if(CFS_DEBUG || CFS_MCP_DEBUG){ static int ntest = 0; os.close(); os.open((string("cfs-log-") + boost::lexical_cast(ntest++) + ".log").c_str()); //os << setprecision(50); } if(CFS_MCP_DEBUG){ numGaussSeidelTotalCalls = 0; numGaussSeidelTotalLoops = 0; numGaussSeidelTotalLoopsMax = 0; } int numBodies = world.numBodies(); bodiesData.resize(numBodies); if(!collisionDetector){ collisionDetector = boost::make_shared(); } else { collisionDetector->clearGeometries(); } geometryIdToBodyIndexMap.clear(); geometryPairToLinkPairMap.clear(); contactAttributeMap.clear(); extraJointLinkPairs.clear(); constrain2dLinkPairs.clear(); for(int bodyIndex=0; bodyIndex < numBodies; ++bodyIndex){ const DyBodyPtr& body = world.body(bodyIndex); BodyData& bodyData = bodiesData[bodyIndex]; initBody(body, bodyData); bodyData.forwardDynamicsCBM = dynamic_pointer_cast(world.forwardDynamics(bodyIndex)); if(bodyData.isStatic && !(bodyData.forwardDynamicsCBM)){ LinkDataArray& linksData = bodyData.linksData; for(size_t j=0; j < linksData.size(); ++j){ LinkData& linkData = linksData[j]; linkData.dw.setZero(); linkData.dvo.setZero(); } } bodyData.geometryId = addBodyToCollisionDetector(*body, *collisionDetector, false); geometryIdToBodyIndexMap.resize(collisionDetector->numGeometries(), bodyIndex); initExtraJoints(bodyIndex); if(is2Dmode && !body->isStaticModel()){ init2Dconstraint(bodyIndex); } } collisionDetector->makeReady(); prevGlobalNumConstraintVectors = 0; prevGlobalNumFrictionVectors = 0; numUnconverged = 0; randomAngle.engine().seed(); } inline void CFSImpl::clearExternalForces() { for(size_t i=0; i < bodiesData.size(); ++i){ BodyData& bodyData = bodiesData[i]; bodyData.body->clearExternalForces(); } } void CFSImpl::solve() { if(CFS_DEBUG){ os << "Time: " << world.currentTime() << std::endl; } for(size_t i=0; i < bodiesData.size(); ++i){ BodyData& data = bodiesData[i]; data.hasConstrainedLinks = false; DyBodyPtr& body = data.body; const int n = body->numLinks(); for(int j=0; j < n; ++j){ DyLink* link = body->link(j); collisionDetector->updatePosition(data.geometryId + j, link->T()); link->constraintForces().clear(); } } globalNumConstraintVectors = 0; globalNumFrictionVectors = 0; areThereImpacts = false; constrainedLinkPairs.clear(); setConstraintPoints(); if(CFS_PUT_NUM_CONTACT_POINTS){ cout << globalNumContactNormalVectors; } if(globalNumConstraintVectors > 0){ if(CFS_DEBUG){ os << "Num Collisions: " << globalNumContactNormalVectors << std::endl; } if(CFS_DEBUG_VERBOSE) putContactPoints(); const bool constraintsSizeChanged = ((globalNumFrictionVectors != prevGlobalNumFrictionVectors) || (globalNumConstraintVectors != prevGlobalNumConstraintVectors)); if(constraintsSizeChanged){ initMatrices(); } if(areThereImpacts){ solveImpactConstraints(); } if(SKIP_REDUNDANT_ACCEL_CALC){ setAccelCalcSkipInformation(); } setDefaultAccelerationVector(); setAccelerationMatrix(); clearSingularPointConstraintsOfClosedLoopConnections(); setConstantVectorAndMuBlock(); if(CFS_DEBUG_VERBOSE){ debugPutVector(an0, "an0"); debugPutVector(at0, "at0"); debugPutMatrix(Mlcp, "Mlcp"); debugPutVector(b.head(globalNumConstraintVectors), "b1"); debugPutVector(b.segment(globalNumConstraintVectors, globalNumFrictionVectors), "b2"); } bool isConverged; #ifdef USE_PIVOTING_LCP isConverged = callPathLCPSolver(Mlcp, b, solution); #else if(!USE_PREVIOUS_LCP_SOLUTION || constraintsSizeChanged){ solution.setZero(); } solveMCPByProjectedGaussSeidel(Mlcp, b, solution); isConverged = true; #endif if(!isConverged){ ++numUnconverged; if(CFS_DEBUG) os << "LCP didn't converge" << numUnconverged << std::endl; } else { if(CFS_DEBUG) os << "LCP converged" << std::endl; if(CFS_DEBUG_LCPCHECK){ // checkLCPResult(Mlcp, b, solution); checkMCPResult(Mlcp, b, solution); } addConstraintForceToLinks(); } } prevGlobalNumConstraintVectors = globalNumConstraintVectors; prevGlobalNumFrictionVectors = globalNumFrictionVectors; } void CFSImpl::setConstraintPoints() { #ifdef ENABLE_SIMULATION_PROFILING timer.begin(); #endif collisionDetector->detectCollisions(boost::bind(&CFSImpl::extractConstraintPoints, this, _1)); #ifdef ENABLE_SIMULATION_PROFILING collisionTime = timer.measure(); #endif globalNumContactNormalVectors = globalNumConstraintVectors; for(size_t i=0; i < extraJointLinkPairs.size(); ++i){ setExtraJointConstraintPoints(extraJointLinkPairs[i]); } for(size_t i=0; i < constrain2dLinkPairs.size(); ++i){ set2dConstraintPoints(constrain2dLinkPairs[i]); } } void CFSImpl::setDefaultContactAttributeValues(ContactAttributeEx& attr) { attr.setStaticFriction(defaultStaticFriction); attr.setDynamicFriction(defaultSlipFriction); attr.setRestitution(defaultCoefficientOfRestitution); attr.contactCullingDistance = defaultContactCullingDistance; attr.contactCullingDepth = defaultContactCullingDepth; } void CFSImpl::extractConstraintPoints(const CollisionPair& collisionPair) { LinkPair* pLinkPair; const IdPair<> idPair(collisionPair.geometryId); GeometryPairToLinkPairMap::iterator p = geometryPairToLinkPairMap.find(idPair); if(p != geometryPairToLinkPairMap.end()){ pLinkPair = &p->second; pLinkPair->constraintPoints.clear(); } else { LinkPair& linkPair = geometryPairToLinkPairMap.insert(make_pair(idPair, LinkPair())).first->second; for(int i=0; i < 2; ++i){ const int id = collisionPair.geometryId[i]; const int bodyIndex = geometryIdToBodyIndexMap[id]; linkPair.bodyIndex[i] = bodyIndex; BodyData& bodyData = bodiesData[bodyIndex]; linkPair.bodyData[i] = &bodyData; const int linkIndex = id - bodyData.geometryId; linkPair.link[i] = bodyData.body->link(linkIndex); linkPair.linkData[i] = &bodyData.linksData[linkIndex]; } linkPair.isSameBodyPair = (linkPair.bodyIndex[0] == linkPair.bodyIndex[1]); linkPair.isNonContactConstraint = false; ContactAttributeMap::iterator q = contactAttributeMap.find(IdPair(linkPair.link[0], linkPair.link[1])); if(q != contactAttributeMap.end()){ linkPair.attr = q->second; } else { setDefaultContactAttributeValues(linkPair.attr); } pLinkPair = &linkPair; } const vector& collisions = collisionPair.collisions; CollisionHandler& collisionHandler = pLinkPair->attr.collisionHandler; if(collisionHandler){ if(collisionHandler(pLinkPair->link[0], pLinkPair->link[1], collisions, pLinkPair->attr)){ return; // skip the contact force calculation } } pLinkPair->bodyData[0]->hasConstrainedLinks = true; pLinkPair->bodyData[1]->hasConstrainedLinks = true; for(size_t i=0; i < collisions.size(); ++i){ setContactConstraintPoint(*pLinkPair, collisions[i]); } if(!pLinkPair->constraintPoints.empty()){ constrainedLinkPairs.push_back(pLinkPair); } } CollisionLinkPairListPtr CFSImpl::getCollisions() { CollisionLinkPairListPtr collisionPairs = boost::make_shared(); for(int i=0; i(); int numConstraintsInPair = source.constraintPoints.size(); for(int j=0; j < numConstraintsInPair; ++j){ ConstraintPoint& constraint = source.constraintPoints[j]; dest->collisions.push_back(Collision()); Collision& col = dest->collisions.back(); col.point = constraint.point; col.normal = constraint.normalTowardInside[1]; col.depth = constraint.depth; } for(int j=0; j<2; j++){ dest->body[j] = source.bodyData[j]->body; dest->link[j] = source.link[j]; } collisionPairs->push_back(dest); } return collisionPairs; } /** @retuen true if the point is actually added to the constraints */ bool CFSImpl::setContactConstraintPoint(LinkPair& linkPair, const Collision& collision) { // skip the contact which has too much depth if(collision.depth > linkPair.attr.contactCullingDepth){ return false; } ConstraintPointArray& constraintPoints = linkPair.constraintPoints; constraintPoints.push_back(ConstraintPoint()); ConstraintPoint& contact = constraintPoints.back(); contact.point = collision.point; // dense contact points are eliminated int nPrevPoints = constraintPoints.size() - 1; for(int i=0; i < nPrevPoints; ++i){ if((constraintPoints[i].point - contact.point).norm() < linkPair.attr.contactCullingDistance){ constraintPoints.pop_back(); return false; } } contact.normalTowardInside[1] = collision.normal; contact.normalTowardInside[0] = -contact.normalTowardInside[1]; contact.depth = collision.depth; contact.globalIndex = globalNumConstraintVectors++; // check velocities Vector3 v[2]; for(int k=0; k < 2; ++k){ DyLink* link = linkPair.link[k]; if(link->isRoot() && link->isFixedJoint()){ v[k].setZero(); } else { v[k] = link->vo() + link->w().cross(contact.point); if (link->jointType() < Link::PSEUDO_CONTINUOUS_TRACK){ continue; } if(link->jointType() <= Link::CRAWLER_JOINT){ // tentative // invalid depths should be fixed if (contact.depth > contactCorrectionDepth * 2.0){ contact.depth = contactCorrectionDepth * 2.0; } Vector3 axis = link->R() * link->a(); Vector3 n(collision.normal); Vector3 dir = axis.cross(n); if (k) dir *= -1.0; dir.normalize(); if(link->jointType() == Link::PSEUDO_CONTINUOUS_TRACK){ v[k] += link->dq() * dir; } else { v[k] += link->u() * dir; // CRAWLER_JOINT } } } } contact.relVelocityOn0 = v[1] - v[0]; contact.normalProjectionOfRelVelocityOn0 = contact.normalTowardInside[1].dot(contact.relVelocityOn0); if(!areThereImpacts){ if(contact.normalProjectionOfRelVelocityOn0 < -1.0e-6){ areThereImpacts = true; } } Vector3 v_tangent = contact.relVelocityOn0 - contact.normalProjectionOfRelVelocityOn0 * contact.normalTowardInside[1]; contact.globalFrictionIndex = globalNumFrictionVectors; double vt_square = v_tangent.squaredNorm(); static const double vsqrthresh = VEL_THRESH_OF_DYNAMIC_FRICTION * VEL_THRESH_OF_DYNAMIC_FRICTION; bool isSlipping = (vt_square > vsqrthresh); contact.mu = isSlipping ? linkPair.attr.dynamicFriction() : linkPair.attr.staticFriction(); if( !ONLY_STATIC_FRICTION_FORMULATION && isSlipping){ contact.numFrictionVectors = 1; double vt_mag = sqrt(vt_square); Vector3 t1 = v_tangent / vt_mag; Vector3 t2 = contact.normalTowardInside[1].cross(t1); Vector3 t3 = t2.cross(contact.normalTowardInside[1]); contact.frictionVector[0][0] = t3.normalized(); contact.frictionVector[0][1] = -contact.frictionVector[0][0]; // proportional dynamic friction near zero velocity if(PROPORTIONAL_DYNAMIC_FRICTION){ vt_mag *= 10000.0; if(vt_mag < contact.mu){ contact.mu = vt_mag; } } } else { if(ENABLE_STATIC_FRICTION){ contact.numFrictionVectors = (STATIC_FRICTION_BY_TWO_CONSTRAINTS ? 2 : 4); setFrictionVectors(contact); } else { contact.numFrictionVectors = 0; } } globalNumFrictionVectors += contact.numFrictionVectors; return true; } void CFSImpl::setFrictionVectors(ConstraintPoint& contact) { Vector3 u = Vector3::Zero(); int minAxis = 0; Vector3& normal = contact.normalTowardInside[0]; for(int i=1; i < 3; i++){ if(fabs(normal(i)) < fabs(normal(minAxis))){ minAxis = i; } } u(minAxis) = 1.0; Vector3 t1 = normal.cross(u).normalized(); Vector3 t2 = normal.cross(t1).normalized(); if(ENABLE_RANDOM_STATIC_FRICTION_BASE){ double theta = randomAngle(); contact.frictionVector[0][0] = cos(theta) * t1 + sin(theta) * t2; theta += PI_2; contact.frictionVector[1][0] = cos(theta) * t1 + sin(theta) * t2; } else { contact.frictionVector[0][0] = t1; contact.frictionVector[1][0] = t2; } if(STATIC_FRICTION_BY_TWO_CONSTRAINTS){ contact.frictionVector[0][1] = -contact.frictionVector[0][0]; contact.frictionVector[1][1] = -contact.frictionVector[1][0]; } else { contact.frictionVector[2][0] = -contact.frictionVector[0][0]; contact.frictionVector[3][0] = -contact.frictionVector[1][0]; contact.frictionVector[0][1] = contact.frictionVector[2][0]; contact.frictionVector[1][1] = contact.frictionVector[3][0]; contact.frictionVector[2][1] = contact.frictionVector[0][0]; contact.frictionVector[3][1] = contact.frictionVector[1][0]; } } void CFSImpl::setExtraJointConstraintPoints(const ExtraJointLinkPairPtr& linkPair) { ConstraintPointArray& constraintPoints = linkPair->constraintPoints; DyLink* link0 = linkPair->link[0]; DyLink* link1 = linkPair->link[1]; Vector3 point[2]; point[0].noalias() = link0->p() + link0->R() * linkPair->jointPoint[0]; point[1].noalias() = link1->p() + link1->R() * linkPair->jointPoint[1]; Vector3 midPoint = (point[0] + point[1]) / 2.0; Vector3 error = midPoint - point[0]; /* if(error.squaredNorm() > (0.04 * 0.04)){ return false; } */ // check velocities Vector3 v[2]; for(int k=0; k < 2; ++k){ DyLink* link = linkPair->link[k]; if(link->isRoot() && link->isFixedJoint()){ v[k].setZero(); } else { v[k] = link->vo() + link->w().cross(point[k]); } } Vector3 relVelocityOn0 = v[1] - v[0]; int n = linkPair->constraintPoints.size(); for(int i=0; i < n; ++i){ ConstraintPoint& constraint = constraintPoints[i]; const Vector3 axis = link0->R() * linkPair->jointConstraintAxes[i]; constraint.point = midPoint; constraint.normalTowardInside[0] = axis; constraint.normalTowardInside[1] = -axis; constraint.depth = axis.dot(error); constraint.globalIndex = globalNumConstraintVectors++; constraint.normalProjectionOfRelVelocityOn0 = constraint.normalTowardInside[1].dot(relVelocityOn0); } linkPair->bodyData[0]->hasConstrainedLinks = true; linkPair->bodyData[1]->hasConstrainedLinks = true; constrainedLinkPairs.push_back(linkPair.get()); } void CFSImpl::set2dConstraintPoints(const Constrain2dLinkPairPtr& linkPair) { static const Vector3 yAxis(0.0, 1.0, 0.0); ConstraintPointArray& constraintPoints = linkPair->constraintPoints; int n = linkPair->constraintPoints.size(); for(int i=0; i < n; ++i){ DyLink* link1 = linkPair->link[1]; Vector3 point1 = link1->p() + link1->R() * local2dConstraintPoints[i]; Vector3 relVelocityOn0 = link1->vo() + link1->w().cross(point1); ConstraintPoint& constraint = constraintPoints[i]; constraint.point = point1; constraint.normalTowardInside[0] = yAxis; constraint.normalTowardInside[1] = -yAxis; constraint.depth = point1.y() - linkPair->globalYpositions[i]; constraint.globalIndex = globalNumConstraintVectors++; constraint.normalProjectionOfRelVelocityOn0 = -(link1->vo() + link1->w().cross(point1)).y(); } linkPair->bodyData[0]->hasConstrainedLinks = true; linkPair->bodyData[1]->hasConstrainedLinks = true; constrainedLinkPairs.push_back(linkPair.get()); } void CFSImpl::putContactPoints() { os << "Contact Points\n"; for(size_t i=0; i < constrainedLinkPairs.size(); ++i){ LinkPair* linkPair = constrainedLinkPairs[i]; ExtraJointLinkPair* ejLinkPair = dynamic_cast(linkPair); if(!ejLinkPair){ os << " " << linkPair->link[0]->name() << " of " << linkPair->bodyData[0]->body->modelName(); os << "<-->"; os << " " << linkPair->link[1]->name() << " of " << linkPair->bodyData[1]->body->modelName(); os << "\n"; os << " culling thresh: " << linkPair->attr.contactCullingDistance << "\n"; ConstraintPointArray& constraintPoints = linkPair->constraintPoints; for(size_t j=0; j < constraintPoints.size(); ++j){ ConstraintPoint& contact = constraintPoints[j]; os << " index " << contact.globalIndex; os << " point: " << contact.point; os << " normal: " << contact.normalTowardInside[1]; os << " defaultAccel[0]: " << contact.defaultAccel[0]; os << " defaultAccel[1]: " << contact.defaultAccel[1]; os << " normal projectionOfRelVelocityOn0" << contact.normalProjectionOfRelVelocityOn0; os << " depth" << contact.depth; os << " mu" << contact.mu; os << " rel velocity: " << contact.relVelocityOn0; os << " friction[0][0]: " << contact.frictionVector[0][0]; os << " friction[0][1]: " << contact.frictionVector[0][1]; os << " friction[1][0]: " << contact.frictionVector[1][0]; os << " friction[1][1]: " << contact.frictionVector[1][1]; os << "\n"; } } } os << std::endl; } void CFSImpl::solveImpactConstraints() { if(CFS_DEBUG){ os << "Impacts !" << std::endl; } } void CFSImpl::initMatrices() { const int n = globalNumConstraintVectors; const int m = globalNumFrictionVectors; const int dimLCP = usePivotingLCP ? (n + m + m) : (n + m); Mlcp.resize(dimLCP, dimLCP); b.resize(dimLCP); solution.resize(dimLCP); if(usePivotingLCP){ Mlcp.block(0, n + m, n, m).setZero(); Mlcp.block(n + m, 0, m, n).setZero(); Mlcp.block(n + m, n, m, m) = -MatrixX::Identity(m, m); Mlcp.block(n + m, n + m, m, m).setZero(); Mlcp.block(n, n + m, m, m).setIdentity(); b.tail(m).setZero(); } else { frictionIndexToContactIndex.resize(m); contactIndexToMu.resize(globalNumContactNormalVectors); mcpHi.resize(globalNumContactNormalVectors); } an0.resize(n); at0.resize(m); } void CFSImpl::setAccelCalcSkipInformation() { // clear skip check numbers for(size_t i=0; i < bodiesData.size(); ++i){ BodyData& bodyData = bodiesData[i]; if(bodyData.hasConstrainedLinks){ LinkDataArray& linksData = bodyData.linksData; for(size_t j=0; j < linksData.size(); ++j){ linksData[j].numberToCheckAccelCalcSkip = numeric_limits::max(); } } } // add the number of contact points to skip check numbers of the links from a contact target to the root int numLinkPairs = constrainedLinkPairs.size(); for(int i=0; i < numLinkPairs; ++i){ LinkPair* linkPair = constrainedLinkPairs[i]; int constraintIndex = linkPair->constraintPoints.front().globalIndex; for(int j=0; j < 2; ++j){ LinkDataArray& linksData = linkPair->bodyData[j]->linksData; int linkIndex = linkPair->link[j]->index(); while(linkIndex >= 0){ LinkData& linkData = linksData[linkIndex]; if(linkData.numberToCheckAccelCalcSkip < constraintIndex){ break; } linkData.numberToCheckAccelCalcSkip = constraintIndex; linkIndex = linkData.parentIndex; } } } } void CFSImpl::setDefaultAccelerationVector() { // calculate accelerations with no constraint force for(size_t i=0; i < bodiesData.size(); ++i){ BodyData& bodyData = bodiesData[i]; if(bodyData.hasConstrainedLinks && ! bodyData.isStatic){ if(bodyData.forwardDynamicsCBM){ bodyData.forwardDynamicsCBM->sumExternalForces(); bodyData.forwardDynamicsCBM->solveUnknownAccels(); calcAccelsMM(bodyData, numeric_limits::max()); } else { initABMForceElementsWithNoExtForce(bodyData); calcAccelsABM(bodyData, numeric_limits::max()); } } } // extract accelerations for(size_t i=0; i < constrainedLinkPairs.size(); ++i){ LinkPair& linkPair = *constrainedLinkPairs[i]; ConstraintPointArray& constraintPoints = linkPair.constraintPoints; for(size_t j=0; j < constraintPoints.size(); ++j){ ConstraintPoint& constraint = constraintPoints[j]; for(int k=0; k < 2; ++k){ if(linkPair.bodyData[k]->isStatic){ constraint.defaultAccel[k].setZero(); } else { DyLink* link = linkPair.link[k]; LinkData* linkData = linkPair.linkData[k]; constraint.defaultAccel[k] = linkData->dvo - constraint.point.cross(linkData->dw) + link->w().cross(link->vo() + link->w().cross(constraint.point)); } } Vector3 relDefaultAccel(constraint.defaultAccel[1] - constraint.defaultAccel[0]); an0[constraint.globalIndex] = constraint.normalTowardInside[1].dot(relDefaultAccel); for(int k=0; k < constraint.numFrictionVectors; ++k){ at0[constraint.globalFrictionIndex + k] = constraint.frictionVector[k][1].dot(relDefaultAccel); } } } } void CFSImpl::setAccelerationMatrix() { const int n = globalNumConstraintVectors; const int m = globalNumFrictionVectors; Eigen::Block Knn = Mlcp.block(0, 0, n, n); Eigen::Block Ktn = Mlcp.block(0, n, n, m); Eigen::Block Knt = Mlcp.block(n, 0, m, n); Eigen::Block Ktt = Mlcp.block(n, n, m, m); for(size_t i=0; i < constrainedLinkPairs.size(); ++i){ LinkPair& linkPair = *constrainedLinkPairs[i]; int numConstraintsInPair = linkPair.constraintPoints.size(); for(int j=0; j < numConstraintsInPair; ++j){ ConstraintPoint& constraint = linkPair.constraintPoints[j]; int constraintIndex = constraint.globalIndex; // apply test normal force for(int k=0; k < 2; ++k){ BodyData& bodyData = *linkPair.bodyData[k]; if(!bodyData.isStatic){ bodyData.isTestForceBeingApplied = true; const Vector3& f = constraint.normalTowardInside[k]; if(bodyData.forwardDynamicsCBM){ //! \todo This code does not work correctly when the links are in the same body. Fix it. Vector3 arm = constraint.point - bodyData.body->rootLink()->p(); Vector3 tau = arm.cross(f); Vector3 tauext = constraint.point.cross(f); bodyData.forwardDynamicsCBM->solveUnknownAccels(linkPair.link[k], f, tauext, f, tau); calcAccelsMM(bodyData, constraintIndex); } else { Vector3 tau = constraint.point.cross(f); calcABMForceElementsWithTestForce(bodyData, linkPair.link[k], f, tau); if(!linkPair.isSameBodyPair || (k > 0)){ calcAccelsABM(bodyData, constraintIndex); } } } } extractRelAccelsOfConstraintPoints(Knn, Knt, constraintIndex, constraintIndex); // apply test friction force for(int l=0; l < constraint.numFrictionVectors; ++l){ for(int k=0; k < 2; ++k){ BodyData& bodyData = *linkPair.bodyData[k]; if(!bodyData.isStatic){ const Vector3& f = constraint.frictionVector[l][k]; if(bodyData.forwardDynamicsCBM){ //! \todo This code does not work correctly when the links are in the same body. Fix it. Vector3 arm = constraint.point - bodyData.body->rootLink()->p(); Vector3 tau = arm.cross(f); Vector3 tauext = constraint.point.cross(f); bodyData.forwardDynamicsCBM->solveUnknownAccels(linkPair.link[k], f, tauext, f, tau); calcAccelsMM(bodyData, constraintIndex); } else { Vector3 tau = constraint.point.cross(f); calcABMForceElementsWithTestForce(bodyData, linkPair.link[k], f, tau); if(!linkPair.isSameBodyPair || (k > 0)){ calcAccelsABM(bodyData, constraintIndex); } } } } extractRelAccelsOfConstraintPoints(Ktn, Ktt, constraint.globalFrictionIndex + l, constraintIndex); } linkPair.bodyData[0]->isTestForceBeingApplied = false; linkPair.bodyData[1]->isTestForceBeingApplied = false; } } if(ASSUME_SYMMETRIC_MATRIX){ copySymmetricElementsOfAccelerationMatrix(Knn, Ktn, Knt, Ktt); } } void CFSImpl::initABMForceElementsWithNoExtForce(BodyData& bodyData) { bodyData.dpf.setZero(); bodyData.dptau.setZero(); std::vector& linksData = bodyData.linksData; const LinkTraverse& traverse = bodyData.body->linkTraverse(); const int n = traverse.numLinks(); for(int i = n-1; i >= 0; --i){ DyLink* link = static_cast(traverse[i]); LinkData& data = linksData[i]; /* data.pf0 = link->pf; data.ptau0 = link->ptau; */ data.pf0 = link->pf() - link->f_ext(); data.ptau0 = link->ptau() - link->tau_ext(); for(DyLink* child = link->child(); child; child = child->sibling()){ LinkData& childData = linksData[child->index()]; data.pf0 += childData.pf0; data.ptau0 += childData.ptau0; if(!child->isFixedJoint()){ double uu_dd = childData.uu0 / child->dd(); data.pf0 += uu_dd * child->hhv(); data.ptau0 += uu_dd * child->hhw(); } } if(i > 0){ if(!link->isFixedJoint()){ data.uu0 = link->uu() + link->u() - (link->sv().dot(data.pf0) + link->sw().dot(data.ptau0)); data.uu = data.uu0; } } } } void CFSImpl::calcABMForceElementsWithTestForce (BodyData& bodyData, DyLink* linkToApplyForce, const Vector3& f, const Vector3& tau) { std::vector& linksData = bodyData.linksData; Vector3 dpf = -f; Vector3 dptau = -tau; DyLink* link = linkToApplyForce; while(link->parent()){ if(!link->isFixedJoint()){ LinkData& data = linksData[link->index()]; double duu = -(link->sv().dot(dpf) + link->sw().dot(dptau)); data.uu += duu; double duudd = duu / link->dd(); dpf += duudd * link->hhv(); dptau += duudd * link->hhw(); } link = link->parent(); } bodyData.dpf += dpf; bodyData.dptau += dptau; } void CFSImpl::calcAccelsABM(BodyData& bodyData, int constraintIndex) { std::vector& linksData = bodyData.linksData; LinkData& rootData = linksData[0]; DyLink* rootLink = rootData.link; if(rootLink->isFreeJoint()){ Eigen::Matrix M; M << rootLink->Ivv(), rootLink->Iwv().transpose(), rootLink->Iwv(), rootLink->Iww(); Eigen::Matrix f; f << (rootData.pf0 + bodyData.dpf), (rootData.ptau0 + bodyData.dptau); f *= -1.0; Eigen::Matrix a(M.colPivHouseholderQr().solve(f)); rootData.dvo = a.head<3>(); rootData.dw = a.tail<3>(); } else { rootData.dw .setZero(); rootData.dvo.setZero(); } // reset bodyData.dpf .setZero(); bodyData.dptau.setZero(); int skipCheckNumber = ASSUME_SYMMETRIC_MATRIX ? constraintIndex : (numeric_limits::max() - 1); int n = linksData.size(); for(int linkIndex = 1; linkIndex < n; ++linkIndex){ LinkData& linkData = linksData[linkIndex]; if(!SKIP_REDUNDANT_ACCEL_CALC || linkData.numberToCheckAccelCalcSkip <= skipCheckNumber){ DyLink* link = linkData.link; LinkData& parentData = linksData[linkData.parentIndex]; if(!link->isFixedJoint()){ linkData.ddq = (linkData.uu - (link->hhv().dot(parentData.dvo) + link->hhw().dot(parentData.dw))) / link->dd(); linkData.dvo = parentData.dvo + link->cv() + link->sv() * linkData.ddq; linkData.dw = parentData.dw + link->cw() + link->sw() * linkData.ddq; }else{ linkData.ddq = 0.0; linkData.dvo = parentData.dvo; linkData.dw = parentData.dw; } // reset linkData.uu = linkData.uu0; } } } void CFSImpl::calcAccelsMM(BodyData& bodyData, int constraintIndex) { std::vector& linksData = bodyData.linksData; LinkData& rootData = linksData[0]; DyLink* rootLink = rootData.link; rootData.dvo = rootLink->dvo(); rootData.dw = rootLink->dw(); const int skipCheckNumber = ASSUME_SYMMETRIC_MATRIX ? constraintIndex : (numeric_limits::max() - 1); const int n = linksData.size(); for(int linkIndex = 1; linkIndex < n; ++linkIndex){ LinkData& linkData = linksData[linkIndex]; if(!SKIP_REDUNDANT_ACCEL_CALC || linkData.numberToCheckAccelCalcSkip <= skipCheckNumber){ DyLink* link = linkData.link; LinkData& parentData = linksData[linkData.parentIndex]; if(!link->isFixedJoint()){ linkData.dvo = parentData.dvo + link->cv() + link->ddq() * link->sv(); linkData.dw = parentData.dw + link->cw() + link->ddq() * link->sw(); }else{ linkData.dvo = parentData.dvo; linkData.dw = parentData.dw; } } } } void CFSImpl::extractRelAccelsOfConstraintPoints (Eigen::Block& Kxn, Eigen::Block& Kxt, int testForceIndex, int constraintIndex) { int maxConstraintIndexToExtract = ASSUME_SYMMETRIC_MATRIX ? constraintIndex : globalNumConstraintVectors; for(size_t i=0; i < constrainedLinkPairs.size(); ++i){ LinkPair& linkPair = *constrainedLinkPairs[i]; BodyData& bodyData0 = *linkPair.bodyData[0]; BodyData& bodyData1 = *linkPair.bodyData[1]; if(bodyData0.isTestForceBeingApplied){ if(bodyData1.isTestForceBeingApplied){ extractRelAccelsFromLinkPairCase1(Kxn, Kxt, linkPair, testForceIndex, maxConstraintIndexToExtract); } else { extractRelAccelsFromLinkPairCase2(Kxn, Kxt, linkPair, 0, 1, testForceIndex, maxConstraintIndexToExtract); } } else { if(bodyData1.isTestForceBeingApplied){ extractRelAccelsFromLinkPairCase2(Kxn, Kxt, linkPair, 1, 0, testForceIndex, maxConstraintIndexToExtract); } else { extractRelAccelsFromLinkPairCase3(Kxn, Kxt, linkPair, testForceIndex, maxConstraintIndexToExtract); } } } } void CFSImpl::extractRelAccelsFromLinkPairCase1 (Eigen::Block& Kxn, Eigen::Block& Kxt, LinkPair& linkPair, int testForceIndex, int maxConstraintIndexToExtract) { ConstraintPointArray& constraintPoints = linkPair.constraintPoints; for(size_t i=0; i < constraintPoints.size(); ++i){ ConstraintPoint& constraint = constraintPoints[i]; int constraintIndex = constraint.globalIndex; if(ASSUME_SYMMETRIC_MATRIX && constraintIndex > maxConstraintIndexToExtract){ break; } DyLink* link0 = linkPair.link[0]; DyLink* link1 = linkPair.link[1]; LinkData* linkData0 = linkPair.linkData[0]; LinkData* linkData1 = linkPair.linkData[1]; //! \todo Can the follwoing equations be simplified ? Vector3 dv0 = linkData0->dvo - constraint.point.cross(linkData0->dw) + link0->w().cross(link0->vo() + link0->w().cross(constraint.point)); Vector3 dv1 = linkData1->dvo - constraint.point.cross(linkData1->dw) + link1->w().cross(link1->vo() + link1->w().cross(constraint.point)); Vector3 relAccel = dv1 - dv0; Kxn(constraintIndex, testForceIndex) = constraint.normalTowardInside[1].dot(relAccel) - an0(constraintIndex); for(int j=0; j < constraint.numFrictionVectors; ++j){ const int index = constraint.globalFrictionIndex + j; Kxt(index, testForceIndex) = constraint.frictionVector[j][1].dot(relAccel) - at0(index); } } } void CFSImpl::extractRelAccelsFromLinkPairCase2 (Eigen::Block& Kxn, Eigen::Block& Kxt, LinkPair& linkPair, int iTestForce, int iDefault, int testForceIndex, int maxConstraintIndexToExtract) { ConstraintPointArray& constraintPoints = linkPair.constraintPoints; for(size_t i=0; i < constraintPoints.size(); ++i){ ConstraintPoint& constraint = constraintPoints[i]; int constraintIndex = constraint.globalIndex; if(ASSUME_SYMMETRIC_MATRIX && constraintIndex > maxConstraintIndexToExtract){ break; } DyLink* link = linkPair.link[iTestForce]; LinkData* linkData = linkPair.linkData[iTestForce]; Vector3 dv(linkData->dvo - constraint.point.cross(linkData->dw) + link->w().cross(link->vo() + link->w().cross(constraint.point))); if(CFS_DEBUG_VERBOSE_2){ os << "dv " << constraintIndex << " = " << dv << "\n"; } Vector3 relAccel = constraint.defaultAccel[iDefault] - dv; Kxn(constraintIndex, testForceIndex) = constraint.normalTowardInside[iDefault].dot(relAccel) - an0(constraintIndex); for(int j=0; j < constraint.numFrictionVectors; ++j){ const int index = constraint.globalFrictionIndex + j; Kxt(index, testForceIndex) = constraint.frictionVector[j][iDefault].dot(relAccel) - at0(index); } } } void CFSImpl::extractRelAccelsFromLinkPairCase3 (Eigen::Block& Kxn, Eigen::Block& Kxt, LinkPair& linkPair, int testForceIndex, int maxConstraintIndexToExtract) { ConstraintPointArray& constraintPoints = linkPair.constraintPoints; for(size_t i=0; i < constraintPoints.size(); ++i){ ConstraintPoint& constraint = constraintPoints[i]; int constraintIndex = constraint.globalIndex; if(ASSUME_SYMMETRIC_MATRIX && constraintIndex > maxConstraintIndexToExtract){ break; } Kxn(constraintIndex, testForceIndex) = 0.0; for(int j=0; j < constraint.numFrictionVectors; ++j){ Kxt(constraint.globalFrictionIndex + j, testForceIndex) = 0.0; } } } void CFSImpl::copySymmetricElementsOfAccelerationMatrix (Eigen::Block& Knn, Eigen::Block& Ktn, Eigen::Block& Knt, Eigen::Block& Ktt) { for(size_t linkPairIndex=0; linkPairIndex < constrainedLinkPairs.size(); ++linkPairIndex){ ConstraintPointArray& constraintPoints = constrainedLinkPairs[linkPairIndex]->constraintPoints; for(size_t localConstraintIndex = 0; localConstraintIndex < constraintPoints.size(); ++localConstraintIndex){ ConstraintPoint& constraint = constraintPoints[localConstraintIndex]; int constraintIndex = constraint.globalIndex; int nextConstraintIndex = constraintIndex + 1; for(int i = nextConstraintIndex; i < globalNumConstraintVectors; ++i){ Knn(i, constraintIndex) = Knn(constraintIndex, i); } int frictionTopOfNextConstraint = constraint.globalFrictionIndex + constraint.numFrictionVectors; for(int i = frictionTopOfNextConstraint; i < globalNumFrictionVectors; ++i){ Knt(i, constraintIndex) = Ktn(constraintIndex, i); } for(int localFrictionIndex=0; localFrictionIndex < constraint.numFrictionVectors; ++localFrictionIndex){ int frictionIndex = constraint.globalFrictionIndex + localFrictionIndex; for(int i = nextConstraintIndex; i < globalNumConstraintVectors; ++i){ Ktn(i, frictionIndex) = Knt(frictionIndex, i); } for(int i = frictionTopOfNextConstraint; i < globalNumFrictionVectors; ++i){ Ktt(i, frictionIndex) = Ktt(frictionIndex, i); } } } } } void CFSImpl::clearSingularPointConstraintsOfClosedLoopConnections() { for(int i = 0; i < Mlcp.rows(); ++i){ if(Mlcp(i, i) < 1.0e-4){ for(int j=0; j < Mlcp.rows(); ++j){ Mlcp(j, i) = 0.0; } Mlcp(i, i) = numeric_limits::max(); } } } void CFSImpl::setConstantVectorAndMuBlock() { double dtinv = 1.0 / world.timeStep(); const int block2 = globalNumConstraintVectors; const int block3 = globalNumConstraintVectors + globalNumFrictionVectors; for(size_t i=0; i < constrainedLinkPairs.size(); ++i){ LinkPair& linkPair = *constrainedLinkPairs[i]; int numConstraintsInPair = linkPair.constraintPoints.size(); for(int j=0; j < numConstraintsInPair; ++j){ ConstraintPoint& constraint = linkPair.constraintPoints[j]; int globalIndex = constraint.globalIndex; // set constant vector of LCP // constraints for normal acceleration if(linkPair.isNonContactConstraint){ // connection constraint const double& error = constraint.depth; double v; if(error >= 0){ v = 0.1 * (-1.0 + exp(-error * 20.0)); } else { v = 0.1 * ( 1.0 - exp( error * 20.0)); } b(globalIndex) = an0(globalIndex) + (constraint.normalProjectionOfRelVelocityOn0 + v) * dtinv; } else { // contact constraint if(ENABLE_CONTACT_DEPTH_CORRECTION){ double velOffset; const double depth = constraint.depth - contactCorrectionDepth; if(depth <= 0.0){ velOffset = contactCorrectionVelocityRatio * depth; } else { velOffset = contactCorrectionVelocityRatio * (-1.0 / (depth + 1.0) + 1.0); } b(globalIndex) = an0(globalIndex) + (constraint.normalProjectionOfRelVelocityOn0 - velOffset) * dtinv; } else { b(globalIndex) = an0(globalIndex) + constraint.normalProjectionOfRelVelocityOn0 * dtinv; } contactIndexToMu[globalIndex] = constraint.mu; int globalFrictionIndex = constraint.globalFrictionIndex; for(int k=0; k < constraint.numFrictionVectors; ++k){ // constraints for tangent acceleration double tangentProjectionOfRelVelocity = constraint.frictionVector[k][1].dot(constraint.relVelocityOn0); b(block2 + globalFrictionIndex) = at0(globalFrictionIndex); if( !IGNORE_CURRENT_VELOCITY_IN_STATIC_FRICTION || constraint.numFrictionVectors == 1){ b(block2 + globalFrictionIndex) += tangentProjectionOfRelVelocity * dtinv; } if(usePivotingLCP){ // set mu (coefficients of friction) Mlcp(block3 + globalFrictionIndex, globalIndex) = constraint.mu; } else { // for iterative solver frictionIndexToContactIndex[globalFrictionIndex] = globalIndex; } ++globalFrictionIndex; } } } } } void CFSImpl::addConstraintForceToLinks() { int n = constrainedLinkPairs.size(); for(int i=0; i < n; ++i){ LinkPair* linkPair = constrainedLinkPairs[i]; for(int j=0; j < 2; ++j){ // if(!linkPair->link[j]->isRoot() || linkPair->link[j]->jointType != Link::FIXED_JOINT){ addConstraintForceToLink(linkPair, j); // } } } } void CFSImpl::addConstraintForceToLink(LinkPair* linkPair, int ipair) { Vector3 f_total = Vector3::Zero(); Vector3 tau_total = Vector3::Zero(); ConstraintPointArray& constraintPoints = linkPair->constraintPoints; int numConstraintPoints = constraintPoints.size(); DyLink* link = linkPair->link[ipair]; for(int i=0; i < numConstraintPoints; ++i){ ConstraintPoint& constraint = constraintPoints[i]; int globalIndex = constraint.globalIndex; Vector3 f = solution(globalIndex) * constraint.normalTowardInside[ipair]; for(int j=0; j < constraint.numFrictionVectors; ++j){ f += solution(globalNumConstraintVectors + constraint.globalFrictionIndex + j) * constraint.frictionVector[j][ipair]; } f_total += f; tau_total += constraint.point.cross(f); if(isConstraintForceOutputMode){ link->constraintForces().push_back(DyLink::ConstraintForce(constraint.point, f)); } } link->f_ext() += f_total; link->tau_ext() += tau_total; if(CFS_DEBUG){ os << "Constraint force to " << link->name() << ": f = " << f_total << ", tau = " << tau_total << std::endl; } } void CFSImpl::solveMCPByProjectedGaussSeidel(const MatrixX& M, const VectorX& b, VectorX& x) { static const int loopBlockSize = DEFAULT_NUM_GAUSS_SEIDEL_ITERATION_BLOCK; if(numGaussSeidelInitialIteration > 0){ solveMCPByProjectedGaussSeidelInitial(M, b, x, numGaussSeidelInitialIteration); } int numBlockLoops = maxNumGaussSeidelIteration / loopBlockSize; if(numBlockLoops==0){ numBlockLoops = 1; } if(CFS_MCP_DEBUG){ os << "Iteration "; } double error = 0.0; VectorXd x0; int i = 0; while(i < numBlockLoops){ i++; for(int j=0; j < loopBlockSize - 1; ++j){ solveMCPByProjectedGaussSeidelMainStep(M, b, x); } x0 = x; solveMCPByProjectedGaussSeidelMainStep(M, b, x); if(true){ double n = x.norm(); if(n > THRESH_TO_SWITCH_REL_ERROR){ error = (x - x0).norm() / x.norm(); } else { error = (x - x0).norm(); } } else { error = 0.0; for(int j=0; j < x.size(); ++j){ double d = fabs(x(j) - x0(j)); if(d > THRESH_TO_SWITCH_REL_ERROR){ d /= x(j); } if(d > error){ error = d; } } } if(error < gaussSeidelErrorCriterion){ if(CFS_MCP_DEBUG_SHOW_ITERATION_STOP){ os << "stopped at " << (i * loopBlockSize) << ", error = " << error << endl; } break; } } if(CFS_MCP_DEBUG){ if(i == numBlockLoops){ os << "not stopped" << ", error = " << error << endl; } int n = loopBlockSize * i; numGaussSeidelTotalLoops += n; numGaussSeidelTotalCalls++; numGaussSeidelTotalLoopsMax = std::max(numGaussSeidelTotalLoopsMax, n); os << ", avarage = " << (numGaussSeidelTotalLoops / numGaussSeidelTotalCalls); os << ", max = " << numGaussSeidelTotalLoopsMax; os << endl; } } void CFSImpl::solveMCPByProjectedGaussSeidelMainStep(const MatrixX& M, const VectorX& b, VectorX& x) { const int size = globalNumConstraintVectors + globalNumFrictionVectors; for(int j=0; j < globalNumContactNormalVectors; ++j){ double xx; if(M(j,j) == numeric_limits::max()){ xx=0.0; } else { double sum = -M(j, j) * x(j); for(int k=0; k < size; ++k){ sum += M(j, k) * x(k); } xx = (-b(j) - sum) / M(j, j); } if(xx < 0.0){ x(j) = 0.0; } else { x(j) = xx; } mcpHi[j] = contactIndexToMu[j] * x(j); } for(int j=globalNumContactNormalVectors; j < globalNumConstraintVectors; ++j){ if(M(j,j) == numeric_limits::max()){ x(j)=0.0; } else { double sum = -M(j, j) * x(j); for(int k=0; k < size; ++k){ sum += M(j, k) * x(k); } x(j) = (-b(j) - sum) / M(j, j); } } if(ENABLE_TRUE_FRICTION_CONE){ int contactIndex = 0; for(int j=globalNumConstraintVectors; j < size; ++j, ++contactIndex){ double fx0; if(M(j,j) == numeric_limits::max()) { fx0 = 0.0; } else { double sum = -M(j, j) * x(j); for(int k=0; k < size; ++k){ sum += M(j, k) * x(k); } fx0 = (-b(j) - sum) / M(j, j); } double& fx = x(j); ++j; double fy0; if(M(j,j) == numeric_limits::max()) { fy0=0.0; } else { double sum = -M(j, j) * x(j); for(int k=0; k < size; ++k){ sum += M(j, k) * x(k); } fy0 = (-b(j) - sum) / M(j, j); } double& fy = x(j); const double fmax = mcpHi[contactIndex]; const double fmax2 = fmax * fmax; const double fmag2 = fx0 * fx0 + fy0 * fy0; if(fmag2 > fmax2){ const double s = fmax / sqrt(fmag2); fx = s * fx0; fy = s * fy0; } else { fx = fx0; fy = fy0; } } } else { int frictionIndex = 0; for(int j=globalNumConstraintVectors; j < size; ++j, ++frictionIndex){ double xx; if(M(j,j) == numeric_limits::max()) { xx=0.0; } else { double sum = -M(j, j) * x(j); for(int k=0; k < size; ++k){ sum += M(j, k) * x(k); } xx = (-b(j) - sum) / M(j, j); } const int contactIndex = frictionIndexToContactIndex[frictionIndex]; const double fmax = mcpHi[contactIndex]; const double fmin = (STATIC_FRICTION_BY_TWO_CONSTRAINTS ? -fmax : 0.0); if(xx < fmin){ x(j) = fmin; } else if(xx > fmax){ x(j) = fmax; } else { x(j) = xx; } } } } void CFSImpl::solveMCPByProjectedGaussSeidelInitial (const MatrixX& M, const VectorX& b, VectorX& x, const int numIteration) { const int size = globalNumConstraintVectors + globalNumFrictionVectors; const double rstep = 1.0 / (numIteration * size); double r = 0.0; for(int i=0; i < numIteration; ++i){ for(int j=0; j < globalNumContactNormalVectors; ++j){ double xx; if(M(j,j)==numeric_limits::max()){ xx=0.0; } else { double sum = -M(j, j) * x(j); for(int k=0; k < size; ++k){ sum += M(j, k) * x(k); } xx = (-b(j) - sum) / M(j, j); } if(xx < 0.0){ x(j) = 0.0; } else { x(j) = r * xx; } r += rstep; mcpHi[j] = contactIndexToMu[j] * x(j); } for(int j=globalNumContactNormalVectors; j < globalNumConstraintVectors; ++j){ if(M(j,j)==numeric_limits::max()){ x(j) = 0.0; } else { double sum = -M(j, j) * x(j); for(int k=0; k < size; ++k){ sum += M(j, k) * x(k); } x(j) = r * (-b(j) - sum) / M(j, j); } r += rstep; } if(ENABLE_TRUE_FRICTION_CONE){ int contactIndex = 0; for(int j=globalNumConstraintVectors; j < size; ++j, ++contactIndex){ double fx0; if(M(j,j)==numeric_limits::max()) fx0 = 0.0; else{ double sum = -M(j, j) * x(j); for(int k=0; k < size; ++k){ sum += M(j, k) * x(k); } fx0 = (-b(j) - sum) / M(j, j); } double& fx = x(j); ++j; double fy0; if(M(j,j)==numeric_limits::max()) fy0 = 0.0; else{ double sum = -M(j, j) * x(j); for(int k=0; k < size; ++k){ sum += M(j, k) * x(k); } fy0 = (-b(j) - sum) / M(j, j); } double& fy = x(j); const double fmax = mcpHi[contactIndex]; const double fmax2 = fmax * fmax; const double fmag2 = fx0 * fx0 + fy0 * fy0; if(fmag2 > fmax2){ const double s = r * fmax / sqrt(fmag2); fx = s * fx0; fy = s * fy0; } else { fx = r * fx0; fy = r * fy0; } r += (rstep + rstep); } } else { int frictionIndex = 0; for(int j=globalNumConstraintVectors; j < size; ++j, ++frictionIndex){ double xx; if(M(j,j)==numeric_limits::max()) xx = 0.0; else{ double sum = -M(j, j) * x(j); for(int k=0; k < size; ++k){ sum += M(j, k) * x(k); } xx = (-b(j) - sum) / M(j, j); } const int contactIndex = frictionIndexToContactIndex[frictionIndex]; const double fmax = mcpHi[contactIndex]; const double fmin = (STATIC_FRICTION_BY_TWO_CONSTRAINTS ? -fmax : 0.0); if(xx < fmin){ x(j) = fmin; } else if(xx > fmax){ x(j) = fmax; } else { x(j) = xx; } x(j) *= r; r += rstep; } } } } void CFSImpl::checkLCPResult(MatrixX& M, VectorX& b, VectorX& x) { os << "check LCP result\n"; os << "-------------------------------\n"; VectorX z = M * x + b; int n = x.size(); for(int i=0; i < n; ++i){ os << "(" << x(i) << ", " << z(i) << ")"; if(x(i) < 0.0 || z(i) < 0.0 || x(i) * z(i) != 0.0){ os << " - X"; } os << "\n"; if(i == globalNumConstraintVectors){ os << "-------------------------------\n"; } else if(i == globalNumConstraintVectors + globalNumFrictionVectors){ os << "-------------------------------\n"; } } os << "-------------------------------\n"; os << std::endl; } void CFSImpl::checkMCPResult(MatrixX& M, VectorX& b, VectorX& x) { os << "check MCP result\n"; os << "-------------------------------\n"; VectorX z = M * x + b; for(int i=0; i < globalNumConstraintVectors; ++i){ os << "(" << x(i) << ", " << z(i) << ")"; if(x(i) < 0.0 || z(i) < -1.0e-6){ os << " - X"; } else if(x(i) > 0.0 && fabs(z(i)) > 1.0e-6){ os << " - X"; } else if(z(i) > 1.0e-6 && fabs(x(i)) > 1.0e-6){ os << " - X"; } os << "\n"; } os << "-------------------------------\n"; int j = 0; for(int i=globalNumConstraintVectors; i < globalNumConstraintVectors + globalNumFrictionVectors; ++i, ++j){ os << "(" << x(i) << ", " << z(i) << ")"; int contactIndex = frictionIndexToContactIndex[j]; double hi = contactIndexToMu[contactIndex] * x(contactIndex); os << " hi = " << hi; if(x(i) < 0.0 || x(i) > hi){ os << " - X"; } else if(x(i) == hi && z(i) > -1.0e-6){ os << " - X"; } else if(x(i) < hi && x(i) > 0.0 && fabs(z(i)) > 1.0e-6){ os << " - X"; } os << "\n"; } os << "-------------------------------\n"; os << std::endl; } #ifdef USE_PIVOTING_LCP bool CFSImpl::callPathLCPSolver(MatrixX& Mlcp, VectorX& b, VectorX& solution) { int size = solution.size(); int square = size * size; std::vector lb(size + 1, 0.0); std::vector ub(size + 1, 1.0e20); int m_nnz = 0; std::vector m_i(square + 1); std::vector m_j(square + 1); std::vector m_ij(square + 1); for(int i=0; i < size; ++i){ solution(i) = 0.0; } for(int j=0; j < size; ++j){ for(int i=0; i < size; ++i){ double v = Mlcp(i, j); if(v != 0.0){ m_i[m_nnz] = i+1; m_j[m_nnz] = j+1; m_ij[m_nnz] = v; ++m_nnz; } } } MCP_Termination status; SimpleLCP(size, m_nnz, &m_i[0], &m_j[0], &m_ij[0], &b(0), &lb[0], &ub[0], &status, &solution(0)); return (status == MCP_Solved); } #endif ConstraintForceSolver::ConstraintForceSolver(WorldBase& world) { impl = new CFSImpl(world); } ConstraintForceSolver::~ConstraintForceSolver() { delete impl; } void ConstraintForceSolver::setCollisionDetector(CollisionDetectorPtr detector) { impl->collisionDetector = detector; } CollisionDetectorPtr ConstraintForceSolver::collisionDetector() { return impl->collisionDetector; } void ConstraintForceSolver::setFriction(double staticFriction, double slipFliction) { impl->defaultStaticFriction = staticFriction; impl->defaultSlipFriction = slipFliction; } double ConstraintForceSolver::staticFriction() const { return impl->defaultStaticFriction; } double ConstraintForceSolver::slipFriction() const { return impl->defaultSlipFriction; } CFSImpl::ContactAttributeEx& CFSImpl::getOrCreateContactAttribute(Link* link1, Link* link2) { std::pair inserted = contactAttributeMap.insert(make_pair(IdPair(link1, link2), ContactAttributeEx())); ContactAttributeEx& attr = inserted.first->second; if(inserted.second){ setDefaultContactAttributeValues(attr); } return attr; } void ConstraintForceSolver::setFriction(Link* link1, Link* link2, double staticFriction, double slipFliction) { CFSImpl::ContactAttributeEx& attr = impl->getOrCreateContactAttribute(link1, link2); attr.setStaticFriction(staticFriction); attr.setDynamicFriction(slipFliction); } int ConstraintForceSolver::registerCollisionHandler(const std::string& name, CollisionHandler handler) { return impl->registerCollisionHandler(name, handler); } int CFSImpl::registerCollisionHandler(const std::string& name, CollisionHandler& handler) { int index = -1; CollisionHandlerInfoPtr info = new CollisionHandlerInfo(); info->handler = handler; CollisionHandlerIndexMap::iterator p = collisionHandlerIndexMap.find(name); if(p != collisionHandlerIndexMap.end()){ index = p->second; collisionHandlers[index] = info; } else { for(size_t i=0; i < collisionHandlers.size(); ++i){ if(!collisionHandlers[i]){ collisionHandlers[i] = info; index = i; break; } } if(index < 0){ index = collisionHandlers.size(); collisionHandlers.push_back(info); } collisionHandlerIndexMap[name] = index; } return index; } void ConstraintForceSolver::unregisterCollisionHandler(int handlerId) { if(handlerId >= 0 && handlerId < impl->collisionHandlers.size()){ impl->collisionHandlers[handlerId] = 0; } } int ConstraintForceSolver::collisionHandlerId(const std::string& name) const { CFSImpl::CollisionHandlerIndexMap::iterator p = impl->collisionHandlerIndexMap.find(name); if(p != impl->collisionHandlerIndexMap.end()){ return p->second; } return -1; } void ConstraintForceSolver::setCollisionHandler(Link* link1, Link* link2, int handlerId) { CFSImpl::ContactAttributeEx& attr = impl->getOrCreateContactAttribute(link1, link2); attr.collisionHandlerConnection.disconnect(); if(handlerId < 0 || handlerId >= impl->collisionHandlers.size()){ attr.collisionHandler = CollisionHandler(); // set null handler } else { CFSImpl::CollisionHandlerInfo* info = impl->collisionHandlers[handlerId]; attr.collisionHandler = info->handler; attr.collisionHandlerConnection = info->sigHandlerUnregisterd.connect( boost::bind(&CFSImpl::ContactAttributeEx::onCollisionHandlerUnregistered, &attr)); } } void ConstraintForceSolver::setContactCullingDistance(double distance) { impl->defaultContactCullingDistance = distance; } double ConstraintForceSolver::contactCullingDistance() const { return impl->defaultContactCullingDistance; } void ConstraintForceSolver::setContactCullingDepth(double depth) { impl->defaultContactCullingDepth = depth; } double ConstraintForceSolver::contactCullingDepth() { return impl->defaultContactCullingDepth; } void ConstraintForceSolver::setCoefficientOfRestitution(double epsilon) { impl->defaultCoefficientOfRestitution = epsilon; } double ConstraintForceSolver::coefficientOfRestitution() const { return impl->defaultCoefficientOfRestitution; } void ConstraintForceSolver::setGaussSeidelErrorCriterion(double e) { impl->gaussSeidelErrorCriterion = e; } double ConstraintForceSolver::gaussSeidelErrorCriterion() { return impl->gaussSeidelErrorCriterion; } void ConstraintForceSolver::setGaussSeidelMaxNumIterations(int n) { impl->maxNumGaussSeidelIteration = n; } int ConstraintForceSolver::gaussSeidelMaxNumIterations() { return impl->maxNumGaussSeidelIteration; } void ConstraintForceSolver::setContactDepthCorrection(double depth, double velocityRatio) { impl->contactCorrectionDepth = depth; impl->contactCorrectionVelocityRatio = velocityRatio; } double ConstraintForceSolver::contactCorrectionDepth() { return impl->contactCorrectionDepth; } double ConstraintForceSolver::contactCorrectionVelocityRatio() { return impl->contactCorrectionVelocityRatio; } void ConstraintForceSolver::enableConstraintForceOutput(bool on) { impl->isConstraintForceOutputMode = on; } void ConstraintForceSolver::set2Dmode(bool on) { impl->is2Dmode = on; } void ConstraintForceSolver::initialize(void) { impl->initialize(); } void ConstraintForceSolver::solve() { impl->solve(); } void ConstraintForceSolver::clearExternalForces() { impl->clearExternalForces(); } CollisionLinkPairListPtr ConstraintForceSolver::getCollisions() { return impl->getCollisions(); } #ifdef ENABLE_SIMULATION_PROFILING double ConstraintForceSolver::getCollisionTime() { return impl->collisionTime; } #endif choreonoid-1.5.0/src/Body/Camera.cpp0000664000000000000000000000641612741425367015750 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "Camera.h" #include using namespace cnoid; const char* Camera::typeName() { return "Camera"; } Camera::Camera() { on_ = true; imageType_ = COLOR_IMAGE; isImageStateClonable_ = false; resolutionX_ = 640; resolutionY_ = 480; fieldOfView_ = 0.785398; nearClipDistance_ = 0.01; farClipDistance_ = 100.0; frameRate_ = 30.0; delay_ = 0.0; image_ = boost::make_shared(); } void Camera::copyStateFrom(const DeviceState& other) { if(typeid(other) != typeid(Camera)){ throw std::invalid_argument("Type mismatch in the Device::copyStateFrom function"); } copyStateFrom(static_cast(other)); } void Camera::copyStateFrom(const Camera& other) { copyCameraStateFrom(other); image_ = other.image_; } void Camera::copyCameraStateFrom(const Camera& other) { on_ = other.on_; isImageStateClonable_ = other.isImageStateClonable_; imageType_ = other.imageType_; resolutionX_ = other.resolutionX_; resolutionY_ = other.resolutionY_; fieldOfView_ = other.fieldOfView_; nearClipDistance_ = other.nearClipDistance_; farClipDistance_ = other.farClipDistance_; frameRate_ = other.frameRate_; delay_ = other.delay_; } Camera::Camera(const Camera& org, bool copyStateOnly) : Device(org, copyStateOnly), image_(org.image_) { copyCameraStateFrom(org); } Device* Camera::clone() const { return new Camera(*this, false); } /** Used for cloneState() */ Camera::Camera(const Camera& org, int x /* dummy */) : Device(org, true) { copyCameraStateFrom(org); if(org.isImageStateClonable_){ image_ = org.image_; } else { image_ = boost::make_shared(); } } DeviceState* Camera::cloneState() const { return new Camera(*this, 0); } void Camera::forEachActualType(boost::function func) { if(!func(typeid(Camera))){ Device::forEachActualType(func); } } Image& Camera::image() { if(image_.use_count() > 1){ image_ = boost::make_shared(*image_); } return *image_; } Image& Camera::newImage() { image_ = boost::make_shared(); return *image_; } void Camera::setImage(boost::shared_ptr& image) { if(image.use_count() == 1){ image_ = image; } else { image_ = boost::make_shared(*image); } image.reset(); } void Camera::clearState() { if(image_.use_count() == 1){ image_->clear(); } else { image_ = boost::make_shared(); } } int Camera::stateSize() const { return 8; } const double* Camera::readState(const double* buf) { on_ = buf[0]; resolutionX_ = buf[1]; resolutionY_ = buf[2]; nearClipDistance_ = buf[3]; farClipDistance_ = buf[4]; fieldOfView_ = buf[5]; frameRate_ = buf[6]; delay_ = buf[7]; return buf + 8; } double* Camera::writeState(double* out_buf) const { out_buf[0] = on_ ? 1.0 : 0.0; out_buf[1] = resolutionX_; out_buf[2] = resolutionY_; out_buf[3] = nearClipDistance_; out_buf[4] = farClipDistance_; out_buf[5] = fieldOfView_; out_buf[6] = frameRate_; out_buf[7] = delay_; return out_buf + 8; } choreonoid-1.5.0/src/Body/LinkGroup.h0000664000000000000000000000263412741425367016135 0ustar rootroot/* @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_LINK_GROUP_H #define CNOID_BODY_LINK_GROUP_H #include #include #include #include #include "exportdecl.h" namespace cnoid { class Listing; class Body; class LinkGroup; typedef boost::shared_ptr LinkGroupPtr; class CNOID_EXPORT LinkGroup { typedef boost::variant Element; LinkGroup(const LinkGroup& org); struct private_tag { }; public: static LinkGroupPtr create(const Body& body); LinkGroup(private_tag tag); virtual ~LinkGroup(); inline void setName(const std::string& name) { name_ = name; } inline const std::string& name() { return name_; } int numElements() const { return elements.size(); } bool isSubGroup(int index) const { return elements[index].which() == 0; } bool isLinkIndex(int index) const { return elements[index].which() == 1; } const LinkGroupPtr& subGroup(int index) const { return boost::get(elements[index]); } int linkIndex(int index) const { return boost::get(elements[index]); } std::vector collectLinkIndices() const; std::vector collectGroups() const; private: std::string name_; std::vector elements; bool load(const Body& body, const Listing& linkGroupList); void setFlatLinkList(const Body& body); }; } #endif choreonoid-1.5.0/src/Body/ForceSensor.h0000664000000000000000000000317212741425367016451 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_FORCE_SENSOR_H #define CNOID_BODY_FORCE_SENSOR_H #include "Device.h" #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT ForceSensor : public Device { Vector6 F_; // f (linear force) + tau (torque) struct Spec { EIGEN_MAKE_ALIGNED_OPERATOR_NEW Vector6 F_max; }; boost::scoped_ptr spec; public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW; ForceSensor(); ForceSensor(const ForceSensor& org, bool copyStateOnly = false); virtual const char* typeName(); void copyStateFrom(const ForceSensor& other); virtual void copyStateFrom(const DeviceState& other); virtual DeviceState* cloneState() const; virtual Device* clone() const; virtual void forEachActualType(boost::function func); virtual void clearState(); virtual int stateSize() const; virtual const double* readState(const double* buf); virtual double* writeState(double* out_buf) const; const Vector6& F() const { return F_; } Vector6& F() { return F_; } Vector6::FixedSegmentReturnType<3>::Type f() { return F_.head<3>(); } Vector6::ConstFixedSegmentReturnType<3>::Type f() const { return F_.head<3>(); } Vector6::FixedSegmentReturnType<3>::Type tau() { return F_.tail<3>(); } Vector6::ConstFixedSegmentReturnType<3>::Type tau() const { return F_.tail<3>(); } const Vector6& F_max() const { return spec->F_max; } Vector6& F_max() { return spec->F_max; } }; typedef ref_ptr ForceSensorPtr; }; #endif choreonoid-1.5.0/src/Body/MassMatrix.h0000664000000000000000000000050312741425367016304 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_MASS_MATRIX_H #define CNOID_BODY_MASS_MATRIX_H #include "Body.h" #include "exportdecl.h" namespace cnoid { CNOID_EXPORT void calcMassMatrix(Body* body, const Vector3& g, MatrixXd& out_M); CNOID_EXPORT void calcMassMatrix(Body* body, MatrixXd& out_M); } #endif choreonoid-1.5.0/src/Body/RangeSensor.h0000664000000000000000000000621112741425367016444 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_RANGE_SENSOR_H #define CNOID_BODY_RANGE_SENSOR_H #include "Device.h" #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT RangeSensor : public Device { public: RangeSensor(); RangeSensor(const RangeSensor& org, bool copyStateOnly = false); virtual const char* typeName(); void copyStateFrom(const RangeSensor& other); virtual void copyStateFrom(const DeviceState& other); virtual DeviceState* cloneState() const; virtual Device* clone() const; virtual void forEachActualType(boost::function func); virtual void clearState(); virtual int stateSize() const; virtual const double* readState(const double* buf); virtual double* writeState(double* out_buf) const; bool on() const { return on_; } void on(bool on) { on_ = on; } double yawRange() const { return yawRange_; } void setYawRange(double angle); int yawResolution() const { return (yawRange_ == 0.0) ? 1 : yawResolution_; } void setYawResolution(int n); double yawStep() const; double pitchRange() const { return pitchRange_; } void setPitchRange(double angle); int pitchResolution() const { return (pitchRange_ == 0.0) ? 1 : pitchResolution_; } void setPitchResolution(double n); double pitchStep() const; double maxDistance() const { return maxDistance_; } void setMaxDistance(double d); double minDistance() const { return minDistance_; } void setMinDistance(double d); double frameRate() const { return frameRate_; } void setFrameRate(double r); typedef std::vector RangeData; void setRangeDataStateClonable(bool on) { isRangeDataStateClonable_ = on; } bool isRangeDataStateClonable() const { return isRangeDataStateClonable_; } /** \note You must check if the range data is not empty before accessing the data */ const RangeData& rangeData() const { return *rangeData_; } const RangeData& constRangeData() const { return *rangeData_; } RangeData& rangeData(); RangeData& newRangeData(); boost::shared_ptr sharedRangeData() const { return rangeData_; } /** Move semantics. If the use_count() of the given shared range data pointer is one, the data is moved to the Camera object and the ownership of the given pointer is released. Otherwise, the data is copied. */ void setRangeData(boost::shared_ptr& rangeData); /** Time [s] consumed in the measurement */ double delay() const { return delay_; } void setDelay(double time) { delay_ = time; } private: bool on_; bool isRangeDataStateClonable_; int yawResolution_; int pitchResolution_; double yawRange_; double pitchRange_; double minDistance_; double maxDistance_; double frameRate_; double delay_; boost::shared_ptr rangeData_; RangeSensor(const RangeSensor& org, int x /* dummy */); void copyRangeSensorStateFrom(const RangeSensor& other); }; typedef ref_ptr RangeSensorPtr; }; #endif choreonoid-1.5.0/src/Body/AccelerationSensor.h0000664000000000000000000000256512741425367020011 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_ACCELERATION_SENSOR_H #define CNOID_BODY_ACCELERATION_SENSOR_H #include "Device.h" #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT AccelerationSensor : public Device { Vector3 dv_; struct Spec { Vector3 dv_max; }; boost::scoped_ptr spec; public: AccelerationSensor(); AccelerationSensor(const AccelerationSensor& org, bool copyStateOnly = false); virtual const char* typeName(); void copyStateFrom(const AccelerationSensor& other); virtual void copyStateFrom(const DeviceState& other); virtual DeviceState* cloneState() const; virtual Device* clone() const; virtual void forEachActualType(boost::function func); virtual void clearState(); virtual int stateSize() const; virtual const double* readState(const double* buf); virtual double* writeState(double* out_buf) const; const Vector3& dv() const { return dv_; } Vector3& dv() { return dv_; } const Vector3& dv_max() const { return spec->dv_max; } Vector3& dv_max() { return spec->dv_max; } }; typedef ref_ptr AccelerationSensorPtr; // for the backward compatibility //typedef AccelerationSensorPtr AccelSensor; //typedef ref_ptr AccelSensorPtr; }; #endif choreonoid-1.5.0/src/Body/Link.h0000664000000000000000000002520712741425367015121 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_LINK_H #define CNOID_BODY_LINK_H #include #include #ifdef WIN32 #include "Link.h" #include #include #endif #include "exportdecl.h" namespace cnoid { class Body; class Link; typedef ref_ptr LinkPtr; class SgNode; typedef ref_ptr SgNodePtr; class Mapping; typedef ref_ptr MappingPtr; class CNOID_EXPORT Link : public Referenced { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW; Link(); /** This does shallow copy. You have to use the copy constructor of the Body class to copy the link tree */ Link(const Link& link); virtual ~Link(); int index() const { return index_; } bool isValid() const { return (index_ >= 0); } Link* parent() const { return parent_; } Link* sibling() const { return sibling_; } Link* child() const { return child_; } bool isRoot() const { return !parent_; } Body* body() { return body_; } const Body* body() const { return body_; } Position& T() { return T_; } const Position& T() const { return T_; } Position& position() { return T_; } const Position& position() const { return T_; } template void setPosition(const Eigen::Transform& T) { T_ = T.template cast(); } template void setPosition(const Eigen::MatrixBase& rotation, const Eigen::MatrixBase& translation) { T_.linear() = rotation; T_.translation() = translation; } Position::TranslationPart p() { return T_.translation(); } Position::ConstTranslationPart p() const { return T_.translation(); } Position::TranslationPart translation() { return T_.translation(); } Position::ConstTranslationPart translation() const { return T_.translation(); } template void setTranslation(const Eigen::MatrixBase& p) { T_.translation() = p.template cast(); } Position::LinearPart R() { return T_.linear(); } Position::ConstLinearPart R() const { return T_.linear(); } Position::LinearPart rotation() { return T_.linear(); } Position::ConstLinearPart rotation() const { return T_.linear(); } template void setRotation(const Eigen::MatrixBase& R) { T_.linear() = R.template cast(); } template void setRotation(const Eigen::AngleAxis& a) { T_.linear() = a.template cast().toRotationMatrix(); } // To, Ro? Position& Tb() { return Tb_; } const Position& Tb() const { return Tb_; } Position::ConstTranslationPart b() const { return Tb_.translation(); } Position::ConstTranslationPart offsetTranslation() const { return Tb_.translation(); } Position::ConstLinearPart Rb() const { return Tb_.linear(); } Position::ConstLinearPart offsetRotation() const { return Tb_.linear(); } Matrix3& Rs() { return Rs_; } const Matrix3& Rs() const { return Rs_; } enum JointType { /// rotational joint (1 dof) REVOLUTE_JOINT = 0, ROTATIONAL_JOINT = REVOLUTE_JOINT, /// translational joint (1 dof) SLIDE_JOINT = 1, /// 6-DOF root link FREE_JOINT = 2, /* Joint types below here are treated as a fixed joint when a code for processing a joint type is not given */ /// fixed joint(0 dof) FIXED_JOINT = 3, /// special joint for simplified simulation of a continuous track PSEUDO_CONTINUOUS_TRACK = 4, // deprecated CRAWLER_JOINT = 5, AGX_CRAWLER_JOINT = 6 }; int jointId() const { return jointId_; } JointType jointType() const { return jointType_; } bool isFixedJoint() const { return (jointType_ >= FIXED_JOINT); } bool isFreeJoint() const { return jointType_ == FREE_JOINT; } bool isRotationalJoint() const { return jointType_ == ROTATIONAL_JOINT; } bool isSlideJoint() const { return jointType_ == SLIDE_JOINT; } std::string jointTypeString() const; const Vector3& a() const { return a_; } const Vector3& jointAxis() const { return a_; } const Vector3& d() const { return a_; } // joint axis alias for a slide joint double q() const { return q_; } double& q() { return q_; } double dq() const { return dq_; } double& dq() { return dq_; } double ddq() const { return ddq_; } double& ddq() { return ddq_; } double u() const { return u_; } double& u() { return u_; } double q_upper() const { return q_upper_; } ///< the upper limit of joint values double q_lower() const { return q_lower_; } ///< the lower limit of joint values double dq_upper() const { return dq_upper_; } ///< the upper limit of joint velocities double dq_lower() const { return dq_lower_; } ///< the upper limit of joint velocities const Vector3& v() const { return v_; } Vector3& v() { return v_; } const Vector3& w() const { return w_; } Vector3& w() { return w_; } const Vector3& dv() const { return dv_; } Vector3& dv() { return dv_; } const Vector3& dw() const { return dw_; } Vector3& dw() { return dw_; } /// center of mass (self local) const Vector3& c() const { return c_; } const Vector3& centerOfMass() const { return c_; } /// center of mass (world coordinate) const Vector3& wc() const { return wc_; } const Vector3& centerOfMassGlobal() const { return wc_; } Vector3& wc() { return wc_; } /// mass double m() const { return m_; } double mass() const { return m_; } ///< inertia tensor (self local, around c) const Matrix3& I() const { return I_; } /// Equivalent rotor inertia: n^2*Jm [kg.m^2] double Jm2() const { return Jm2_; } const Vector6& F_ext() const { return F_ext_; } Vector6& F_ext() { return F_ext_; } Vector6::ConstFixedSegmentReturnType<3>::Type f_ext() const { return F_ext_.head<3>(); } Vector6::FixedSegmentReturnType<3>::Type f_ext() { return F_ext_.head<3>(); } Vector6::ConstFixedSegmentReturnType<3>::Type tau_ext() const { return F_ext_.tail<3>(); } Vector6::FixedSegmentReturnType<3>::Type tau_ext() { return F_ext_.tail<3>(); } const std::string& name() const { return name_; } SgNode* shape() const { return visualShape_; } SgNode* visualShape() const { return visualShape_; } SgNode* collisionShape() const { return collisionShape_; } // functions for constructing a link void setIndex(int index) { index_ = index; } virtual void prependChild(Link* link); virtual void appendChild(Link* link); bool removeChild(Link* link); void setOffsetPosition(const Position& T){ Tb_ = T; } template void setOffsetTranslation(const Eigen::MatrixBase& offset) { Tb_.translation() = offset; } template void setOffsetRotation(const Eigen::MatrixBase& offset) { Tb_.linear() = offset; } template void setOffsetRotation(const Eigen::AngleAxis& a) { Tb_.linear() = a.template cast().toRotationMatrix(); } template void setAccumulatedSegmentRotation(const Eigen::MatrixBase& Rs) { Rs_ = Rs; } void setJointType(JointType type) { jointType_ = type; } void setJointId(int id) { jointId_ = id; } void setJointAxis(const Vector3& axis) { a_ = axis; } void setJointRange(double lower, double upper) { q_lower_ = lower; q_upper_ = upper; } void setJointVelocityRange(double lower, double upper) { dq_lower_ = lower; dq_upper_ = upper; } void setCenterOfMass(const Vector3& c) { c_ = c; } void setMass(double m) { m_ = m; } void setInertia(const Matrix3& I) { I_ = I; } void setEquivalentRotorInertia(double Jm2) { Jm2_ = Jm2; } void setName(const std::string& name); void setShape(SgNode* shape); void setVisualShape(SgNode* shape); void setCollisionShape(SgNode* shape); // The following two methods should be deprecated after introducing Tb Matrix3 attitude() const { return R() * Rs_; } void setAttitude(const Matrix3& Ra) { R() = Ra * Rs_.transpose(); } Matrix3 calcRfromAttitude(const Matrix3& Ra) { return Ra * Rs_.transpose(); } const Mapping* info() const { return info_; } Mapping* info() { return info_; } template T info(const std::string& key) const; template T info(const std::string& key, const T& defaultValue) const; template void setInfo(const std::string& key, const T& value); void resetInfo(Mapping* info); double initialJointDisplacement() const { return initd_; } double& initialJointDisplacement() { return initd_; } #ifdef CNOID_BACKWARD_COMPATIBILITY // fext, tauext const double& ulimit() const { return q_upper_; } ///< the upper limit of joint values const double& llimit() const { return q_lower_; } ///< the lower limit of joint values const double& uvlimit() const { return dq_upper_; } ///< the upper limit of joint velocities const double& lvlimit() const { return dq_lower_; } ///< the upper limit of joint velocities Matrix3 segmentAttitude() const { return R() * Rs_; } void setSegmentAttitude(const Matrix3& Ra) { R() = Ra * Rs_.transpose(); } #endif private: int index_; int jointId_; Link* parent_; LinkPtr sibling_; LinkPtr child_; Body* body_; Position T_; Position Tb_; Matrix3 Rs_; // temporary variable for porting. This should be removed later. Vector3 a_; JointType jointType_; double q_; double dq_; double ddq_; double u_; Vector3 v_; Vector3 w_; Vector3 dv_; Vector3 dw_; Vector3 c_; Vector3 wc_; double m_; Matrix3 I_; double Jm2_; Vector6 F_ext_; // should be Vector3 x 2? double q_upper_; double q_lower_; double dq_upper_; double dq_lower_; std::string name_; double initd_; SgNodePtr visualShape_; SgNodePtr collisionShape_; MappingPtr info_; friend class Body; void setBody(Body* newBody); void setBodySub(Body* newBody); }; template<> CNOID_EXPORT double Link::info(const std::string& key) const; template<> CNOID_EXPORT double Link::info(const std::string& key, const double& defaultValue) const; template<> CNOID_EXPORT void Link::setInfo(const std::string& key, const double& value); } #endif choreonoid-1.5.0/src/Body/BasicSensorSimulationHelper.h0000664000000000000000000000257712741425367021651 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_BASIC_SENSOR_SIMULATION_HELPER_H #define CNOID_BODY_BASIC_SENSOR_SIMULATION_HELPER_H #include "DeviceList.h" #include "ForceSensor.h" #include "RateGyroSensor.h" #include "AccelerationSensor.h" #include "exportdecl.h" namespace cnoid { class Body; class BasicSensorSimulationHelperImpl; class CNOID_EXPORT BasicSensorSimulationHelper { public: BasicSensorSimulationHelper(); ~BasicSensorSimulationHelper(); void setOldAccelSensorCalcMode(bool on); void initialize(Body* body, double timeStep, const Vector3& gravityAcceleration); bool isActive() const { return isActive_; } bool hasGyroOrAccelerationSensors() const { return !rateGyroSensors_.empty() || !accelerationSensors_.empty(); } const DeviceList& forceSensors() const { return forceSensors_; } const DeviceList& rateGyroSensors() const { return rateGyroSensors_; } const DeviceList& accelerationSensors() const { return accelerationSensors_; } void updateGyroAndAccelerationSensors(); private: BasicSensorSimulationHelperImpl* impl; bool isActive_; DeviceList forceSensors_; DeviceList rateGyroSensors_; DeviceList accelerationSensors_; friend class BasicSensorSimulationHelperImpl; }; } #endif choreonoid-1.5.0/src/Body/python/0000775000000000000000000000000012741425367015366 5ustar rootrootchoreonoid-1.5.0/src/Body/python/CMakeLists.txt0000664000000000000000000000014612741425367020127 0ustar rootroot add_cnoid_python_module(PyBody PyBodyModule.cpp) target_link_libraries(PyBody CnoidBody CnoidPython) choreonoid-1.5.0/src/Body/python/PyBodyModule.cpp0000664000000000000000000004013212741425367020446 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include "../Body.h" #include "../BodyLoader.h" #include "../BodyMotion.h" #include "../InverseKinematics.h" #include "../JointPath.h" #include #include #include using namespace boost; using namespace boost::python; using namespace cnoid; namespace { LinkPtr Link_parent(Link& self) { return self.parent(); } LinkPtr Link_child(Link& self) { return self.child(); } LinkPtr Link_sibling(Link& self) { return self.sibling(); } Position Link_get_position(Link& self) { return self.position(); } void Link_set_position(Link& self, const Position& T) { self.position() = T; } Vector3 Link_get_translation(Link& self) { return self.translation(); } void Link_set_translation(Link& self, const Vector3& p) { self.translation() = p; } Matrix3 Link_get_rotation(Link& self) { return self.rotation(); } void Link_set_rotation(Link& self, const Matrix3& R) { self.rotation() = R; } Position Link_get_Tb(Link& self) { return self.Tb(); } void Link_set_Tb(Link& self, const Position& T) { self.Tb() = T; } Vector3 Link_get_offsetTranslation(Link& self) { return self.offsetTranslation(); } Matrix3 Link_get_offsetRotation(Link& self) { return self.offsetRotation(); } double Link_get_q(Link& self) { return self.q(); } void Link_set_q(Link& self, double q) { self.q() = q; } double Link_get_dq(Link& self) { return self.dq(); } void Link_set_dq(Link& self, double dq) { self.dq() = dq; } double Link_get_ddq(Link& self) { return self.ddq(); } void Link_set_ddq(Link& self, double ddq) { self.ddq() = ddq; } double Link_get_u(Link& self) { return self.u(); } void Link_set_u(Link& self, double u) { self.u() = u; } Vector3 Link_get_v(Link& self) { return self.v(); } void Link_set_v(Link& self, const Vector3& v) { self.v() = v; } Vector3 Link_get_w(Link& self) { return self.w(); } void Link_set_w(Link& self, const Vector3& w) { self.w() = w; } Vector3 Link_get_dv(Link& self) { return self.dv(); } void Link_set_dv(Link& self, const Vector3& dv) { self.dv() = dv; } Vector3 Link_get_dw(Link& self) { return self.dw(); } void Link_set_dw(Link& self, const Vector3& dw) { self.dw() = dw; } Vector3 Link_get_wc(Link& self) { return self.wc(); } void Link_set_wc(Link& self, const Vector3& wc) { self.wc() = wc; } Vector6 Link_get_F_ext(Link& self) { return self.F_ext(); } void Link_set_F_ext(Link& self, const Vector6& F) { self.F_ext() = F; } Vector3 Link_get_f_ext(Link& self) { return self.f_ext(); } void Link_set_f_ext(Link& self, const Vector3& f) { self.f_ext() = f; } Vector3 Link_get_tau_ext(Link& self) { return self.tau_ext(); } void Link_set_tau_ext(Link& self, const Vector3& tau) { self.tau_ext() = tau; } SgNodePtr Link_visualShape(const Link& self) { return self.visualShape(); } SgNodePtr Link_collisionShape(const Link& self) { return self.collisionShape(); } MappingPtr Link_info(Link& self) { return self.info(); } python::object Link_info2(Link& self, const std::string& key, python::object defaultValue) { if(PyFloat_Check(defaultValue.ptr())){ double v = python::extract(defaultValue); return python::object(self.info(key, v)); } else { PyErr_SetString(PyExc_TypeError, "The argument type is not supported"); python::throw_error_already_set(); } } double Link_floatInfo(Link& self, const std::string& key) { return self.info(key); } BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(Body_calcForwardKinematics_overloads, calcForwardKinematics, 0, 2) BodyPtr Body_clone(Body& self) { return self.clone(); } LinkPtr Body_createLink1(Body& self) { return self.createLink(); } LinkPtr Body_createLink2(Body& self, const Link* org) { return self.createLink(org); } LinkPtr Body_joint(Body& self, int id) { return self.joint(id); } LinkPtr Body_link1(Body& self, int index) { return self.link(index); } LinkPtr Body_link2(Body& self, const std::string& name) { return self.link(name); } LinkPtr Body_rootLink(Body& self) { return self.rootLink(); } DevicePtr Body_device(Body& self, int index) { return self.device(index); } PyObject* Body_calcTotalMomentum(Body& self) { Vector3 P, L; self.calcTotalMomentum(P, L); python::list p, l; for(int i=0; i < 3; ++i){ p.append(P[i]); l.append(L[i]); } python::tuple ret = python::make_tuple(p, l); return python::incref(ret.ptr()); } BodyPtr BodyLoader_load2(BodyLoader& self, const std::string& filename) { return self.load(filename); } LinkPtr JointPath_joint(JointPath& self, int index) { return self.joint(index); } LinkPtr JointPath_baseLink(JointPath& self) { return self.baseLink(); } LinkPtr JointPath_endLink(JointPath& self) { return self.endLink(); } bool (JointPath::*JointPath_calcInverseKinematics)(const Vector3& , const Matrix3&) = &JointPath::calcInverseKinematics; bool (JointPath::*JointPath_calcInverseKinematics2)(const Vector3&, const Matrix3&, const Vector3&, const Matrix3&) = &JointPath::calcInverseKinematics; MultiValueSeqPtr BodyMotion_get_jointPosSeq(BodyMotion& self) { return self.jointPosSeq(); } void BodyMotion_set_jointPosSeq(BodyMotion& self, const MultiValueSeqPtr& jointPosSeq) { self.jointPosSeq() = jointPosSeq; } MultiSE3SeqPtr BodyMotion_get_linkPosSeq(BodyMotion& self) { return self.linkPosSeq(); } void BodyMotion_set_linkPosSeq(BodyMotion& self, const MultiSE3SeqPtr& linkPosSeq) { self.linkPosSeq() = linkPosSeq; } BodyMotion::Frame (BodyMotion::*BodyMotion_frame)(int) = &BodyMotion::frame; } // namespace namespace cnoid { BOOST_PYTHON_MODULE(Body) { boost::python::import("cnoid.Util"); { scope linkScope = class_< Link, LinkPtr, bases >("Link") .def("index", &Link::index) .def("isValid", &Link::isValid) .def("parent", Link_parent) .def("sibling", Link_sibling) .def("child", Link_child) .def("isRoot", &Link::isRoot) .add_property("T", Link_get_position, Link_set_position) .def("position", Link_get_position) .def("setPosition", Link_set_position) .add_property("p", Link_get_translation, Link_set_translation) .def("translation", Link_get_translation) .def("setTranslation", Link_set_translation) .add_property("R", Link_get_rotation, Link_set_rotation) .def("rotation", Link_get_rotation) .def("setRotation", Link_set_rotation) .add_property("Tb", Link_get_Tb, Link_set_Tb) .def("b", Link_get_offsetTranslation) .def("offsetTranslation", Link_get_offsetTranslation) .add_property("Rb", Link_get_offsetRotation) .def("offsetRotation", Link_get_offsetRotation) .def("jointId", &Link::jointId) .def("jointType", &Link::jointType) .def("isFixedJoint", &Link::isFixedJoint) .def("isFreeJoint", &Link::isFreeJoint) .def("isRotationalJoint", &Link::isRotationalJoint) .def("isSlideJoint", &Link::isSlideJoint) .add_property("a", make_function(&Link::a, return_value_policy())) .def("jointAxis", &Link::jointAxis, return_value_policy()) .add_property("d", make_function(&Link::d, return_value_policy())) .add_property("q", Link_get_q, Link_set_q) .add_property("dq", Link_get_dq, Link_set_dq) .add_property("ddq", Link_get_ddq, Link_set_ddq) .add_property("u", Link_get_u, Link_set_u) .add_property("q_upper", &Link::q_upper) .add_property("q_lower", &Link::q_lower) .add_property("dq_upper", &Link::dq_upper) .add_property("dq_lower", &Link::dq_lower) .add_property("v", Link_get_v, Link_set_v) .add_property("w", Link_get_w, Link_set_w) .add_property("dv", Link_get_dv, Link_set_dv) .add_property("dw", Link_get_dw, Link_set_dw) .add_property("c", make_function(&Link::c, return_value_policy())) .def("centerOfMass", &Link::centerOfMass, return_value_policy()) .add_property("wc", make_function(Link_get_wc, return_value_policy()), Link_set_wc) .def("centerOfMassGlobal", &Link::centerOfMassGlobal, return_value_policy()) .add_property("m", &Link::m) .def("mass", &Link::mass) .add_property("I", make_function(&Link::I, return_value_policy())) .add_property("Jm2", &Link::Jm2) .add_property("F_ext", Link_get_F_ext, Link_set_F_ext) .add_property("f_ext", Link_get_f_ext, Link_set_f_ext) .add_property("tau_ext", Link_get_tau_ext, Link_set_tau_ext) .def("name", &Link::name, return_value_policy()) .def("visualShape", Link_visualShape) .def("collisionShape", Link_collisionShape) .def("setIndex", &Link::setIndex) .def("prependChild", &Link::prependChild) .def("appendChild", &Link::appendChild) .def("removeChild", &Link::removeChild) .def("setJointType", &Link::setJointType) .def("setJointId", &Link::setJointId) .def("setJointAxis", &Link::setJointAxis) .def("setJointRange", &Link::setJointRange) .def("setJointVelocityRange", &Link::setJointVelocityRange) .def("setMass", &Link::setMass) .def("setInertia", &Link::setInertia) .def("setCenterOfMass", &Link::setCenterOfMass) .def("setEquivalentRotorInertia", &Link::setEquivalentRotorInertia) .def("setName", &Link::setName) .def("setVisualShape", &Link::setVisualShape) .def("setCollisionShape", &Link::setCollisionShape) .def("attitude", &Link::attitude) .def("setAttitude", &Link::setAttitude) .def("calcRfromAttitude", &Link::calcRfromAttitude) .def("info", Link_info) .def("info", Link_info2) .def("floatInfo", Link_floatInfo) ; enum_("JointType") .value("ROTATIONAL_JOINT", Link::ROTATIONAL_JOINT) .value("SLIDE_JOINT", Link::SLIDE_JOINT) .value("FREE_JOINT", Link::FREE_JOINT) .value("FIXED_JOINT", Link::FIXED_JOINT) .value("CRAWLER_JOINT", Link::CRAWLER_JOINT) .value("AGX_CRAWLER_JOINT", Link::AGX_CRAWLER_JOINT); } { scope bodyScope = class_< Body, BodyPtr, bases >("Body") .def("clone", Body_clone) .def("createLink", Body_createLink1) .def("createLink", Body_createLink2) .def("name", &Body::name, return_value_policy()) .def("setName", &Body::setName) .def("modelName", &Body::modelName, return_value_policy()) .def("setModelName", &Body::setModelName) .def("setRootLink", &Body::setRootLink) .def("updateLinkTree", &Body::updateLinkTree) .def("initializeState", &Body::initializeState) .def("numJoints", &Body::numJoints) .def("numVirtualJoints", &Body::numVirtualJoints) .def("numAllJoints", &Body::numAllJoints) .def("joint", Body_joint) .def("numLinks", &Body::numLinks) .def("link", Body_link1) .def("link", Body_link2) .def("rootLink", Body_rootLink) .def("numDevices", &Body::numDevices) .def("device", Body_device) .def("addDevice", &Body::addDevice) .def("initializeDeviceStates", &Body::initializeDeviceStates) .def("clearDevices", &Body::clearDevices) .def("isStaticModel", &Body::isStaticModel) .def("isFixedRootModel", &Body::isFixedRootModel) .def("resetDefaultPosition", &Body::resetDefaultPosition) .def("defaultPosition", &Body::defaultPosition, return_value_policy()) .def("mass", &Body::mass) .def("calcCenterOfMass", &Body::calcCenterOfMass, return_value_policy()) .def("centerOfMass", &Body::centerOfMass, return_value_policy()) .def("calcTotalMomentum", Body_calcTotalMomentum) .def("calcForwardKinematics", &Body::calcForwardKinematics, Body_calcForwardKinematics_overloads()) .def("clearExternalForces", &Body::clearExternalForces) .def("numExtraJoints", &Body::numExtraJoints) //.def("extraJoint", extraJoint, , return_value_policy()) //.def("addExtraJoint", &Body::addExtraJoint) .def("clearExtraJoints", &Body::clearExtraJoints) //.def("installCustomizer", installCustomizer) .def("hasVirtualJointForces", &Body::hasVirtualJointForces) .def("setVirtualJointForces", &Body::setVirtualJointForces) .def("addCustomizerDirectory", &Body::addCustomizerDirectory).staticmethod("addCustomizerDirectory") .def(other() >> self) ; enum_("ExtraJointType") .value("EJ_PISTON", Body::EJ_PISTON) .value("EJ_BALL", Body::EJ_BALL); } implicitly_convertible(); class_("AbstractBodyLoader", no_init) .def("format", &AbstractBodyLoader::format) .def("setVerbose", &AbstractBodyLoader::setVerbose) .def("setShapeLoadingEnabled", &AbstractBodyLoader::setShapeLoadingEnabled) .def("setDefaultDivisionNumber", &AbstractBodyLoader::setDefaultDivisionNumber) .def("setDefaultCreaseAngle", &AbstractBodyLoader::setDefaultCreaseAngle) .def("load", &AbstractBodyLoader::load) ; class_ >("BodyLoader") .def("load", BodyLoader_load2) .def("lastActualBodyLoader", &BodyLoader::lastActualBodyLoader) ; { scope jointPathScope = class_< JointPath, JointPathPtr, boost::noncopyable >("JointPath", init<>()) .def("numJoints", &JointPath::numJoints) .def("joint", JointPath_joint) .def("baseLink", JointPath_baseLink) .def("endLink", JointPath_endLink) .def("indexOf", &JointPath::indexOf) .def("customizeTarget", &JointPath::customizeTarget) .def("numIterations", &JointPath::numIterations) .def("calcJacobian", &JointPath::calcJacobian) .def("calcInverseKinematics", JointPath_calcInverseKinematics) .def("calcInverseKinematics", JointPath_calcInverseKinematics2) ; } def("getCustomJointPath", getCustomJointPath); { scope bodyMotionScope = class_< BodyMotion, BodyMotionPtr, bases >("BodyMotion") .def("setNumParts", &BodyMotion::setNumParts) .def("getNumParts", &BodyMotion::getNumParts) .def("numJoints", &BodyMotion::numJoints) .def("numLings", &BodyMotion::numLinks) .def("frameRate", &BodyMotion::frameRate) .def("getFrameRate",&BodyMotion::getFrameRate) .def("setFrameRate", &BodyMotion::setFrameRate) .def("getOffsetTimeFrame", &BodyMotion::getOffsetTimeFrame) .def("numFrames", &BodyMotion::numFrames) .def("getNumFrames", &BodyMotion::getNumFrames) .def("setNumFrames", &BodyMotion::setNumFrames) .add_property("jointPosSeq", BodyMotion_get_jointPosSeq, BodyMotion_set_jointPosSeq) .add_property("linkPosSeq", BodyMotion_get_linkPosSeq, BodyMotion_set_linkPosSeq) .def("frame", BodyMotion_frame) ; class_< BodyMotion::Frame >("Frame", no_init) .def("frame", &BodyMotion::Frame::frame) .def(self << other()) .def(other() >> self) ; } implicitly_convertible(); #ifdef _MSC_VER register_ptr_to_python(); register_ptr_to_python(); #endif } }; // namespace cnoid choreonoid-1.5.0/src/Body/ForwardDynamicsCBM.h0000664000000000000000000001025412741425367017636 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_FORWARD_DYNAMICS_CBM_H #define CNOID_BODY_FORWARD_DYNAMICS_CBM_H #include "ForwardDynamics.h" #include #include #include #include "exportdecl.h" namespace cnoid { class DyLink; class ForceSensorDevice; /** The ForwardDynamicsCBM class calculates the forward dynamics using the motion equation based on the generalized mass matrix. The class is mainly used for a body that has high-gain mode joints. If all the joints of a body are the torque mode, the ForwardDynamicsABM, which uses the articulated body method, is more efficient. */ class CNOID_EXPORT ForwardDynamicsCBM : public ForwardDynamics { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW; ForwardDynamicsCBM(DyBody* body); ~ForwardDynamicsCBM(); void setHighGainModeForAllJoints(); void setHighGainMode(int linkIndex, bool on = true); virtual void initialize(); virtual void calcNextState(); void initializeAccelSolver(); void sumExternalForces(); void solveUnknownAccels(); void solveUnknownAccels(const Vector3& fext, const Vector3& tauext); void solveUnknownAccels(DyLink* link, const Vector3& fext, const Vector3& tauext, const Vector3& rootfext, const Vector3& roottauext); private: /* Elements of the motion equation | | | | dv | | b1 | | 0 | | totalfext | | M11 | M12 | | dw | | | | 0 | | totaltauext | | | | * |ddq (unkown)| + | | + | d1 | = | u (known) | |-----+-----| |------------| |----| |----| |----------------| | M21 | M22 | | given ddq | | b2 | | d2 | | u2 | |fext | d1 = trans(s)| | |tauext| */ MatrixXd M11; MatrixXd M12; MatrixXd b1; VectorXd d1; VectorXd c1; boost::dynamic_bitset<> highGainModeLinkFlag; std::vector torqueModeJoints; std::vector highGainModeJoints; //int rootDof; // dof of dv and dw (0 or 6) int unknown_rootDof; int given_rootDof; bool isNoUnknownAccelMode; VectorXd qGiven; VectorXd dqGiven; VectorXd ddqGiven; Vector3 pGiven; Matrix3 RGiven; Vector3 voGiven; Vector3 wGiven; bool accelSolverInitialized; bool ddqGivenCopied; VectorXd qGivenPrev; VectorXd dqGivenPrev; Vector3 pGivenPrev; Matrix3 RGivenPrev; Vector3 voGivenPrev; Vector3 wGivenPrev; Vector3 fextTotal; Vector3 tauextTotal; Vector3 root_w_x_v; // buffers for the unit vector method VectorXd ddqorg; VectorXd uorg; Vector3 dvoorg; Vector3 dworg; struct ForceSensorInfo { bool hasSensor; bool hasSensorsAbove; Vector3 f; Vector3 tau; ForceSensorInfo() : hasSensor(false), hasSensorsAbove(false), f(Vector3::Zero()), tau(Vector3::Zero()) { } }; std::vector > forceSensorInfo; // Buffers for the Runge Kutta Method Position T0; Vector3 vo0; Vector3 w0; std::vector q0; std::vector dq0; Vector3 vo; Vector3 w; Vector3 dvo; Vector3 dw; std::vector dq; std::vector ddq; virtual void initializeSensors(); void calcMotionWithEulerMethod(); void calcMotionWithRungeKuttaMethod(); void integrateRungeKuttaOneStep(double r, double dt); void preserveHighGainModeJointState(); void calcPositionAndVelocityFK(); void calcMassMatrix(); void setColumnOfMassMatrix(MatrixXd& M, int column); void calcInverseDynamics(DyLink* link, Vector3& out_f, Vector3& out_tau); void calcd1(DyLink* link, Vector3& out_f, Vector3& out_tau); inline void calcAccelFKandForceSensorValues(); void calcAccelFKandForceSensorValues(DyLink* link, Vector3& out_f, Vector3& out_tau); void updateForceSensorInfo(DyLink* link, bool hasSensorsAbove); void updateForceSensors(); }; typedef boost::shared_ptr ForwardDynamicsCBMPtr; }; #endif choreonoid-1.5.0/src/BalancerPlugin/0000775000000000000000000000000012741425367016036 5ustar rootrootchoreonoid-1.5.0/src/BalancerPlugin/WaistBalancer.h0000664000000000000000000001360112741425367020727 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BALANCER_PLUGIN_WAIST_BALANCER_H_INCLUDED #define CNOID_BALANCER_PLUGIN_WAIST_BALANCER_H_INCLUDED #include #include #include #include #include #include #include #include namespace cnoid { class PoseProvider; class WaistBalancer { public: WaistBalancer(); void setMessageOutputStream(std::ostream& os) { os_ = &os; } void setBody(const BodyPtr& body); const BodyPtr& body() const; void setWaistLink(Link* waistLink); void setNumIterations(int n); int numIterations() const; void setTimeRange(double lower, double upper); void setFullTimeRange(); void setTimeMargins(double timeToStartBalancer, double preInitialDuration, double postFinalDuration); void setGravity(double g); void setDynamicsTimeRatio(double r); enum BoundaryConditionType { KEEP_POSITIONS = 0, ZERO_VELOCITY = 1, NUM_BOUNDARY_CONDITION_TYPES = 2, DEFAULT_BOUNDARY_CONDITION = 0 }; static const char* boundaryConditionTypeNameOf(int type); static int boundaryConditionTypeOf(const std::string& name); void setBoundaryConditionType(int type); enum BoundarySmootherType { NO_SMOOTHER = 0, CUBIC_SMOOTHER = 1, QUINTIC_SMOOTHER = 2, NUM_BOUNDARY_SMOOTHER_TYPES = 3, DEFAULT_BOUNDARY_SMOOTHER = 2 }; static const char* boundarySmootherTypeNameOf(int type); static int boundarySmootherTypeOf(const std::string& name); void setBoundarySmoother(int type, double smoothingTime); void enableBoundaryCmAdjustment(bool on, double transitionTime = 1.0); enum InitialWaistTrajectoryMode { PLAIN_TRAJECTORY, ORG_TRAJECTORY }; void setInitialWaistTrajectoryMode(int mode); void enableWaistHeightRelaxation(bool on); bool apply(PoseProvider* provider, BodyMotion& motion, bool putAllLinkPositions = false); private: std::vector q0; Vector3 p0; Matrix3 R0; int initialWaistTrajectoryMode; double timeRangeLower; double timeRangeUpper; double targetBeginningTime; double targetEndingTime; double timeToStartBalancer; double preInitialDuration; double postFinalDuration; double dynamicsTimeRatio; BodyPtr body_; Link* baseLink; LinkTraverse fkTraverse; PoseProvider* provider; bool isCalculatingInitialWaistTrajectory; std::vector< boost::optional > jointPositions; int numIterations_; int beginningFrame; int endingFrame; int numFilteredFrames; int frameToStartBalancer; double frameRate; double timeStep; // original delta time double dt; // delta time (as the dynamics) double dt2; // delta time square (as the dyanmics) double g; double mg; double m; double inertial_g; Vector3 cm; // center of mass Vector3 P0; // prev momentum Vector3 L0; // prev angular momentum Vector3 dP; Vector3 dL; Vector3 zmp; // calculated ZMP Vector3 desiredZmp; Vector3 zmpDiff; struct Coeff { double a; double b; Vector3 d; }; std::vector coeffSeq; std::vector totalCmTranslations; Link* waistLink; int waistLinkIndex; int boundaryConditionType; int boundarySmootherType_; bool doBoundarySmoother; double boundarySmoothingTime; boost::function boundarySmootherFunction; int numBoundarySmoothingFrames; bool doProcessFinalBoundary; bool isBoundaryCmAdjustmentEnabled; double boundaryCmAdjustmentTransitionTime; double boundaryCmAdjustmentTransitionHalfLength; bool doBoundaryCmAdjustment; std::vector boundaryCmAdjustmentTranslations; // for the waist height relaxation bool isWaistHeightRelaxationEnabled; bool doStoreOriginalWaistFeetPositionsForWaistHeightRelaxation; bool doWaistHeightRelaxation; struct WaistFeetPos { Vector3 p_Waist; Matrix3 R_Waist; Vector3 p_Foot[2]; Matrix3 R_Foot[2]; }; std::vector waistFeetPosSeq; std::vector waistDeltaZseq; CompositeIK waistFeetIK; Link* rightKneePitchJoint; Link* leftKneePitchJoint; std::ostream* os_; std::ostream& os() { return *os_; } bool apply2(BodyMotion& motion, bool putAllLinkPositions); void calcBoundaryCmAdjustmentTrajectory(); bool calcBoundaryCmAdjustmentTrajectorySub(int begin, int direction); bool calcWaistTranslationWithCmAboveZmp( int frame, const Vector3& zmp, Vector3& out_translation); void initBodyKinematics(int frame, const Vector3& cmTranslation); void updateCmAndZmp(int frame); bool updateBodyKinematics1(int frame); void updateBodyKinematics2(); bool calcCmTranslations(); void initWaistHeightRelaxation(); void relaxWaistHeightTrajectory(); void applyCubicBoundarySmoother(int begin, int direction); void applyQuinticBoundarySmoother(int begin, int direction); bool applyCmTranslations(BodyMotion& motion, bool putAllLinkPositions); inline double timeOfFrame(int frame) { return std::max(targetBeginningTime, std::min(targetEndingTime, (frame / frameRate))); } }; } #endif choreonoid-1.5.0/src/BalancerPlugin/CMakeLists.txt0000664000000000000000000000407412741425367020603 0ustar rootroot # @author Shin'ichiro Nakaoka #set(CMAKE_BUILD_TYPE Debug) option(BUILD_BALANCER_PLUGIN "Building BalancerPlugin" ON) if(NOT BUILD_BALANCER_PLUGIN) return() elseif(NOT BUILD_POSE_SEQ_PLUGIN) message(FATAL_ERROR "BalancerPlugin requires PoseSeqPlugin.") endif() set(target CnoidBalancerPlugin) set(sources BalancerPlugin.cpp WaistBalancer.cpp ) set(headers ) make_gettext_mofiles(${target} mofiles) add_cnoid_plugin(${target} SHARED ${sources} ${headers} ${mofiles}) add_dependencies(${target} CnoidPoseSeqPlugin) if(QT5) qt5_use_modules(${target} Widgets) endif() if(WIN32) set_target_properties(${target} PROPERTIES COMPILE_DEFINITIONS "CNOID_USE_GETTEXT_WRAPPER") target_link_libraries(${target} optimized ${PROJECT_BINARY_DIR}/lib/Release/CnoidUtil.lib optimized ${PROJECT_BINARY_DIR}/lib/Release/CnoidBase.lib optimized ${PROJECT_BINARY_DIR}/lib/Release/CnoidBody.lib optimized ${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR}/Release/CnoidBodyPlugin.lib optimized ${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR}/Release/CnoidPoseSeqPlugin.lib debug ${PROJECT_BINARY_DIR}/lib/Debug/CnoidUtild.lib debug ${PROJECT_BINARY_DIR}/lib/Debug/CnoidBased.lib debug ${PROJECT_BINARY_DIR}/lib/Debug/CnoidBodyd.lib debug ${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR}/Debug/CnoidBodyPlugind.lib debug ${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR}/Debug/CnoidPoseSeqPlugind.lib ${QT_QTCORE_LIBRARY} ${QT_QTGUI_LIBRARY} ) elseif(APPLE) if(ENABLE_INSTALL_RPATH) set_target_properties(${target} PROPERTIES COMPILE_DEFINITIONS "CNOID_USE_GETTEXT_WRAPPER") target_link_libraries(${target} ${QT_QTCORE_LIBRARY} ${QT_QTGUI_LIBRARY} libCnoidUtil.dylib libCnoidBase.dylib libCnoidBody.dylib libCnoidBodyPlugin.dylib libCnoidPoseSeqPlugin.dylib ) else() target_link_libraries(${target} CnoidPoseSeqPlugin) endif() else() target_link_libraries(${target} ${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR}/libCnoidPoseSeqPlugin.so) endif() apply_common_setting_for_plugin(${target} "${headers}") choreonoid-1.5.0/src/BalancerPlugin/WaistBalancer.cpp0000664000000000000000000006032012741425367021262 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "WaistBalancer.h" #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { const bool DoVerticalAccCompensation = true; #if defined(_MSC_VER) && _MSC_VER < 1800 inline long lround(double x) { return static_cast((x > 0.0) ? floor(x + 0.5) : ceil(x -0.5)); } #endif struct Zelements { vector& array; int offset; Zelements(vector& array, int offset) : array(array), offset(offset) { } double& operator[](int index) { return array[index + offset].z(); } }; } WaistBalancer::WaistBalancer() : os_(&nullout()) { g = 9.8; waistLink = 0; numIterations_ = 2; boundaryConditionType = KEEP_POSITIONS; initialWaistTrajectoryMode = ORG_TRAJECTORY; timeToStartBalancer = 0.0; preInitialDuration = 0.0; postFinalDuration = 0.0; dynamicsTimeRatio = 1.0; isBoundaryCmAdjustmentEnabled = false; isWaistHeightRelaxationEnabled = false; setBoundarySmoother(QUINTIC_SMOOTHER, 0.5); setFullTimeRange(); } void WaistBalancer::setBody(const BodyPtr& body) { body_ = body; waistLink = 0; } const BodyPtr& WaistBalancer::body() const { return body_; } void WaistBalancer::setWaistLink(Link* waistLink) { this->waistLink = waistLink; } void WaistBalancer::setNumIterations(int n) { numIterations_ = n; } int WaistBalancer::numIterations() const { return numIterations_; } void WaistBalancer::setTimeRange(double lower, double upper) { timeRangeLower = lower; timeRangeUpper = std::max(lower, upper); } void WaistBalancer::setFullTimeRange() { timeRangeLower = 0.0; timeRangeUpper = std::numeric_limits::max(); } void WaistBalancer::setTimeMargins(double timeToStartBalancer, double preInitialDuration, double postFinalDuration) { this->timeToStartBalancer = timeToStartBalancer; this->preInitialDuration = preInitialDuration; this->postFinalDuration = postFinalDuration; } void WaistBalancer::setGravity(double g) { this->g = g; } void WaistBalancer::setDynamicsTimeRatio(double r) { dynamicsTimeRatio = r; } const char* WaistBalancer::boundaryConditionTypeNameOf(int type) { if(type == ZERO_VELOCITY){ return N_("zero-velocity"); } return N_("position"); } int WaistBalancer::boundaryConditionTypeOf(const std::string& name) { if(name == N_("zero-velocity")){ return ZERO_VELOCITY; } return KEEP_POSITIONS; } void WaistBalancer::setBoundaryConditionType(int type) { boundaryConditionType = type; } const char* WaistBalancer::boundarySmootherTypeNameOf(int type) { switch(type){ case CUBIC_SMOOTHER: return N_("cubic"); case QUINTIC_SMOOTHER: return N_("quintic"); } return N_("off"); } int WaistBalancer::boundarySmootherTypeOf(const std::string& name) { if(name == N_("cubic")){ return CUBIC_SMOOTHER; } else if(name == N_("quintic")){ return QUINTIC_SMOOTHER; } return NO_SMOOTHER; } void WaistBalancer::setBoundarySmoother(int type, double smoothingTime) { boundarySmootherType_ = type; if(type == CUBIC_SMOOTHER){ boundarySmootherFunction = boost::bind(&WaistBalancer::applyCubicBoundarySmoother, this, _1, _2); } else if(type == QUINTIC_SMOOTHER){ boundarySmootherFunction = boost::bind(&WaistBalancer::applyQuinticBoundarySmoother, this, _1, _2); } else { boundarySmootherType_ = NO_SMOOTHER; } boundarySmoothingTime = smoothingTime; } void WaistBalancer::enableBoundaryCmAdjustment(bool on, double transitionTime) { isBoundaryCmAdjustmentEnabled = on; boundaryCmAdjustmentTransitionTime = transitionTime; } void WaistBalancer::setInitialWaistTrajectoryMode(int mode) { initialWaistTrajectoryMode = mode; } void WaistBalancer::enableWaistHeightRelaxation(bool on) { isWaistHeightRelaxationEnabled = on; } bool WaistBalancer::apply(PoseProvider* provider_, BodyMotion& motion, bool putAllLinkPositions) { if(!body_){ return false; } if(!waistLink){ waistLink = body_->rootLink(); } waistLinkIndex = waistLink->index(); provider = provider_; frameRate = motion.frameRate(); timeStep = 1.0 / frameRate; const double dynamicsFrameRate = dynamicsTimeRatio * frameRate; dt = 1.0 / dynamicsFrameRate; dt2 = dt / dynamicsFrameRate; m = body_->mass(); mg = m * g; isCalculatingInitialWaistTrajectory = false; // preserve the original body state Link* rootLink = body_->rootLink(); const int numJoints = body_->numJoints(); q0.resize(numJoints); for(int i=0; i < numJoints; ++i){ q0[i] = body_->joint(i)->q(); } p0 = rootLink->p(); R0 = rootLink->R(); bool result = apply2(motion, putAllLinkPositions); // restore the original body state for(int i=0; i < numJoints; ++i){ body_->joint(i)->q() = q0[i]; } rootLink->p() = p0; rootLink->R() = R0; body_->calcForwardKinematics(); return result; } bool WaistBalancer::apply2(BodyMotion& motion, bool putAllLinkPositions) { targetBeginningTime = std::max(provider->beginningTime(), timeRangeLower); targetEndingTime = std::min(provider->endingTime(), timeRangeUpper); beginningFrame = std::max(0L, lround((targetBeginningTime - preInitialDuration) * frameRate)); endingFrame = lround((targetEndingTime + postFinalDuration) * frameRate); frameToStartBalancer = beginningFrame + lround(timeToStartBalancer * frameRate); numFilteredFrames = endingFrame - frameToStartBalancer + 1; if(numFilteredFrames < 3){ return false; } // prepare for the waist height relaxation doWaistHeightRelaxation = false; doStoreOriginalWaistFeetPositionsForWaistHeightRelaxation = false; if(isWaistHeightRelaxationEnabled){ initWaistHeightRelaxation(); } initBodyKinematics(endingFrame, Vector3::Zero()); if(provider->baseLinkIndex() < 0){ return false; } if(!provider->ZMP()){ return false; } Vector3 cmProjection(cm[0], cm[1], desiredZmp[2]); doProcessFinalBoundary = ((cmProjection - desiredZmp).norm() < 2.0e-3); doBoundarySmoother = false; if(boundarySmootherType_ && boundaryConditionType == KEEP_POSITIONS){ numBoundarySmoothingFrames = lround(boundarySmoothingTime * frameRate); doBoundarySmoother = (numBoundarySmoothingFrames < numFilteredFrames / 3); } if(numIterations_ == 0 || initialWaistTrajectoryMode == ORG_TRAJECTORY){ totalCmTranslations.clear(); totalCmTranslations.resize(endingFrame + 1, Vector3::Zero()); if(isBoundaryCmAdjustmentEnabled){ calcBoundaryCmAdjustmentTrajectory(); } } else { totalCmTranslations.resize(endingFrame + 1); isCalculatingInitialWaistTrajectory = true; doBoundaryCmAdjustment = false; } coeffSeq.resize(numFilteredFrames); bool result = true; for(int i=0; i < numIterations_; ++i){ result = calcCmTranslations(); if(!result){ break; } } if(result){ result = applyCmTranslations(motion, putAllLinkPositions); } return result; } void WaistBalancer::calcBoundaryCmAdjustmentTrajectory() { boundaryCmAdjustmentTranslations.resize(totalCmTranslations.size()); // clear only the area where the smoother is applied if(doBoundarySmoother){ for(int i=0; i < numBoundarySmoothingFrames; ++i){ boundaryCmAdjustmentTranslations[i + frameToStartBalancer].setZero(); boundaryCmAdjustmentTranslations[endingFrame - i].setZero(); } } boundaryCmAdjustmentTransitionHalfLength = lround((boundaryCmAdjustmentTransitionTime / 2.0) * frameRate); doBoundaryCmAdjustment = calcBoundaryCmAdjustmentTrajectorySub(0, 1); if(calcBoundaryCmAdjustmentTrajectorySub(endingFrame, -1)){ doProcessFinalBoundary = true; doBoundaryCmAdjustment = true; } } bool WaistBalancer::calcBoundaryCmAdjustmentTrajectorySub(int begin, int direction) { bool adjusted = true; int i; Vector3 translation; provider->seek(timeOfFrame(begin)); Vector3 zmp0 = *provider->ZMP(); // In the first half period, CM stays above the initial ZMP position for(i=0; i < boundaryCmAdjustmentTransitionHalfLength; ++i){ int frame = begin + i * direction; if(!calcWaistTranslationWithCmAboveZmp(frame, zmp0, translation)){ adjusted = false; break; } boundaryCmAdjustmentTranslations[frame] = translation; totalCmTranslations[frame] = translation; } if(adjusted){ // In the latter half period, CM is gradually corresponding to the original positions const double time = boundaryCmAdjustmentTransitionHalfLength / frameRate; double time2 = time * time; double a2 = -3.0 / time2; double a3 = 2.0 / (time * time2); i = static_cast(boundaryCmAdjustmentTransitionHalfLength); const int n = static_cast(boundaryCmAdjustmentTransitionHalfLength * 2.0); while(i < n){ int frame = begin + i * direction; if(!calcWaistTranslationWithCmAboveZmp(frame, zmp0, translation)){ adjusted = false; break; } double t = (i - boundaryCmAdjustmentTransitionHalfLength) * timeStep; double r = 1.0 + (a2 + a3 * t) * (t * t); Vector3 p = r * translation; boundaryCmAdjustmentTranslations[frame] = p; totalCmTranslations[frame] = p; ++i; } } if(!adjusted){ // reset translations for(int j=0; j < i; ++j){ int frame = begin + j * direction; boundaryCmAdjustmentTranslations[frame].setZero(); totalCmTranslations[frame].setZero(); } } return adjusted; } bool WaistBalancer::calcWaistTranslationWithCmAboveZmp (int frame, const Vector3& zmp, Vector3& out_translation) { out_translation.setZero(); double time = timeOfFrame(frame); provider->seek(time, waistLinkIndex, out_translation); int baseLinkIndex = provider->baseLinkIndex(); if(baseLinkIndex < 0){ return false; } baseLink = body_->link(baseLinkIndex); fkTraverse.find(baseLink); bool converged = false; const int n = body_->numJoints(); for(int i=0; i < 50; ++i){ provider->getBaseLinkPosition(baseLink->T()); provider->getJointPositions(jointPositions); for(int j=0; j < n; ++j){ Link* joint = body_->joint(j); const optional& q = jointPositions[j]; joint->q() = q ? *q : 0.0; } fkTraverse.calcForwardKinematics(true); cm = body_->calcCenterOfMass(); Vector3 diff(zmp[0] - cm[0], zmp[1] - cm[1], 0.0); if(diff.norm() < 1.0e-6){ converged = true; break; } out_translation += diff; provider->seek(time, waistLinkIndex, out_translation); } return converged; } void WaistBalancer::initBodyKinematics(int frame, const Vector3& cmTranslation) { provider->seek(timeOfFrame(frame), waistLinkIndex, cmTranslation); int baseLinkIndex = provider->baseLinkIndex(); if(baseLinkIndex >= 0){ baseLink = body_->link(baseLinkIndex); provider->getBaseLinkPosition(baseLink->T()); } else { baseLink = body_->rootLink(); baseLink->p().setZero(); baseLink->R().setIdentity(); } baseLink->v().setZero(); baseLink->w().setZero(); fkTraverse.find(baseLink); const int n = body_->numJoints(); provider->getJointPositions(jointPositions); for(int i=0; i < n; ++i){ Link* joint = body_->joint(i); const optional& q = jointPositions[i]; joint->q() = q ? *q : 0.0; joint->dq() = 0.0; } updateCmAndZmp(frame); } void WaistBalancer::updateCmAndZmp(int frame) { fkTraverse.calcForwardKinematics(true); cm = body_->calcCenterOfMass(); if(isCalculatingInitialWaistTrajectory){ Vector3& p = totalCmTranslations[frame]; p.x() = -waistLink->p().x(); p.y() = -waistLink->p().y(); p.z() = 0.0; desiredZmp = *provider->ZMP(); zmpDiff = desiredZmp; } else { Vector3 P, L; body_->calcTotalMomentum(P, L); dP = (P - P0) / dt; dL = (L - L0) / dt; P0 = P; L0 = L; const double inertial_g_thresh = 1.0; double ddz = dP.z() / m; inertial_g = g + ddz; if(inertial_g < inertial_g_thresh){ os() << str( fmt(_("Warning: The body is floating at %1% (Vertical CM acceleration is %2%).")) % (frame * timeStep) % (ddz)) << endl; if(DoVerticalAccCompensation){ dP.z() = m * (inertial_g_thresh - g); inertial_g = inertial_g_thresh; } } zmp.x() = (dP.x() * desiredZmp.z() - dL.y() + mg * cm.x()) / (dP.z() + mg); zmp.y() = (dP.y() * desiredZmp.z() + dL.x() + mg * cm.y()) / (dP.z() + mg); zmp.z() = desiredZmp.z(); zmpDiff = desiredZmp - zmp; desiredZmp = *provider->ZMP(); } } bool WaistBalancer::updateBodyKinematics1(int frame) { bool result = true; const int n = body_->numJoints(); const int nextFrame = frame + 1; if(nextFrame <= endingFrame){ // update velocities result = provider->seek(timeOfFrame(nextFrame), waistLinkIndex, totalCmTranslations[nextFrame]); if(!isCalculatingInitialWaistTrajectory){ const int baseLinkIndex = provider->baseLinkIndex(); if(baseLinkIndex != baseLink->index() && baseLinkIndex >= 0){ baseLink = body_->link(baseLinkIndex); fkTraverse.find(baseLink); } Vector3 p_next = baseLink->p(); Matrix3 R_next = baseLink->R(); Position T_next; if(!provider->getBaseLinkPosition(T_next)){ T_next = baseLink->T(); } baseLink->v() = (T_next.translation() - baseLink->p()) / dt; baseLink->w() = omegaFromRot(baseLink->R().transpose() * T_next.linear()) / dt; provider->getJointPositions(jointPositions); for(int i=0; i < n; ++i){ Link* joint = body_->joint(i); const optional& q = jointPositions[i]; if(q){ joint->dq() = (*q - joint->q()) / dt; } else { joint->dq() = 0.0; } } } } updateCmAndZmp(frame); return result; } void WaistBalancer::updateBodyKinematics2() { const int n = body_->numJoints(); provider->getJointPositions(jointPositions); for(int i=0; i < n; ++i){ Link* joint = body_->joint(i); const optional& q = jointPositions[i]; if(q){ joint->q() = *q; } } provider->getBaseLinkPosition(baseLink->T()); } bool WaistBalancer::calcCmTranslations() { initBodyKinematics(frameToStartBalancer, totalCmTranslations[frameToStartBalancer]); //const double gdt2 = g * dt2; for(int i = 0; i < numFilteredFrames; ++i){ updateBodyKinematics1(i + frameToStartBalancer); if(doStoreOriginalWaistFeetPositionsForWaistHeightRelaxation){ // store waist and feet positions WaistFeetPos& p = waistFeetPosSeq[i]; p.p_Waist = waistLink->p(); p.R_Waist = waistLink->R(); for(int j=0; j < 2; ++j){ Link* footLink = waistFeetIK.baseLink(j); p.p_Foot[j] = footLink->p(); p.R_Foot[j] = footLink->R(); } } updateBodyKinematics2(); Coeff& c = coeffSeq[i]; /* c.a = -cm.z(); c.b = 2.0 * cm.z() + gdt2; c.d = gdt2 * zmpDiff; */ if(DoVerticalAccCompensation){ const double gdt2 = inertial_g * dt2; c.a = -cm.z() / gdt2; c.b = 2.0 * cm.z() / gdt2 + 1.0; } else { const double gdt2 = g * dt2; c.a = -cm.z() / gdt2; c.b = 2.0 * cm.z() / gdt2 + 1.0; } c.d = zmpDiff; } double bet; vector gam(numFilteredFrames); vector u(numFilteredFrames, Vector3::Zero()); int last = numFilteredFrames - 1; Coeff& c0 = coeffSeq[0]; Coeff& clast = coeffSeq[last]; if(boundaryConditionType == ZERO_VELOCITY){ c0.b += c0.a; clast.b += clast.a; } bet = c0.b; u[0].x() = c0.d.x() / bet; u[0].y() = c0.d.y() / bet; for(int i=1; i < numFilteredFrames - 2; ++i){ Coeff& cprev = coeffSeq[i-1]; Coeff& c = coeffSeq[i]; gam[i] = cprev.a / bet; bet = c.b - c.a * gam[i]; u[i].x() = (c.d.x() - c.a * u[i-1].x()) / bet; u[i].y() = (c.d.y() - c.a * u[i-1].y()) / bet; } gam[last] = coeffSeq[last-1].a / bet; bet = clast.b - clast.a * gam[last]; u[last].x() = (clast.d.x() - clast.a * u[last-1].x()) / bet; u[last].y() = (clast.d.y() - clast.a * u[last-1].y()) / bet; totalCmTranslations[last + frameToStartBalancer] += u[last]; for(int i = numFilteredFrames - 2; i >= 0; --i){ u[i].x() -= gam[i+1] * u[i+1].x(); u[i].y() -= gam[i+1] * u[i+1].y(); Vector3& translation = totalCmTranslations[i + frameToStartBalancer]; translation.x() += u[i].x(); translation.y() += u[i].y(); double sqrlen = translation.squaredNorm(); static const double thresh = 1.0; if(sqrlen > thresh * thresh){ // divergence error translation *= thresh / sqrt(sqrlen); // Error should be notified ? } } if(doWaistHeightRelaxation){ doStoreOriginalWaistFeetPositionsForWaistHeightRelaxation = false; relaxWaistHeightTrajectory(); } isCalculatingInitialWaistTrajectory = false; return true; } void WaistBalancer::initWaistHeightRelaxation() { LeggedBodyHelperPtr legged = getLeggedBodyHelper(body_); if(!legged->isValid() || legged->numFeet() != 2){ os() << _("Waist height relaxation cannot be applied because the robot is not a biped robot.") << endl; } else { rightKneePitchJoint = legged->kneePitchJoint(0); leftKneePitchJoint = legged->kneePitchJoint(1); if(!rightKneePitchJoint || !leftKneePitchJoint){ os() << _("Waist height relaxation cannot be applied because the knee joints are not specified.") << endl; } else { doWaistHeightRelaxation = true; doStoreOriginalWaistFeetPositionsForWaistHeightRelaxation = true; waistFeetPosSeq.resize(numFilteredFrames); waistDeltaZseq.resize(numFilteredFrames); if(waistFeetIK.body() != body_){ waistFeetIK.reset(body_, waistLink); for(int i=0; i < 2; ++i){ waistFeetIK.addBaseLink(legged->footLink(i)); } } } } } void WaistBalancer::relaxWaistHeightTrajectory() { for(int i = 0; i < numFilteredFrames; ++i){ WaistFeetPos& p = waistFeetPosSeq[i]; for(int j=0; j < 2; ++j){ Link* footLink = waistFeetIK.baseLink(j); footLink->p() = p.p_Foot[j]; footLink->R() = p.R_Foot[j]; } bool solvedOnce = false; Vector3 dp = totalCmTranslations[i + frameToStartBalancer]; double& dz = dp.z(); double hi = std::numeric_limits::max(); double low = -hi; const double step = 0.01; for(int j=0; j < 50; ++j){ if((hi - low) < 1.0e-4){ dz = low; break; } bool solved = waistFeetIK.calcInverseKinematics(p.p_Waist + dp, p.R_Waist) && (rightKneePitchJoint->q() > 0.3 && leftKneePitchJoint->q() > 0.3); if(solved){ if(dz == 0.0){ break; } low = dz; if(hi == std::numeric_limits::max()){ dz = std::min(dz + step, 0.0); } else { dz = (low + hi) / 2.0; } } else { hi = dz; if(low == -std::numeric_limits::max()){ dz -= step; } else { dz = (low + hi) / 2.0; } } } waistDeltaZseq[i] = dz; } Zelements zelems(totalCmTranslations, frameToStartBalancer); //applyGaussianFilter(zelems, waistDeltaZseq, 8.0, 40, 0.0); applyGaussianFilter(zelems, waistDeltaZseq, 5.0, 10, 0.0); } void WaistBalancer::applyCubicBoundarySmoother(int begin, int direction) { double tf = numBoundarySmoothingFrames / frameRate; double tf2 = tf * tf; double a2 = 3.0 / tf2; double a3 = -2.0 / (tf * tf2); int frame = begin; if(isBoundaryCmAdjustmentEnabled){ for(int i=0; i < numBoundarySmoothingFrames; ++i){ double t = i * timeStep; double r = (a2 + (a3 * t)) * (t * t); totalCmTranslations[frame] = r * totalCmTranslations[frame] + (1.0 - r) * boundaryCmAdjustmentTranslations[frame]; frame += direction; } } else { for(int i=0; i < numBoundarySmoothingFrames; ++i){ double t = i * timeStep; double r = (a2 + (a3 * t)) * (t * t); totalCmTranslations[frame] = r * totalCmTranslations[frame]; frame += direction; } } } void WaistBalancer::applyQuinticBoundarySmoother(int begin, int direction) { double tf = numBoundarySmoothingFrames / frameRate; double tf2 = tf * tf; double tf3 = tf2 * tf; double tf4 = tf3 * tf; double tf5 = tf4 * tf; double a3 = 20.0 / (2.0 * tf3); double a4 = -30.0 / (2.0 * tf4); double a5 = 12.0 / (2.0 * tf5); int frame = begin; if(isBoundaryCmAdjustmentEnabled){ for(int i=0; i < numBoundarySmoothingFrames; ++i){ double t = i * timeStep; double r = (a3 + (a4 + a5 * t) * t) * (t * t * t); totalCmTranslations[frame] = r * totalCmTranslations[frame] + (1.0 - r) * boundaryCmAdjustmentTranslations[frame]; frame += direction; } } else { for(int i=0; i < numBoundarySmoothingFrames; ++i){ double t = i * timeStep; double r = (a3 + (a4 + a5 * t) * t) * (t * t * t); totalCmTranslations[frame] = r * totalCmTranslations[frame]; frame += direction; } } } bool WaistBalancer::applyCmTranslations(BodyMotion& motion, bool putAllLinkPositions) { if(doBoundarySmoother){ boundarySmootherFunction(frameToStartBalancer, 1); if(doProcessFinalBoundary){ boundarySmootherFunction(endingFrame, -1); } } bool completed = true; const Link* rootLink = body_->rootLink(); const int numJoints = body_->numJoints(); const int numLinksToPut = (putAllLinkPositions ? body_->numLinks() : 1); motion.setDimension(endingFrame + 1, numJoints, numLinksToPut, true); MultiValueSeq& qseq = *motion.jointPosSeq(); MultiSE3Seq& pseq = *motion.linkPosSeq(); ZMPSeqPtr zmpseq = getOrCreateZMPSeq(motion); zmpseq->setRootRelative(false); initBodyKinematics(beginningFrame, totalCmTranslations[beginningFrame]); for(int frame = beginningFrame; frame <= endingFrame; ++frame){ completed &= updateBodyKinematics1(frame); MultiValueSeq::Frame qs = qseq.frame(frame); for(int i=0; i < numJoints; ++i){ qs[i] = body_->joint(i)->q(); } zmpseq->at(frame) = zmp; for(int i=0; i < numLinksToPut; ++i){ Link* link = body_->link(i); pseq.at(frame, i).set(link->T()); } updateBodyKinematics2(); } return completed; } choreonoid-1.5.0/src/BalancerPlugin/BalancerPlugin.cpp0000664000000000000000000002735312741425367021442 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "WaistBalancer.h" #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace cnoid; using namespace boost; namespace { class BalancerPanel; BodyMotionGenerationBar* bar; WaistBalancer* balancer; BalancerPanel* panel; class BalancerPanel : public BodyMotionGenerationBar::Balancer, public QWidget { public: QDoubleSpinBox timeToStartBalancerSpin; QSpinBox balancerIterationSpin; QCheckBox plainBalancerModeCheck; QComboBox boundaryConditionCombo; QComboBox boundarySmootherCombo; QDoubleSpinBox boundarySmootherTimeSpin; QCheckBox boundaryCmAdjustmentCheck; QDoubleSpinBox boundaryCmAdjustmentTimeSpin; QCheckBox waistHeightRelaxationCheck; QDoubleSpinBox gravitySpin; QDoubleSpinBox dynamicsTimeRatioSpin; QWidget* panel() { return this; } QHBoxLayout* newRow(QVBoxLayout* vbox) { QHBoxLayout* hbox = new QHBoxLayout(); hbox->setSpacing(2); hbox->setContentsMargins(2, 2, 2, 2); vbox->addLayout(hbox); return hbox; } BalancerPanel() { QVBoxLayout* vbox = new QVBoxLayout(); vbox->addSpacing(4); vbox->addLayout(new HSeparatorBox(new QLabel(_("Balance Adjustment")))); vbox->addSpacing(2); QHBoxLayout* hbox = newRow(vbox); hbox->addWidget(new QLabel(_("Starting margin"))); timeToStartBalancerSpin.setToolTip(_("Initial time margin before applying the balancer")); timeToStartBalancerSpin.setDecimals(1); timeToStartBalancerSpin.setRange(0.0, 1.0); timeToStartBalancerSpin.setSingleStep(0.1); timeToStartBalancerSpin.setValue(0.0); hbox->addWidget(&timeToStartBalancerSpin); hbox->addWidget(new QLabel(_("[s]"))); hbox->addSpacing(8); hbox->addWidget(new QLabel(_("Iteration"))); balancerIterationSpin.setAlignment(Qt::AlignCenter); balancerIterationSpin.setRange(0, 99); balancerIterationSpin.setValue(2); hbox->addWidget(&balancerIterationSpin); hbox->addSpacing(8); plainBalancerModeCheck.setText(_("Plain-initial")); plainBalancerModeCheck.setToolTip(_("Initial balanced trajectory only depends on the desired ZMP")); hbox->addWidget(&plainBalancerModeCheck); hbox->addStretch(); hbox = newRow(vbox); hbox->addWidget(new QLabel(_("Boundary"))); boundaryConditionCombo.setToolTip(_("Boundary condition type")); for(int i=0; i < WaistBalancer::NUM_BOUNDARY_CONDITION_TYPES; ++i){ boundaryConditionCombo.addItem( getText(CNOID_GETTEXT_DOMAIN_NAME, WaistBalancer::boundaryConditionTypeNameOf(i))); } boundaryConditionCombo.setCurrentIndex(WaistBalancer::DEFAULT_BOUNDARY_CONDITION); hbox->addWidget(&boundaryConditionCombo); boundarySmootherCombo.setToolTip(_("Boundary smoother trajectory type")); for(int i=0; i < WaistBalancer::NUM_BOUNDARY_SMOOTHER_TYPES; ++i){ boundarySmootherCombo.addItem( getText(CNOID_GETTEXT_DOMAIN_NAME, WaistBalancer::boundarySmootherTypeNameOf(i))); } boundarySmootherCombo.setCurrentIndex(WaistBalancer::DEFAULT_BOUNDARY_SMOOTHER); hbox->addWidget(&boundarySmootherCombo); boundarySmootherTimeSpin.setToolTip(_("Time length of smooth connection")); boundarySmootherTimeSpin.setDecimals(1); boundarySmootherTimeSpin.setRange(0.0, 9.9); boundarySmootherTimeSpin.setSingleStep(0.1); boundarySmootherTimeSpin.setValue(0.5); hbox->addWidget(&boundarySmootherTimeSpin); hbox->addWidget(new QLabel(_("[s]"))); hbox->addStretch(); hbox = newRow(vbox); boundaryCmAdjustmentCheck.setText(_("Boundary CM adjustment")); boundaryCmAdjustmentCheck.setToolTip(_("Adjust the original CM trajectories around the boundaries")); hbox->addWidget(&boundaryCmAdjustmentCheck); boundaryCmAdjustmentTimeSpin.setToolTip(_("Transition time of the adjustment")); boundaryCmAdjustmentTimeSpin.setDecimals(1); boundaryCmAdjustmentTimeSpin.setRange(0.1, 9.9); boundaryCmAdjustmentTimeSpin.setSingleStep(0.1); boundaryCmAdjustmentTimeSpin.setValue(1.0); hbox->addWidget(&boundaryCmAdjustmentTimeSpin); hbox->addWidget(new QLabel(_("[s]"))); hbox->addStretch(); hbox = newRow(vbox); waistHeightRelaxationCheck.setText(_("Waist height relaxation")); waistHeightRelaxationCheck.setToolTip( _("Vertical waist position is lowered when the leg length is not enough.")); hbox->addWidget(&waistHeightRelaxationCheck); hbox->addStretch(); hbox = newRow(vbox); hbox->addWidget(new QLabel(_("Gravity"))); gravitySpin.setDecimals(2); gravitySpin.setRange(0.01, 99.99); gravitySpin.setSingleStep(0.01); gravitySpin.setValue(9.80); hbox->addWidget(&gravitySpin); hbox->addWidget(new QLabel(_("[m/s^2]"))); hbox->addSpacing(8); hbox->addWidget(new QLabel(_("Dynamics time ratio"))); dynamicsTimeRatioSpin.setDecimals(2); dynamicsTimeRatioSpin.setRange(0.01, 9.99); dynamicsTimeRatioSpin.setSingleStep(0.01); dynamicsTimeRatioSpin.setValue(1.0); hbox->addWidget(&dynamicsTimeRatioSpin); hbox->addStretch(); setLayout(vbox); } void storeState(Archive& archive){ archive.write("timeToStartBalancer", timeToStartBalancerSpin.value()); archive.write("balancerIterations", balancerIterationSpin.value()); archive.write("plainBalancerMode", plainBalancerModeCheck.isChecked()); archive.write("boundaryConditionType", WaistBalancer::boundaryConditionTypeNameOf(boundaryConditionCombo.currentIndex())); archive.write("boundarySmootherType", WaistBalancer::boundarySmootherTypeNameOf(boundarySmootherCombo.currentIndex())); archive.write("boundarySmootherTime", boundarySmootherTimeSpin.value()); archive.write("boundaryCmAdjustment", boundaryCmAdjustmentCheck.isChecked()); archive.write("boundaryCmAdjustmentTime", boundaryCmAdjustmentTimeSpin.value()); archive.write("waistHeightRelaxation", waistHeightRelaxationCheck.isChecked()); archive.write("gravity", gravitySpin.value()); archive.write("dynamicsTimeRatio", dynamicsTimeRatioSpin.value()); } void restoreState(const Archive& archive){ timeToStartBalancerSpin.setValue(archive.get("timeToStartBalancer", timeToStartBalancerSpin.value())); balancerIterationSpin.setValue(archive.get("balancerIterations", balancerIterationSpin.value())); plainBalancerModeCheck.setChecked(archive.get("plainBalancerMode", plainBalancerModeCheck.isChecked())); boundaryConditionCombo.setCurrentIndex( WaistBalancer::boundaryConditionTypeOf( archive.get("boundaryConditionType", boundaryConditionCombo.currentText().toStdString()))); boundarySmootherCombo.setCurrentIndex( WaistBalancer::boundarySmootherTypeOf( archive.get("boundarySmootherType", boundarySmootherCombo.currentText().toStdString()))); boundarySmootherTimeSpin.setValue(archive.get("boundarySmootherTime", boundarySmootherTimeSpin.value())); boundaryCmAdjustmentCheck.setChecked(archive.get("boundaryCmAdjustment", boundaryCmAdjustmentCheck.isChecked())); boundaryCmAdjustmentTimeSpin.setValue(archive.get("boundaryCmAdjustmentTime", boundaryCmAdjustmentTimeSpin.value())); waistHeightRelaxationCheck.setChecked(archive.get("waistHeightRelaxation", waistHeightRelaxationCheck.isChecked())); gravitySpin.setValue(archive.get("gravity", gravitySpin.value())); dynamicsTimeRatioSpin.setValue(archive.get("dynamicsTimeRatio", dynamicsTimeRatioSpin.value())); } bool apply(BodyPtr& body, PoseProvider* provider, BodyMotionItemPtr motionItem, bool putMessages) { balancer->setBody(body); TimeBar* timeBar = TimeBar::instance(); if(bar->isTimeBarRangeOnly()){ balancer->setTimeRange(timeBar->minTime(), timeBar->maxTime()); } else { balancer->setFullTimeRange(); } balancer->setTimeMargins(timeToStartBalancerSpin.value(), bar->preInitialDuration(), bar->postFinalDuration()); balancer->setNumIterations(balancerIterationSpin.value()); balancer->setBoundaryConditionType(boundaryConditionCombo.currentIndex()); balancer->setBoundarySmoother(boundarySmootherCombo.currentIndex(), boundarySmootherTimeSpin.value()); balancer->enableBoundaryCmAdjustment(boundaryCmAdjustmentCheck.isChecked(), boundaryCmAdjustmentTimeSpin.value()); balancer->setInitialWaistTrajectoryMode(plainBalancerModeCheck.isChecked() ? 0 : 1); balancer->enableWaistHeightRelaxation(waistHeightRelaxationCheck.isChecked()); balancer->setGravity(gravitySpin.value()); balancer->setDynamicsTimeRatio(dynamicsTimeRatioSpin.value()); MessageView* mv = MessageView::mainInstance(); if(putMessages){ mv->notify(fmt(_("Applying the waist balance filter with %1% iterations ... ")) % balancer->numIterations()); mv->flush(); } QTime time; time.start(); motionItem->motion()->setFrameRate(timeBar->frameRate()); bool result = balancer->apply(provider, *motionItem->motion(), bar->isSe3Enabled()); if(result){ if(putMessages){ mv->notify(fmt(_("OK ! (%1% [s] consumed.)")) % (time.elapsed() / 1000.0)); } motionItem->notifyUpdate(); } else { if(putMessages){ mv->notify(_("failed.")); } } return result; } }; class BalancerPlugin : public Plugin { public: BalancerPlugin() : Plugin("Balancer") { require("PoseSeq"); } virtual bool initialize(){ bar = BodyMotionGenerationBar::instance(); balancer = new WaistBalancer(); balancer->setMessageOutputStream(mvout()); panel = new BalancerPanel(); bar->setBalancer(panel); return true; } virtual bool finalize(){ bar->unsetBalancer(); delete balancer; delete panel; return true; } }; } CNOID_IMPLEMENT_PLUGIN_ENTRY(BalancerPlugin); choreonoid-1.5.0/src/BalancerPlugin/po/0000775000000000000000000000000012741425367016454 5ustar rootrootchoreonoid-1.5.0/src/BalancerPlugin/po/ja.po0000664000000000000000000001124712741425367017413 0ustar rootroot# Japanese translations for PACKAGE package. # Copyright (C) 2011 THE PACKAGE'S COPYRIGHT HOLDER # This file is distributed under the same license as the PACKAGE package. # nakaoka , 2011. # msgid "" msgstr "" "Project-Id-Version: PACKAGE VERSION\n" "Report-Msgid-Bugs-To: \n" "POT-Creation-Date: 2013-08-09 14:54+0900\n" "PO-Revision-Date: 2011-11-15 23:21+0000\n" "Last-Translator: nakaoka \n" "Language-Team: Japanese\n" "Language: ja\n" "MIME-Version: 1.0\n" "Content-Type: text/plain; charset=UTF-8\n" "Content-Transfer-Encoding: 8bit\n" "Plural-Forms: nplurals=1; plural=0;\n" #: BalancerPlugin.cpp:62 msgid "Balance Adjustment" msgstr "ƒƒİƒ³‚ı補ĉ­£" #: BalancerPlugin.cpp:66 msgid "Starting margin" msgstr "開ċ§‹ƒžƒĵ‚¸ƒ³" #: BalancerPlugin.cpp:67 msgid "Initial time margin before applying the balancer" msgstr "ƒƒİƒ³‚ı補ĉ­£éİ用ċ‰ĉ™‚é–“ƒžƒĵ‚¸ƒ³" #: BalancerPlugin.cpp:73 BalancerPlugin.cpp:112 BalancerPlugin.cpp:126 msgid "[s]" msgstr "[s]" #: BalancerPlugin.cpp:76 msgid "Iteration" msgstr "計ç—ċ›žĉ•°" #: BalancerPlugin.cpp:83 msgid "Plain-initial" msgstr "ċ…ƒèğŒé“‚’ç„ĦèĤ–" #: BalancerPlugin.cpp:84 msgid "Initial balanced trajectory only depends on the desired ZMP" msgstr "ċ…ƒè…°èğŒé“‚’ç„ĦèĤ–—Ĥç›ĉ¨™ZMPż‹‚‰è…°èğŒé“‚’計ç—" #: BalancerPlugin.cpp:89 msgid "Boundary" msgstr "ċ˘ƒç•Œ" #: BalancerPlugin.cpp:90 msgid "Boundary condition type" msgstr "ċ˘ƒç•ŒĉĦäğĥ‚ż‚¤ƒ—" #: BalancerPlugin.cpp:98 msgid "Boundary smoother trajectory type" msgstr "ċ˘ƒç•Œċı³ĉğ‘ċŒ–èğŒé“‚ż‚¤ƒ—" #: BalancerPlugin.cpp:106 msgid "Time length of smooth connection" msgstr "ċı³ĉğ‘ĉŽçĥšĉ™‚é–“é•·" #: BalancerPlugin.cpp:116 msgid "Boundary CM adjustment" msgstr "ċ˘ƒç•Œé‡ċżƒèğŒé“補ĉ­£" #: BalancerPlugin.cpp:117 msgid "Adjust the original CM trajectories around the boundaries" msgstr "ċ˘ƒç•Œċ‘¨‚Šé‡ċżƒèğŒé“‚’補ĉ­£™‚‹" #: BalancerPlugin.cpp:120 msgid "Transition time of the adjustment" msgstr "補ĉ­£é·ç§ğĉ™‚é–“" #: BalancerPlugin.cpp:130 msgid "Waist height relaxation" msgstr "腰éИ•ç·İċ’Œ" #: BalancerPlugin.cpp:132 msgid "Vertical waist position is lowered when the leg length is not enough." msgstr "脚長Œċċˆ†§Ş„¨Ğ腰ċž‚直位罂’下’™€‚" #: BalancerPlugin.cpp:137 msgid "Gravity" msgstr "重ċŠ›ċŠ é€ŸċşĤ" #: BalancerPlugin.cpp:143 msgid "[m/s^2]" msgstr "[m/s^2]" #: BalancerPlugin.cpp:146 msgid "Dynamics time ratio" msgstr "ċ‹•ċŠ›ċ­Ĥĉ™‚é–“ĉŻ”" #: BalancerPlugin.cpp:222 msgid "Applying the waist balance filter with %1% iterations ... " msgstr "ƒƒİƒ³‚ı補ĉ­£‚’計ç—ċ›žĉ•°%1%ċ›ž§éİ用中â€Ĥ" #: BalancerPlugin.cpp:234 msgid "OK ! (%1% [s] consumed.)" msgstr "ċŒäş† ! (%1%秒ĉĥˆè²ğïĵ‰" #: BalancerPlugin.cpp:239 msgid "failed." msgstr "ċ¤ħĉ•—€‚" #: BalancerPlugin.cpp:279 msgid "Balancer Plugin Version %1%\n" msgstr "Balancer ƒ—ƒİ‚°‚¤ƒ³ ƒƒĵ‚¸ƒ§ƒ³ %1%\n" #: BalancerPlugin.cpp:281 msgid "" "This plugin has been developed by Shin'ichiro Nakaoka and Choreonoid " "Development Team, AIST.\n" "\n" "This plugin is distributed in the hope that it will be useful, but WITHOUT " "ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or " "FITNESS FOR A PARTICULAR PURPOSE.\n" "\n" "Please note that the licence of this plugin is different from LGPL, which is " "the licence of the main part of Choreonoid. Currently this plugin is " "distributed only in a binary form.You can freely use this plugin for " "creating motions of any robot / character models, but the plugin cannot be " "redistributed for commercial purposes.\n" "\n" "Please contact us if you want to use this plugin beyond the the above " "conditions.\n" msgstr "" #: WaistBalancer.cpp:126 WaistBalancer.cpp:134 msgid "zero-velocity" msgstr "ċœĉ­˘ïĵˆé€ŸċşĤïĵïĵ‰" #: WaistBalancer.cpp:128 msgid "position" msgstr "位罂’保ċ­˜" #: WaistBalancer.cpp:151 WaistBalancer.cpp:161 msgid "cubic" msgstr "3ĉĴĦ" #: WaistBalancer.cpp:153 WaistBalancer.cpp:163 msgid "quintic" msgstr "4ĉĴĦ" #: WaistBalancer.cpp:155 msgid "off" msgstr "‚ރ•" #: WaistBalancer.cpp:505 msgid "Warning: The body is floating at %1% (Vertical CM acceleration is %2%)." msgstr "è­Ĥċ‘Šïĵš %1%[s]ĞĤƒœƒ‡‚£Œĉµ„Ĥ„™ïĵˆé‡ċżƒċž‚ç›´ċŠ é€ŸċşĤŻ%1%[m/s^2]§™ïĵ‰€‚" #: WaistBalancer.cpp:696 msgid "" "Waist height relaxation cannot be applied because the robot is not a biped " "robot." msgstr "ƒ­ƒœƒƒƒˆŒäşŒèĥ³ĉ­İèĦŒċž‹§Ş„Ÿ‚€è…°éИ•ç·İċ’ŒŻéİ用ċ‡şĉ›‚“€‚" #: WaistBalancer.cpp:703 msgid "" "Waist height relaxation cannot be applied because the knee joints are not " "specified." msgstr "è†é–˘çŻ€ŒĉŒ‡ċš•‚ŒĤ„Ş„Ÿ‚€è…°éИ•ç·İċ’ŒŻéİ用ċ‡şĉ›‚“€‚" choreonoid-1.5.0/src/BodyPlugin/0000775000000000000000000000000012741425367015224 5ustar rootrootchoreonoid-1.5.0/src/BodyPlugin/FilterDialogs.h0000664000000000000000000000036012741425367020124 0ustar rootroot/** @file @author Shin'ichiro NAKAOKA */ #ifndef CNOID_BODYPLUGIN_FILTER_DIALOGS_H #define CNOID_BODYPLUGIN_FILTER_DIALOGS_H namespace cnoid { class ExtensionManager; void initializeFilterDialogs(ExtensionManager& ext); } #endif choreonoid-1.5.0/src/BodyPlugin/LeggedBodyBar.h0000664000000000000000000000102212741425367020022 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_PLUGIN_LEGGED_BODY_BAR_H #define CNOID_BODY_PLUGIN_LEGGED_BODY_BAR_H #include #include "exportdecl.h" namespace cnoid { class LeggedBodyBarImpl; class LeggedBodyBar : public ToolBar { public: static LeggedBodyBar* instance(); virtual ~LeggedBodyBar(); protected: virtual bool storeState(Archive& archive); virtual bool restoreState(const Archive& archive); private: LeggedBodyBar(); LeggedBodyBarImpl* impl; }; } #endif choreonoid-1.5.0/src/BodyPlugin/BodyMotionControllerItem.cpp0000664000000000000000000001124712741425367022703 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "BodyMotionControllerItem.h" #include "BodyMotionItem.h" #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace cnoid { class BodyMotionControllerItemImpl { public: BodyMotionControllerItem* self; BodyMotionItemPtr motionItem; MultiValueSeqPtr qseqRef; BodyPtr body; int currentFrame; int lastFrame; int numJoints; BodyMotionControllerItemImpl(BodyMotionControllerItem* self); bool initialize(ControllerItemIO* io); void output(); }; } void BodyMotionControllerItem::initializeClass(ExtensionManager* ext) { ext->itemManager().registerClass(N_("BodyMotionControllerItem")); ext->itemManager().addCreationPanel(); } BodyMotionControllerItem::BodyMotionControllerItem() { impl = new BodyMotionControllerItemImpl(this); } BodyMotionControllerItem::BodyMotionControllerItem(const BodyMotionControllerItem& org) : ControllerItem(org) { impl = new BodyMotionControllerItemImpl(this); } BodyMotionControllerItemImpl::BodyMotionControllerItemImpl(BodyMotionControllerItem* self) : self(self) { } BodyMotionControllerItem::~BodyMotionControllerItem() { delete impl; } bool BodyMotionControllerItem::initialize(ControllerItemIO* io) { return impl->initialize(io); } bool BodyMotionControllerItemImpl::initialize(ControllerItemIO* io) { ItemList motionItems; if(!motionItems.extractChildItems(self)){ self->putMessage( str(boost::format(_("Any body motion item for %1% is not found.")) % self->name())); return false; } motionItem = motionItems.front(); // find the first checked item ItemTreeView* itv = ItemTreeView::instance(); for(int i=0; i < motionItems.size(); ++i){ if(itv->isItemChecked(motionItems[i])){ motionItem = motionItems[i]; break; } } qseqRef = motionItem->jointPosSeq(); body = io->body(); currentFrame = 0; lastFrame = std::max(0, qseqRef->numFrames() - 1); numJoints = std::min(body->numJoints(), qseqRef->numParts()); if(qseqRef->numFrames() == 0){ self->putMessage(_("Reference motion is empty().")); return false; } if(fabs(qseqRef->frameRate() - (1.0 / io->timeStep())) > 1.0e-6){ self->putMessage(_("The frame rate of the reference motion is different from the world frame rate.")); return false; } // Overwrite the initial position and pose MultiSE3SeqPtr lseq = motionItem->linkPosSeq(); if(lseq->numParts() > 0 && lseq->numFrames() > 0){ SE3& p = lseq->at(0, 0); Link* rootLink = body->rootLink(); rootLink->p() = p.translation(); rootLink->R() = p.rotation().toRotationMatrix(); } self->output(); body->calcForwardKinematics(); return true; } bool BodyMotionControllerItem::start() { control(); return true; } double BodyMotionControllerItem::timeStep() const { return impl->qseqRef->timeStep(); } void BodyMotionControllerItem::input() { } bool BodyMotionControllerItem::control() { if(++impl->currentFrame > impl->lastFrame){ impl->currentFrame = impl->lastFrame; return false; } return true; } void BodyMotionControllerItemImpl::output() { int prevFrame = std::max(currentFrame - 1, 0); int nextFrame = std::min(currentFrame + 1, lastFrame); MultiValueSeq::Frame q0 = qseqRef->frame(prevFrame); MultiValueSeq::Frame q1 = qseqRef->frame(currentFrame); MultiValueSeq::Frame q2 = qseqRef->frame(nextFrame); double dt = qseqRef->timeStep(); double dt2 = dt * dt; for(int i=0; i < numJoints; ++i){ Link* joint = body->joint(i); joint->q() = q1[i]; joint->dq() = (q2[i] - q1[i]) / dt; joint->ddq() = (q2[i] - 2.0 * q1[i] + q0[i]) / dt2; } } void BodyMotionControllerItem::output() { impl->output(); } void BodyMotionControllerItem::stop() { impl->qseqRef.reset(); impl->motionItem = 0; impl->body = 0; } void BodyMotionControllerItem::onDisconnectedFromRoot() { stop(); } Item* BodyMotionControllerItem::doDuplicate() const { return new BodyMotionControllerItem(*this); } void BodyMotionControllerItem::doPutProperties(PutPropertyFunction& putProperty) { putProperty(_("Control mode"), string("High-gain")); } bool BodyMotionControllerItem::store(Archive& archive) { return true; } bool BodyMotionControllerItem::restore(const Archive& archive) { return true; } choreonoid-1.5.0/src/BodyPlugin/SensorVisualizerItem.cpp0000664000000000000000000001424212741425367022101 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "SensorVisualizerItem.h" #include "BodyItem.h" #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { class Arrow : public SgPosTransform { public: SgUpdate update; SgPosTransformPtr cylinderPosition; SgScaleTransformPtr cylinderScale; SgShapePtr cylinder; SgPosTransformPtr conePosition; SgShapePtr cone; Arrow(SgShape* cylinder, SgShape* cone) : cylinder(cylinder), cone(cone) { cylinderScale = new SgScaleTransform(); cylinderScale->addChild(cylinder); cylinderPosition = new SgPosTransform(); cylinderPosition->addChild(cylinderScale); addChild(cylinderPosition); conePosition = new SgPosTransform(); conePosition->addChild(cone); addChild(conePosition); } void setVector(const Vector3& v) { double len = v.norm(); cylinderScale->setScale(Vector3(1.0, len, 1.0)); cylinderPosition->setTranslation(Vector3(0.0, len / 2.0, 0.0)); conePosition->setTranslation(Vector3(0.0, len, 0.0)); Vector3 axis = (Vector3::UnitY().cross(v)).normalized(); double angle = acos(Vector3::UnitY().dot(v) / len); setRotation(AngleAxis(angle, axis)); notifyUpdate(update); } }; typedef ref_ptr ArrowPtr; } namespace cnoid { class SensorVisualizerItemImpl { public: SensorVisualizerItem* self; BodyItem* bodyItem; SgGroupPtr scene; SgShapePtr cylinder; SgShapePtr cone; DeviceList forceSensors; vector forceSensorArrows; double visualRatio; ScopedConnectionSet connections; SensorVisualizerItemImpl(SensorVisualizerItem* self); void onPositionChanged(); void onSensorPositionsChanged(); void updateSensorState(); void updateForceSensorState(int index); void onForceSensorStateChanged(int index); bool onLengthRatioPropertyChanged(double ratio); }; } void SensorVisualizerItem::initializeClass(ExtensionManager* ext) { ItemManager& im = ext->itemManager(); im.registerClass(N_("SensorVisualizer")); im.addCreationPanel(); } SensorVisualizerItem::SensorVisualizerItem() { impl = new SensorVisualizerItemImpl(this); } SensorVisualizerItemImpl::SensorVisualizerItemImpl(SensorVisualizerItem* self) : self(self) { scene = new SgGroup; SgMaterial* material = new SgMaterial; Vector3f color(1.0f, 0.2f, 0.2f); material->setDiffuseColor(Vector3f::Zero()); material->setEmissiveColor(color); material->setAmbientIntensity(0.0f); material->setTransparency(0.6f); MeshGenerator meshGenerator; cone = new SgShape; cone->setMesh(meshGenerator.generateCone(0.03, 0.04)); cone->setMaterial(material); cylinder = new SgShape; cylinder->setMesh(meshGenerator.generateCylinder(0.01, 1.0)); cylinder->setMaterial(material); visualRatio = 0.002; } SensorVisualizerItem::SensorVisualizerItem(const SensorVisualizerItem& org) : Item(org) { impl = new SensorVisualizerItemImpl(this); } SensorVisualizerItem::~SensorVisualizerItem() { delete impl; } Item* SensorVisualizerItem::doDuplicate() const { return new SensorVisualizerItem(*this); } SgNode* SensorVisualizerItem::getScene() { return impl->scene; } void SensorVisualizerItem::onPositionChanged() { impl->onPositionChanged(); } void SensorVisualizerItemImpl::onPositionChanged() { BodyItem* newBodyItem = self->findOwnerItem(); if(newBodyItem != bodyItem){ bodyItem = newBodyItem; connections.disconnect(); forceSensors.clear(); if(bodyItem){ Body* body = bodyItem->body(); connections.add( bodyItem->sigKinematicStateChanged().connect( boost::bind(&SensorVisualizerItemImpl::onSensorPositionsChanged, this))); scene->clearChildren(); forceSensorArrows.clear(); forceSensors << body->devices(); for(size_t i=0; i < forceSensors.size(); ++i){ ArrowPtr arrow = new Arrow(cylinder, cone); forceSensorArrows.push_back(arrow); scene->addChild(arrow); connections.add( forceSensors[i]->sigStateChanged().connect( boost::bind(&SensorVisualizerItemImpl::updateForceSensorState, this, i))); updateForceSensorState(i); } } } } void SensorVisualizerItemImpl::onSensorPositionsChanged() { for(size_t i=0; i < forceSensors.size(); ++i){ ForceSensor* sensor = forceSensors[i]; Vector3 p = sensor->link()->T() * sensor->localTranslation(); forceSensorArrows[i]->setTranslation(p); } } void SensorVisualizerItemImpl::updateSensorState() { for(size_t i=0; i < forceSensors.size(); ++i){ updateForceSensorState(i); } } void SensorVisualizerItemImpl::updateForceSensorState(int index) { if(index < forceSensors.size()){ ForceSensor* sensor = forceSensors[index]; Vector3 v = sensor->link()->T() * sensor->T_local() * sensor->f(); forceSensorArrows[index]->setVector(v * visualRatio); } } void SensorVisualizerItem::doPutProperties(PutPropertyFunction& putProperty) { putProperty.decimals(4); putProperty(_("Visual ratio"), impl->visualRatio, boost::bind(&SensorVisualizerItemImpl::onLengthRatioPropertyChanged, impl, _1)); } bool SensorVisualizerItemImpl::onLengthRatioPropertyChanged(double ratio) { if(ratio > 0.0){ visualRatio = ratio; updateSensorState(); return true; } return false; } bool SensorVisualizerItem::store(Archive& archive) { archive.write("visualRatio", impl->visualRatio); return true; } bool SensorVisualizerItem::restore(const Archive& archive) { archive.read("visualRatio", impl->visualRatio); return true; } choreonoid-1.5.0/src/BodyPlugin/BodyItem.cpp0000664000000000000000000007755012741425367017462 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "BodyItem.h" #include "WorldItem.h" #include "KinematicsBar.h" #include "EditableSceneBody.h" #include "LinkSelectionView.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; using boost::format; namespace { const bool TRACE_FUNCTIONS = false; BodyLoader bodyLoader; BodyState kinematicStateCopy; /// \todo move this to hrpUtil ? inline double radian(double deg) { return (3.14159265358979 * deg / 180.0); } bool loadBodyItem(BodyItem* item, const std::string& filename) { if(item->loadModelFile(filename)){ if(item->name().empty()){ item->setName(item->body()->modelName()); } item->setEditable(!item->body()->isStaticModel()); return true; } return false; } void onSigOptionsParsed(boost::program_options::variables_map& variables) { if(variables.count("hrpmodel")){ vector modelFileNames = variables["hrpmodel"].as< vector >(); for(size_t i=0; i < modelFileNames.size(); ++i){ BodyItemPtr item(new BodyItem()); if(item->load(modelFileNames[i], "OpenHRP-VRML-MODEL")){ RootItem::mainInstance()->addChildItem(item); } } } } } namespace cnoid { class BodyItemImpl { public: BodyItem* self; BodyPtr body; LeggedBodyHelperPtr legged; Vector3 zmp; enum { UF_POSITIONS, UF_VELOCITIES, UF_ACCELERATIONS, UF_CM, UF_ZMP, NUM_UPUDATE_FLAGS }; std::bitset updateFlags; LazySignal< Signal > sigKinematicStateChanged; LazySignal< Signal > sigKinematicStateEdited; LinkPtr currentBaseLink; LinkTraverse fkTraverse; PinDragIKptr pinDragIK; bool isEditable; bool isCallingSlotsOnKinematicStateEdited; bool isFkRequested; bool isVelFkRequested; bool isAccFkRequested; bool isCollisionDetectionEnabled; bool isSelfCollisionDetectionEnabled; BodyState initialState; typedef boost::shared_ptr BodyStatePtr; std::deque kinematicStateHistory; size_t currentHistoryIndex; bool isCurrentKinematicStateInHistory; bool needToAppendKinematicStateToHistory; bool isOriginalModelStatic; KinematicsBar* kinematicsBar; EditableSceneBodyPtr sceneBody; Signal sigModelUpdated; BodyItemImpl(BodyItem* self); BodyItemImpl(BodyItem* self, const BodyItemImpl& org); ~BodyItemImpl(); void init(bool calledFromCopyConstructor); void initBody(bool calledFromCopyConstructor); bool loadModelFile(const std::string& filename); void setCurrentBaseLink(Link* link); void emitSigKinematicStateChanged(); void emitSigKinematicStateEdited(); bool enableCollisionDetection(bool on); bool enableSelfCollisionDetection(bool on); void updateCollisionDetectorLater(); void appendKinematicStateToHistory(); bool onStaticModelPropertyChanged(bool on); void createSceneBody(); void onPositionChanged(); bool undoKinematicState(); bool redoKinematicState(); void getCurrentIK(Link* targetLink, InverseKinematicsPtr& ik); void getDefaultIK(Link* targetLink, InverseKinematicsPtr& ik); void createPenetrationBlocker(Link* link, bool excludeSelfCollisions, PenetrationBlockerPtr& blocker); void setPresetPose(BodyItem::PresetPoseID id); bool doLegIkToMoveCm(const Vector3& c, bool onlyProjectionToFloor); bool setStance(double width); void getParticularPosition(BodyItem::PositionType position, boost::optional& pos); void doAssign(Item* srcItem); bool onEditableChanged(bool on); void doPutProperties(PutPropertyFunction& putProperty); bool store(Archive& archive); bool restore(const Archive& archive); }; } void BodyItem::initializeClass(ExtensionManager* ext) { static bool initialized = false; if(!initialized){ ItemManager& im = ext->itemManager(); im.registerClass(N_("BodyItem")); im.addLoader( _("OpenHRP Model File"), "OpenHRP-VRML-MODEL", "body;wrl;yaml;yml;dae;stl", boost::bind(loadBodyItem, _1, _2)); OptionManager& om = ext->optionManager(); om.addOption("hrpmodel", boost::program_options::value< vector >(), "load an OpenHRP model file"); om.sigOptionsParsed().connect(onSigOptionsParsed); initialized = true; } } BodyItem::BodyItem() { impl = new BodyItemImpl(this); impl->init(false); } BodyItemImpl::BodyItemImpl(BodyItem* self) : self(self), sigKinematicStateChanged(boost::bind(&BodyItemImpl::emitSigKinematicStateChanged, this)), sigKinematicStateEdited(boost::bind(&BodyItemImpl::emitSigKinematicStateEdited, this)) { body = new Body(); isEditable = true; isCollisionDetectionEnabled = true; isSelfCollisionDetectionEnabled = false; } BodyItem::BodyItem(const BodyItem& org) : Item(org) { impl = new BodyItemImpl(this, *org.impl); impl->init(true); } BodyItemImpl::BodyItemImpl(BodyItem* self, const BodyItemImpl& org) : self(self), body(org.body->clone()), sigKinematicStateChanged(boost::bind(&BodyItemImpl::emitSigKinematicStateChanged, this)), sigKinematicStateEdited(boost::bind(&BodyItemImpl::emitSigKinematicStateEdited, this)), initialState(org.initialState) { if(org.currentBaseLink){ setCurrentBaseLink(body->link(org.currentBaseLink->index())); } zmp = org.zmp; isEditable = org.isEditable; isOriginalModelStatic = org.isOriginalModelStatic; isCollisionDetectionEnabled = org.isCollisionDetectionEnabled; isSelfCollisionDetectionEnabled = org.isSelfCollisionDetectionEnabled; } void BodyItemImpl::init(bool calledFromCopyConstructor) { self->setAttribute(Item::LOAD_ONLY); kinematicsBar = KinematicsBar::instance(); isFkRequested = isVelFkRequested = isAccFkRequested = false; currentHistoryIndex = 0; isCurrentKinematicStateInHistory = false; needToAppendKinematicStateToHistory = false; isCallingSlotsOnKinematicStateEdited = false; initBody(calledFromCopyConstructor); self->sigPositionChanged().connect(boost::bind(&BodyItemImpl::onPositionChanged, this)); } void BodyItemImpl::initBody(bool calledFromCopyConstructor) { if(pinDragIK){ pinDragIK.reset(); } int n = body->numLinks(); self->collisionsOfLink_.resize(n); self->collisionLinkBitSet_.resize(n); isOriginalModelStatic = body->isStaticModel(); if(!calledFromCopyConstructor){ setCurrentBaseLink(body->rootLink()); zmp.setZero(); self->storeInitialState(); } } BodyItem::~BodyItem() { delete impl; } BodyItemImpl::~BodyItemImpl() { } Body* BodyItem::body() const { return impl->body.get(); } bool BodyItem::isEditable() const { return impl->isEditable; } void BodyItem::setEditable(bool on) { if(on != impl->isEditable){ impl->isEditable = on; notifyUpdate(); } } SignalProxy BodyItem::sigKinematicStateChanged() { return impl->sigKinematicStateChanged.signal(); } SignalProxy BodyItem::sigKinematicStateEdited() { return impl->sigKinematicStateEdited.signal(); } void BodyItemImpl::onPositionChanged() { WorldItem* worldItem = self->findOwnerItem(); if(!worldItem){ self->clearCollisions(); } } bool BodyItem::loadModelFile(const std::string& filename) { return impl->loadModelFile(filename); } bool BodyItemImpl::loadModelFile(const std::string& filename) { MessageView* mv = MessageView::instance(); mv->beginStdioRedirect(); bodyLoader.setMessageSink(mv->cout(true)); BodyPtr newBody = bodyLoader.load(filename); mv->endStdioRedirect(); if(newBody){ body = newBody; body->setName(self->name()); body->initializeState(); } initBody(false); return (newBody); } void BodyItem::setName(const std::string& name) { if(impl->body){ impl->body->setName(name); } Item::setName(name); } SignalProxy BodyItem::sigModelUpdated() { return impl->sigModelUpdated; } void BodyItem::notifyModelUpdate() { impl->sigModelUpdated(); } Link* BodyItem::currentBaseLink() const { return impl->currentBaseLink; } void BodyItem::setCurrentBaseLink(Link* link) { impl->setCurrentBaseLink(link); } void BodyItemImpl::setCurrentBaseLink(Link* link) { if(link != currentBaseLink){ if(link){ fkTraverse.find(link, true, true); } else { fkTraverse.find(body->rootLink()); } } currentBaseLink = link; } /** Forward kinematics from the current base link is done. */ void BodyItem::calcForwardKinematics(bool calcVelocity, bool calcAcceleration) { impl->fkTraverse.calcForwardKinematics(calcVelocity, calcAcceleration); } void BodyItem::copyKinematicState() { storeKinematicState(kinematicStateCopy); } void BodyItem::pasteKinematicState() { restoreKinematicState(kinematicStateCopy); notifyKinematicStateChange(false); } void BodyItem::storeKinematicState(BodyState& state) { state.storePositions(*impl->body); state.setZMP(impl->zmp); } /** @return false if the restored state is same as the current state */ bool BodyItem::restoreKinematicState(const BodyState& state) { bool modified = false; BodyState currentState; storeKinematicState(currentState); state.getZMP(impl->zmp); state.restorePositions(*impl->body); //cout << "(currentState == state):" << (currentState == state) << endl; //return (currentState == state); return true; } void BodyItem::storeInitialState() { storeKinematicState(impl->initialState); } void BodyItem::restoreInitialState(bool doNotify) { bool restored = restoreKinematicState(impl->initialState); if(restored && doNotify){ notifyKinematicStateChange(false); } } void BodyItem::getInitialState(BodyState& out_state) { out_state = impl->initialState; } void BodyItem::beginKinematicStateEdit() { if(TRACE_FUNCTIONS){ cout << "BodyItem::beginKinematicStateEdit()" << endl; } if(!impl->isCurrentKinematicStateInHistory){ impl->appendKinematicStateToHistory(); } } void BodyItem::acceptKinematicStateEdit() { if(TRACE_FUNCTIONS){ cout << "BodyItem::acceptKinematicStateEdit()" << endl; } //appendKinematicStateToHistory(); impl->needToAppendKinematicStateToHistory = true; impl->sigKinematicStateEdited.request(); } void BodyItemImpl::appendKinematicStateToHistory() { if(TRACE_FUNCTIONS){ cout << "BodyItem::appendKinematicStateToHistory()" << endl; } BodyStatePtr state = boost::make_shared(); self->storeKinematicState(*state); if(kinematicStateHistory.empty() || (currentHistoryIndex == kinematicStateHistory.size() - 1)){ kinematicStateHistory.push_back(state); currentHistoryIndex = kinematicStateHistory.size() - 1; } else { ++currentHistoryIndex; kinematicStateHistory.resize(currentHistoryIndex + 1); kinematicStateHistory[currentHistoryIndex] = state; } if(kinematicStateHistory.size() > 20){ kinematicStateHistory.pop_front(); currentHistoryIndex--; } isCurrentKinematicStateInHistory = true; } bool BodyItem::undoKinematicState() { if(TRACE_FUNCTIONS){ cout << "BodyItem::undoKinematicState()" << endl; } return impl->undoKinematicState(); } bool BodyItemImpl::undoKinematicState() { bool done = false; bool modified = false; if(!isCurrentKinematicStateInHistory){ if(currentHistoryIndex < kinematicStateHistory.size()){ done = true; modified = self->restoreKinematicState(*kinematicStateHistory[currentHistoryIndex]); } } else { if(currentHistoryIndex > 0){ done = true; modified = self->restoreKinematicState(*kinematicStateHistory[--currentHistoryIndex]); } } if(done){ if(modified){ self->notifyKinematicStateChange(false); isCurrentKinematicStateInHistory = true; sigKinematicStateEdited.request(); } else { isCurrentKinematicStateInHistory = true; done = undoKinematicState(); } } return done; } bool BodyItem::redoKinematicState() { if(TRACE_FUNCTIONS){ cout << "BodyItem::redoKinematicState()" << endl; } return impl->redoKinematicState(); } bool BodyItemImpl::redoKinematicState() { if(currentHistoryIndex + 1 < kinematicStateHistory.size()){ self->restoreKinematicState(*kinematicStateHistory[++currentHistoryIndex]); self->notifyKinematicStateChange(false); isCurrentKinematicStateInHistory = true; sigKinematicStateEdited.request(); return true; } return false; } PinDragIKptr BodyItem::pinDragIK() { if(!impl->pinDragIK){ impl->pinDragIK = boost::make_shared(impl->body); } return impl->pinDragIK; } InverseKinematicsPtr BodyItem::getCurrentIK(Link* targetLink) { InverseKinematicsPtr ik; impl->getCurrentIK(targetLink, ik); return ik; } void BodyItemImpl::getCurrentIK(Link* targetLink, InverseKinematicsPtr& ik) { if(KinematicsBar::instance()->mode() == KinematicsBar::AUTO_MODE){ getDefaultIK(targetLink, ik); } if(!ik){ self->pinDragIK(); // create if not created if(pinDragIK->numPinnedLinks() > 0 || !currentBaseLink){ pinDragIK->setTargetLink(targetLink, true); if(pinDragIK->initialize()){ ik = pinDragIK; } } } if(!ik){ if(currentBaseLink){ ik = getCustomJointPath(body, currentBaseLink, targetLink); } } } InverseKinematicsPtr BodyItem::getDefaultIK(Link* targetLink) { InverseKinematicsPtr ik; impl->getDefaultIK(targetLink, ik); return ik; } void BodyItemImpl::getDefaultIK(Link* targetLink, InverseKinematicsPtr& ik) { const Mapping& setupMap = *body->info()->findMapping("defaultIKsetup"); if(targetLink && setupMap.isValid()){ const Listing& setup = *setupMap.findListing(targetLink->name()); if(setup.isValid() && !setup.empty()){ Link* baseLink = body->link(setup[0].toString()); if(baseLink){ if(setup.size() == 1){ ik = getCustomJointPath(body, baseLink, targetLink); } else { CompositeIKPtr compositeIK(new CompositeIK(body, targetLink)); ik = compositeIK; for(int i=0; i < setup.size(); ++i){ Link* baseLink = body->link(setup[i].toString()); if(baseLink){ if(!compositeIK->addBaseLink(baseLink)){ ik.reset(); break; } } } } } } } } PenetrationBlockerPtr BodyItem::createPenetrationBlocker(Link* link, bool excludeSelfCollisions) { PenetrationBlockerPtr blocker; impl->createPenetrationBlocker(link, excludeSelfCollisions, blocker); return blocker; } void BodyItemImpl::createPenetrationBlocker(Link* link, bool excludeSelfCollisions, PenetrationBlockerPtr& blocker) { WorldItem* worldItem = self->findOwnerItem(); if(worldItem){ blocker = boost::make_shared(worldItem->collisionDetector()->clone(), link); const ItemList& bodyItems = worldItem->collisionBodyItems(); for(int i=0; i < bodyItems.size(); ++i){ BodyItem* bodyItem = bodyItems.get(i); if(bodyItem != self && bodyItem->body()->isStaticModel()){ blocker->addOpponentLink(bodyItem->body()->rootLink()); } } blocker->setDepth(kinematicsBar->penetrationBlockDepth()); blocker->start(); } } void BodyItem::moveToOrigin() { beginKinematicStateEdit(); impl->body->rootLink()->T() = impl->body->defaultPosition(); impl->body->calcForwardKinematics(); notifyKinematicStateChange(false); acceptKinematicStateEdit(); } void BodyItem::setPresetPose(PresetPoseID id) { impl->setPresetPose(id); } void BodyItemImpl::setPresetPose(BodyItem::PresetPoseID id) { int jointIndex = 0; self->beginKinematicStateEdit(); if(id == BodyItem::STANDARD_POSE){ const Listing& pose = *body->info()->findListing("standardPose"); if(pose.isValid()){ const int n = std::min(pose.size(), body->numJoints()); while(jointIndex < n){ body->joint(jointIndex)->q() = radian(pose[jointIndex].toDouble()); jointIndex++; } } } const int n = body->numJoints(); while(jointIndex < n){ body->joint(jointIndex++)->q() = 0.0; } fkTraverse.calcForwardKinematics(); self->notifyKinematicStateChange(false); self->acceptKinematicStateEdit(); } const Vector3& BodyItem::centerOfMass() { if(!impl->updateFlags.test(BodyItemImpl::UF_CM)){ impl->body->calcCenterOfMass(); impl->updateFlags.set(BodyItemImpl::UF_CM); } return impl->body->centerOfMass(); } bool BodyItem::isLeggedBody() const { if(!impl->legged){ impl->legged = getLeggedBodyHelper(impl->body); } return (impl->legged->numFeet() > 0); } /** \todo use getDefaultIK() if the kinematics bar is in the AUTO mode. */ bool BodyItem::doLegIkToMoveCm(const Vector3& c, bool onlyProjectionToFloor) { return impl->doLegIkToMoveCm(c, onlyProjectionToFloor); } bool BodyItemImpl::doLegIkToMoveCm(const Vector3& c, bool onlyProjectionToFloor) { bool result = false; LeggedBodyHelperPtr legged = getLeggedBodyHelper(body); if(self->isLeggedBody()){ BodyState orgKinematicState; self->storeKinematicState(orgKinematicState); self->beginKinematicStateEdit(); result = legged->doLegIkToMoveCm(c, onlyProjectionToFloor); if(result){ self->notifyKinematicStateChange(); self->acceptKinematicStateEdit(); updateFlags.set(UF_CM); } else { self->restoreKinematicState(orgKinematicState); } } return result; } bool BodyItem::setStance(double width) { return impl->setStance(width); } bool BodyItemImpl::setStance(double width) { bool result = false; if(self->isLeggedBody()){ BodyState orgKinematicState; self->storeKinematicState(orgKinematicState); self->beginKinematicStateEdit(); result = legged->setStance(width, currentBaseLink); if(result){ self->notifyKinematicStateChange(); self->acceptKinematicStateEdit(); } else { self->restoreKinematicState(orgKinematicState); } } return result; } boost::optional BodyItem::getParticularPosition(PositionType position) { boost::optional pos; impl->getParticularPosition(position, pos); return pos; } void BodyItemImpl::getParticularPosition(BodyItem::PositionType position, boost::optional& pos) { if(position == BodyItem::ZERO_MOMENT_POINT){ pos = zmp; } else { if(position == BodyItem::CM_PROJECTION){ pos = self->centerOfMass(); } else if(self->isLeggedBody()){ if(position == BodyItem::HOME_COP){ pos = legged->homeCopOfSoles(); } else if(position == BodyItem::RIGHT_HOME_COP || position == BodyItem::LEFT_HOME_COP) { if(legged->numFeet() == 2){ pos = legged->homeCopOfSole((position == BodyItem::RIGHT_HOME_COP) ? 0 : 1); } } } if(pos){ (*pos).z() = 0.0; } } } const Vector3& BodyItem::zmp() const { return impl->zmp; } void BodyItem::setZmp(const Vector3& zmp) { impl->zmp = zmp; } void BodyItem::editZmp(const Vector3& zmp) { beginKinematicStateEdit(); setZmp(zmp); notifyKinematicStateChange(false); acceptKinematicStateEdit(); } void BodyItem::notifyKinematicStateChange(bool requestFK, bool requestVelFK, bool requestAccFK) { if(!impl->isCallingSlotsOnKinematicStateEdited){ impl->isCurrentKinematicStateInHistory = false; } if(requestFK){ impl->isFkRequested |= requestFK; impl->isVelFkRequested |= requestVelFK; impl->isAccFkRequested |= requestAccFK; } impl->updateFlags.reset(); impl->sigKinematicStateChanged.request(); } void BodyItem::notifyKinematicStateChange (Connection& connectionToBlock, bool requestFK, bool requestVelFK, bool requestAccFK) { impl->sigKinematicStateChanged.requestBlocking(connectionToBlock); notifyKinematicStateChange(requestFK, requestVelFK, requestAccFK); } void BodyItemImpl::emitSigKinematicStateChanged() { if(isFkRequested){ fkTraverse.calcForwardKinematics(isVelFkRequested, isAccFkRequested); isFkRequested = isVelFkRequested = isAccFkRequested = false; } sigKinematicStateChanged.signal()(); if(needToAppendKinematicStateToHistory){ appendKinematicStateToHistory(); needToAppendKinematicStateToHistory = false; } } void BodyItemImpl::emitSigKinematicStateEdited() { isCallingSlotsOnKinematicStateEdited = true; sigKinematicStateEdited.signal()(); isCallingSlotsOnKinematicStateEdited = false; if(!sigKinematicStateEdited.isPending() && needToAppendKinematicStateToHistory){ appendKinematicStateToHistory(); needToAppendKinematicStateToHistory = false; } } void BodyItem::enableCollisionDetection(bool on) { enableCollisionDetection(on); } bool BodyItemImpl::enableCollisionDetection(bool on) { if(on != isCollisionDetectionEnabled){ isCollisionDetectionEnabled = on; updateCollisionDetectorLater(); return true; } return false; } void BodyItem::enableSelfCollisionDetection(bool on) { enableSelfCollisionDetection(on); } bool BodyItemImpl::enableSelfCollisionDetection(bool on) { if(on != isSelfCollisionDetectionEnabled){ isSelfCollisionDetectionEnabled = on; updateCollisionDetectorLater(); return true; } return false; } void BodyItemImpl::updateCollisionDetectorLater() { if(TRACE_FUNCTIONS){ cout << "BodyItemImpl::updateCollisionDetectorLater(): " << self->name() << endl; } WorldItem* worldItem = self->findOwnerItem(); if(worldItem){ worldItem->updateCollisionDetectorLater(); } } bool BodyItem::isCollisionDetectionEnabled() const { return impl->isCollisionDetectionEnabled; } bool BodyItem::isSelfCollisionDetectionEnabled() const { return impl->isSelfCollisionDetectionEnabled; } void BodyItem::clearCollisions() { collisions_.clear(); for(size_t i=0; i < collisionLinkBitSet_.size(); ++i){ if(collisionLinkBitSet_[i]){ collisionsOfLink_[i].clear(); } } collisionLinkBitSet_.reset(); } Item* BodyItem::doDuplicate() const { return new BodyItem(*this); } void BodyItem::doAssign(Item* srcItem) { Item::doAssign(srcItem); impl->doAssign(srcItem); } void BodyItemImpl::doAssign(Item* srcItem) { BodyItem* srcBodyItem = dynamic_cast(srcItem); if(srcBodyItem){ // copy the base link property Link* baseLink = 0; Link* srcBaseLink = srcBodyItem->currentBaseLink(); if(srcBaseLink){ baseLink = body->link(srcBaseLink->name()); if(baseLink){ setCurrentBaseLink(baseLink); } } // copy the current kinematic state Body* srcBody = srcBodyItem->body(); for(int i=0; i < srcBody->numLinks(); ++i){ Link* srcLink = srcBody->link(i); Link* link = body->link(srcLink->name()); if(link){ link->q() = srcLink->q(); } } if(baseLink){ baseLink->p() = srcBaseLink->p(); baseLink->R() = srcBaseLink->R(); } else { body->rootLink()->p() = srcBody->rootLink()->p(); body->rootLink()->R() = srcBody->rootLink()->R(); } zmp = srcBodyItem->impl->zmp; initialState = srcBodyItem->impl->initialState; self->notifyKinematicStateChange(true); } } bool BodyItemImpl::onStaticModelPropertyChanged(bool on) { if(on){ if(!body->isStaticModel() && body->numLinks() == 1){ body->rootLink()->setJointType(Link::FIXED_JOINT); body->updateLinkTree(); return body->isStaticModel(); } } else if(body->isStaticModel()){ body->rootLink()->setJointType(Link::FREE_JOINT); body->updateLinkTree(); return !body->isStaticModel(); } return false; } EditableSceneBody* BodyItem::sceneBody() { if(!impl->sceneBody){ impl->createSceneBody(); } return impl->sceneBody; } void BodyItemImpl::createSceneBody() { sceneBody = new EditableSceneBody(self); sceneBody->setSceneDeviceUpdateConnection(true); } SgNode* BodyItem::getScene() { return sceneBody(); } EditableSceneBody* BodyItem::existingSceneBody() { return impl->sceneBody; } bool BodyItemImpl::onEditableChanged(bool on) { self->setEditable(on); return true; } void BodyItem::doPutProperties(PutPropertyFunction& putProperty) { impl->doPutProperties(putProperty); } void BodyItemImpl::doPutProperties(PutPropertyFunction& putProperty) { putProperty(_("Model name"), body->modelName()); putProperty(_("Num links"), body->numLinks()); putProperty(_("Num joints"), body->numJoints()); putProperty(_("Num devices"), (int)body->devices().size()); putProperty(_("Root link"), body->rootLink()->name()); putProperty(_("Base link"), currentBaseLink ? currentBaseLink->name() : "none"); putProperty.decimals(3)(_("Mass"), body->mass()); putProperty(_("Static model"), body->isStaticModel(), (boost::bind(&BodyItemImpl::onStaticModelPropertyChanged, this, _1))); putProperty(_("Model file"), getFilename(boost::filesystem::path(self->filePath()))); putProperty(_("Collision detection"), isCollisionDetectionEnabled, (boost::bind(&BodyItemImpl::enableCollisionDetection, this, _1))); putProperty(_("Self-collision detection"), isSelfCollisionDetectionEnabled, (boost::bind(&BodyItemImpl::enableSelfCollisionDetection, this, _1))); putProperty(_("Editable"), isEditable, boost::bind(&BodyItemImpl::onEditableChanged, this, _1)); } bool BodyItem::store(Archive& archive) { return impl->store(archive); } bool BodyItemImpl::store(Archive& archive) { archive.setDoubleFormat("% .6f"); archive.writeRelocatablePath("modelFile", self->filePath()); archive.write("currentBaseLink", (currentBaseLink ? currentBaseLink->name() : ""), DOUBLE_QUOTED); /// \todo Improve the following for current / initial position representations write(archive, "rootPosition", body->rootLink()->p()); write(archive, "rootAttitude", Matrix3(body->rootLink()->R())); Listing* qs = archive.createFlowStyleListing("jointPositions"); int n = body->numAllJoints(); for(int i=0; i < n; ++i){ qs->append(body->joint(i)->q(), 10, n); } //! \todo replace the following code with the ValueTree serialization function of BodyState SE3 initialRootPosition; if(initialState.getRootLinkPosition(initialRootPosition)){ write(archive, "initialRootPosition", initialRootPosition.translation()); write(archive, "initialRootAttitude", Matrix3(initialRootPosition.rotation())); } BodyState::Data& initialJointPositions = initialState.data(BodyState::JOINT_POSITIONS); if(!initialJointPositions.empty()){ qs = archive.createFlowStyleListing("initialJointPositions"); for(int i=0; i < initialJointPositions.size(); ++i){ qs->append(initialJointPositions[i], 10, n); } } write(archive, "zmp", zmp); if(isOriginalModelStatic != body->isStaticModel()){ archive.write("staticModel", body->isStaticModel()); } archive.write("collisionDetection", isCollisionDetectionEnabled); archive.write("selfCollisionDetection", isSelfCollisionDetectionEnabled); archive.write("isEditable", isEditable); return true; } bool BodyItem::restore(const Archive& archive) { return impl->restore(archive); } bool BodyItemImpl::restore(const Archive& archive) { bool restored = false; string modelFile; /* if(archive.readRelocatablePath("modelFile", modelFile)){ restored = modelFile.empty() || load(modelFile); } */ if(archive.readRelocatablePath("modelFile", modelFile)){ restored = self->load(modelFile); } if(restored){ Vector3 p; if(read(archive, "rootPosition", p)){ body->rootLink()->p() = p; } Matrix3 R; if(read(archive, "rootAttitude", R)){ body->rootLink()->R() = R; } Listing* qs = archive.findListing("jointPositions"); if(qs->isValid()){ int nj = body->numAllJoints(); if(qs->size() != nj){ MessageView::instance()->putln( MessageView::WARNING, format("Mismatched size of the stored joint positions for %1%") % self->name()); nj = std::min(qs->size(), nj); } for(int i=0; i < nj; ++i){ body->joint(i)->q() = (*qs)[i].toDouble(); } } //! \todo replace the following code with the ValueTree serialization function of BodyState initialState.clear(); if(read(archive, "initialRootPosition", p) && read(archive, "initialRootAttitude", R)){ initialState.setRootLinkPosition(SE3(p, R)); } qs = archive.findListing("initialJointPositions"); if(qs->isValid()){ BodyState::Data& q = initialState.data(BodyState::JOINT_POSITIONS); int nj = body->numAllJoints(); if(qs->size() != nj){ MessageView::instance()->putln( MessageView::WARNING, format("Mismatched size of the stored initial joint positions for %1%") % self->name()); nj = std::min(qs->size(), nj); } q.resize(nj); for(int i=0; i < nj; ++i){ q[i] = (*qs)[i].toDouble(); } } read(archive, "zmp", zmp); body->calcForwardKinematics(); setCurrentBaseLink(body->link(archive.get("currentBaseLink", ""))); bool staticModel; if(archive.read("staticModel", staticModel)){ onStaticModelPropertyChanged(staticModel); } bool on; if(archive.read("collisionDetection", on)){ enableCollisionDetection(on); } if(archive.read("selfCollisionDetection", on)){ enableSelfCollisionDetection(on); } archive.read("isEditable", isEditable); self->notifyKinematicStateChange(); } return restored; } choreonoid-1.5.0/src/BodyPlugin/KinematicFaultChecker.h0000664000000000000000000000146312741425367021566 0ustar rootroot/** @author Shin'ichiro NAKAOKA */ #ifndef CNOID_BODYPLUGIN_KINEMATIC_FAULT_CHECKER_H_INCLUDED #define CNOID_BODYPLUGIN_KINEMATIC_FAULT_CHECKER_H_INCLUDED #include #include #include "exportdecl.h" namespace cnoid { class ExtensionManager; class BodyItem; class BodyMotionItem; class KinematicFaultCheckerImpl; class CNOID_EXPORT KinematicFaultChecker { public: static void initialize(ExtensionManager* ext); static KinematicFaultChecker* instance(); KinematicFaultChecker(); virtual ~KinematicFaultChecker(); int checkFaults( BodyItem* bodyItem, BodyMotionItem* motionItem, std::ostream& os, double beginningTime = 0.0, double endingTime = std::numeric_limits::max()); private: KinematicFaultCheckerImpl* impl; }; } #endif choreonoid-1.5.0/src/BodyPlugin/CollisionSeqItem.h0000664000000000000000000000164212741425367020623 0ustar rootroot/** @file @author Shizuko Hattori */ #ifndef CNOID_BODY_PLUGIN_COLLISION_SEQ_ITEM_H #define CNOID_BODY_PLUGIN_COLLISION_SEQ_ITEM_H #include "CollisionSeq.h" #include #include "exportdecl.h" namespace cnoid { class CollisionSeqItemImpl; class CNOID_EXPORT CollisionSeqItem : public AbstractMultiSeqItem { public : static void initislizeClass(ExtensionManager* ext); CollisionSeqItem(); CollisionSeqItem(const CollisionSeqItem& org); ~CollisionSeqItem(); virtual AbstractMultiSeqPtr abstractMultiSeq(); const CollisionSeqPtr& collisionSeq() { return collisionSeq_; } protected: virtual Item* doDuplicate() const; virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: CollisionSeqPtr collisionSeq_; CollisionSeqItemImpl* impl; }; typedef ref_ptr CollisionSeqItemPtr; } #endif choreonoid-1.5.0/src/BodyPlugin/BodyMotionEngine.h0000664000000000000000000000170012741425367020604 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODYPLUGIN_BODY_MOTION_ENGINE_H #define CNOID_BODYPLUGIN_BODY_MOTION_ENGINE_H #include #include "exportdecl.h" namespace cnoid { class ExtensionManager; class BodyItem; class BodyMotionItem; class AbstractSeqItem; class BodyMotionEngineImpl; class CNOID_EXPORT BodyMotionEngine : public TimeSyncItemEngine { public: static void initialize(ExtensionManager* ext); static void addExtraSeqEngineFactory( const std::string& key, boost::function factory); BodyMotionEngine(BodyItem* bodyItem, BodyMotionItem* motionItem); virtual ~BodyMotionEngine(); BodyItem* bodyItem(); BodyMotionItem* motionItem(); virtual bool onTimeChanged(double time); private: BodyMotionEngineImpl* impl; }; typedef ref_ptr BodyMotionEnginePtr; } #endif choreonoid-1.5.0/src/BodyPlugin/exportdecl.h0000664000000000000000000000216412741425367017551 0ustar rootroot#ifndef CNOID_BODYPLUGIN_EXPORTDECL_H_INCLUDED # define CNOID_BODYPLUGIN_EXPORTDECL_H_INCLUDED # if defined _WIN32 || defined __CYGWIN__ # define CNOID_BODYPLUGIN_DLLIMPORT __declspec(dllimport) # define CNOID_BODYPLUGIN_DLLEXPORT __declspec(dllexport) # define CNOID_BODYPLUGIN_DLLLOCAL # else # if __GNUC__ >= 4 # define CNOID_BODYPLUGIN_DLLIMPORT __attribute__ ((visibility("default"))) # define CNOID_BODYPLUGIN_DLLEXPORT __attribute__ ((visibility("default"))) # define CNOID_BODYPLUGIN_DLLLOCAL __attribute__ ((visibility("hidden"))) # else # define CNOID_BODYPLUGIN_DLLIMPORT # define CNOID_BODYPLUGIN_DLLEXPORT # define CNOID_BODYPLUGIN_DLLLOCAL # endif # endif # ifdef CNOID_BODYPLUGIN_STATIC # define CNOID_BODYPLUGIN_DLLAPI # define CNOID_BODYPLUGIN_LOCAL # else # ifdef CnoidBodyPlugin_EXPORTS # define CNOID_BODYPLUGIN_DLLAPI CNOID_BODYPLUGIN_DLLEXPORT # else # define CNOID_BODYPLUGIN_DLLAPI CNOID_BODYPLUGIN_DLLIMPORT # endif # define CNOID_BODYPLUGIN_LOCAL CNOID_BODYPLUGIN_DLLLOCAL # endif #endif #ifdef CNOID_EXPORT # undef CNOID_EXPORT #endif #define CNOID_EXPORT CNOID_BODYPLUGIN_DLLAPI choreonoid-1.5.0/src/BodyPlugin/BodyPlugin.qrc0000664000000000000000000000212312741425367020005 0ustar rootroot icons/fkik.png icons/fk.png icons/ik.png icons/rotation.png icons/block.png icons/collisionoutline.png icons/storepose.png icons/restorepose.png icons/origin.png icons/initialpose.png icons/stdpose.png icons/right-to-left.png icons/left-to-right.png icons/flip.png icons/center-cm.png icons/zmp-to-cm.png icons/cm-to-zmp.png icons/center-zmp.png icons/left-zmp.png icons/right-zmp.png icons/stancelength.png icons/start-simulation.png icons/restart-simulation.png icons/stop-simulation.png icons/pause-simulation.png icons/store-world-initial.png icons/restore-world-initial.png choreonoid-1.5.0/src/BodyPlugin/SimulationBar.h0000664000000000000000000000224012741425367020144 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_PLUGIN_SIMULATION_BAR_H #define CNOID_BODY_PLUGIN_SIMULATION_BAR_H #include #include #include #include "exportdecl.h" namespace cnoid { class SimulatorItem; class CNOID_EXPORT SimulationBar : public ToolBar { public: static void initialize(ExtensionManager* ext); static SimulationBar* instance(); SignalProxy sigSimulationAboutToStart() { return sigSimulationAboutToStart_; } void startSimulation(SimulatorItem* simulator, bool doRest); void startSimulation(bool doRest = true); void stopSimulation(SimulatorItem* simulator); void pauseSimulation(SimulatorItem* simulator); virtual ~SimulationBar(); private: SimulationBar(); void onStoreInitialClicked(); void onRestoreInitialClicked(); void forEachSimulator(boost::function callback, bool doSelect = false); void onStopSimulationClicked(); void onPauseSimulationClicked(); ToolButton* pauseToggle; Signal sigSimulationAboutToStart_; }; } #endif choreonoid-1.5.0/src/BodyPlugin/BodyLinkView.cpp0000664000000000000000000006134212741425367020304 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "BodyLinkView.h" #include "BodyBar.h" #include "BodyItem.h" #include "LinkSelectionView.h" #include "WorldItem.h" #include "KinematicsBar.h" #include "SimulatorItem.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace { static const double sliderResolution = 1000000.0; } namespace cnoid { class BodyLinkViewImpl { public: BodyLinkViewImpl(BodyLinkView* self); ~BodyLinkViewImpl(); BodyLinkView* self; QScrollArea scrollArea; QLabel nameLabel; QLabel linkIndexLabel; QLabel jointIdLabel; QLabel jointTypeLabel; QLabel jointAxisLabel; QGroupBox qBox; DoubleSpinBox qSpin; QLabel qMinLabel; QLabel qMaxLabel; Slider qSlider; QGroupBox dqBox; QLabel dqLabel; DoubleSpinBox dqMinSpin; DoubleSpinBox dqMaxSpin; DoubleSpinBox xyzSpin[3]; DoubleSpinBox rpySpin[3]; CheckBox attMatrixCheck; QWidget attMatrixBox; QLabel attLabels[3][3]; QGroupBox zmpBox; DoubleSpinBox zmpXyzSpin[3]; QString selfCollisionString; QLabel selfCollisionsLabel; QString worldCollisionString; QLabel worldCollisionsLabel; WorldItem* currentWorldItem; BodyItemPtr currentBodyItem; Link* currentLink; Connection currentBodyItemChangeConnection; ConnectionSet bodyItemConnections; LazyCaller updateKinematicStateLater; ConnectionSet propertyWidgetConnections; ConnectionSet stateWidgetConnections; void setupWidgets(); void onAttMatrixCheckToggled(); void onCurrentBodyItemChanged(BodyItem* bodyItem); void activateCurrentBodyItem(bool on); void update(); void updateLink(); void updateRotationalJointState(); void updateSlideJointState(); void updateKinematicState(bool blockSignals); void updateCollisions(); void addSelfCollision(const CollisionLinkPair& collisionPair, QString& collisionString); void addWorldCollision(const CollisionLinkPair& collisionPair, QString& collisionString); void on_qSpinChanged(double value); void on_qSliderChanged(int value); void on_qChanged(double q); void on_dqLimitChanged(bool isMin); void onXyzChanged(); void onRpyChanged(); void doInverseKinematics(Vector3 p, Matrix3 R); void onZmpXyzChanged(); bool storeState(Archive& archive); bool restoreState(const Archive& archive); }; } namespace { // margins const int M1 = 2; const int M2 = 4; const int M3 = 8; const int M4 = 16; } void BodyLinkView::initializeClass(ExtensionManager* ext) { ext->viewManager().registerClass( "BodyLinkView", N_("Body / Link"), ViewManager::SINGLE_DEFAULT); } BodyLinkView::BodyLinkView() { impl = new BodyLinkViewImpl(this); } BodyLinkViewImpl::BodyLinkViewImpl(BodyLinkView* self) : self(self) { self->setDefaultLayoutArea(View::CENTER); currentWorldItem = 0; currentBodyItem = 0; currentLink = 0; setupWidgets(); updateKinematicStateLater.setFunction(boost::bind(&BodyLinkViewImpl::updateKinematicState, this, true)); updateKinematicStateLater.setPriority(LazyCaller::PRIORITY_LOW); currentBodyItemChangeConnection = BodyBar::instance()->sigCurrentBodyItemChanged().connect( boost::bind(&BodyLinkViewImpl::onCurrentBodyItemChanged, this, _1)); self->sigActivated().connect(boost::bind(&BodyLinkViewImpl::activateCurrentBodyItem, this, true)); self->sigDeactivated().connect(boost::bind(&BodyLinkViewImpl::activateCurrentBodyItem, this, false)); } BodyLinkView::~BodyLinkView() { delete impl; } BodyLinkViewImpl::~BodyLinkViewImpl() { currentBodyItemChangeConnection.disconnect(); bodyItemConnections.disconnect(); } void BodyLinkViewImpl::setupWidgets() { QHBoxLayout* hbox; QVBoxLayout* vbox; QGridLayout* grid; QWidget* topWidget = new QWidget(); topWidget->setSizePolicy(QSizePolicy::Ignored, QSizePolicy::Preferred); QVBoxLayout* topVBox = new QVBoxLayout(); //topVBox->setContentsMargins(4); topWidget->setLayout(topVBox); scrollArea.setFrameShape(QFrame::NoFrame); scrollArea.setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); scrollArea.setWidget(topWidget); QVBoxLayout* baseLayout = new QVBoxLayout(); scrollArea.setWidgetResizable(true); baseLayout->addWidget(&scrollArea); self->setLayout(baseLayout); //nameLabel.setAlignment(Qt::AlignCenter); nameLabel.setTextInteractionFlags(Qt::TextSelectableByMouse); topVBox->addWidget(&nameLabel, 0, Qt::AlignCenter); topVBox->addSpacing(4); QFrame* frame = new QFrame(); topVBox->addWidget(frame); grid = new QGridLayout(); //grid->setContentsMargins(4); grid->setVerticalSpacing(4); grid->setColumnStretch(1, 1); grid->setColumnStretch(3, 1); grid->addWidget(new QLabel(_("Index:")), 0, 0); grid->addWidget(&linkIndexLabel, 0, 1); grid->addWidget(new QLabel(_("Joint ID:")), 0, 2); grid->addWidget(&jointIdLabel, 0, 3); grid->addWidget(new QLabel(_("Joint Type:")), 1, 0); jointTypeLabel.setTextInteractionFlags(Qt::TextSelectableByMouse); grid->addWidget(&jointTypeLabel, 1, 1, 1, 3); grid->addWidget(new QLabel(_("Joint Axis:")), 2, 0); jointAxisLabel.setTextInteractionFlags(Qt::TextSelectableByMouse); grid->addWidget(&jointAxisLabel, 2, 1, 1, 3); frame->setLayout(grid); topVBox->addSpacing(4); QGroupBox* linkBox = new QGroupBox(); linkBox->setTitle(_("Link Position [m],[deg]")); linkBox->setAlignment(Qt::AlignCenter); vbox = new QVBoxLayout(); linkBox->setLayout(vbox); grid = new QGridLayout(); //grid->setContentsMargins(4); grid->setVerticalSpacing(4); vbox->addLayout(grid); static const char* xyzLabels[] = {"X", "Y", "Z"}; for(int i=0; i < 3; ++i){ grid->addWidget(new QLabel(xyzLabels[i], frame), 0, i, Qt::AlignCenter); grid->addWidget(&xyzSpin[i], 1, i); //xyzSpin[i].set_width_chars(7); xyzSpin[i].setAlignment(Qt::AlignCenter); xyzSpin[i].setDecimals(4); xyzSpin[i].setRange(-99.9999, 99.9999); xyzSpin[i].setSingleStep(0.0001); stateWidgetConnections.add( xyzSpin[i].sigValueChanged().connect( boost::bind(&BodyLinkViewImpl::onXyzChanged, this))); } static const char* rpyLabels[] = {"R", "P", "Y"}; for(int i=0; i < 3; ++i){ grid->addWidget(new QLabel(rpyLabels[i], frame), 2, i, Qt::AlignCenter); grid->addWidget(&rpySpin[i], 3, i); rpySpin[i].setAlignment(Qt::AlignCenter); rpySpin[i].setDecimals(1); rpySpin[i].setRange(-360.0, 360.0); rpySpin[i].setSingleStep(0.1); stateWidgetConnections.add( rpySpin[i].sigValueChanged().connect( boost::bind(&BodyLinkViewImpl::onRpyChanged, this))); } attMatrixCheck.setText(_("Matrix")); attMatrixCheck.sigToggled().connect( boost::bind(&BodyLinkViewImpl::onAttMatrixCheckToggled, this)); vbox->addWidget(&attMatrixCheck, 0, Qt::AlignCenter); grid = new QGridLayout(); grid->setHorizontalSpacing(10); //grid->setContentsMargins(4); grid->setVerticalSpacing(4); hbox = new QHBoxLayout(); attMatrixBox.setLayout(hbox); hbox->addStretch(); hbox->addWidget(new QLabel("R = ")); hbox->addWidget(new VSeparator()); hbox->addLayout(grid); hbox->addWidget(new VSeparator()); hbox->addStretch(); for(int i=0; i < 3; ++i){ for(int j=0; j < 3; ++j){ QLabel* label = &attLabels[i][j]; label->setTextInteractionFlags(Qt::TextSelectableByMouse); label->setText("0.0"); grid->addWidget(label, i, j); } } vbox->addWidget(&attMatrixBox); attMatrixBox.hide(); topVBox->addWidget(linkBox); topVBox->addSpacing(4); qBox.setAlignment(Qt::AlignHCenter); topVBox->addWidget(&qBox); vbox = new QVBoxLayout(); //vbox->setContentsMargins(4); qBox.setLayout(vbox); hbox = new QHBoxLayout(); vbox->addLayout(hbox); hbox->addStretch(); hbox->addWidget(&qMinLabel); qSpin.setAlignment(Qt::AlignCenter); hbox->addWidget(&qSpin); hbox->addWidget(&qMaxLabel); hbox->addStretch(); qSlider.setOrientation(Qt::Horizontal); vbox->addWidget(&qSlider); stateWidgetConnections.add( qSpin.sigValueChanged().connect( boost::bind(&BodyLinkViewImpl::on_qSpinChanged, this, _1))); stateWidgetConnections.add( qSlider.sigValueChanged().connect( boost::bind(&BodyLinkViewImpl::on_qSliderChanged, this, _1))); topVBox->addSpacing(4); dqBox.setAlignment(Qt::AlignHCenter); topVBox->addWidget(&dqBox); hbox = new QHBoxLayout(); //hbox->setContentsMargins(4); // min velocity spin hbox->addStretch(); hbox->addWidget(new QLabel(_("min"))); dqMaxSpin.setAlignment(Qt::AlignCenter); hbox->addWidget(&dqMinSpin); // velocity label hbox->addWidget(&dqLabel); // max velocity spin dqMinSpin.setAlignment(Qt::AlignCenter); hbox->addWidget(&dqMaxSpin); hbox->addWidget(new QLabel(_("max"))); hbox->addStretch(); dqBox.setLayout(hbox); propertyWidgetConnections.add( dqMinSpin.sigValueChanged().connect( boost::bind(&BodyLinkViewImpl::on_dqLimitChanged, this, true))); propertyWidgetConnections.add( dqMaxSpin.sigValueChanged().connect( boost::bind(&BodyLinkViewImpl::on_dqLimitChanged, this, false))); topVBox->addSpacing(4); QGroupBox* collisionBox = new QGroupBox(); collisionBox->setTitle(_("Collisions")); collisionBox->setAlignment(Qt::AlignCenter); collisionBox->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding); vbox = new QVBoxLayout(); collisionBox->setLayout(vbox); //vbox->setContentsMargins(4); vbox->setSpacing(4); worldCollisionsLabel.setTextInteractionFlags(Qt::TextSelectableByMouse); worldCollisionsLabel.setAlignment(Qt::AlignCenter); worldCollisionsLabel.setWordWrap(true); vbox->addWidget(&worldCollisionsLabel); hbox = new QHBoxLayout(); hbox->setSpacing(4); hbox->addWidget(new HSeparator(), 1); hbox->addWidget(new QLabel(_("Self-Collisions")), 0); hbox->addWidget(new HSeparator(), 1); vbox->addLayout(hbox); selfCollisionsLabel.setTextInteractionFlags(Qt::TextSelectableByMouse); selfCollisionsLabel.setAlignment(Qt::AlignCenter); selfCollisionsLabel.setWordWrap(true); vbox->addWidget(&selfCollisionsLabel); topVBox->addWidget(collisionBox); topVBox->addSpacing(4); zmpBox.setTitle(_("ZMP [m]")); zmpBox.setAlignment(Qt::AlignCenter); grid = new QGridLayout(); //grid->setContentsMargins(4); grid->setVerticalSpacing(2); zmpBox.setLayout(grid); for(int i=0; i < 3; ++i){ grid->addWidget(new QLabel(xyzLabels[i]), 0, i, Qt::AlignCenter); grid->addWidget(&zmpXyzSpin[i], 1, i); //zmpXyzSpin[i].set_width_chars(7); zmpXyzSpin[i].setAlignment(Qt::AlignCenter); zmpXyzSpin[i].setDecimals(4); zmpXyzSpin[i].setRange(-99.9999, 99.9999); zmpXyzSpin[i].setSingleStep(0.0001); stateWidgetConnections.add( zmpXyzSpin[i].sigValueChanged().connect( boost::bind(&BodyLinkViewImpl::onZmpXyzChanged, this))); } topVBox->addWidget(&zmpBox); zmpBox.hide(); } void BodyLinkViewImpl::onAttMatrixCheckToggled() { if(attMatrixCheck.isChecked()){ attMatrixBox.show(); updateKinematicState(true); } else { attMatrixBox.hide(); } } void BodyLinkViewImpl::onCurrentBodyItemChanged(BodyItem* bodyItem) { if(bodyItem != currentBodyItem){ activateCurrentBodyItem(false); currentBodyItem = bodyItem; currentLink = 0; activateCurrentBodyItem(true); } } void BodyLinkViewImpl::activateCurrentBodyItem(bool on) { bodyItemConnections.disconnect(); if(on){ if(self->isActive() && currentBodyItem){ bodyItemConnections.add( LinkSelectionView::mainInstance()->sigSelectionChanged(currentBodyItem).connect( boost::bind(&BodyLinkViewImpl::update, this))); bodyItemConnections.add( currentBodyItem->sigKinematicStateChanged().connect(updateKinematicStateLater)); bodyItemConnections.add( currentBodyItem->sigUpdated().connect(boost::bind(&BodyLinkViewImpl::update, this))); bodyItemConnections.add( currentBodyItem->sigCollisionsUpdated().connect( boost::bind(&BodyLinkViewImpl::updateCollisions, this))); update(); } } } void BodyLinkViewImpl::update() { currentLink = 0; if(!currentBodyItem){ nameLabel.setText(""); return; } propertyWidgetConnections.block(); stateWidgetConnections.block(); BodyPtr body = currentBodyItem->body(); const vector& selectedLinkIndices = LinkSelectionView::mainInstance()->selectedLinkIndices(currentBodyItem); if(selectedLinkIndices.empty()){ currentLink = body->rootLink(); } else { currentLink = body->link(selectedLinkIndices.front()); } if(currentLink){ nameLabel.setText(QString("%1 / %2").arg(body->name().c_str()).arg(currentLink->name().c_str())); updateLink(); } else { nameLabel.setText(body->name().c_str()); } if(currentBodyItem->isLeggedBody()){ zmpBox.show(); } else { zmpBox.hide(); } updateKinematicState(false); updateCollisions(); stateWidgetConnections.unblock(); propertyWidgetConnections.unblock(); } void BodyLinkViewImpl::updateLink() { BodyPtr body = currentBodyItem->body(); linkIndexLabel.setText(QString::number(currentLink->index())); jointIdLabel.setText(QString::number(currentLink->jointId())); Vector3 a(currentLink->Rs().transpose() * currentLink->a()); jointAxisLabel.setText(QString("(%1 %2 %3)").arg(a[0], 0, 'f', 4).arg(a[1], 0, 'f', 4).arg(a[2], 0, 'f', 4)); if(currentLink->isRotationalJoint()){ updateRotationalJointState(); } else if(currentLink->isSlideJoint()){ updateSlideJointState(); } else { qBox.hide(); dqBox.hide(); jointTypeLabel.setText(currentLink->jointTypeString().c_str()); } } void BodyLinkViewImpl::updateRotationalJointState() { jointTypeLabel.setText(_("Rotation")); qBox.show(); qBox.setTitle(_("Joint Angle [deg]")); double qmin = degree(currentLink->q_lower()); double qmax = degree(currentLink->q_upper()); qMinLabel.setText(QString::number(qmin, 'f', 1)); qMaxLabel.setText(QString::number(qmax, 'f', 1)); qSpin.setDecimals(1); qSpin.setRange(-9999.9, 9999.9); // Limit over values should be shown qSpin.setSingleStep(0.1); if(qmin <= -std::numeric_limits::max()){ qmin = -1080.0; } if(qmax >= std::numeric_limits::max()){ qmax = 1080.0; } qSlider.setRange(qmin * sliderResolution, qmax * sliderResolution); qSlider.setSingleStep(0.1 * sliderResolution); dqBox.show(); dqBox.setTitle(_("Joint Velocity [deg/s]")); dqMinSpin.setDecimals(1); dqMinSpin.setRange(-9999.9, 0.0); dqMinSpin.setSingleStep(0.1); dqMinSpin.setValue(degree(currentLink->dq_lower())); dqMaxSpin.setDecimals(1); dqMaxSpin.setRange(0.0, 9999.9); dqMaxSpin.setSingleStep(0.1); dqMaxSpin.setValue(degree(currentLink->dq_upper())); } void BodyLinkViewImpl::updateSlideJointState() { jointTypeLabel.setText(_("Slide")); qBox.show(); qBox.setTitle(_("Joint Translation [m]:")); double qmin = currentLink->q_lower(); double qmax = currentLink->q_upper(); qSpin.setDecimals(4); qSpin.setRange(-999.9999, 999.9999); qSpin.setSingleStep(0.0001); if(qmin <= -std::numeric_limits::max()){ qmin = -999.9999; } if(qmax >= std::numeric_limits::max()){ qmax = 999.9999; } qMinLabel.setText(QString::number(qmin, 'f', 3)); qMaxLabel.setText(QString::number(qmax, 'f', 3)); qSlider.setRange(qmin * sliderResolution, qmax * sliderResolution); qSlider.setSingleStep(0.001 * sliderResolution); dqBox.show(); dqBox.setTitle(_("Joint Velocity [m/s]")); dqMinSpin.setDecimals(3); dqMinSpin.setRange(-999.999, 0.0); dqMinSpin.setSingleStep(0.001); dqMinSpin.setValue(currentLink->dq_lower()); dqMaxSpin.setDecimals(3); dqMaxSpin.setRange(0.0, 999.999); dqMaxSpin.setSingleStep(0.001); dqMaxSpin.setValue(currentLink->dq_upper()); } void BodyLinkViewImpl::updateKinematicState(bool blockSignals) { if(currentBodyItem){ if(blockSignals){ stateWidgetConnections.block(); } if(currentLink){ if(currentLink->isRotationalJoint()){ double q = degree(currentLink->q()); qSpin.setValue(q); qSlider.setValue(q * sliderResolution); dqLabel.setText(QString::number(degree(currentLink->dq()), 'f', 1)); } else if(currentLink->isSlideJoint()){ qSpin.setValue(currentLink->q()); qSlider.setValue(currentLink->q() * sliderResolution); dqLabel.setText(QString::number(currentLink->dq(), 'f', 1)); } const Matrix3 R = currentLink->attitude(); const Vector3 rpy = rpyFromRot(R); for(int i=0; i < 3; ++i){ DoubleSpinBox& xyzSpin_i = xyzSpin[i]; if(!xyzSpin_i.hasFocus()){ xyzSpin_i.setValue(currentLink->p()[i]); } DoubleSpinBox& rpySpin_i = rpySpin[i]; if(!rpySpin_i.hasFocus()){ rpySpin_i.setValue(degree(rpy[i])); } } if(attMatrixCheck.isChecked()){ for(int i=0; i < 3; ++i){ for(int j=0; j < 3; ++j){ attLabels[i][j].setText(QString::number(R(i,j), 'f', 6)); } } } } if(currentBodyItem->isLeggedBody()){ const Vector3& zmp = currentBodyItem->zmp(); for(int i=0; i < 3; ++i){ zmpXyzSpin[i].setValue(zmp[i]); } } if(blockSignals){ stateWidgetConnections.unblock(); } } } void BodyLinkViewImpl::updateCollisions() { selfCollisionString.clear(); worldCollisionString.clear(); if(currentLink){ const std::vector& collisions = currentBodyItem->collisionsOfLink(currentLink->index()); for(size_t i=0; i < collisions.size(); ++i){ const CollisionLinkPair& collisionPair = *collisions[i]; if(collisionPair.isSelfCollision()){ addSelfCollision(collisionPair, selfCollisionString); } else { addWorldCollision(collisionPair, worldCollisionString); } } } selfCollisionsLabel.setText(selfCollisionString); worldCollisionsLabel.setText(worldCollisionString); } void BodyLinkViewImpl::addSelfCollision(const CollisionLinkPair& collisionPair, QString& collisionString) { Link* oppositeLink; if(collisionPair.link[0] == currentLink){ oppositeLink = collisionPair.link[1]; } else { oppositeLink = collisionPair.link[0]; } if(!collisionString.isEmpty()){ collisionString += " "; } collisionString += oppositeLink->name().c_str(); } void BodyLinkViewImpl::addWorldCollision(const CollisionLinkPair& collisionPair, QString& collisionString) { int opposite = (collisionPair.link[0] == currentLink) ? 1 : 0; if(!collisionString.isEmpty()){ collisionString += " "; } collisionString += collisionPair.body[opposite]->name().c_str(); collisionString += " / "; collisionString += collisionPair.link[opposite]->name().c_str(); } void BodyLinkViewImpl::on_qSpinChanged(double value) { on_qChanged(value); } void BodyLinkViewImpl::on_qSliderChanged(int value) { on_qChanged(value / sliderResolution); } void BodyLinkViewImpl::on_qChanged(double q) { if(currentLink){ if(currentLink->isRotationalJoint()){ q = radian(q); } currentLink->q() = q; currentBodyItem->notifyKinematicStateChange(true); } } void BodyLinkViewImpl::on_dqLimitChanged(bool isMin) { if(currentLink){ DoubleSpinBox& targetSpin = isMin ? dqMinSpin : dqMaxSpin; double targetVal = isMin ? currentLink->dq_lower() : currentLink->dq_upper(); double oppositeVal = isMin ? currentLink->dq_upper() : currentLink->dq_lower(); double limit = targetSpin.value(); if(currentLink->isRotationalJoint()){ limit = radian(limit); } if(currentLink->dq_upper() == -currentLink->dq_lower()){ oppositeVal = -limit; } targetVal = limit; currentBodyItem->notifyUpdate(); } } void BodyLinkViewImpl::onXyzChanged() { if(currentBodyItem && currentLink){ Vector3 translation; for(int i=0; i < 3; ++i){ translation[i] = xyzSpin[i].value(); } SimulatorItem* activeSimulator = SimulatorItem::findActiveSimulatorItemFor(currentBodyItem); if(!activeSimulator){ doInverseKinematics(translation, currentLink->R()); } else { if(currentLink->isRoot() && activeSimulator->isForcedPositionActiveFor(currentBodyItem)){ Position position = currentLink->position(); position.translation() = translation; activeSimulator->setForcedPosition(currentBodyItem, position); } } } } void BodyLinkViewImpl::onRpyChanged() { if(currentBodyItem && currentLink){ Vector3 rpy; for(int i=0; i < 3; ++i){ rpy[i] = radian(rpySpin[i].value()); } Matrix3 R = currentLink->calcRfromAttitude(rotFromRpy(rpy)); SimulatorItem* activeSimulator = SimulatorItem::findActiveSimulatorItemFor(currentBodyItem); if(!activeSimulator){ doInverseKinematics(currentLink->p(), R); } else { if(currentLink->isRoot() && activeSimulator->isForcedPositionActiveFor(currentBodyItem)){ Position position = currentLink->position(); position.linear() = R; activeSimulator->setForcedPosition(currentBodyItem, position); } } } } void BodyLinkViewImpl::doInverseKinematics(Vector3 p, Matrix3 R) { InverseKinematicsPtr ik = currentBodyItem->getCurrentIK(currentLink); if(ik){ currentBodyItem->beginKinematicStateEdit(); if(KinematicsBar::instance()->isPenetrationBlockMode()){ PenetrationBlockerPtr blocker = currentBodyItem->createPenetrationBlocker(currentLink, true); if(blocker){ Position T; T.translation() = p; T.linear() = R; if(blocker->adjust(T, Vector3(p - currentLink->p()))){ p = T.translation(); R = T.linear(); } } } if(ik->calcInverseKinematics(p, R)){ currentBodyItem->notifyKinematicStateChange(true); currentBodyItem->acceptKinematicStateEdit(); } } } void BodyLinkViewImpl::onZmpXyzChanged() { if(currentBodyItem){ Vector3 zmp; for(int i=0; i < 3; ++i){ zmp[i] = zmpXyzSpin[i].value(); } currentBodyItem->setZmp(zmp); currentBodyItem->notifyKinematicStateChange(false); } } bool BodyLinkView::storeState(Archive& archive) { return impl->storeState(archive); } bool BodyLinkViewImpl::storeState(Archive& archive) { archive.write("showRotationMatrix", attMatrixCheck.isChecked()); return true; } bool BodyLinkView::restoreState(const Archive& archive) { return impl->restoreState(archive); } bool BodyLinkViewImpl::restoreState(const Archive& archive) { attMatrixCheck.setChecked(archive.get("showRotationMatrix", attMatrixCheck.isChecked())); return true; } choreonoid-1.5.0/src/BodyPlugin/BodyItem.h0000664000000000000000000001205712741425367017116 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_PLUGIN_BODY_ITEM_H #define CNOID_BODY_PLUGIN_BODY_ITEM_H #include #include #include #include #include #include #include "exportdecl.h" namespace cnoid { class BodyState; class BodyItem; typedef ref_ptr BodyItemPtr; class BodyItemImpl; class InverseKinematics; typedef boost::shared_ptr InverseKinematicsPtr; class PinDragIK; typedef boost::shared_ptr PinDragIKptr; class PenetrationBlocker; typedef boost::shared_ptr PenetrationBlockerPtr; class EditableSceneBody; class CNOID_EXPORT BodyItem : public Item, public SceneProvider { public: static void initializeClass(ExtensionManager* ext); BodyItem(); BodyItem(const BodyItem& org); virtual ~BodyItem(); bool loadModelFile(const std::string& filename); virtual void setName(const std::string& name); Body* body() const; bool isEditable() const; void setEditable(bool on); enum PresetPoseID { INITIAL_POSE, STANDARD_POSE }; void moveToOrigin(); void setPresetPose(PresetPoseID id); Link* currentBaseLink() const; void setCurrentBaseLink(Link* link); void calcForwardKinematics(bool calcVelocity = false, bool calcAcceleration = false); void copyKinematicState(); void pasteKinematicState(); void storeKinematicState(BodyState& state); bool restoreKinematicState(const BodyState& state); void storeInitialState(); void restoreInitialState(bool doNotify = true); void getInitialState(BodyState& out_state); void setInitialState(const BodyState& in_state); // for undo, redo operations void beginKinematicStateEdit(); void acceptKinematicStateEdit(); bool undoKinematicState(); bool redoKinematicState(); PinDragIKptr pinDragIK(); InverseKinematicsPtr getCurrentIK(Link* targetLink); InverseKinematicsPtr getDefaultIK(Link* targetLink); PenetrationBlockerPtr createPenetrationBlocker(Link* link, bool excludeSelfCollisions = false); SignalProxy sigModelUpdated(); void notifyModelUpdate(); /** @if jp ƒ­ƒœƒƒƒˆé–˘çŻ€è§’€é–˘çŻ€è§’速ċşĤ€root位罃ğċ§żċ‹˘Şİ€Œé‹ċ‹•ċ­Ĥ的€çŠĥĉ…‹Ğċ¤‰ĉ›´Œç”Ÿ˜Ÿ¨Ğ 発èĦŒ•‚Œ‚‹‚·‚°ƒŠƒĞ€‚ Item::sigUpdated() Żƒ˘ƒ‡ƒĞè‡Şä½“Œċ¤‰‚£Ÿċ ´ċˆ¨—€Ħ‚‰¨ŻċŒşċˆ—Ĥä½ż†€‚ @endif */ SignalProxy sigKinematicStateChanged(); void notifyKinematicStateChange( bool requestFK = false, bool requestVelFK = false, bool requestAccFK = false); void notifyKinematicStateChange( Connection& connectionToBlock, bool requestFK = false, bool requestVelFK = false, bool requestAccFK = false); SignalProxy sigKinematicStateEdited(); void enableCollisionDetection(bool on); bool isCollisionDetectionEnabled() const; void enableSelfCollisionDetection(bool on); bool isSelfCollisionDetectionEnabled() const; void clearCollisions(); std::vector& collisions() { return collisions_; } const std::vector& collisions() const { return collisions_; } boost::dynamic_bitset<>& collisionLinkBitSet() { return collisionLinkBitSet_; } const boost::dynamic_bitset<>& collisionLinkBitSet() const { return collisionLinkBitSet_; } std::vector& collisionsOfLink(int linkIndex) { return collisionsOfLink_[linkIndex]; } const std::vector& collisionsOfLink(int linkIndex) const { return collisionsOfLink_[linkIndex]; } SignalProxy sigCollisionsUpdated() { return sigCollisionsUpdated_; } void notifyCollisionUpdate() { sigCollisionsUpdated_(); } const Vector3& centerOfMass(); bool isLeggedBody() const; bool doLegIkToMoveCm(const Vector3& c, bool onlyProjectionToFloor = false); const Vector3& zmp() const; void setZmp(const Vector3& zmp); void editZmp(const Vector3& zmp); enum PositionType { CM_PROJECTION, HOME_COP, RIGHT_HOME_COP, LEFT_HOME_COP, ZERO_MOMENT_POINT }; boost::optional getParticularPosition(PositionType posType); bool setStance(double width); virtual SgNode* getScene(); EditableSceneBody* sceneBody(); EditableSceneBody* existingSceneBody(); protected: virtual Item* doDuplicate() const; virtual void doAssign(Item* item); virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: friend class BodyItemImpl; friend class PyBodyPlugin; BodyItemImpl* impl; std::vector collisions_; boost::dynamic_bitset<> collisionLinkBitSet_; std::vector< std::vector > collisionsOfLink_; Signal sigCollisionsUpdated_; }; } #endif choreonoid-1.5.0/src/BodyPlugin/CollisionSeq.cpp0000664000000000000000000001441712741425367020343 0ustar rootroot/** @file @author Shizuko Hattori */ #include "CollisionSeq.h" #include #include #include #include #include using namespace std; using namespace cnoid; namespace { static const string mdskey("CollisionPairLsit"); } CollisionSeq::CollisionSeq(CollisionSeqItem* collisionSeqItem) : BaseSeqType("CollisionSeq") { collisionSeqItem_ = collisionSeqItem; setSeqContentName(mdskey); } bool CollisionSeq::loadStandardYAMLformat(const std::string& filename) { bool result = false; bool loaded = false; clearSeqMessage(); YAMLReader reader; reader.expectRegularMultiListing(); try { const Mapping& archive = *reader.loadDocument(filename)->toMapping(); if(archive["type"].toString() != "CollisionSeq"){ result = false; }else{ result = readSeq(archive); if(result){ loaded = true; } else { addSeqMessage(seqMessage()); } } } catch(const ValueNode::Exception& ex){ addSeqMessage(ex.message()); } return (result && loaded); } bool CollisionSeq::saveAsStandardYAMLformat(const std::string& filename) { YAMLWriter writer(filename); writer.setDoubleFormat("%.9g"); writer.putComment("Collision data set format version 1.0 defined by cnoid-Robotics\n"); if(numFrames() > 0){ if(!writeSeq(writer)){ addSeqMessage(seqMessage()); return false; } } return true; } void CollisionSeq::writeCollsionData(YAMLWriter& writer, const CollisionLinkPairListPtr ptr) { writer.startMapping(); writer.putKey("LinkPairs"); writer.startListing(); for(CollisionLinkPairList::iterator it=ptr->begin(); it!=ptr->end(); it++){ CollisionLinkPairPtr linkPair = *it; writer.startMapping(); writer.putKeyValue("body0",linkPair->body[0]->name()); writer.putKeyValue("link0",linkPair->link[0]->name()); writer.putKeyValue("body1",linkPair->body[1]->name()); writer.putKeyValue("link1",linkPair->link[1]->name()); int numCollisions = linkPair->collisions.size(); writer.putKey("Collisions"); writer.startListing(); for(int j=0; jcollisions[j]; writer.startFlowStyleListing(); const Vector3& point = collision.point; writer.putScalar(point.x()); writer.putScalar(point.y()); writer.putScalar(point.z()); const Vector3& normal = collision.normal; writer.putScalar(normal.x()); writer.putScalar(normal.y()); writer.putScalar(normal.z()); writer.putScalar(collision.depth); writer.endListing(); } writer.endListing(); writer.endMapping(); } writer.endListing(); writer.endMapping(); } bool CollisionSeq::doWriteSeq(YAMLWriter& writer) { if(BaseSeqType::doWriteSeq(writer)){ writer.putKeyValue("format", "PxPyPzNxNyNzD"); writer.putKey("frames"); writer.startListing(); const int n = numFrames(); for(int i=0; i < n; ++i){ Frame f = frame(i); writeCollsionData(writer, f[0]); } writer.endListing(); return true; } return false; } bool CollisionSeq::doReadSeq(const Mapping& archive) { if(BaseSeqType::doReadSeq(archive)){ const Listing& values = *archive.findListing("frames"); if(values.isValid()){ const int nFrames = values.size(); setDimension(nFrames, 1); readCollisionData(nFrames, values); } return true; } return false; } void CollisionSeq::readCollisionData(int nFrames, const Listing& values) { /* WorldItem* worldItem = collisionSeqItem_->findOwnerItem(); if(!worldItem) return; */ WorldItem* worldItem = 0; RootItem* rootItem = RootItem::instance(); ItemList worldItems; if(worldItems.extractChildItems(rootItem)){ worldItem = worldItems.front(); } if(!worldItem) return; for(int i=0; i < nFrames; ++i){ const Mapping& frameNode = *values[i].toMapping(); const Listing& linkPairs = *frameNode.findListing("LinkPairs"); Frame f = frame(i); f[0] = boost::make_shared(); for(int j=0; j(); const Mapping& linkPair = *linkPairs[j].toMapping(); string body0name = linkPair["body0"].toString(); string body1name = linkPair["body1"].toString(); string link0name = linkPair["link0"].toString(); string link1name = linkPair["link1"].toString(); BodyItem* body0Item = worldItem->findChildItem(body0name); Body* body0=0; Body* body1=0; Link* link0=0; Link* link1=0; if(body0Item){ body0 = body0Item->body(); link0 = body0->link(link0name); } BodyItem* body1Item = worldItem->findChildItem(body1name); if(body1Item){ body1 = body1Item->body(); link1 = body1->link(link1name); } destLinkPair->body[0] = body0; destLinkPair->link[0] = link0; destLinkPair->body[1] = body1; destLinkPair->link[1] = link1; const Listing& collisions = *linkPair.findListing("Collisions"); for(int k=0; kcollisions.push_back(Collision()); Collision& destCol = destLinkPair->collisions.back(); const Listing& collision = *collisions[k].toListing(); destCol.point = Vector3(collision[0].toDouble(), collision[1].toDouble(), collision[2].toDouble()); destCol.normal = Vector3(collision[3].toDouble(), collision[4].toDouble(), collision[5].toDouble()); destCol.depth = collision[6].toDouble(); } f[0]->push_back(destLinkPair); } } } choreonoid-1.5.0/src/BodyPlugin/WorldItem.cpp0000664000000000000000000003126512741425367017645 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "WorldItem.h" #include "KinematicsBar.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace { const bool TRACE_FUNCTIONS = false; struct BodyItemInfo { BodyItemInfo() { kinematicStateChanged = false; } int geometryId; bool kinematicStateChanged; }; typedef map BodyItemInfoMap; } namespace cnoid { class WorldItemImpl { public: WorldItemImpl(WorldItem* self); WorldItemImpl(WorldItem* self, const WorldItemImpl& org); ~WorldItemImpl(); WorldItem* self; ostream& os; ItemList collisionBodyItems; boost::dynamic_bitset<> collisionBodyItemsSelfCollisionFlags; Connection sigItemTreeChangedConnection; ConnectionSet sigKinematicStateChangedConnections; bool isCollisionDetectionEnabled; LazyCaller updateCollisionsLater; KinematicsBar* kinematicsBar; BodyItemInfoMap bodyItemInfoMap; Selection collisionDetectorType; CollisionDetectorPtr collisionDetector; vector geometryIdToBodyInfoMap; boost::shared_ptr< vector > collisions; Signal sigCollisionsUpdated; LazyCaller updateCollisionDetectorLater; SceneCollisionPtr sceneCollision; void init(); bool selectCollisionDetector(int index); void enableCollisionDetection(bool on); void clearCollisionDetector(); void updateCollisionDetector(bool forceUpdate); void updateCollisionBodyItems(); void onBodyKinematicStateChanged(BodyItem* bodyItem); void updateCollisions(bool forceUpdate); void extractCollisions(const CollisionPair& collisionPair); }; } void WorldItem::initializeClass(ExtensionManager* ext) { ext->itemManager().registerClass(N_("WorldItem")); ext->itemManager().addCreationPanel(); } WorldItem::WorldItem() { impl = new WorldItemImpl(this); setName("World"); } WorldItemImpl::WorldItemImpl(WorldItem* self) : self(self), os(MessageView::mainInstance()->cout()), updateCollisionsLater(boost::bind(&WorldItemImpl::updateCollisions, this, false)), updateCollisionDetectorLater(boost::bind(&WorldItemImpl::updateCollisionDetector, this, false)) { const int n = CollisionDetector::numFactories(); collisionDetectorType.resize(n); for(int i=0; i < n; ++i){ collisionDetectorType.setSymbol(i, CollisionDetector::factoryName(i)); }; collisionDetectorType.select("AISTCollisionDetector"); isCollisionDetectionEnabled = false; init(); } WorldItem::WorldItem(const WorldItem& org) : Item(org) { impl = new WorldItemImpl(this, *org.impl); } WorldItemImpl::WorldItemImpl(WorldItem* self, const WorldItemImpl& org) : self(self), os(org.os), updateCollisionsLater(boost::bind(&WorldItemImpl::updateCollisions, this, false)), updateCollisionDetectorLater(boost::bind(&WorldItemImpl::updateCollisionDetector, this, false)) { collisionDetectorType = org.collisionDetectorType; isCollisionDetectionEnabled = org.isCollisionDetectionEnabled; init(); } void WorldItemImpl::init() { kinematicsBar = KinematicsBar::instance(); collisionDetector = CollisionDetector::create(collisionDetectorType.selectedIndex()); collisions = boost::make_shared< vector >(); sceneCollision = new SceneCollision(collisions); sceneCollision->setName("Collisions"); } WorldItem::~WorldItem() { delete impl; } WorldItemImpl::~WorldItemImpl() { sigKinematicStateChangedConnections.disconnect(); sigItemTreeChangedConnection.disconnect(); } const ItemList& WorldItem::collisionBodyItems() const { return impl->collisionBodyItems; } std::vector& WorldItem::collisions() const { return *impl->collisions; } bool WorldItem::selectCollisionDetector(const std::string& name) { return impl->selectCollisionDetector(CollisionDetector::factoryIndex(name)); } bool WorldItemImpl::selectCollisionDetector(int index) { if(index >= 0 && index < collisionDetectorType.size()){ CollisionDetectorPtr newCollisionDetector = CollisionDetector::create(index); if(newCollisionDetector){ collisionDetector = newCollisionDetector; collisionDetectorType.select(index); if(isCollisionDetectionEnabled){ updateCollisionDetector(true); } return true; } } return false; } CollisionDetectorPtr WorldItem::collisionDetector() { if(impl->isCollisionDetectionEnabled){ impl->updateCollisionDetectorLater.flush(); } return impl->collisionDetector; } void WorldItem::enableCollisionDetection(bool on) { impl->enableCollisionDetection(on); } void WorldItemImpl::enableCollisionDetection(bool on) { if(TRACE_FUNCTIONS){ os << "WorldItemImpl::enableCollisionDetection(" << on << ")" << endl; } bool changed = false; if(isCollisionDetectionEnabled && !on){ clearCollisionDetector(); sigItemTreeChangedConnection.disconnect(); isCollisionDetectionEnabled = false; changed = true; } else if(!isCollisionDetectionEnabled && on){ isCollisionDetectionEnabled = true; updateCollisionDetector(true); sigItemTreeChangedConnection = RootItem::mainInstance()->sigTreeChanged().connect( boost::bind(&WorldItem::updateCollisionDetectorLater, self)); changed = true; } if(changed){ self->notifyUpdate(); sigCollisionsUpdated(); } } bool WorldItem::isCollisionDetectionEnabled() { return impl->isCollisionDetectionEnabled; } void WorldItemImpl::clearCollisionDetector() { if(TRACE_FUNCTIONS){ os << "WorldItemImpl::clearCollisionDetector()" << endl; } collisionDetector->clearGeometries(); geometryIdToBodyInfoMap.clear(); sigKinematicStateChangedConnections.disconnect(); bodyItemInfoMap.clear(); for(size_t i=0; i < collisionBodyItems.size(); ++i){ collisionBodyItems[i]->clearCollisions(); } } void WorldItem::updateCollisionDetectorLater() { impl->updateCollisionDetectorLater(); } void WorldItem::updateCollisionDetector() { impl->updateCollisionDetector(true); } /** \todo reduce the number of calling this function when the project is loaded. */ void WorldItemImpl::updateCollisionDetector(bool forceUpdate) { if(TRACE_FUNCTIONS){ os << "WorldItemImpl::updateCollisionDetector()" << endl; } if(!isCollisionDetectionEnabled){ return; } if(!forceUpdate){ ItemList prevBodyItems = collisionBodyItems; boost::dynamic_bitset<> prevSelfCollisionFlags = collisionBodyItemsSelfCollisionFlags; updateCollisionBodyItems(); if(collisionBodyItems == prevBodyItems && collisionBodyItemsSelfCollisionFlags == prevSelfCollisionFlags){ return; } } else { updateCollisionBodyItems(); } clearCollisionDetector(); for(size_t i=0; i < collisionBodyItems.size(); ++i){ BodyItem* bodyItem = collisionBodyItems.get(i); const BodyPtr& body = bodyItem->body(); const int numLinks = body->numLinks(); pair inserted = bodyItemInfoMap.insert(make_pair(bodyItem, BodyItemInfo())); BodyItemInfo& info = inserted.first->second; info.geometryId = addBodyToCollisionDetector( *body, *collisionDetector, bodyItem->isSelfCollisionDetectionEnabled()); geometryIdToBodyInfoMap.resize(collisionDetector->numGeometries(), inserted.first); sigKinematicStateChangedConnections.add( bodyItem->sigKinematicStateChanged().connect( boost::bind(&WorldItemImpl::onBodyKinematicStateChanged, this, bodyItem))); } collisionDetector->makeReady(); updateCollisions(true); } void WorldItemImpl::updateCollisionBodyItems() { collisionBodyItemsSelfCollisionFlags.clear(); collisionBodyItems.extractChildItems(self); ItemList::iterator p = collisionBodyItems.begin(); while(p != collisionBodyItems.end()){ BodyItemPtr& bodyItem = *p; if(bodyItem->isCollisionDetectionEnabled()){ collisionBodyItemsSelfCollisionFlags.push_back( bodyItem->isSelfCollisionDetectionEnabled()); ++p; } else { p = collisionBodyItems.erase(p); } } } /** \todo Check if BodyItemInfoMap::iterator can be used as the function parameter */ void WorldItemImpl::onBodyKinematicStateChanged(BodyItem* bodyItem) { if(TRACE_FUNCTIONS){ os << "WorldItemImpl::onBodyKinematicStateChanged()" << endl; } BodyItemInfoMap::iterator p = bodyItemInfoMap.find(bodyItem); if(p != bodyItemInfoMap.end()){ BodyItemInfo& info = p->second; info.kinematicStateChanged = true; updateCollisionsLater.setPriority(kinematicsBar->collisionDetectionPriority()); updateCollisionsLater(); } } void WorldItem::updateCollisions() { impl->updateCollisions(true); } void WorldItemImpl::updateCollisions(bool forceUpdate) { for(BodyItemInfoMap::iterator p = bodyItemInfoMap.begin(); p != bodyItemInfoMap.end(); ++p){ BodyItemInfo& info = p->second; BodyItem* bodyItem = p->first; bodyItem->clearCollisions(); if(info.kinematicStateChanged || forceUpdate){ const BodyPtr& body = bodyItem->body(); for(int i=0; i < body->numLinks(); ++i){ collisionDetector->updatePosition(info.geometryId + i, body->link(i)->T()); } } info.kinematicStateChanged = false; } collisions->clear(); collisionDetector->detectCollisions(boost::bind(&WorldItemImpl::extractCollisions, this, _1)); sceneCollision->setDirty(); for(BodyItemInfoMap::iterator p = bodyItemInfoMap.begin(); p != bodyItemInfoMap.end(); ++p){ BodyItem* bodyItem = p->first; BodyItemInfo& info = p->second; bodyItem->notifyCollisionUpdate(); } sigCollisionsUpdated(); } void WorldItemImpl::extractCollisions(const CollisionPair& collisionPair) { CollisionLinkPairPtr collisionLinkPair = boost::make_shared(); collisionLinkPair->collisions = collisionPair.collisions; BodyItem* bodyItem = 0; for(int i=0; i < 2; ++i){ const int geometryId = collisionPair.geometryId[i]; BodyItemInfoMap::const_iterator p = geometryIdToBodyInfoMap[geometryId]; const BodyItemInfo& info = p->second; const int linkIndex = geometryId - info.geometryId; if(p->first != bodyItem){ bodyItem = p->first; bodyItem->collisions().push_back(collisionLinkPair); } const BodyPtr& body = bodyItem->body(); collisionLinkPair->body[i] = body; collisionLinkPair->link[i] = body->link(linkIndex); bodyItem->collisionsOfLink(linkIndex).push_back(collisionLinkPair); bodyItem->collisionLinkBitSet().set(linkIndex); } collisions->push_back(collisionLinkPair); } SignalProxy WorldItem::sigCollisionsUpdated() { return impl->sigCollisionsUpdated; } SgNode* WorldItem::getScene() { return impl->sceneCollision; } Item* WorldItem::doDuplicate() const { return new WorldItem(*this); } void WorldItem::doPutProperties(PutPropertyFunction& putProperty) { putProperty(_("Collision detection"), isCollisionDetectionEnabled(), boost::bind(&WorldItem::enableCollisionDetection, this, _1), true); putProperty(_("Collision detector"), impl->collisionDetectorType, boost::bind(&WorldItemImpl::selectCollisionDetector, impl, _1)); } bool WorldItem::store(Archive& archive) { archive.write("collisionDetection", isCollisionDetectionEnabled()); archive.write("collisionDetector", impl->collisionDetectorType.selectedSymbol()); return true; } bool WorldItem::restore(const Archive& archive) { string symbol; if(archive.read("collisionDetector", symbol)){ selectCollisionDetector(symbol); } if(archive.get("collisionDetection", false)){ archive.addPostProcess(boost::bind(&WorldItemImpl::enableCollisionDetection, impl, true)); } return true; } choreonoid-1.5.0/src/BodyPlugin/SimulationScriptItem.cpp0000664000000000000000000000760212741425367022065 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "SimulationScriptItem.h" #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace cnoid { class SimulationScriptItemImpl { public: SimulationScriptItem* self; Selection executionTiming; double executionDelay; bool isOnlyExecutedAsSimulationScript; SimulationScriptItemImpl(SimulationScriptItem* self); SimulationScriptItemImpl(SimulationScriptItem* self, const SimulationScriptItemImpl& org); }; } SimulationScriptItem::SimulationScriptItem() { impl = new SimulationScriptItemImpl(this); } SimulationScriptItemImpl::SimulationScriptItemImpl(SimulationScriptItem* self) : self(self), executionTiming(SimulationScriptItem::NUM_TIMINGS, CNOID_GETTEXT_DOMAIN_NAME) { executionTiming.setSymbol(SimulationScriptItem::BEFORE_INITIALIZATION, N_("Before init.")); executionTiming.setSymbol(SimulationScriptItem::DURING_INITIALIZATION, N_("During init.")); executionTiming.setSymbol(SimulationScriptItem::AFTER_INITIALIZATION, N_("After init.")); executionTiming.setSymbol(SimulationScriptItem::DURING_FINALIZATION, N_("During final.")); executionTiming.setSymbol(SimulationScriptItem::AFTER_FINALIZATION, N_("After final.")); executionTiming.select(SimulationScriptItem::AFTER_INITIALIZATION); executionDelay = 0.0; isOnlyExecutedAsSimulationScript = true; } SimulationScriptItem::SimulationScriptItem(const SimulationScriptItem& org) : ScriptItem(org) { impl = new SimulationScriptItemImpl(this, *org.impl); } SimulationScriptItemImpl::SimulationScriptItemImpl(SimulationScriptItem* self, const SimulationScriptItemImpl& org) : self(self), executionTiming(org.executionTiming) { executionDelay = org.executionDelay; isOnlyExecutedAsSimulationScript = org.isOnlyExecutedAsSimulationScript; } SimulationScriptItem::~SimulationScriptItem() { delete impl; } SimulationScriptItem::ExecutionTiming SimulationScriptItem::executionTiming() const { return static_cast(impl->executionTiming.selectedIndex()); } void SimulationScriptItem::setExecutionTiming(SimulationScriptItem::ExecutionTiming timing) { impl->executionTiming.select(timing); } double SimulationScriptItem::executionDelay() const { return impl->executionDelay; } void SimulationScriptItem::setExecutionDelay(double t) { impl->executionDelay = t; } bool SimulationScriptItem::execute() { if(impl->isOnlyExecutedAsSimulationScript){ return false; } else { return executeAsSimulationScript(); } } void SimulationScriptItem::doPutProperties(PutPropertyFunction& putProperty) { ScriptItem::doPutProperties(putProperty); putProperty(_("Timing"), impl->executionTiming, boost::bind((bool(Selection::*)(int))&Selection::select, &impl->executionTiming, _1)); putProperty(_("Delay"), impl->executionDelay, changeProperty(impl->executionDelay)); putProperty(_("Simulation only"), impl->isOnlyExecutedAsSimulationScript, changeProperty(impl->isOnlyExecutedAsSimulationScript)); } bool SimulationScriptItem::store(Archive& archive) { if(ScriptItem::store(archive)){ archive.write("timing", impl->executionTiming.selectedSymbol()); archive.write("delay", impl->executionDelay); archive.write("simulationOnly", impl->isOnlyExecutedAsSimulationScript); return true; } return false; } bool SimulationScriptItem::restore(const Archive& archive) { if(ScriptItem::restore(archive)){ string symbol; if(archive.read("timing", symbol)){ impl->executionTiming.select(symbol); } archive.read("delay", impl->executionDelay); archive.read("simulationOnly", impl->isOnlyExecutedAsSimulationScript); return true; } return false; } choreonoid-1.5.0/src/BodyPlugin/BodyMotionEngine.cpp0000664000000000000000000001464512741425367021153 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "BodyMotionEngine.h" #include "BodyItem.h" #include "BodyMotionItem.h" #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace { const bool TRACE_FUNCTIONS = false; typedef boost::function ExtraSeqEngineFactory; typedef map ExtraSeqEngineFactoryMap; ExtraSeqEngineFactoryMap extraSeqEngineFactories; Action* updateVelocityCheck; } static bool storeProperties(Archive& archive) { archive.write("updateJointVelocities", updateVelocityCheck->isChecked()); return true; } static void restoreProperties(const Archive& archive) { updateVelocityCheck->setChecked(archive.get("updateJointVelocities", updateVelocityCheck->isChecked())); } namespace cnoid { class BodyMotionEngineImpl { public: BodyItemPtr bodyItem; BodyMotionItemPtr motionItem; BodyPtr body; MultiValueSeqPtr qSeq; MultiSE3SeqPtr positions; bool calcForwardKinematics; std::vector extraSeqEngines; ConnectionSet connections; BodyMotionEngineImpl(BodyMotionEngine* self, BodyItem* bodyItem, BodyMotionItem* motionItem){ this->bodyItem = bodyItem; body = bodyItem->body(); this->motionItem = motionItem; const BodyMotionPtr& motion = motionItem->motion(); qSeq = motion->jointPosSeq(); positions = motion->linkPosSeq(); calcForwardKinematics = !(positions && positions->numParts() > 1); updateExtraSeqEngines(); connections.add( motionItem->sigUpdated().connect( boost::bind(&BodyMotionEngine::notifyUpdate, self))); connections.add( motionItem->sigExtraSeqItemsChanged().connect( boost::bind(&BodyMotionEngineImpl::updateExtraSeqEngines, this))); } void updateExtraSeqEngines(){ extraSeqEngines.clear(); const int n = motionItem->numExtraSeqItems(); for(int i=0; i < n; ++i){ const string& key = motionItem->extraSeqKey(i); AbstractSeqItem* seqItem = motionItem->extraSeqItem(i); ExtraSeqEngineFactoryMap::iterator q = extraSeqEngineFactories.find(key); if(q != extraSeqEngineFactories.end()){ ExtraSeqEngineFactory& createEngine = q->second; extraSeqEngines.push_back(createEngine(bodyItem, seqItem)); } } } ~BodyMotionEngineImpl(){ connections.disconnect(); } virtual bool onTimeChanged(double time){ bool isActive = false; bool fkDone = false; if(qSeq){ bool isValid = false; const int numAllJoints = std::min(body->numAllJoints(), qSeq->numParts()); const int numFrames = qSeq->numFrames(); if(numAllJoints > 0 && numFrames > 0){ const int frame = qSeq->frameOfTime(time); isValid = (frame < numFrames); const int clampedFrame = qSeq->clampFrameIndex(frame); const MultiValueSeq::Frame q = qSeq->frame(clampedFrame); for(int i=0; i < numAllJoints; ++i){ body->joint(i)->q() = q[i]; } if(updateVelocityCheck->isChecked()){ const double dt = qSeq->timeStep(); const MultiValueSeq::Frame q_prev = qSeq->frame((clampedFrame == 0) ? 0 : (clampedFrame -1)); for(int i=0; i < numAllJoints; ++i){ body->joint(i)->dq() = (q[i] - q_prev[i]) / dt; } } } isActive = isValid; } if(positions){ bool isValid = false; const int numLinks = positions->numParts(); const int numFrames = positions->numFrames(); if(numLinks > 0 && numFrames > 0){ const int frame = positions->frameOfTime(time); isValid = (frame < numFrames); const int clampedFrame = positions->clampFrameIndex(frame); for(int i=0; i < numLinks; ++i){ Link* link = body->link(i); const SE3& position = positions->at(clampedFrame, i); link->p() = position.translation(); link->R() = position.rotation().toRotationMatrix(); } } isActive |= isValid; if(positions->numParts() == 1){ body->calcForwardKinematics(); // FK from the root fkDone = true; } } for(size_t i=0; i < extraSeqEngines.size(); ++i){ isActive |= extraSeqEngines[i]->onTimeChanged(time); } bodyItem->notifyKinematicStateChange(!fkDone && calcForwardKinematics); return isActive; } }; TimeSyncItemEngine* createBodyMotionEngine(Item* sourceItem) { BodyMotionItem* motionItem = dynamic_cast(sourceItem); if(motionItem){ BodyItem* bodyItem = motionItem->findOwnerItem(); if(bodyItem){ return new BodyMotionEngine(bodyItem, motionItem); } } return 0; } } BodyMotionEngine::BodyMotionEngine(BodyItem* bodyItem, BodyMotionItem* motionItem) { impl = new BodyMotionEngineImpl(this, bodyItem, motionItem); } BodyMotionEngine::~BodyMotionEngine() { delete impl; } BodyItem* BodyMotionEngine::bodyItem() { return impl->bodyItem.get(); } BodyMotionItem* BodyMotionEngine::motionItem() { return impl->motionItem.get(); } bool BodyMotionEngine::onTimeChanged(double time) { return impl->onTimeChanged(time); } void BodyMotionEngine::initialize(ExtensionManager* ext) { ext->timeSyncItemEngineManger().addEngineFactory(createBodyMotionEngine); MenuManager& mm = ext->menuManager(); mm.setPath("/Options").setPath(N_("Body Motion Engine")); updateVelocityCheck = mm.addCheckItem(_("Update Joint Velocities")); ext->setProjectArchiver("BodyMotionEngine", storeProperties, restoreProperties); } void BodyMotionEngine::addExtraSeqEngineFactory (const std::string& key, boost::function factory) { extraSeqEngineFactories[key] = factory; } choreonoid-1.5.0/src/BodyPlugin/CollisionSeqItem.cpp0000664000000000000000000000542612741425367021162 0ustar rootroot/** @file @author Shizuko Hattori */ #include "CollisionSeqItem.h" #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace { } namespace cnoid { class CollisionSeqItemImpl { public: CollisionSeqItem* self; CollisionSeqItemImpl(CollisionSeqItem* self); ~CollisionSeqItemImpl(); void initialize(); }; } static bool fileIoSub(CollisionSeqItem* item, std::ostream& os, bool loaded, bool isLoading) { if(!loaded){ os << item->collisionSeq()->seqMessage(); } return loaded; } static bool loadStandardYamlFormat(CollisionSeqItem* item, const std::string& filename, std::ostream& os) { return fileIoSub(item, os, item->collisionSeq()->loadStandardYAMLformat(filename), true); } static bool saveAsStandardYamlFormat(CollisionSeqItem* item, const std::string& filename, std::ostream& os) { return fileIoSub(item, os, item->collisionSeq()->saveAsStandardYAMLformat(filename), false); } void CollisionSeqItem::initislizeClass(ExtensionManager* ext) { static bool initialized = false; if(initialized){ return; } ItemManager& im = ext->itemManager(); im.registerClass(N_("CollisionSeqItem")); im.addLoaderAndSaver( _("Collision Data"), "COLLISION-DATA-YAML", "yaml", boost::bind(loadStandardYamlFormat, _1, _2, _3), boost::bind(saveAsStandardYamlFormat, _1, _2, _3)); initialized = true; } CollisionSeqItem::CollisionSeqItem() : collisionSeq_(new CollisionSeq(this)) { impl = new CollisionSeqItemImpl(this); } CollisionSeqItem::CollisionSeqItem(const CollisionSeqItem& org) : AbstractMultiSeqItem(org), collisionSeq_(new CollisionSeq(this)) { impl = new CollisionSeqItemImpl(this); } CollisionSeqItemImpl::CollisionSeqItemImpl(CollisionSeqItem* self) :self(self) { initialize(); } void CollisionSeqItemImpl::initialize() { } CollisionSeqItem::~CollisionSeqItem() { delete impl; } CollisionSeqItemImpl::~CollisionSeqItemImpl() { } AbstractMultiSeqPtr CollisionSeqItem::abstractMultiSeq() { return collisionSeq_; } Item* CollisionSeqItem::doDuplicate() const { return new CollisionSeqItem(*this); } bool CollisionSeqItem::store(Archive& archive) { if(overwrite() || !filePath().empty()){ archive.writeRelocatablePath("filename", filePath()); archive.write("format", fileFormat()); return true; } return false; } bool CollisionSeqItem::restore(const Archive& archive) { std::string filename, format; if(archive.readRelocatablePath("filename", filename) && archive.read("format", format)){ if(load(filename, format)){ return true; } } return false; } choreonoid-1.5.0/src/BodyPlugin/LinkTreeWidget.cpp0000664000000000000000000010511612741425367020615 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "LinkTreeWidget.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; using boost::dynamic_bitset; namespace { const bool TRACE_FUNCTIONS = false; } namespace cnoid { class LinkTreeWidgetImpl { public: LinkTreeWidgetImpl(LinkTreeWidget* self); ~LinkTreeWidgetImpl(); LinkTreeWidget* self; struct ColumnInfo { LinkTreeWidget::ColumnDataFunction dataFunction; LinkTreeWidget::ColumnSetDataFunction setDataFunction; LinkTreeWidget::ColumnWidgetFunction widgetFunction; }; vector columnInfos; QTreeWidgetItem* headerItem; int nameColumn; int jointIdColumn; int rowIndexCounter; int itemWidgetWidthAdjustment; vector customRows; bool isNameColumnMarginEnabled; LinkTreeWidget::ListingMode listingMode; ComboBox listingModeCombo; Menu popupMenu; // This must be defined before popupMenuManager MenuManager popupMenuManager; Signal sigUpdateRequest; Signal sigItemChanged; Signal sigSelectionChanged; int defaultExpansionLevel; bool isCacheEnabled; bool isArchiveOfCurrentBodyItemEnabled; class BodyItemInfo { public: bool isRestoringTreeStateNeeded; LinkGroupPtr linkGroup; dynamic_bitset<> selection; vector selectedLinkIndices; Signal sigSelectionChanged; bool needTreeExpansionUpdate; dynamic_bitset<> linkExpansions; std::set expandedParts; Connection detachedFromRootConnection; BodyItemInfo() { isRestoringTreeStateNeeded = true; } ~BodyItemInfo() { detachedFromRootConnection.disconnect(); } void setNumLinks(int n, bool doInitialize) { if(doInitialize){ selection.reset(); linkExpansions.set(); expandedParts.clear(); } selection.resize(n, false); linkExpansions.resize(n, true); } }; typedef boost::shared_ptr BodyItemInfoPtr; typedef map BodyItemInfoMap; BodyItemInfoMap bodyItemInfoCache; vector linkIndexToItemMap; BodyItemPtr currentBodyItem; BodyItemInfoPtr currentBodyItemInfo; Signal dummySigSelectionChanged; // never emitted vector emptyLinkIndices; dynamic_bitset<> emptySelection; void initialize(); void enableCache(bool on); BodyItemInfoPtr getBodyItemInfo(BodyItem* bodyItem); void onBodyItemDetachedFromRoot(BodyItem* bodyItem); void clearTreeItems(); void setCurrentBodyItem(BodyItem* bodyItem, bool forceTreeUpdate); void restoreTreeState(); void restoreSubTreeState(QTreeWidgetItem* item); void restoreTreeStateSub(QTreeWidgetItem* parentItem); void addChild(LinkTreeItem* parentItem, LinkTreeItem* item); void addChild(LinkTreeItem* item); void setLinkTree(Link* link, bool onlyJoints); void setLinkTreeSub(Link* link, Link* parentLink, LinkTreeItem* parentItem, bool onlyJoints); void setJointList(const BodyPtr& body); void setLinkList(const BodyPtr& body); void setLinkGroupTree(const BodyPtr& body, const LinkGroupPtr& linkGroup); void setLinkGroupTreeSub(LinkTreeItem* parentItem, const LinkGroupPtr& linkGroup, const BodyPtr& body); void addCustomRows(); void onListingModeChanged(int index); void onSelectionChanged(); Signal& sigSelectionChangedOf(BodyItem* bodyItem); int selectedLinkIndex(BodyItem* bodyItem) const; const std::vector& selectedLinkIndices(BodyItem* bodyItem); const boost::dynamic_bitset<>& linkSelection(BodyItem* bodyItem); void onCustomContextMenuRequested(const QPoint& pos); void setExpansionState(const LinkTreeItem* item, bool on); void onItemExpanded(QTreeWidgetItem* treeWidgetItem); void onItemCollapsed(QTreeWidgetItem* treeWidgetItem); bool makeSingleSelection(BodyItem* bodyItem, int linkIndex); bool storeState(Archive& archive); bool restoreState(const Archive& archive); }; } namespace { void jointIdData(const LinkTreeItem* item, int role, QVariant& out_value) { const Link* link = item->link(); if(role == Qt::DisplayRole && link && (link->jointId() >= 0)){ out_value = link->jointId(); } else if(role == Qt::TextAlignmentRole){ out_value = Qt::AlignHCenter; } } void nameData(const LinkTreeItem* item, int role, QVariant& out_value) { if(role == Qt::DisplayRole){ out_value = item->nameText(); } } } LinkTreeItem::LinkTreeItem(const std::string& name) : name_(name), nameText_(name.c_str()) { rowIndex_ = -1; link_ = 0; isLinkGroup_ = true; } LinkTreeItem::LinkTreeItem(Link* link, LinkTreeWidgetImpl* treeImpl) : name_(link->name()) { if(treeImpl->isNameColumnMarginEnabled){ nameText_ = QString(" %1 ").arg(name_.c_str()); } else { nameText_ = name_.c_str(); } rowIndex_ = -1; link_ = link; isLinkGroup_ = false; treeImpl->linkIndexToItemMap[link->index()] = this; } LinkTreeItem::LinkTreeItem(LinkGroup* linkGroup, LinkTreeWidgetImpl* treeImpl) : name_(linkGroup->name()) { if(treeImpl->isNameColumnMarginEnabled){ nameText_ = QString(" %1 ").arg(name_.c_str()); } else { nameText_ = name_.c_str(); } rowIndex_ = -1; link_ = 0; isLinkGroup_ = true; } QVariant LinkTreeItem::data(int column, int role) const { QVariant value; LinkTreeWidget* tree = static_cast(treeWidget()); LinkTreeWidget::ColumnDataFunction& func = tree->impl->columnInfos[column].dataFunction; if(!func.empty()){ func(this, role, value); } if(value.isValid()){ return value; } return QTreeWidgetItem::data(column, role); } void LinkTreeItem::setData(int column, int role, const QVariant& value) { LinkTreeWidget* tree = static_cast(treeWidget()); LinkTreeWidget::ColumnSetDataFunction& func = tree->impl->columnInfos[column].setDataFunction; if(!func.empty()){ func(this, role, value); } return QTreeWidgetItem::setData(column, role, value); } LinkTreeWidget::LinkTreeWidget(QWidget* parent) : TreeWidget(parent) { impl = new LinkTreeWidgetImpl(this); impl->initialize(); } LinkTreeWidgetImpl::LinkTreeWidgetImpl(LinkTreeWidget* self) : self(self), popupMenuManager(&popupMenu) { } void LinkTreeWidgetImpl::initialize() { rowIndexCounter = 0; defaultExpansionLevel = std::numeric_limits::max(); isCacheEnabled = false; isArchiveOfCurrentBodyItemEnabled = false; itemWidgetWidthAdjustment = 0; isNameColumnMarginEnabled = false; headerItem = new QTreeWidgetItem; QHeaderView* header = self->header(); header->setMinimumSectionSize(0); header->setStretchLastSection(false); QObject::connect(header, SIGNAL(sectionResized(int, int, int)), self, SLOT(onHeaderSectionResized())); self->setHeaderItem(headerItem); self->setSelectionMode(QAbstractItemView::ExtendedSelection); self->setIndentation(12); self->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); self->setVerticalScrollMode(QAbstractItemView::ScrollPerPixel); self->setHorizontalScrollMode(QAbstractItemView::ScrollPerPixel); nameColumn = self->addColumn(_("Link")); #if QT_VERSION < QT_VERSION_CHECK(5, 0, 0) header->setResizeMode(nameColumn, QHeaderView::Stretch); #else header->setSectionResizeMode(nameColumn, QHeaderView::Stretch); #endif self->setColumnDataFunction(nameColumn, &nameData); jointIdColumn = self->addColumn(_("ID")); self->setColumnDataFunction(jointIdColumn, &jointIdData); #if QT_VERSION < QT_VERSION_CHECK(5, 0, 0) header->setResizeMode(jointIdColumn, QHeaderView::ResizeToContents); #else header->setSectionResizeMode(jointIdColumn, QHeaderView::ResizeToContents); #endif headerItem->setTextAlignment(jointIdColumn, Qt::AlignHCenter); self->moveVisualColumnIndex(jointIdColumn, 0); QObject::connect(self, SIGNAL(itemChanged(QTreeWidgetItem*, int)), self, SLOT(onItemChanged(QTreeWidgetItem*, int))); QObject::connect(self, SIGNAL(itemExpanded(QTreeWidgetItem*)), self, SLOT(onItemExpanded(QTreeWidgetItem*))); QObject::connect(self, SIGNAL(itemCollapsed(QTreeWidgetItem*)), self, SLOT(onItemCollapsed(QTreeWidgetItem*))); QObject::connect(self, SIGNAL(itemSelectionChanged()), self, SLOT(onSelectionChanged())); // The order of the following labes must correspond to that of ListingMode listingModeCombo.enableI18n(CNOID_GETTEXT_DOMAIN_NAME); listingModeCombo.addI18nItem(N_("Link List")); listingModeCombo.addI18nItem(N_("Link Tree")); listingModeCombo.addI18nItem(N_("Joint List")); listingModeCombo.addI18nItem(N_("Joint Tree")); listingModeCombo.addI18nItem(N_("Part Tree")); listingMode = LinkTreeWidget::LINK_LIST; listingModeCombo.setCurrentIndex(listingMode); listingModeCombo.sigCurrentIndexChanged().connect( boost::bind(&LinkTreeWidgetImpl::onListingModeChanged, this, _1)); } LinkTreeWidget::~LinkTreeWidget() { delete impl; } LinkTreeWidgetImpl::~LinkTreeWidgetImpl() { for(size_t i=0; i < customRows.size(); ++i){ delete customRows[i]; } } void LinkTreeWidget::setDefaultExpansionLevel(int level) { impl->defaultExpansionLevel = level; } void LinkTreeWidget::enableCache(bool on) { impl->enableCache(on); } void LinkTreeWidgetImpl::enableCache(bool on) { isCacheEnabled = on; if(!isCacheEnabled){ bodyItemInfoCache.clear(); } } int LinkTreeWidget::nameColumn() { return impl->nameColumn; } int LinkTreeWidget::jointIdColumn() { return impl->jointIdColumn; } int LinkTreeWidget::setNumColumns(int n) { setColumnCount(n); impl->columnInfos.resize(n); return 0; } int LinkTreeWidget::addColumn() { int column = impl->columnInfos.size(); impl->columnInfos.push_back(LinkTreeWidgetImpl::ColumnInfo()); setColumnCount(impl->columnInfos.size()); impl->headerItem->setText(column, QString()); #if QT_VERSION < QT_VERSION_CHECK(5, 0, 0) header()->setResizeMode(column, QHeaderView::ResizeToContents); #else header()->setSectionResizeMode(column, QHeaderView::ResizeToContents); #endif return column; } int LinkTreeWidget::addColumn(const QString& headerText) { int column = addColumn(); impl->headerItem->setText(column, headerText); #if QT_VERSION < QT_VERSION_CHECK(5, 0, 0) header()->setResizeMode(column, QHeaderView::ResizeToContents); #else header()->setSectionResizeMode(column, QHeaderView::ResizeToContents); #endif return column; } void LinkTreeWidget::setColumnStretchResizeMode(int column) { #if QT_VERSION < QT_VERSION_CHECK(5, 0, 0) header()->setResizeMode(column, QHeaderView::Stretch); #else header()->setSectionResizeMode(column, QHeaderView::Stretch); #endif } void LinkTreeWidget::setColumnInteractiveResizeMode(int column) { #if QT_VERSION < QT_VERSION_CHECK(5, 0, 0) header()->setResizeMode(column, QHeaderView::Interactive); #else header()->setSectionResizeMode(column, QHeaderView::Interactive); #endif } void LinkTreeWidget::setColumnResizeToContentsMode(int column) { #if QT_VERSION < QT_VERSION_CHECK(5, 0, 0) header()->setResizeMode(column, QHeaderView::ResizeToContents); #else header()->setSectionResizeMode(column, QHeaderView::ResizeToContents); #endif } void LinkTreeWidget::moveVisualColumnIndex(int column, int visualIndex) { header()->moveSection(header()->visualIndex(column), visualIndex); } void LinkTreeWidget::setColumnDataFunction(int column, ColumnDataFunction func) { impl->columnInfos[column].dataFunction = func; } void LinkTreeWidget::setColumnSetDataFunction(int column, ColumnSetDataFunction func) { impl->columnInfos[column].setDataFunction = func; } void LinkTreeWidget::setColumnWidgetFunction(int column, ColumnWidgetFunction func) { impl->columnInfos[column].widgetFunction = func; } void LinkTreeWidget::changeEvent(QEvent* event) { QTreeWidget::changeEvent(event); if(event->type() == QEvent::StyleChange){ //impl->setCurrentBodyItem(impl->currentBodyItem, true); } } void LinkTreeWidget::setNameColumnMarginEnabled(bool on) { impl->isNameColumnMarginEnabled = on; } void LinkTreeWidget::setAlignedItemWidget (LinkTreeItem* item, int column, QWidget* widget, Qt::Alignment alignment) { QHBoxLayout* box = new QHBoxLayout(); box->setContentsMargins(0, 0, 0, 0); if(impl->itemWidgetWidthAdjustment > 0){ widget->setMinimumWidth(widget->sizeHint().width() + impl->itemWidgetWidthAdjustment); } box->addWidget(widget, 0, alignment); QWidget* base = new QWidget(); base->setLayout(box); setItemWidget(item, column, base); } QWidget* LinkTreeWidget::alignedItemWidget(LinkTreeItem* item, int column) { QWidget* base = itemWidget(item, column); if(base){ QLayout* layout = base->layout(); if(layout){ QLayoutItem* layoutItem = layout->itemAt(0); if(layoutItem){ QWidget* widget = layoutItem->widget(); if(widget){ return widget; } } } } return 0; } void LinkTreeWidget::addCustomRow(LinkTreeItem* treeItem) { impl->customRows.push_back(treeItem); } int LinkTreeWidget::numLinkTreeItems() { return impl->rowIndexCounter; } SignalProxy LinkTreeWidget::sigUpdateRequest() { return impl->sigUpdateRequest; } ComboBox* LinkTreeWidget::listingModeCombo() { return &impl->listingModeCombo; } void LinkTreeWidget::setListingMode(ListingMode mode) { impl->listingMode = mode; impl->listingModeCombo.setCurrentIndex(mode); } void LinkTreeWidget::fixListingMode(bool on) { impl->listingModeCombo.setEnabled(on); } LinkTreeWidgetImpl::BodyItemInfoPtr LinkTreeWidgetImpl::getBodyItemInfo(BodyItem* bodyItem) { BodyItemInfoPtr info; if(bodyItem){ if(bodyItem == currentBodyItem){ info = currentBodyItemInfo; } else if(isCacheEnabled){ BodyItemInfoMap::iterator p = bodyItemInfoCache.find(bodyItem); if(p != bodyItemInfoCache.end()){ info = p->second; } } if(!info && bodyItem->findRootItem()){ if(!isCacheEnabled){ bodyItemInfoCache.clear(); } info = boost::make_shared(); info->linkGroup = LinkGroup::create(*bodyItem->body()); info->detachedFromRootConnection = bodyItem->sigDetachedFromRoot().connect( boost::bind(&LinkTreeWidgetImpl::onBodyItemDetachedFromRoot, this, bodyItem)); bodyItemInfoCache[bodyItem] = info; } if(info){ info->setNumLinks(bodyItem->body()->numLinks(), false); } } return info; } void LinkTreeWidgetImpl::onBodyItemDetachedFromRoot(BodyItem* bodyItem) { if(currentBodyItem == bodyItem){ setCurrentBodyItem(0, false); } BodyItemInfoMap::iterator p = bodyItemInfoCache.find(bodyItem); if(p != bodyItemInfoCache.end()){ p->second->detachedFromRootConnection.disconnect(); bodyItemInfoCache.erase(p); } } void LinkTreeWidget::setBodyItem(BodyItem* bodyItem) { impl->setCurrentBodyItem(bodyItem, false); } BodyItem* LinkTreeWidget::bodyItem() { return impl->currentBodyItem; } LinkTreeItem* LinkTreeWidget::itemOfLink(int linkIndex) { if(linkIndex < (int)impl->linkIndexToItemMap.size()){ return impl->linkIndexToItemMap[linkIndex]; } return 0; } void LinkTreeWidgetImpl::clearTreeItems() { // Take custom row items before calling clear() to prevent the items from being deleted. for(size_t i=0; i < customRows.size(); ++i){ LinkTreeItem* item = customRows[i]; if(item->treeWidget()){ self->takeTopLevelItem(self->indexOfTopLevelItem(item)); } } self->clear(); } void LinkTreeWidgetImpl::setCurrentBodyItem(BodyItem* bodyItem, bool forceTreeUpdate) { if(TRACE_FUNCTIONS){ cout << "LinkTreeWidgetImpl::setCurrentBodyItem()" << endl; } bool currentChanged = bodyItem != currentBodyItem; if(forceTreeUpdate || currentChanged){ self->blockSignals(true); clearTreeItems(); rowIndexCounter = 0; linkIndexToItemMap.clear(); if(QApplication::style()->objectName() == "cleanlooks"){ itemWidgetWidthAdjustment = 2; } else { itemWidgetWidthAdjustment = 0; } self->blockSignals(false); currentBodyItemInfo = getBodyItemInfo(bodyItem); currentBodyItem = bodyItem; if(bodyItem){ BodyPtr body = bodyItem->body(); linkIndexToItemMap.resize(body->numLinks(), 0); switch(listingMode){ case LinkTreeWidget::LINK_LIST: self->setRootIsDecorated(false); setLinkList(body); headerItem->setText(nameColumn, _("Link")); break; case LinkTreeWidget::LINK_TREE: self->setRootIsDecorated(true); setLinkTree(body->rootLink(), false); headerItem->setText(nameColumn, _("Link")); break; case LinkTreeWidget::JOINT_LIST: self->setRootIsDecorated(false); setJointList(body); headerItem->setText(nameColumn, _("Joint")); break; case LinkTreeWidget::JOINT_TREE: self->setRootIsDecorated(true); setLinkTree(body->rootLink(), true); headerItem->setText(nameColumn, _("Joint")); break; case LinkTreeWidget::PART_TREE: self->setRootIsDecorated(true); setLinkGroupTree(bodyItem->body(), currentBodyItemInfo->linkGroup); headerItem->setText(nameColumn, _("Link")); break; default: break; } addCustomRows(); } sigUpdateRequest(true); } } void LinkTreeWidgetImpl::restoreTreeState() { if(TRACE_FUNCTIONS){ cout << "LinkTreeWidgetImpl::restoreTreeState()" << endl; } if(currentBodyItemInfo){ restoreSubTreeState(self->invisibleRootItem()); currentBodyItemInfo->isRestoringTreeStateNeeded = false; } } void LinkTreeWidgetImpl::restoreSubTreeState(QTreeWidgetItem* item) { self->blockSignals(true); restoreTreeStateSub(item); self->blockSignals(false); } void LinkTreeWidgetImpl::restoreTreeStateSub(QTreeWidgetItem* parentItem) { if(TRACE_FUNCTIONS){ cout << "LinkTreeWidgetImpl::restoreTreeStateSub()" << endl; } int n = parentItem->childCount(); for(int i=0; i < n; ++i){ LinkTreeItem* item = dynamic_cast(parentItem->child(i)); if(item){ const Link* link = item->link(); if(link){ const dynamic_bitset<>& selection = currentBodyItemInfo->selection; item->setSelected(selection[link->index()]); } if(item->childCount() > 0){ // Tree bool expanded = item->isExpanded(); if(listingMode == LinkTreeWidget::PART_TREE){ if(!link){ const std::set& parts = currentBodyItemInfo->expandedParts; expanded = (parts.find(item->name()) != parts.end()); item->setExpanded(expanded); } } else if(link){ expanded = currentBodyItemInfo->linkExpansions[link->index()]; item->setExpanded(expanded); } if(expanded){ restoreTreeStateSub(item); } } } } } void LinkTreeWidgetImpl::addChild(LinkTreeItem* parentItem, LinkTreeItem* item) { if(parentItem){ parentItem->addChild(item); } else { self->addTopLevelItem(item); } item->rowIndex_ = rowIndexCounter++; for(size_t col=0; col < columnInfos.size(); ++col){ LinkTreeWidget::ColumnWidgetFunction& func = columnInfos[col].widgetFunction; if(!func.empty()){ QWidget* widget = func(item); if(widget){ self->setItemWidget(item, col, widget); } } } } void LinkTreeWidgetImpl::addChild(LinkTreeItem* item) { addChild(0, item); } void LinkTreeWidgetImpl::setLinkTree(Link* link, bool onlyJoints) { self->blockSignals(true); setLinkTreeSub(link, 0, 0, onlyJoints); self->blockSignals(false); } void LinkTreeWidgetImpl::setLinkTreeSub(Link* link, Link* parentLink, LinkTreeItem* parentItem, bool onlyJoints) { LinkTreeItem* item = 0; if(onlyJoints && link->jointId() < 0){ item = parentItem; } else { item = new LinkTreeItem(link, this); addChild(parentItem, item); item->setExpanded(true); } if(link->child()){ for(Link* child = link->child(); child; child = child->sibling()){ setLinkTreeSub(child, link, item, onlyJoints); } } } void LinkTreeWidgetImpl::setJointList(const BodyPtr& body) { for(int i=0; i < body->numJoints(); ++i){ Link* joint = body->joint(i); if(joint->isValid()){ addChild(new LinkTreeItem(joint, this)); } } } void LinkTreeWidgetImpl::setLinkList(const BodyPtr& body) { if(TRACE_FUNCTIONS){ cout << "LinkTreeWidgetImpl::setLinkList(" << body->name() << ")" << endl; } for(int i=0; i < body->numLinks(); ++i){ addChild(new LinkTreeItem(body->link(i), this)); } } void LinkTreeWidgetImpl::setLinkGroupTree(const BodyPtr& body, const LinkGroupPtr& linkGroup) { if(linkGroup){ self->blockSignals(true); setLinkGroupTreeSub(0, linkGroup, body); self->blockSignals(false); } } void LinkTreeWidgetImpl::setLinkGroupTreeSub(LinkTreeItem* parentItem, const LinkGroupPtr& linkGroup, const BodyPtr& body) { LinkTreeItem* item = new LinkTreeItem(linkGroup.get(), this); addChild(parentItem, item); int numChildGroups = 0; int n = linkGroup->numElements(); for(int i=0; i < n; ++i){ if(linkGroup->isSubGroup(i)){ setLinkGroupTreeSub(item, linkGroup->subGroup(i), body); ++numChildGroups; } else if(linkGroup->isLinkIndex(i)){ Link* link = body->link(linkGroup->linkIndex(i)); if(link){ addChild(item, new LinkTreeItem(link, this)); } } } item->setExpanded(numChildGroups > 0); } void LinkTreeWidgetImpl::addCustomRows() { for(size_t i=0; i < customRows.size(); ++i){ addChild(customRows[i]); } } void LinkTreeWidgetImpl::onListingModeChanged(int index) { LinkTreeWidget::ListingMode newListingMode = static_cast(index); if(newListingMode != listingMode){ listingMode = newListingMode; if(currentBodyItem){ setCurrentBodyItem(currentBodyItem, true); } } } void LinkTreeWidget::onSelectionChanged() { impl->onSelectionChanged(); } void LinkTreeWidgetImpl::onSelectionChanged() { if(TRACE_FUNCTIONS){ cout << "LinkTreeWidgetImpl::onSelectionChanged()" << endl; } if(currentBodyItem){ currentBodyItemInfo->selection.reset(); QList selected = self->selectedItems(); for(int i=0; i < selected.size(); ++i){ LinkTreeItem* item = dynamic_cast(selected[i]); if(item && item->link()){ currentBodyItemInfo->selection[item->link()->index()] = true; } } currentBodyItemInfo->sigSelectionChanged(); sigSelectionChanged(); } } SignalProxy LinkTreeWidget::sigItemChanged() { return impl->sigItemChanged; } void LinkTreeWidget::onItemChanged(QTreeWidgetItem* item, int column) { LinkTreeItem* linkTreeItem = dynamic_cast(item); if(linkTreeItem){ impl->sigItemChanged(linkTreeItem, column); } } SignalProxy LinkTreeWidget::sigSelectionChanged() { return impl->sigSelectionChanged; } SignalProxy LinkTreeWidget::sigSelectionChanged(BodyItem* bodyItem) { return impl->sigSelectionChangedOf(bodyItem); } Signal& LinkTreeWidgetImpl::sigSelectionChangedOf(BodyItem* bodyItem) { BodyItemInfoPtr info = getBodyItemInfo(bodyItem); if(info){ return info->sigSelectionChanged; } return dummySigSelectionChanged; } int LinkTreeWidget::selectedLinkIndex() const { return impl->selectedLinkIndex(impl->currentBodyItem); } int LinkTreeWidget::selectedLinkIndex(BodyItem* bodyItem) const { return impl->selectedLinkIndex(bodyItem); } int LinkTreeWidgetImpl::selectedLinkIndex(BodyItem* bodyItem) const { BodyItemInfoPtr info = const_cast(this)->getBodyItemInfo(bodyItem); if(info){ dynamic_bitset<>::size_type index = info->selection.find_first(); if(index != dynamic_bitset<>::npos){ return index; } } return -1; } const std::vector& LinkTreeWidget::selectedLinkIndices() { return impl->selectedLinkIndices(impl->currentBodyItem); } const std::vector& LinkTreeWidget::selectedLinkIndices(BodyItem* bodyItem) { return impl->selectedLinkIndices(bodyItem); } const std::vector& LinkTreeWidgetImpl::selectedLinkIndices(BodyItem* bodyItem) { BodyItemInfoPtr info = getBodyItemInfo(bodyItem); if(info){ info->selectedLinkIndices.clear(); const dynamic_bitset<>& selection = info->selection; for(size_t i=0; i < selection.size(); ++i){ if(selection[i]){ info->selectedLinkIndices.push_back(i); } } return info->selectedLinkIndices; } return emptyLinkIndices; } const boost::dynamic_bitset<>& LinkTreeWidget::linkSelection() { return impl->linkSelection(impl->currentBodyItem); } const boost::dynamic_bitset<>& LinkTreeWidget::linkSelection(BodyItem* bodyItem) { return impl->linkSelection(bodyItem); } const boost::dynamic_bitset<>& LinkTreeWidgetImpl::linkSelection(BodyItem* bodyItem) { BodyItemInfoPtr info = getBodyItemInfo(bodyItem); if(info){ return info->selection; } return emptySelection; } void LinkTreeWidget::onCustomContextMenuRequested(const QPoint& pos) { impl->onCustomContextMenuRequested(pos); } void LinkTreeWidgetImpl::onCustomContextMenuRequested(const QPoint& pos) { popupMenu.popup(pos); } void LinkTreeWidgetImpl::setExpansionState(const LinkTreeItem* item, bool on) { if(listingMode == LinkTreeWidget::LINK_TREE || listingMode == LinkTreeWidget::JOINT_TREE){ if(item->link()){ currentBodyItemInfo->linkExpansions[item->link()->index()] = on; } } else if(listingMode == LinkTreeWidget::PART_TREE){ if(on){ currentBodyItemInfo->expandedParts.insert(item->name()); } else { currentBodyItemInfo->expandedParts.erase(item->name()); } } } void LinkTreeWidget::onItemExpanded(QTreeWidgetItem* treeWidgetItem) { impl->onItemExpanded(treeWidgetItem); } void LinkTreeWidgetImpl::onItemExpanded(QTreeWidgetItem* treeWidgetItem) { if(TRACE_FUNCTIONS){ cout << "LinkTreeWidgetImpl::onItemExpanded()" << endl; } LinkTreeItem* item = dynamic_cast(treeWidgetItem); if(item){ setExpansionState(item, true); restoreSubTreeState(item); } } void LinkTreeWidget::onItemCollapsed(QTreeWidgetItem* treeWidgetItem) { impl->onItemCollapsed(treeWidgetItem); } void LinkTreeWidgetImpl::onItemCollapsed(QTreeWidgetItem* treeWidgetItem) { if(TRACE_FUNCTIONS){ cout << "LinkTreeWidgetImpl::onItemCollapsed()" << endl; } LinkTreeItem* item = dynamic_cast(treeWidgetItem); if(item){ setExpansionState(item, false); } } void LinkTreeWidget::onHeaderSectionResized() { updateGeometry(); } void LinkTreeWidget::enableArchiveOfCurrentBodyItem(bool on) { impl->isArchiveOfCurrentBodyItemEnabled = on; } bool LinkTreeWidget::makeSingleSelection(BodyItem* bodyItem, int linkIndex) { return impl->makeSingleSelection(bodyItem, linkIndex); } bool LinkTreeWidgetImpl::makeSingleSelection(BodyItem* bodyItem, int linkIndex) { BodyItemInfoPtr info = getBodyItemInfo(bodyItem); if(!info){ return false; } if(static_cast(linkIndex) < info->selection.size()){ if(!info->selection[linkIndex] || info->selection.count() > 1){ info->selection.reset(); info->selection.set(linkIndex); if(bodyItem == currentBodyItem){ restoreTreeState(); LinkTreeItem* item = linkIndexToItemMap[linkIndex]; if(item){ self->scrollToItem(item); } currentBodyItemInfo->sigSelectionChanged(); sigSelectionChanged(); } else { info->sigSelectionChanged(); } } } return true; } MenuManager& LinkTreeWidget::popupMenuManager() { return impl->popupMenuManager; } bool LinkTreeWidget::storeState(Archive& archive) { return impl->storeState(archive); } bool LinkTreeWidgetImpl::storeState(Archive& archive) { if(listingModeCombo.isEnabled()){ archive.write("listingMode", listingModeCombo.currentOrgText().toStdString(), DOUBLE_QUOTED); } if(isArchiveOfCurrentBodyItemEnabled){ archive.writeItemId("currentBodyItem", currentBodyItem); } if(isCacheEnabled && !bodyItemInfoCache.empty()){ ListingPtr bodyItemNodes = new Listing(); for(BodyItemInfoMap::iterator it = bodyItemInfoCache.begin(); it != bodyItemInfoCache.end(); ++it){ BodyItem* bodyItem = it->first; BodyItemInfo& info = *it->second; MappingPtr bodyItemNode = new Mapping(); bool isEmpty = true; bodyItemNode->insert("id", archive.getItemId(bodyItem)); const vector& indices = selectedLinkIndices(bodyItem); if(!indices.empty()){ Listing& selected = *bodyItemNode->createFlowStyleListing("selectedLinks"); int n = indices.size(); for(int i=0; i < n; ++i){ selected.append(indices[i], 20, n); } isEmpty = false; } int n = info.linkExpansions.size(); int m = n - info.linkExpansions.count(); if(m > 0){ Listing& nonExpanded = *bodyItemNode->createFlowStyleListing("nonExpandedLinks"); for(int i=0; i < n; ++i){ if(!info.linkExpansions[i]){ nonExpanded.append(i, 20, m); } } isEmpty = false; } n = info.expandedParts.size(); if(n > 0){ Listing& expanded = *bodyItemNode->createFlowStyleListing("expandedParts"); for(std::set::iterator p = info.expandedParts.begin(); p != info.expandedParts.end(); ++p){ expanded.append(*p, 10, n, DOUBLE_QUOTED); } isEmpty = false; } if(!isEmpty){ bodyItemNodes->append(bodyItemNode); } } if(!bodyItemNodes->empty()){ archive.insert("bodyItems", bodyItemNodes); } } return true; } bool LinkTreeWidget::restoreState(const Archive& archive) { archive.addPostProcess(boost::bind(&LinkTreeWidgetImpl::restoreState, impl, boost::ref(archive))); return true; } bool LinkTreeWidgetImpl::restoreState(const Archive& archive) { if(isCacheEnabled){ const Listing& nodes = *archive.findListing("bodyItems"); if(nodes.isValid() && !nodes.empty()){ for(int i=0; i < nodes.size(); ++i){ const Mapping& node = *nodes[i].toMapping(); ValueNode* id = node.find("id"); if(id->isValid()){ BodyItem* bodyItem = archive.findItem(id); if(bodyItem){ int numLinks = bodyItem->body()->numLinks(); BodyItemInfoPtr info = getBodyItemInfo(bodyItem); const Listing& selected = *node.findListing("selectedLinks"); if(selected.isValid()){ info->setNumLinks(numLinks, true); for(int i=0; i < selected.size(); ++i){ int index = selected[i].toInt(); if(index < numLinks){ info->selection[index] = true; } } } const Listing& expanded = *node.findListing("expandedParts"); for(int i=0; i < expanded.size(); ++i){ info->expandedParts.insert(expanded[i]); } } } } } } bool updateListingMode = false; string listingModeString; if(archive.read("listingMode", listingModeString)){ if(listingModeString != listingModeCombo.currentOrgText().toStdString()){ listingModeCombo.blockSignals(true); if(listingModeCombo.findOrgText(listingModeString, true) >= 0){ updateListingMode = true; } listingModeCombo.blockSignals(false); } } if(isArchiveOfCurrentBodyItemEnabled){ setCurrentBodyItem(archive.findItem("currentBodyItem"), updateListingMode); } else if(updateListingMode){ setCurrentBodyItem(currentBodyItem, true); } else { restoreTreeState(); } return true; } choreonoid-1.5.0/src/BodyPlugin/WorldItem.h0000664000000000000000000000247212741425367017310 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_PLUGIN_WORLD_ITEM_H #define CNOID_BODY_PLUGIN_WORLD_ITEM_H #include "BodyItem.h" #include #include #include #include #include "exportdecl.h" namespace cnoid { class WorldItemImpl; class CNOID_EXPORT WorldItem : public Item, public SceneProvider { public: static void initializeClass(ExtensionManager* ext); WorldItem(); WorldItem(const WorldItem& org); virtual ~WorldItem(); const ItemList& collisionBodyItems() const; bool selectCollisionDetector(const std::string& name); CollisionDetectorPtr collisionDetector(); void enableCollisionDetection(bool on); bool isCollisionDetectionEnabled(); void updateCollisionDetectorLater(); void updateCollisionDetector(); void updateCollisions(); std::vector& collisions() const; SignalProxy sigCollisionsUpdated(); virtual SgNode* getScene(); protected: virtual Item* doDuplicate() const; virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: WorldItemImpl* impl; }; typedef ref_ptr WorldItemPtr; } #endif choreonoid-1.5.0/src/BodyPlugin/GLVisionSimulatorItem.cpp0000664000000000000000000011773712741425367022161 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "GLVisionSimulatorItem.h" #include "SimulatorItem.h" #include "WorldItem.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0) #define USE_QT5_OPENGL 1 #else #define USE_QT5_OPENGL 0 #endif #if USE_QT5_OPENGL #include #include #include #else #include #endif #include "gettext.h" using namespace std; using namespace cnoid; using boost::format; namespace { inline double myNearByInt(double x) { #ifdef Q_OS_WIN32 double u = ceil(x); double l = floor(x); if(fabs(u - x) < fabs(x - l)){ return u; } else { return l; } #else return nearbyint(x); #endif } string getNameListString(const vector& names) { string nameList; if(!names.empty()){ size_t n = names.size() - 1; for(size_t i=0; i < n; ++i){ nameList += names[i]; nameList += ", "; } nameList += names.back(); } return nameList; } bool updateNames(const string& nameListString, string& newNameListString, vector& names) { using boost::tokenizer; using boost::char_separator; names.clear(); char_separator sep(","); tokenizer< char_separator > tok(nameListString, sep); for(tokenizer< char_separator >::iterator p = tok.begin(); p != tok.end(); ++p){ string name = boost::trim_copy(*p); if(!name.empty()){ names.push_back(name); } } newNameListString = nameListString; return true; } class QThreadEx : public QThread { boost::function function; public: void start(boost::function function){ this->function = function; QThread::start(); } virtual void run(){ function(); } }; class VisionRenderer : public Referenced { public: GLVisionSimulatorItemImpl* simImpl; bool isRendering; // only updated and referred to in the simulation thread double elapsedTime; double cycleTime; double latency; double onsetTime; QThreadEx renderingThread; boost::condition_variable renderingCondition; boost::mutex renderingMutex; bool isRenderingRequested; bool isRenderingFinished; bool isTerminationRequested; bool hasUpdatedData; DevicePtr device; CameraPtr camera; RangeCameraPtr rangeCamera; RangeSensorPtr rangeSensor; DevicePtr deviceForRendering; CameraPtr cameraForRendering; RangeCameraPtr rangeCameraForRendering; RangeSensorPtr rangeSensorForRendering; double depthError; SgGroupPtr sceneGroup; vector sceneBodies; #if USE_QT5_OPENGL QOpenGLContext* glContext; QOffscreenSurface* offscreenSurface; QOpenGLFramebufferObject* frameBuffer; #else QGLPixelBuffer* renderingBuffer; #endif GLSceneRenderer renderer; int pixelWidth; int pixelHeight; boost::shared_ptr tmpImage; boost::shared_ptr tmpPoints; boost::shared_ptr tmpRangeData; SimulationBody* simBody; int bodyIndex; VisionRenderer(GLVisionSimulatorItemImpl* simImpl, Device* sensor, SimulationBody* simBody, int bodyIndex); bool initialize(const vector& simBodies); void initializeScene(const vector& simBodies); SgCamera* initializeCamera(); void moveRenderingBufferToThread(QThread& thread); void moveRenderingBufferToMainThread(); void makeGLContextCurrent(); void doneGLContextCurrent(); void updateScene(bool updateSensorForRenderingThread); void renderInCurrentThread(bool doStoreResultToTmpDataBuffer); void startConcurrentRendering(); void concurrentRenderingLoop(); void storeResultToTmpDataBuffer(); bool waitForRenderingToFinish(); bool waitForRenderingToFinish(boost::unique_lock& lock); void copyVisionData(); bool getCameraImage(Image& image); bool getRangeCameraData(Image& image, vector& points); bool getRangeSensorData(vector& rangeData); ~VisionRenderer(); }; typedef ref_ptr VisionRendererPtr; } namespace cnoid { class GLVisionSimulatorItemImpl { public: GLVisionSimulatorItem* self; ostream& os; SimulatorItem* simulatorItem; double worldTimeStep; double currentTime; vector visionRenderers; vector renderersInRendering; bool useQueueThreadForAllSensors; bool useThreadsForSensors; bool isVisionDataRecordingEnabled; bool isBestEffortMode; bool isQueueRenderingTerminationRequested; // for the single vision simulator thread rendering QThreadEx queueThread; boost::condition_variable queueCondition; boost::mutex queueMutex; queue rendererQueue; double rangeSensorPrecisionRatio; double depthError; vector bodyNames; string bodyNameListString; vector sensorNames; string sensorNameListString; bool useThreadsForSensorsProperty; bool isBestEffortModeProperty; bool shootAllSceneObjects; bool isHeadLightEnabled; bool areAdditionalLightsEnabled; double maxFrameRate; double maxLatency; SgCloneMap cloneMap; GLVisionSimulatorItemImpl(GLVisionSimulatorItem* self); GLVisionSimulatorItemImpl(GLVisionSimulatorItem* self, const GLVisionSimulatorItemImpl& org); ~GLVisionSimulatorItemImpl(); bool initializeSimulation(SimulatorItem* simulatorItem); void addTargetSensor(SimulationBody* simBody, int bodyIndex, Device* sensor); void onPreDynamics(); void queueRenderingLoop(); void onPostDynamics(); void getVisionDataInThreadsForSensors(); void getVisionDataInQueueThread(); void finalizeSimulation(); void doPutProperties(PutPropertyFunction& putProperty); bool store(Archive& archive); bool restore(const Archive& archive); template void setProperty(Type& variable, const Type& value){ if(value != variable){ variable = value; self->notifyUpdate(); } } }; } void GLVisionSimulatorItem::initializeClass(ExtensionManager* ext) { ext->itemManager().registerClass(N_("GLVisionSimulatorItem")); ext->itemManager().addCreationPanel(); } GLVisionSimulatorItem::GLVisionSimulatorItem() { impl = new GLVisionSimulatorItemImpl(this); setName("GLVisionSimulator"); } GLVisionSimulatorItemImpl::GLVisionSimulatorItemImpl(GLVisionSimulatorItem* self) : self(self), os(MessageView::instance()->cout()) { simulatorItem = 0; maxFrameRate = 1000.0; maxLatency = 1.0; rangeSensorPrecisionRatio = 2.0; depthError = 0.0; isVisionDataRecordingEnabled = false; useThreadsForSensorsProperty = true; isBestEffortModeProperty = false; isHeadLightEnabled = true; areAdditionalLightsEnabled = true; shootAllSceneObjects = false; } GLVisionSimulatorItem::GLVisionSimulatorItem(const GLVisionSimulatorItem& org) : SubSimulatorItem(org) { impl = new GLVisionSimulatorItemImpl(this, *org.impl); } GLVisionSimulatorItemImpl::GLVisionSimulatorItemImpl(GLVisionSimulatorItem* self, const GLVisionSimulatorItemImpl& org) : self(self), os(MessageView::instance()->cout()), bodyNames(org.bodyNames), sensorNames(org.sensorNames) { simulatorItem = 0; isVisionDataRecordingEnabled = org.isVisionDataRecordingEnabled; rangeSensorPrecisionRatio = org.rangeSensorPrecisionRatio; depthError = org.depthError; bodyNameListString = getNameListString(bodyNames); sensorNameListString = getNameListString(sensorNames); useThreadsForSensorsProperty = org.useThreadsForSensorsProperty; isBestEffortModeProperty = org.isBestEffortModeProperty; shootAllSceneObjects = org.shootAllSceneObjects; isHeadLightEnabled = org.isHeadLightEnabled; areAdditionalLightsEnabled = org.areAdditionalLightsEnabled; maxFrameRate = org.maxFrameRate; maxLatency = org.maxLatency; } Item* GLVisionSimulatorItem::doDuplicate() const { return new GLVisionSimulatorItem(*this); } GLVisionSimulatorItem::~GLVisionSimulatorItem() { delete impl; } GLVisionSimulatorItemImpl::~GLVisionSimulatorItemImpl() { } void GLVisionSimulatorItem::setTargetBodies(const std::string& names) { updateNames(names, impl->bodyNameListString, impl->bodyNames); notifyUpdate(); } void GLVisionSimulatorItem::setTargetSensors(const std::string& names) { updateNames(names, impl->sensorNameListString, impl->sensorNames); notifyUpdate(); } void GLVisionSimulatorItem::setMaxFrameRate(double rate) { impl->setProperty(impl->maxFrameRate, rate); } void GLVisionSimulatorItem::setMaxLatency(double latency) { impl->setProperty(impl->maxLatency, latency); } void GLVisionSimulatorItem::setVisionDataRecordingEnabled(bool on) { impl->setProperty(impl->isVisionDataRecordingEnabled, on); } void GLVisionSimulatorItem::setDedicatedSensorThreadsEnabled(bool on) { impl->setProperty(impl->useThreadsForSensorsProperty, on); } void GLVisionSimulatorItem::setBestEffortMode(bool on) { impl->setProperty(impl->isBestEffortModeProperty, on); } void GLVisionSimulatorItem::setRangeSensorPrecisionRatio(double r) { impl->setProperty(impl->rangeSensorPrecisionRatio, r); } void GLVisionSimulatorItem::setAllSceneObjectsEnabled(bool on) { impl->setProperty(impl->shootAllSceneObjects, on); } void GLVisionSimulatorItem::setHeadLightEnabled(bool on) { impl->setProperty(impl->isHeadLightEnabled, on); } void GLVisionSimulatorItem::setAdditionalLightsEnabled(bool on) { impl->setProperty(impl->areAdditionalLightsEnabled, on); } bool GLVisionSimulatorItem::initializeSimulation(SimulatorItem* simulatorItem) { return impl->initializeSimulation(simulatorItem); } bool GLVisionSimulatorItemImpl::initializeSimulation(SimulatorItem* simulatorItem) { #if !USE_QT5_OPENGL if(!QGLPixelBuffer::hasOpenGLPbuffers()){ os << (format(_("The vision sensor simulation by %1% cannot be performed because the OpenGL pbuffer is not available.")) % self->name()) << endl; return false; } #endif this->simulatorItem = simulatorItem; worldTimeStep = simulatorItem->worldTimeStep(); currentTime = 0; visionRenderers.clear(); if(useThreadsForSensorsProperty){ useQueueThreadForAllSensors = false; useThreadsForSensors = true; } else { useQueueThreadForAllSensors = true; useThreadsForSensors = false; } isBestEffortMode = isBestEffortModeProperty; renderersInRendering.clear(); cloneMap.clear(); #ifdef CNOID_REFERENCED_USE_ATOMIC_COUNTER cloneMap.setNonNodeCloning(false); #else cloneMap.setNonNodeCloning(true); #endif std::set bodyNameSet; for(size_t i=0; i < bodyNames.size(); ++i){ bodyNameSet.insert(bodyNames[i]); } std::set sensorNameSet; for(size_t i=0; i < sensorNames.size(); ++i){ sensorNameSet.insert(sensorNames[i]); } const vector& simBodies = simulatorItem->simulationBodies(); for(size_t i=0; i < simBodies.size(); ++i){ SimulationBody* simBody = simBodies[i]; Body* body = simBody->body(); if(bodyNameSet.empty() || bodyNameSet.find(body->name()) != bodyNameSet.end()){ for(size_t j=0; j < body->numDevices(); ++j){ Device* device = body->device(j); if(dynamic_cast(device) || dynamic_cast(device)){ if(sensorNameSet.empty() || sensorNameSet.find(device->name()) != sensorNameSet.end()){ addTargetSensor(simBody, i, device); } } } } } if(visionRenderers.empty()){ os << (format(_("%1% has no target sensors")) % self->name()) << endl; return false; } #ifdef Q_OS_LINUX /** The following code is neccessary to avoid a crash when a view which has a widget such as QPlainTextEdit and has not been focused yet is first focused (clikced) during the camera image simulation processed by GLVisionSimulatorItem. The crash only occurs in Linux with the nVidia proprietary X driver. If the user clicks such a view to give the focus before the simulation started, the crash doesn't occur, so here the focus is forced to be given by the following code. */ if(QWidget* textEdit = MessageView::instance()->findChild("TextEdit")){ textEdit->setFocus(); //! todo restore the previous focus here } #endif vector::iterator p = visionRenderers.begin(); while(p != visionRenderers.end()){ VisionRenderer* renderer = p->get(); if(renderer->initialize(simBodies)){ ++p; } else { os << (format(_("%1%: Target sensor \"%2%\" cannot be initialized.")) % self->name() % renderer->device->name()) << endl; p = visionRenderers.erase(p); } } if(!visionRenderers.empty()){ simulatorItem->addPreDynamicsFunction(boost::bind(&GLVisionSimulatorItemImpl::onPreDynamics, this)); simulatorItem->addPostDynamicsFunction(boost::bind(&GLVisionSimulatorItemImpl::onPostDynamics, this)); if(useQueueThreadForAllSensors){ while(!rendererQueue.empty()){ rendererQueue.pop(); } isQueueRenderingTerminationRequested = false; queueThread.start(boost::bind(&GLVisionSimulatorItemImpl::queueRenderingLoop, this)); for(size_t i=0; i < visionRenderers.size(); ++i){ visionRenderers[i]->moveRenderingBufferToThread(queueThread); } } return true; } return false; } void GLVisionSimulatorItemImpl::addTargetSensor(SimulationBody* simBody, int bodyIndex, Device* device) { os << (format(_("%1% detected vision sensor \"%2%\" of %3% as a target.")) % self->name() % device->name() % simBody->body()->name()) << endl; visionRenderers.push_back(new VisionRenderer(this, device, simBody, bodyIndex)); } VisionRenderer::VisionRenderer(GLVisionSimulatorItemImpl* simImpl, Device* device, SimulationBody* simBody, int bodyIndex) : simImpl(simImpl), device(device), simBody(simBody), bodyIndex(bodyIndex) { deviceForRendering = device->clone(); camera = dynamic_cast(device); rangeCamera = dynamic_pointer_cast(camera); rangeSensor = dynamic_cast(device); cameraForRendering = dynamic_pointer_cast(deviceForRendering); rangeCameraForRendering = dynamic_pointer_cast(deviceForRendering); rangeSensorForRendering = dynamic_pointer_cast(deviceForRendering); #if USE_QT5_OPENGL glContext = 0; offscreenSurface = 0; frameBuffer = 0; #else renderingBuffer = 0; #endif } bool VisionRenderer::initialize(const vector& simBodies) { initializeScene(simBodies); SgCamera* sceneCamera = initializeCamera(); if(!sceneCamera){ return false; } #if USE_QT5_OPENGL glContext = new QOpenGLContext; QSurfaceFormat format; format.setSwapBehavior(QSurfaceFormat::SingleBuffer); glContext->setFormat(format); glContext->create(); offscreenSurface = new QOffscreenSurface; offscreenSurface->setFormat(format); offscreenSurface->create(); glContext->makeCurrent(offscreenSurface); frameBuffer = new QOpenGLFramebufferObject(pixelWidth, pixelHeight, QOpenGLFramebufferObject::CombinedDepthStencil); frameBuffer->bind(); #else QGLFormat format; format.setDoubleBuffer(false); renderingBuffer = new QGLPixelBuffer(pixelWidth, pixelHeight, format); renderingBuffer->makeCurrent(); #endif renderer.initializeGL(); renderer.setViewport(0, 0, pixelWidth, pixelHeight); renderer.sceneRoot()->addChild(sceneGroup); renderer.initializeRendering(); renderer.headLight()->on(simImpl->isHeadLightEnabled); renderer.enableAdditionalLights(simImpl->areAdditionalLightsEnabled); renderer.setCurrentCamera(sceneCamera); doneGLContextCurrent(); isRendering = false; elapsedTime = cycleTime + 1.0e-6; latency = std::min(cycleTime, simImpl->maxLatency); onsetTime = 0.0; hasUpdatedData = false; isRenderingRequested = false; isRenderingFinished = false; isTerminationRequested = false; if(simImpl->useThreadsForSensors){ renderingThread.start(boost::bind(&VisionRenderer::concurrentRenderingLoop, this)); moveRenderingBufferToThread(renderingThread); } return true; } /** \todo use cache of the cloned scene graph nodes */ void VisionRenderer::initializeScene(const vector& simBodies) { sceneGroup = new SgGroup; #ifndef CNOID_REFERENCED_USE_ATOMIC_COUNTER simImpl->cloneMap.clear(); #endif // create scene bodies for(size_t i=0; i < simBodies.size(); ++i){ SceneBody* sceneBody = new SceneBody(simBodies[i]->body()); #ifndef CNOID_REFERENCED_USE_ATOMIC_COUNTER sceneBody->cloneShapes(simImpl->cloneMap); #endif sceneBodies.push_back(sceneBody); sceneGroup->addChild(sceneBody); } if(simImpl->shootAllSceneObjects){ WorldItem* worldItem = simImpl->self->findOwnerItem(); if(worldItem){ ItemList<> items; items.extractChildItems(worldItem); for(size_t i=0; i < items.size(); ++i){ Item* item = items.get(i); SceneProvider* sceneProvider = dynamic_cast(item); if(sceneProvider && !dynamic_cast(item)){ SgNode* scene = sceneProvider->getScene(simImpl->cloneMap); if(scene){ sceneGroup->addChild(scene); } } } } } } SgCamera* VisionRenderer::initializeCamera() { SgCamera* sceneCamera = 0; SceneBody* sceneBody = sceneBodies[bodyIndex]; if(camera){ SceneDevice* sceneDevice = sceneBody->getSceneDevice(device); if(sceneDevice){ sceneCamera = sceneDevice->findNodeOfType(); pixelWidth = camera->resolutionX(); pixelHeight = camera->resolutionY(); double frameRate = std::max(0.1, std::min(camera->frameRate(), simImpl->maxFrameRate)); cycleTime = 1.0 / frameRate; if(simImpl->isVisionDataRecordingEnabled){ camera->setImageStateClonable(true); } } } else if(rangeSensor){ const double thresh = (170.0 * PI / 180.0); // 170[deg] bool isWithinPossibleRanges = (rangeSensor->yawRange() < thresh) && (rangeSensor->pitchRange() < thresh); if(isWithinPossibleRanges){ SceneLink* sceneLink = sceneBody->sceneLink(rangeSensor->link()->index()); if(sceneLink){ SgPerspectiveCamera* persCamera = new SgPerspectiveCamera; sceneCamera = persCamera; persCamera->setNearClipDistance(rangeSensor->minDistance()); persCamera->setFarClipDistance(rangeSensor->maxDistance()); SgPosTransform* cameraPos = new SgPosTransform(); cameraPos->setTransform(rangeSensor->T_local()); cameraPos->addChild(persCamera); sceneLink->addChild(cameraPos); if(rangeSensor->yawRange() > rangeSensor->pitchRange()){ pixelWidth = rangeSensor->yawResolution() * simImpl->rangeSensorPrecisionRatio; if(rangeSensor->pitchRange() == 0.0){ pixelHeight = 1; double r = tan(rangeSensor->yawRange() / 2.0) * 2.0 / pixelWidth; persCamera->setFieldOfView(atan2(r / 2.0, 1.0) * 2.0); } else { pixelHeight = rangeSensor->pitchResolution() * simImpl->rangeSensorPrecisionRatio; persCamera->setFieldOfView(rangeSensor->pitchRange()); } } else { pixelHeight = rangeSensor->pitchResolution() * simImpl->rangeSensorPrecisionRatio; if(rangeSensor->yawRange() == 0.0){ pixelWidth = 1; double r = tan(rangeSensor->pitchRange() / 2.0) * 2.0 / pixelHeight; persCamera->setFieldOfView(atan2(r / 2.0, 1.0) * 2.0); } else { pixelWidth = rangeSensor->yawResolution() * simImpl->rangeSensorPrecisionRatio; persCamera->setFieldOfView(rangeSensor->yawRange()); } } double frameRate = std::max(0.1, std::min(rangeSensor->frameRate(), simImpl->maxFrameRate)); cycleTime = 1.0 / frameRate; if(simImpl->isVisionDataRecordingEnabled){ rangeSensor->setRangeDataStateClonable(true); } depthError = simImpl->depthError; } } } return sceneCamera; } void VisionRenderer::moveRenderingBufferToThread(QThread& thread) { #if USE_QT5_OPENGL glContext->moveToThread(&thread); #endif } void VisionRenderer::moveRenderingBufferToMainThread() { #if USE_QT5_OPENGL QThread* mainThread = QApplication::instance()->thread(); glContext->moveToThread(mainThread); #endif } void VisionRenderer::makeGLContextCurrent() { #if USE_QT5_OPENGL glContext->makeCurrent(offscreenSurface); #else renderingBuffer->makeCurrent(); #endif } void VisionRenderer::doneGLContextCurrent() { #if USE_QT5_OPENGL glContext->doneCurrent(); #else renderingBuffer->doneCurrent(); #endif } void GLVisionSimulatorItemImpl::onPreDynamics() { currentTime = simulatorItem->currentTime(); boost::mutex* pQueueMutex = 0; for(size_t i=0; i < visionRenderers.size(); ++i){ VisionRenderer* renderer = visionRenderers[i]; if(renderer->elapsedTime >= renderer->cycleTime){ if(!renderer->isRendering){ renderer->onsetTime = currentTime; renderer->isRendering = true; if(useThreadsForSensors){ renderer->startConcurrentRendering(); } else { if(!pQueueMutex){ pQueueMutex = &queueMutex; pQueueMutex->lock(); } renderer->updateScene(true); rendererQueue.push(renderer); } renderer->elapsedTime -= renderer->cycleTime; renderersInRendering.push_back(renderer); } } renderer->elapsedTime += worldTimeStep; } if(pQueueMutex){ pQueueMutex->unlock(); queueCondition.notify_all(); } } void GLVisionSimulatorItemImpl::queueRenderingLoop() { VisionRenderer* renderer = 0; while(true){ { boost::unique_lock lock(queueMutex); while(true){ if(isQueueRenderingTerminationRequested){ goto exitRenderingQueueLoop; } if(!rendererQueue.empty()){ renderer = rendererQueue.front(); rendererQueue.pop(); break; } queueCondition.wait(lock); } } renderer->renderInCurrentThread(true); { boost::unique_lock lock(queueMutex); renderer->isRenderingFinished = true; } queueCondition.notify_all(); } exitRenderingQueueLoop: for(size_t i=0; i < visionRenderers.size(); ++i){ visionRenderers[i]->moveRenderingBufferToMainThread(); } } void VisionRenderer::updateScene(bool updateSensorForRenderingThread) { for(size_t i=0; i < sceneBodies.size(); ++i){ SceneBody* sceneBody = sceneBodies[i]; sceneBody->updateLinkPositions(); sceneBody->updateSceneDevices(); } if(updateSensorForRenderingThread){ deviceForRendering->copyStateFrom(*device); } } void VisionRenderer::renderInCurrentThread(bool doStoreResultToTmpDataBuffer) { makeGLContextCurrent(); renderer.render(); renderer.flush(); if(doStoreResultToTmpDataBuffer){ storeResultToTmpDataBuffer(); } doneGLContextCurrent(); } void VisionRenderer::startConcurrentRendering() { { boost::unique_lock lock(renderingMutex); updateScene(true); isRenderingRequested = true; } isRendering = true; renderingCondition.notify_all(); } void VisionRenderer::concurrentRenderingLoop() { bool isGLContextCurrent = false; while(true){ { boost::unique_lock lock(renderingMutex); while(true){ if(isTerminationRequested){ goto exitConcurrentRenderingLoop; } if(isRenderingRequested){ isRenderingRequested = false; break; } renderingCondition.wait(lock); } } if(!isGLContextCurrent){ makeGLContextCurrent(); isGLContextCurrent = true; } renderer.render(); renderer.flush(); storeResultToTmpDataBuffer(); { boost::unique_lock lock(renderingMutex); isRenderingFinished = true; } renderingCondition.notify_all(); } exitConcurrentRenderingLoop: doneGLContextCurrent(); moveRenderingBufferToMainThread(); } void VisionRenderer::storeResultToTmpDataBuffer() { if(cameraForRendering){ if(!tmpImage){ tmpImage = boost::make_shared(); } if(rangeCameraForRendering){ tmpPoints = boost::make_shared< vector >(); hasUpdatedData = getRangeCameraData(*tmpImage, *tmpPoints); } else { hasUpdatedData = getCameraImage(*tmpImage); } } else if(rangeSensorForRendering){ tmpRangeData = boost::make_shared< vector >(); hasUpdatedData = getRangeSensorData(*tmpRangeData); } } void GLVisionSimulatorItemImpl::onPostDynamics() { if(useThreadsForSensors){ getVisionDataInThreadsForSensors(); } else { getVisionDataInQueueThread(); } } void GLVisionSimulatorItemImpl::getVisionDataInThreadsForSensors() { vector::iterator p = renderersInRendering.begin(); while(p != renderersInRendering.end()){ VisionRenderer* renderer = *p; if(renderer->elapsedTime >= renderer->latency){ if(renderer->waitForRenderingToFinish()){ renderer->copyVisionData(); renderer->isRendering = false; } } if(renderer->isRendering){ ++p; } else { p = renderersInRendering.erase(p); } } } bool VisionRenderer::waitForRenderingToFinish() { boost::unique_lock lock(renderingMutex); if(!isRenderingFinished){ if(simImpl->isBestEffortMode){ if(elapsedTime > cycleTime){ elapsedTime = cycleTime; } return false; } else { while(!isRenderingFinished){ renderingCondition.wait(lock); } } } isRenderingFinished = false; return true; } void GLVisionSimulatorItemImpl::getVisionDataInQueueThread() { boost::unique_lock lock(queueMutex); vector::iterator p = renderersInRendering.begin(); while(p != renderersInRendering.end()){ VisionRenderer* renderer = *p; if(renderer->elapsedTime >= renderer->latency){ if(renderer->waitForRenderingToFinish(lock)){ renderer->copyVisionData(); renderer->isRendering = false; } } if(renderer->isRendering){ ++p; } else { p = renderersInRendering.erase(p); } } } bool VisionRenderer::waitForRenderingToFinish(boost::unique_lock& lock) { if(!isRenderingFinished){ if(simImpl->isBestEffortMode){ if(elapsedTime > cycleTime){ elapsedTime = cycleTime; } return false; } else { while(!isRenderingFinished){ simImpl->queueCondition.wait(lock); } } } isRenderingFinished = false; return true; } void VisionRenderer::copyVisionData() { if(hasUpdatedData){ double delay = simImpl->currentTime - onsetTime; if(camera){ if(!tmpImage->empty()){ camera->setImage(tmpImage); } if(rangeCamera){ rangeCamera->setPoints(tmpPoints); } camera->setDelay(delay); } else if(rangeSensor){ rangeSensor->setRangeData(tmpRangeData); rangeSensor->setDelay(delay); } if(simImpl->isVisionDataRecordingEnabled){ device->notifyStateChange(); } else { simBody->notifyUnrecordedDeviceStateChange(device); } hasUpdatedData = false; } } bool VisionRenderer::getCameraImage(Image& image) { if(cameraForRendering->imageType() != Camera::COLOR_IMAGE){ return false; } image.setSize(pixelWidth, pixelHeight, 3); glReadPixels(0, 0, pixelWidth, pixelHeight, GL_RGB, GL_UNSIGNED_BYTE, image.pixels()); image.applyVerticalFlip(); return true; } bool VisionRenderer::getRangeCameraData(Image& image, vector& points) { unsigned char* colorBuf = 0; unsigned char* pixels = 0; const bool extractColors = (cameraForRendering->imageType() == Camera::COLOR_IMAGE); if(extractColors){ colorBuf = (unsigned char*)alloca(pixelWidth * pixelHeight * 3 * sizeof(unsigned char)); glReadPixels(0, 0, pixelWidth, pixelHeight, GL_RGB, GL_UNSIGNED_BYTE, colorBuf); if(rangeCameraForRendering->isOrganized()){ image.setSize(pixelWidth, pixelHeight, 3); } else { image.setSize(pixelWidth * pixelHeight, 1, 3); } pixels = image.pixels(); } float* depthBuf = (float*)alloca(pixelWidth * pixelHeight * sizeof(float)); glReadPixels(0, 0, pixelWidth, pixelHeight, GL_DEPTH_COMPONENT, GL_FLOAT, depthBuf); const Matrix4f Pinv = renderer.projectionMatrix().inverse().cast(); const float fw = pixelWidth; const float fh = pixelHeight; Vector4f n; n[3] = 1.0f; points.clear(); points.reserve(pixelWidth * pixelHeight); unsigned char* colorSrc = 0; for(int y = pixelHeight - 1; y >= 0; --y){ int srcpos = y * pixelWidth; if(extractColors){ colorSrc = colorBuf + y * pixelWidth * 3; } for(int x=0; x < pixelWidth; ++x){ const float z = depthBuf[srcpos + x]; if(z > 0.0f && z < 1.0f){ n.x() = 2.0f * x / fw - 1.0f; n.y() = 2.0f * y / fh - 1.0f; n.z() = 2.0f * z - 1.0f; const Vector4f o = Pinv * n; const float& w = o[3]; points.push_back(Vector3f(o[0] / w, o[1] / w, o[2] / w)); if(pixels){ pixels[0] = colorSrc[0]; pixels[1] = colorSrc[1]; pixels[2] = colorSrc[2]; pixels += 3; } } else if(rangeCameraForRendering->isOrganized()){ if(z <= 0.0f){ points.push_back(Vector3f::Zero()); } else { points.push_back(Vector3f()); points.back() << (x - pixelWidth / 2) * numeric_limits::infinity(), (y - pixelWidth / 2) * numeric_limits::infinity(), -numeric_limits::infinity(); } if(pixels){ pixels[0] = colorSrc[0]; pixels[1] = colorSrc[1]; pixels[2] = colorSrc[2]; pixels += 3; } } colorSrc += 3; } } if(extractColors && !rangeCameraForRendering->isOrganized()){ image.setSize((pixels - image.pixels()) / 3, 1, 3); } return true; } bool VisionRenderer::getRangeSensorData(vector& rangeData) { const double yawRange = rangeSensorForRendering->yawRange(); const int yawResolution = rangeSensorForRendering->yawResolution(); const double yawStep = rangeSensorForRendering->yawStep(); const double maxTanYawAngle = tan(yawRange / 2.0); const double pitchRange = rangeSensorForRendering->pitchRange(); const int pitchResolution = rangeSensorForRendering->pitchResolution(); const double pitchStep = rangeSensorForRendering->pitchStep(); const double maxTanPitchAngle = tan(pitchRange / 2.0); const Matrix4 Pinv = renderer.projectionMatrix().inverse(); const double Pinv_32 = Pinv(3, 2); const double Pinv_33 = Pinv(3, 3); const double fw = pixelWidth; const double fh = pixelHeight; float* depthBuf = (float*)alloca(pixelWidth * pixelHeight * sizeof(float)); glReadPixels(0, 0, pixelWidth, pixelHeight, GL_DEPTH_COMPONENT, GL_FLOAT, depthBuf); rangeData.reserve(yawResolution * pitchResolution); for(int pitch=0; pitch < pitchResolution; ++pitch){ const double pitchAngle = pitch * pitchStep - pitchRange / 2.0; const double cosPitchAngle = cos(pitchAngle); int py; if(pitchRange == 0.0){ py = 0; } else { const double r = (tan(pitchAngle) + maxTanPitchAngle) / (maxTanPitchAngle * 2.0); py = myNearByInt(r * (fh - 1.0)); } const int srcpos = py * pixelWidth; for(int yaw=0; yaw < yawResolution; ++yaw){ const double yawAngle = yaw * yawStep - yawRange / 2.0; int px; if(yawRange == 0.0){ px = 0; } else { const double r = (maxTanYawAngle - tan(yawAngle)) / (maxTanYawAngle * 2.0); px = myNearByInt(r * (fw - 1.0)); } //! \todo add the option to do the interpolation between the adjacent two pixel depths const float depth = depthBuf[srcpos + px]; if(depth > 0.0f && depth < 1.0f){ const double z0 = 2.0 * depth - 1.0; const double w = Pinv_32 * z0 + Pinv_33; const double z = -1.0 / w + depthError; rangeData.push_back(fabs((z / cosPitchAngle) / cos(yawAngle))); } else { rangeData.push_back(std::numeric_limits::infinity()); } } } return true; } void GLVisionSimulatorItem::finalizeSimulation() { impl->finalizeSimulation(); } void GLVisionSimulatorItemImpl::finalizeSimulation() { if(useQueueThreadForAllSensors){ { boost::unique_lock lock(queueMutex); isQueueRenderingTerminationRequested = true; } queueCondition.notify_all(); queueThread.wait(); while(!rendererQueue.empty()){ rendererQueue.pop(); } } visionRenderers.clear(); } VisionRenderer::~VisionRenderer() { if(simImpl->useThreadsForSensors){ { boost::unique_lock lock(renderingMutex); isTerminationRequested = true; } renderingCondition.notify_all(); renderingThread.wait(); } #if USE_QT5_OPENGL if(glContext){ makeGLContextCurrent(); frameBuffer->release(); delete frameBuffer; delete glContext; delete offscreenSurface; } #else if(renderingBuffer){ makeGLContextCurrent(); delete renderingBuffer; } #endif } void GLVisionSimulatorItem::doPutProperties(PutPropertyFunction& putProperty) { SubSimulatorItem::doPutProperties(putProperty); impl->doPutProperties(putProperty); } void GLVisionSimulatorItemImpl::doPutProperties(PutPropertyFunction& putProperty) { putProperty(_("Target bodies"), bodyNameListString, boost::bind(updateNames, _1, boost::ref(bodyNameListString), boost::ref(bodyNames))); putProperty(_("Target sensors"), sensorNameListString, boost::bind(updateNames, _1, boost::ref(sensorNameListString), boost::ref(sensorNames))); putProperty(_("Max frame rate"), maxFrameRate, changeProperty(maxFrameRate)); putProperty(_("Max latency [s]"), maxLatency, changeProperty(maxLatency)); putProperty(_("Record vision data"), isVisionDataRecordingEnabled, changeProperty(isVisionDataRecordingEnabled)); putProperty(_("Threads for sensors"), useThreadsForSensorsProperty, changeProperty(useThreadsForSensorsProperty)); putProperty(_("Best effort"), isBestEffortModeProperty, changeProperty(isBestEffortModeProperty)); putProperty(_("All scene objects"), shootAllSceneObjects, changeProperty(shootAllSceneObjects)); putProperty.min(1.0)(_("Precision ratio of range sensors"), rangeSensorPrecisionRatio, changeProperty(rangeSensorPrecisionRatio)); putProperty.reset()(_("Depth error"), depthError, changeProperty(depthError)); putProperty.reset()(_("Head light"), isHeadLightEnabled, changeProperty(isHeadLightEnabled)); putProperty.reset()(_("Additional lights"), areAdditionalLightsEnabled, changeProperty(areAdditionalLightsEnabled)); } bool GLVisionSimulatorItem::store(Archive& archive) { SubSimulatorItem::store(archive); return impl->store(archive); } bool GLVisionSimulatorItemImpl::store(Archive& archive) { writeElements(archive, "targetBodies", bodyNames, true); writeElements(archive, "targetSensors", sensorNames, true); archive.write("maxFrameRate", maxFrameRate); archive.write("maxLatency", maxLatency); archive.write("recordVisionData", isVisionDataRecordingEnabled); archive.write("useThreadsForSensors", useThreadsForSensorsProperty); archive.write("bestEffort", isBestEffortModeProperty); archive.write("allSceneObjects", shootAllSceneObjects); archive.write("rangeSensorPrecisionRatio", rangeSensorPrecisionRatio); archive.write("depthError", depthError); archive.write("enableHeadLight", isHeadLightEnabled); archive.write("enableAdditionalLights", areAdditionalLightsEnabled); return true; } bool GLVisionSimulatorItem::restore(const Archive& archive) { SubSimulatorItem::restore(archive); return impl->restore(archive); } bool GLVisionSimulatorItemImpl::restore(const Archive& archive) { readElements(archive, "targetBodies", bodyNames); bodyNameListString = getNameListString(bodyNames); readElements(archive, "targetSensors", sensorNames); sensorNameListString = getNameListString(sensorNames); archive.read("maxFrameRate", maxFrameRate); archive.read("maxLatency", maxLatency); archive.read("recordVisionData", isVisionDataRecordingEnabled); archive.read("useThreadsForSensors", useThreadsForSensorsProperty); archive.read("bestEffort", isBestEffortModeProperty); archive.read("allSceneObjects", shootAllSceneObjects); archive.read("rangeSensorPrecisionRatio", rangeSensorPrecisionRatio); archive.read("depthError", depthError); archive.read("enableHeadLight", isHeadLightEnabled); archive.read("enableAdditionalLights", areAdditionalLightsEnabled); return true; } choreonoid-1.5.0/src/BodyPlugin/JointStateView.cpp0000664000000000000000000003327312741425367020657 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "JointStateView.h" #include "LinkTreeWidget.h" #include "BodyBar.h" #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace { const bool TRACE_FUNCTIONS = false; const bool doColumnStretch = true; } namespace cnoid { class JointStateViewImpl { public: JointStateView* self; LinkTreeWidget jointStateWidget; int qColumn; int uColumn; BodyPtr currentBody; PolymorphicReferencedArray accessors; vector< vector > jointStateColumnMap; Array2D jointState; bool isKinematicStateChanged; bool isExtraJointStateChanged; LazyCaller updateViewLater; ConnectionSet connections; ConnectionSet connectionsToBody; JointStateViewImpl(JointStateView* self); ~JointStateViewImpl(); void clearSignalConnections(); void onActivated(bool on); void setCurrentBodyItem(BodyItem* bodyItem); void updateJointList(); void onKinematicStateChanged(); void onExtraJointStateChanged(); void updateView(); }; } void JointStateView::initializeClass(ExtensionManager* ext) { ext->viewManager().registerClass( "JointStateView", N_("Joint State"), ViewManager::SINGLE_OPTIONAL); } JointStateView::JointStateView() { impl = new JointStateViewImpl(this); } JointStateViewImpl::JointStateViewImpl(JointStateView* self) : self(self) { self->setDefaultLayoutArea(View::CENTER); QVBoxLayout* vbox = new QVBoxLayout(); vbox->setSpacing(0); //vbox->addWidget(jointStateWidget.listingModeCombo()); jointStateWidget.setNameColumnMarginEnabled(true); //jointStateWidget.setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff); jointStateWidget.setSelectionMode(QAbstractItemView::NoSelection); jointStateWidget.setAlternatingRowColors(true); jointStateWidget.setVerticalGridLineShown(true); jointStateWidget.setAllColumnsShowFocus(true); jointStateWidget.enableCache(true); jointStateWidget.enableArchiveOfCurrentBodyItem(true); jointStateWidget.setListingMode(LinkTreeWidget::JOINT_LIST); QHeaderView* header = jointStateWidget.header(); header->setDefaultAlignment(Qt::AlignHCenter); qColumn = jointStateWidget.addColumn(_("Angle")); uColumn = jointStateWidget.addColumn(_("Torque")); QTreeWidgetItem* headerItem = jointStateWidget.headerItem(); headerItem->setTextAlignment(qColumn, Qt::AlignRight); headerItem->setTextAlignment(uColumn, Qt::AlignRight); header->setMinimumSectionSize(0); jointStateWidget.setHeaderSectionResizeMode(jointStateWidget.nameColumn(), QHeaderView::ResizeToContents); jointStateWidget.setHeaderSectionResizeMode(jointStateWidget.jointIdColumn(), QHeaderView::ResizeToContents); if(doColumnStretch){ jointStateWidget.setHeaderSectionResizeMode(qColumn, QHeaderView::Stretch); jointStateWidget.setHeaderSectionResizeMode(uColumn, QHeaderView::Stretch); } else { jointStateWidget.setHeaderSectionResizeMode(qColumn, QHeaderView::ResizeToContents); jointStateWidget.setHeaderSectionResizeMode(uColumn, QHeaderView::ResizeToContents); } int lastColumn = jointStateWidget.addColumn(); if(doColumnStretch){ jointStateWidget.setHeaderSectionResizeMode(lastColumn, QHeaderView::Fixed); header->resizeSection(lastColumn, 0); } else { jointStateWidget.setHeaderSectionResizeMode(lastColumn, QHeaderView::Stretch); } jointStateWidget.sigUpdateRequest().connect(boost::bind(&JointStateViewImpl::updateJointList, this)); vbox->addWidget(&jointStateWidget); self->setLayout(vbox); self->sigActivated().connect(boost::bind(&JointStateViewImpl::onActivated, this, true)); self->sigDeactivated().connect(boost::bind(&JointStateViewImpl::onActivated, this ,false)); updateViewLater.setFunction(boost::bind(&JointStateViewImpl::updateView, this)); //self->enableFontSizeZoomKeys(true); } JointStateView::~JointStateView() { delete impl; } JointStateViewImpl::~JointStateViewImpl() { clearSignalConnections(); } void JointStateViewImpl::clearSignalConnections() { connections.disconnect(); connectionsToBody.disconnect(); } void JointStateViewImpl::onActivated(bool on) { clearSignalConnections(); if(!on){ setCurrentBodyItem(0); } else { BodyBar* bodyBar = BodyBar::instance(); connections.add( bodyBar->sigCurrentBodyItemChanged().connect( boost::bind(&JointStateViewImpl::setCurrentBodyItem, this, _1))); setCurrentBodyItem(bodyBar->currentBodyItem()); } } void JointStateViewImpl::setCurrentBodyItem(BodyItem* bodyItem) { connectionsToBody.disconnect(); jointStateWidget.setNumColumns(uColumn + 1); jointStateColumnMap.clear(); if(!bodyItem){ currentBody.reset(); accessors.clear(); } else { currentBody = bodyItem->body(); vector names; currentBody->getCaches(accessors, names); vector columnMap; for(int i=0; i < accessors.size(); ++i){ ExtraBodyStateAccessor& accessor = *accessors[i]; const int n = accessor.getNumJointStateItems(); if(n > 0){ columnMap.clear(); for(int j=0; j < n; ++j){ const char* itemName = accessor.getJointStateItemName(j); if(strcmp(itemName, "Pos") == 0){ columnMap.push_back(qColumn); } else { columnMap.push_back(jointStateWidget.addColumn(accessor.getJointStateItemLabel(j))); } } jointStateColumnMap.push_back(columnMap); } } const int m = jointStateWidget.columnCount(); for(int i = qColumn; i < m; ++i){ if(doColumnStretch){ jointStateWidget.setHeaderSectionResizeMode(i, QHeaderView::Stretch); } else { jointStateWidget.setHeaderSectionResizeMode(i, QHeaderView::ResizeToContents); } } } const int lastColumn = jointStateWidget.addColumn(); if(doColumnStretch){ jointStateWidget.setHeaderSectionResizeMode(lastColumn, QHeaderView::Fixed); jointStateWidget.header()->resizeSection(lastColumn, 0); } else { jointStateWidget.setHeaderSectionResizeMode(lastColumn, QHeaderView::Stretch); } jointStateWidget.setBodyItem(bodyItem); if(bodyItem){ connectionsToBody.add( bodyItem->sigKinematicStateChanged().connect( boost::bind(&JointStateViewImpl::onKinematicStateChanged, this))); } for(int i=0; i < accessors.size(); ++i){ connectionsToBody.add( accessors[i]->sigStateChanged().connect( boost::bind(&JointStateViewImpl::onExtraJointStateChanged, this))); } } void JointStateViewImpl::updateJointList() { // The current body item should be gotten from the jointStateWidget because // this function is first called from it when the body item is detached. BodyItem* bodyItem = jointStateWidget.bodyItem(); if(bodyItem){ QTreeWidgetItem* headerItem = jointStateWidget.headerItem(); const int n = jointStateWidget.columnCount(); for(int i = uColumn + 1; i < n; ++i){ headerItem->setTextAlignment(i, Qt::AlignRight); } BodyPtr body = bodyItem->body(); int nameColumn = jointStateWidget.nameColumn(); for(int i = 0; i < currentBody->numJoints(); ++i){ Link* joint = currentBody->joint(i); if(joint){ LinkTreeItem* item = jointStateWidget.itemOfLink(joint->index()); item->setTextAlignment(nameColumn, Qt::AlignHCenter); item->setTextAlignment(qColumn, Qt::AlignRight); item->setTextAlignment(uColumn, Qt::AlignRight); } } for(int i=0; i < accessors.size(); ++i){ ExtraBodyStateAccessor& accessor = *accessors[i]; const vector& columnMap = jointStateColumnMap[i]; jointState.clear(); accessor.getJointState(jointState); const int nc = jointState.colSize(); const int nj = jointState.rowSize(); if(nj > 0){ for(int j=0; j < nc; ++j){ const int column = columnMap[j]; Array2D::Column js = jointState.column(j); const ExtraBodyStateAccessor::Value& v = js[0]; Qt::Alignment alignment = Qt::AlignHCenter; int type = v.which(); if(type == ExtraBodyStateAccessor::INT || type == ExtraBodyStateAccessor::DOUBLE || type == ExtraBodyStateAccessor::ANGLE){ alignment = Qt::AlignRight; } headerItem->setTextAlignment(column, alignment); for(int k=0; k < nj; ++k){ Link* joint = currentBody->joint(k); if(joint){ LinkTreeItem* item = jointStateWidget.itemOfLink(joint->index()); item->setTextAlignment(column, alignment); } } } } } isKinematicStateChanged = true; isExtraJointStateChanged = true; updateView(); } } void JointStateViewImpl::onKinematicStateChanged() { isKinematicStateChanged = true; updateViewLater(); } void JointStateViewImpl::onExtraJointStateChanged() { isExtraJointStateChanged = true; updateViewLater(); } void JointStateViewImpl::updateView() { if(!currentBody){ return; } if(isKinematicStateChanged){ for(int i = 0; i < currentBody->numJoints(); ++i){ Link* joint = currentBody->joint(i); if(joint){ LinkTreeItem* item = jointStateWidget.itemOfLink(joint->index()); if(joint->jointType() == Link::ROTATIONAL_JOINT){ item->setText(qColumn, QString::number(degree(joint->q()), 'f', 2)); } else { item->setText(qColumn, QString::number(joint->q(), 'f', 2)); } item->setText(uColumn, QString::number(joint->u(), 'f', 2)); } } isKinematicStateChanged = false; } if(isExtraJointStateChanged){ for(int i=0; i < accessors.size(); ++i){ ExtraBodyStateAccessor& accessor = *accessors[i]; const vector& columnMap = jointStateColumnMap[i]; jointState.clear(); accessor.getJointState(jointState); const int n = jointState.rowSize(); const int m = jointState.colSize(); for(int j=0; j < n; ++j){ Link* joint = currentBody->joint(j); Array2D::Row js = jointState.row(j); if(joint){ LinkTreeItem* item = jointStateWidget.itemOfLink(joint->index()); for(int k=0; k < m; ++k){ bool isValid = true; const int column = columnMap[k]; const ExtraBodyStateAccessor::Value& v = js[k]; switch(v.which()){ case ExtraBodyStateAccessor::BOOL: item->setText(column, v.getBool() ? _("ON") : _("OFF")); break; case ExtraBodyStateAccessor::INT: item->setText(column, QString::number(v.getInt())); break; case ExtraBodyStateAccessor::DOUBLE: item->setText(column, QString::number(v.getDouble())); break; case ExtraBodyStateAccessor::ANGLE: item->setText(column, QString::number(degree(v.getAngle()), 'f', 1)); break; case ExtraBodyStateAccessor::STRING: item->setText(column, v.getString().c_str()); break; //case ExtraBodyStateAccessor::VECTOR2: case ExtraBodyStateAccessor::VECTOR3: case ExtraBodyStateAccessor::VECTORX: item->setText(column, "..."); break; default: item->setText(column, ""); isValid = false; break; } if(isValid){ const int attr = v.attribute(); if(attr == ExtraBodyStateAccessor::NORMAL){ item->setData(column, Qt::ForegroundRole, QVariant()); } else if(attr | ExtraBodyStateAccessor::WARNING){ item->setData(column, Qt::ForegroundRole, QBrush(Qt::red)); } } } } } } isExtraJointStateChanged = false; } } bool JointStateView::storeState(Archive& archive) { return true; } bool JointStateView::restoreState(const Archive& archive) { return true; } choreonoid-1.5.0/src/BodyPlugin/JointStateView.h0000664000000000000000000000115012741425367020311 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODYPLUGIN_JOINT_STATE_VIEW_H_INCLUDED #define CNOID_BODYPLUGIN_JOINT_STATE_VIEW_H_INCLUDED #include "BodyItem.h" #include #include "exportdecl.h" namespace cnoid { class JointStateViewImpl; class CNOID_EXPORT JointStateView : public cnoid::View { public: static void initializeClass(ExtensionManager* ext); JointStateView(); virtual ~JointStateView(); virtual bool storeState(Archive& archive); virtual bool restoreState(const Archive& archive); private: JointStateViewImpl* impl; }; } #endif choreonoid-1.5.0/src/BodyPlugin/HrpsysFileIO.cpp0000664000000000000000000002304612741425367020255 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "HrpsysFileIO.h" #include "BodyMotionItem.h" #include "BodyItem.h" #include "KinematicFaultChecker.h" #include #include #include #include #include #include #include #include #include #include #ifndef _WINDOWS #include #include #endif #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { map labelToTypeMap; boost::regex labelPattern("^(JA|JV|TQ|F|M|A|W|zmp|waist|R|P|Y)([XYZRP]?)(\\d*)$"); class HrpsysLogLoader { public: enum { NONE = 0, JOINT_POS, JOINT_VEL, JOINT_TORQUE, FORCE, TORQUE, ACC, OMEGA, ZMP, WAIST, RPY, NUM_DATA_TYPES }; typedef char_separator Separator; typedef tokenizer Tokenizer; struct Element { Element(){ type = NONE; axis = 0; index = 0; } int type; int axis; int index; }; vector elements; int numComponents[NUM_DATA_TYPES]; std::list< std::vector > frames; HrpsysLogLoader() { if(labelToTypeMap.empty()){ labelToTypeMap["JA"] = JOINT_POS; labelToTypeMap["JV"] = JOINT_VEL; labelToTypeMap["TQ"] = JOINT_TORQUE; labelToTypeMap["F"] = FORCE; labelToTypeMap["M"] = TORQUE; labelToTypeMap["A"] = ACC; labelToTypeMap["W"] = OMEGA; labelToTypeMap["zmp"] = ZMP; labelToTypeMap["waist"] = WAIST; labelToTypeMap["R"] = RPY; labelToTypeMap["P"] = RPY; labelToTypeMap["Y"] = RPY; } } bool loadLogFile(BodyMotionItem* item, const std::string& filename, std::ostream& os){ iostreams::filtering_istream is; #ifndef _WINDOWS string ext = filesystem::extension(filesystem::path(filename)); if(ext == ".gz"){ is.push(iostreams::gzip_decompressor()); } else if(ext == ".bz2"){ is.push(iostreams::bzip2_decompressor()); } #endif ifstream ifs(filename.c_str()); if(!ifs){ os << (format("\"%1%\" cannot be opened.") % filename) << endl; return false; } is.push(ifs); elements.clear(); frames.clear(); Separator sep(" \t\r\n", "%"); string line; while(getline(is, line)){ Tokenizer tokens(line, sep); Tokenizer::iterator it = tokens.begin(); if(it != tokens.end()){ if(*it == "%"){ readHeader(++it, tokens.end()); } break; } } if(elements.empty()){ return false; } const size_t numElements = elements.size(); while(getline(is, line)){ Tokenizer tokens(line, sep); Tokenizer::iterator it = tokens.begin(); if(it != tokens.end()){ frames.push_back(vector(numElements)); vector& frame = frames.back(); size_t i; for(i=0; (i < numElements) && (it != tokens.end()); ++i, ++it){ frame[i] = lexical_cast(*it); } if(i < numElements /* || it != tokens.end() */ ){ os << (format("\"%1%\" contains different size columns.") % filename) << endl; return false; } } } const size_t numFrames = frames.size(); BodyMotionPtr motion = item->motion(); motion->setDimension(numFrames, numComponents[JOINT_POS], 0); motion->setFrameRate(200); MultiValueSeqPtr qseq = item->jointPosSeq(); //MultiValueSeqPtr dqseq; //MultiValueSeqPtr useq; ZMPSeqPtr zmpseq = getOrCreateZMPSeq(*item->motion()); std::list< std::vector >::iterator p = frames.begin(); for(size_t i=0; i < numFrames; ++i){ vector& frame = *p++; MultiValueSeq::Frame q = qseq->frame(i); for(size_t j=0; j < numElements; ++j){ Element& e = elements[j]; switch(e.type){ case JOINT_POS: q[e.index] = frame[j]; break; case ZMP: (*zmpseq)[i][e.axis] = frame[j]; break; } } } return true; } void readHeader(Tokenizer::iterator it, Tokenizer::iterator end){ boost::smatch match; for(int i=0; i < NUM_DATA_TYPES; ++i){ numComponents[i] = 0; } int waistIndex = 0; while(it != end){ Element element; if(regex_match(*it, match, labelPattern)){ map::iterator p = labelToTypeMap.find(match.str(1)); if(p != labelToTypeMap.end()){ element.type = p->second; const string& axisString = match.str(2); if(!axisString.empty()){ if(element.type != WAIST || waistIndex < 3){ switch(axisString[0]){ case 'X': element.axis = 0; break; case 'Y': element.axis = 1; break; case 'Z': element.axis = 2; break; } } else { switch(axisString[0]){ case 'R': element.axis = 0; break; case 'P': element.axis = 1; break; case 'Y': element.axis = 2; break; } } } const string& indexString = match.str(3); if(!indexString.empty()){ element.index = lexical_cast(indexString); } if(element.type == WAIST){ waistIndex++; } } } elements.push_back(element); numComponents[element.type] += 1; ++it; } } }; bool confirm(const std::string& message) { return (QMessageBox::warning( 0, _("Warning"), message.c_str(), QMessageBox::Ok | QMessageBox::Cancel, QMessageBox::Ok) == QMessageBox::Ok); } bool loadLogFile(BodyMotionItem* item, const std::string& filename, std::ostream& os, Item* parentItem) { HrpsysLogLoader loader; return loader.loadLogFile(item, filename, os); } bool importHrpsysSeqFileSet(BodyMotionItem* item, const std::string& filename, std::ostream& os) { if(loadHrpsysSeqFileSet(*item->motion(), filename, os)){ return true; } return false; } bool exportHrpsysSeqFileSet(BodyMotionItem* item, const std::string& filename, std::ostream& os) { double frameRate = item->motion()->frameRate(); if(frameRate != 200.0){ static format m1(_("The frame rate of a body motion exported as HRPSYS files should be standard value 200, " "but the frame rate of \"%1%\" is %2%. The exported data may cause a problem.\n\n" "Do you continue to export ?")); if(!confirm(str(m1 % item->name() % frameRate))){ return false; } } BodyPtr body; BodyItem* bodyItem = item->findOwnerItem(); if(bodyItem){ body = bodyItem->body(); KinematicFaultChecker* checker = KinematicFaultChecker::instance(); int numFaults = checker->checkFaults(bodyItem, item, os); if(numFaults > 0){ static string m2(_("A fault has been detected. Please check the report in the MessageView.\n\n" "Do you continue to export ?")); static format m3(_("%1% faults have been detected. Please check the report in the MessageView.\n\n" "Do you continue to export ?")); bool result; if(numFaults == 1){ result = confirm(m2); } else { result = confirm(str(m3 % numFaults)); } if(!result){ return false; } } } if(!getZMPSeq(*item->motion())){ if(!confirm(_("There is no ZMP data. Do you continue to export ?"))){ return false; } } return saveHrpsysSeqFileSet(*item->motion(), body, filename, os); } } // namespace { void cnoid::initializeHrpsysFileIO(ExtensionManager* ext) { ItemManager& im = ext->itemManager(); im.addLoaderAndSaver( _("HRPSYS Sequence File Set"), "HRPSYS-SEQ-FILE-SET", "pos;vel;acc;hip;waist;gsens;zmp", boost::bind(importHrpsysSeqFileSet, _1, _2, _3), boost::bind(exportHrpsysSeqFileSet, _1, _2, _3), ItemManager::PRIORITY_CONVERSION); im.addLoader( _("HRPSYS Log File"), "HRPSYS-LOG", "log;log.gz;log.bz2", loadLogFile, ItemManager::PRIORITY_CONVERSION); } choreonoid-1.5.0/src/BodyPlugin/MultiDeviceStateSeqItem.cpp0000664000000000000000000000660112741425367022436 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "MultiDeviceStateSeqItem.h" #include "BodyItem.h" #include "BodyMotionItem.h" #include "BodyMotionEngine.h" #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace { AbstractSeqItem* createMultiDeviceStateSeqItem(AbstractSeqPtr seq) { MultiDeviceStateSeqPtr dseq = dynamic_pointer_cast(seq); return dseq ? new MultiDeviceStateSeqItem(dseq) : 0; } class MultiDeviceStateSeqEngine : public TimeSyncItemEngine { MultiDeviceStateSeqPtr seq; BodyPtr body; vector prevStates; public: MultiDeviceStateSeqEngine(MultiDeviceStateSeqItem* seqItem, BodyItem* bodyItem) : seq(seqItem->seq()), body(bodyItem->body()) { seqItem->sigUpdated().connect(boost::bind(&TimeSyncItemEngine::notifyUpdate, this)); } virtual bool onTimeChanged(double time){ bool isValidTime = false; if(!seq->empty()){ const DeviceList<>& devices = body->devices(); const int frame = seq->frameOfTime(time); isValidTime = (frame < seq->numFrames()); MultiDeviceStateSeq::Frame states = seq->frame(seq->clampFrameIndex(frame)); const int n = std::min((int)devices.size(), states.size()); prevStates.resize(n); for(int i=0; i < n; ++i){ const DeviceStatePtr& state = states[i]; if(state != prevStates[i]){ const DevicePtr& device = devices[i]; device->copyStateFrom(*state); device->notifyStateChange(); prevStates[i] = state; } } } return isValidTime; } }; TimeSyncItemEngine* createMultiDeviceStateSeqEngine(BodyItem* bodyItem, AbstractSeqItem* seqItem) { if(MultiDeviceStateSeqItem* item = dynamic_cast(seqItem)){ return new MultiDeviceStateSeqEngine(item, bodyItem); } return 0; } } void MultiDeviceStateSeqItem::initializeClass(ExtensionManager* ext) { static bool initialized = false; if(!initialized){ ext->itemManager().registerClass(N_("MultiDeviceStateSeqItem")); BodyMotionItem::addExtraSeqItemFactory(MultiDeviceStateSeq::key(), createMultiDeviceStateSeqItem); BodyMotionEngine::addExtraSeqEngineFactory(MultiDeviceStateSeq::key(), createMultiDeviceStateSeqEngine); initialized = true; } } MultiDeviceStateSeqItem::MultiDeviceStateSeqItem() : seq_(boost::make_shared()) { } MultiDeviceStateSeqItem::MultiDeviceStateSeqItem(MultiDeviceStateSeqPtr seq) : seq_(seq) { setName(seq->seqContentName()); } MultiDeviceStateSeqItem::MultiDeviceStateSeqItem(const MultiDeviceStateSeqItem& org) : AbstractMultiSeqItem(org), seq_(boost::make_shared(*org.seq_)) { } MultiDeviceStateSeqItem::~MultiDeviceStateSeqItem() { } AbstractMultiSeqPtr MultiDeviceStateSeqItem::abstractMultiSeq() { return seq_; } Item* MultiDeviceStateSeqItem::doDuplicate() const { return new MultiDeviceStateSeqItem(*this); } bool MultiDeviceStateSeqItem::store(Archive& archive) { return false; } bool MultiDeviceStateSeqItem::restore(const Archive& archive) { return false; } choreonoid-1.5.0/src/BodyPlugin/CollisionSeq.h0000664000000000000000000000220512741425367020000 0ustar rootroot/** @file @author Shizuko Hattori */ #ifndef CNOID_BODY_COLLISION_SEQ_H #define CNOID_BODY_COLLISION_SEQ_H #include #include #include #include #include "exportdecl.h" namespace cnoid { class YAMLWriter; class CollisionSeqItem; typedef std::vector CollisionLinkPairList; typedef boost::shared_ptr CollisionLinkPairListPtr; class CNOID_EXPORT CollisionSeq : public MultiSeq { typedef MultiSeq BaseSeqType; public: CollisionSeqItem* collisionSeqItem_; CollisionSeq(CollisionSeqItem* collisionSeqItem); virtual bool doWriteSeq(YAMLWriter& writer); virtual bool doReadSeq(const Mapping& archive); bool loadStandardYAMLformat(const std::string& filename); bool saveAsStandardYAMLformat(const std::string& filename); void writeCollsionData(YAMLWriter& writer, const CollisionLinkPairListPtr ptr); void readCollisionData(int nFrames, const Listing& values); }; typedef boost::shared_ptr CollisionSeqPtr; } #endif choreonoid-1.5.0/src/BodyPlugin/LinkSelectionView.cpp0000664000000000000000000000716312741425367021335 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "LinkSelectionView.h" #include "LinkTreeWidget.h" #include "BodyBar.h" #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace { LinkSelectionView* mainLinkSelectionView = 0; } namespace cnoid { class LinkSelectionViewImpl { public: LinkSelectionViewImpl(LinkSelectionView* self); ~LinkSelectionViewImpl(); LinkTreeWidget linkTreeWidget; Connection currentBodyItemChangeConnection; }; } void LinkSelectionView::initializeClass(ExtensionManager* ext) { mainLinkSelectionView = ext->viewManager().registerClass( "LinkSelectionView", N_("Links"), ViewManager::SINGLE_DEFAULT); } LinkSelectionView* LinkSelectionView::mainInstance() { return mainLinkSelectionView; } LinkSelectionView::LinkSelectionView() { impl = new LinkSelectionViewImpl(this); } LinkSelectionViewImpl::LinkSelectionViewImpl(LinkSelectionView* self) { self->setDefaultLayoutArea(View::LEFT_BOTTOM); self->setSizePolicy(QSizePolicy::Ignored, QSizePolicy::Ignored); linkTreeWidget.setFrameShape(QFrame::NoFrame); linkTreeWidget.enableCache(true); linkTreeWidget.enableArchiveOfCurrentBodyItem(true); linkTreeWidget.setListingMode(LinkTreeWidget::LINK_LIST); QVBoxLayout* vbox = new QVBoxLayout(); vbox->setSpacing(0); vbox->addWidget(linkTreeWidget.listingModeCombo()); vbox->addWidget(&linkTreeWidget); self->setLayout(vbox); currentBodyItemChangeConnection = BodyBar::instance()->sigCurrentBodyItemChanged().connect( boost::bind(&LinkTreeWidget::setBodyItem, &linkTreeWidget, _1)); } LinkSelectionView::~LinkSelectionView() { delete impl; } LinkSelectionViewImpl::~LinkSelectionViewImpl() { currentBodyItemChangeConnection.disconnect(); } BodyItem* LinkSelectionView::currentBodyItem() { return impl->linkTreeWidget.bodyItem(); } SignalProxy LinkSelectionView::sigSelectionChanged() { return impl->linkTreeWidget.sigSelectionChanged(); } int LinkSelectionView::selectedLinkIndex() const { return impl->linkTreeWidget.selectedLinkIndex(); } const std::vector& LinkSelectionView::selectedLinkIndices() { return impl->linkTreeWidget.selectedLinkIndices(); } const boost::dynamic_bitset<>& LinkSelectionView::linkSelection() { return impl->linkTreeWidget.linkSelection(); } SignalProxy LinkSelectionView::sigSelectionChanged(BodyItem* bodyItem) { return impl->linkTreeWidget.sigSelectionChanged(bodyItem); } const std::vector& LinkSelectionView::selectedLinkIndices(BodyItem* bodyItem) { return impl->linkTreeWidget.selectedLinkIndices(bodyItem); } const boost::dynamic_bitset<>& LinkSelectionView::linkSelection(BodyItem* bodyItem) { return impl->linkTreeWidget.linkSelection(bodyItem); } #ifdef CNOID_BACKWARD_COMPATIBILITY const std::vector& LinkSelectionView::getSelectedLinkIndices(BodyItem* bodyItem) { return impl->linkTreeWidget.selectedLinkIndices(bodyItem); } const boost::dynamic_bitset<>& LinkSelectionView::getLinkSelection(BodyItem* bodyItem) { return impl->linkTreeWidget.linkSelection(bodyItem); } #endif bool LinkSelectionView::makeSingleSelection(BodyItem* bodyItem, int linkIndex) { return impl->linkTreeWidget.makeSingleSelection(bodyItem, linkIndex); } bool LinkSelectionView::storeState(Archive& archive) { return impl->linkTreeWidget.storeState(archive); } bool LinkSelectionView::restoreState(const Archive& archive) { return impl->linkTreeWidget.restoreState(archive); } choreonoid-1.5.0/src/BodyPlugin/FilterDialogs.cpp0000664000000000000000000002441512741425367020466 0ustar rootroot/** @file @author Shin'ichiro NAKAOKA */ #include "FilterDialogs.h" #include "BodyItem.h" #include "LinkSelectionView.h" #include #include #include #include #include #include #include #include #include #include #include #include using namespace std; using namespace boost; using namespace cnoid; namespace { class VelocityLimitFilterDialog : public Gtk::Dialog { public: VelocityLimitFilterDialog(); protected: virtual void on_response(int id); private: Gtk::CheckButton onlySelectedCheck; Gtk::SpinButton percentSpin; Gtk::CheckButton pollardCheck; Gtk::SpinButton ksSpin; Gtk::CheckButton gaussianCheck; Gtk::SpinButton gaussianSigmaSpin; Gtk::SpinButton gaussianRangeSpin; }; VelocityLimitFilterDialog::VelocityLimitFilterDialog() : Gtk::Dialog(_("Velocity Limiting Filter"), MainWindow::instance()) { set_modal(false); Gtk::VBox* vbox = get_vbox(); Gtk::HBox* hbox = Gtk::manage(new Gtk::HBox()); onlySelectedCheck.set_label(_("Selected joints only")); onlySelectedCheck.set_active(false); hbox->pack_start(onlySelectedCheck, Gtk::PACK_SHRINK); vbox->pack_start(*hbox, Gtk::PACK_SHRINK); hbox = Gtk::manage(new Gtk::HBox()); hbox->pack_start(*Gtk::manage(new Gtk::Label("Ratio")), Gtk::PACK_SHRINK); percentSpin.set_range(1.0, 100.0); percentSpin.set_increments(1.0, 10.0); percentSpin.set_value(100.0); hbox->pack_start(percentSpin, Gtk::PACK_SHRINK); hbox->pack_start(*Gtk::manage(new Gtk::Label("%")), Gtk::PACK_SHRINK); vbox->pack_start(*hbox, Gtk::PACK_SHRINK); hbox = Gtk::manage(new Gtk::HBox()); pollardCheck.set_label(_("Pollard method")); pollardCheck.set_active(false); hbox->pack_start(pollardCheck, Gtk::PACK_SHRINK); hbox->pack_start(*Gtk::manage(new Gtk::Label(",")), Gtk::PACK_SHRINK); hbox->pack_start(*Gtk::manage(new Gtk::Label("ks")), Gtk::PACK_SHRINK); ksSpin.set_digits(1); ksSpin.set_range(0.0, 9.9); ksSpin.set_increments(0.1, 1.0); ksSpin.set_value(2.0); hbox->pack_start(ksSpin, Gtk::PACK_SHRINK); vbox->pack_start(*hbox, Gtk::PACK_SHRINK); hbox = Gtk::manage(new Gtk::HBox()); gaussianCheck.set_label(_("Gaussian Filter")); gaussianCheck.set_active(true); hbox->pack_start(gaussianCheck, Gtk::PACK_SHRINK); hbox->pack_start(*Gtk::manage(new Gtk::Label("sigma")), Gtk::PACK_SHRINK); gaussianSigmaSpin.set_digits(1); gaussianSigmaSpin.set_range(0.1, 9.9); gaussianSigmaSpin.set_increments(0.1, 1.0); gaussianSigmaSpin.set_value(3.0); hbox->pack_start(gaussianSigmaSpin, Gtk::PACK_SHRINK); hbox->pack_start(*Gtk::manage(new Gtk::Label("range")), Gtk::PACK_SHRINK); gaussianRangeSpin.set_digits(0); gaussianRangeSpin.set_range(1, 99); gaussianRangeSpin.set_increments(1, 5); gaussianRangeSpin.set_value(7); hbox->pack_start(gaussianRangeSpin, Gtk::PACK_SHRINK); vbox->pack_start(*hbox, Gtk::PACK_SHRINK); show_all_children(); add_button(_("Apply"), Gtk::RESPONSE_OK); add_button(_("Cancel"), Gtk::RESPONSE_CANCEL); } void VelocityLimitFilterDialog::on_response(int id) { if(id == Gtk::RESPONSE_OK){ ItemList items = ItemTreeView::mainInstance()->selectedItems(); for(size_t i=0; i < items.size(); ++i){ BodyItemPtr bodyItem = items[i]->findOwnerItem(); if(bodyItem){ bool result; std::ostream& os = MessageView::mainInstance()->cout(); // \todo The following code has not completely been implemented. if(onlySelectedCheck.get_active()){ dynamic_bitset<> linkSelection = LinkSelectionView::mainInstance()->getLinkSelection(bodyItem); BodyPtr body = bodyItem->body(); double r = percentSpin.get_value() / 100.0; int n = body->numJoints(); for(int j=0; j < n; ++j){ Link* joint = body->joint(j); if(linkSelection[joint->index]){ std::cout << "joint " << joint->name() << ", limit = " << joint->uvlimit << ", ratio = " << r << endl; result = applyVelocityLimitFilter2(*items[i]->seq(), j, joint->uvlimit * r); } } } else { if(pollardCheck.get_active()){ result = applyPollardVelocityLimitFilter( *items[i]->seq(), bodyItem->body(), ksSpin.get_value(), os); } else { result = applyVelocityLimitFilter( *items[i]->seq(), bodyItem->body(), os); } if(gaussianCheck.get_active()){ applyGaussianFilter( *items[i]->seq(), gaussianSigmaSpin.get_value(), gaussianRangeSpin.get_value_as_int(), os); result = true; } } if(result){ items[i]->notifyUpdate(); } } } } hide(); } class RangeLimitFilterDialog : public Gtk::Dialog { public: RangeLimitFilterDialog(); protected: virtual void on_response(int id); private: Gtk::SpinButton limitGradSpin; Gtk::SpinButton edgeGradRatioSpin; Gtk::SpinButton marginSpin; }; RangeLimitFilterDialog::RangeLimitFilterDialog() : Gtk::Dialog(_("Range Limiting Filter"), MainWindow::instance()) { set_modal(false); Gtk::VBox* vbox = get_vbox(); Gtk::HBox* hbox = Gtk::manage(new Gtk::HBox()); hbox->pack_start(*Gtk::manage(new Gtk::Label(_("limit grad."))), Gtk::PACK_SHRINK); limitGradSpin.set_digits(1); limitGradSpin.set_range(0.1, 0.9); limitGradSpin.set_increments(0.1, 0.2); limitGradSpin.set_value(0.4); hbox->pack_start(limitGradSpin, Gtk::PACK_SHRINK); hbox->pack_start(*Gtk::manage(new Gtk::Label(_("edge grad. ratio"))), Gtk::PACK_SHRINK); edgeGradRatioSpin.set_digits(1); edgeGradRatioSpin.set_range(0.1, 1.0); edgeGradRatioSpin.set_increments(0.1, 0.2); edgeGradRatioSpin.set_value(0.5); hbox->pack_start(edgeGradRatioSpin, Gtk::PACK_SHRINK); hbox->pack_start(*Gtk::manage(new Gtk::Label(_("margin"))), Gtk::PACK_SHRINK); marginSpin.set_digits(3); marginSpin.set_range(0.0, 9.999); marginSpin.set_increments(0.001, 0.1); marginSpin.set_value(0.0); hbox->pack_start(marginSpin, Gtk::PACK_SHRINK); vbox->pack_start(*hbox, Gtk::PACK_SHRINK); show_all_children(); add_button(_("Apply"), Gtk::RESPONSE_OK); add_button(_("Cancel"), Gtk::RESPONSE_CANCEL); } void RangeLimitFilterDialog::on_response(int id) { if(id == Gtk::RESPONSE_OK){ ItemList items = ItemTreeView::mainInstance()->selectedItems(); for(size_t i=0; i < items.size(); ++i){ BodyItemPtr bodyItem = items[i]->findOwnerItem(); if(bodyItem){ std::ostream& os = MessageView::mainInstance()->cout(); applyRangeLimitFilter(*items[i]->seq(), bodyItem->body(), limitGradSpin.get_value(), edgeGradRatioSpin.get_value(), marginSpin.get_value(), os); items[i]->notifyUpdate(); } } } hide(); } void mergeSelectedMultiValueSeqItems() { ItemList items = ItemTreeView::mainInstance()->selectedItems(); if(!items.empty()){ string name; ItemList<> commonPath; MultiValueSeqItemPtr mergedItem = new MultiValueSeqItem(); MultiValueSeqPtr merged = mergedItem->seq(); for(size_t i=0; i < items.size(); ++i){ MultiValueSeqItemPtr item = items[i]; MultiValueSeqPtr seq = item->seq(); merged->setFrameRate(seq->frameRate()); for(int j=0; j < seq->numParts(); ++j){ //if(seq->isSeqValid(j)){ if(j >= merged->numParts() || seq->numFrames() > merged->numFrames()){ merged->setDimension(seq->numFrames(), j+1); } MultiValueSeq::View src = seq->part(j); std::copy(src.begin(), src.end(), merged->part(j).begin()); //} } ItemList<> path; for(Item* parent = item->parent(); parent; parent = parent->parent()){ path.push_front(parent); } if(i==0){ name = item->name(); commonPath = path; } else { name += " + " + item->name(); ItemList<> prev(commonPath); commonPath.clear(); ItemList<>::iterator p = prev.begin(); ItemList<>::iterator q = path.begin(); while(p != prev.end() && q != path.end()){ if(*p == *q){ commonPath.push_back(*p); } ++p; ++q; } } } mergedItem->setName(name); ItemPtr parentItem = commonPath.back(); parentItem->addChildItem(mergedItem); } } } void cnoid::initializeFilterDialogs(ExtensionManager& ext) { Gtk::Dialog* dialog; MenuManager& mm = ext.menuManager(); mm.setPath("/Filters"); dialog = ext.manage(new VelocityLimitFilterDialog()); mm.addItem(_("Velocity Limiting Filter")) ->signal_activate().connect(sigc::mem_fun(*dialog, &Gtk::Widget::show)); dialog = ext.manage(new RangeLimitFilterDialog()); mm.addItem(_("Range Limiting Filter")) ->signal_activate().connect(sigc::mem_fun(*dialog, &Gtk::Widget::show)); mm.addItem(_("Merge selected MultiValueSeqItems (Temporary version)")) ->signal_activate().connect(sigc::ptr_fun(&mergeSelectedMultiValueSeqItems)); } choreonoid-1.5.0/src/BodyPlugin/JointGraphView.cpp0000664000000000000000000001505012741425367020631 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "JointGraphView.h" #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; void JointGraphView::initializeClass(ExtensionManager* ext) { ext->viewManager().registerClass( "JointGraphView", N_("Joint Trajectories"), ViewManager::SINGLE_OPTIONAL); } JointGraphView::JointGraphView() : graph(this) { setDefaultLayoutArea(View::BOTTOM); QVBoxLayout* vbox = new QVBoxLayout(); vbox->addWidget(&graph); setLayout(vbox); itemTreeViewConnection = ItemTreeView::mainInstance()->sigSelectionChanged().connect( boost::bind(&JointGraphView::onItemSelectionChanged, this, _1)); linkSelection = LinkSelectionView::mainInstance(); } JointGraphView::~JointGraphView() { itemTreeViewConnection.disconnect(); bodyItemConnections.disconnect(); } QWidget* JointGraphView::indicatorOnInfoBar() { return &graph.statusLabel(); } void JointGraphView::onItemSelectionChanged(const ItemList& items) { if(items.empty()){ return; } if(itemInfos.size() == items.size()){ bool unchanged = true; int i=0; for(list::iterator it = itemInfos.begin(); it != itemInfos.end(); ++it){ if(it->item != items[i++]){ unchanged = false; break; } } if(unchanged){ return; } } itemInfos.clear(); for(size_t i=0; i < items.size(); ++i){ BodyItemPtr bodyItem = items[i]->findOwnerItem(); if(bodyItem){ itemInfos.push_back(ItemInfo()); list::iterator it = --itemInfos.end(); it->item = items[i]; it->seq = it->item->seq(); it->bodyItem = bodyItem; it->connections.add(it->item->sigUpdated().connect( boost::bind(&JointGraphView::onDataItemUpdated, this, it))); it->connections.add(it->item->sigDetachedFromRoot().connect( boost::bind(&JointGraphView::onDataItemDetachedFromRoot, this, it))); } } updateBodyItems(); setupGraphWidget(); } void JointGraphView::onDataItemDetachedFromRoot(std::list::iterator itemInfoIter) { itemInfos.erase(itemInfoIter); updateBodyItems(); setupGraphWidget(); } void JointGraphView::updateBodyItems() { bodyItemConnections.disconnect(); bodyItems.clear(); for(list::iterator it = itemInfos.begin(); it != itemInfos.end(); ++it){ set::iterator p = bodyItems.find(it->bodyItem); if(p == bodyItems.end()){ bodyItems.insert(it->bodyItem); bodyItemConnections.add( linkSelection->sigSelectionChanged(it->bodyItem).connect( boost::bind(&JointGraphView::setupGraphWidget, this))); bodyItemConnections.add( it->bodyItem->sigDetachedFromRoot().connect( boost::bind(&JointGraphView::onBodyItemDetachedFromRoot, this, it->bodyItem))); } } } void JointGraphView::onBodyItemDetachedFromRoot(BodyItemPtr bodyItem) { bool erased = false; list::iterator it = itemInfos.begin(); while(it != itemInfos.end()){ if(it->bodyItem == bodyItem){ it = itemInfos.erase(it); erased = true; } else { ++it; } } if(erased){ updateBodyItems(); setupGraphWidget(); } } void JointGraphView::setupGraphWidget() { graph.clearDataHandlers(); for(list::iterator it = itemInfos.begin(); it != itemInfos.end(); ++it){ if(it->bodyItem){ MultiValueSeqPtr seq = it->item->seq(); int numParts = seq->numParts(); BodyPtr body = it->bodyItem->body(); const std::vector& selectedLinkIndices = linkSelection->selectedLinkIndices(it->bodyItem); for(size_t i=0; i < selectedLinkIndices.size(); ++i){ Link* link = body->link(selectedLinkIndices[i]); if(link && link->jointId() >= 0 && link->jointId() < numParts){ addJointTrajectory(it, link, seq); } } } } } void JointGraphView::addJointTrajectory(std::list::iterator itemInfoIter, Link* joint, MultiValueSeqPtr seq) { GraphDataHandlerPtr handler(new GraphDataHandler()); handler->setLabel(joint->name()); handler->setValueLimits(joint->q_lower(), joint->q_upper()); handler->setVelocityLimits(joint->dq_lower(), joint->dq_upper()); handler->setFrameProperties(seq->numFrames(), seq->frameRate()); handler->setDataRequestCallback( boost::bind(&JointGraphView::onDataRequest, this, itemInfoIter, joint->jointId(), _1, _2, _3)); handler->setDataModifiedCallback( boost::bind(&JointGraphView::onDataModified, this, itemInfoIter, joint->jointId(), _1, _2, _3)); graph.addDataHandler(handler); itemInfoIter->handlers.push_back(handler); } void JointGraphView::onDataItemUpdated(std::list::iterator itemInfoIter) { const MultiValueSeqPtr& seq = itemInfoIter->item->seq(); int newNumFrames = seq->numFrames(); double newFrameRate = seq->frameRate(); for(size_t i=0; i < itemInfoIter->handlers.size(); ++i){ itemInfoIter->handlers[i]->setFrameProperties(newNumFrames, newFrameRate); itemInfoIter->handlers[i]->update(); } } void JointGraphView::onDataRequest (std::list::iterator itemInfoIter, int jointId, int frame, int size, double* out_values) { MultiValueSeq::Part part = itemInfoIter->seq->part(jointId); for(int i=0; i < size; ++i){ out_values[i] = part[frame + i]; } } void JointGraphView::onDataModified (std::list::iterator itemInfoIter, int jointId, int frame, int size, double* values) { MultiValueSeq::Part part = itemInfoIter->seq->part(jointId); for(int i=0; i < size; ++i){ part[frame + i] = values[i]; } itemInfoIter->connections.block(); itemInfoIter->item->notifyUpdate(); itemInfoIter->connections.unblock(); } bool JointGraphView::storeState(Archive& archive) { return graph.storeState(archive); } bool JointGraphView::restoreState(const Archive& archive) { return graph.restoreState(archive); } choreonoid-1.5.0/src/BodyPlugin/MultiDeviceStateSeqItem.h0000664000000000000000000000174212741425367022104 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_PLUGIN_MULTI_DEVICE_STATE_SEQ_ITEM_H_INCLUDED #define CNOID_BODY_PLUGIN_MULTI_DEVICE_STATE_SEQ_ITEM_H_INCLUDED #include #include #include "exportdecl.h" namespace cnoid { class MultiDeviceStateSeqItem : public AbstractMultiSeqItem { public: static void initializeClass(ExtensionManager* ext); MultiDeviceStateSeqItem(); MultiDeviceStateSeqItem(MultiDeviceStateSeqPtr seq); MultiDeviceStateSeqItem(const MultiDeviceStateSeqItem& org); virtual ~MultiDeviceStateSeqItem(); virtual AbstractMultiSeqPtr abstractMultiSeq(); MultiDeviceStateSeqPtr seq() { return seq_; } protected: virtual Item* doDuplicate() const; virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: MultiDeviceStateSeqPtr seq_; }; typedef ref_ptr MultiDeviceStateSeqItemPtr; } #endif choreonoid-1.5.0/src/BodyPlugin/JointSliderView.h0000664000000000000000000000107512741425367020461 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODYPLUGIN_JOINT_SLIDER_VIEW_H_INCLUDED #define CNOID_BODYPLUGIN_JOINT_SLIDER_VIEW_H_INCLUDED #include namespace cnoid { class JointSliderViewImpl; class JointSliderView : public cnoid::View { public: static void initializeClass(ExtensionManager* ext); JointSliderView(); virtual ~JointSliderView(); private: JointSliderViewImpl* impl; virtual bool storeState(Archive& archive); virtual bool restoreState(const Archive& archive); }; } #endif choreonoid-1.5.0/src/BodyPlugin/CMakeLists.txt0000664000000000000000000000475112741425367017773 0ustar rootroot # @author Shin'ichiro Nakaoka #set(CMAKE_BUILD_TYPE Debug) #set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -g") #set_source_files_properties(SimulatorItem.cpp PROPERTIES COMPILE_FLAGS "-O0 -g") #set_source_files_properties(WorldLogFileItem.cpp PROPERTIES COMPILE_FLAGS "-O0 -g") set(sources BodyPlugin.cpp BodyItem.cpp WorldItem.cpp BodyMotionItem.cpp ZMPSeqItem.cpp MultiDeviceStateSeqItem.cpp WorldLogFileItem.cpp SimulatorItem.cpp SubSimulatorItem.cpp ControllerItem.cpp BodyMotionControllerItem.cpp SimulationScriptItem.cpp AISTSimulatorItem.cpp GLVisionSimulatorItem.cpp SensorVisualizerItem.cpp BodyTrackingCameraItem.cpp BodyMotionEngine.cpp KinematicFaultChecker.cpp #FilterDialogs.cpp EditableSceneBody.cpp BodyBar.cpp LeggedBodyBar.cpp KinematicsBar.cpp SimulationBar.cpp LinkTreeWidget.cpp LinkSelectionView.cpp LinkPropertyView.cpp BodyLinkView.cpp JointSliderView.cpp JointStateView.cpp BodyStateView.cpp JointGraphView.cpp LinkGraphView.cpp HrpsysFileIO.cpp CollisionSeq.cpp CollisionSeqItem.cpp CollisionSeqEngine.cpp ) set(headers BodyItem.h WorldItem.h BodyMotionItem.h MultiDeviceStateSeqItem.h WorldLogFileItem.h SimulatorItem.h SubSimulatorItem.h ControllerItem.h SimulationScriptItem.h SensorVisualizerItem.h BodyTrackingCameraItem.h KinematicFaultChecker.h BodyBar.h KinematicsBar.h SimulationBar.h LinkTreeWidget.h LinkSelectionView.h EditableSceneBody.h exportdecl.h gettext.h CollisionSeq.h CollisionSeqItem.h CollisionSeqEngine.h ) set(target CnoidBodyPlugin) make_gettext_mofiles(${target} mofiles) if(NOT QT5) QT4_WRAP_CPP(sources LinkTreeWidget.h OPTIONS "-DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED" ) QT4_ADD_RESOURCES(RC_SRCS BodyPlugin.qrc) else() QT5_WRAP_CPP(sources LinkTreeWidget.h OPTIONS "-DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED" ) QT5_ADD_RESOURCES(RC_SRCS BodyPlugin.qrc) endif() include_directories(${CMAKE_CURRENT_SOURCE_DIR}) add_cnoid_plugin(${target} SHARED ${sources} ${headers} ${mofiles} ${RC_SRCS}) if(QT5) qt5_use_modules(${target} Gui OpenGL Network) endif() set(boost_libraries ${Boost_REGEX_LIBRARY} ${Boost_IOSTREAMS_LIBRARY}) if(MSVC) set(boost_libraries ${boost_libraries} ${Boost_BZIP2_LIBRARY} ${Boost_ZLIB_LIBRARY}) endif() target_link_libraries(${target} CnoidBase CnoidBody ${boost_libraries}) apply_common_setting_for_plugin(${target} "${headers}") if(ENABLE_PYTHON) add_subdirectory(python) endif() choreonoid-1.5.0/src/BodyPlugin/JointGraphView.h0000664000000000000000000000365012741425367020301 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODYPLUGIN_JOINT_GRAPH_VIEW_H_INCLUDED #define CNOID_BODYPLUGIN_JOINT_GRAPH_VIEW_H_INCLUDED #include "BodyItem.h" #include "LinkSelectionView.h" #include #include #include #include #include namespace cnoid { class Archive; class JointGraphView : public View { public: static void initializeClass(ExtensionManager* ext); JointGraphView(); ~JointGraphView(); virtual bool storeState(Archive& archive); virtual bool restoreState(const Archive& archive); protected: virtual QWidget* indicatorOnInfoBar(); private: GraphWidget graph; LinkSelectionView* linkSelection; struct ItemInfo { ~ItemInfo(){ connections.disconnect(); } MultiValueSeqItemPtr item; MultiValueSeqPtr seq; BodyItemPtr bodyItem; ConnectionSet connections; std::vector handlers; }; std::list itemInfos; std::set bodyItems; ConnectionSet bodyItemConnections; Connection itemTreeViewConnection; void onItemSelectionChanged(const ItemList& items); void onDataItemDetachedFromRoot(std::list::iterator itemInfoIter); void updateBodyItems(); void onBodyItemDetachedFromRoot(BodyItemPtr bodyItem); void setupGraphWidget(); void addJointTrajectory(std::list::iterator itemInfoIter, Link* joint, MultiValueSeqPtr seq); void onDataItemUpdated(std::list::iterator itemInfoIter); void onDataRequest(std::list::iterator itemInfoIter, int jointId, int frame, int size, double* out_values); void onDataModified(std::list::iterator itemInfoIter, int jointId, int frame, int size, double* values); }; } #endif choreonoid-1.5.0/src/BodyPlugin/BodyBar.h0000664000000000000000000000163012741425367016717 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_PLUGIN_BODY_BAR_H #define CNOID_BODY_PLUGIN_BODY_BAR_H #include #include #include #include "exportdecl.h" namespace cnoid { class BodyItem; class BodyBarImpl; class CNOID_EXPORT BodyBar : public ToolBar { public: static BodyBar* instance(); virtual ~BodyBar(); SignalProxy& selectedBodyItems)> sigBodyItemSelectionChanged(); SignalProxy sigCurrentBodyItemChanged(); const ItemList& selectedBodyItems(); const ItemList& targetBodyItems(); BodyItem* currentBodyItem(); bool makeSingleSelection(BodyItem* bodyItem); protected: virtual bool storeState(Archive& archive); virtual bool restoreState(const Archive& archive); private: BodyBar(); BodyBarImpl* impl; }; } #endif choreonoid-1.5.0/src/BodyPlugin/JointSliderView.cpp0000664000000000000000000005027312741425367021020 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "JointSliderView.h" #include "BodyItem.h" #include "BodyBar.h" #include "LinkSelectionView.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace { class SliderUnit; // slider resolution const double r = 1000000.0; } namespace cnoid { class JointSliderViewImpl : public QObject { public: JointSliderViewImpl(JointSliderView* self); ~JointSliderViewImpl(); JointSliderView* self; vector activeJointIds; vector jointSliders; BodyItemPtr currentBodyItem; Connection connectionOfKinematicStateChanged; Connection connectionOfCurrentBodyItemChanged; LazyCaller updateJointPositionsLater; Connection connectionOfBodyItemDetachedFromRoot; Connection connectionOfLinkSelectionChanged; ToggleToolButton showAllToggle; ToggleToolButton jointIdToggle; ToggleToolButton nameToggle; ToggleToolButton labelOnLeftToggle; ToggleToolButton putSpinEntryCheck; ToggleToolButton putSliderCheck; SpinBox numColumnsSpin; QButtonGroup unitRadioGroup; ToggleToolButton degreeRadio; ToggleToolButton radianRadio; QScrollArea scrollArea; QWidget sliderGridBase; QGridLayout sliderGrid; void updateSliderGrid(); void attachSliderUnits(SliderUnit* unit, int row, int col); void initializeSliders(int num); void onNumColumnsChanged(int n); void onUnitChanged(); bool eventFilter(QObject* object, QEvent* event); bool onSliderKeyPressEvent(Slider* slider, QKeyEvent* event); void focusSlider(int index); void onJointSliderChanged(int sliderIndex); void updateJointPositions(); void onCurrentBodyItemChanged(BodyItem* bodyItem); void enableConnectionToSigKinematicStateChanged(bool on); bool storeState(Archive& archive); bool restoreState(const Archive& archive); void restoreCurrentBodyItem(const Archive& archive); }; } namespace { class SliderUnit { public: JointSliderViewImpl* viewImpl; int index; QLabel idLabel; QLabel nameLabel; DoubleSpinBox spin; QLabel lowerLimitLabel; Slider slider; QLabel upperLimitLabel; double unitConversionRatio; SliderUnit(JointSliderViewImpl* viewImpl, int index) : viewImpl(viewImpl), index(index), idLabel(&viewImpl->sliderGridBase), nameLabel(&viewImpl->sliderGridBase), spin(&viewImpl->sliderGridBase), lowerLimitLabel(&viewImpl->sliderGridBase), slider(Qt::Horizontal, &viewImpl->sliderGridBase), upperLimitLabel(&viewImpl->sliderGridBase) { idLabel.setAlignment(Qt::AlignRight | Qt::AlignVCenter); nameLabel.setAlignment(Qt::AlignCenter); nameLabel.setTextInteractionFlags(Qt::TextSelectableByMouse); lowerLimitLabel.setAlignment(Qt::AlignCenter); upperLimitLabel.setAlignment(Qt::AlignCenter); spin.setAlignment(Qt::AlignCenter); spin.sigValueChanged().connect(boost::bind(&SliderUnit::onSpinValueChanged, this, _1)); slider.setSingleStep(0.1 * r); slider.setProperty("JointSliderIndex", index); slider.installEventFilter(viewImpl); slider.sigValueChanged().connect(boost::bind(&SliderUnit::onSliderValueChanged, this, _1)); } void setRangeLabelValues(double lower, double upper, int precision){ if(fabs(lower) > 10000.0){ lowerLimitLabel.setText(QString::number(lower, 'g', precision)); } else { lowerLimitLabel.setText(QString::number(lower, 'f', precision)); } if(fabs(upper) > 10000.0){ upperLimitLabel.setText(QString::number(upper, 'g', precision)); } else { upperLimitLabel.setText(QString::number(upper, 'f', precision)); } } void initialize(Link* joint){ if(viewImpl->putSpinEntryCheck.isChecked()){ spin.show(); } else { spin.hide(); } if(viewImpl->putSliderCheck.isChecked()){ lowerLimitLabel.show(); slider.show(); upperLimitLabel.show(); } else { lowerLimitLabel.hide(); slider.hide(); upperLimitLabel.hide(); } nameLabel.setText(joint->name().c_str()); if(viewImpl->nameToggle.isChecked()){ nameLabel.show(); } else { nameLabel.hide(); } idLabel.setText(QString("%1:").arg(joint->jointId())); if(viewImpl->jointIdToggle.isChecked()){ idLabel.show(); } else { idLabel.hide(); } unitConversionRatio = 1.0; double max; if(joint->isRotationalJoint()){ if(viewImpl->degreeRadio.isChecked()){ unitConversionRatio = 180.0 / PI; } max = unitConversionRatio * 2.0 * PI; } else { // SLIDE_JOINT max = std::numeric_limits::max(); } double lower = std::max(unitConversionRatio * joint->q_lower(), -max); double upper = std::min(unitConversionRatio * joint->q_upper(), max); slider.blockSignals(true); spin.blockSignals(true); slider.setRange(lower * r, upper * r); if(unitConversionRatio != 1.0){ // degree mode spin.setDecimals(1); spin.setRange(-999.9, 999.9); spin.setSingleStep(0.1); setRangeLabelValues(lower, upper, 1); } else { // radian or meter spin.setDecimals(4); spin.setRange(-9.99, 9.99); spin.setSingleStep(0.0001); setRangeLabelValues(lower, upper, 3); } spin.blockSignals(false); slider.blockSignals(false); updatePosition(joint); } double value() const { return spin.value() / unitConversionRatio; } void updatePosition(Link* joint) { double v = unitConversionRatio * joint->q(); if(v != spin.value()){ slider.blockSignals(true); spin.blockSignals(true); spin.setValue(v); slider.setValue(v * r); spin.blockSignals(false); slider.blockSignals(false); } } void onSliderValueChanged(double value){ spin.blockSignals(true); spin.setValue(value / r); spin.blockSignals(false); viewImpl->onJointSliderChanged(index); } void onSpinValueChanged(double value){ slider.blockSignals(true); slider.setValue(value * r); slider.blockSignals(false); viewImpl->onJointSliderChanged(index); } void removeWidgesFrom(QGridLayout& grid){ grid.removeWidget(&idLabel); grid.removeWidget(&nameLabel); grid.removeWidget(&spin); grid.removeWidget(&lowerLimitLabel); grid.removeWidget(&slider); grid.removeWidget(&upperLimitLabel); } }; } void JointSliderView::initializeClass(ExtensionManager* ext) { ext->viewManager().registerClass( "JointSliderView", N_("Joint Sliders"), ViewManager::SINGLE_DEFAULT); } JointSliderView::JointSliderView() { impl = new JointSliderViewImpl(this); } JointSliderViewImpl::JointSliderViewImpl(JointSliderView* self) : self(self) { using boost::bind; self->setDefaultLayoutArea(View::CENTER); self->setSizePolicy(QSizePolicy::Ignored, QSizePolicy::Ignored); QVBoxLayout* vbox = new QVBoxLayout(); vbox->setSpacing(0); QHBoxLayout* hbox = new QHBoxLayout(); hbox->setSpacing(0); showAllToggle.setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); showAllToggle.setText(_("All")); showAllToggle.setToolTip(_("Show all the joints including unselected ones")); showAllToggle.setChecked(true); showAllToggle.sigToggled().connect(bind(&JointSliderViewImpl::updateSliderGrid, this)); hbox->addWidget(&showAllToggle); jointIdToggle.setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); jointIdToggle.setText(_("ID")); jointIdToggle.setToolTip(_("Show joint IDs")); jointIdToggle.setChecked(false); jointIdToggle.sigToggled().connect(bind(&JointSliderViewImpl::updateSliderGrid, this)); hbox->addWidget(&jointIdToggle); nameToggle.setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); nameToggle.setText(_("Name")); nameToggle.setToolTip(_("Show joint names")); nameToggle.setChecked(true); nameToggle.sigToggled().connect(bind(&JointSliderViewImpl::updateSliderGrid, this)); hbox->addWidget(&nameToggle); putSpinEntryCheck.setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); putSpinEntryCheck.setText(_("Entry")); putSpinEntryCheck.setToolTip(_("Show spin entries for numerical input")); putSpinEntryCheck.setChecked(true); putSpinEntryCheck.sigToggled().connect(bind(&JointSliderViewImpl::updateSliderGrid, this)); hbox->addWidget(&putSpinEntryCheck); putSliderCheck.setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); putSliderCheck.setText(_("Slider")); putSliderCheck.setToolTip(_("Show sliders for chaning joint positions")); putSliderCheck.setChecked(true); putSliderCheck.sigToggled().connect(bind(&JointSliderViewImpl::updateSliderGrid, this)); hbox->addWidget(&putSliderCheck); labelOnLeftToggle.setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); labelOnLeftToggle.setText(_("IL")); labelOnLeftToggle.setToolTip(_("Put all the components for each joint in-line")); labelOnLeftToggle.setChecked(true); labelOnLeftToggle.sigToggled().connect(bind(&JointSliderViewImpl::updateSliderGrid, this)); hbox->addWidget(&labelOnLeftToggle); hbox->addSpacing(4); hbox->addWidget(new VSeparator()); hbox->addSpacing(4); numColumnsSpin.setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); numColumnsSpin.setToolTip(_("The number of columns")); numColumnsSpin.setRange(1, 9); numColumnsSpin.setValue(1); numColumnsSpin.sigValueChanged().connect( bind(&JointSliderViewImpl::onNumColumnsChanged, this, _1)); hbox->addWidget(&numColumnsSpin); hbox->addSpacing(4); hbox->addWidget(new VSeparator()); hbox->addSpacing(4); unitRadioGroup.addButton(°reeRadio); degreeRadio.setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); degreeRadio.setText(_("Deg.")); degreeRadio.setChecked(true); degreeRadio.sigToggled().connect(bind(&JointSliderViewImpl::onUnitChanged, this)); hbox->addWidget(°reeRadio); unitRadioGroup.addButton(&radianRadio); radianRadio.setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); radianRadio.setText(_("Rad.")); radianRadio.sigToggled().connect(bind(&JointSliderViewImpl::onUnitChanged, this)); hbox->addWidget(&radianRadio); hbox->addStretch(); vbox->addLayout(hbox); sliderGrid.setSpacing(0); QVBoxLayout* gridVBox = new QVBoxLayout(); gridVBox->addLayout(&sliderGrid); gridVBox->addStretch(); sliderGridBase.setLayout(gridVBox); scrollArea.setFrameShape(QFrame::NoFrame); scrollArea.setWidgetResizable(true); scrollArea.setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); scrollArea.setVerticalScrollBarPolicy(Qt::ScrollBarAsNeeded); scrollArea.setWidget(&sliderGridBase); vbox->addWidget(&scrollArea, 1); self->setLayout(vbox); updateSliderGrid(); updateJointPositionsLater.setFunction(bind(&JointSliderViewImpl::updateJointPositions, this)); updateJointPositionsLater.setPriority(LazyCaller::PRIORITY_LOW); connectionOfCurrentBodyItemChanged = BodyBar::instance()->sigCurrentBodyItemChanged().connect( bind(&JointSliderViewImpl::onCurrentBodyItemChanged, this, _1)); self->sigActivated().connect(bind(&JointSliderViewImpl::enableConnectionToSigKinematicStateChanged, this, true)); self->sigDeactivated().connect(bind(&JointSliderViewImpl::enableConnectionToSigKinematicStateChanged, this, false)); } JointSliderView::~JointSliderView() { delete impl; } JointSliderViewImpl::~JointSliderViewImpl() { for(size_t i=0; i < jointSliders.size(); ++i){ delete jointSliders[i]; } connectionOfKinematicStateChanged.disconnect(); connectionOfCurrentBodyItemChanged.disconnect(); } void JointSliderViewImpl::updateSliderGrid() { if(!currentBodyItem){ initializeSliders(0); } else { BodyPtr body = currentBodyItem->body(); int numJoints = body->numJoints(); if(!showAllToggle.isChecked()){ const boost::dynamic_bitset<>& linkSelection = LinkSelectionView::mainInstance()->linkSelection(currentBodyItem); activeJointIds.clear(); for(int i=0; i < numJoints; ++i){ Link* joint = body->joint(i); if(joint->isValid() && linkSelection[joint->index()]){ activeJointIds.push_back(i); } } } else { activeJointIds.resize(numJoints); for(int i=0; i < numJoints; ++i){ activeJointIds[i] = i; } } int n = activeJointIds.size(); initializeSliders(n); int nColumns = numColumnsSpin.value(); bool isLabelAtLeft = labelOnLeftToggle.isChecked(); int nUnitColumns, nGridColumns; if(isLabelAtLeft){ nUnitColumns = 6; nGridColumns = nColumns * nUnitColumns; } else { nUnitColumns = 5; nGridColumns = nColumns * nUnitColumns; } int row = 0; int col = 0; for(int i=0; i < n; ++i){ SliderUnit* unit = jointSliders[i]; unit->initialize(body->joint(activeJointIds[i])); if(!isLabelAtLeft){ sliderGrid.addWidget(&unit->nameLabel, row, col, 1, nUnitColumns); sliderGrid.addWidget(&unit->idLabel, row + 1, col); attachSliderUnits(unit, row + 1, col + 1); col += nUnitColumns; if(col == nGridColumns){ col = 0; row += 2; } } else { sliderGrid.addWidget(&unit->idLabel,row, col); sliderGrid.addWidget(&unit->nameLabel,row, col + 1); attachSliderUnits(unit, row, col + 2); col += nUnitColumns; if(col == nGridColumns){ col = 0; row += 1; } } } } } void JointSliderViewImpl::attachSliderUnits(SliderUnit* unit, int row, int col) { sliderGrid.addWidget(&unit->spin, row, col); sliderGrid.addWidget(&unit->lowerLimitLabel,row, col + 1); sliderGrid.addWidget(&unit->slider, row, col + 2); sliderGrid.addWidget(&unit->upperLimitLabel,row, col + 3); } void JointSliderViewImpl::initializeSliders(int num) { int prevNum = jointSliders.size(); for(int i=0; i < prevNum; ++i){ jointSliders[i]->removeWidgesFrom(sliderGrid); } if(num > prevNum){ for(int i=prevNum; i < num; ++i){ int index = jointSliders.size(); jointSliders.push_back(new SliderUnit(this, index)); } } else if(num < prevNum){ for(int i=num; i < prevNum; ++i){ delete jointSliders[i]; } jointSliders.resize(num); } } void JointSliderViewImpl::onNumColumnsChanged(int n) { callLater(boost::bind(&JointSliderViewImpl::updateSliderGrid, this)); } void JointSliderViewImpl::onUnitChanged() { BodyPtr body = currentBodyItem->body(); for(size_t i=0; i < activeJointIds.size(); ++i){ int jointId = activeJointIds[i]; jointSliders[jointId]->initialize(body->joint(jointId)); } } bool JointSliderViewImpl::eventFilter(QObject* object, QEvent* event) { Slider* slider = dynamic_cast(object); if(slider && (event->type() == QEvent::KeyPress)){ return onSliderKeyPressEvent(slider, static_cast(event)); } return QObject::eventFilter(object, event); } bool JointSliderViewImpl::onSliderKeyPressEvent(Slider* slider, QKeyEvent* event) { int index = slider->property("JointSliderIndex").toInt(); bool doContinue = false; switch(event->key()){ case Qt::Key_Up: focusSlider(index - 1); break; case Qt::Key_Down: focusSlider(index + 1); break; default: doContinue = true; break; } return !doContinue; } void JointSliderViewImpl::focusSlider(int index) { if(index >= 0 && index < static_cast(jointSliders.size())){ Slider& slider = jointSliders[index]->slider; slider.setFocus(Qt::OtherFocusReason); scrollArea.ensureWidgetVisible(&slider); } } void JointSliderViewImpl::onJointSliderChanged(int sliderIndex) { int jointId = activeJointIds[sliderIndex]; Link* joint = currentBodyItem->body()->joint(jointId); joint->q() = jointSliders[sliderIndex]->value(); connectionOfKinematicStateChanged.block(); currentBodyItem->notifyKinematicStateChange(true); connectionOfKinematicStateChanged.unblock(); } void JointSliderViewImpl::updateJointPositions() { BodyPtr body = currentBodyItem->body(); for(size_t i=0; i < activeJointIds.size(); ++i){ int jointId = activeJointIds[i]; jointSliders[i]->updatePosition(body->joint(jointId)); } } void JointSliderViewImpl::onCurrentBodyItemChanged(BodyItem* bodyItem) { currentBodyItem = bodyItem; connectionOfLinkSelectionChanged.disconnect(); if(currentBodyItem){ connectionOfLinkSelectionChanged = LinkSelectionView::mainInstance()->sigSelectionChanged(bodyItem).connect (boost::bind(&JointSliderViewImpl::updateSliderGrid, this)); } updateSliderGrid(); enableConnectionToSigKinematicStateChanged(true); } void JointSliderViewImpl::enableConnectionToSigKinematicStateChanged(bool on) { connectionOfKinematicStateChanged.disconnect(); if(on && self->isActive() && currentBodyItem){ connectionOfKinematicStateChanged = currentBodyItem->sigKinematicStateChanged().connect( //bind(&JointSliderViewImpl::updateJointPositions, this)); boost::bind(updateJointPositionsLater)); updateJointPositions(); } } bool JointSliderView::storeState(Archive& archive) { return impl->storeState(archive); } bool JointSliderViewImpl::storeState(Archive& archive) { archive.write("showAllJoints", (showAllToggle.isChecked())); archive.write("jointId", (jointIdToggle.isChecked())); archive.write("name", (nameToggle.isChecked())); archive.write("numColumns", (numColumnsSpin.value())); archive.write("spinBox", (putSpinEntryCheck.isChecked())); archive.write("slider", (putSliderCheck.isChecked())); archive.write("labelOnLeft", (labelOnLeftToggle.isChecked())); archive.writeItemId("currentBodyItem", currentBodyItem); return true; } bool JointSliderView::restoreState(const Archive& archive) { return impl->restoreState(archive); } bool JointSliderViewImpl::restoreState(const Archive& archive) { showAllToggle.setChecked(archive.get("showAllJoints", true)); jointIdToggle.setChecked(archive.get("jointId", false)); nameToggle.setChecked(archive.get("name", true)); numColumnsSpin.setValue(archive.get("numColumns", 1)); putSpinEntryCheck.setChecked(archive.get("spinBox", true)); putSliderCheck.setChecked(archive.get("slider", true)); labelOnLeftToggle.setChecked(archive.get("labelOnLeft", true)); archive.addPostProcess( boost::bind(&JointSliderViewImpl::restoreCurrentBodyItem, this, boost::ref(archive))); return true; } void JointSliderViewImpl::restoreCurrentBodyItem(const Archive& archive) { onCurrentBodyItemChanged(archive.findItem("currentBodyItem")); } choreonoid-1.5.0/src/BodyPlugin/SubSimulatorItem.cpp0000664000000000000000000000214212741425367021177 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "SubSimulatorItem.h" #include #include #include "gettext.h" using namespace cnoid; SubSimulatorItem::SubSimulatorItem() { isEnabled_ = true; } SubSimulatorItem::SubSimulatorItem(const SubSimulatorItem& org) : Item(org) { isEnabled_ = org.isEnabled_; } bool SubSimulatorItem::isEnabled() { return true; } bool SubSimulatorItem::setEnabled(bool on) { isEnabled_ = on; return isEnabled_; } bool SubSimulatorItem::initializeSimulation(SimulatorItem* simulatorItem) { return true; } void SubSimulatorItem::finalizeSimulation() { } void SubSimulatorItem::doPutProperties(PutPropertyFunction& putProperty) { putProperty(_("Enabled"), isEnabled(), boost::bind(&SubSimulatorItem::setEnabled, this, _1)); } bool SubSimulatorItem::store(Archive& archive) { archive.write("enabled", isEnabled()); return true; } bool SubSimulatorItem::restore(const Archive& archive) { bool on; if(archive.read("enabled", on)){ setEnabled(on); } return true; } choreonoid-1.5.0/src/BodyPlugin/BodyPlugin.cpp0000664000000000000000000000712212741425367020006 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "WorldItem.h" #include "BodyItem.h" #include "BodyMotionItem.h" #include "MultiDeviceStateSeqItem.h" #include "ZMPSeqItem.h" #include "SimulatorItem.h" #include "AISTSimulatorItem.h" #include "BodyMotionControllerItem.h" #include "GLVisionSimulatorItem.h" #include "WorldLogFileItem.h" #include "SensorVisualizerItem.h" #include "BodyTrackingCameraItem.h" //#include "FilterDialogs.h" #include "KinematicFaultChecker.h" #include "BodyBar.h" #include "LeggedBodyBar.h" #include "LinkSelectionView.h" #include "LinkPropertyView.h" #include "BodyLinkView.h" #include "JointSliderView.h" #include "JointStateView.h" #include "BodyStateView.h" #include "JointGraphView.h" #include "LinkGraphView.h" #include "KinematicsBar.h" #include "SimulationBar.h" #include "BodyMotionEngine.h" #include "EditableSceneBody.h" #include "HrpsysFileIO.h" #include "CollisionSeqEngine.h" #include "CollisionSeqItem.h" #include #include #include #include #include "gettext.h" using namespace cnoid; namespace { class BodyPlugin : public Plugin { public: BodyPlugin() : Plugin("Body") { setActivationPriority(0); } virtual bool initialize(){ Body::addCustomizerDirectory( executableTopDirectory() + "/" + CNOID_PLUGIN_SUBDIR + "/customizer"); WorldItem::initializeClass(this); BodyItem::initializeClass(this); BodyMotionItem::initializeClass(this); SimulatorItem::initializeClass(this); AISTSimulatorItem::initializeClass(this); BodyMotionControllerItem::initializeClass(this); GLVisionSimulatorItem::initializeClass(this); WorldLogFileItem::initializeClass(this); SensorVisualizerItem::initializeClass(this); BodyTrackingCameraItem::initializeClass(this); BodyMotionEngine::initialize(this); CollisionSeqEngine::initialize(this); //initializeFilterDialogs(*this); KinematicFaultChecker::initialize(this); // This should be after the initialization of BodyMotionEngine ZMPSeqItem::initializeClass(this); MultiDeviceStateSeqItem::initializeClass(this); EditableSceneBody::initializeClass(this); SimulationBar::initialize(this); addToolBar(BodyBar::instance()); addToolBar(LeggedBodyBar::instance()); addToolBar(KinematicsBar::instance()); LinkSelectionView::initializeClass(this); LinkPropertyView::initializeClass(this); BodyLinkView::initializeClass(this); JointSliderView::initializeClass(this); JointStateView::initializeClass(this); BodyStateView::initializeClass(this); JointGraphView::initializeClass(this); LinkGraphView::initializeClass(this); CollisionSeqItem::initislizeClass(this); initializeHrpsysFileIO(this); return true; } virtual const char* description() { static std::string text = str(fmt(_("Body Plugin Version %1%\n")) % CNOID_FULL_VERSION_STRING) + "\n" + _("This plugin has been developed by Shin'ichiro Nakaoka and Choreonoid Development Team, AIST, " "and is distributed as a part of the Choreonoid package.\n" "\n") + LGPLtext() + "\n" + _("The Collision deteciton module used in this plugin is implemented using " "the OPCODE library (http://www.codercorner.com/Opcode.htm).\n"); return text.c_str(); } }; } CNOID_IMPLEMENT_PLUGIN_ENTRY(BodyPlugin); choreonoid-1.5.0/src/BodyPlugin/ControllerItem.h0000664000000000000000000000623212741425367020342 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_PLUGIN_CONTROLLER_ITEM_H #define CNOID_BODY_PLUGIN_CONTROLLER_ITEM_H #include "SimulatorItem.h" #include "exportdecl.h" namespace cnoid { class Body; class ControllerItemIO { public: virtual Body* body() = 0; virtual double timeStep() const = 0; virtual double currentTime() const = 0; virtual std::string optionString() const = 0; //! \deprecated Use timeStep(). virtual double worldTimeStep() const; }; class CNOID_EXPORT ControllerItem : public Item { public: // for the backward compatibility typedef ControllerItemIO Target; ControllerItem(); ControllerItem(const ControllerItem& org); virtual ~ControllerItem(); bool isActive() const; bool isImmediateMode() const { return isImmediateMode_; } void setImmediateMode(bool on); const std::string& optionString() const { return optionString_; } bool splitOptionString(const std::string& optionString, std::vector& out_options) const; /** This function is called before the simulation world is initialized. @note If the body() of the target returns a null pointer, a controller is not associated with a particular body. This is for a controller which does some general operations. @note This function is called from the main thread. */ virtual bool initialize(ControllerItemIO* io); /** This function is called after the simulation world is initialized. */ virtual bool start(); //! \deprecated virtual bool start(ControllerItemIO* io); virtual double timeStep() const = 0; /** \note This function is called from the simulation thread. */ virtual void input() = 0; /* @return false to request stopping @note The body oject given in the initalized function() must not be accessed in this function. The access should be done in input() and output(). @note This function is called from the simulation thread. */ virtual bool control() = 0; /** @note This function is called from the simulation thread. */ virtual void output() = 0; /** @note This function is called from the main thread. */ virtual void stop(); SignalProxy sigMessage(); std::string getMessage(); #ifdef ENABLE_SIMULATION_PROFILING virtual void getProfilingNames(std::vector& profilingNames); virtual void getProfilingTimes(std::vector& profilingTimes); #endif protected: void putMessage(const std::string& message); virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: SimulatorItemPtr simulatorItem_; bool isImmediateMode_; std::string message_; Signal sigMessage_; std::string optionString_; friend class SimulatorItemImpl; void setSimulatorItem(SimulatorItem* item) { simulatorItem_ = item; } }; typedef ref_ptr ControllerItemPtr; } #endif choreonoid-1.5.0/src/BodyPlugin/SensorVisualizerItem.h0000664000000000000000000000170012741425367021541 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_PLUGIN_SENSOR_VISUALIZER_ITEM_H #define CNOID_BODY_PLUGIN_SENSOR_VISUALIZER_ITEM_H #include #include #include "exportdecl.h" namespace cnoid { class SensorVisualizerItemImpl; class CNOID_EXPORT SensorVisualizerItem : public Item, public SceneProvider { public: static void initializeClass(ExtensionManager* ext); SensorVisualizerItem(); SensorVisualizerItem(const SensorVisualizerItem& org); virtual ~SensorVisualizerItem(); virtual SgNode* getScene(); protected: virtual Item* doDuplicate() const; virtual void onPositionChanged(); virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: SensorVisualizerItemImpl* impl; }; typedef ref_ptr SensorVisualizerItemPtr; } #endif choreonoid-1.5.0/src/BodyPlugin/KinematicsBar.h0000664000000000000000000000203612741425367020112 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_PLUGIN_KINEMATICS_BAR_H #define CNOID_BODY_PLUGIN_KINEMATICS_BAR_H #include #include "exportdecl.h" namespace cnoid { class KinematicsBarImpl; class CNOID_EXPORT KinematicsBar : public ToolBar { public: static KinematicsBar* instance(); virtual ~KinematicsBar(); enum Mode { AUTO_MODE, FK_MODE, IK_MODE }; int mode() const; bool isPositionDraggerEnabled() const; bool isFootSnapMode() const; void getSnapThresholds(double& distance, double& angle) const; bool isJointPositionLimitMode() const; bool isPenetrationBlockMode() const; double penetrationBlockDepth() const; bool isCollisionLinkHighlihtMode() const; int collisionDetectionPriority() const; SignalProxy sigCollisionVisualizationChanged(); protected: virtual bool storeState(Archive& archive); virtual bool restoreState(const Archive& archive); private: KinematicsBar(); KinematicsBarImpl* impl; }; } #endif choreonoid-1.5.0/src/BodyPlugin/WorldLogFileItem.h0000664000000000000000000000322312741425367020545 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_PLUGIN_WORLD_LOG_FILE_ITEM_H #define CNOID_BODY_PLUGIN_WORLD_LOG_FILE_ITEM_H #include #include "exportdecl.h" namespace cnoid { class SE3; class DeviceState; class WorldLogFileItemImpl; class CNOID_EXPORT WorldLogFileItem : public Item { public: static void initializeClass(ExtensionManager* ext); WorldLogFileItem(); WorldLogFileItem(const WorldLogFileItem& org); ~WorldLogFileItem(); bool setLogFileName(const std::string& filename); const std::string& logFileName() const; double recordingFrameRate() const; void clearOutput(); void beginHeaderOutput(); int outputBodyHeader(const std::string& name); void endHeaderOutput(); void beginFrameOutput(double time); void beginBodyStateOutput(); void outputLinkPositions(SE3* positions, int size); void outputJointPositions(double* values, int size); void beginDeviceStateOutput(); void outputDeviceState(DeviceState* state); void endDeviceStateOutput(); void endBodyStateOutput(); void endFrameOutput(); int numBodies() const; const std::string& bodyName(int bodyIndex) const; bool recallStateAtTime(double time); void invalidateLastStateConsistency(); virtual void notifyUpdate(); protected: virtual Item* doDuplicate() const; virtual void onPositionChanged(); virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: WorldLogFileItemImpl* impl; }; typedef ref_ptr WorldLogFileItemPtr; } #endif choreonoid-1.5.0/src/BodyPlugin/CollisionSeqEngine.cpp0000664000000000000000000000515412741425367021467 0ustar rootroot/** \file \author Shizuko Hattori */ #include "CollisionSeq.h" #include "CollisionSeqEngine.h" #include "WorldItem.h" #include "CollisionSeqItem.h" #include #include using namespace std; using namespace cnoid; namespace cnoid { class CollisionSeqEngineImpl { public: WorldItemPtr worldItem; CollisionSeqItemPtr collisionSeqItem; CollisionSeqPtr colSeq; CollisionSeqEngineImpl(CollisionSeqEngine* self, WorldItem* worldItem, CollisionSeqItem* collisionSeqItem){ this->worldItem = worldItem; this->collisionSeqItem = collisionSeqItem; colSeq = collisionSeqItem->collisionSeq(); } virtual bool onTimeChanged(double time){ bool isValid = false; if(colSeq){ const int numFrames = colSeq->numFrames(); if(numFrames > 0){ const int frame = colSeq->frameOfTime(time); isValid = (frame < numFrames); const int clampedFrame = colSeq->clampFrameIndex(frame); const CollisionSeq::Frame collisionPairs0 = colSeq->frame(clampedFrame); CollisionLinkPairList& collisionPairs = worldItem->collisions(); collisionPairs.clear(); for(int i=0; isize(); i++){ collisionPairs.push_back(collisionPairs0[0]->at(i)); } } } dynamic_cast(worldItem->getScene())->setDirty(); dynamic_cast(worldItem->getScene())->notifyUpdate(SgUpdate::MODIFIED); return isValid; } }; } TimeSyncItemEngine* createCollisionSeqEngine(Item* sourceItem) { CollisionSeqItem* collisionSeqItem = dynamic_cast(sourceItem); if(collisionSeqItem){ Item* ownerItem = collisionSeqItem->findOwnerItem(); WorldItem* worldItem = dynamic_cast(ownerItem); if(worldItem){ return new CollisionSeqEngine(worldItem, collisionSeqItem); } } return 0; } void CollisionSeqEngine::initialize(ExtensionManager* ext) { ext->timeSyncItemEngineManger().addEngineFactory(createCollisionSeqEngine); } CollisionSeqEngine::CollisionSeqEngine(WorldItem* worldItem, CollisionSeqItem* collisionSeqItem) { impl = new CollisionSeqEngineImpl(this, worldItem, collisionSeqItem); } CollisionSeqEngine::~CollisionSeqEngine() { delete impl; } CollisionSeqItem* CollisionSeqEngine::collisionSeqItem() { return impl->collisionSeqItem.get(); } bool CollisionSeqEngine::onTimeChanged(double time) { return impl->onTimeChanged(time); } choreonoid-1.5.0/src/BodyPlugin/BodyBar.cpp0000664000000000000000000002151112741425367017252 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "BodyBar.h" #include "BodyItem.h" #include #include #include #include "gettext.h" using namespace cnoid; namespace cnoid { class BodyBarImpl { public: BodyItemPtr currentBodyItem; ItemList selectedBodyItems; ItemList targetBodyItems; Connection connectionOfItemSelectionChanged; Connection connectionOfCurrentBodyItemDetachedFromRoot; Signal& selectedBodyItems)> sigBodyItemSelectionChanged; Signal sigCurrentBodyItemChanged; BodyBarImpl(BodyBar* self); ~BodyBarImpl(); bool makeSingleSelection(BodyItem* bodyItem); void onItemSelectionChanged(const ItemList& bodyItems); void onBodyItemDetachedFromRoot(); void onCopyButtonClicked(); void onPasteButtonClicked(); void onOriginButtonClicked(); void onPoseButtonClicked(BodyItem::PresetPoseID id); void onSymmetricCopyButtonClicked(int direction, bool doMirrorCopy); bool restoreState(const Archive& archive); }; } BodyBar* BodyBar::instance() { static BodyBar* instance = new BodyBar(); return instance; } BodyBar::BodyBar() : ToolBar(N_("BodyBar")) { impl = new BodyBarImpl(this); } BodyBarImpl::BodyBarImpl(BodyBar* self) { using boost::bind; self->setVisibleByDefault(true); self->addButton(QIcon(":/Body/icons/storepose.png"), _("Memory the current pose")) ->sigClicked().connect(bind(&BodyBarImpl::onCopyButtonClicked, this)); self->addButton(QIcon(":/Body/icons/restorepose.png"), _("Recall the memorized pose")) ->sigClicked().connect(bind(&BodyBarImpl::onPasteButtonClicked, this)); self->addButton(QIcon(":/Body/icons/origin.png"), _("Move the selected bodies to the origin")) ->sigClicked().connect(bind(&BodyBarImpl::onOriginButtonClicked, this)); self->addButton(QIcon(":/Body/icons/initialpose.png"), _("Set the preset initial pose to the selected bodies")) ->sigClicked().connect(bind(&BodyBarImpl::onPoseButtonClicked, this, BodyItem::INITIAL_POSE)); self->addButton(QIcon(":/Body/icons/stdpose.png"), _("Set the preset standard pose to the selected bodies")) ->sigClicked().connect(bind(&BodyBarImpl::onPoseButtonClicked, this, BodyItem::STANDARD_POSE)); self->addSeparator(); self->addButton(QIcon(":/Body/icons/right-to-left.png"), _("Copy the right side pose to the left side")) ->sigClicked().connect(bind(&BodyBarImpl::onSymmetricCopyButtonClicked, this, 1, false)); self->addButton(QIcon(":/Body/icons/flip.png"), _("Mirror copy")) ->sigClicked().connect(bind(&BodyBarImpl::onSymmetricCopyButtonClicked, this, 0, true)); self->addButton(QIcon(":/Body/icons/left-to-right.png"), _("Copy the left side pose to the right side")) ->sigClicked().connect(bind(&BodyBarImpl::onSymmetricCopyButtonClicked, this, 0, false)); connectionOfItemSelectionChanged = ItemTreeView::mainInstance()->sigSelectionChanged().connect( bind(&BodyBarImpl::onItemSelectionChanged, this, _1)); } BodyBar::~BodyBar() { delete impl; } BodyBarImpl::~BodyBarImpl() { connectionOfItemSelectionChanged.disconnect(); connectionOfCurrentBodyItemDetachedFromRoot.disconnect(); } SignalProxy& selectedBodyItems)> BodyBar::sigBodyItemSelectionChanged() { return impl->sigBodyItemSelectionChanged; } SignalProxy BodyBar::sigCurrentBodyItemChanged() { return impl->sigCurrentBodyItemChanged; } const ItemList& BodyBar::selectedBodyItems() { return impl->selectedBodyItems; } const ItemList& BodyBar::targetBodyItems() { return impl->targetBodyItems; } BodyItem* BodyBar::currentBodyItem() { return impl->currentBodyItem; } /** \todo ItemTreeView::sigSelectionChanged() should be emitted after the final selection state has been determined. */ bool BodyBar::makeSingleSelection(BodyItem* bodyItem) { return impl->makeSingleSelection(bodyItem); } bool BodyBarImpl::makeSingleSelection(BodyItem* bodyItem) { ItemTreeView* tree = ItemTreeView::mainInstance()->mainInstance(); ItemList prevSelected = selectedBodyItems; for(size_t i=0; i < prevSelected.size(); ++i){ BodyItem* item = prevSelected[i]; if(item != bodyItem && tree->isItemSelected(item)){ tree->selectItem(item, false); } } bool selected = tree->isItemSelected(bodyItem); if(!selected){ selected = tree->selectItem(bodyItem, true); } return selected; } void BodyBarImpl::onItemSelectionChanged(const ItemList& bodyItems) { bool selectedBodyItemsChanged = false; if(selectedBodyItems != bodyItems){ selectedBodyItems = bodyItems; selectedBodyItemsChanged = true; } BodyItem* firstItem = bodyItems.toSingle(); if(firstItem && firstItem != currentBodyItem){ currentBodyItem = firstItem; connectionOfCurrentBodyItemDetachedFromRoot.disconnect(); connectionOfCurrentBodyItemDetachedFromRoot = currentBodyItem->sigDetachedFromRoot().connect( boost::bind(&BodyBarImpl::onBodyItemDetachedFromRoot, this)); sigCurrentBodyItemChanged(currentBodyItem.get()); } if(selectedBodyItemsChanged){ sigBodyItemSelectionChanged(selectedBodyItems); } targetBodyItems.clear(); if(selectedBodyItems.empty()){ if(currentBodyItem){ targetBodyItems.push_back(currentBodyItem); } } else { targetBodyItems = selectedBodyItems; } } void BodyBarImpl::onCopyButtonClicked() { if(currentBodyItem){ currentBodyItem->copyKinematicState(); } } void BodyBarImpl::onPasteButtonClicked() { for(size_t i=0; i < targetBodyItems.size(); ++i){ targetBodyItems[i]->pasteKinematicState(); } } void BodyBarImpl::onBodyItemDetachedFromRoot() { currentBodyItem = 0; connectionOfCurrentBodyItemDetachedFromRoot.disconnect(); sigCurrentBodyItemChanged(0); } void BodyBarImpl::onOriginButtonClicked() { for(size_t i=0; i < targetBodyItems.size(); ++i){ targetBodyItems[i]->moveToOrigin(); } } void BodyBarImpl::onPoseButtonClicked(BodyItem::PresetPoseID id) { for(size_t i=0; i < targetBodyItems.size(); ++i){ targetBodyItems[i]->setPresetPose(id); } } void BodyBarImpl::onSymmetricCopyButtonClicked(int direction, bool doMirrorCopy) { for(size_t i=0; i < targetBodyItems.size(); ++i){ const Listing& slinks = *targetBodyItems[i]->body()->info()->findListing("symmetricJoints"); if(slinks.isValid() && !slinks.empty()){ targetBodyItems[i]->beginKinematicStateEdit(); int from = direction; int to = 1 - direction; BodyPtr body = targetBodyItems[i]->body(); for(int j=0; j < slinks.size(); ++j){ const Listing& linkPair = *slinks[j].toListing(); if(linkPair.size() == 1 && doMirrorCopy){ Link* link = body->link(linkPair[0].toString()); if(link){ link->q() = -link->q(); } } else if(linkPair.size() >= 2){ Link* link1 = body->link(linkPair[from].toString()); Link* link2 = body->link(linkPair[to].toString()); if(link1 && link2){ double sign = 1.0; if(linkPair.size() >= 3){ sign = linkPair[2].toDouble(); } if(doMirrorCopy){ double q1 = link1->q(); link1->q() = sign * link2->q(); link2->q() = sign * q1; } else { link2->q() = sign * link1->q(); } } } } targetBodyItems[i]->notifyKinematicStateChange(true); targetBodyItems[i]->acceptKinematicStateEdit(); } } } bool BodyBar::storeState(Archive& archive) { if(impl->currentBodyItem){ archive.writeItemId("current", impl->currentBodyItem); } return true; } bool BodyBar::restoreState(const Archive& archive) { archive.addPostProcess(boost::bind(&BodyBarImpl::restoreState, impl, boost::ref(archive))); return true; } bool BodyBarImpl::restoreState(const Archive& archive) { if(!currentBodyItem){ currentBodyItem = archive.findItem("current"); if(currentBodyItem){ if(targetBodyItems.empty()){ targetBodyItems.push_back(currentBodyItem); } sigCurrentBodyItemChanged(currentBodyItem.get()); } } return true; } choreonoid-1.5.0/src/BodyPlugin/ControllerItem.cpp0000664000000000000000000000524512741425367020700 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "ControllerItem.h" #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; double ControllerItemIO::worldTimeStep() const { return timeStep(); } ControllerItem::ControllerItem() { isImmediateMode_ = true; } ControllerItem::ControllerItem(const ControllerItem& org) : Item(org) { isImmediateMode_ = org.isImmediateMode_; } ControllerItem::~ControllerItem() { } bool ControllerItem::splitOptionString(const std::string& optionString, std::vector& out_options) const { out_options.clear(); typedef boost::escaped_list_separator separator; separator sep('\\', ' '); boost::tokenizer tok(optionString, sep); for(boost::tokenizer::iterator p = tok.begin(); p != tok.end(); ++p){ const string& token = *p; if(!token.empty()){ out_options.push_back(token); } } return !out_options.empty(); } void ControllerItem::setImmediateMode(bool on) { isImmediateMode_ = on; } bool ControllerItem::isActive() const { return simulatorItem_ ? simulatorItem_->isRunning() : false; } bool ControllerItem::initialize(ControllerItemIO* io) { return true; } bool ControllerItem::start() { return true; } bool ControllerItem::start(ControllerItemIO* io) { return true; } void ControllerItem::stop() { } std::string ControllerItem::getMessage() { string message(message_); message_.clear(); return message; } void ControllerItem::putMessage(const std::string& message) { message_ += message; if(!sigMessage_.empty()){ sigMessage_(message_); message_.clear(); } } SignalProxy ControllerItem::sigMessage() { return sigMessage_; } void ControllerItem::doPutProperties(PutPropertyFunction& putProperty) { putProperty(_("Immediate mode"), isImmediateMode_, changeProperty(isImmediateMode_)); putProperty(_("Controller options"), optionString_, changeProperty(optionString_)); } bool ControllerItem::store(Archive& archive) { archive.write("isImmediateMode", isImmediateMode_); archive.write("controllerOptions", optionString_, DOUBLE_QUOTED); return true; } bool ControllerItem::restore(const Archive& archive) { archive.read("isImmediateMode", isImmediateMode_); archive.read("controllerOptions", optionString_); return true; } #ifdef ENABLE_SIMULATION_PROFILING void ControllerItem::getProfilingNames(vector& profilingNames) { } void ControllerItem::getProfilingTimes(vector& profilingToimes) { } #endif choreonoid-1.5.0/src/BodyPlugin/SimulationBar.cpp0000664000000000000000000001676512741425367020520 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "SimulationBar.h" #include "SimulatorItem.h" #include "WorldItem.h" #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; using boost::format; static SimulationBar* instance_ = 0; static void onSigOptionsParsed(boost::program_options::variables_map& v) { if(v.count("start-simulation")){ callLater(boost::bind(&SimulationBar::startSimulation, instance_, true)); } } void SimulationBar::initialize(ExtensionManager* ext) { if(!instance_){ instance_ = new SimulationBar(); ext->addToolBar(instance_); ext->optionManager() .addOption("start-simulation", "start simulation automatically") .sigOptionsParsed().connect(onSigOptionsParsed); } } SimulationBar* SimulationBar::instance() { return instance_; } SimulationBar::SimulationBar() : ToolBar(N_("SimulationBar")) { using boost::bind; setVisibleByDefault(true); addButton(QIcon(":/Body/icons/store-world-initial.png"), _("Store body positions to the initial world state"))-> sigClicked().connect(bind(&SimulationBar::onStoreInitialClicked, this)); addButton(QIcon(":/Body/icons/restore-world-initial.png"), _("Restore body positions from the initial world state"))-> sigClicked().connect(bind(&SimulationBar::onRestoreInitialClicked, this)); typedef boost::function Callback; addButton(QIcon(":/Body/icons/start-simulation.png"), _("Start simulation from the beginning"))-> sigClicked().connect(bind(&SimulationBar::startSimulation, this, true)); addButton(QIcon(":/Body/icons/restart-simulation.png"), _("Start simulation from the current state"))-> sigClicked().connect(bind(&SimulationBar::startSimulation, this, false)); pauseToggle = addToggleButton(QIcon(":/Body/icons/pause-simulation.png"), _("Pause simulation")); pauseToggle->sigClicked().connect(bind(&SimulationBar::onPauseSimulationClicked, this)); pauseToggle->setChecked(false); addButton(QIcon(":/Body/icons/stop-simulation.png"), _("Stop simulation"))-> sigClicked().connect(bind(&SimulationBar::onStopSimulationClicked, this)); } SimulationBar::~SimulationBar() { } static void forEachTargetBodyItem(boost::function callback) { ItemTreeView* itemTreeView = ItemTreeView::instance(); ItemList bodyItems; bodyItems.extractChildItems(RootItem::instance()); for(int i=0; i < bodyItems.size(); ++i){ BodyItem* bodyItem = bodyItems.get(i); bool isTarget = itemTreeView->isItemSelected(bodyItem); if(!isTarget){ WorldItem* worldItem = bodyItem->findOwnerItem(); if(worldItem && itemTreeView->isItemSelected(worldItem)){ isTarget = true; } } if(isTarget){ callback(bodyItem); } } } static void storeInitialBodyState(BodyItem* bodyItem) { bodyItem->storeInitialState(); MessageView::instance()->putln( format(_("Current state of %1% has been set to the initial state.")) % bodyItem->name()); } void SimulationBar::onStoreInitialClicked() { forEachTargetBodyItem(storeInitialBodyState); } void SimulationBar::onRestoreInitialClicked() { forEachTargetBodyItem(boost::function(boost::bind(&BodyItem::restoreInitialState, _1, true))); } void SimulationBar::forEachSimulator(boost::function callback, bool doSelect) { MessageView* mv = MessageView::instance(); /* ItemList simulators = ItemTreeView::mainInstance()->selectedItems(); */ ItemList simulators = ItemTreeView::mainInstance()->selectedItems(); if(simulators.empty()){ simulators.extractChildItems(RootItem::instance()); if(simulators.empty()){ mv->notify(_("There is no simulator item.")); } else if(simulators.size() > 1){ simulators.clear(); mv->notify(_("Please select a simulator item to simulate.")); } else { if(doSelect){ ItemTreeView::instance()->selectItem(simulators.front()); } } } typedef map WorldToSimulatorMap; WorldToSimulatorMap worldToSimulator; for(int i=0; i < simulators.size(); ++i){ SimulatorItem* simulator = simulators.get(i); WorldItem* world = simulator->findOwnerItem(); if(world){ WorldToSimulatorMap::iterator p = worldToSimulator.find(world); if(p == worldToSimulator.end()){ worldToSimulator[world] = simulator; } else { p->second = 0; // skip if multiple simulators are selected } } } for(int i=0; i < simulators.size(); ++i){ SimulatorItem* simulator = simulators.get(i); WorldItem* world = simulator->findOwnerItem(); if(!world){ mv->notify(format(_("%1% cannot be processed because it is not related with a world.")) % simulator->name()); } else { WorldToSimulatorMap::iterator p = worldToSimulator.find(world); if(p != worldToSimulator.end()){ if(!p->second){ mv->notify(format(_("%1% cannot be processed because another simulator" "in the same world is also selected.")) % simulator->name()); } else { callback(simulator); } } } } } void SimulationBar::startSimulation(bool doRest) { forEachSimulator(boost::bind(&SimulationBar::startSimulation, this, _1, doRest), true); } void SimulationBar::startSimulation(SimulatorItem* simulator, bool doReset) { if(simulator->isRunning()){ if(pauseToggle->isChecked() && !doReset){ simulator->restartSimulation(); pauseToggle->setChecked(false); } //simulator->selectMotionItems(); TimeBar::instance()->startPlaybackFromFillLevel(); } else { sigSimulationAboutToStart_(simulator); simulator->startSimulation(doReset); pauseToggle->setChecked(false); } } void SimulationBar::onStopSimulationClicked() { forEachSimulator(boost::bind(&SimulationBar::stopSimulation, this, _1)); TimeBar* timeBar = TimeBar::instance(); if(timeBar->isDoingPlayback()){ timeBar->stopPlayback(); } pauseToggle->setChecked(false); } void SimulationBar::stopSimulation(SimulatorItem* simulator) { simulator->stopSimulation(); } void SimulationBar::onPauseSimulationClicked() { forEachSimulator(boost::bind(&SimulationBar::pauseSimulation, this, _1)); } void SimulationBar::pauseSimulation(SimulatorItem* simulator) { if(pauseToggle->isChecked()){ if(simulator->isRunning()) simulator->pauseSimulation(); TimeBar* timeBar = TimeBar::instance(); if(timeBar->isDoingPlayback()){ timeBar->stopPlayback(); } } else { if(simulator->isRunning()) simulator->restartSimulation(); TimeBar::instance()->startPlaybackFromFillLevel(); } } choreonoid-1.5.0/src/BodyPlugin/ZMPSeqItem.cpp0000664000000000000000000000641712741425367017676 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "ZMPSeqItem.h" #include "BodyItem.h" #include "BodyMotionItem.h" #include "BodyMotionEngine.h" #include #include #include "gettext.h" using namespace std; using namespace cnoid; using boost::format; namespace { AbstractSeqItem* createZMPSeqItem(AbstractSeqPtr seq) { ZMPSeqPtr zmpseq = dynamic_pointer_cast(seq); return zmpseq ? new ZMPSeqItem(zmpseq) : 0; } class ZMPSeqEngine : public TimeSyncItemEngine { ZMPSeqPtr seq; BodyItemPtr bodyItem; public: ZMPSeqEngine(ZMPSeqItem* seqItem, BodyItem* bodyItem) : seq(seqItem->zmpseq()), bodyItem(bodyItem) { seqItem->sigUpdated().connect(boost::bind(&TimeSyncItemEngine::notifyUpdate, this)); } virtual bool onTimeChanged(double time) { bool isValidTime = false; if(!seq->empty()){ const Vector3& zmp = seq->at(seq->clampFrameIndex(seq->frameOfTime(time), isValidTime)); if(seq->isRootRelative()){ bodyItem->setZmp(bodyItem->body()->rootLink()->T() * zmp); } else { bodyItem->setZmp(zmp); } } return isValidTime; } }; TimeSyncItemEngine* createZMPSeqEngine(BodyItem* bodyItem, AbstractSeqItem* seqItem) { ZMPSeqItem* item = dynamic_cast(seqItem); if(item){ return new ZMPSeqEngine(item, bodyItem); } return 0; } } void ZMPSeqItem::initializeClass(ExtensionManager* ext) { ext->itemManager().registerClass(N_("ZMPSeqItem")); BodyMotionItem::addExtraSeqItemFactory(ZMPSeq::key(), createZMPSeqItem); BodyMotionEngine::addExtraSeqEngineFactory(ZMPSeq::key(), createZMPSeqEngine); } ZMPSeqItem::ZMPSeqItem() : Vector3SeqItem(boost::make_shared()) { zmpseq_ = static_pointer_cast(seq()); } ZMPSeqItem::ZMPSeqItem(ZMPSeqPtr seq) : Vector3SeqItem(seq), zmpseq_(seq) { } ZMPSeqItem::ZMPSeqItem(const ZMPSeqItem& org) : Vector3SeqItem(org, boost::make_shared(*org.zmpseq_)) { zmpseq_ = static_pointer_cast(seq()); } ZMPSeqItem::~ZMPSeqItem() { } bool ZMPSeqItem::makeRootRelative(bool on) { BodyMotionItem* bodyMotionItem = dynamic_cast(parentItem()); if(bodyMotionItem){ if(cnoid::makeRootRelative(*zmpseq_, *bodyMotionItem->motion(), on)){ mvout() << (format(_("%1% of %2% has been converted to %3%.")) % name() % bodyMotionItem->name() % (on ? _("the root relative coordinate") : _("the global coordinate"))) << endl; return true; } } mvout() << (format(_("%1%'s coordinate system cannot be changed " "because there is no root link motion associated with %1%.")) % name()) << endl; return false; } Item* ZMPSeqItem::doDuplicate() const { return new ZMPSeqItem(*this); } void ZMPSeqItem::doPutProperties(PutPropertyFunction& putProperty) { AbstractSeqItem::doPutProperties(putProperty); putProperty(_("Root relative"), zmpseq_->isRootRelative(), boost::bind(&ZMPSeqItem::makeRootRelative, this, _1)); } choreonoid-1.5.0/src/BodyPlugin/AISTSimulatorItem.h0000664000000000000000000000606212741425367020660 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODYPLUGIN_AIST_SIMULATOR_ITEM_H #define CNOID_BODYPLUGIN_AIST_SIMULATOR_ITEM_H #include "SimulatorItem.h" #include #include "exportdecl.h" namespace cnoid { class ContactAttribute; class AISTSimulatorItemImpl; class CNOID_EXPORT AISTSimulatorItem : public SimulatorItem { public: static void initializeClass(ExtensionManager* ext); AISTSimulatorItem(); AISTSimulatorItem(const AISTSimulatorItem& org); virtual ~AISTSimulatorItem(); virtual bool startSimulation(bool doReset = true); enum DynamicsMode { FORWARD_DYNAMICS = 0, HG_DYNAMICS, KINEMATICS, N_DYNAMICS_MODES }; enum IntegrationMode { EULER_INTEGRATION = 0, RUNGE_KUTTA_INTEGRATION, N_INTEGRATION_MODES }; void setDynamicsMode(int mode); void setIntegrationMode(int mode); void setGravity(const Vector3& gravity); const Vector3& gravity() const; void setFriction(double staticFriction, double slipFriction); void setContactCullingDistance(double value); void setContactCullingDepth(double value); void setErrorCriterion(double value); void setMaxNumIterations(int value); void setContactCorrectionDepth(double value); void setContactCorrectionVelocityRatio(double value); void setEpsilon(double epsilon); void set2Dmode(bool on); void setKinematicWalkingEnabled(bool on); void setConstraintForceOutputEnabled(bool on); virtual void setForcedPosition(BodyItem* bodyItem, const Position& T); virtual bool isForcedPositionActiveFor(BodyItem* bodyItem) const; virtual void clearForcedPositions(); // experimental functions void setFriction(Link* link1, Link* link2, double staticFriction, double slipFriction); typedef boost::function CollisionHandler; int registerCollisionHandler(const std::string& name, CollisionHandler handler); void unregisterCollisionHandler(int handlerId); int collisionHandlerId(const std::string& name) const; void setCollisionHandler(Link* link1, Link* link2, int handlerId); protected: virtual SimulationBody* createSimulationBody(Body* orgBody); virtual bool initializeSimulation(const std::vector& simBodies); virtual bool stepSimulation(const std::vector& activeSimBodies); virtual void finalizeSimulation(); virtual CollisionLinkPairListPtr getCollisions(); virtual Item* doDuplicate() const; virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); #ifdef ENABLE_SIMULATION_PROFILING virtual void getProfilingNames(std::vector& profilingNames); virtual void getProfilingTimes(std::vector& profilingTimes); #endif private: AISTSimulatorItemImpl* impl; friend class AISTSimulatorItemImpl; }; typedef ref_ptr AISTSimulatorItemPtr; } #endif choreonoid-1.5.0/src/BodyPlugin/BodyMotionItem.h0000664000000000000000000000365712741425367020312 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_PLUGIN_BODY_MOTION_ITEM_H #define CNOID_BODY_PLUGIN_BODY_MOTION_ITEM_H #include #include #include #include "exportdecl.h" namespace cnoid { class BodyMotionItemImpl; class CNOID_EXPORT BodyMotionItem : public AbstractMultiSeqItem { public: static void initializeClass(ExtensionManager* ext); static void addExtraSeqItemFactory( const std::string& key, boost::function factory); BodyMotionItem(); BodyMotionItem(BodyMotionPtr bodyMotion); BodyMotionItem(const BodyMotionItem& org); ~BodyMotionItem(); virtual AbstractMultiSeqPtr abstractMultiSeq(); BodyMotionPtr motion() { return bodyMotion_; } MultiValueSeqItem* jointPosSeqItem() { return jointPosSeqItem_.get(); } MultiValueSeqPtr jointPosSeq() { return bodyMotion_->jointPosSeq(); } MultiSE3SeqItem* linkPosSeqItem() { return linkPosSeqItem_.get(); } MultiSE3SeqPtr linkPosSeq() { return bodyMotion_->linkPosSeq(); } int numExtraSeqItems() const; const std::string& extraSeqKey(int index) const; AbstractSeqItem* extraSeqItem(int index); const AbstractSeqItem* extraSeqItem(int index) const; SignalProxy sigExtraSeqItemsChanged(); void updateExtraSeqItems(); virtual void notifyUpdate(); protected: virtual bool onChildItemAboutToBeAdded(Item* childItem, bool isManualOperation); virtual Item* doDuplicate() const; virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: BodyMotionPtr bodyMotion_; MultiValueSeqItemPtr jointPosSeqItem_; MultiSE3SeqItemPtr linkPosSeqItem_; BodyMotionItemImpl* impl; friend class BodyMotionItemImpl; }; typedef ref_ptr BodyMotionItemPtr; } #endif choreonoid-1.5.0/src/BodyPlugin/LinkGraphView.cpp0000664000000000000000000002266312741425367020453 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "LinkGraphView.h" #include "LinkSelectionView.h" #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; void LinkGraphView::initializeClass(ExtensionManager* ext) { ext->viewManager().registerClass( "LinkGraphView", N_("Link Trajectories"), ViewManager::SINGLE_OPTIONAL); } LinkGraphView::LinkGraphView() : graph(this) { setDefaultLayoutArea(View::BOTTOM); setSizePolicy(QSizePolicy::Ignored, QSizePolicy::Ignored); static const char* xyzLabels[] = { "X", "Y", "Z" }; static const char* rpyLabels[] = { "R", "P", "Y" }; QHBoxLayout* hbox = new QHBoxLayout(); hbox->setSpacing(0); QVBoxLayout* vbox = new QVBoxLayout(); vbox->setSpacing(0); vbox->addStretch(); setupElementToggleSet(vbox, xyzToggles, xyzLabels, true); setupElementToggleSet(vbox, rpyToggles, rpyLabels, false); vbox->addStretch(); hbox->addLayout(vbox); hbox->addWidget(&graph, 1); setLayout(hbox); itemTreeViewConnection = ItemTreeView::mainInstance()->sigSelectionChanged().connect( boost::bind(&LinkGraphView::onItemSelectionChanged, this, _1)); linkSelection = LinkSelectionView::mainInstance(); } void LinkGraphView::setupElementToggleSet (QBoxLayout* box, ToggleToolButton toggles[], const char* labels[], bool isActive) { for(int i=0; i < 3; ++i){ toggles[i].setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred); box->addWidget(&toggles[i]); toggles[i].setChecked(isActive); toggles[i].setText(labels[i]); toggleConnections.add( toggles[i].sigToggled().connect( boost::bind(&LinkGraphView::setupGraphWidget, this))); } } LinkGraphView::~LinkGraphView() { itemTreeViewConnection.disconnect(); bodyItemConnections.disconnect(); } QWidget* LinkGraphView::indicatorOnInfoBar() { return &graph.statusLabel(); } void LinkGraphView::onItemSelectionChanged(const ItemList& items) { if(items.empty()){ return; } if(itemInfos.size() == items.size()){ bool unchanged = true; int i=0; for(list::iterator it = itemInfos.begin(); it != itemInfos.end(); ++it){ if(it->item != items[i++]){ unchanged = false; break; } } if(unchanged){ return; } } itemInfos.clear(); for(size_t i=0; i < items.size(); ++i){ BodyItemPtr bodyItem = items[i]->findOwnerItem(); if(bodyItem){ itemInfos.push_back(ItemInfo()); list::iterator it = --itemInfos.end(); it->item = items[i]; it->seq = it->item->seq(); it->bodyItem = bodyItem; it->connections.add(it->item->sigUpdated().connect( boost::bind(&LinkGraphView::onDataItemUpdated, this, it))); it->connections.add(it->item->sigDetachedFromRoot().connect( boost::bind(&LinkGraphView::onDataItemDetachedFromRoot, this, it))); } } updateBodyItems(); setupGraphWidget(); } void LinkGraphView::onDataItemDetachedFromRoot(std::list::iterator itemInfoIter) { itemInfos.erase(itemInfoIter); updateBodyItems(); setupGraphWidget(); } void LinkGraphView::updateBodyItems() { bodyItemConnections.disconnect(); bodyItems.clear(); for(list::iterator it = itemInfos.begin(); it != itemInfos.end(); ++it){ set::iterator p = bodyItems.find(it->bodyItem); if(p == bodyItems.end()){ bodyItems.insert(it->bodyItem); bodyItemConnections.add( linkSelection->sigSelectionChanged(it->bodyItem).connect( boost::bind(&LinkGraphView::setupGraphWidget, this))); bodyItemConnections.add( it->bodyItem->sigDetachedFromRoot().connect( boost::bind(&LinkGraphView::onBodyItemDetachedFromRoot, this, it->bodyItem))); } } } void LinkGraphView::onBodyItemDetachedFromRoot(BodyItemPtr bodyItem) { bool erased = false; list::iterator it = itemInfos.begin(); while(it != itemInfos.end()){ if(it->bodyItem == bodyItem){ it = itemInfos.erase(it); erased = true; } else { ++it; } } if(erased){ updateBodyItems(); setupGraphWidget(); } } void LinkGraphView::setupGraphWidget() { graph.clearDataHandlers(); for(list::iterator it = itemInfos.begin(); it != itemInfos.end(); ++it){ if(it->bodyItem){ MultiSE3SeqPtr seq = it->item->seq(); int numParts = seq->numParts(); BodyPtr body = it->bodyItem->body(); const std::vector& selectedLinkIndices = linkSelection->selectedLinkIndices(it->bodyItem); for(size_t i=0; i < selectedLinkIndices.size(); ++i){ Link* link = body->link(selectedLinkIndices[i]); if(link && link->index() < numParts){ addPositionTrajectory(it, link, seq); } } } } } void LinkGraphView::addPositionTrajectory (std::list::iterator itemInfoIter, Link* link, MultiSE3SeqPtr seq) { for(int i=0; i < 2; ++i){ ToggleToolButton* toggles = (i == 0) ? xyzToggles : rpyToggles; for(int j=0; j < 3; ++j){ if(toggles[j].isChecked()){ GraphDataHandlerPtr handler(new GraphDataHandler()); handler->setLabel(link->name()); handler->setFrameProperties(seq->numFrames(), seq->frameRate()); handler->setDataRequestCallback( boost::bind(&LinkGraphView::onDataRequest, this, itemInfoIter, link->index(), i, j, _1, _2, _3)); handler->setDataModifiedCallback( boost::bind(&LinkGraphView::onDataModified, this, itemInfoIter, link->index(), i, j, _1, _2, _3)); graph.addDataHandler(handler); itemInfoIter->handlers.push_back(handler); } } } } void LinkGraphView::onDataItemUpdated(std::list::iterator itemInfoIter) { const MultiSE3SeqPtr& seq = itemInfoIter->item->seq(); int newNumFrames = seq->numFrames(); double newFrameRate = seq->frameRate(); for(size_t i=0; i < itemInfoIter->handlers.size(); ++i){ itemInfoIter->handlers[i]->setFrameProperties(newNumFrames, newFrameRate); itemInfoIter->handlers[i]->update(); } } void LinkGraphView::onDataRequest (std::list::iterator itemInfoIter, int linkIndex, int type, int axis, int frame, int size, double* out_values) { MultiSE3Seq::Part part = itemInfoIter->seq->part(linkIndex); if(type == 0){ // xyz for(int i=0; i < size; ++i){ const SE3& p = part[frame + i]; out_values[i] = p.translation()[axis]; } } else { // rpy for(int i=0; i < size; ++i){ const SE3& p = part[frame + i]; out_values[i] = rpyFromRot(Matrix3(p.rotation()))[axis]; } } } void LinkGraphView::onDataModified (std::list::iterator itemInfoIter, int linkIndex, int type, int axis, int frame, int size, double* values) { MultiSE3Seq::Part part = itemInfoIter->seq->part(linkIndex); if(type == 0){ // xyz for(int i=0; i < size; ++i){ SE3& p = part[frame + i]; p.translation()[axis] = values[i]; } } else { // rpy for(int i=0; i < size; ++i){ SE3& p = part[frame + i]; Vector3 rpy(rpyFromRot(Matrix3(p.rotation()))); rpy[axis] = values[i]; p.rotation() = rotFromRpy(rpy); } } itemInfoIter->connections.block(); itemInfoIter->item->notifyUpdate(); itemInfoIter->connections.unblock(); } bool LinkGraphView::storeState(Archive& archive) { if(graph.storeState(archive)){ Listing& visibleElements = *archive.createFlowStyleListing("visibleElements"); for(int i=0; i < 3; ++i){ if(xyzToggles[i].isChecked()){ visibleElements.append(i); } } for(int i=0; i < 3; ++i){ if(rpyToggles[i].isChecked()){ visibleElements.append(i+3); } } return true; } return false; } bool LinkGraphView::restoreState(const Archive& archive) { if(graph.restoreState(archive)){ const Listing& visibleElements = *archive.findListing("visibleElements"); if(visibleElements.isValid()){ toggleConnections.block(); for(int i=0; i < 3; ++i){ xyzToggles[i].setChecked(false); rpyToggles[i].setChecked(false); } for(int i=0; i < visibleElements.size(); ++i){ int index = visibleElements[i].toInt(); if(index < 3){ xyzToggles[index].setChecked(true); } else { rpyToggles[index-3].setChecked(true); } } toggleConnections.unblock(); } return true; } return false; } choreonoid-1.5.0/src/BodyPlugin/BodyTrackingCameraItem.h0000664000000000000000000000175012741425367021710 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_PLUGIN_BODY_TRACKING_CAMERA_ITEM_H #define CNOID_BODY_PLUGIN_BODY_TRACKING_CAMERA_ITEM_H #include #include #include "exportdecl.h" namespace cnoid { class BodyTrackingCameraItemImpl; class CNOID_EXPORT BodyTrackingCameraItem : public Item, public SceneProvider { public: static void initializeClass(ExtensionManager* ext); BodyTrackingCameraItem(); BodyTrackingCameraItem(const BodyTrackingCameraItem& org); virtual void setName(const std::string& name); virtual SgNode* getScene(); protected: virtual Item* doDuplicate() const; virtual void onPositionChanged(); virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: BodyTrackingCameraItemImpl* impl; }; typedef ref_ptr BodyTrackingCameraItemPtr; } #endif choreonoid-1.5.0/src/BodyPlugin/BodyStateView.cpp0000664000000000000000000002451612741425367020471 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "BodyStateView.h" #include "BodyBar.h" #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace { const bool TRACE_FUNCTIONS = false; struct DeviceTypeOrder { bool operator()(const Device* lhs, const Device* rhs) const { int result = strcmp(typeid(*lhs).name(), typeid(*rhs).name()); return (result == 0) ? (lhs->id() <= rhs->id()) : (result <= 0); } }; } namespace cnoid { class StateItem : public QTreeWidgetItem { public: StateItem() { lastNumValidColumns = 0; } int lastNumValidColumns; }; class BodyStateViewImpl { public: BodyStateView* self; TreeWidget stateTreeWidget; BodyItemPtr currentBodyItem; BodyPtr currentBody; vector buf; PolymorphicReferencedArray accessors; vector< vector > extraStateItemMap; vector extraState; Connection bodyItemChangeConnection; ConnectionSet stateConnections; BodyStateViewImpl(BodyStateView* self); ~BodyStateViewImpl(); void clearSignalConnections(); void onActivated(bool on); void setCurrentBodyItem(BodyItem* bodyItem); void updateStateList(BodyItem* bodyItem); void updateDeviceStates(DevicePtr device, int rowIndex); void updateExtraStates(); }; } void BodyStateView::initializeClass(ExtensionManager* ext) { ext->viewManager().registerClass( "BodyStateView", N_("Body State"), ViewManager::SINGLE_OPTIONAL); } BodyStateView::BodyStateView() { impl = new BodyStateViewImpl(this); } BodyStateViewImpl::BodyStateViewImpl(BodyStateView* self) : self(self) { self->setDefaultLayoutArea(View::BOTTOM); QVBoxLayout* vbox = new QVBoxLayout(); stateTreeWidget.setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); stateTreeWidget.setSelectionMode(QAbstractItemView::NoSelection); stateTreeWidget.setAlternatingRowColors(true); stateTreeWidget.setVerticalGridLineShown(true); stateTreeWidget.setAllColumnsShowFocus(true); stateTreeWidget.setHeaderHidden(true); stateTreeWidget.setRootIsDecorated(false); QHeaderView* header = stateTreeWidget.header(); header->setStretchLastSection(false); header->setMinimumSectionSize(0); stateTreeWidget.setColumnCount(1); vbox->addWidget(&stateTreeWidget); self->setLayout(vbox); self->sigActivated().connect(boost::bind(&BodyStateViewImpl::onActivated, this, true)); self->sigDeactivated().connect(boost::bind(&BodyStateViewImpl::onActivated, this ,false)); //self->enableFontSizeZoomKeys(true); } BodyStateView::~BodyStateView() { delete impl; } BodyStateViewImpl::~BodyStateViewImpl() { clearSignalConnections(); } void BodyStateViewImpl::clearSignalConnections() { bodyItemChangeConnection.disconnect(); stateConnections.disconnect(); } void BodyStateViewImpl::onActivated(bool on) { clearSignalConnections(); if(!on){ setCurrentBodyItem(0); } else { BodyBar* bodyBar = BodyBar::instance(); setCurrentBodyItem(bodyBar->currentBodyItem()); bodyItemChangeConnection = bodyBar->sigCurrentBodyItemChanged().connect( boost::bind(&BodyStateViewImpl::setCurrentBodyItem, this, _1)); } } void BodyStateViewImpl::setCurrentBodyItem(BodyItem* bodyItem) { currentBodyItem = bodyItem; if(bodyItem){ currentBody = bodyItem->body(); } else { currentBody.reset(); } updateStateList(bodyItem); } void BodyStateViewImpl::updateStateList(BodyItem* bodyItem) { stateConnections.disconnect(); stateTreeWidget.clear(); int maxNumStateElements = 0; if(currentBody){ DeviceList<> devices(currentBody->devices()); DeviceList<> targetDevices; targetDevices << devices.extract(); targetDevices << devices.extract(); targetDevices << devices.extract(); std::stable_sort(targetDevices.begin(), targetDevices.end(), DeviceTypeOrder()); for(int i=0; i < targetDevices.size(); ++i){ Device* device = targetDevices[i]; StateItem* deviceItem = new StateItem(); deviceItem->setText(0, QString(" %1 ").arg(device->name().c_str())); stateTreeWidget.addTopLevelItem(deviceItem); if(device->stateSize() > maxNumStateElements){ maxNumStateElements = device->stateSize(); } stateConnections.add( device->sigStateChanged().connect( boost::bind(&BodyStateViewImpl::updateDeviceStates, this, device, i))); updateDeviceStates(device, i); } extraStateItemMap.clear(); vector names; currentBody->getCaches(accessors, names); for(int i=0; i < accessors.size(); ++i){ ExtraBodyStateAccessor& accessor = *accessors[i]; vector itemMap; accessor.getState(extraState); if(!extraState.empty()){ for(int j=0; j < extraState.size(); ++j){ QTreeWidgetItem* stateItem = new StateItem(); stateItem->setText(0, QString(" %1 ").arg(accessor.getStateItemLabel(j))); itemMap.push_back(stateTreeWidget.topLevelItemCount()); stateTreeWidget.addTopLevelItem(stateItem); int m = ExtraBodyStateAccessor::getNumValueElements(extraState[j]); if(m > maxNumStateElements){ maxNumStateElements = m; } } stateConnections.add( accessor.sigStateChanged().connect( boost::bind(&BodyStateViewImpl::updateExtraStates, this))); } extraStateItemMap.push_back(itemMap); } if(!extraStateItemMap.empty()){ updateExtraStates(); } } int lastColumn = maxNumStateElements + 1; stateTreeWidget.setColumnCount(lastColumn + 1); stateTreeWidget.setHeaderSectionResizeMode(0, QHeaderView::ResizeToContents); for(int i=0; i < maxNumStateElements; ++i){ stateTreeWidget.setHeaderSectionResizeMode(i+1, QHeaderView::Stretch); } stateTreeWidget.setHeaderSectionResizeMode(lastColumn, QHeaderView::Fixed); stateTreeWidget.header()->resizeSection(lastColumn, 0); const int n = stateTreeWidget.topLevelItemCount(); for(int i=0; i < n; ++i){ QTreeWidgetItem* item = stateTreeWidget.topLevelItem(i); item->setTextAlignment(0, Qt::AlignHCenter); for(int j=0; j < maxNumStateElements; ++j){ //item->setTextAlignment(j + 1, Qt::AlignHCenter); item->setTextAlignment(j + 1, Qt::AlignRight); } } } void BodyStateViewImpl::updateDeviceStates(DevicePtr device, int rowIndex) { if(currentBody){ StateItem* item = static_cast(stateTreeWidget.topLevelItem(rowIndex)); int size = device->stateSize(); buf.resize(size); device->writeState(&buf.front()); int i; for(i=0; i < size; ++i){ item->setText(i + 1, QString::number(buf[i], 'f', 2)); } for( ; i < item->lastNumValidColumns; ++i){ item->setText(i + 1, ""); } item->lastNumValidColumns = size; } } void BodyStateViewImpl::updateExtraStates() { if(!currentBody){ return; } const int prec = 3; for(int i=0 ;i < accessors.size(); ++i){ const ExtraBodyStateAccessor& accessor = *accessors[i]; const vector& itemMap = extraStateItemMap[i]; accessor.getState(extraState); for(int j=0; j < extraState.size(); ++j){ const ExtraBodyStateAccessor::Value& s = extraState[j]; StateItem* item = static_cast(stateTreeWidget.topLevelItem(itemMap[j])); int column = 1; switch(s.which()){ case ExtraBodyStateAccessor::BOOL: item->setText(column++, s.getBool() ? _("ON") : _("OFF")); break; case ExtraBodyStateAccessor::INT: item->setText(column++, QString::number(s.getInt(), 'f', prec)); break; case ExtraBodyStateAccessor::DOUBLE: item->setText(column++, QString::number(s.getDouble(), 'f', prec)); break; case ExtraBodyStateAccessor::ANGLE: item->setText(column++, QString::number(s.getAngle(), 'f', prec)); break; case ExtraBodyStateAccessor::STRING: item->setText(column++, s.getString().c_str()); break; /* case ExtraBodyStateAccessor::VECTOR2: { const Vector2& v = get(s); item->setText(column++, QString::number(v[0], 'f', prec)); item->setText(column++, QString::number(v[1], 'f', prec)); break; } */ case ExtraBodyStateAccessor::VECTOR3: { const Vector3f& v = s.getVector3f(); item->setText(column++, QString::number(v[0], 'f', prec)); item->setText(column++, QString::number(v[1], 'f', prec)); item->setText(column++, QString::number(v[2], 'f', prec)); break; } case ExtraBodyStateAccessor::VECTORX: { const VectorX& v = s.getVectorX(); for(int i=0; i < v.size(); ++i){ item->setText(column++, QString::number(v[i], 'f', prec)); } break; } default: break; } for(int i=column; i < item->lastNumValidColumns; ++i){ item->setText(i, ""); } item->lastNumValidColumns = column; } } } bool BodyStateView::storeState(Archive& archive) { return true; } bool BodyStateView::restoreState(const Archive& archive) { return true; } choreonoid-1.5.0/src/BodyPlugin/WorldLogFileItem.cpp0000664000000000000000000006677112741425367021121 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "WorldLogFileItem.h" #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { static const int frameHeaderSize = sizeof(int) // offset to the prev frame + sizeof(float) // time + sizeof(int) // data size ; enum DataTypeID { BODY_STATE, LINK_POSITIONS, JOINT_POSITIONS, DEVICE_STATES }; struct NotEnoughDataException { }; class ReadBuf { public: vector data; ifstream& ifs; int pos; ReadBuf(ifstream& ifs) : ifs(ifs) { pos = 0; } bool checkSize(int size){ int left = data.size() - pos; if(left < size){ int len = size - left; data.resize(data.size() + len); ifs.read(&data[pos], len); if(!ifs.fail()){ return true; } else { ifs.clear(); return false; } } return true; } void ensureSize(int size){ if(!checkSize(size)){ throw NotEnoughDataException(); } } void seekToNextBlock(){ int size = readSeekOffset(); seek(pos + size); } int readNextBlockPos(){ int size = readSeekOffset(); return pos + size; } char* buf() { return &data.front(); } void clear(){ data.clear(); pos = 0; } int size() const { return data.size(); } char* current() { return &data[pos]; } char* end() { return &data.front() + data.size(); } bool isEnd() { return (pos >= data.size()); } void seek(int pos = 0) { this->pos = pos; } char readID(){ ensureSize(1); return data[pos++]; } bool readBool(){ ensureSize(1); return data[pos++]; } char readOctet(){ ensureSize(1); return data[pos++]; } short readShort(){ ensureSize(2); unsigned char low = data[pos++]; unsigned char high = data[pos++]; short value = low + (high << 8); return value; } int readInt(){ ensureSize(4); unsigned char d0 = data[pos++]; unsigned char d1 = data[pos++]; unsigned char d2 = data[pos++]; unsigned char d3 = data[pos++]; int value = d0 + (d1 << 8) + (d2 << 16) + (d3 << 24); return value; } int readSeekOffset(){ return readInt(); } float readFloat(){ ensureSize(sizeof(float)); float value; char* p = (char*)&value; const int n = sizeof(float); for(int i=0; i < n; ++i){ p[i] = data[pos++]; } return value; } SE3 readSE3(){ SE3 position; Vector3& p = position.translation(); p.x() = readFloat(); p.y() = readFloat(); p.z() = readFloat(); Quat& q = position.rotation(); q.w() = readFloat(); q.x() = readFloat(); q.y() = readFloat(); q.z() = readFloat(); return position; } std::string readString(){ ensureSize(2); const int size = (unsigned int)readShort(); ensureSize(size); std::string str; str.reserve(size); for(int i=0; i < size; ++i){ str.append(1, data[pos++]); } return str; } }; class WriteBuf { public: vector data; ofstream& ofs; size_t seekOffset; WriteBuf(ofstream& ofs) : ofs(ofs) { seekOffset = 0; } char* buf() { return &data.front(); } size_t pos() { return data.size(); } size_t seekPos() { return seekOffset + data.size(); } void clear(){ data.clear(); seekOffset = ofs.tellp(); } int size() const { return data.size(); } void flush(){ ofs.write(&data.front(), data.size()); ofs.flush(); clear(); } void writeID(DataTypeID id){ writeOctet((char)id); } void writeBool(bool value){ data.push_back(value); } void writeOctet(char value){ data.push_back(value); } void writeShort(short value){ data.push_back(value & 0xff); data.push_back(value >> 8); } void writeInt(int value){ data.push_back(value & 0xff); data.push_back((value >> 8) & 0xff); data.push_back((value >> 16) & 0xff); data.push_back((value >> 24) & 0xff); } void writeInt(int pos, int value){ data[pos++] = value & 0xff; data[pos++] = (value >> 8) & 0xff; data[pos++] = (value >> 16) & 0xff; data[pos++] = (value >> 24) & 0xff; } void writeSeekPos(int pos){ writeInt(pos); } void writeSeekOffset(int offset){ writeInt(offset); } void writeSeekOffset(int pos, int offset){ writeInt(pos, offset); } void writeFloat(float value){ char* p = (char*)&value; const int n = sizeof(float); for(int i=0; i < n; ++i){ data.push_back(p[i]); } } void writeSE3(const SE3& position){ const Vector3& p = position.translation(); writeFloat(p.x()); writeFloat(p.y()); writeFloat(p.z()); const Quat& q = position.rotation(); writeFloat(q.w()); writeFloat(q.x()); writeFloat(q.y()); writeFloat(q.z()); } void writeString(const std::string& str){ const int size = str.size(); data.reserve(data.size() + size + 1); writeShort((unsigned char)size); for(int i=0; i < size; ++i){ writeOctet(str[i]); } } }; class DeviceInfo { public: size_t lastStateSeekPos; vector lastState; bool isConsistent; DeviceInfo() { lastStateSeekPos = 0; isConsistent = false; } }; class BodyInfo : public Referenced { public: BodyItem* bodyItem; Body* body; vector deviceInfos; BodyInfo(BodyItem* bodyItem){ this->bodyItem = bodyItem; if(bodyItem){ body = bodyItem->body(); deviceInfos.resize(body->numDevices()); } else { body = 0; } } DeviceInfo& deviceInfo(int deviceIndex){ if(deviceIndex >= deviceInfos.size()){ deviceInfos.resize(deviceIndex + 1); } return deviceInfos[deviceIndex]; } }; typedef ref_ptr BodyInfoPtr; ItemList::iterator findItemOfName(ItemList& items, const std::string& name) { for(ItemList::iterator p = items.begin(); p != items.end(); ++p){ if((*p)->name() == name){ return p; } } return items.end(); } class WorldLogFileEngine : public TimeSyncItemEngine { public: WorldLogFileItemPtr logItem; WorldLogFileEngine(WorldLogFileItem* item){ logItem = item; } virtual bool onTimeChanged(double time) { return logItem->recallStateAtTime(time); } }; TimeSyncItemEngine* createWorldLogFileEngine(Item* sourceItem) { if(WorldLogFileItem* logItem = dynamic_cast(sourceItem)){ return new WorldLogFileEngine(logItem); } return 0; } bool loadWorldLogFile(WorldLogFileItem* item, const std::string& filename, std::ostream& os) { return item->setLogFileName(filename); } } namespace cnoid { class WorldLogFileItemImpl { public: WorldLogFileItem* self; string filename; QDateTime recordingStartTime; bool isTimeStampSuffixEnabled; vector bodyNames; ofstream ofs; WriteBuf writeBuf; int lastOutputFramePos; double recordingFrameRate; stack sizeHeaderStack; // for device state recording and playback struct DeviceStateCache : public Referenced { DeviceStatePtr state; int seekPos; }; typedef ref_ptr DeviceStateCachePtr; vector deviceStateCacheArrays[2]; vector* pLastDeviceStateCacheArray; vector* pCurrentDeviceStateCacheArray; int deviceIndex; int numDeviceStateCaches; int currentDeviceStateCacheArrayIndex; vector doubleWriteBuf; ifstream ifs; ReadBuf readBuf; ReadBuf readBuf2; int currentReadFramePos; int currentReadFrameDataSize; int prevReadFrameOffset; double currentReadFrameTime; bool isCurrentFrameDataLoaded; bool isOverRange; vector bodyInfos; ScopedConnection worldSubTreeChangedConnection; bool isBodyInfoUpdateNeeded; WorldLogFileItemImpl(WorldLogFileItem* self); WorldLogFileItemImpl(WorldLogFileItem* self, WorldLogFileItemImpl& org); ~WorldLogFileItemImpl(); bool setLogFileName(const std::string& name); string getActualFilename(); void updateBodyInfos(); void onWorldSubTreeChanged(); bool readTopHeader(); bool readFrameHeader(int pos); bool seek(double time); bool recallStateAtTime(double time); bool loadCurrentFrameData(); void readBodyStatees(); void readBodyState(BodyInfo* bodyInfo); int readLinkPositions(Body* body); int readJointPositions(Body* body); void readDeviceStates(BodyInfo* bodyInfo); void readDeviceState(DeviceInfo& devInfo, Device* device, ReadBuf& buf, int size); void readLastDeviceState(DeviceInfo& devInfo, Device* device); void clearOutput(); void reserveSizeHeader(); void fixSizeHeader(); void endHeaderOutput(); void beginFrameOutput(double time); void outputDeviceState(DeviceState* state); void exchangeDeviceStateCacheArrays(); }; } void WorldLogFileItem::initializeClass(ExtensionManager* ext) { ItemManager& im = ext->itemManager(); im.registerClass(N_("WorldLogFileItem")); im.addCreationPanel(); im.addLoader( _("World Log"), "CNOID-WORLD-LOG", "log", boost::bind(loadWorldLogFile, _1, _2, _3)); ext->timeSyncItemEngineManger().addEngineFactory(createWorldLogFileEngine); } WorldLogFileItem::WorldLogFileItem() { impl = new WorldLogFileItemImpl(this); } WorldLogFileItemImpl::WorldLogFileItemImpl(WorldLogFileItem* self) : self(self), writeBuf(ofs), readBuf(ifs), readBuf2(ifs) { isTimeStampSuffixEnabled = false; recordingFrameRate = 0.0; isBodyInfoUpdateNeeded = true; } WorldLogFileItem::WorldLogFileItem(const WorldLogFileItem& org) : Item(org) { impl = new WorldLogFileItemImpl(this, *org.impl); } WorldLogFileItemImpl::WorldLogFileItemImpl(WorldLogFileItem* self, WorldLogFileItemImpl& org) : self(self), writeBuf(ofs), readBuf(ifs), readBuf2(ifs) { filename = org.filename; isTimeStampSuffixEnabled = org.isTimeStampSuffixEnabled; recordingFrameRate = org.recordingFrameRate; isBodyInfoUpdateNeeded = true; } WorldLogFileItem::~WorldLogFileItem() { delete impl; } WorldLogFileItemImpl::~WorldLogFileItemImpl() { } Item* WorldLogFileItem::doDuplicate() const { return new WorldLogFileItem(*this); } void WorldLogFileItem::notifyUpdate() { impl->isBodyInfoUpdateNeeded = true; Item::notifyUpdate(); } const std::string& WorldLogFileItem::logFileName() const { return impl->filename; } bool WorldLogFileItem::setLogFileName(const std::string& filename) { return impl->setLogFileName(filename); } bool WorldLogFileItemImpl::setLogFileName(const std::string& name) { if(name != filename){ filename = name; readTopHeader(); } return true; } string WorldLogFileItemImpl::getActualFilename() { if(isTimeStampSuffixEnabled && recordingStartTime.isValid()){ filesystem::path filepath(filename); string suffix = recordingStartTime.toString("-yyyy-MM-dd-hh-mm-ss").toStdString(); string fname = getBasename(filepath) + suffix; string ext = getExtension(filepath); if(!ext.empty()){ fname = fname + "." + ext; } return getPathString(filepath.parent_path() / filesystem::path(fname)); } else { return filename; } } double WorldLogFileItem::recordingFrameRate() const { return impl->recordingFrameRate; } void WorldLogFileItemImpl::updateBodyInfos() { bodyInfos.clear(); if(!bodyNames.empty()){ WorldItem* worldItem = self->findOwnerItem(); if(worldItem){ ItemList items; if(items.extractChildItems(worldItem)){ for(size_t i=0; i < bodyNames.size(); ++i){ ItemList::iterator p = findItemOfName(items, bodyNames[i]); if(p != items.end()){ bodyInfos.push_back(new BodyInfo(*p)); items.erase(p); } else { bodyInfos.push_back(0); } } } } } isBodyInfoUpdateNeeded = false; } void WorldLogFileItem::onPositionChanged() { WorldItem* worldItem = findOwnerItem(); if(!worldItem){ impl->worldSubTreeChangedConnection.disconnect(); } else { impl->worldSubTreeChangedConnection.reset( worldItem->sigSubTreeChanged().connect( boost::bind(&WorldLogFileItemImpl::onWorldSubTreeChanged, impl))); } impl->isBodyInfoUpdateNeeded = true; } void WorldLogFileItemImpl::onWorldSubTreeChanged() { isBodyInfoUpdateNeeded = true; } bool WorldLogFileItemImpl::readTopHeader() { bool result = false; bodyNames.clear(); currentReadFramePos = 0; currentReadFrameDataSize = 0; prevReadFrameOffset = 0; currentReadFrameTime = -1.0; if(ifs.is_open()){ ifs.close(); } string fname = getActualFilename(); if(filesystem::exists(fname)){ ifs.open(fname.c_str(), ios::in | ios::binary); if(ifs.is_open()){ readBuf.clear(); try { int headerSize = readBuf.readSeekOffset(); if(readBuf.checkSize(headerSize)){ while(!readBuf.isEnd()){ bodyNames.push_back(readBuf.readString()); } currentReadFramePos = readBuf.pos; result = readFrameHeader(readBuf.pos); } } catch(NotEnoughDataException& ex){ bodyNames.clear(); } } } isBodyInfoUpdateNeeded = true; return result; } bool WorldLogFileItemImpl::readFrameHeader(int pos) { isCurrentFrameDataLoaded = false; if(!ifs.is_open()){ return false; } ifs.seekg(pos); if(ifs.eof()){ ifs.seekg(currentReadFramePos); return false; } readBuf.clear(); if(!readBuf.checkSize(frameHeaderSize)){ ifs.seekg(currentReadFramePos); return false; } currentReadFramePos = pos; prevReadFrameOffset = readBuf.readSeekOffset(); currentReadFrameTime = readBuf.readFloat(); currentReadFrameDataSize = readBuf.readSeekOffset(); return true; } bool WorldLogFileItemImpl::seek(double time) { isOverRange = false; if(!readFrameHeader(currentReadFramePos)){ readTopHeader(); } if(currentReadFrameTime == time){ return true; } if(currentReadFrameTime < time){ while(true){ int pos = currentReadFramePos; if(!readFrameHeader(currentReadFramePos + frameHeaderSize + currentReadFrameDataSize)){ isOverRange = true; return (currentReadFrameTime >= 0.0); } if(currentReadFrameTime == time){ return true; } else if(currentReadFrameTime > time){ return readFrameHeader(pos); } } } // currentReadFrameTime > time while(true){ if(prevReadFrameOffset <= 0){ isOverRange = true; return (currentReadFrameTime >= 0.0); } if(!readFrameHeader(currentReadFramePos - prevReadFrameOffset)){ return false; } if(currentReadFrameTime <= time){ return true; } } } bool WorldLogFileItemImpl::loadCurrentFrameData() { ifs.seekg(currentReadFramePos + frameHeaderSize); readBuf.clear(); isCurrentFrameDataLoaded = readBuf.checkSize(currentReadFrameDataSize); return isCurrentFrameDataLoaded; } /** @return True if the time is within the data range and the frame is correctly recalled. False if the time is outside the data range or the frame cannot be recalled. */ bool WorldLogFileItem::recallStateAtTime(double time) { return impl->recallStateAtTime(time); } bool WorldLogFileItemImpl::recallStateAtTime(double time) { if(!seek(time)){ return false; } if(!isCurrentFrameDataLoaded){ if(!loadCurrentFrameData()){ return false; } } readBuf.seek(0); if(isBodyInfoUpdateNeeded){ updateBodyInfos(); } int bodyIndex = 0; while(!readBuf.isEnd()){ int dataTypeID = readBuf.readID(); switch(dataTypeID){ case BODY_STATE: { BodyInfo* bodyInfo = 0; if(bodyIndex < bodyInfos.size()){ bodyInfo = bodyInfos[bodyIndex]; } if(bodyInfo){ readBodyState(bodyInfo); } else { readBuf.seekToNextBlock(); } ++bodyIndex; break; } default: readBuf.seekToNextBlock(); } } return !isOverRange; } void WorldLogFileItemImpl::readBodyState(BodyInfo* bodyInfo) { int endPos = readBuf.readNextBlockPos(); bool updated = false; bool doForwardKinematics = true; int numLinks; while(readBuf.pos < endPos){ int dataType = readBuf.readID(); switch(dataType){ case LINK_POSITIONS: numLinks = readLinkPositions(bodyInfo->body); if(numLinks > 0){ updated = true; if(numLinks > 1){ doForwardKinematics = false; } } break; case JOINT_POSITIONS: if(readJointPositions(bodyInfo->body)){ updated = true; } break; case DEVICE_STATES: if(updated){ bodyInfo->bodyItem->notifyKinematicStateChange(doForwardKinematics); updated = false; } readDeviceStates(bodyInfo); break; default: readBuf.seekToNextBlock(); break; } } if(updated){ bodyInfo->bodyItem->notifyKinematicStateChange(doForwardKinematics); } } int WorldLogFileItemImpl::readLinkPositions(Body* body) { int endPos = readBuf.readNextBlockPos(); int size = readBuf.readShort(); int n = std::min(size, body->numLinks()); for(int i=0; i < n; ++i){ SE3 position = readBuf.readSE3(); Link* link = body->link(i); link->p() = position.translation(); link->R() = position.rotation().toRotationMatrix(); } readBuf.seek(endPos); return n; } int WorldLogFileItemImpl::readJointPositions(Body* body) { int endPos = readBuf.readNextBlockPos(); int size = readBuf.readShort(); int n = std::min(size, body->numAllJoints()); for(int i=0; i < n; ++i){ body->joint(i)->q() = readBuf.readFloat(); } readBuf.seek(endPos); return n; } void WorldLogFileItemImpl::readDeviceStates(BodyInfo* bodyInfo) { const int endPos = readBuf.readNextBlockPos(); Body* body = bodyInfo->body; const int numDevices = body->numDevices(); int deviceIndex = 0; while(readBuf.pos < endPos && deviceIndex < numDevices){ DeviceInfo& devInfo = bodyInfo->deviceInfo(deviceIndex); Device* device = bodyInfo->body->device(deviceIndex); const int header = readBuf.readOctet(); if(header < 0){ readLastDeviceState(devInfo, device); } else { const int size = header; int nextPos = readBuf.pos + sizeof(float) * size; readDeviceState(devInfo, device, readBuf, size); readBuf.seek(nextPos); } ++deviceIndex; } readBuf.seek(endPos); } void WorldLogFileItemImpl::readDeviceState(DeviceInfo& devInfo, Device* device, ReadBuf& buf, int size) { const int stateSize = device->stateSize(); if(stateSize <= size){ vector& state = devInfo.lastState; state.resize(stateSize); for(int i=0; i < stateSize; ++i){ state[i] = buf.readFloat(); } device->readState(&state.front()); device->notifyStateChange(); devInfo.isConsistent = true; } } void WorldLogFileItemImpl::readLastDeviceState(DeviceInfo& devInfo, Device* device) { size_t pos = readBuf.readSeekOffset(); if(pos == devInfo.lastStateSeekPos){ if(!devInfo.isConsistent){ device->readState(&devInfo.lastState.front()); device->notifyStateChange(); devInfo.isConsistent = true; } } else { ifs.seekg(pos); devInfo.lastStateSeekPos = pos; readBuf2.clear(); int size = readBuf2.readOctet(); if(size > 0){ readDeviceState(devInfo, device, readBuf2, size); } } } void WorldLogFileItem::invalidateLastStateConsistency() { vector& bodyInfos = impl->bodyInfos; for(size_t i=0; i < bodyInfos.size(); ++i){ vector& devInfos = bodyInfos[i]->deviceInfos; for(size_t j=0; j < devInfos.size(); ++j){ devInfos[j].isConsistent = false; } } } void WorldLogFileItem::clearOutput() { impl->clearOutput(); } void WorldLogFileItemImpl::clearOutput() { bodyNames.clear(); if(ifs.is_open()){ ifs.close(); } if(ofs.is_open()){ ofs.close(); } recordingStartTime = QDateTime::currentDateTime(); ofs.open(getActualFilename().c_str(), ios::out | ios::binary | ios::trunc); writeBuf.clear(); lastOutputFramePos = 0; currentDeviceStateCacheArrayIndex = 0; exchangeDeviceStateCacheArrays(); } void WorldLogFileItemImpl::reserveSizeHeader() { sizeHeaderStack.push(writeBuf.size()); writeBuf.writeSeekOffset(0); } void WorldLogFileItemImpl::fixSizeHeader() { if(!sizeHeaderStack.empty()){ writeBuf.writeSeekOffset(sizeHeaderStack.top(), writeBuf.size() - (sizeHeaderStack.top() + sizeof(int))); sizeHeaderStack.pop(); } } void WorldLogFileItem::beginHeaderOutput() { impl->writeBuf.clear(); impl->reserveSizeHeader(); } int WorldLogFileItem::outputBodyHeader(const std::string& name) { int index = impl->bodyNames.size(); impl->bodyNames.push_back(name); impl->writeBuf.writeString(name); return index; } void WorldLogFileItem::endHeaderOutput() { impl->endHeaderOutput(); } void WorldLogFileItemImpl::endHeaderOutput() { fixSizeHeader(); writeBuf.flush(); } int WorldLogFileItem::numBodies() const { return impl->bodyNames.size(); } const std::string& WorldLogFileItem::bodyName(int bodyIndex) const { return impl->bodyNames[bodyIndex]; } void WorldLogFileItem::beginFrameOutput(double time) { impl->beginFrameOutput(time); } void WorldLogFileItemImpl::beginFrameOutput(double time) { size_t pos = writeBuf.seekPos(); if(lastOutputFramePos){ writeBuf.writeSeekOffset(pos - lastOutputFramePos); } else { writeBuf.writeSeekOffset(0); } lastOutputFramePos = pos; deviceIndex = 0; writeBuf.writeFloat(time); reserveSizeHeader(); // area for the frame data size } void WorldLogFileItem::beginBodyStateOutput() { impl->writeBuf.writeID(BODY_STATE); impl->reserveSizeHeader(); } void WorldLogFileItem::outputLinkPositions(SE3* positions, int size) { impl->writeBuf.writeID(LINK_POSITIONS); impl->reserveSizeHeader(); impl->writeBuf.writeShort(size); for(int i=0; i < size; ++i){ impl->writeBuf.writeSE3(positions[i]); } impl->fixSizeHeader(); } void WorldLogFileItem::outputJointPositions(double* values, int size) { impl->writeBuf.writeID(JOINT_POSITIONS); impl->reserveSizeHeader(); impl->writeBuf.writeShort(size); for(int i=0; i < size; ++i){ impl->writeBuf.writeFloat(values[i]); } impl->fixSizeHeader(); } void WorldLogFileItem::beginDeviceStateOutput() { impl->writeBuf.writeID(DEVICE_STATES); impl->reserveSizeHeader(); } void WorldLogFileItem::outputDeviceState(DeviceState* state) { impl->outputDeviceState(state); } void WorldLogFileItemImpl::outputDeviceState(DeviceState* state) { DeviceStateCache* cache = 0; if(deviceIndex >= numDeviceStateCaches){ cache = new DeviceStateCache; } else { cache = (*pLastDeviceStateCacheArray)[deviceIndex]; if(state == cache->state){ writeBuf.writeOctet(-1); writeBuf.writeSeekOffset(cache->seekPos); goto endOutputDeviceState; } } cache->state = state; cache->seekPos = writeBuf.seekPos(); if(!state){ writeBuf.writeOctet(0); } else { int size = state->stateSize(); writeBuf.writeOctet(size); doubleWriteBuf.resize(size); state->writeState(&doubleWriteBuf.front()); for(size_t i=0; i < size; ++i){ writeBuf.writeFloat(doubleWriteBuf[i]); } } endOutputDeviceState: pCurrentDeviceStateCacheArray->push_back(cache); ++deviceIndex; } void WorldLogFileItem::endDeviceStateOutput() { impl->fixSizeHeader(); } void WorldLogFileItem::endBodyStateOutput() { impl->fixSizeHeader(); } void WorldLogFileItem::endFrameOutput() { impl->fixSizeHeader(); impl->writeBuf.flush(); impl->exchangeDeviceStateCacheArrays(); } void WorldLogFileItemImpl::exchangeDeviceStateCacheArrays() { int i = 1 - currentDeviceStateCacheArrayIndex; pCurrentDeviceStateCacheArray = &deviceStateCacheArrays[i]; pLastDeviceStateCacheArray = &deviceStateCacheArrays[1-i]; numDeviceStateCaches = pLastDeviceStateCacheArray->size(); currentDeviceStateCacheArrayIndex = i; } void WorldLogFileItem::doPutProperties(PutPropertyFunction& putProperty) { putProperty(_("Log file name"), impl->filename, boost::bind(&WorldLogFileItemImpl::setLogFileName, impl, _1)); putProperty(_("Actual log file"), impl->getActualFilename()); putProperty(_("Time-stamp suffix"), impl->isTimeStampSuffixEnabled, changeProperty(impl->isTimeStampSuffixEnabled)); putProperty(_("Recording frame rate"), impl->recordingFrameRate, changeProperty(impl->recordingFrameRate)); } bool WorldLogFileItem::store(Archive& archive) { archive.write("filename", impl->filename); archive.write("timeStampSuffix", impl->isTimeStampSuffixEnabled); archive.write("recordingFrameRate", impl->recordingFrameRate); return true; } bool WorldLogFileItem::restore(const Archive& archive) { string filename; archive.read("timeStampSuffix", impl->isTimeStampSuffixEnabled); archive.read("recordingFrameRate", impl->recordingFrameRate); if(archive.read("filename", filename)){ impl->setLogFileName(archive.expandPathVariables(filename)); } return true; } choreonoid-1.5.0/src/BodyPlugin/KinematicFaultChecker.cpp0000664000000000000000000004554412741425367022131 0ustar rootroot/** @author Shin'ichiro NAKAOKA */ #include "KinematicFaultChecker.h" #include "BodyItem.h" #include "BodyMotionItem.h" #include "WorldItem.h" #include "LinkSelectionView.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; using boost::dynamic_bitset; using boost::format; namespace { bool USE_DUPLICATED_BODY = false; KinematicFaultChecker* checkerInstance = 0; #if defined(_MSC_VER) && _MSC_VER < 1800 inline long lround(double x) { return static_cast((x > 0.0) ? floor(x + 0.5) : ceil(x -0.5)); } #endif } namespace cnoid { class KinematicFaultCheckerImpl : public Dialog { public: MessageView& mes; std::ostream& os; CheckBox positionCheck; DoubleSpinBox angleMarginSpin; DoubleSpinBox translationMarginSpin; CheckBox velocityCheck; QButtonGroup radioGroup; RadioButton allJointsRadio; RadioButton selectedJointsRadio; RadioButton nonSelectedJointsRadio; DoubleSpinBox velocityLimitRatioSpin; CheckBox collisionCheck; CheckBox onlyTimeBarRangeCheck; int numFaults; vector lastPosFaultFrames; vector lastVelFaultFrames; typedef std::map, int> LastCollisionFrameMap; LastCollisionFrameMap lastCollisionFrames; double frameRate; double angleMargin; double translationMargin; double velocityLimitRatio; KinematicFaultCheckerImpl(); bool store(Archive& archive); void restore(const Archive& archive); void apply(); int checkFaults( BodyItem* bodyItem, BodyMotionItem* motionItem, std::ostream& os, bool checkPosition, bool checkVelocity, bool checkCollision, dynamic_bitset<> linkSelection, double beginningTime, double endingTime); void putJointPositionFault(int frame, Link* joint, std::ostream& os); void putJointVelocityFault(int frame, Link* joint, std::ostream& os); void putSelfCollision(Body* body, int frame, const CollisionPair& collisionPair, std::ostream& os); }; } void KinematicFaultChecker::initialize(ExtensionManager* ext) { if(!checkerInstance){ checkerInstance = ext->manage(new KinematicFaultChecker()); MenuManager& mm = ext->menuManager(); mm.setPath("/Tools"); mm.addItem(_("Kinematic Fault Checker")) ->sigTriggered().connect(boost::bind(&KinematicFaultCheckerImpl::show, checkerInstance->impl)); ext->setProjectArchiver( "KinematicFaultChecker", boost::bind(&KinematicFaultCheckerImpl::store, checkerInstance->impl, _1), boost::bind(&KinematicFaultCheckerImpl::restore, checkerInstance->impl, _1)); } } KinematicFaultChecker* KinematicFaultChecker::instance() { return checkerInstance; } KinematicFaultChecker::KinematicFaultChecker() { impl = new KinematicFaultCheckerImpl(); } KinematicFaultChecker::~KinematicFaultChecker() { delete impl; } KinematicFaultCheckerImpl::KinematicFaultCheckerImpl() : mes(*MessageView::mainInstance()), os(mes.cout()) { setWindowTitle(_("Kinematic Fault Checker")); QVBoxLayout* vbox = new QVBoxLayout(); setLayout(vbox); QHBoxLayout* hbox = new QHBoxLayout(); positionCheck.setText(_("Joint position check")); positionCheck.setChecked(true); hbox->addWidget(&positionCheck); hbox->addSpacing(10); hbox->addWidget(new QLabel(_("Angle margin"))); angleMarginSpin.setDecimals(2); angleMarginSpin.setRange(-99.99, 99.99); angleMarginSpin.setSingleStep(0.01); hbox->addWidget(&angleMarginSpin); hbox->addWidget(new QLabel("[deg]")); hbox->addSpacing(10); hbox->addWidget(new QLabel(_("Translation margin"))); translationMarginSpin.setDecimals(4); translationMarginSpin.setRange(-9.9999, 9.9999); translationMarginSpin.setSingleStep(0.0001); hbox->addWidget(&translationMarginSpin); hbox->addWidget(new QLabel("[m]")); hbox->addStretch(); vbox->addLayout(hbox); hbox = new QHBoxLayout(); velocityCheck.setText(_("Joint velocity check")); velocityCheck.setChecked(true); hbox->addWidget(&velocityCheck); hbox->addSpacing(10); hbox->addWidget(new QLabel(_("Limit ratio"))); velocityLimitRatioSpin.setDecimals(0); velocityLimitRatioSpin.setRange(1.0, 100.0); velocityLimitRatioSpin.setValue(100.0); hbox->addWidget(&velocityLimitRatioSpin); hbox->addWidget(new QLabel("%")); hbox->addStretch(); vbox->addLayout(hbox); hbox = new QHBoxLayout(); radioGroup.addButton(&allJointsRadio); radioGroup.addButton(&selectedJointsRadio); radioGroup.addButton(&nonSelectedJointsRadio); allJointsRadio.setText(_("All joints")); allJointsRadio.setChecked(true); hbox->addWidget(&allJointsRadio); selectedJointsRadio.setText(_("Selected joints")); hbox->addWidget(&selectedJointsRadio); nonSelectedJointsRadio.setText(_("Non-selected joints")); hbox->addWidget(&nonSelectedJointsRadio); hbox->addStretch(); vbox->addLayout(hbox); vbox->addWidget(new HSeparator); hbox = new QHBoxLayout(); collisionCheck.setText(_("Self-collision check")); collisionCheck.setChecked(true); hbox->addWidget(&collisionCheck); hbox->addStretch(); vbox->addLayout(hbox); vbox->addWidget(new HSeparator); hbox = new QHBoxLayout(); onlyTimeBarRangeCheck.setText(_("Time bar's range only")); onlyTimeBarRangeCheck.setChecked(false); hbox->addWidget(&onlyTimeBarRangeCheck); hbox->addStretch(); vbox->addLayout(hbox); vbox->addWidget(new HSeparator); PushButton* applyButton = new PushButton(_("&Apply")); applyButton->setDefault(true); QDialogButtonBox* buttonBox = new QDialogButtonBox(this); buttonBox->addButton(applyButton, QDialogButtonBox::AcceptRole); applyButton->sigClicked().connect(boost::bind(&KinematicFaultCheckerImpl::apply, this)); vbox->addWidget(buttonBox); } bool KinematicFaultCheckerImpl::store(Archive& archive) { archive.write("checkJointPositions", positionCheck.isChecked()); archive.write("angleMargin", angleMarginSpin.value()); archive.write("translationMargin", translationMarginSpin.value()); archive.write("checkJointVelocities", velocityCheck.isChecked()); archive.write("velocityLimitRatio", velocityLimitRatioSpin.value()); archive.write("targetJoints", (allJointsRadio.isChecked() ? "all" : (selectedJointsRadio.isChecked() ? "selected" : "non-selected"))); archive.write("checkSelfCollisions", collisionCheck.isChecked()); archive.write("onlyTimeBarRange", onlyTimeBarRangeCheck.isChecked()); return true; } void KinematicFaultCheckerImpl::restore(const Archive& archive) { positionCheck.setChecked(archive.get("checkJointPositions", positionCheck.isChecked())); angleMarginSpin.setValue(archive.get("angleMargin", angleMarginSpin.value())); translationMarginSpin.setValue(archive.get("translationMargin", translationMarginSpin.value())); velocityCheck.setChecked(archive.get("checkJointVelocities", velocityCheck.isChecked())); velocityLimitRatioSpin.setValue(archive.get("velocityLimitRatio", velocityLimitRatioSpin.value())); string target; if(archive.read("targetJoints", target)){ if(target == "all"){ allJointsRadio.setChecked(true); } else if(target == "selected"){ selectedJointsRadio.setChecked(true); } else if(target == "non-selected"){ nonSelectedJointsRadio.setChecked(true); } } collisionCheck.setChecked(archive.get("checkSelfCollisions", collisionCheck.isChecked())); onlyTimeBarRangeCheck.setChecked(archive.get("onlyTimeBarRange", onlyTimeBarRangeCheck.isChecked())); } void KinematicFaultCheckerImpl::apply() { bool processed = false; ItemList items = ItemTreeView::mainInstance()->selectedItems(); if(items.empty()){ mes.notify(_("No BodyMotionItems are selected.")); } else { for(size_t i=0; i < items.size(); ++i){ BodyMotionItem* motionItem = items.get(i); BodyItem* bodyItem = motionItem->findOwnerItem(); if(!bodyItem){ mes.notify(str(fmt(_("%1% is not owned by any BodyItem. Check skiped.")) % motionItem->name())); } else { mes.putln(); mes.notify(str(fmt(_("Applying the Kinematic Fault Checker to %1% ...")) % motionItem->headItem()->name())); dynamic_bitset<> linkSelection; if(selectedJointsRadio.isChecked()){ linkSelection = LinkSelectionView::mainInstance()->linkSelection(bodyItem); } else if(nonSelectedJointsRadio.isChecked()){ linkSelection = LinkSelectionView::mainInstance()->linkSelection(bodyItem); linkSelection.flip(); } else { linkSelection.resize(bodyItem->body()->numLinks(), true); } double beginningTime = 0.0; double endingTime = motionItem->motion()->getTimeLength(); std::numeric_limits::max(); if(onlyTimeBarRangeCheck.isChecked()){ TimeBar* timeBar = TimeBar::instance(); beginningTime = timeBar->minTime(); endingTime = timeBar->maxTime(); } int n = checkFaults(bodyItem, motionItem, mes.cout(), positionCheck.isChecked(), velocityCheck.isChecked(), collisionCheck.isChecked(), linkSelection, beginningTime, endingTime); if(n > 0){ if(n == 1){ mes.notify(_("A fault has been detected.")); } else { mes.notify(str(fmt(_("%1% faults have been detected.")) % n)); } } else { mes.notify(_("No faults have been detected.")); } processed = true; } } } } /** @return Number of detected faults */ int KinematicFaultChecker::checkFaults (BodyItem* bodyItem, BodyMotionItem* motionItem, std::ostream& os, double beginningTime, double endingTime) { dynamic_bitset<> linkSelection(bodyItem->body()->numLinks()); linkSelection.set(); return impl->checkFaults( bodyItem, motionItem, os, true, true, true, linkSelection, beginningTime, endingTime); } int KinematicFaultCheckerImpl::checkFaults (BodyItem* bodyItem, BodyMotionItem* motionItem, std::ostream& os, bool checkPosition, bool checkVelocity, bool checkCollision, dynamic_bitset<> linkSelection, double beginningTime, double endingTime) { numFaults = 0; BodyPtr body = bodyItem->body(); BodyMotionPtr motion = motionItem->motion(); MultiValueSeqPtr qseq = motion->jointPosSeq();; MultiSE3SeqPtr pseq = motion->linkPosSeq(); if((!checkPosition && !checkVelocity && !checkCollision) || body->isStaticModel() || !qseq->getNumFrames()){ return numFaults; } BodyState orgKinematicState; if(USE_DUPLICATED_BODY){ body = body->clone(); } else { bodyItem->storeKinematicState(orgKinematicState); } CollisionDetectorPtr collisionDetector; WorldItem* worldItem = bodyItem->findOwnerItem(); if(worldItem){ collisionDetector = worldItem->collisionDetector()->clone(); } else { int index = CollisionDetector::factoryIndex("AISTCollisionDetector"); if(index >= 0){ collisionDetector = CollisionDetector::create(index); } else { collisionDetector = CollisionDetector::create(0); os << _("A collision detector is not found. Collisions cannot be detected this time.") << endl; } } addBodyToCollisionDetector(*body, *collisionDetector); collisionDetector->makeReady(); const int numJoints = std::min(body->numJoints(), qseq->numParts()); const int numLinks = std::min(body->numLinks(), pseq->numParts()); frameRate = motion->frameRate(); double stepRatio2 = 2.0 / frameRate; angleMargin = radian(angleMarginSpin.value()); translationMargin = translationMarginSpin.value(); velocityLimitRatio = velocityLimitRatioSpin.value() / 100.0; int beginningFrame = std::max(0, (int)(beginningTime * frameRate)); int endingFrame = std::min((motion->numFrames() - 1), (int)lround(endingTime * frameRate)); lastPosFaultFrames.clear(); lastPosFaultFrames.resize(numJoints, std::numeric_limits::min()); lastVelFaultFrames.clear(); lastVelFaultFrames.resize(numJoints, std::numeric_limits::min()); lastCollisionFrames.clear(); if(checkCollision){ Link* root = body->rootLink(); root->p().setZero(); root->R().setIdentity(); } for(int frame = beginningFrame; frame <= endingFrame; ++frame){ int prevFrame = (frame == beginningFrame) ? beginningFrame : frame - 1; int nextFrame = (frame == endingFrame) ? endingFrame : frame + 1; for(int i=0; i < numJoints; ++i){ Link* joint = body->joint(i); double q = qseq->at(frame, i); joint->q() = q; if(joint->index() >= 0 && linkSelection[joint->index()]){ if(checkPosition){ bool fault = false; if(joint->isRotationalJoint()){ fault = (q > (joint->q_upper() - angleMargin) || q < (joint->q_lower() + angleMargin)); } else if(joint->isSlideJoint()){ fault = (q > (joint->q_upper() - translationMargin) || q < (joint->q_lower() + translationMargin)); } if(fault){ putJointPositionFault(frame, joint, os); } } if(checkVelocity){ double dq = (qseq->at(nextFrame, i) - qseq->at(prevFrame, i)) / stepRatio2; joint->dq() = dq; if(dq > (joint->dq_upper() * velocityLimitRatio) || dq < (joint->dq_lower() * velocityLimitRatio)){ putJointVelocityFault(frame, joint, os); } } } } if(checkCollision){ Link* link = body->link(0); if(!pseq->empty()) { const SE3& p = pseq->at(frame, 0); link->p() = p.translation(); link->R() = p.rotation().toRotationMatrix(); } else { link->p() = Vector3d(0., 0., 0.); link->R() = Matrix3d::Identity(); } body->calcForwardKinematics(); for(int i=1; i < numLinks; ++i){ link = body->link(i); if(!pseq->empty()) { const SE3& p = pseq->at(frame, i); link->p() = p.translation(); link->R() = p.rotation().toRotationMatrix(); } } for(int i=0; i < numLinks; ++i){ link = body->link(i); collisionDetector->updatePosition(i, link->position()); } collisionDetector->detectCollisions( boost::bind(&KinematicFaultCheckerImpl::putSelfCollision, this, body.get(), frame, _1, boost::ref(os))); } } if(!USE_DUPLICATED_BODY){ bodyItem->restoreKinematicState(orgKinematicState); } return numFaults; } void KinematicFaultCheckerImpl::putJointPositionFault(int frame, Link* joint, std::ostream& os) { static format f1(fmt(_("%1$7.3f [s]: Position limit over of %2% (%3% is beyond the range (%4% , %5%) with margin %6%.)"))); static format f2(fmt(_("%1$7.3f [s]: Position limit over of %2% (%3% is beyond the range (%4% , %5%).)"))); if(frame > lastPosFaultFrames[joint->jointId()] + 1){ double q, l, u, m; if(joint->isRotationalJoint()){ q = degree(joint->q()); l = degree(joint->q_lower()); u = degree(joint->q_upper()); m = degree(angleMargin); } else { q = joint->q(); l = joint->q_lower(); u = joint->q_upper(); m = translationMargin; } if(m != 0.0){ os << (f1 % (frame / frameRate) % joint->name() % q % l % u % m) << endl; } else { os << (f2 % (frame / frameRate) % joint->name() % q % l % u) << endl; } numFaults++; } lastPosFaultFrames[joint->jointId()] = frame; } void KinematicFaultCheckerImpl::putJointVelocityFault(int frame, Link* joint, std::ostream& os) { static format f(fmt(_("%1$7.3f [s]: Velocity limit over of %2% (%3% is %4$.0f %% of the range (%5% , %6%).)"))); if(frame > lastVelFaultFrames[joint->jointId()] + 1){ double dq, l, u; if(joint->isRotationalJoint()){ dq = degree(joint->dq()); l = degree(joint->dq_lower()); u = degree(joint->dq_upper()); } else { dq = joint->dq(); l = joint->dq_lower(); u = joint->dq_upper(); } double r = (dq < 0.0) ? (dq / l) : (dq / u); r *= 100.0; os << (f % (frame / frameRate) % joint->name() % dq % r % l % u) << endl; numFaults++; } lastVelFaultFrames[joint->jointId()] = frame; } void KinematicFaultCheckerImpl::putSelfCollision(Body* body, int frame, const CollisionPair& collisionPair, std::ostream& os) { static format f(fmt(_("%1$7.3f [s]: Collision between %2% and %3%"))); bool putMessage = false; IdPair idPair(collisionPair.geometryId); LastCollisionFrameMap::iterator p = lastCollisionFrames.find(idPair); if(p == lastCollisionFrames.end()){ putMessage = true; lastCollisionFrames[idPair] = frame; } else { if(frame > p->second + 1){ putMessage = true; } p->second = frame; } if(putMessage){ Link* link0 = body->link(collisionPair.geometryId[0]); Link* link1 = body->link(collisionPair.geometryId[1]); os << (f % (frame / frameRate) % link0->name() % link1->name()) << endl; numFaults++; } } choreonoid-1.5.0/src/BodyPlugin/BodyMotionControllerItem.h0000664000000000000000000000230212741425367022340 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_PLUGIN_BODY_MOTION_CONTROLLER_ITEM_H #define CNOID_BODY_PLUGIN_BODY_MOTION_CONTROLLER_ITEM_H #include "ControllerItem.h" #include "exportdecl.h" namespace cnoid { class BodyMotionControllerItemImpl; class CNOID_EXPORT BodyMotionControllerItem : public ControllerItem { public: static void initializeClass(ExtensionManager* ext); BodyMotionControllerItem(); BodyMotionControllerItem(const BodyMotionControllerItem& org); virtual ~BodyMotionControllerItem(); virtual bool initialize(ControllerItemIO* io); virtual bool start(); virtual double timeStep() const; virtual void input(); virtual bool control(); virtual void output(); virtual void stop(); protected: virtual void onDisconnectedFromRoot(); virtual Item* doDuplicate() const; virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: friend class BodyMotionControllerItemImpl; BodyMotionControllerItemImpl* impl; }; typedef ref_ptr BodyMotionControllerItemPtr; } #endif choreonoid-1.5.0/src/BodyPlugin/icons/0000775000000000000000000000000012741425367016337 5ustar rootrootchoreonoid-1.5.0/src/BodyPlugin/icons/start-simulation.png0000664000000000000000000000255612741425367022374 0ustar rootroot‰PNG  IHDRàw=ĝsBIT|dˆ pHYsììu85tEXtSoftwarewww.inkscape.org›î<ëIDATH‰–[lTeÇóÓÒ+ħĥ…‚ĜîžĠj4˘-ĦÖŞ&Š b‚÷KġÁDM·!QĵdQߌ/š ‰Š0´˜1 Ö@1K…ž=Ċ¤B/ôĥşğt÷Œ´XdµÄyœùĉ˙›™‡™OT'ìÜĴĜlq#îS,…}ü\o£÷ŠN&Nc˘Ş8ag#°.Ż(/m[6ñѸ%ÈiU} x͍¸)§Ċùx/ĥ1öä…@$ĝb° ˆÍrĥ\qí[ĊHR~ñ8|ĝ°ŠÈQß÷ow#n—Óâü Ô €²)öFìñé hK´âŞŠ³Î¢B×/Ĥie“ĝ_ ,žŒċ—ċS*áÑÀşÀ&Ù f:À5ùùbċZ Ÿ&Ö£+ÚE*•˘ĵĴüü–Şêޘ{ù\Däá`2¸ùż ĥıÄ.°E}%úmÔ÷Óŭ)ŞġuġVĥ¤Ùı³)_\NÉĊëò&ƒFšä!ŬĤ™lTĜy6c'ÇÓ‚étzË÷íßg­jΌ9iƒƒ´ ´ÑPÒÀÊĈ•ÜZ+*zçPé›Ĉ¸qU}*Ŝ·Žì=˘fÜuuuÔ\]ƒˆĵ˧ƒŒĤGÙ3¸‡D&qŽßLŒ`'H_OŸßŜ֞‰Ĉ¸ŝz,Ë2ÀÚé)?EÛmìnߍ¨ì,,yÁ8açĉ Èf”›GGúúìĞôİÁSäĉäŞ cÌĜóŜ÷5Şş£d¨¤İŬŽqĵ턝û& ߪê‚ñññ£­­­™t&MEY… TO'ŝ]ûwì=°`{ ?pOÇğFŒä8agĊ¤_UŸ8}ú´Ġ?OaA!úùNĜ™ñoâííítìĜZ•Wuß7/}“žŒÎì/ 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private: LinkPropertyViewImpl* impl; }; } #endif choreonoid-1.5.0/src/BodyPlugin/SubSimulatorItem.h0000664000000000000000000000146512741425367020653 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_PLUGIN_SUB_SIMULATOR_ITEM_H #define CNOID_BODY_PLUGIN_SUB_SIMULATOR_ITEM_H #include #include "exportdecl.h" namespace cnoid { class SimulatorItem; class CNOID_EXPORT SubSimulatorItem : public Item { public: SubSimulatorItem(); SubSimulatorItem(const SubSimulatorItem& org); virtual bool isEnabled(); virtual bool setEnabled(bool on); virtual bool initializeSimulation(SimulatorItem* simulatorItem); virtual void finalizeSimulation(); protected: virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: bool isEnabled_; }; typedef ref_ptr SubSimulatorItemPtr; } #endif choreonoid-1.5.0/src/BodyPlugin/BodyStateView.h0000664000000000000000000000113112741425367020122 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODYPLUGIN_BODY_STATE_VIEW_H_INCLUDED #define CNOID_BODYPLUGIN_BODY_STATE_VIEW_H_INCLUDED #include "BodyItem.h" #include #include "exportdecl.h" namespace cnoid { class BodyStateViewImpl; class CNOID_EXPORT BodyStateView : public View { public: static void initializeClass(ExtensionManager* ext); BodyStateView(); virtual ~BodyStateView(); protected: virtual bool storeState(Archive& archive); virtual bool restoreState(const Archive& archive); private: BodyStateViewImpl* impl; }; } #endif choreonoid-1.5.0/src/BodyPlugin/GLVisionSimulatorItem.h0000664000000000000000000000272012741425367021607 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODYPLUGIN_GL_VISION_SIMULATOR_ITEM_H #define CNOID_BODYPLUGIN_GL_VISION_SIMULATOR_ITEM_H #include "SubSimulatorItem.h" #include "exportdecl.h" namespace cnoid { class GLVisionSimulatorItemImpl; class CNOID_EXPORT GLVisionSimulatorItem : public SubSimulatorItem { public: static void initializeClass(ExtensionManager* ext); GLVisionSimulatorItem(); GLVisionSimulatorItem(const GLVisionSimulatorItem& org); ~GLVisionSimulatorItem(); void setTargetBodies(const std::string& bodyNames); void setTargetSensors(const std::string& sensorNames); void setMaxFrameRate(double rate); void setMaxLatency(double latency); void setVisionDataRecordingEnabled(bool on); void setDedicatedSensorThreadsEnabled(bool on); void setBestEffortMode(bool on); void setRangeSensorPrecisionRatio(double r); void setAllSceneObjectsEnabled(bool on); void setHeadLightEnabled(bool on); void setAdditionalLightsEnabled(bool on); virtual bool initializeSimulation(SimulatorItem* simulatorItem); virtual void finalizeSimulation(); protected: virtual Item* doDuplicate() const; virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: GLVisionSimulatorItemImpl* impl; }; typedef ref_ptr GLVisionSimulatorItemPtr; } #endif choreonoid-1.5.0/src/BodyPlugin/KinematicsBar.cpp0000664000000000000000000002240312741425367020445 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "KinematicsBar.h" #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace { const char* modeSymbol[] = { "AUTO", "FK", "IK" }; class KinematicsBarSetupDialog : public Dialog { public: DoubleSpinBox snapDistanceSpin; SpinBox snapAngleSpin; DoubleSpinBox penetrationBlockDepthSpin; CheckBox lazyCollisionDetectionModeCheck; PushButton okButton; KinematicsBarSetupDialog(); void storeState(Archive& archive); void restoreState(const Archive& archive); }; } namespace cnoid { class KinematicsBarImpl { public: ToolButton* autoModeRadio; ToolButton* fkModeRadio; ToolButton* ikModeRadio; ToolButton* draggerToggle; ToolButton* footSnapToggle; ToolButton* jointPositionLimitToggle; ToolButton* penetrationBlockToggle; ToolButton* collisionLinkHighlightToggle; int collisionDetectionPriority; Signal sigCollisionVisualizationChanged; KinematicsBarSetupDialog* setup; KinematicsBarImpl(KinematicsBar* self); void onCollisionVisualizationChanged(); void onLazyCollisionDetectionModeToggled(); bool storeState(Archive& archive); bool restoreState(const Archive& archive); }; } KinematicsBar* KinematicsBar::instance() { static KinematicsBar* instance = new KinematicsBar(); return instance; } KinematicsBar::KinematicsBar() : ToolBar(N_("KinematicsBar")) { impl = new KinematicsBarImpl(this); } KinematicsBarImpl::KinematicsBarImpl(KinematicsBar* self) { self->setVisibleByDefault(true); setup = new KinematicsBarSetupDialog(); fkModeRadio = self->addRadioButton(QIcon(":/Body/icons/fk.png"), _("Forward kinematics mode")); autoModeRadio = self->addRadioButton(QIcon(":/Body/icons/fkik.png"), _("Preset kinematics mode")); ikModeRadio = self->addRadioButton(QIcon(":/Body/icons/ik.png"), _("Inverse kinematics mode")); autoModeRadio->setChecked(true); self->addSeparator(2); draggerToggle = self->addToggleButton(QIcon(":/Body/icons/rotation.png"), _("Enable link orientation editing")); draggerToggle->setChecked(true); /* footSnapToggle = self->addToggleButton(xpmfootsnapon, _("Snap foot to the floor")); footSnapToggle->setChecked(true); */ /* jointPositionLimitToggle = self->addToggleButton( xpmlimitangle, _("Limit joint positions within the movable range specifications")); jointPositionLimitToggle->setChecked(true); */ penetrationBlockToggle = self->addToggleButton(QIcon(":/Body/icons/block.png"), _("Penetration block mode")); penetrationBlockToggle->setChecked(false); collisionLinkHighlightToggle = self->addToggleButton(QIcon(":/Body/icons/collisionoutline.png"), _("Highlight colliding links")); collisionLinkHighlightToggle->setChecked(false); collisionLinkHighlightToggle->sigToggled().connect( boost::bind(&KinematicsBarImpl::onCollisionVisualizationChanged, this)); self->addButton(QIcon(":/Base/icons/setup.png")) ->sigClicked().connect( boost::bind(&KinematicsBarSetupDialog::show, setup)); setup->lazyCollisionDetectionModeCheck.sigToggled().connect( boost::bind(&KinematicsBarImpl::onLazyCollisionDetectionModeToggled, this)); onLazyCollisionDetectionModeToggled(); } KinematicsBar::~KinematicsBar() { delete impl; } int KinematicsBar::mode() const { if(impl->fkModeRadio->isChecked()){ return FK_MODE; } else if(impl->ikModeRadio->isChecked()){ return IK_MODE; } return AUTO_MODE; } bool KinematicsBar::isPositionDraggerEnabled() const { return impl->draggerToggle->isChecked(); } bool KinematicsBar::isFootSnapMode() const { return impl->footSnapToggle->isChecked(); } void KinematicsBar::getSnapThresholds(double& distance, double& angle) const { distance = impl->setup->snapDistanceSpin.value(); angle = radian(impl->setup->snapAngleSpin.value()); } bool KinematicsBar::isJointPositionLimitMode() const { return impl->jointPositionLimitToggle->isChecked(); } bool KinematicsBar::isPenetrationBlockMode() const { return impl->penetrationBlockToggle->isChecked(); } double KinematicsBar::penetrationBlockDepth() const { return impl->setup->penetrationBlockDepthSpin.value(); } bool KinematicsBar::isCollisionLinkHighlihtMode() const { return impl->collisionLinkHighlightToggle->isChecked(); } int KinematicsBar::collisionDetectionPriority() const { return impl->collisionDetectionPriority; } SignalProxy KinematicsBar::sigCollisionVisualizationChanged() { return impl->sigCollisionVisualizationChanged; } void KinematicsBarImpl::onCollisionVisualizationChanged() { sigCollisionVisualizationChanged(); } void KinematicsBarImpl::onLazyCollisionDetectionModeToggled() { if(setup->lazyCollisionDetectionModeCheck.isChecked()){ collisionDetectionPriority = LazyCaller::PRIORITY_NORMAL; } else { collisionDetectionPriority = LazyCaller::PRIORITY_HIGH; } } bool KinematicsBar::storeState(Archive& archive) { archive.write("mode", modeSymbol[mode()]); return impl->storeState(archive); } bool KinematicsBarImpl::storeState(Archive& archive) { archive.write("enablePositionDragger", draggerToggle->isChecked()); archive.write("penetrationBlock", penetrationBlockToggle->isChecked()); //archive.write("footSnap", footSnapToggle->isChecked()); archive.write("collisionLinkHighlight", collisionLinkHighlightToggle->isChecked()); setup->storeState(archive); return true; } bool KinematicsBar::restoreState(const Archive& archive) { return impl->restoreState(archive); } bool KinematicsBarImpl::restoreState(const Archive& archive) { string storedModeSymbol = archive.get("mode", "AUTO"); if(storedModeSymbol == "FK"){ fkModeRadio->setChecked(true); } else if(storedModeSymbol == "IK"){ ikModeRadio->setChecked(true); } else { autoModeRadio->setChecked(true); fkModeRadio->setChecked(false); ikModeRadio->setChecked(false); } draggerToggle->setChecked(archive.get("enablePositionDragger", draggerToggle->isChecked())); penetrationBlockToggle->setChecked(archive.get("penetrationBlock", penetrationBlockToggle->isChecked())); //footSnapToggle->setChecked(archive.get("footSnap", footSnapToggle->isChecked())); collisionLinkHighlightToggle->setChecked(archive.get("collisionLinkHighlight", collisionLinkHighlightToggle->isChecked())); setup->restoreState(archive); return true; } KinematicsBarSetupDialog::KinematicsBarSetupDialog() { setWindowTitle(_("Kinematics Operation Setup")); QVBoxLayout* vbox = new QVBoxLayout(); setLayout(vbox); QHBoxLayout* hbox = new QHBoxLayout(); hbox->addWidget(new QLabel(_("Snap thresholds:"))); hbox->addSpacing(10); hbox->addWidget(new QLabel(_("distance"))); snapDistanceSpin.setAlignment(Qt::AlignCenter); snapDistanceSpin.setDecimals(3); snapDistanceSpin.setRange(0.0, 0.999); snapDistanceSpin.setSingleStep(0.001); snapDistanceSpin.setValue(0.025); hbox->addWidget(&snapDistanceSpin); hbox->addWidget(new QLabel(_("[m]"))); hbox->addSpacing(5); hbox->addWidget(new QLabel(_("angle"))); snapAngleSpin.setAlignment(Qt::AlignCenter); snapAngleSpin.setRange(0, 90); snapAngleSpin.setValue(30); hbox->addWidget(&snapAngleSpin); hbox->addWidget(new QLabel(_("[deg]"))); vbox->addLayout(hbox); hbox = new QHBoxLayout(); hbox->addWidget(new QLabel(_("Penetration block depth"))); penetrationBlockDepthSpin.setAlignment(Qt::AlignCenter); penetrationBlockDepthSpin.setDecimals(4); penetrationBlockDepthSpin.setRange(0.0, 0.0099); penetrationBlockDepthSpin.setSingleStep(0.0001); penetrationBlockDepthSpin.setValue(0.0005); hbox->addWidget(&penetrationBlockDepthSpin); hbox->addWidget(new QLabel(_("[m]"))); vbox->addLayout(hbox); hbox = new QHBoxLayout(); lazyCollisionDetectionModeCheck.setText(_("Lazy collision detection mode")); lazyCollisionDetectionModeCheck.setChecked(true); hbox->addWidget(&lazyCollisionDetectionModeCheck); vbox->addLayout(hbox); hbox = new QHBoxLayout(); okButton.setText(_("OK")); okButton.setDefault(true); hbox->addWidget(&okButton); vbox->addLayout(hbox); } void KinematicsBarSetupDialog::storeState(Archive& archive) { archive.write("snapDistance", snapDistanceSpin.value()); archive.write("penetrationBlockDepth", penetrationBlockDepthSpin.value()); archive.write("lazyCollisionDetectionMode", lazyCollisionDetectionModeCheck.isChecked()); } void KinematicsBarSetupDialog::restoreState(const Archive& archive) { snapDistanceSpin.setValue(archive.get("snapDistance", snapDistanceSpin.value())); penetrationBlockDepthSpin.setValue(archive.get("penetrationBlockDepth", penetrationBlockDepthSpin.value())); lazyCollisionDetectionModeCheck.setChecked(archive.get("lazyCollisionDetectionMode", lazyCollisionDetectionModeCheck.isChecked())); } choreonoid-1.5.0/src/BodyPlugin/SimulatorItem.cpp0000664000000000000000000021712112741425367020532 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "SimulatorItem.h" #include "WorldItem.h" #include "ControllerItem.h" #include "SubSimulatorItem.h" #include "SimulationScriptItem.h" #include "BodyMotionItem.h" #include "BodyMotionEngine.h" #include "WorldLogFileItem.h" #include "CollisionSeq.h" #include "CollisionSeqItem.h" #include "CollisionSeqEngine.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #ifdef ENABLE_SIMULATION_PROFILING #include #include #include #endif #if QT_VERSION >= 0x040700 #include #else #include typedef QTime QElapsedTimer; #endif #include "gettext.h" using namespace std; using namespace cnoid; using boost::format; namespace { typedef Deque2D > MultiSE3Deque; typedef map, SimulationBodyPtr> BodyItemToSimBodyMap; struct FunctionSet { struct FunctionInfo { int id; boost::function function; }; vector functions; boost::mutex mutex; SimulatorItemImpl* simImpl; int idCounter; bool needToUpdate; vector functionsToAdd; set registerdIds; vector idsToRemove; FunctionSet(SimulatorItemImpl* simImpl) : simImpl(simImpl) { clear(); } void clear() { idCounter = 0; needToUpdate = false; functions.clear(); functionsToAdd.clear(); registerdIds.clear(); idsToRemove.clear(); } void call(){ if(needToUpdate){ updateFunctions(); } const size_t n = functions.size(); for(size_t i=0; i < n; ++i){ functions[i].function(); } } int add(boost::function& func); void remove(int id); void updateFunctions(); }; } namespace cnoid { class SimulationBodyImpl : public ControllerItemIO { public: SimulationBody* self; BodyPtr body_; BodyItemPtr bodyItem; vector controllers; double frameRate; SimulatorItemImpl* simImpl; bool isActive; bool areShapesCloned; Deque2D jointPosBuf; MultiSE3Deque linkPosBuf; vector devicesToNotifyResults; ScopedConnectionSet deviceStateConnections; boost::dynamic_bitset<> deviceStateChangeFlag; Deque2D deviceStateBuf; ItemPtr parentOfResultItems; string resultItemPrefix; BodyMotionPtr motion; MultiValueSeqPtr jointPosResults; MultiSE3SeqPtr linkPosResults; MultiSE3SeqItemPtr linkPosResultItem; vector prevFlushedDeviceStateInDirectMode; MultiDeviceStateSeqPtr deviceStateResults; SimulationBodyImpl(SimulationBody* self, Body* body); void findControlSrcItems(Item* item, vector& io_items, bool doPickCheckedItems = false); bool initialize(SimulatorItemImpl* simImpl, BodyItem* bodyItem); bool initialize(SimulatorItemImpl* simImpl, ControllerItem* controllerItem); void extractAssociatedItems(bool doReset); void copyStateToBodyItem(); void cloneShapesOnce(); void initializeResultData(); void initializeResultBuffers(); void initializeResultItems(); void setInitialStateOfBodyMotion(const BodyMotionPtr& bodyMotion); void setActive(bool on); void onDeviceStateChanged(int deviceIndex); void bufferResults(); void flushResults(); void flushResultsToBodyMotionItems(); void flushResultsToBody(); void flushResultsToWorldLogFile(int bufferFrame); void notifyResults(); // Functions defined in the ControllerItemIO class virtual Body* body(); virtual double timeStep() const; virtual double currentTime() const; virtual std::string optionString() const; }; class SimulatorItemImpl : public QThread, public ControllerItemIO { public: SimulatorItemImpl(SimulatorItem* self); SimulatorItemImpl(SimulatorItem* self, const SimulatorItemImpl& org); ~SimulatorItemImpl(); SimulatorItem* self; vector allSimBodies; vector simBodiesWithBody; vector activeSimBodies; BodyItemToSimBodyMap simBodyMap; int currentFrame; double worldFrameRate; double worldTimeStep_; int frameAtLastBufferWriting; int numBufferedFrames; Timer flushTimer; FunctionSet preDynamicsFunctions; FunctionSet midDynamicsFunctions; FunctionSet postDynamicsFunctions; vector simBodyImplsToNotifyResults; ItemList subSimulatorItems; vector activeControllers; boost::thread controlThread; boost::condition_variable controlCondition; boost::mutex controlMutex; bool isExitingControlLoopRequested; bool isControlRequested; bool isControlFinished; bool isControlToBeContinued; bool doCheckContinue; CollisionDetectorPtr collisionDetector; CollisionSeqPtr collisionSeq; deque collisionPairsBuf; Selection recordingMode; Selection timeRangeMode; double specifiedTimeLength; int maxFrame; int ringBufferSize; bool isRecordingEnabled; bool isRingBufferMode; bool useControllerThreads; bool useControllerThreadsProperty; bool isAllLinkPositionOutputMode; bool isDeviceStateOutputEnabled; bool isDoingSimulationLoop; volatile bool stopRequested; volatile bool pauseRequested; bool isRealtimeSyncMode; bool needToUpdateSimBodyLists; bool hasActiveFreeBodies; bool recordCollisionData; string controllerOptionString_; TimeBar* timeBar; int fillLevelId; QMutex resultBufMutex; double actualSimulationTime; double finishTime; MessageView* mv; ostream& os; bool doReset; bool isWaitingForSimulationToStop; Signal sigSimulationStarted; Signal sigSimulationFinished; WorldLogFileItemPtr worldLogFileItem; int nextLogFrame; double nextLogTime; double logTimeStep; boost::optional extForceFunctionId; boost::mutex extForceMutex; struct ExtForceInfo { Link* link; Vector3 point; Vector3 f; double time; }; ExtForceInfo extForceInfo; boost::optional virtualElasticStringFunctionId; boost::mutex virtualElasticStringMutex; struct VirtualElasticString { Link* link; double kp; double kd; double f_max; Vector3 point; Vector3 goal; }; VirtualElasticString virtualElasticString; vector bodyMotionEngines; CollisionSeqEnginePtr collisionSeqEngine; Connection aboutToQuitConnection; SgCloneMap sgCloneMap; ItemTreeView* itemTreeView; #ifdef ENABLE_SIMULATION_PROFILING double controllerTime; QElapsedTimer timer; Deque2D simProfilingBuf; MultiValueSeq simProfilingSeq; SceneWidget* sw; #endif void findTargetItems(Item* item, bool isUnderBodyItem, ItemList& out_targetItems); void clearSimulation(); bool startSimulation(bool doReset); virtual void run(); void onSimulationLoopStarted(); void updateSimBodyLists(); bool stepSimulationMain(); void concurrentControlLoop(); void flushResults(); void stopSimulation(bool doSync); void pauseSimulation(); void restartSimulation(); void onSimulationLoopStopped(); void setExternalForce(BodyItem* bodyItem, Link* link, const Vector3& point, const Vector3& f, double time); void doSetExternalForce(); void setVirtualElasticString( BodyItem* bodyItem, Link* link, const Vector3& attachmentPoint, const Vector3& endPoint); void setVirtualElasticStringForce(); bool onRealtimeSyncChanged(bool on); bool onAllLinkPositionOutputModeChanged(bool on); bool setSpecifiedRecordingTimeLength(double length); bool store(Archive& archive); bool restore(const Archive& archive); void restoreBodyMotionEngines(const Archive& archive); void addBodyMotionEngine(BodyMotionItem* motionItem); bool setPlaybackTime(double time); void addCollisionSeqEngine(CollisionSeqItem* collisionSeqItem); // Functions defined in the ControllerItemIO class virtual Body* body(); virtual double timeStep() const; virtual double currentTime() const; virtual std::string optionString() const; }; class SimulatedMotionEngineManager { public: ItemList simulatorItems; ScopedConnection selectionOrTreeChangedConnection; ScopedConnection timeChangeConnection; SimulatedMotionEngineManager(){ selectionOrTreeChangedConnection.reset( ItemTreeView::instance()->sigSelectionOrTreeChanged().connect( boost::bind(&SimulatedMotionEngineManager::onItemSelectionOrTreeChanged, this, _1))); } void onItemSelectionOrTreeChanged(const ItemList& selected){ bool changed = false; if(selected.empty()){ vector::iterator p = simulatorItems.begin(); while(p != simulatorItems.end()){ if((*p)->isRunning() && (*p)->findRootItem()){ ++p; } else { p = simulatorItems.erase(p); changed = true; } } } else { if(simulatorItems != selected){ simulatorItems = selected; changed = true; } } if(changed){ if(simulatorItems.empty()){ timeChangeConnection.disconnect(); } else { TimeBar* timeBar = TimeBar::instance(); timeChangeConnection.reset( timeBar->sigTimeChanged().connect( boost::bind(&SimulatedMotionEngineManager::setTime, this, _1))); setTime(timeBar->time()); } } } bool setTime(double time); }; } namespace { /** This is a class for executing a script as a controller \todo Reimplement this class as a SubSimulatorItem? */ class ScriptControllerItem : public ControllerItem { bool doExecAfterInit; double time; double timeStep_; double delay; SimulationScriptItemPtr scriptItem; LazyCaller executeLater; public: ScriptControllerItem(SimulationScriptItem* scriptItem){ this->scriptItem = scriptItem; doExecAfterInit = false; } virtual bool start(ControllerItemIO* io) { timeStep_ = io->timeStep(); if(scriptItem->executionTiming() == SimulationScriptItem::DURING_INITIALIZATION){ scriptItem->executeAsSimulationScript(); } else if(scriptItem->executionTiming() == SimulationScriptItem::AFTER_INITIALIZATION){ doExecAfterInit = true; time = 0.0; delay = scriptItem->executionDelay(); executeLater.setFunction(boost::bind(&ScriptControllerItem::execute, this)); } return true; } virtual double timeStep() const{ return timeStep_; } virtual void input() { } virtual bool control() { if(doExecAfterInit){ if(time >= delay){ executeLater(); doExecAfterInit = false; } time += timeStep_; return true; } return false; } void execute(){ scriptItem->executeAsSimulationScript(); } virtual void output() { } virtual void stop() { if(scriptItem->executionTiming() == SimulationScriptItem::DURING_FINALIZATION){ scriptItem->executeAsSimulationScript(); } } }; } void SimulatorItem::initializeClass(ExtensionManager* ext) { ext->manage(new SimulatedMotionEngineManager()); } static bool checkActive(SimulatorItem* item, SimulatorItem*& activeItem) { if(item->isActive()){ activeItem = item; return true; } return false; } SimulatorItem* SimulatorItem::findActiveSimulatorItemFor(Item* item) { bool result = false; SimulatorItem* activeSimulatorItem = 0; if(item){ WorldItem* worldItem = item->findOwnerItem(); if(worldItem){ worldItem->traverse(boost::bind(checkActive, _1, boost::ref(activeSimulatorItem))); } } return activeSimulatorItem; } SimulationBody::SimulationBody(Body* body) { impl = new SimulationBodyImpl(this, body); } SimulationBodyImpl::SimulationBodyImpl(SimulationBody* self, Body* body) : self(self), body_(body) { simImpl = 0; areShapesCloned = false; isActive = false; } SimulationBody::~SimulationBody() { delete impl; } BodyItem* SimulationBody::bodyItem() const { return impl->bodyItem; } Body* SimulationBody::body() const { return impl->body_; } int SimulationBody::numControllers() const { return impl->controllers.size(); } ControllerItem* SimulationBody::controller(int index) const { if(index < impl->controllers.size()){ return impl->controllers[index]; } return 0; } void SimulationBodyImpl::findControlSrcItems(Item* item, vector& io_items, bool doPickCheckedItems) { while(item){ Item* srcItem = 0; if(dynamic_cast(item)){ srcItem = item; } if(srcItem){ bool isChecked = ItemTreeView::instance()->isItemChecked(srcItem); if(!doPickCheckedItems || isChecked){ if(!doPickCheckedItems && isChecked){ io_items.clear(); doPickCheckedItems = true; } io_items.push_back(srcItem); } } else if(item->childItem()){ findControlSrcItems(item->childItem(), io_items, doPickCheckedItems); } item = item->nextItem(); } } bool SimulationBodyImpl::initialize(SimulatorItemImpl* simImpl, BodyItem* bodyItem) { this->simImpl = simImpl; this->bodyItem = bodyItem; frameRate = simImpl->worldFrameRate; deviceStateConnections.disconnect(); controllers.clear(); resultItemPrefix = simImpl->self->name() + "-" + bodyItem->name(); bool doReset = simImpl->doReset && !body_->isStaticModel(); extractAssociatedItems(doReset); if(body_->isStaticModel()){ return true; } isActive = true; initializeResultData(); self->bufferResults(); // put the intial state return true; } void SimulationBodyImpl::extractAssociatedItems(bool doReset) { vector controlSrcItems; findControlSrcItems(bodyItem->childItem(), controlSrcItems); vector::iterator iter = controlSrcItems.begin(); while(iter != controlSrcItems.end()){ Item* srcItem = *iter; ControllerItem* controllerItem = 0; if(controllerItem = dynamic_cast(srcItem)){ if(controllerItem->initialize(this)){ controllers.push_back(controllerItem); } else { controllerItem = 0; } } if(controllerItem){ ++iter; } else { iter = controlSrcItems.erase(iter); } } if(controlSrcItems.empty()){ parentOfResultItems = bodyItem; } else if(controlSrcItems.size() == 1){ parentOfResultItems = controlSrcItems.front(); } else { // find the common owner of all the controllers int minDepth = std::numeric_limits::max(); for(size_t i=0; i < controlSrcItems.size(); ++i){ Item* owner = controlSrcItems[i]->parentItem(); int depth = 0; Item* item = owner; while(item && item != bodyItem){ ++depth; item = item->parentItem(); } if(depth < minDepth){ parentOfResultItems = owner; minDepth = depth; } } } } void SimulationBodyImpl::copyStateToBodyItem() { BodyState state(*body_); state.restorePositions(*bodyItem->body()); } void SimulationBody::cloneShapesOnce() { if(!impl->areShapesCloned){ if(!impl->simImpl){ // throw exception } impl->body_->cloneShapes(impl->simImpl->sgCloneMap); impl->areShapesCloned = true; } } const std::string& SimulationBody::resultItemPrefix() const { return impl->resultItemPrefix; } void SimulationBodyImpl::initializeResultData() { self->initializeResultBuffers(); if(!simImpl->isRecordingEnabled){ return; } self->initializeResultItems(); } void SimulationBody::initializeResultBuffers() { impl->initializeResultBuffers(); } void SimulationBodyImpl::initializeResultBuffers() { jointPosBuf.resizeColumn(body_->numAllJoints()); const int numLinksToRecord = simImpl->isAllLinkPositionOutputMode ? body_->numLinks() : 1; linkPosBuf.resizeColumn(numLinksToRecord); const DeviceList<>& devices = body_->devices(); const int numDevices = devices.size(); deviceStateConnections.disconnect(); deviceStateChangeFlag.reset(); deviceStateChangeFlag.resize(numDevices, true); // set all the bits to store the initial states devicesToNotifyResults.clear(); if(devices.empty() || !simImpl->isDeviceStateOutputEnabled){ deviceStateBuf.clear(); prevFlushedDeviceStateInDirectMode.clear(); } else { // This buf always has the first element to keep unchanged states deviceStateBuf.resize(1, numDevices); prevFlushedDeviceStateInDirectMode.resize(numDevices); for(size_t i=0; i < devices.size(); ++i){ deviceStateConnections.add( devices[i]->sigStateChanged().connect( boost::bind(&SimulationBodyImpl::onDeviceStateChanged, this, i))); } } } void SimulationBody::initializeResultItems() { impl->initializeResultItems(); } void SimulationBodyImpl::initializeResultItems() { if(!parentOfResultItems){ return; } BodyMotionItem* motionItem = parentOfResultItems->findChildItem(resultItemPrefix); if(!motionItem){ motionItem = new BodyMotionItem(); motionItem->setTemporal(); motionItem->setName(resultItemPrefix); parentOfResultItems->addChildItem(motionItem); } motion = motionItem->motion(); motion->setFrameRate(frameRate); motion->setDimension(0, jointPosBuf.colSize(), linkPosBuf.colSize()); simImpl->addBodyMotionEngine(motionItem); jointPosResults = motion->jointPosSeq(); linkPosResultItem = motionItem->linkPosSeqItem(); linkPosResults = motion->linkPosSeq(); const int numDevices = deviceStateBuf.colSize(); if(numDevices == 0 || !simImpl->isDeviceStateOutputEnabled){ clearMultiDeviceStateSeq(*motion); } else { deviceStateResults = getOrCreateMultiDeviceStateSeq(*motion); deviceStateResults->setNumParts(numDevices); } } void SimulationBodyImpl::setInitialStateOfBodyMotion(const BodyMotionPtr& bodyMotion) { bool updated = false; MultiSE3SeqPtr lseq = bodyMotion->linkPosSeq(); if(lseq->numParts() > 0 && lseq->numFrames() > 0){ SE3& p = lseq->at(0, 0); Link* rootLink = body_->rootLink(); rootLink->p() = p.translation(); rootLink->R() = p.rotation().toRotationMatrix(); updated = true; } MultiValueSeqPtr jseq = bodyMotion->jointPosSeq(); if(jseq->numFrames() > 0){ MultiValueSeq::Frame jframe0 = jseq->frame(0); int n = std::min(jframe0.size(), body_->numJoints()); for(int i=0; i < n; ++i){ body_->joint(i)->q() = jframe0[i]; } updated = true; } if(updated){ body_->calcForwardKinematics(); } } // For a controller which is not associated with a body bool SimulationBodyImpl::initialize(SimulatorItemImpl* simImpl, ControllerItem* controllerItem) { this->simImpl = simImpl; this->controllers.push_back(controllerItem); frameRate = simImpl->worldFrameRate; linkPosBuf.resizeColumn(0); return true; } bool SimulationBody::isActive() const { return impl->isActive; } void SimulationBody::setActive(bool on) { impl->setActive(on); } void SimulationBodyImpl::setActive(bool on) { if(body_){ if(on){ if(!isActive){ simImpl->resultBufMutex.lock(); self->initializeResultBuffers(); self->bufferResults(); simImpl->resultBufMutex.unlock(); isActive = true; simImpl->needToUpdateSimBodyLists = true; } } else { if(isActive){ isActive = false; simImpl->needToUpdateSimBodyLists = true; } } } } void SimulationBody::notifyUnrecordedDeviceStateChange(Device* device) { bool flag = impl->deviceStateChangeFlag[device->index()]; device->notifyStateChange(); impl->deviceStateChangeFlag[device->index()] = flag; } void SimulationBodyImpl::onDeviceStateChanged(int deviceIndex) { deviceStateChangeFlag.set(deviceIndex); } void SimulationBody::bufferResults() { impl->bufferResults(); } void SimulationBodyImpl::bufferResults() { if(jointPosBuf.colSize() > 0){ Deque2D::Row q = jointPosBuf.append(); for(int i=0; i < q.size() ; ++i){ q[i] = body_->joint(i)->q(); } } MultiSE3Deque::Row pos = linkPosBuf.append(); for(int i=0; i < linkPosBuf.colSize(); ++i){ Link* link = body_->link(i); pos[i].set(link->p(), link->R()); } if(deviceStateBuf.colSize() > 0){ const int prevIndex = std::max(0, deviceStateBuf.rowSize() - 1); Deque2D::Row current = deviceStateBuf.append(); Deque2D::Row prev = deviceStateBuf[prevIndex]; const DeviceList<>& devices = body_->devices(); for(size_t i=0; i < devices.size(); ++i){ if(deviceStateChangeFlag[i]){ current[i] = devices[i]->cloneState(); deviceStateChangeFlag.reset(i); } else { current[i] = prev[i]; } } } } void SimulationBody::flushResults() { impl->flushResults(); } void SimulationBodyImpl::flushResults() { if(simImpl->isRecordingEnabled){ flushResultsToBodyMotionItems(); } else { flushResultsToBody(); } // clear buffers linkPosBuf.resizeRow(0); jointPosBuf.resizeRow(0); // keep the last state so that unchanged states can be shared const int numPops = (deviceStateBuf.rowSize() >= 2) ? (deviceStateBuf.rowSize() - 1) : 0; deviceStateBuf.pop_front(numPops); } void SimulationBodyImpl::flushResultsToBodyMotionItems() { if(!linkPosResults){ initializeResultItems(); } const int ringBufferSize = simImpl->ringBufferSize; const int numBufFrames = linkPosBuf.rowSize(); for(int i=0; i < numBufFrames; ++i){ MultiSE3Deque::Row buf = linkPosBuf.row(i); if(linkPosResults->numFrames() >= ringBufferSize){ linkPosResults->popFrontFrame(); } std::copy(buf.begin(), buf.end(), linkPosResults->appendFrame().begin()); } if(jointPosBuf.colSize() > 0){ for(int i=0; i < numBufFrames; ++i){ Deque2D::Row buf = jointPosBuf.row(i); if(jointPosResults->numFrames() >= ringBufferSize){ jointPosResults->popFrontFrame(); } std::copy(buf.begin(), buf.end(), jointPosResults->appendFrame().begin()); } } if(deviceStateBuf.colSize() > 0){ // This loop begins with the second element to skip the first element to keep the unchanged states for(int i=1; i < deviceStateBuf.rowSize(); ++i){ Deque2D::Row buf = deviceStateBuf.row(i); if(deviceStateResults->numFrames() >= ringBufferSize){ deviceStateResults->popFrontFrame(); } std::copy(buf.begin(), buf.end(), deviceStateResults->appendFrame().begin()); } } } void SimulationBodyImpl::flushResultsToBody() { Body* orgBody = bodyItem->body(); if(!linkPosBuf.empty()){ MultiSE3Deque::Row last = linkPosBuf.last(); const int n = last.size(); for(int i=0; i < n; ++i){ SE3& pos = last[i]; Link* link = orgBody->link(i); link->p() = pos.translation(); link->R() = pos.rotation().toRotationMatrix(); } } if(!jointPosBuf.empty()){ Deque2D::Row last = jointPosBuf.last(); const int n = body_->numJoints(); for(int i=0; i < n; ++i){ orgBody->joint(i)->q() = last[i]; } } if(!deviceStateBuf.empty()){ devicesToNotifyResults.clear(); const DeviceList<>& devices = orgBody->devices(); Deque2D::Row ds = deviceStateBuf.last(); const int ndevices = devices.size(); for(size_t i=0; i < ndevices; ++i){ const DeviceStatePtr& s = ds[i]; if(s != prevFlushedDeviceStateInDirectMode[i]){ Device* device = devices[i]; device->copyStateFrom(*s); prevFlushedDeviceStateInDirectMode[i] = s; devicesToNotifyResults.push_back(device); } } } } void SimulationBodyImpl::flushResultsToWorldLogFile(int bufferFrame) { if(bufferFrame < linkPosBuf.rowSize()){ WorldLogFileItem* log = simImpl->worldLogFileItem; log->beginBodyStateOutput(); MultiSE3Deque::Row posbuf = linkPosBuf.row(bufferFrame); log->outputLinkPositions(posbuf.begin(), posbuf.size()); if(jointPosBuf.colSize() > 0){ Deque2D::Row jointbuf = jointPosBuf.row(bufferFrame); log->outputJointPositions(jointbuf.begin(), jointbuf.size()); } if(deviceStateBuf.colSize() > 0){ // Skip the first element because it is used for sharing an unchanged state Deque2D::Row states = deviceStateBuf.row(bufferFrame + 1); log->beginDeviceStateOutput(); for(size_t i=0; i < states.size(); ++i){ log->outputDeviceState(states[i]); } log->endDeviceStateOutput(); } log->endBodyStateOutput(); } } void SimulationBodyImpl::notifyResults() { bodyItem->notifyKinematicStateChange(!simImpl->isAllLinkPositionOutputMode); for(size_t i=0; i < devicesToNotifyResults.size(); ++i){ devicesToNotifyResults[i]->notifyStateChange(); } } Body* SimulationBodyImpl::body() { return body_; } double SimulationBodyImpl::timeStep() const { return simImpl->worldTimeStep_; } double SimulationBodyImpl::currentTime() const { return simImpl->currentTime(); } std::string SimulationBodyImpl::optionString() const { return simImpl->controllerOptionString_; } SimulatorItem::SimulatorItem() { impl = new SimulatorItemImpl(this); } SimulatorItem::SimulatorItem(const SimulatorItem& org) : Item(org) { impl = new SimulatorItemImpl(this); impl->isRealtimeSyncMode = org.impl->isRealtimeSyncMode; impl->isAllLinkPositionOutputMode = org.impl->isAllLinkPositionOutputMode; impl->isDeviceStateOutputEnabled = org.impl->isDeviceStateOutputEnabled; impl->recordingMode = org.impl->recordingMode; impl->timeRangeMode = org.impl->timeRangeMode; impl->useControllerThreadsProperty = org.impl->useControllerThreadsProperty; impl->recordCollisionData = org.impl->recordCollisionData; } SimulatorItemImpl::SimulatorItemImpl(SimulatorItem* self) : self(self), mv(MessageView::mainInstance()), os(mv->cout()), preDynamicsFunctions(this), midDynamicsFunctions(this), postDynamicsFunctions(this), recordingMode(SimulatorItem::N_RECORDING_MODES, CNOID_GETTEXT_DOMAIN_NAME), timeRangeMode(SimulatorItem::N_TIME_RANGE_MODES, CNOID_GETTEXT_DOMAIN_NAME), itemTreeView(ItemTreeView::instance()) { flushTimer.sigTimeout().connect(boost::bind(&SimulatorItemImpl::flushResults, this)); timeBar = TimeBar::instance(); isDoingSimulationLoop = false; isRealtimeSyncMode = true; recordingMode.setSymbol(SimulatorItem::REC_FULL, N_("full")); recordingMode.setSymbol(SimulatorItem::REC_TAIL, N_("tail")); recordingMode.setSymbol(SimulatorItem::REC_NONE, N_("off")); recordingMode.select(SimulatorItem::REC_FULL); timeRangeMode.setSymbol(SimulatorItem::TR_UNLIMITED, N_("Unlimited")); timeRangeMode.setSymbol(SimulatorItem::TR_ACTIVE_CONTROL, N_("Active control period")); timeRangeMode.setSymbol(SimulatorItem::TR_SPECIFIED, N_("Specified time")); timeRangeMode.setSymbol(SimulatorItem::TR_TIMEBAR, N_("Time bar range")); timeRangeMode.select(SimulatorItem::TR_UNLIMITED); specifiedTimeLength = 180.0; // 3 min. useControllerThreadsProperty = true; isAllLinkPositionOutputMode = false; isDeviceStateOutputEnabled = true; recordCollisionData = false; currentFrame = 0; frameAtLastBufferWriting = 0; worldFrameRate = 1.0; } SimulatorItem::~SimulatorItem() { impl->stopSimulation(true); delete impl; } SimulatorItemImpl::~SimulatorItemImpl() { aboutToQuitConnection.disconnect(); } void SimulatorItem::onDisconnectedFromRoot() { impl->stopSimulation(true); } double SimulatorItem::worldTimeStep() { return TimeBar::instance()->timeStep(); } void SimulatorItem::setRecordingMode(int selection) { impl->recordingMode.select(selection); } Selection SimulatorItem::recordingMode() const { return impl->recordingMode; } bool SimulatorItem::isRecordingEnabled() const { return impl->isRecordingEnabled; } void SimulatorItem::setTimeRangeMode(int selection) { impl->timeRangeMode.select(selection); } void SimulatorItem::setRealtimeSyncMode(bool on) { impl->isRealtimeSyncMode = on; } void SimulatorItem::setDeviceStateOutputEnabled(bool on) { impl->isDeviceStateOutputEnabled = on; } void SimulatorItem::setAllLinkPositionOutputMode(bool on) { impl->isAllLinkPositionOutputMode = on; } bool SimulatorItem::isAllLinkPositionOutputMode() { return impl->isAllLinkPositionOutputMode; } bool SimulatorItem::isDeviceStateOutputEnabled() const { return impl->isDeviceStateOutputEnabled; } bool SimulatorItemImpl::setSpecifiedRecordingTimeLength(double length) { specifiedTimeLength = length; return true; } CollisionDetectorPtr SimulatorItem::collisionDetector() { if(impl->collisionDetector){ return impl->collisionDetector; } WorldItem* worldItem = findOwnerItem(); if(worldItem){ return worldItem->collisionDetector()->clone(); } return CollisionDetector::create(0); // the null collision detector } /* Extract body items, controller items which are not associated with (not under) a body item, and simulation script items which are not under another simulator item */ void SimulatorItemImpl::findTargetItems (Item* item, bool isUnderBodyItem, ItemList& out_targetItems) { if(dynamic_cast(item)){ out_targetItems.push_back(item); isUnderBodyItem = true; } else if(!isUnderBodyItem && dynamic_cast(item)){ out_targetItems.push_back(item); } else if(SimulationScriptItem* scriptItem = dynamic_cast(item)){ if(itemTreeView->isItemChecked(scriptItem)){ if(scriptItem->executionTiming() == SimulationScriptItem::BEFORE_INITIALIZATION){ scriptItem->executeAsSimulationScript(); } else { out_targetItems.push_back(item); } } } SimulatorItem* simulatorItem = dynamic_cast(item); if(!simulatorItem || (simulatorItem == self)){ for(Item* childItem = item->childItem(); childItem; childItem = childItem->nextItem()){ findTargetItems(childItem, isUnderBodyItem, out_targetItems); } } } int SimulatorItem::addPreDynamicsFunction(boost::function func) { return impl->preDynamicsFunctions.add(func); } void SimulatorItem::removePreDynamicsFunction(int id) { impl->preDynamicsFunctions.remove(id); } int SimulatorItem::addMidDynamicsFunction(boost::function func) { return impl->midDynamicsFunctions.add(func); } void SimulatorItem::removeMidDynamicsFunction(int id) { impl->midDynamicsFunctions.remove(id); } int SimulatorItem::addPostDynamicsFunction(boost::function func) { return impl->postDynamicsFunctions.add(func); } void SimulatorItem::removePostDynamicsFunction(int id) { impl->postDynamicsFunctions.remove(id); } int FunctionSet::add(boost::function& func) { boost::unique_lock lock(mutex); FunctionInfo info; info.function = func; while(true){ if(registerdIds.insert(idCounter).second){ break; } ++idCounter; } info.id = idCounter++; if(!simImpl->isRunning()){ functions.push_back(info); } else { functionsToAdd.push_back(info); needToUpdate = true; } return info.id; } void FunctionSet::remove(int id) { boost::unique_lock lock(mutex); idsToRemove.push_back(id); needToUpdate = true; } void FunctionSet::updateFunctions() { boost::unique_lock lock(mutex); for(size_t i=0; i < functionsToAdd.size(); ++i){ functions.push_back(functionsToAdd[i]); } functionsToAdd.clear(); for(size_t i=0; i < idsToRemove.size(); ++i){ const int idToRemove = idsToRemove[i]; vector::iterator p = functions.end(); while(p != functions.begin()){ --p; FunctionInfo& info = *p; if(info.id == idToRemove){ functions.erase(p); break; } } } needToUpdate = false; } void SimulatorItemImpl::clearSimulation() { allSimBodies.clear(); simBodiesWithBody.clear();; activeSimBodies.clear(); needToUpdateSimBodyLists = true; preDynamicsFunctions.clear(); midDynamicsFunctions.clear(); postDynamicsFunctions.clear(); subSimulatorItems.clear(); } bool SimulatorItem::startSimulation(bool doReset) { return impl->startSimulation(doReset); } bool SimulatorItemImpl::startSimulation(bool doReset) { this->doReset = doReset; stopSimulation(true); WorldItem* worldItem = self->findOwnerItem(); if(!worldItem){ os << (fmt(_("%1% must be in a WorldItem to do simulation.")) % self->name()) << endl; return false; } ItemList targetItems; findTargetItems(worldItem, false, targetItems); if(targetItems.empty()){ return false; } sgCloneMap.clear(); currentFrame = 0; worldTimeStep_ = self->worldTimeStep(); worldFrameRate = 1.0 / worldTimeStep_; if(recordingMode.is(SimulatorItem::REC_NONE)){ isRecordingEnabled = false; isRingBufferMode = false; } else { isRecordingEnabled = true; isRingBufferMode = recordingMode.is(SimulatorItem::REC_TAIL); } clearSimulation(); bodyMotionEngines.clear(); for(size_t i=0; i < targetItems.size(); ++i){ if(BodyItem* bodyItem = dynamic_cast(targetItems.get(i))){ if(doReset){ bodyItem->restoreInitialState(false); } SimulationBodyPtr simBody = self->createSimulationBody(bodyItem->body()); if(simBody->body()){ if(simBody->impl->initialize(this, bodyItem)){ // copy the body state overwritten by the controller simBody->impl->copyStateToBodyItem(); allSimBodies.push_back(simBody); simBodiesWithBody.push_back(simBody); simBodyMap[bodyItem] = simBody; } } bodyItem->notifyKinematicStateChange(); } else if(ControllerItem* controller = dynamic_cast(targetItems.get(i))){ // ControllerItem which is not associated with a body SimulationBodyPtr simBody = new SimulationBody(BodyPtr()); if(simBody->impl->initialize(this, controller)){ allSimBodies.push_back(simBody); } } else if(SimulationScriptItem* script = dynamic_cast(targetItems.get(i))){ SimulationBodyPtr simBody = new SimulationBody(BodyPtr()); if(simBody->impl->initialize(this, new ScriptControllerItem(script))){ allSimBodies.push_back(simBody); } } } numBufferedFrames = 1; if(isRecordingEnabled && recordCollisionData){ collisionPairsBuf.clear(); string collisionSeqName = self->name() + "-collisions"; CollisionSeqItem* collisionSeqItem = worldItem->findChildItem(collisionSeqName); if(!collisionSeqItem){ collisionSeqItem = new CollisionSeqItem(); collisionSeqItem->setTemporal(); collisionSeqItem->setName(collisionSeqName); worldItem->addChildItem(collisionSeqItem); addCollisionSeqEngine(collisionSeqItem); } collisionSeq = collisionSeqItem->collisionSeq(); collisionSeq->setFrameRate(worldFrameRate); collisionSeq->setNumParts(1); collisionSeq->setNumFrames(1); CollisionSeq::Frame frame0 = collisionSeq->frame(0); frame0[0] = boost::make_shared(); } extForceFunctionId = boost::none; virtualElasticStringFunctionId = boost::none; bool result = self->initializeSimulation(simBodiesWithBody); if(result){ frameAtLastBufferWriting = 0; isDoingSimulationLoop = true; isWaitingForSimulationToStop = false; stopRequested = false; pauseRequested = false; ringBufferSize = std::numeric_limits::max(); if(timeRangeMode.is(SimulatorItem::TR_SPECIFIED)){ maxFrame = specifiedTimeLength / worldTimeStep_; } else if(timeRangeMode.is(SimulatorItem::TR_TIMEBAR)){ maxFrame = TimeBar::instance()->maxTime() / worldTimeStep_; } else if(isRingBufferMode){ maxFrame = std::numeric_limits::max(); ringBufferSize = specifiedTimeLength / worldTimeStep_; } else { maxFrame = std::numeric_limits::max(); } subSimulatorItems.extractChildItems(self); ItemList::iterator p = subSimulatorItems.begin(); while(p != subSimulatorItems.end()){ SubSimulatorItem* item = *p; bool initialized = false; if(item->isEnabled()){ os << (fmt(_("SubSimulatorItem \"%1%\" has been detected.")) % item->name()) << endl; if(item->initializeSimulation(self)){ initialized = true; } else { os << (fmt(_("The initialization of \"%1%\" failed.")) % item->name()) << endl; } } else { os << (fmt(_("SubSimulatorItem \"%1%\" is disabled.")) % item->name()) << endl; } if(initialized){ ++p; } else { p = subSimulatorItems.erase(p); } } for(size_t i=0; i < allSimBodies.size(); ++i){ SimulationBodyImpl* simBodyImpl = allSimBodies[i]->impl; Body* body = simBodyImpl->body_; vector& controllers = simBodyImpl->controllers; vector::iterator iter = controllers.begin(); while(iter != controllers.end()){ ControllerItem* controller = *iter; bool ready = false; controller->setSimulatorItem(self); if(body){ ready = (controller->start() && // new API controller->start(simBodyImpl)); // old API if(!ready){ os << (fmt(_("%1% for %2% failed to initialize.")) % controller->name() % simBodyImpl->bodyItem->name()) << endl; } } else { ready = (controller->start() && // new API controller->start(this)); // old API if(!ready){ os << (fmt(_("%1% failed to initialize.")) % controller->name()) << endl; } } if(ready){ ++iter; } else { controller->setSimulatorItem(0); string message = controller->getMessage(); if(!message.empty()){ os << message << endl; } iter = controllers.erase(iter); } } } updateSimBodyLists(); doCheckContinue = timeRangeMode.is(SimulatorItem::TR_ACTIVE_CONTROL) && !activeControllers.empty(); useControllerThreads = useControllerThreadsProperty; if(useControllerThreads){ controlThread = boost::thread(boost::bind(&SimulatorItemImpl::concurrentControlLoop, this)); isExitingControlLoopRequested = false; isControlRequested = false; isControlFinished = false; } aboutToQuitConnection.disconnect(); aboutToQuitConnection = cnoid::sigAboutToQuit().connect(boost::bind(&SimulatorItemImpl::stopSimulation, this, true)); worldLogFileItem = 0; ItemList worldLogFileItems; worldLogFileItems.extractChildItems(self); worldLogFileItem = worldLogFileItems.toSingle(true); if(worldLogFileItem){ if(worldLogFileItem->logFileName().empty()){ worldLogFileItem = 0; } else { os << (fmt(_("WorldLogFileItem \"%1%\" has been detected. A simulation result is recoreded to \"%2%\".")) % worldLogFileItem->name() % worldLogFileItem->logFileName()) << endl; worldLogFileItem->clearOutput(); worldLogFileItem->beginHeaderOutput(); for(size_t i=0; i < activeSimBodies.size(); ++i){ worldLogFileItem->outputBodyHeader(activeSimBodies[i]->impl->body_->name()); } worldLogFileItem->endHeaderOutput(); worldLogFileItem->notifyUpdate(); nextLogFrame = 0; nextLogTime = 0.0; double r = worldLogFileItem->recordingFrameRate(); if(r == 0.0){ r = worldFrameRate; } logTimeStep = 1.0 / r; } } if(isRecordingEnabled){ fillLevelId = timeBar->startFillLevelUpdate(); } if(!timeBar->isDoingPlayback()){ timeBar->setTime(0.0); timeBar->startPlayback(); } #ifdef ENABLE_SIMULATION_PROFILING vector profilingNames; self->getProfilingNames(profilingNames); profilingNames.push_back("Controller calculation time"); for(size_t i=0; i < activeControllers.size(); ++i){ vector profilingNames0; activeControllers[i]->getProfilingNames(profilingNames0); std::copy(profilingNames0.begin(),profilingNames0.end(),std::back_inserter(profilingNames)); } profilingNames.push_back("Total computation time"); int n = profilingNames.size(); SceneView* view = ViewManager::findView("Simulation Scene"); if(!view) view = SceneView::instance(); sw = view->sceneWidget(); sw->profilingNames.resize(n); copy(profilingNames.begin(), profilingNames.end(), sw->profilingNames.begin()); simProfilingBuf.resizeColumn(n); //simProfilingSeq = boost::make_shared(); simProfilingSeq.setFrameRate(worldFrameRate); simProfilingSeq.setNumParts(n); simProfilingSeq.setNumFrames(0); #endif flushResults(); start(); flushTimer.start(1000.0 / timeBar->playbackFrameRate()); mv->notify(format(_("Simulation by %1% has started.")) % self->name()); sigSimulationStarted(); } return result; } SgCloneMap& SimulatorItem::sgCloneMap() { return impl->sgCloneMap; } void SimulatorItem::initializeSimulationThread() { } void SimulatorItem::finalizeSimulationThread() { } const std::vector& SimulatorItem::simulationBodies() { return impl->simBodiesWithBody; } /** \todo make thread safe */ SimulationBody* SimulatorItem::findSimulationBody(BodyItem* bodyItem) { SimulationBody* simBody = 0; BodyItemToSimBodyMap::iterator p = impl->simBodyMap.find(bodyItem); if(p != impl->simBodyMap.end()){ simBody = p->second; } return simBody; } /** \todo make thread safe */ SimulationBody* SimulatorItem::findSimulationBody(const std::string& name) { const int n = impl->allSimBodies.size(); for(int i=0; i < n; ++i){ SimulationBody* simBody = impl->allSimBodies[i]; Body* body = simBody->body(); if(body && body->name() == name){ return simBody; } } return 0; } // Simulation loop void SimulatorItemImpl::run() { self->initializeSimulationThread(); double elapsedTime = 0.0; QElapsedTimer timer; timer.start(); #ifdef ENABLE_SIMULATION_PROFILING QElapsedTimer oneStepTimer; #endif int frame = 0; bool isOnPause = false; if(isRealtimeSyncMode){ const double dt = worldTimeStep_; const double compensationRatio = (dt > 0.1) ? 0.1 : dt; const double dtms = dt * 1000.0; double compensatedSimulationTime = 0.0; while(true){ if(pauseRequested){ if(stopRequested){ break; } if(!isOnPause){ elapsedTime += timer.elapsed(); isOnPause = true; } QThread::msleep(50); } else { if(isOnPause){ timer.start(); isOnPause = false; } #ifdef ENABLE_SIMULATION_PROFILING oneStepTimer.start(); #endif if(!stepSimulationMain() || stopRequested || frame >= maxFrame){ break; } #ifdef ENABLE_SIMULATION_PROFILING double oneStepTime = oneStepTimer.nsecsElapsed(); vector profilingTimes; self->getProfilingTimes(profilingTimes); Deque2D::Row buf = simProfilingBuf.append(); int i=0; for(; igetProfilingTimes(profilingTimes); for(int j=0; j= 1.0){ QThread::msleep(diff); } else if(diff < 0.0){ const double compensationTime = -diff * compensationRatio; compensatedSimulationTime += compensationTime; diff += compensationTime; const double delayOverThresh = -diff - 100.0; if(delayOverThresh > 0.0){ compensatedSimulationTime += delayOverThresh; } } compensatedSimulationTime += dtms; ++frame; } } } else { while(true){ if(pauseRequested){ if(stopRequested){ break; } if(!isOnPause){ elapsedTime += timer.elapsed(); isOnPause = true; } QThread::msleep(50); } else { if(isOnPause){ timer.start(); isOnPause = false; } #ifdef ENABLE_SIMULATION_PROFILING oneStepTimer.start(); #endif if(!stepSimulationMain() || stopRequested || frame++ >= maxFrame){ break; } #ifdef ENABLE_SIMULATION_PROFILING double oneStepTime = oneStepTimer.nsecsElapsed(); vector profilingTimes; self->getProfilingTimes(profilingTimes); Deque2D::Row buf = simProfilingBuf.append(); int i=0; for(; igetProfilingTimes(profilingTimes); for(int j=0; j lock(controlMutex); isExitingControlLoopRequested = true; } controlCondition.notify_all(); controlThread.join(); } if(!isWaitingForSimulationToStop){ callLater(boost::bind(&SimulatorItemImpl::onSimulationLoopStopped, this)); } self->finalizeSimulationThread(); } void SimulatorItemImpl::updateSimBodyLists() { activeSimBodies.clear(); activeControllers.clear(); hasActiveFreeBodies = false; for(size_t i=0; i < allSimBodies.size(); ++i){ SimulationBody* simBody = allSimBodies[i]; SimulationBodyImpl* simBodyImpl = simBody->impl; vector& controllers = simBodyImpl->controllers; if(simBodyImpl->isActive){ activeSimBodies.push_back(simBody); if(controllers.empty()){ hasActiveFreeBodies = true; } } for(size_t j=0; j < controllers.size(); ++j){ activeControllers.push_back(controllers[j]); } } needToUpdateSimBodyLists = false; } bool SimulatorItemImpl::stepSimulationMain() { currentFrame++; if(needToUpdateSimBodyLists){ updateSimBodyLists(); } bool doContinue = !doCheckContinue; preDynamicsFunctions.call(); if(useControllerThreads){ #ifdef ENABLE_SIMULATION_PROFILING controllerTime = 0.0; #endif if(activeControllers.empty()){ isControlFinished = true; } else { #ifdef ENABLE_SIMULATION_PROFILING timer.start(); #endif for(size_t i=0; i < activeControllers.size(); ++i){ activeControllers[i]->input(); } #ifdef ENABLE_SIMULATION_PROFILING controllerTime += timer.nsecsElapsed(); #endif { boost::unique_lock lock(controlMutex); isControlRequested = true; } controlCondition.notify_all(); } } else { #ifdef ENABLE_SIMULATION_PROFILING controllerTime = 0.0; timer.start(); #endif for(size_t i=0; i < activeControllers.size(); ++i){ ControllerItem* controller = activeControllers[i]; controller->input(); doContinue |= controller->control(); if(controller->isImmediateMode()){ controller->output(); } } #ifdef ENABLE_SIMULATION_PROFILING controllerTime += timer.nsecsElapsed(); #endif } midDynamicsFunctions.call(); self->stepSimulation(activeSimBodies); CollisionLinkPairListPtr collisionPairs; if(isRecordingEnabled && recordCollisionData){ collisionPairs = self->getCollisions(); } if(useControllerThreads){ { boost::unique_lock lock(controlMutex); while(!isControlFinished){ controlCondition.wait(lock); } } isControlFinished = false; doContinue |= isControlToBeContinued; } postDynamicsFunctions.call(); { resultBufMutex.lock(); ++numBufferedFrames; for(size_t i=0; i < activeSimBodies.size(); ++i){ activeSimBodies[i]->bufferResults(); } collisionPairsBuf.push_back(collisionPairs); frameAtLastBufferWriting = currentFrame; resultBufMutex.unlock(); } if(useControllerThreads){ #ifdef ENABLE_SIMULATION_PROFILING timer.start(); #endif for(size_t i=0; i < activeControllers.size(); ++i){ activeControllers[i]->output(); } #ifdef ENABLE_SIMULATION_PROFILING controllerTime += timer.nsecsElapsed(); #endif } else { #ifdef ENABLE_SIMULATION_PROFILING timer.start(); #endif for(size_t i=0; i < activeControllers.size(); ++i){ ControllerItem* controller = activeControllers[i]; if(!controller->isImmediateMode()){ controller->output(); } } #ifdef ENABLE_SIMULATION_PROFILING controllerTime += timer.nsecsElapsed(); #endif } return doContinue; } void SimulatorItemImpl::concurrentControlLoop() { while(true){ { boost::unique_lock lock(controlMutex); while(true){ if(isExitingControlLoopRequested){ goto exitConcurrentControlLoop; } if(isControlRequested){ isControlRequested = false; isControlToBeContinued = false; break; } controlCondition.wait(lock); } } bool doContinue = false; #ifdef ENABLE_SIMULATION_PROFILING timer.start(); #endif for(size_t i=0; i < activeControllers.size(); ++i){ doContinue |= activeControllers[i]->control(); } #ifdef ENABLE_SIMULATION_PROFILING controllerTime += timer.nsecsElapsed(); #endif { boost::unique_lock lock(controlMutex); isControlFinished = true; isControlToBeContinued = doContinue; } controlCondition.notify_all(); } exitConcurrentControlLoop: return; } void SimulatorItemImpl::flushResults() { resultBufMutex.lock(); if(worldLogFileItem){ if(numBufferedFrames > 0){ int firstFrame = frameAtLastBufferWriting - (numBufferedFrames - 1); for(int bufFrame = 0; bufFrame < numBufferedFrames; ++bufFrame){ double time = (firstFrame + bufFrame) * worldTimeStep_; while(time >= nextLogTime){ worldLogFileItem->beginFrameOutput(time); for(size_t i=0; i < activeSimBodies.size(); ++i){ activeSimBodies[i]->impl->flushResultsToWorldLogFile(bufFrame); } worldLogFileItem->endFrameOutput(); nextLogTime = ++nextLogFrame * logTimeStep; } } } } for(size_t i=0; i < activeSimBodies.size(); ++i){ activeSimBodies[i]->flushResults(); } if(isRecordingEnabled && recordCollisionData){ for(int i=0 ; i < collisionPairsBuf.size(); ++i){ if(collisionSeq->numFrames() >= ringBufferSize){ collisionSeq->popFrontFrame(); } CollisionSeq::Frame collisionSeq0 = collisionSeq->appendFrame(); collisionSeq0[0] = collisionPairsBuf[i]; } } collisionPairsBuf.clear(); #ifdef ENABLE_SIMULATION_PROFILING for(int i=0 ; i < simProfilingBuf.rowSize(); i++){ Deque2D::Row buf = simProfilingBuf.row(i); if(simProfilingSeq.numFrames() >= ringBufferSize){ simProfilingSeq.popFrontFrame(); } std::copy(buf.begin(), buf.end(), simProfilingSeq.appendFrame().begin()); } simProfilingBuf.resizeRow(0); #endif int frame = frameAtLastBufferWriting; numBufferedFrames = 0; resultBufMutex.unlock(); if(isRecordingEnabled){ double fillLevel = frame / worldFrameRate; timeBar->updateFillLevel(fillLevelId, fillLevel); } else { for(size_t i=0; i < activeSimBodies.size(); ++i){ activeSimBodies[i]->impl->notifyResults(); } timeBar->setTime(frame / worldFrameRate); } } void SimulatorItem::pauseSimulation() { impl->pauseSimulation(); } void SimulatorItemImpl::pauseSimulation() { pauseRequested = true; } void SimulatorItem::restartSimulation() { impl->restartSimulation(); } void SimulatorItemImpl::restartSimulation() { pauseRequested = false; } void SimulatorItem::stopSimulation() { impl->stopSimulation(false); } void SimulatorItemImpl::stopSimulation(bool doSync) { if(isDoingSimulationLoop){ if(doSync){ isWaitingForSimulationToStop = true; } stopRequested = true; if(doSync){ wait(); isWaitingForSimulationToStop = false; onSimulationLoopStopped(); } } aboutToQuitConnection.disconnect(); } void SimulatorItem::finalizeSimulation() { } void SimulatorItemImpl::onSimulationLoopStopped() { flushTimer.stop(); for(size_t i=0; i < allSimBodies.size(); ++i){ vector& controllers = allSimBodies[i]->impl->controllers; for(size_t j=0; j < controllers.size(); ++j){ ControllerItem* controller = controllers[j]; controller->stop(); controller->setSimulatorItem(0); } } self->finalizeSimulation(); for(size_t i=0; i < subSimulatorItems.size(); ++i){ subSimulatorItems[i]->finalizeSimulation(); } flushResults(); if(isRecordingEnabled){ timeBar->stopFillLevelUpdate(fillLevelId); } sigSimulationFinished(); clearSimulation(); mv->notify(format(_("Simulation by %1% has finished at %2% [s].")) % self->name() % finishTime); mv->putln(format(_("Computation time is %1% [s], computation time / simulation time = %2%.")) % actualSimulationTime % (actualSimulationTime / finishTime)); } bool SimulatorItem::isRunning() const { return impl->isDoingSimulationLoop; } bool SimulatorItem::isPausing() const { return impl->pauseRequested; } bool SimulatorItem::isActive() const { return impl->isDoingSimulationLoop && !impl->pauseRequested; } int SimulatorItem::currentFrame() const { return impl->currentFrame; } double SimulatorItem::currentTime() const { return impl->currentFrame / impl->worldFrameRate; } double SimulatorItemImpl::currentTime() const { return currentFrame / worldFrameRate; } int SimulatorItem::simulationFrame() const { QMutexLocker locker(&impl->resultBufMutex); return impl->frameAtLastBufferWriting; } double SimulatorItem::simulationTime() const { QMutexLocker locker(&impl->resultBufMutex); return impl->frameAtLastBufferWriting / impl->worldFrameRate; } double SimulatorItemImpl::timeStep() const { return worldTimeStep_; } Body* SimulatorItemImpl::body() { return 0; } std::string SimulatorItemImpl::optionString() const { return controllerOptionString_; } SignalProxy SimulatorItem::sigSimulationStarted() { return impl->sigSimulationStarted; } SignalProxy SimulatorItem::sigSimulationFinished() { return impl->sigSimulationFinished; } void SimulatorItem::setExternalForce(BodyItem* bodyItem, Link* link, const Vector3& point, const Vector3& f, double time) { impl->setExternalForce(bodyItem, link, point, f, time); } void SimulatorItemImpl::setExternalForce(BodyItem* bodyItem, Link* link, const Vector3& point, const Vector3& f, double time) { if(bodyItem && link){ SimulationBody* simBody = self->findSimulationBody(bodyItem); if(simBody){ { boost::unique_lock lock(extForceMutex); extForceInfo.link = simBody->body()->link(link->index()); extForceInfo.point = point; extForceInfo.f = f; extForceInfo.time = time; } if(!extForceFunctionId){ extForceFunctionId = self->addPreDynamicsFunction( boost::bind(&SimulatorItemImpl::doSetExternalForce, this)); } } } } void SimulatorItem::clearExternalForces() { if(impl->extForceFunctionId){ removePreDynamicsFunction(*impl->extForceFunctionId); impl->extForceFunctionId = boost::none; } } void SimulatorItemImpl::doSetExternalForce() { boost::unique_lock lock(extForceMutex); Link* link = extForceInfo.link; link->f_ext() += extForceInfo.f; const Vector3 p = link->T() * extForceInfo.point; link->tau_ext() += p.cross(extForceInfo.f); if(extForceInfo.time > 0.0){ extForceInfo.time -= worldTimeStep_; if(extForceInfo.time <= 0.0){ self->clearExternalForces(); } } } void SimulatorItem::setVirtualElasticString (BodyItem* bodyItem, Link* link, const Vector3& attachmentPoint, const Vector3& endPoint) { impl->setVirtualElasticString(bodyItem, link, attachmentPoint, endPoint); } void SimulatorItemImpl::setVirtualElasticString (BodyItem* bodyItem, Link* link, const Vector3& attachmentPoint, const Vector3& endPoint) { if(bodyItem && link){ SimulationBody* simBody = self->findSimulationBody(bodyItem); if(simBody){ { boost::unique_lock lock(virtualElasticStringMutex); Body* body = simBody->body(); VirtualElasticString& s = virtualElasticString; s.link = body->link(link->index()); double m = body->mass(); s.kp = 3.0 * m; s.kd = 0.1 * s.kp; s.f_max = s.kp; s.point = attachmentPoint; s.goal = endPoint; } if(!virtualElasticStringFunctionId){ virtualElasticStringFunctionId = self->addPreDynamicsFunction( boost::bind(&SimulatorItemImpl::setVirtualElasticStringForce, this)); } } } } void SimulatorItem::clearVirtualElasticStrings() { if(impl->virtualElasticStringFunctionId){ removePreDynamicsFunction(*impl->virtualElasticStringFunctionId); impl->virtualElasticStringFunctionId = boost::none; } } void SimulatorItemImpl::setVirtualElasticStringForce() { boost::unique_lock lock(virtualElasticStringMutex); const VirtualElasticString& s = virtualElasticString; Link* link = s.link; Vector3 a = link->R() * s.point; Vector3 p = link->p() + a; Vector3 v = link->v() + link->w().cross(a); Vector3 f = s.kp * (s.goal - p) + s.kd * (-v); if(f.norm() > s.f_max){ f = s.f_max * f.normalized(); } link->f_ext() += f; link->tau_ext() += p.cross(f); } void SimulatorItem::setForcedPosition(BodyItem* bodyItem, const Position& T) { } bool SimulatorItem::isForcedPositionActiveFor(BodyItem* bodyItem) const { return false; } void SimulatorItem::clearForcedPositions() { } bool SimulatorItemImpl::onRealtimeSyncChanged(bool on) { isRealtimeSyncMode = on; return true; } /** This function may be overridden. */ bool SimulatorItemImpl::onAllLinkPositionOutputModeChanged(bool on) { self->setAllLinkPositionOutputMode(on); return (isAllLinkPositionOutputMode == on); } void SimulatorItem::doPutProperties(PutPropertyFunction& putProperty) { putProperty(_("Sync with realtime"), impl->isRealtimeSyncMode, boost::bind(&SimulatorItemImpl::onRealtimeSyncChanged, impl, _1)); putProperty(_("Time range"), impl->timeRangeMode, boost::bind(&Selection::selectIndex, &impl->timeRangeMode, _1)); putProperty(_("Time length"), impl->specifiedTimeLength, boost::bind(&SimulatorItemImpl::setSpecifiedRecordingTimeLength, impl, _1)); putProperty(_("Recording"), impl->recordingMode, boost::bind(&Selection::selectIndex, &impl->recordingMode, _1)); putProperty(_("All link positions"), impl->isAllLinkPositionOutputMode, boost::bind(&SimulatorItemImpl::onAllLinkPositionOutputModeChanged, impl, _1)); putProperty(_("Device state output"), impl->isDeviceStateOutputEnabled, changeProperty(impl->isDeviceStateOutputEnabled)); putProperty(_("Controller Threads"), impl->useControllerThreadsProperty, changeProperty(impl->useControllerThreadsProperty)); putProperty(_("Record collision data"), impl->recordCollisionData, changeProperty(impl->recordCollisionData)); putProperty(_("Controller options"), impl->controllerOptionString_, changeProperty(impl->controllerOptionString_)); } bool SimulatorItem::store(Archive& archive) { return impl->store(archive); } bool SimulatorItemImpl::store(Archive& archive) { archive.write("realtimeSync", isRealtimeSyncMode); archive.write("recording", recordingMode.selectedSymbol(), DOUBLE_QUOTED); archive.write("timeRangeMode", timeRangeMode.selectedSymbol(), DOUBLE_QUOTED); archive.write("timeLength", specifiedTimeLength); archive.write("allLinkPositionOutputMode", isAllLinkPositionOutputMode); archive.write("deviceStateOutput", isDeviceStateOutputEnabled); archive.write("controllerThreads", useControllerThreadsProperty); archive.write("recordCollisionData", recordCollisionData); archive.write("controllerOptions", controllerOptionString_, DOUBLE_QUOTED); ListingPtr idseq = new Listing(); idseq->setFlowStyle(true); for(size_t i=0; i < bodyMotionEngines.size(); ++i){ BodyMotionEnginePtr engine = bodyMotionEngines[i]; ValueNodePtr id = archive.getItemId(engine->motionItem()); if(id){ idseq->append(id); } } if(!idseq->empty()){ archive.insert("motionItems", idseq); } if(collisionSeqEngine) { ValueNodePtr id = archive.getItemId(collisionSeqEngine->collisionSeqItem()); if(id){ archive.insert("collisionSeqItem", id); } } return true; } bool SimulatorItem::restore(const Archive& archive) { return impl->restore(archive); } bool SimulatorItemImpl::restore(const Archive& archive) { bool boolValue; string symbol; if(archive.read("onlyActiveControlPeriod", boolValue) && boolValue){ timeRangeMode.select(SimulatorItem::TR_ACTIVE_CONTROL); } else if(archive.read("timeRangeMode", symbol)){ if(!timeRangeMode.select(symbol)){ if(symbol == "Specified period"){ timeRangeMode.select(SimulatorItem::TR_SPECIFIED); } else if(symbol == "TimeBar range"){ timeRangeMode.select(SimulatorItem::TR_TIMEBAR); } } } if(archive.read("recording", symbol)){ recordingMode.select(symbol); } // for the compatibility with older version else if(archive.read("recording", boolValue) && boolValue){ recordingMode.select(SimulatorItem::REC_FULL); } else if(archive.read("recordingMode", symbol)){ if(symbol == "Direct"){ recordingMode.select(SimulatorItem::REC_NONE); timeRangeMode.select(SimulatorItem::TR_UNLIMITED); } } archive.read("realtimeSync", isRealtimeSyncMode); archive.read("timeLength", specifiedTimeLength); self->setAllLinkPositionOutputMode(archive.get("allLinkPositionOutputMode", isAllLinkPositionOutputMode)); archive.read("deviceStateOutput", isDeviceStateOutputEnabled); archive.read("recordCollisionData", recordCollisionData); archive.read("controllerThreads", useControllerThreadsProperty); archive.read("controllerOptions", controllerOptionString_); archive.addPostProcess( boost::bind(&SimulatorItemImpl::restoreBodyMotionEngines, this, boost::ref(archive))); return true; } void SimulatorItemImpl::restoreBodyMotionEngines(const Archive& archive) { bodyMotionEngines.clear(); const Listing& idseq = *archive.findListing("motionItems"); if(idseq.isValid()){ for(int i=0; i < idseq.size(); ++i){ ValueNode* id = idseq.at(i); if(id){ BodyMotionItem* motionItem = dynamic_cast(archive.findItem(id)); if(motionItem){ addBodyMotionEngine(motionItem); } } } } collisionSeqEngine = 0; ValueNode* id; id = archive.find("collisionSeqItem"); if(id->isValid()){ CollisionSeqItem* collisionSeqItem = dynamic_cast(archive.findItem(id)); if(collisionSeqItem){ addCollisionSeqEngine(collisionSeqItem); } } } void SimulatorItemImpl::addBodyMotionEngine(BodyMotionItem* motionItem) { BodyItem* bodyItem = motionItem->findOwnerItem(); if(bodyItem){ bodyMotionEngines.push_back(new BodyMotionEngine(bodyItem, motionItem)); } } void SimulatorItemImpl::addCollisionSeqEngine(CollisionSeqItem* collisionSeqItem) { WorldItem* worldItem = collisionSeqItem->findOwnerItem(); if(worldItem){ collisionSeqEngine = new CollisionSeqEngine(worldItem, collisionSeqItem); } } bool SimulatorItemImpl::setPlaybackTime(double time) { bool processed = false; if(!bodyMotionEngines.empty()){ for(size_t i=0; i < bodyMotionEngines.size(); ++i){ processed |= bodyMotionEngines[i]->onTimeChanged(time); } } else if(worldLogFileItem){ processed |= worldLogFileItem->recallStateAtTime(time); } if(collisionSeqEngine){ processed |= collisionSeqEngine->onTimeChanged(time); } #ifdef ENABLE_SIMULATION_PROFILING const int numFrames = simProfilingSeq.numFrames(); if(numFrames > 0){ const int frame = simProfilingSeq.frameOfTime(time); const int clampedFrame = simProfilingSeq.clampFrameIndex(frame); const MultiValueSeq::Frame profilingTimes = simProfilingSeq.frame(clampedFrame); sw->profilingTimes.clear(); for(int i=0; iprofilingTimes.push_back(profilingTimes[i]); sw->worldTimeStep = worldTimeStep_ * 1.0e9; } #endif return processed; } bool SimulatedMotionEngineManager::setTime(double time) { bool isActive = false; for(size_t i=0; i < simulatorItems.size(); ++i){ isActive |= simulatorItems[i]->impl->setPlaybackTime(time); } return isActive; } #ifdef ENABLE_SIMULATION_PROFILING void SimulatorItem::getProfilingNames(vector& profilingNames) { } void SimulatorItem::getProfilingTimes(vector& profilingToimes) { } #endif choreonoid-1.5.0/src/BodyPlugin/ZMPSeqItem.h0000664000000000000000000000146112741425367017335 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODYPLUGIN_ZMPSEQ_ITEM_H_INCLUDED #define CNOID_BODYPLUGIN_ZMPSEQ_ITEM_H_INCLUDED #include #include #include "exportdecl.h" namespace cnoid { class ExtensionManager; class CNOID_EXPORT ZMPSeqItem : public Vector3SeqItem { public: static void initializeClass(ExtensionManager* ext); ZMPSeqItem(); ZMPSeqItem(ZMPSeqPtr seq); ZMPSeqItem(const ZMPSeqItem& org); const ZMPSeqPtr& zmpseq() { return zmpseq_; } bool makeRootRelative(bool on); protected: virtual ~ZMPSeqItem(); virtual Item* doDuplicate() const; virtual void doPutProperties(PutPropertyFunction& putProperty); private: ZMPSeqPtr zmpseq_; }; typedef ref_ptr ZMPSeqItemPtr; } #endif choreonoid-1.5.0/src/BodyPlugin/EditableSceneBody.h0000664000000000000000000000446212741425367020710 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODYPLUGIN_EDITABLE_SCENE_BODY_H #define CNOID_BODYPLUGIN_EDITABLE_SCENE_BODY_H #include #include #include #include "exportdecl.h" namespace cnoid { class ExtensionManager; class BodyItem; typedef ref_ptr BodyItemPtr; class EditableSceneLinkImpl; class CNOID_EXPORT EditableSceneLink : public SceneLink { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW; EditableSceneLink(Link* link); ~EditableSceneLink(); void showBoundingBox(bool on); void showMarker(const Vector3f& color, float transparency); void hideMarker(); void setColliding(bool on); private: EditableSceneLinkImpl* impl; }; typedef ref_ptr EditableSceneLinkPtr; class EditableSceneBodyImpl; class CNOID_EXPORT EditableSceneBody : public SceneBody, public SceneWidgetEditable { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW; static void initializeClass(ExtensionManager* ext); EditableSceneBody(BodyItemPtr bodyItem); EditableSceneLink* editableSceneLink(int index); const boost::dynamic_bitset<>& linkVisibilities() const; void setLinkVisibilities(const boost::dynamic_bitset<>& visibilities); virtual void updateModel(); virtual bool onKeyPressEvent(const SceneWidgetEvent& event); virtual bool onKeyReleaseEvent(const SceneWidgetEvent& event); virtual bool onButtonPressEvent(const SceneWidgetEvent& event); virtual bool onDoubleClickEvent(const SceneWidgetEvent& event); virtual bool onButtonReleaseEvent(const SceneWidgetEvent& event); virtual bool onPointerMoveEvent(const SceneWidgetEvent& event); virtual void onPointerLeaveEvent(const SceneWidgetEvent& event); virtual bool onScrollEvent(const SceneWidgetEvent& event); virtual void onContextMenuRequest(const SceneWidgetEvent& event, MenuManager& menuManager); virtual void onSceneModeChanged(const SceneWidgetEvent& event); virtual bool onUndoRequest(); virtual bool onRedoRequest(); protected: virtual ~EditableSceneBody(); private: friend class EditableSceneBodyImpl; EditableSceneBodyImpl* impl; EditableSceneBody(const EditableSceneBody& org); }; typedef ref_ptr EditableSceneBodyPtr; } #endif choreonoid-1.5.0/src/BodyPlugin/SimulatorItem.h0000664000000000000000000001545612741425367020206 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_PLUGIN_SIMULATOR_ITEM_H #define CNOID_BODY_PLUGIN_SIMULATOR_ITEM_H #include "CollisionSeq.h" #include #include "exportdecl.h" namespace cnoid { #ifdef ENABLE_SIMULATION_PROFILING const bool SIMULATION_PROFILING = true; #else const bool SIMULATION_PROFILING = false; #endif class Body; class Device; class CollisionDetector; typedef boost::shared_ptr CollisionDetectorPtr; class BodyItem; class ControllerItem; class SimulationBodyImpl; class SimulatorItemImpl; class SimulatedMotionEngineManager; class SgCloneMap; class CNOID_EXPORT SimulationBody : public Referenced { public: SimulationBody(Body* body); virtual ~SimulationBody(); BodyItem* bodyItem() const; Body* body() const; int numControllers() const; ControllerItem* controller(int index = 0) const; /** Call this in the initilization when the shapes are accessed after the initialization */ void cloneShapesOnce(); /** Called from the simulation loop thread */ bool isActive() const; void setActive(bool on); /** Use this instead of Device::notifyStateChange when the state part which is not recoreded is changed */ void notifyUnrecordedDeviceStateChange(Device* device); const std::string& resultItemPrefix() const; virtual void initializeResultBuffers(); virtual void initializeResultItems(); /** Called from the simulation loop thread. */ virtual void bufferResults(); virtual void flushResults(); private: SimulationBodyImpl* impl; friend class SimulatorItemImpl; }; typedef ref_ptr SimulationBodyPtr; class CNOID_EXPORT SimulatorItem : public Item { public: static void initializeClass(ExtensionManager* ext); static SimulatorItem* findActiveSimulatorItemFor(Item* item); SimulatorItem(); virtual ~SimulatorItem(); virtual double worldTimeStep(); virtual bool startSimulation(bool doReset = true); virtual void stopSimulation(); virtual void pauseSimulation(); virtual void restartSimulation(); bool isRunning() const; bool isPausing() const; bool isActive() const; ///< isRunning() && !isPausing() //! This can only be called from the simulation thread int currentFrame() const; //! This can only be called from the simulation thread double currentTime() const; //! This can be called from non simulation threads int simulationFrame() const; //! This can be called from non simulation threads double simulationTime() const; SignalProxy sigSimulationStarted(); SignalProxy sigSimulationFinished(); enum RecordingMode { REC_FULL, REC_TAIL, REC_NONE, N_RECORDING_MODES }; enum TimeRangeMode { TR_UNLIMITED, TR_ACTIVE_CONTROL, TR_SPECIFIED, TR_TIMEBAR, N_TIME_RANGE_MODES }; void setRecordingMode(int selection); Selection recordingMode() const; void setTimeRangeMode(int selection); void setRealtimeSyncMode(bool on); void setDeviceStateOutputEnabled(bool on); bool isRecordingEnabled() const; bool isDeviceStateOutputEnabled() const; bool isAllLinkPositionOutputMode(); virtual void setAllLinkPositionOutputMode(bool on); /** For sub simulators */ const std::vector& simulationBodies(); SimulationBody* findSimulationBody(BodyItem* bodyItem); SimulationBody* findSimulationBody(const std::string& name); /** \return The registration id of the function. The id can be used for removing the function. */ int addPreDynamicsFunction(boost::function func); int addMidDynamicsFunction(boost::function func); int addPostDynamicsFunction(boost::function func); void removePreDynamicsFunction(int id); void removeMidDynamicsFunction(int id); void removePostDynamicsFunction(int id); //void addRecordFunction(boost::function func); SgCloneMap& sgCloneMap(); /** \note This signal is emitted in the simulation thread */ SignalProxy& simulationBodies)> sigSimulationBodyListUpdated(); /* virtual void setExternalForce(BodyItem* bodyItem, Link* link, const Vector6& f); */ /** @param point link local position to apply the force @param f linear force to apply in global coordinate */ virtual void setExternalForce(BodyItem* bodyItem, Link* link, const Vector3& point, const Vector3& f, double time = 0.0); virtual void clearExternalForces(); /** @param attachmentPoint link local position @param goal global goal position */ virtual void setVirtualElasticString( BodyItem* bodyItem, Link* link, const Vector3& attachmentPoint, const Vector3& endPoint); virtual void clearVirtualElasticStrings(); virtual void setForcedPosition(BodyItem* bodyItem, const Position& T); virtual bool isForcedPositionActiveFor(BodyItem* bodyItem) const; virtual void clearForcedPositions(); protected: SimulatorItem(const SimulatorItem& org); virtual void onDisconnectedFromRoot(); /** @note orgBody should not owned by the SimulationBody instance. Instead of it, a clone instance which may be a sub Body class should be created and owned. */ virtual SimulationBody* createSimulationBody(Body* orgBody) = 0; CollisionDetectorPtr collisionDetector(); /** @param simBodies SimulatorBody objects which have a valid body @note This function is called from the main thread. */ virtual bool initializeSimulation(const std::vector& simBodies) = 0; virtual void initializeSimulationThread(); virtual void finalizeSimulationThread(); /** This function is called from the simulation loop thread. @param activeSimBodies SimulatorBody objects which are non-static ones. */ virtual bool stepSimulation(const std::vector& activeSimBodies) = 0; /** \note This function is called from the main thread. */ virtual void finalizeSimulation(); virtual CollisionLinkPairListPtr getCollisions() { return boost::make_shared(); } void doPutProperties(PutPropertyFunction& putProperty); bool store(Archive& archive); bool restore(const Archive& archive); #ifdef ENABLE_SIMULATION_PROFILING virtual void getProfilingNames(std::vector& profilingNames); virtual void getProfilingTimes(std::vector& profilingTimes); #endif private: SimulatorItemImpl* impl; friend class SimulatorItemImpl; friend class SimulatedMotionEngineManager; }; typedef ref_ptr SimulatorItemPtr; } #endif choreonoid-1.5.0/src/BodyPlugin/HrpsysFileIO.h0000664000000000000000000000036712741425367017723 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_PLUGIN_HRPSYS_FILE_IO_H #define CNOID_BODY_PLUGIN_HRPSYS_FILE_IO_H namespace cnoid { class ExtensionManager; void initializeHrpsysFileIO(ExtensionManager* ext); } #endif choreonoid-1.5.0/src/BodyPlugin/EditableSceneBody.cpp0000664000000000000000000013154012741425367021241 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "EditableSceneBody.h" #include "BodyItem.h" #include "SimulatorItem.h" #include "KinematicsBar.h" #include "BodyBar.h" #include "LinkSelectionView.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace { Action* linkVisibilityCheck; Action* showVisualShapeCheck; Action* showCollisionShapeCheck; Action* enableStaticModelEditCheck; } namespace cnoid { class EditableSceneLinkImpl { public: EditableSceneLink* self; SgLineSetPtr bbLineSet; SgOutlineGroupPtr outlineGroup; BoundingBoxMarkerPtr bbMarker; bool isPointed; bool isColliding; EditableSceneLinkImpl(EditableSceneLink* self); void createBoundingBoxLineSet(); }; } EditableSceneLink::EditableSceneLink(Link* link) : SceneLink(link) { impl = new EditableSceneLinkImpl(this); } EditableSceneLinkImpl::EditableSceneLinkImpl(EditableSceneLink* self) : self(self) { isPointed = false; isColliding = false; } EditableSceneLink::~EditableSceneLink() { delete impl; } void EditableSceneLink::showBoundingBox(bool on) { if(!visualShape()){ return; } #if 0 if(on){ if(!impl->bbLineSet){ impl->createBoundingBoxLineSet(); } addChildOnce(impl->bbLineSet, true); } else if(impl->bbLineSet){ removeChild(impl->bbLineSet, true); } #else if(on){ if(!impl->outlineGroup){ impl->outlineGroup = new SgOutlineGroup(); } setShapeGroup(impl->outlineGroup); } else if(impl->outlineGroup){ resetShapeGroup(); } #endif } void EditableSceneLinkImpl::createBoundingBoxLineSet() { bbLineSet = new SgLineSet; bbLineSet->setName("BoundingBox"); SgVertexArray& vertices = *bbLineSet->setVertices(new SgVertexArray); vertices.resize(8); const BoundingBoxf bb(self->visualShape()->boundingBox()); const Vector3f& min = bb.min(); const Vector3f& max = bb.max(); vertices[0] << min.x(), min.y(), min.z(); vertices[1] << max.x(), min.y(), min.z(); vertices[2] << max.x(), max.y(), min.z(); vertices[3] << min.x(), max.y(), min.z(); vertices[4] << min.x(), min.y(), max.z(); vertices[5] << max.x(), min.y(), max.z(); vertices[6] << max.x(), max.y(), max.z(); vertices[7] << min.x(), max.y(), max.z(); bbLineSet->reserveNumLines(12); bbLineSet->addLine(0, 1); bbLineSet->addLine(1, 2); bbLineSet->addLine(2, 3); bbLineSet->addLine(3, 0); bbLineSet->addLine(4, 5); bbLineSet->addLine(5, 6); bbLineSet->addLine(6, 7); bbLineSet->addLine(7, 4); bbLineSet->addLine(0, 4); bbLineSet->addLine(1, 5); bbLineSet->addLine(2, 6); bbLineSet->addLine(3, 7); bbLineSet->setColors(new SgColorArray)->push_back(Vector3f(1.0f, 0.0f, 0.0f)); SgIndexArray& iColors = bbLineSet->colorIndices(); iColors.resize(24, 0); } void EditableSceneLink::showMarker(const Vector3f& color, float transparency) { if(impl->bbMarker){ removeChild(impl->bbMarker); } impl->bbMarker = new BoundingBoxMarker(visualShape()->boundingBox(), color, transparency); addChildOnce(impl->bbMarker, true); } void EditableSceneLink::hideMarker() { if(impl->bbMarker){ removeChild(impl->bbMarker, true); impl->bbMarker = 0; } } void EditableSceneLink::setColliding(bool on) { if(!impl->isColliding && on){ if(!impl->isPointed){ } impl->isColliding = true; } else if(impl->isColliding && !on){ if(!impl->isPointed){ } impl->isColliding = false; } } namespace cnoid { class EditableSceneBodyImpl { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW EditableSceneBodyImpl(EditableSceneBody* self, BodyItemPtr& bodyItem); ~EditableSceneBodyImpl(); EditableSceneBody* self; BodyItemPtr bodyItem; SgUpdate modified; ConnectionSet connections; Connection connectionToSigCollisionsUpdated; boost::dynamic_bitset<> collisionLinkBitSet; ScopedConnection connectionToSigLinkSelectionChanged; enum PointedType { PT_NONE, PT_SCENE_LINK, PT_ZMP }; EditableSceneLink* pointedSceneLink; EditableSceneLink* outlinedLink; SgGroupPtr markerGroup; CrossMarkerPtr cmMarker; CrossMarkerPtr ppcomMarker; bool isCmVisible; bool isPpcomVisible; SgLineSetPtr virtualElasticStringLine; SphereMarkerPtr zmpMarker; bool isZmpVisible; Vector3 orgZmpPos; Link* targetLink; double orgJointPosition; JointPathPtr ikPath; LinkTraverse fkTraverse; PinDragIKptr pinDragIK; InverseKinematicsPtr ik; PenetrationBlockerPtr penetrationBlocker; PositionDraggerPtr positionDragger; bool isEditMode; KinematicsBar* kinematicsBar; enum DragMode { DRAG_NONE, LINK_IK_TRANSLATION, LINK_FK_ROTATION, LINK_FK_TRANSLATION, LINK_VIRTUAL_ELASTIC_STRING, LINK_FORCED_POSITION, ZMP_TRANSLATION }; DragMode dragMode; SceneDragProjector dragProjector; bool isDragging; weak_ref_ptr activeSimulatorItem; Vector3 pointedLinkLocalPoint; enum { NO_FORCED_POSITION, MOVE_FORCED_POSITION, KEEP_FORCED_POSITION }; int forcedPositionMode; bool isEditable() { return bodyItem->isEditable() && (!bodyItem->body()->isStaticModel() || enableStaticModelEditCheck->isChecked()); } EditableSceneLink* editableSceneLink(int index){ return static_cast(self->sceneLink(index)); } double calcLinkMarkerRadius(SceneLink* sceneLink) const; void onSceneGraphConnection(bool on); void updateModel(); void onBodyItemUpdated(); void onKinematicStateChanged(); void onCollisionsUpdated(); void onCollisionLinkHighlightModeChanged(); void changeCollisionLinkHighlightMode(bool on); void onLinkVisibilityCheckToggled(); void onVisibleShapeTypesChanged(); void onLinkSelectionChanged(); void showCenterOfMass(bool on); void showPpcom(bool on); void showZmp(bool on); void makeLinkFree(EditableSceneLink* sceneLink); void setBaseLink(EditableSceneLink* sceneLink); void toggleBaseLink(EditableSceneLink* sceneLink); void togglePin(EditableSceneLink* sceneLink, bool toggleTranslation, bool toggleRotation); void makeLinkAttitudeLevel(); EditableSceneBodyImpl::PointedType findPointedObject(const vector& path); void updateMarkersAndManipulators(); void attachPositionDragger(Link* link); bool onKeyPressEvent(const SceneWidgetEvent& event); bool onKeyReleaseEvent(const SceneWidgetEvent& event); bool onButtonPressEvent(const SceneWidgetEvent& event); bool onDoubleClickEvent(const SceneWidgetEvent& event); bool onButtonReleaseEvent(const SceneWidgetEvent& event); bool onPointerMoveEvent(const SceneWidgetEvent& event); void onPointerLeaveEvent(const SceneWidgetEvent& event); bool onScrollEvent(const SceneWidgetEvent& event); void onContextMenuRequest(const SceneWidgetEvent& event, MenuManager& menuManager); void onSceneModeChanged(const SceneWidgetEvent& event); bool onUndoRequest(); bool onRedoRequest(); void onDraggerDragStarted(); void onDraggerDragged(); void onDraggerDragFinished(); bool initializeIK(); void startIK(const SceneWidgetEvent& event); void dragIK(const SceneWidgetEvent& event); void doIK(const Position& position); void startFK(const SceneWidgetEvent& event); void dragFKRotation(const SceneWidgetEvent& event); void dragFKTranslation(const SceneWidgetEvent& event); void setForcedPositionMode(int mode, bool on); void startVirtualElasticString(const SceneWidgetEvent& event); void dragVirtualElasticString(const SceneWidgetEvent& event); void finishVirtualElasticString(); void startForcedPosition(const SceneWidgetEvent& event); void setForcedPosition(const Position& position); void dragForcedPosition(const SceneWidgetEvent& event); void finishForcedPosition(); void startZmpTranslation(const SceneWidgetEvent& event); void dragZmpTranslation(const SceneWidgetEvent& event); bool finishEditing(); static bool storeProperties(Archive& archive); static void restoreProperties(const Archive& archive); static void restoreSceneBodyProperties(const Archive& archive); }; } namespace { SceneLink* createEditableSceneLink(Link* link) { return new EditableSceneLink(link); } } EditableSceneBody::EditableSceneBody(BodyItemPtr bodyItem) : SceneBody(bodyItem->body(), createEditableSceneLink) { setName(body()->name()); impl = new EditableSceneBodyImpl(this, bodyItem); } EditableSceneBodyImpl::EditableSceneBodyImpl(EditableSceneBody* self, BodyItemPtr& bodyItem) : self(self), bodyItem(bodyItem), kinematicsBar(KinematicsBar::instance()), modified(SgUpdate::MODIFIED) { pointedSceneLink = 0; outlinedLink = 0; targetLink = 0; positionDragger = new PositionDragger; positionDragger->setDraggerAlwaysShown(true); positionDragger->sigDragStarted().connect(boost::bind(&EditableSceneBodyImpl::onDraggerDragStarted, this)); positionDragger->sigPositionDragged().connect(boost::bind(&EditableSceneBodyImpl::onDraggerDragged, this)); positionDragger->sigDragFinished().connect(boost::bind(&EditableSceneBodyImpl::onDraggerDragFinished, this)); dragMode = DRAG_NONE; isDragging = false; isEditMode = false; markerGroup = new SgGroup; markerGroup->setName("Marker"); self->addChild(markerGroup); double radius = 0.0; const int n = self->numSceneLinks(); for(int i=0; i < n; ++i){ SceneLink* sLink = self->sceneLink(i); BoundingBox bb = sLink->boundingBox(); double radius0 = bb.size().norm() / 2.0; if(radius0 > radius){ radius = radius0; } } cmMarker = new CrossMarker(radius, Vector3f(0.0f, 1.0f, 0.0f), 2.0); cmMarker->setName("centerOfMass"); isCmVisible = false; ppcomMarker = new CrossMarker(radius, Vector3f(1.0f, 0.5f, 0.0f), 2.0); ppcomMarker->setName("ProjectionPointCoM"); isPpcomVisible = false; forcedPositionMode = NO_FORCED_POSITION; virtualElasticStringLine = new SgLineSet; virtualElasticStringLine->getOrCreateVertices()->resize(2); virtualElasticStringLine->addLine(0, 1); LeggedBodyHelperPtr legged = getLeggedBodyHelper(self->body()); if(legged->isValid() && legged->numFeet() > 0){ Link* footLink = legged->footLink(0); const double r = calcLinkMarkerRadius(self->sceneLink(footLink->index())); zmpMarker = new SphereMarker(r, Vector3f(0.0f, 1.0f, 0.0f), 0.3); zmpMarker->setName("ZMP"); zmpMarker->addChild(new CrossMarker(r * 2.5, Vector3f(0.0f, 1.0f, 0.0f), 2.0f)); } else { zmpMarker = new SphereMarker(0.1, Vector3f(0.0f, 1.0f, 0.0f), 0.3); } isZmpVisible = false; self->sigGraphConnection().connect(boost::bind(&EditableSceneBodyImpl::onSceneGraphConnection, this, _1)); } double EditableSceneBodyImpl::calcLinkMarkerRadius(SceneLink* sceneLink) const { const BoundingBox& bb = sceneLink->visualShape()->boundingBox(); if (bb.empty()) return 1.0; // Is this OK? double V = ((bb.max().x() - bb.min().x()) * (bb.max().y() - bb.min().y()) * (bb.max().z() - bb.min().z())); return pow(V, 1.0 / 3.0) * 0.6; } void EditableSceneBodyImpl::onSceneGraphConnection(bool on) { connections.disconnect(); connectionToSigLinkSelectionChanged.disconnect(); if(on){ connections.add(bodyItem->sigUpdated().connect( boost::bind(&EditableSceneBodyImpl::onBodyItemUpdated, this))); onBodyItemUpdated(); connections.add(bodyItem->sigKinematicStateChanged().connect( boost::bind(&EditableSceneBodyImpl::onKinematicStateChanged, this))); onKinematicStateChanged(); connections.add(kinematicsBar->sigCollisionVisualizationChanged().connect( boost::bind(&EditableSceneBodyImpl::onCollisionLinkHighlightModeChanged, this))); onCollisionLinkHighlightModeChanged(); connections.add(bodyItem->sigModelUpdated().connect( boost::bind(&EditableSceneBodyImpl::updateModel, this))); connections.add( linkVisibilityCheck->sigToggled().connect( boost::bind(&EditableSceneBodyImpl::onLinkVisibilityCheckToggled, this))); onLinkVisibilityCheckToggled(); connections.add( showVisualShapeCheck->sigToggled().connect( boost::bind(&EditableSceneBodyImpl::onVisibleShapeTypesChanged, this))); connections.add( showCollisionShapeCheck->sigToggled().connect( boost::bind(&EditableSceneBodyImpl::onVisibleShapeTypesChanged, this))); onVisibleShapeTypesChanged(); } } void EditableSceneBody::updateModel() { impl->updateModel(); } void EditableSceneBodyImpl::updateModel() { pointedSceneLink = 0; targetLink = 0; if(outlinedLink){ outlinedLink->showBoundingBox(false); outlinedLink = 0; } isDragging = false; dragMode = DRAG_NONE; self->SceneBody::updateModel(); } void EditableSceneBodyImpl::onBodyItemUpdated() { updateMarkersAndManipulators(); } void EditableSceneBodyImpl::onKinematicStateChanged() { if(isCmVisible){ cmMarker->setTranslation(bodyItem->centerOfMass()); } if(isPpcomVisible){ Vector3 com = bodyItem->centerOfMass(); com(2) = 0.0; ppcomMarker->setTranslation(com); } if(isZmpVisible){ zmpMarker->setTranslation(bodyItem->zmp()); } if(activeSimulatorItem){ if(dragMode == LINK_VIRTUAL_ELASTIC_STRING){ if(virtualElasticStringLine->hasParents()){ virtualElasticStringLine->vertices()->at(0) = (targetLink->T() * pointedLinkLocalPoint).cast(); } } } self->updateLinkPositions(modified); } EditableSceneLink* EditableSceneBody::editableSceneLink(int index) { return static_cast(sceneLink(index)); } void EditableSceneBodyImpl::onCollisionsUpdated() { if(bodyItem->collisionLinkBitSet() != collisionLinkBitSet){ collisionLinkBitSet = bodyItem->collisionLinkBitSet(); const int n = self->numSceneLinks(); for(int i=0; i < n; ++i){ editableSceneLink(i)->setColliding(collisionLinkBitSet[i]); } self->notifyUpdate(modified); } } void EditableSceneBodyImpl::onCollisionLinkHighlightModeChanged() { changeCollisionLinkHighlightMode(kinematicsBar->isCollisionLinkHighlihtMode()); } void EditableSceneBodyImpl::changeCollisionLinkHighlightMode(bool on) { if(!connectionToSigCollisionsUpdated.connected() && on){ connectionToSigCollisionsUpdated = bodyItem->sigCollisionsUpdated().connect( boost::bind(&EditableSceneBodyImpl::onCollisionsUpdated, this)); onCollisionsUpdated(); } else if(connectionToSigCollisionsUpdated.connected() && !on){ connectionToSigCollisionsUpdated.disconnect(); const int n = self->numSceneLinks(); for(int i=0; i < n; ++i){ editableSceneLink(i)->setColliding(false); } self->notifyUpdate(modified); } } EditableSceneBody::~EditableSceneBody() { delete impl; } EditableSceneBodyImpl::~EditableSceneBodyImpl() { connectionToSigCollisionsUpdated.disconnect(); connections.disconnect(); } void EditableSceneBody::setLinkVisibilities(const boost::dynamic_bitset<>& visibilities) { int i; const int m = numSceneLinks(); const int n = std::min(m, (int)visibilities.size()); for(i=0; i < n; ++i){ sceneLink(i)->setVisible(visibilities[i]); } while(i < m){ sceneLink(i)->setVisible(false); ++i; } notifyUpdate(impl->modified); } void EditableSceneBodyImpl::onLinkVisibilityCheckToggled() { LinkSelectionView* selectionView = LinkSelectionView::mainInstance(); if(linkVisibilityCheck->isChecked()){ connectionToSigLinkSelectionChanged.reset( selectionView->sigSelectionChanged(bodyItem).connect( boost::bind(&EditableSceneBodyImpl::onLinkSelectionChanged, this))); onLinkSelectionChanged(); } else { connectionToSigLinkSelectionChanged.disconnect(); boost::dynamic_bitset<> visibilities; visibilities.resize(self->numSceneLinks(), true); self->setLinkVisibilities(visibilities); } } void EditableSceneBodyImpl::onLinkSelectionChanged() { if(linkVisibilityCheck->isChecked()){ self->setLinkVisibilities(LinkSelectionView::mainInstance()->linkSelection(bodyItem)); } } void EditableSceneBodyImpl::onVisibleShapeTypesChanged() { self->setVisibleShapeTypes( showVisualShapeCheck->isChecked(), showCollisionShapeCheck->isChecked()); } void EditableSceneBodyImpl::showCenterOfMass(bool on) { isCmVisible = on; if(on){ cmMarker->setTranslation(bodyItem->centerOfMass()); markerGroup->addChildOnce(cmMarker, true); } else { markerGroup->removeChild(cmMarker, true); } } void EditableSceneBodyImpl::showPpcom(bool on) { isPpcomVisible = on; if(on){ Vector3 com = bodyItem->centerOfMass(); com(2) = 0.0; ppcomMarker->setTranslation(com); markerGroup->addChildOnce(ppcomMarker, true); } else { markerGroup->removeChild(ppcomMarker, true); } } void EditableSceneBodyImpl::showZmp(bool on) { isZmpVisible = on; if(on){ zmpMarker->setTranslation(bodyItem->zmp()); markerGroup->addChildOnce(zmpMarker, true); } else { markerGroup->removeChild(zmpMarker, true); } } void EditableSceneBodyImpl::makeLinkFree(EditableSceneLink* sceneLink) { if(bodyItem->currentBaseLink() == sceneLink->link()){ bodyItem->setCurrentBaseLink(0); } bodyItem->pinDragIK()->setPin(sceneLink->link(), InverseKinematics::NO_AXES); bodyItem->notifyUpdate(); } void EditableSceneBodyImpl::setBaseLink(EditableSceneLink* sceneLink) { bodyItem->setCurrentBaseLink(sceneLink->link()); bodyItem->notifyUpdate(); } void EditableSceneBodyImpl::toggleBaseLink(EditableSceneLink* sceneLink) { Link* baseLink = bodyItem->currentBaseLink(); if(sceneLink->link() != baseLink){ bodyItem->setCurrentBaseLink(sceneLink->link()); } else { bodyItem->setCurrentBaseLink(0); } bodyItem->notifyUpdate(); } void EditableSceneBodyImpl::togglePin(EditableSceneLink* sceneLink, bool toggleTranslation, bool toggleRotation) { PinDragIKptr pin = bodyItem->pinDragIK(); InverseKinematics::AxisSet axes = pin->pinAxes(sceneLink->link()); if(toggleTranslation && toggleRotation){ if(axes == InverseKinematics::NO_AXES){ axes = InverseKinematics::TRANSFORM_6D; } else { axes = InverseKinematics::NO_AXES; } } else { if(toggleTranslation){ axes = (InverseKinematics::AxisSet)(axes ^ InverseKinematics::TRANSLATION_3D); } if(toggleRotation){ axes = (InverseKinematics::AxisSet)(axes ^ InverseKinematics::ROTATION_3D); } } pin->setPin(sceneLink->link(), axes); bodyItem->notifyUpdate(); } void EditableSceneBodyImpl::makeLinkAttitudeLevel() { if(pointedSceneLink){ Link* targetLink = outlinedLink->link(); InverseKinematicsPtr ik = bodyItem->getCurrentIK(targetLink); if(ik){ const Position& T = targetLink->T(); const double theta = acos(T(2, 2)); const Vector3 z(T(0,2), T(1, 2), T(2, 2)); const Vector3 axis = z.cross(Vector3::UnitZ()).normalized(); const Matrix3 R2 = AngleAxisd(theta, axis) * T.linear(); bodyItem->beginKinematicStateEdit(); if(ik->calcInverseKinematics(targetLink->p(), R2)){ bodyItem->notifyKinematicStateChange(true); bodyItem->acceptKinematicStateEdit(); } } } } void EditableSceneBodyImpl::updateMarkersAndManipulators() { Link* baseLink = bodyItem->currentBaseLink(); PinDragIKptr pin = bodyItem->pinDragIK(); const int n = self->numSceneLinks(); for(int i=0; i < n; ++i){ EditableSceneLink* sceneLink = editableSceneLink(i); sceneLink->hideMarker(); sceneLink->removeChild(positionDragger); markerGroup->removeChild(positionDragger); if(isEditMode && !activeSimulatorItem){ Link* link = sceneLink->link(); if(link == baseLink){ sceneLink->showMarker(Vector3f(1.0f, 0.1f, 0.1f), 0.4); } else { int pinAxes = pin->pinAxes(link); if(pinAxes & (InverseKinematics::TRANSFORM_6D)){ sceneLink->showMarker(Vector3f(1.0f, 1.0f, 0.1f), 0.4); } } } } bool showDragger = isEditMode && targetLink && kinematicsBar->isPositionDraggerEnabled(); if(showDragger){ if(activeSimulatorItem){ showDragger = forcedPositionMode != NO_FORCED_POSITION; } else { showDragger = (kinematicsBar->mode() == KinematicsBar::IK_MODE); } } if(showDragger){ attachPositionDragger(targetLink); } self->notifyUpdate(modified); } void EditableSceneBodyImpl::attachPositionDragger(Link* link) { SceneLink* sceneLink = self->sceneLink(link->index()); positionDragger->adjustSize(sceneLink->untransformedBoundingBox()); sceneLink->addChild(positionDragger); } EditableSceneBodyImpl::PointedType EditableSceneBodyImpl::findPointedObject(const vector& path) { PointedType pointedType = PT_NONE; pointedSceneLink = 0; for(size_t i = path.size() - 1; i >= 1; --i){ pointedSceneLink = dynamic_cast(path[i]); if(pointedSceneLink){ pointedType = PT_SCENE_LINK; break; } SphereMarker* marker = dynamic_cast(path[i]); if(marker == zmpMarker){ pointedType = PT_ZMP; break; } } return pointedType; } bool EditableSceneBody::onKeyPressEvent(const SceneWidgetEvent& event) { return impl->onKeyPressEvent(event); } bool EditableSceneBodyImpl::onKeyPressEvent(const SceneWidgetEvent& event) { if(!isEditable()){ return false; } if(!outlinedLink){ return false; } bool handled = true; switch(event.key()){ case Qt::Key_B: toggleBaseLink(outlinedLink); break; case Qt::Key_R: togglePin(outlinedLink, false, true); break; case Qt::Key_T: togglePin(outlinedLink, true, false); break; default: handled = false; break; } return handled; } bool EditableSceneBody::onKeyReleaseEvent(const SceneWidgetEvent& event) { return impl->onKeyReleaseEvent(event); } bool EditableSceneBodyImpl::onKeyReleaseEvent(const SceneWidgetEvent& event) { return false; } bool EditableSceneBody::onButtonPressEvent(const SceneWidgetEvent& event) { return impl->onButtonPressEvent(event); } bool EditableSceneBodyImpl::onButtonPressEvent(const SceneWidgetEvent& event) { if(!isEditable()){ return false; } if(outlinedLink){ outlinedLink->showBoundingBox(false); outlinedLink = 0; } PointedType pointedType = findPointedObject(event.nodePath()); if(pointedSceneLink){ pointedSceneLink->showBoundingBox(true); outlinedLink = pointedSceneLink; } bool handled = false; isDragging = false; activeSimulatorItem = SimulatorItem::findActiveSimulatorItemFor(bodyItem); if(activeSimulatorItem){ if(pointedType == PT_SCENE_LINK){ targetLink = pointedSceneLink->link(); if(event.button() == Qt::LeftButton){ if(targetLink->isRoot() && (forcedPositionMode != NO_FORCED_POSITION)){ startForcedPosition(event); } else { startVirtualElasticString(event); } } handled = true; } } else { if(pointedType == PT_SCENE_LINK){ if(event.button() == Qt::LeftButton){ targetLink = pointedSceneLink->link(); updateMarkersAndManipulators(); ik.reset(); switch(kinematicsBar->mode()){ case KinematicsBar::AUTO_MODE: ik = bodyItem->getDefaultIK(targetLink); if(ik){ startIK(event); break; } case KinematicsBar::FK_MODE: if(targetLink == bodyItem->currentBaseLink()){ // Translation of the base link startIK(event); } else { startFK(event); } break; case KinematicsBar::IK_MODE: startIK(event); break; } } else if(event.button() == Qt::MiddleButton){ togglePin(pointedSceneLink, true, true); } else if(event.button() == Qt::RightButton){ } handled = true; } else if(pointedType == PT_ZMP){ startZmpTranslation(event); handled = true; } } if(dragMode != DRAG_NONE && outlinedLink){ outlinedLink->showBoundingBox(false); self->notifyUpdate(modified); } return handled; } bool EditableSceneBody::onButtonReleaseEvent(const SceneWidgetEvent& event) { return impl->onButtonReleaseEvent(event); } bool EditableSceneBodyImpl::onButtonReleaseEvent(const SceneWidgetEvent& event) { bool handled = finishEditing(); if(outlinedLink){ outlinedLink->showBoundingBox(true); self->notifyUpdate(modified); } return handled; } bool EditableSceneBody::onDoubleClickEvent(const SceneWidgetEvent& event) { return impl->onDoubleClickEvent(event); } bool EditableSceneBodyImpl::onDoubleClickEvent(const SceneWidgetEvent& event) { if(findPointedObject(event.nodePath()) == PT_SCENE_LINK){ if(event.button() == Qt::LeftButton){ if(BodyBar::instance()->makeSingleSelection(bodyItem)){ LinkSelectionView::mainInstance()->makeSingleSelection( bodyItem, pointedSceneLink->link()->index()); } return true; } } return false; } bool EditableSceneBody::onPointerMoveEvent(const SceneWidgetEvent& event) { return impl->onPointerMoveEvent(event); } bool EditableSceneBodyImpl::onPointerMoveEvent(const SceneWidgetEvent& event) { if(!isEditable()){ return false; } if(dragMode == DRAG_NONE){ PointedType pointedType = findPointedObject(event.nodePath()); if(pointedSceneLink){ if(pointedSceneLink != outlinedLink){ if(outlinedLink){ outlinedLink->showBoundingBox(false); } pointedSceneLink->showBoundingBox(true); outlinedLink = pointedSceneLink; } } if(pointedSceneLink){ const Vector3 p = pointedSceneLink->T().inverse() * event.point(); event.updateIndicator( (str(boost::format("%1% / %2% : (%3$ .3f, %4$ .3f, %5$ .3f)") % bodyItem->name() % pointedSceneLink->link()->name() % p.x() % p.y() % p.z()))); } else { event.updateIndicator(""); } } else { if(!isDragging){ bodyItem->beginKinematicStateEdit(); isDragging = true; } switch(dragMode){ case LINK_IK_TRANSLATION: dragIK(event); break; case LINK_FK_ROTATION: dragFKRotation(event); break; case LINK_FK_TRANSLATION: dragFKTranslation(event); break; case LINK_VIRTUAL_ELASTIC_STRING: dragVirtualElasticString(event); break; case LINK_FORCED_POSITION: dragForcedPosition(event); break; case ZMP_TRANSLATION: dragZmpTranslation(event); break; default: break; } } return true; } void EditableSceneBody::onPointerLeaveEvent(const SceneWidgetEvent& event) { return impl->onPointerLeaveEvent(event); } void EditableSceneBodyImpl::onPointerLeaveEvent(const SceneWidgetEvent& event) { if(!isEditable()){ return; } if(outlinedLink){ outlinedLink->showBoundingBox(false); outlinedLink = 0; } } bool EditableSceneBody::onScrollEvent(const SceneWidgetEvent& event) { return impl->onScrollEvent(event); } bool EditableSceneBodyImpl::onScrollEvent(const SceneWidgetEvent& event) { return false; } void EditableSceneBody::onContextMenuRequest(const SceneWidgetEvent& event, MenuManager& menuManager) { impl->onContextMenuRequest(event, menuManager); } void EditableSceneBodyImpl::onContextMenuRequest(const SceneWidgetEvent& event, MenuManager& menuManager) { if(!isEditable()){ return; } PointedType pointedType = findPointedObject(event.nodePath()); if(bodyItem && pointedType == PT_SCENE_LINK){ activeSimulatorItem = SimulatorItem::findActiveSimulatorItemFor(bodyItem); if(activeSimulatorItem){ if(pointedSceneLink->link()->isRoot()){ Action* item1 = menuManager.addCheckItem(_("Move Forcibly")); item1->setChecked(forcedPositionMode == MOVE_FORCED_POSITION); item1->sigToggled().connect( boost::bind(&EditableSceneBodyImpl::setForcedPositionMode, this, MOVE_FORCED_POSITION, _1)); Action* item2 = menuManager.addCheckItem(_("Hold Forcibly")); item2->setChecked(forcedPositionMode == KEEP_FORCED_POSITION); item2->sigToggled().connect( boost::bind(&EditableSceneBodyImpl::setForcedPositionMode, this, KEEP_FORCED_POSITION, _1)); menuManager.addSeparator(); } } else { menuManager.addItem(_("Set Free"))->sigTriggered().connect( boost::bind(&EditableSceneBodyImpl::makeLinkFree, this, pointedSceneLink)); menuManager.addItem(_("Set Base"))->sigTriggered().connect( boost::bind(&EditableSceneBodyImpl::setBaseLink, this, pointedSceneLink)); menuManager.addItem(_("Set Translation Pin"))->sigTriggered().connect( boost::bind(&EditableSceneBodyImpl::togglePin, this, pointedSceneLink, true, false)); menuManager.addItem(_("Set Rotation Pin"))->sigTriggered().connect( boost::bind(&EditableSceneBodyImpl::togglePin, this, pointedSceneLink, false, true)); menuManager.addItem(_("Set Both Pins"))->sigTriggered().connect( boost::bind(&EditableSceneBodyImpl::togglePin, this, pointedSceneLink, true, true)); menuManager.addSeparator(); menuManager.addItem(_("Level Attitude"))->sigTriggered().connect( boost::bind(&EditableSceneBodyImpl::makeLinkAttitudeLevel, this)); menuManager.addSeparator(); } menuManager.setPath(_("Markers")); Action* item = menuManager.addCheckItem(_("Center of Mass")); item->setChecked(isCmVisible); item->sigToggled().connect(boost::bind(&EditableSceneBodyImpl::showCenterOfMass, this, _1)); item = menuManager.addCheckItem(_("Projection Point of CoM")); item->setChecked(isPpcomVisible); item->sigToggled().connect(boost::bind(&EditableSceneBodyImpl::showPpcom, this, _1)); item = menuManager.addCheckItem(_("ZMP")); item->setChecked(isZmpVisible); item->sigToggled().connect(boost::bind(&EditableSceneBodyImpl::showZmp, this, _1)); menuManager.setPath("/"); menuManager.addSeparator(); } } void EditableSceneBody::onSceneModeChanged(const SceneWidgetEvent& event) { impl->onSceneModeChanged(event); } void EditableSceneBodyImpl::onSceneModeChanged(const SceneWidgetEvent& event) { if(!isEditable()){ isEditMode = false; return; } isEditMode = event.sceneWidget()->isEditMode(); if(isEditMode){ if(outlinedLink){ outlinedLink->showBoundingBox(true); } } else { finishEditing(); if(outlinedLink){ outlinedLink->showBoundingBox(false); outlinedLink = 0; } updateMarkersAndManipulators(); } } bool EditableSceneBodyImpl::finishEditing() { bool finished = false; if(isEditable()){ isDragging = false; finished = true; if(dragMode == LINK_VIRTUAL_ELASTIC_STRING){ finishVirtualElasticString(); } else if(dragMode == LINK_FORCED_POSITION){ finishForcedPosition(); } else if(dragMode != DRAG_NONE){ bodyItem->acceptKinematicStateEdit(); } else { finished = false; } dragMode = DRAG_NONE; } return finished; } bool EditableSceneBody::onUndoRequest() { return impl->onUndoRequest(); } bool EditableSceneBodyImpl::onUndoRequest() { if(!isEditable()){ return false; } return bodyItem->undoKinematicState(); } bool EditableSceneBody::onRedoRequest() { return impl->onRedoRequest(); } bool EditableSceneBodyImpl::onRedoRequest() { if(!isEditable()){ return false; } return bodyItem->redoKinematicState(); } void EditableSceneBodyImpl::onDraggerDragStarted() { activeSimulatorItem = SimulatorItem::findActiveSimulatorItemFor(bodyItem); if(!activeSimulatorItem){ initializeIK(); } } void EditableSceneBodyImpl::onDraggerDragged() { activeSimulatorItem = SimulatorItem::findActiveSimulatorItemFor(bodyItem); if(activeSimulatorItem){ setForcedPosition(positionDragger->draggedPosition()); } else { doIK(positionDragger->draggedPosition()); } } void EditableSceneBodyImpl::onDraggerDragFinished() { activeSimulatorItem = SimulatorItem::findActiveSimulatorItemFor(bodyItem); if(activeSimulatorItem){ finishForcedPosition(); } else { doIK(positionDragger->draggedPosition()); } } bool EditableSceneBodyImpl::initializeIK() { Link* baseLink = bodyItem->currentBaseLink(); if(!ik){ if(bodyItem->pinDragIK()->numPinnedLinks() == 0 && baseLink){ ikPath = getCustomJointPath(bodyItem->body(), baseLink, targetLink); if(ikPath){ if(!ikPath->hasAnalyticalIK()){ ikPath->setBestEffortIKmode(true); } ik = ikPath; } } } if(!ik){ pinDragIK = bodyItem->pinDragIK(); pinDragIK->setBaseLink(baseLink); pinDragIK->setTargetLink(targetLink, kinematicsBar->isPositionDraggerEnabled()); if(pinDragIK->initialize()){ ik = pinDragIK; } } return ik? true: false; } void EditableSceneBodyImpl::startIK(const SceneWidgetEvent& event) { Body* body = self->body(); Link* baseLink = bodyItem->currentBaseLink(); if(initializeIK()){ if(kinematicsBar->isPositionDraggerEnabled()){ attachPositionDragger(targetLink); } dragProjector.setInitialPosition(targetLink->position()); dragProjector.setTranslationAlongViewPlane(); if(dragProjector.startTranslation(event)){ dragMode = LINK_IK_TRANSLATION; } fkTraverse.find(baseLink ? baseLink : body->rootLink(), true, true); if(kinematicsBar->isPenetrationBlockMode()){ penetrationBlocker = bodyItem->createPenetrationBlocker(targetLink, true); } else { penetrationBlocker.reset(); } } } void EditableSceneBodyImpl::dragIK(const SceneWidgetEvent& event) { if(dragProjector.dragTranslation(event)){ //Position T = dragProjector.initialPosition(); Position T; T.translation() = dragProjector.position().translation(); T.linear() = targetLink->R(); if(penetrationBlocker){ penetrationBlocker->adjust(T, T.translation() - targetLink->p()); } doIK(T); } } void EditableSceneBodyImpl::doIK(const Position& position) { if(ik){ if(ik->calcInverseKinematics(position.translation(), position.linear()) || true /* Best effort */){ fkTraverse.calcForwardKinematics(); bodyItem->notifyKinematicStateChange(true); } } } void EditableSceneBodyImpl::startFK(const SceneWidgetEvent& event) { dragProjector.setInitialPosition(targetLink->position()); orgJointPosition = targetLink->q(); if(targetLink->isRotationalJoint()){ dragProjector.setRotationAxis(targetLink->R() * targetLink->a()); if(dragProjector.startRotation(event)){ dragMode = LINK_FK_ROTATION; } } else if(targetLink->isSlideJoint()){ dragProjector.setTranslationAxis(targetLink->R() * targetLink->d()); if(dragProjector.startTranslation(event)){ dragMode = LINK_FK_TRANSLATION; } } } void EditableSceneBodyImpl::dragFKRotation(const SceneWidgetEvent& event) { if(dragProjector.dragRotation(event)){ targetLink->q() = orgJointPosition + dragProjector.rotationAngle(); bodyItem->notifyKinematicStateChange(true); } } void EditableSceneBodyImpl::dragFKTranslation(const SceneWidgetEvent& event) { if(dragProjector.dragTranslation(event)){ targetLink->q() = orgJointPosition + dragProjector.translationAxis().dot(dragProjector.translation()); bodyItem->notifyKinematicStateChange(true); } } void EditableSceneBodyImpl::setForcedPositionMode(int mode, bool on) { if(on){ forcedPositionMode = mode; } else { forcedPositionMode = NO_FORCED_POSITION; updateMarkersAndManipulators(); } finishForcedPosition(); } void EditableSceneBodyImpl::startVirtualElasticString(const SceneWidgetEvent& event) { const Vector3& point = event.point(); dragProjector.setInitialTranslation(point); dragProjector.setTranslationAlongViewPlane(); if(dragProjector.startTranslation(event)){ pointedLinkLocalPoint = targetLink->T().inverse() * point; dragMode = LINK_VIRTUAL_ELASTIC_STRING; dragVirtualElasticString(event); markerGroup->addChildOnce(virtualElasticStringLine, true); } } void EditableSceneBodyImpl::dragVirtualElasticString(const SceneWidgetEvent& event) { if(dragMode == LINK_VIRTUAL_ELASTIC_STRING){ SimulatorItem* simulatorItem = activeSimulatorItem.lock(); if(simulatorItem && dragProjector.dragTranslation(event)){ Vector3 p = targetLink->T() * pointedLinkLocalPoint; Vector3 d = dragProjector.position().translation() - p; double k = 2.0; if(event.modifiers() & Qt::ShiftModifier){ k *= 10.0; if(event.modifiers() & Qt::ControlModifier){ k *= 10.0; } } Vector3 end = p + k * self->boundingBox().boundingSphereRadius() * d; SgVertexArray& points = *virtualElasticStringLine->vertices(); points[0] = p.cast(); points[1] = (p + d).cast(); virtualElasticStringLine->notifyUpdate(); simulatorItem->setVirtualElasticString(bodyItem, targetLink, pointedLinkLocalPoint, end); } } } void EditableSceneBodyImpl::finishVirtualElasticString() { if(SimulatorItem* simulatorItem = activeSimulatorItem.lock()){ simulatorItem->clearVirtualElasticStrings(); } markerGroup->removeChild(virtualElasticStringLine, true); } void EditableSceneBodyImpl::startForcedPosition(const SceneWidgetEvent& event) { finishForcedPosition(); updateMarkersAndManipulators(); dragProjector.setInitialPosition(targetLink->position()); dragProjector.setTranslationAlongViewPlane(); if(dragProjector.startTranslation(event)){ dragMode = LINK_FORCED_POSITION; } } void EditableSceneBodyImpl::setForcedPosition(const Position& position) { if(SimulatorItem* simulatorItem = activeSimulatorItem.lock()){ simulatorItem->setForcedPosition(bodyItem, position); } } void EditableSceneBodyImpl::dragForcedPosition(const SceneWidgetEvent& event) { if(dragProjector.dragTranslation(event)){ Position T; T.translation() = dragProjector.position().translation(); T.linear() = targetLink->R(); setForcedPosition(T); } } void EditableSceneBodyImpl::finishForcedPosition() { if(forcedPositionMode != KEEP_FORCED_POSITION){ if(SimulatorItem* simulatorItem = activeSimulatorItem.lock()){ simulatorItem->clearForcedPositions(); } } } void EditableSceneBodyImpl::startZmpTranslation(const SceneWidgetEvent& event) { dragProjector.setInitialTranslation(bodyItem->zmp()); dragProjector.setTranslationPlaneNormal(Vector3::UnitZ()); if(dragProjector.startTranslation(event)){ dragMode = ZMP_TRANSLATION; } } void EditableSceneBodyImpl::dragZmpTranslation(const SceneWidgetEvent& event) { if(dragProjector.dragTranslation(event)){ Vector3 p = dragProjector.position().translation(); p.z() = dragProjector.initialPosition().translation().z(); bodyItem->setZmp(p); bodyItem->notifyKinematicStateChange(true); } } bool EditableSceneBodyImpl::storeProperties(Archive& archive) { ListingPtr states = new Listing(); ItemList bodyItems; bodyItems.extractChildItems(RootItem::instance()); for(size_t i=0; i < bodyItems.size(); ++i){ BodyItem* bodyItem = bodyItems[i]; EditableSceneBody* sceneBody = bodyItem->existingSceneBody(); if(sceneBody){ ValueNodePtr id = archive.getItemId(bodyItem); if(id){ EditableSceneBodyImpl* impl = sceneBody->impl; MappingPtr state = new Mapping(); state->insert("bodyItem", id); state->write("showCenterOfMass", impl->isCmVisible); state->write("showPpcom", impl->isPpcomVisible); state->write("showZmp", impl->isZmpVisible); states->append(state); } } } if(!states->empty()){ archive.insert("editableSceneBodies", states); } archive.write("staticModelEditing", enableStaticModelEditCheck->isChecked()); return true; } void EditableSceneBodyImpl::restoreProperties(const Archive& archive) { enableStaticModelEditCheck->setChecked(archive.get("staticModelEditing", false)); archive.addPostProcess(boost::bind(&EditableSceneBodyImpl::restoreSceneBodyProperties, boost::ref(archive)), 1); } void EditableSceneBodyImpl::restoreSceneBodyProperties(const Archive& archive) { Listing& states = *archive.findListing("editableSceneBodies"); if(states.isValid()){ for(int i=0; i < states.size(); ++i){ Mapping* state = states[i].toMapping(); BodyItem* bodyItem = archive.findItem(state->find("bodyItem")); if(bodyItem){ EditableSceneBodyImpl* impl = bodyItem->sceneBody()->impl; impl->showCenterOfMass(state->get("showCenterOfMass", impl->isCmVisible)); impl->showPpcom(state->get("showPpcom", impl->isPpcomVisible)); impl->showZmp(state->get("showZmp", impl->isZmpVisible)); } } } } void EditableSceneBody::initializeClass(ExtensionManager* ext) { MenuManager& mm = ext->menuManager().setPath("/Options/Scene View"); linkVisibilityCheck = mm.addCheckItem(_("Show selected links only")); showVisualShapeCheck = mm.addCheckItem(_("Show visual shapes")); showVisualShapeCheck->setChecked(true); showCollisionShapeCheck = mm.addCheckItem(_("Show collision shapes")); enableStaticModelEditCheck = mm.addCheckItem(_("Enable editing static models")); enableStaticModelEditCheck->setChecked(true); ext->setProjectArchiver( "EditableSceneBody", EditableSceneBodyImpl::storeProperties, EditableSceneBodyImpl::restoreProperties); } choreonoid-1.5.0/src/BodyPlugin/po/0000775000000000000000000000000012741425367015642 5ustar rootrootchoreonoid-1.5.0/src/BodyPlugin/po/ja.po0000664000000000000000000007203412741425367016602 0ustar rootroot# Language = translations for PACKAGE package. # Copyright (C) 2011 THE PACKAGE'S COPYRIGHT HOLDER # This file is distributed under the same license as the PACKAGE package. # nakaoka , 2011. # msgid "" msgstr "" "Project-Id-Version: PACKAGE VERSION\n" "Report-Msgid-Bugs-To: \n" "POT-Creation-Date: 2016-07-05 00:55+0900\n" "PO-Revision-Date: 2011-11-12 14:46+0000\n" "Last-Translator: nakaoka \n" "Language-Team: Language =\n" "Language: =\n" "MIME-Version: 1.0\n" "Content-Type: text/plain; charset=UTF-8\n" "Content-Transfer-Encoding: 8bit\n" #: AISTSimulatorItem.cpp:146 msgid "AISTSimulatorItem" msgstr "AIST‚·ƒŸƒƒĴƒĵ‚ż‚˘‚¤ƒ†ƒ " #: AISTSimulatorItem.cpp:163 msgid "Forward dynamics" msgstr "順ċ‹•ċŠ›ċ­Ĥ" #: AISTSimulatorItem.cpp:164 msgid "High-gain dynamics" msgstr "ƒ‚¤‚²‚¤ƒ³ċ‹•ċŠ›ċ­Ĥ" #: AISTSimulatorItem.cpp:165 msgid "Kinematics" msgstr "運ċ‹•ċ­Ĥ" #: AISTSimulatorItem.cpp:167 msgid "Euler" msgstr "‚Ş‚¤ƒİƒĵ" #: AISTSimulatorItem.cpp:168 msgid "Runge Kutta" msgstr "ƒĞƒ³‚²‚Żƒƒ‚ż" #: AISTSimulatorItem.cpp:658 msgid "Dynamics mode" msgstr "ċ‹•ċŠ›ċ­Ĥƒ˘ƒĵƒ‰" #: AISTSimulatorItem.cpp:660 msgid "Integration mode" msgstr "çݍċˆ†ƒ˘ƒĵƒ‰" #: AISTSimulatorItem.cpp:662 msgid "Gravity" msgstr "重ċŠ›ċŠ é€ŸċşĤ" #: AISTSimulatorItem.cpp:664 msgid "Static friction" msgstr "静ĉ­˘ĉ‘İĉ“Ĥ係ĉ•°" #: AISTSimulatorItem.cpp:665 msgid "Slip friction" msgstr "ċ‹•ĉ‘İĉ“Ĥ係ĉ•°" #: AISTSimulatorItem.cpp:666 msgid "Contact culling distance" msgstr "ĉŽè§Ĥ間ċĵ•è·é›˘" #: AISTSimulatorItem.cpp:668 msgid "Contact culling depth" msgstr "ĉŽè§Ĥ間ċĵ•ĉ·ħċşĤ" #: AISTSimulatorItem.cpp:670 msgid "Error criterion" msgstr "ċŽĉŸċˆ¤ċšèޤċ·ċŸşĉş–" #: AISTSimulatorItem.cpp:672 msgid "Max iterations" msgstr "ĉœ€ċ¤§ċċİ計ç—ċ›žĉ•°" #: AISTSimulatorItem.cpp:673 msgid "CC depth" msgstr "ĉŽè§Ĥ補ĉ­£ĉ·ħċşĤ" #: AISTSimulatorItem.cpp:675 msgid "CC v-ratio" msgstr "ĉŽè§Ĥ補ĉ­£é€ŸċşĤ係ĉ•°" #: AISTSimulatorItem.cpp:677 msgid "Kinematic walking" msgstr "運ċ‹•ċ­Ĥĉ­İèĦŒƒ˘ƒĵƒ‰" #: AISTSimulatorItem.cpp:679 msgid "2D mode" msgstr "2Dƒ˘ƒĵƒ‰" #: AISTSimulatorItem.cpp:680 msgid "Old accel sensor mode" msgstr "ĉ—§ċŠ é€Ÿ‚ğƒ³‚µƒ˘ƒĵƒ‰" #: BodyBar.cpp:51 msgid "BodyBar" msgstr "ƒœƒ‡‚£ƒƒĵ" #: BodyBar.cpp:63 msgid "Memory the current pose" msgstr "çċœ¨ċ§żċ‹˘‚’記ĉ†ĥ" #: BodyBar.cpp:66 msgid "Recall the memorized pose" msgstr "記ĉ†ĥ—Ÿċ§żċ‹˘ċ‘ĵ³ċ‡ş—" #: BodyBar.cpp:69 msgid "Move the selected bodies to the origin" msgstr "選ĉŠžƒœƒ‡‚£‚’ċŽŸç‚ı¸ç§ğċ‹•" #: BodyBar.cpp:72 msgid "Set the preset initial pose to the selected bodies" msgstr "選ĉŠžƒœƒ‡‚£‚’ċˆĉœŸċ§żċ‹˘Ğ" #: BodyBar.cpp:75 msgid "Set the preset standard pose to the selected bodies" msgstr "選ĉŠžƒœƒ‡‚£‚’ĉ¨™ĉş–ċ§żċ‹˘Ğ" #: BodyBar.cpp:80 msgid "Copy the right side pose to the left side" msgstr "ċ³ċ´ċ§żċ‹˘‚’ċ·Ĥċ´Ğ‚³ƒ”ƒĵ" #: BodyBar.cpp:83 msgid "Mirror copy" msgstr "ċèğ˘‚³ƒ”ƒĵ" #: BodyBar.cpp:86 msgid "Copy the left side pose to the right side" msgstr "ċ·Ĥċ´ċ§żċ‹˘‚’ċ³ċ´Ğ‚³ƒ”ƒĵ" #: BodyItem.cpp:168 msgid "BodyItem" msgstr "ƒœƒ‡‚£‚˘‚¤ƒ†ƒ " #: BodyItem.cpp:170 msgid "OpenHRP Model File" msgstr "OpenHRP ƒ˘ƒ‡ƒĞƒ•‚Ħ‚¤ƒĞ" #: BodyItem.cpp:1104 msgid "Model name" msgstr "ƒ˘ƒ‡ƒĞċ" #: BodyItem.cpp:1105 msgid "Num links" msgstr "ƒŞƒ³‚Żĉ•°" #: BodyItem.cpp:1106 msgid "Num joints" msgstr "関節ĉ•°" #: BodyItem.cpp:1107 msgid "Num devices" msgstr "ƒ‡ƒ‚¤‚ıĉ•°" #: BodyItem.cpp:1108 msgid "Root link" msgstr "ƒĞƒĵƒˆƒŞƒ³‚Ż" #: BodyItem.cpp:1109 msgid "Base link" msgstr "ƒ™ƒĵ‚ıƒŞƒ³‚Ż" #: BodyItem.cpp:1110 LinkPropertyView.cpp:163 msgid "Mass" msgstr "è³Şé‡" #: BodyItem.cpp:1111 msgid "Static model" msgstr "静的ƒ˘ƒ‡ƒĞ" #: BodyItem.cpp:1113 msgid "Model file" msgstr "ƒ˘ƒ‡ƒĞƒ•‚Ħ‚¤ƒĞ" #: BodyItem.cpp:1114 WorldItem.cpp:447 msgid "Collision detection" msgstr "ċı²ĉ¸‰ĉ¤œċ‡ş" #: BodyItem.cpp:1116 msgid "Self-collision detection" msgstr "è‡Şċ·ħċı²ĉ¸‰ĉ¤œċ‡ş" #: BodyItem.cpp:1118 msgid "Editable" msgstr "編集ċŻèƒ½" #: BodyLinkView.cpp:131 msgid "Body / Link" msgstr "ƒœƒ‡‚£ïĵƒŞƒ³‚Ż" #: BodyLinkView.cpp:211 msgid "Index:" msgstr "‚¤ƒ³ƒ‡ƒƒ‚Ż‚ı" #: BodyLinkView.cpp:213 msgid "Joint ID:" msgstr "関節ID" #: BodyLinkView.cpp:215 msgid "Joint Type:" msgstr "関節‚ż‚¤ƒ—" #: BodyLinkView.cpp:218 msgid "Joint Axis:" msgstr "関節èğ¸" #: BodyLinkView.cpp:226 msgid "Link Position [m],[deg]" msgstr "ƒŞƒ³‚Żä½ç½ [m],[deg]" #: BodyLinkView.cpp:269 msgid "Matrix" msgstr "èĦŒċˆ—" #: BodyLinkView.cpp:336 msgid "min" msgstr "ĉœ€ċ°" #: BodyLinkView.cpp:346 msgid "max" msgstr "ĉœ€ċ¤§" #: BodyLinkView.cpp:360 msgid "Collisions" msgstr "ċı²ĉ¸‰" #: BodyLinkView.cpp:377 msgid "Self-Collisions" msgstr "è‡Şċ·ħċı²ĉ¸‰" #: BodyLinkView.cpp:389 msgid "ZMP [m]" msgstr "ZMP [m]" #: BodyLinkView.cpp:537 msgid "Rotation" msgstr "ċ›žèğ˘" #: BodyLinkView.cpp:540 msgid "Joint Angle [deg]" msgstr "é–˘çŻ€è§’ [deg]" #: BodyLinkView.cpp:563 msgid "Joint Velocity [deg/s]" msgstr "é–˘çŻ€è§’é€ŸċşĤ [deg/s]" #: BodyLinkView.cpp:579 msgid "Slide" msgstr "直ċ‹•" #: BodyLinkView.cpp:582 msgid "Joint Translation [m]:" msgstr "関節ä¸Ĥé€²ä½ç½ [m]" #: BodyLinkView.cpp:605 msgid "Joint Velocity [m/s]" msgstr "関節速ċşĤ [m/s]" #: BodyMotionControllerItem.cpp:39 msgid "BodyMotionControllerItem" msgstr "ƒœƒ‡‚£ƒ˘ƒĵ‚·ƒ§ƒ³‚³ƒ³ƒˆƒ­ƒĵƒİ‚˘‚¤ƒ†ƒ " #: BodyMotionControllerItem.cpp:81 msgid "Any body motion item for %1% is not found." msgstr "%1%用ƒœƒ‡‚£ƒ˘ƒĵ‚·ƒ§ƒ³‚˘‚¤ƒ†ƒ ŒèĤ‹¤‹‚Š›‚“€‚" #: BodyMotionControllerItem.cpp:102 msgid "Reference motion is empty()." msgstr "ċ‚ç…§ċ‹•ä½œŒçİş§™€‚" #: BodyMotionControllerItem.cpp:106 msgid "" "The frame rate of the reference motion is different from the world frame " "rate." msgstr "ċ‚ç…§ċ‹•ä½œƒ•ƒĴƒĵƒ ƒĴƒĵƒˆŒƒŻƒĵƒĞƒ‰ƒ•ƒĴƒĵƒ ƒĴƒĵƒˆ¨ç•°Ş£Ĥ„™€‚" #: BodyMotionControllerItem.cpp:203 msgid "Control mode" msgstr "ċˆĥċĦƒ˘ƒĵƒ‰" #: BodyMotionEngine.cpp:210 msgid "Body Motion Engine" msgstr "ƒœƒ‡‚£ƒ˘ƒĵ‚·ƒ§ƒ³‚¨ƒ³‚¸ƒ³" #: BodyMotionEngine.cpp:211 msgid "Update Joint Velocities" msgstr "é–˘çŻ€è§’é€ŸċşĤĉ›´ĉ–°" #: BodyMotionItem.cpp:144 msgid "BodyMotionItem" msgstr "ƒœƒ‡‚£ƒ˘ƒĵ‚·ƒ§ƒ³‚˘‚¤ƒ†ƒ " #: BodyMotionItem.cpp:146 msgid "Number of joints" msgstr "関節ĉ•°" #: BodyMotionItem.cpp:151 msgid "Body Motion" msgstr "ƒœƒ‡‚£ƒ˘ƒĵ‚·ƒ§ƒ³" #: BodyMotionItem.cpp:368 BodyMotionItem.cpp:378 msgid "Confirm" msgstr "ç˘şèŞ" #: BodyMotionItem.cpp:369 msgid "Do you want to replace the data of %1%?" msgstr "%1%ƒ‡ƒĵ‚ż‚’罁ĉ›ˆ™‹ïĵŸ" #: BodyMotionItem.cpp:379 msgid "Do you want to set %1% as a sequence data of %2%?" msgstr "%2%‚·ƒĵ‚ħƒ³‚ıƒ‡ƒĵ‚ż¨—Ĥ%1%‚’‚ğƒƒƒˆ—™‹ïĵŸ" #: BodyPlugin.cpp:104 msgid "Body Plugin Version %1%\n" msgstr "Body Plugin ƒƒĵ‚¸ƒ§ƒ³ %1%\n" #: BodyPlugin.cpp:106 msgid "" "This plugin has been developed by Shin'ichiro Nakaoka and Choreonoid " "Development Team, AIST, and is distributed as a part of the Choreonoid " "package.\n" "\n" msgstr "" #: BodyPlugin.cpp:111 msgid "" "The Collision deteciton module used in this plugin is implemented using the " "OPCODE library (http://www.codercorner.com/Opcode.htm).\n" msgstr "" #: BodyStateView.cpp:81 msgid "Body State" msgstr "ƒœƒ‡‚£çŠĥĉ…‹" #: BodyStateView.cpp:289 JointStateView.cpp:361 msgid "ON" msgstr "" #: BodyStateView.cpp:289 JointStateView.cpp:361 msgid "OFF" msgstr "" #: BodyTrackingCameraItem.cpp:141 msgid "BodyTrackingCameraItem" msgstr "ƒœƒ‡‚£èż½ċ°‚ЃĦƒİ" #: CollisionSeqItem.cpp:66 msgid "CollisionSeqItem" msgstr "ċı²ĉ¸‰ċˆ—‚˘‚¤ƒ†ƒ " #: CollisionSeqItem.cpp:68 msgid "Collision Data" msgstr "ċı²ĉ¸‰ƒ‡ƒĵ‚ż" #: ControllerItem.cpp:113 msgid "Immediate mode" msgstr "ċ³ĉ™‚ƒ˘ƒĵƒ‰" #: ControllerItem.cpp:114 SimulatorItem.cpp:2368 msgid "Controller options" msgstr "‚³ƒ³ƒˆƒ­ƒĵƒİ‚ރ—‚·ƒ§ƒ³" #: EditableSceneBody.cpp:1099 msgid "Move Forcibly" msgstr "ċĵ·ċˆĥç§ğċ‹•" #: EditableSceneBody.cpp:1104 msgid "Hold Forcibly" msgstr "ċĵ·ċˆĥ保ĉŒ" #: EditableSceneBody.cpp:1112 msgid "Set Free" msgstr "ƒ•ƒŞƒĵĞ" #: EditableSceneBody.cpp:1114 msgid "Set Base" msgstr "ƒ™ƒĵ‚ıĞ" #: EditableSceneBody.cpp:1116 msgid "Set Translation Pin" msgstr "ä¸Ĥ進ƒ”ƒ³‚’‚ğƒƒƒˆ" #: EditableSceneBody.cpp:1118 msgid "Set Rotation Pin" msgstr "ċ›žèğ˘ƒ”ƒ³‚’‚ğƒƒƒˆ" #: EditableSceneBody.cpp:1120 msgid "Set Both Pins" msgstr "ä¸Ħĉ–ıƒ”ƒ³‚’‚ğƒƒƒˆ" #: EditableSceneBody.cpp:1125 msgid "Level Attitude" msgstr "ĉ°´ċı³ċ§żċ‹˘Ğ" #: EditableSceneBody.cpp:1131 msgid "Markers" msgstr "ƒžƒĵ‚Ѓĵ" #: EditableSceneBody.cpp:1133 msgid "Center of Mass" msgstr "重ċżƒ" #: EditableSceneBody.cpp:1137 msgid "Projection Point of CoM" msgstr "重ċżƒĉŠ•ċ½ħç‚ı" #: EditableSceneBody.cpp:1141 msgid "ZMP" msgstr "ZMP" #: EditableSceneBody.cpp:1566 msgid "Show selected links only" msgstr "選ĉŠžƒŞƒ³‚ŻżèĦ¨ç¤ş" #: EditableSceneBody.cpp:1567 msgid "Show visual shapes" msgstr "èĤ–èĤšċ½˘çŠĥèĦ¨ç¤ş" #: EditableSceneBody.cpp:1569 msgid "Show collision shapes" msgstr "ċı²ĉ¸‰ċ½˘çŠĥèĦ¨ç¤ş" #: EditableSceneBody.cpp:1570 msgid "Enable editing static models" msgstr "静的ƒ˘ƒ‡ƒĞç·¨é›†‚’è¨ħċŻ" #: FilterDialogs.cpp:47 FilterDialogs.cpp:304 msgid "Velocity Limiting Filter" msgstr "速ċşĤċˆĥ限ƒ•‚£ƒĞ‚ż" #: FilterDialogs.cpp:54 msgid "Selected joints only" msgstr "選ĉŠžé–˘çŻ€ż" #: FilterDialogs.cpp:70 msgid "Pollard method" msgstr "Pollardĉ‰‹ĉ³•" #: FilterDialogs.cpp:87 msgid "Gaussian Filter" msgstr "‚Ĵ‚Ĥ‚·‚˘ƒ³ƒ•‚£ƒĞ‚ż" #: FilterDialogs.cpp:109 FilterDialogs.cpp:213 msgid "Apply" msgstr "éİ用" #: FilterDialogs.cpp:110 FilterDialogs.cpp:214 msgid "Cancel" msgstr "‚­ƒ£ƒ³‚ğƒĞ" #: FilterDialogs.cpp:180 FilterDialogs.cpp:308 msgid "Range Limiting Filter" msgstr "範ċ›²ċˆĥ限ƒ•‚£ƒĞ‚ż" #: FilterDialogs.cpp:188 msgid "limit grad." msgstr "ċˆĥ約ċ‹é…" #: FilterDialogs.cpp:195 msgid "edge grad. ratio" msgstr "èşċ‹é…ĉŻ”率" #: FilterDialogs.cpp:202 msgid "margin" msgstr "ƒžƒĵ‚¸ƒ³" #: FilterDialogs.cpp:311 msgid "Merge selected MultiValueSeqItems (Temporary version)" msgstr "選ĉŠž—ŸMultiValueSeq‚˘‚¤ƒ†ƒ ‚’ƒžƒĵ‚¸ïĵˆèİĤ験的ƒƒĵ‚¸ƒ§ƒ³ïĵ‰" #: GLVisionSimulatorItem.cpp:255 msgid "GLVisionSimulatorItem" msgstr "GLƒ“‚¸ƒ§ƒ³‚·ƒŸƒƒĴƒĵ‚ż‚˘‚¤ƒ†ƒ " #: GLVisionSimulatorItem.cpp:411 msgid "" "The vision sensor simulation by %1% cannot be performed because the OpenGL " "pbuffer is not available." msgstr "" "OpenGLpbufferŒċˆİ用§Ş„Ÿ‚€%1%Ğ‚ˆ‚‹èĤ–èĤš‚ğƒ³‚µ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³Żċˆİ" "用§›‚“€‚" #: GLVisionSimulatorItem.cpp:467 msgid "%1% has no target sensors" msgstr "%1%ŻċŻèħĦ‚ğƒ³‚µ‚’ĉœ‰—Ĥ„›‚“" #: GLVisionSimulatorItem.cpp:492 msgid "%1%: Target sensor \"%2%\" cannot be initialized." msgstr "%2%用%1%ċˆĉœŸċŒ–Ğċ¤ħĉ•———Ÿ€‚" #: GLVisionSimulatorItem.cpp:522 msgid "%1% detected vision sensor \"%2%\" of %3% as a target." msgstr "%1%Ż%3%\"%2%\"‚’ċŻèħĦèĤ–èĤš‚ğƒ³‚µ¨—Ĥĉ¤œċ‡ş——Ÿ€‚" #: GLVisionSimulatorItem.cpp:1256 msgid "Target bodies" msgstr "ċŻèħĦƒœƒ‡‚£" #: GLVisionSimulatorItem.cpp:1257 msgid "Target sensors" msgstr "ċŻèħĦ‚ğƒ³‚µ" #: GLVisionSimulatorItem.cpp:1258 msgid "Max frame rate" msgstr "ĉœ€ċ¤§ƒ•ƒĴƒĵƒ ƒĴƒĵƒˆ" #: GLVisionSimulatorItem.cpp:1259 msgid "Max latency [s]" msgstr "ĉœ€ċ¤§ƒĴ‚¤ƒ†ƒ³‚·[秒]" #: GLVisionSimulatorItem.cpp:1260 msgid "Record vision data" msgstr "ƒ“‚¸ƒ§ƒ³ƒ‡ƒĵ‚żè¨˜éŒ²" #: GLVisionSimulatorItem.cpp:1261 msgid "Threads for sensors" msgstr "‚ğƒ³‚µċ€‹ċˆ‚ıƒĴƒƒƒ‰" #: GLVisionSimulatorItem.cpp:1262 msgid "Best effort" msgstr "ƒ™‚ıƒˆ‚¨ƒ•‚݃ĵƒˆ" #: GLVisionSimulatorItem.cpp:1263 msgid "All scene objects" msgstr "ċ…¨Ĥ‚·ƒĵƒ³‚ރ–‚¸‚§‚Żƒˆ" #: GLVisionSimulatorItem.cpp:1264 msgid "Precision ratio of range sensors" msgstr "ƒĴƒ³‚¸‚ğƒ³‚µç²ċşĤ係ĉ•°" #: GLVisionSimulatorItem.cpp:1266 msgid "Depth error" msgstr "ĉ·ħċşĤ‚¨ƒİƒĵ" #: GLVisionSimulatorItem.cpp:1267 msgid "Head light" msgstr "ƒ˜ƒƒƒ‰ƒİ‚¤ƒˆ" #: GLVisionSimulatorItem.cpp:1268 msgid "Additional lights" msgstr "èż½ċŠ ƒİ‚¤ƒˆ" #: HrpsysFileIO.cpp:240 msgid "Warning" msgstr "è­Ĥċ‘Š" #: HrpsysFileIO.cpp:265 msgid "" "The frame rate of a body motion exported as HRPSYS files should be standard " "value 200, but the frame rate of \"%1%\" is %2%. The exported data may cause " "a problem.\n" "\n" "Do you continue to export ?" msgstr "" "HRPSYS用ƒ•‚Ħ‚¤ƒĞƒ•ƒĴƒĵƒ ƒĴƒĵƒˆŻĉ¨™ĉş–§200¨Ş£Ĥ„™Œ€‚¨‚Ż‚ıƒƒĵƒˆ—‚ˆ" "†¨—Ĥ„‚‹ \"%1%\" ƒ•ƒĴƒĵƒ ƒĴƒĵƒˆŻ%2%¨Ş£ĤŠ‚Š€“‚ŒĞ‚ˆ£Ĥċ•éĦŒŒèµ·" "“‚‹ċŻèƒ½ĉ€§Œ‚‚Š™€‚\n" "\n" "‚¨‚Ż‚ıƒƒĵƒˆ‚’çĥš‘™‹ïĵŸ" #: HrpsysFileIO.cpp:281 msgid "" "A fault has been detected. Please check the report in the MessageView.\n" "\n" "Do you continue to export ?" msgstr "" "障ċ³‚’ĉ¤œċ‡ş——Ÿ€‚ƒĦƒƒ‚ğƒĵ‚¸ƒ“ƒƒĵċ†…Ğċ‡şċŠ›•‚Œ‚‹ċ†…ċı‚’確èލ—Ĥ •„€‚\n" "\n" "‚¨‚Ż‚ıƒƒĵƒˆ‚’çĥš‘™‹ ?" #: HrpsysFileIO.cpp:283 msgid "" "%1% faults have been detected. Please check the report in the MessageView.\n" "\n" "Do you continue to export ?" msgstr "" "%1% ç‡ĉ‰€éšœċ³‚’ĉ¤œċ‡ş——Ÿ€‚ƒĦƒƒ‚ğƒĵ‚¸ƒ“ƒƒĵċ†…Ğċ‡şċŠ›•‚Œ‚‹ċ†…ċı‚’確èލ—Ĥ" " •„€‚\n" "\n" "‚¨‚Ż‚ıƒƒĵƒˆ‚’çĥš‘™‹ ?" #: HrpsysFileIO.cpp:301 msgid "There is no ZMP data. Do you continue to export ?" msgstr "ZMPƒ‡ƒĵ‚żŒ‚‚Š›‚“Œ€‚¨‚Ż‚ıƒƒĵƒˆ‚’çĥš‘™‹ïĵŸ" #: HrpsysFileIO.cpp:317 msgid "HRPSYS Sequence File Set" msgstr "HRPSYS‚·ƒĵ‚ħƒ³‚ıƒ•‚Ħ‚¤ƒĞ一ċĵ" #: HrpsysFileIO.cpp:322 msgid "HRPSYS Log File" msgstr "HRPSYSƒ­‚°ƒ•‚Ħ‚¤ƒĞ" #: JointGraphView.cpp:21 msgid "Joint Trajectories" msgstr "関節èğŒé“" #: JointSliderView.cpp:258 msgid "Joint Sliders" msgstr "関節‚ıƒİ‚¤ƒ€" #: JointSliderView.cpp:283 msgid "All" msgstr "ċ…¨é–˘çŻ€" #: JointSliderView.cpp:284 msgid "Show all the joints including unselected ones" msgstr "ċ…¨é–˘çŻ€‚’èĦ¨ç¤ş" #: JointSliderView.cpp:290 LinkTreeWidget.cpp:285 msgid "ID" msgstr "" #: JointSliderView.cpp:291 msgid "Show joint IDs" msgstr "関節ID‚’èĦ¨ç¤ş" #: JointSliderView.cpp:297 LinkPropertyView.cpp:157 msgid "Name" msgstr "ċċ‰" #: JointSliderView.cpp:298 msgid "Show joint names" msgstr "関節ċèĦ¨ç¤ş" #: JointSliderView.cpp:304 msgid "Entry" msgstr "ĉ•°ċ€¤ċ…ċŠ›" #: JointSliderView.cpp:305 msgid "Show spin entries for numerical input" msgstr "ĉ•°ċ€¤ċ…ċŠ›ƒœƒƒ‚Ż‚ıèĦ¨ç¤ş" #: JointSliderView.cpp:311 msgid "Slider" msgstr "‚ıƒİ‚¤ƒ€" #: JointSliderView.cpp:312 msgid "Show sliders for chaning joint positions" msgstr "‚ıƒİ‚¤ƒ€‚’èĦ¨ç¤ş" #: JointSliderView.cpp:318 msgid "IL" msgstr "一ċˆ—" #: JointSliderView.cpp:319 msgid "Put all the components for each joint in-line" msgstr "ċ„関節‚’一ċˆ—ĞèĦ¨ç¤ş" #: JointSliderView.cpp:329 msgid "The number of columns" msgstr "‚Ѓ݃ ĉ•°" #: JointSliderView.cpp:342 msgid "Deg." msgstr "ċşĤ" #: JointSliderView.cpp:349 msgid "Rad." msgstr "ƒİ‚¸‚˘ƒ³" #: JointStateView.cpp:65 msgid "Joint State" msgstr "関節çŠĥĉ…‹" #: JointStateView.cpp:98 msgid "Angle" msgstr "角ċşĤ" #: JointStateView.cpp:99 msgid "Torque" msgstr "ƒˆƒĞ‚Ż" #: KinematicFaultChecker.cpp:107 KinematicFaultChecker.cpp:140 msgid "Kinematic Fault Checker" msgstr "運ċ‹•ċ­Ĥ障ċ³ƒ‚§ƒƒ‚Ğ" #: KinematicFaultChecker.cpp:147 msgid "Joint position check" msgstr "é–˘çŻ€ä½ç½ƒ‚§ƒƒ‚Ż" #: KinematicFaultChecker.cpp:152 msgid "Angle margin" msgstr "角ċşĤƒžƒĵ‚¸ƒ³" #: KinematicFaultChecker.cpp:160 msgid "Translation margin" msgstr "ä¸Ĥ進量ƒžƒĵ‚¸ƒ³" #: KinematicFaultChecker.cpp:171 msgid "Joint velocity check" msgstr "関節速ċşĤƒ‚§ƒƒ‚Ż" #: KinematicFaultChecker.cpp:176 msgid "Limit ratio" msgstr "äğ•ĉ§˜ċˆĥ約ċ€¤ĞċŻ™‚‹ċ‰²ċˆ" #: KinematicFaultChecker.cpp:191 msgid "All joints" msgstr "ċ…¨é–˘çŻ€" #: KinematicFaultChecker.cpp:195 msgid "Selected joints" msgstr "選ĉŠžé–˘çŻ€" #: KinematicFaultChecker.cpp:198 msgid "Non-selected joints" msgstr "非選ĉŠžé–˘çŻ€" #: KinematicFaultChecker.cpp:206 msgid "Self-collision check" msgstr "è‡Şċ·ħċı²ĉ¸‰ƒ‚§ƒƒ‚Ż" #: KinematicFaultChecker.cpp:216 msgid "Time bar's range only" msgstr "‚ż‚¤ƒ ƒƒĵçŻ„ċ›²ċ†…Ğéİ用" #: KinematicFaultChecker.cpp:224 msgid "&Apply" msgstr "éİ用(&A)" #: KinematicFaultChecker.cpp:278 msgid "No BodyMotionItems are selected." msgstr "BodyMotion‚˘‚¤ƒ†ƒ Œé¸ĉŠž•‚ŒĤ„›‚“€‚" #: KinematicFaultChecker.cpp:284 msgid "%1% is not owned by any BodyItem. Check skiped." msgstr "%1% Żƒœƒ‡‚£‚˘‚¤ƒ†ƒ ĉ‰€ĉœ‰§Ż‚‚Š›‚“§€ƒ‚§ƒƒ‚Ż‚’—›‚“€‚" #: KinematicFaultChecker.cpp:287 msgid "Applying the Kinematic Fault Checker to %1% ..." msgstr "%1%ĞċŻ—Ĥ運ċ‹•ċ­Ĥ的障ċ³ƒ‚§ƒƒ‚Ğ‚’éİ用中â€Ĥ" #: KinematicFaultChecker.cpp:318 msgid "A fault has been detected." msgstr "障ċ³Œĉ¤œċ‡ş•‚Œ—Ÿ€‚" #: KinematicFaultChecker.cpp:320 msgid "%1% faults have been detected." msgstr "%1%éšœċ³Œĉ¤œċ‡ş•‚Œ—Ÿ€‚" #: KinematicFaultChecker.cpp:323 msgid "No faults have been detected." msgstr "障ċ³Żĉ¤œċ‡ş•‚Œ›‚“§—Ÿ€‚" #: KinematicFaultChecker.cpp:379 msgid "" "A collision detector is not found. Collisions cannot be detected this time." msgstr "ċı²ĉ¸‰ĉ¤œċ‡şċ™¨ŒèĤ‹¤‹‚Š›‚“§€ċı²ĉ¸‰Żĉ¤œċ‡ş§›‚“€‚" #: KinematicFaultChecker.cpp:487 msgid "" "%1$7.3f [s]: Position limit over of %2% (%3% is beyond the range (%4% , %5%) " "with margin %6%.)" msgstr "" "%1$7.3f [秒]: %2%é–˘çŻ€ä½ç½ċˆĥ約‚ރĵƒƒĵ (%3% ŻçŻ„ċ›²(%4% , %5%)ƒžƒĵ‚¸ƒ³%6%‚’" "èĥ…ˆĤ„™€‚" #: KinematicFaultChecker.cpp:488 msgid "" "%1$7.3f [s]: Position limit over of %2% (%3% is beyond the range (%4% , " "%5%).)" msgstr "" "%1$7.3f [秒]: %2%é–˘çŻ€ä½ç½ċˆĥ約‚ރĵƒƒĵ (%3% ŻçŻ„ċ›²(%4% , %5%)‚’èĥ…ˆĤ„" "™€‚" #: KinematicFaultChecker.cpp:518 msgid "" "%1$7.3f [s]: Velocity limit over of %2% (%3% is %4$.0f %% of the range " "(%5% , %6%).)" msgstr "" "%1$7.3f [秒]: %2%é–˘çŻ€é€ŸċşĤ‚ރĵƒƒĵ (%3% ŻçŻ„ċ›²(%5% , %6%)%4$.0f %%‚’èĥ…ˆĤ" "„™€‚" #: KinematicFaultChecker.cpp:545 msgid "%1$7.3f [s]: Collision between %2% and %3%" msgstr "%1$7.3f [秒]: %2% ¨ %3% ċı²ĉ¸‰‚’ĉ¤œċ‡ş" #: KinematicsBar.cpp:79 msgid "KinematicsBar" msgstr "運ċ‹•ċ­Ĥƒƒĵ" #: KinematicsBar.cpp:91 msgid "Forward kinematics mode" msgstr "順運ċ‹•ċ­Ĥƒ˘ƒĵƒ‰" #: KinematicsBar.cpp:92 msgid "Preset kinematics mode" msgstr "ƒ—ƒŞ‚ğƒƒƒˆé‹ċ‹•ċ­Ĥƒ˘ƒĵƒ‰" #: KinematicsBar.cpp:93 msgid "Inverse kinematics mode" msgstr "逆運ċ‹•ċ­Ĥƒ˘ƒĵƒ‰" #: KinematicsBar.cpp:97 msgid "Enable link orientation editing" msgstr "ƒŞƒ³‚Żċ§żċ‹˘ç·¨é›†è¨ħċŻ" #: KinematicsBar.cpp:110 msgid "Penetration block mode" msgstr "è²Ğ通ƒ–ƒ­ƒƒ‚Żƒ˘ƒĵƒ‰" #: KinematicsBar.cpp:113 msgid "Highlight colliding links" msgstr "ċı²ĉ¸‰ƒŞƒ³‚Żƒ‚¤ƒİ‚¤ƒˆèĦ¨ç¤ş" #: KinematicsBar.cpp:266 msgid "Kinematics Operation Setup" msgstr "運ċ‹•ċ­Ĥĉ“ä½œè¨­ċš" #: KinematicsBar.cpp:272 msgid "Snap thresholds:" msgstr "‚ıƒŠƒƒƒ—é–ċ€¤" #: KinematicsBar.cpp:275 msgid "distance" msgstr "èĥ³ċı…" #: KinematicsBar.cpp:282 KinematicsBar.cpp:301 msgid "[m]" msgstr "" #: KinematicsBar.cpp:285 msgid "angle" msgstr "角ċşĤ" #: KinematicsBar.cpp:290 msgid "[deg]" msgstr "" #: KinematicsBar.cpp:294 msgid "Penetration block depth" msgstr "è²Ğ通防ĉ­˘ĞŠ‘‚‹è¨ħċıĉ·ħċşĤ" #: KinematicsBar.cpp:305 msgid "Lazy collision detection mode" msgstr "遅ċğĥċı²ĉ¸‰ĉ¤œċ‡şƒ˘ƒĵƒ‰" #: KinematicsBar.cpp:311 msgid "OK" msgstr "äş†è§£" #: LeggedBodyBar.cpp:42 msgid "LeggedBodyBar" msgstr "脚ċž‹ƒœƒ‡‚£ƒƒĵ" #: LeggedBodyBar.cpp:54 msgid "" "Move the center of mass to the position where its projection corresponds to " "the support feet cener" msgstr "重ċżƒĉŠ•ċ½ħç‚ıŒĉ”ŻĉŒè„šä¸­ċżƒĞ一致™‚‹‚ˆ†ç§ğċ‹•" #: LeggedBodyBar.cpp:57 msgid "Move the center of mass to fit its projection to ZMP" msgstr "重ċżƒĉŠ•ċ½ħç‚ıŒZMPĞ一致™‚‹‚ˆ†ç§ğċ‹•" #: LeggedBodyBar.cpp:60 msgid "Set ZMP to the projection of the center of mass" msgstr "ZMP‚’重ċżƒĉŠ•ċ½ħç‚ıĞç§ğċ‹•" #: LeggedBodyBar.cpp:63 msgid "Set ZMP under the right foot" msgstr "ZMP‚’ċ³èĥ³Ğç§ğċ‹•" #: LeggedBodyBar.cpp:66 msgid "Set ZMP at the center of the feet" msgstr "ZMP‚’ä¸Ħèĥ³ä¸­ċżƒĞç§ğċ‹•" #: LeggedBodyBar.cpp:69 msgid "Set ZMP under the left foot" msgstr "ZMP‚’ċ·Ĥèĥ³Ğç§ğċ‹•" #: LeggedBodyBar.cpp:74 msgid "Adjust the width between the feet" msgstr "èĥ³ċı…èŞżĉ•´" #: LeggedBodyBar.cpp:79 msgid "Width between the feet [m]" msgstr "ä¸Ħèĥ³ä¸­ċżƒé–“è·é›˘" #: LeggedBodyBar.cpp:106 msgid "The center of mass of %1% cannt be moved to the target position\n" msgstr "%1% é‡ċżƒ‚’ĉŒ‡ċšä½ç½§ç§ğċ‹•§›‚“€‚\n" #: LinkGraphView.cpp:22 msgid "Link Trajectories" msgstr "ƒŞƒ³‚ŻèğŒé“" #: LinkPropertyView.cpp:55 msgid "Link Properties" msgstr "ƒŞƒ³‚Żƒ—ƒ­ƒ‘ƒ†‚£" #: LinkPropertyView.cpp:158 msgid "Index" msgstr "‚¤ƒ³ƒ‡ƒƒ‚Ż‚ı" #: LinkPropertyView.cpp:159 msgid "Offset translation" msgstr "ä¸Ĥ進‚ރ•‚ğƒƒƒˆ" #: LinkPropertyView.cpp:160 msgid "Offset rotation" msgstr "ċ›žèğ˘‚Şƒ•‚ğƒƒƒˆ" #: LinkPropertyView.cpp:161 msgid "Rs" msgstr "" #: LinkPropertyView.cpp:162 msgid "Center of mass" msgstr "重ċżƒ" #: LinkPropertyView.cpp:164 msgid "Inertia tensor" msgstr "ĉ…£ĉ€§ƒ†ƒ³‚½ƒĞ" #: LinkPropertyView.cpp:165 msgid "Joint type" msgstr "関節‚ż‚¤ƒ—" #: LinkPropertyView.cpp:167 msgid "Joint axis" msgstr "関節èğ¸" #: LinkPropertyView.cpp:168 msgid "Upper joint limit" msgstr "関節ċ¤‰ä½ä¸Šé™" #: LinkPropertyView.cpp:169 msgid "Lower joint limit" msgstr "関節ċ¤‰ä½ä¸‹é™" #: LinkPropertyView.cpp:170 msgid "Upper joint velocity" msgstr "関節速ċşĤ上限" #: LinkPropertyView.cpp:171 msgid "Lower joint velocity" msgstr "関節速ċşĤ下限" #: LinkPropertyView.cpp:172 msgid "Joint inertia" msgstr "関節ĉ…£ĉ€§" #: LinkSelectionView.cpp:39 msgid "Links" msgstr "ƒŞƒ³‚Ż" #: LinkTreeWidget.cpp:277 LinkTreeWidget.cpp:664 LinkTreeWidget.cpp:669 #: LinkTreeWidget.cpp:684 msgid "Link" msgstr "ƒŞƒ³‚Ż" #: LinkTreeWidget.cpp:310 msgid "Link List" msgstr "ƒŞƒ³‚Żä¸€èĤ§" #: LinkTreeWidget.cpp:311 msgid "Link Tree" msgstr "ƒŞƒ³‚Żƒ„ƒŞƒĵ" #: LinkTreeWidget.cpp:312 msgid "Joint List" msgstr "関節一èĤ§" #: LinkTreeWidget.cpp:313 msgid "Joint Tree" msgstr "関節ƒ„ƒŞƒĵ" #: LinkTreeWidget.cpp:314 msgid "Part Tree" msgstr "èşĞ体部位ƒ„ƒŞƒĵ" #: LinkTreeWidget.cpp:674 LinkTreeWidget.cpp:679 msgid "Joint" msgstr "関節" #: MultiDeviceStateSeqItem.cpp:80 msgid "MultiDeviceStateSeqItem" msgstr "" #: SensorVisualizerItem.cpp:97 msgid "SensorVisualizer" msgstr "‚ğƒ³‚µċŻèĤ–ċŒ–" #: SensorVisualizerItem.cpp:226 msgid "Visual ratio" msgstr "èĦ¨ç¤şĉŻ”率" #: SimulationBar.cpp:52 msgid "SimulationBar" msgstr "‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ƒƒĵ" #: SimulationBar.cpp:59 msgid "Store body positions to the initial world state" msgstr "çċœ¨çŠĥĉ…‹‚’ƒŻƒĵƒĞƒ‰ċˆĉœŸçŠĥĉ…‹Ğ設ċš" #: SimulationBar.cpp:63 msgid "Restore body positions from the initial world state" msgstr "ƒŻƒĵƒĞƒ‰ċˆĉœŸçŠĥĉ…‹ċ‘ĵ³ċ‡ş—" #: SimulationBar.cpp:68 msgid "Start simulation from the beginning" msgstr "ċˆĉœŸä½ç½‹‚‰‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³‚’é–‹ċ§‹" #: SimulationBar.cpp:72 msgid "Start simulation from the current state" msgstr "çċœ¨ä½ç½‹‚‰‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³‚’é–‹ċ§‹" #: SimulationBar.cpp:75 msgid "Pause simulation" msgstr "‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ä¸€ĉ™‚ċœĉ­˘" #: SimulationBar.cpp:79 msgid "Stop simulation" msgstr "‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ċœĉ­˘" #: SimulationBar.cpp:118 msgid "Current state of %1% has been set to the initial state." msgstr "%1%çċœ¨çŠĥĉ…‹‚’ċˆĉœŸçŠĥĉ…‹Ğ‚ğƒƒƒˆ——Ÿ€‚" #: SimulationBar.cpp:147 msgid "There is no simulator item." msgstr "‚·ƒŸƒƒĴƒĵ‚ż‚˘‚¤ƒ†ƒ Œċ­˜ċœ¨—›‚“€‚" #: SimulationBar.cpp:150 msgid "Please select a simulator item to simulate." msgstr "ċŻèħĦ‚·ƒŸƒƒĴƒĵ‚ż‚˘‚¤ƒ†ƒ ‚’選ĉŠž—Ĥ •„€‚" #: SimulationBar.cpp:178 msgid "%1% cannot be processed because it is not related with a world." msgstr "%1%ŻƒŻƒĵƒĞƒ‰¨é–˘é€£ä𘁑‚‰‚ŒĤ„Ş„Ÿ‚ċ‡Ĥ理ċ‡şĉ›‚“€‚" #: SimulationBar.cpp:184 msgid "" "%1% cannot be processed because another simulatorin the same world is also " "selected." msgstr "" "%1%Ż“ƒŻƒĵƒĞƒ‰ä𖁂·ƒŸƒƒĴƒĵ‚ż‚‚選ĉŠž•‚ŒĤ„‚‹Ÿ‚ċ‡Ĥ理ċ‡şĉ›‚“€‚" #: SimulationScriptItem.cpp:41 msgid "Before init." msgstr "ċˆĉœŸċŒ–ċ‰" #: SimulationScriptItem.cpp:42 msgid "During init." msgstr "ċˆĉœŸċŒ–中" #: SimulationScriptItem.cpp:43 msgid "After init." msgstr "ċˆĉœŸċŒ–ċŒ" #: SimulationScriptItem.cpp:44 msgid "During final." msgstr "終了ċ‡Ĥ理中" #: SimulationScriptItem.cpp:45 msgid "After final." msgstr "終了ċ‡Ĥ理ċŒ" #: SimulationScriptItem.cpp:114 msgid "Timing" msgstr "‚ż‚¤ƒŸƒ³‚°" #: SimulationScriptItem.cpp:116 msgid "Delay" msgstr "遅ċğĥ" #: SimulationScriptItem.cpp:117 msgid "Simulation only" msgstr "‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ç”¨Ğ限ċš" #: SimulatorItem.cpp:1049 msgid "full" msgstr "ċ…¨Ĥ" #: SimulatorItem.cpp:1050 msgid "tail" msgstr "ĉœĞċ°" #: SimulatorItem.cpp:1051 msgid "off" msgstr "‚ރ•" #: SimulatorItem.cpp:1054 msgid "Unlimited" msgstr "ç„Ħċˆĥ限" #: SimulatorItem.cpp:1055 msgid "Active control period" msgstr "能ċ‹•ċˆĥċĦĉœŸé–“" #: SimulatorItem.cpp:1056 msgid "Specified time" msgstr "ĉŒ‡ċšĉ™‚é–“" #: SimulatorItem.cpp:1057 msgid "Time bar range" msgstr "‚ż‚¤ƒ ƒƒĵ範ċ›²" #: SimulatorItem.cpp:1326 msgid "%1% must be in a WorldItem to do simulation." msgstr "%1%Ż‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³‚’èĦŒ†ƒŻƒĵƒĞƒ‰§‚‚‹ċż…èĤŒ‚‚Š™€‚" #: SimulatorItem.cpp:1441 msgid "SubSimulatorItem \"%1%\" has been detected." msgstr "‚µƒ–‚·ƒŸƒƒĴƒĵ‚ż‚˘‚¤ƒ†ƒ \"%1%\"Œĉ¤œċ‡ş•‚Œ—Ÿ€‚" #: SimulatorItem.cpp:1445 msgid "The initialization of \"%1%\" failed." msgstr "\"%1%\"ċˆĉœŸċŒ–Ğċ¤ħĉ•———Ÿ€‚" #: SimulatorItem.cpp:1448 msgid "SubSimulatorItem \"%1%\" is disabled." msgstr "‚µƒ–‚·ƒŸƒƒĴƒĵ‚ż‚˘‚¤ƒ†ƒ \"%1%\"Żç„ĦċŠıċŒ–•‚ŒĤ„™€‚" #: SimulatorItem.cpp:1470 msgid "%1% for %2% failed to initialize." msgstr "%2%用%1%ċˆĉœŸċŒ–Ğċ¤ħĉ•———Ÿ€‚" #: SimulatorItem.cpp:1477 msgid "%1% failed to initialize." msgstr "%1%ċˆĉœŸċŒ–Ğċ¤ħĉ•———Ÿ€‚" #: SimulatorItem.cpp:1517 msgid "" "WorldLogFileItem \"%1%\" has been detected. A simulation result is recoreded " "to \"%2%\"." msgstr "" "ƒŻƒĵƒĞƒ‰ƒ­‚°ƒ•‚Ħ‚¤ƒĞ‚˘‚¤ƒ†ƒ  \"%1%\" Œĉ¤œċ‡ş•‚Œ—Ÿ€‚‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³çµĉžœŻ" "\"%1%\" Ğ記録•‚Œ™€‚" #: SimulatorItem.cpp:1574 msgid "Simulation by %1% has started." msgstr "%1%Ğ‚ˆ‚‹‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³‚’é–‹ċ§‹——Ÿ€‚" #: SimulatorItem.cpp:2114 msgid "Simulation by %1% has finished at %2% [s]." msgstr "%1%Ğ‚ˆ‚‹‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³Œ%2%秒ĉ™‚ç‚ı§çµ‚了——Ÿ€‚" #: SimulatorItem.cpp:2115 msgid "Computation time is %1% [s], computation time / simulation time = %2%." msgstr "計ç—ĉ™‚é–“: %1% [s], 計ç—ĉ™‚é–“ / ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ĉ™‚é–“ = %2%" #: SimulatorItem.cpp:2352 msgid "Sync with realtime" msgstr "ċŸĉ™‚é–“ċŒĉœŸ" #: SimulatorItem.cpp:2354 msgid "Time range" msgstr "ĉ™‚間範ċ›²" #: SimulatorItem.cpp:2356 msgid "Time length" msgstr "ĉ™‚é–“é•·" #: SimulatorItem.cpp:2358 msgid "Recording" msgstr "記録ƒ˘ƒĵƒ‰" #: SimulatorItem.cpp:2360 msgid "All link positions" msgstr "ċ…¨ƒŞƒ³‚Żä½ç½ċ§żċ‹˘ċ‡şċŠ›" #: SimulatorItem.cpp:2362 msgid "Device state output" msgstr "ƒ‡ƒ‚¤‚ıçŠĥĉ…‹è¨˜éŒ²" #: SimulatorItem.cpp:2364 msgid "Controller Threads" msgstr "‚³ƒ³ƒˆƒ­ƒĵƒİ‚ıƒĴƒƒƒ‰" #: SimulatorItem.cpp:2366 msgid "Record collision data" msgstr "ċı²ĉ¸‰ƒ‡ƒĵ‚żè¨˜éŒ²" #: SubSimulatorItem.cpp:53 msgid "Enabled" msgstr "ĉœ‰ċŠı" #: WorldItem.cpp:90 msgid "WorldItem" msgstr "ƒŻƒĵƒĞƒ‰‚˘‚¤ƒ†ƒ " #: WorldItem.cpp:449 msgid "Collision detector" msgstr "ċı²ĉ¸‰ĉ¤œċ‡şċ™¨" #: WorldLogFileItem.cpp:462 msgid "WorldLogFileItem" msgstr "ƒŻƒĵƒĞƒ‰ƒ­‚°ƒ•‚Ħ‚¤ƒĞ‚˘‚¤ƒ†ƒ " #: WorldLogFileItem.cpp:465 msgid "World Log" msgstr "ƒŻƒĵƒĞƒ‰ƒ­‚°" #: WorldLogFileItem.cpp:1164 msgid "Log file name" msgstr "ƒ­‚°ƒ•‚Ħ‚¤ƒĞċ" #: WorldLogFileItem.cpp:1166 msgid "Actual log file" msgstr "ċŸéš›ƒ­‚°ƒ•‚Ħ‚¤ƒĞ" #: WorldLogFileItem.cpp:1167 msgid "Time-stamp suffix" msgstr "‚ż‚¤ƒ ‚ı‚żƒ³ƒ—ĉŽċ°èž" #: WorldLogFileItem.cpp:1169 msgid "Recording frame rate" msgstr "記録ƒ•ƒĴƒĵƒ ƒĴƒĵƒˆ" #: ZMPSeqItem.cpp:69 msgid "ZMPSeqItem" msgstr "ZMPèğŒé“‚˘‚¤ƒ†ƒ " #: ZMPSeqItem.cpp:109 msgid "%1% of %2% has been converted to %3%." msgstr "%2%%1%Ż%3%Ğċ¤‰ĉ›•‚Œ—Ÿ€‚" #: ZMPSeqItem.cpp:111 msgid "the root relative coordinate" msgstr "ƒĞƒĵƒˆç›¸ċŻċş§ĉ¨™" #: ZMPSeqItem.cpp:111 msgid "the global coordinate" msgstr "‚°ƒ­ƒĵƒƒĞċş§ĉ¨™" #: ZMPSeqItem.cpp:116 msgid "" "%1%'s coordinate system cannot be changed because there is no root link " "motion associated with %1%." msgstr "" "%1%¨é–˘é€£ä𘁑‚‰‚ŒŸċ‹•ä½œŻƒĞƒĵƒˆƒŞƒ³‚ŻŒċĞ‚ŒĤ„Ş„Ÿ‚%1%ċş§ĉ¨™ç³ğŻċ¤‰ĉ›´§" "›‚“€‚" #: ZMPSeqItem.cpp:132 msgid "Root relative" msgstr "ƒĞƒĵƒˆç›¸ċŻ" choreonoid-1.5.0/src/BodyPlugin/BodyMotionItem.cpp0000664000000000000000000002642612741425367020644 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "BodyMotionItem.h" #include "BodyItem.h" #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; using boost::format; namespace { typedef boost::function ExtraSeqItemFactory; typedef map ExtraSeqItemFactoryMap; ExtraSeqItemFactoryMap extraSeqItemFactories; struct ExtraSeqItemInfo : public Referenced { string key; AbstractSeqItemPtr item; Connection sigUpdateConnection; ExtraSeqItemInfo(const string& key, AbstractSeqItemPtr& item) : key(key), item(item) { } ~ExtraSeqItemInfo() { sigUpdateConnection.disconnect(); item->detachFromParentItem(); } }; typedef ref_ptr ExtraSeqItemInfoPtr; typedef std::map ExtraSeqItemInfoMap; } namespace cnoid { class BodyMotionItemImpl { public: BodyMotionItem* self; Connection jointPosSeqUpdateConnection; Connection linkPosSeqUpdateConnection; ExtraSeqItemInfoMap extraSeqItemInfoMap; vector extraSeqItemInfos; Signal sigExtraSeqItemsChanged; Connection extraSeqsChangedConnection; BodyMotionItemImpl(BodyMotionItem* self); ~BodyMotionItemImpl(); void initialize(); void onSubItemUpdated(); void onExtraSeqItemSetChanged(); void updateExtraSeqItems(); }; } static bool fileIoSub(BodyMotionItem* item, std::ostream& os, bool loaded, bool isLoading) { if(!loaded){ os << item->motion()->seqMessage(); } return loaded; } static bool loadStandardYamlFormat(BodyMotionItem* item, const std::string& filename, std::ostream& os) { return fileIoSub(item, os, item->motion()->loadStandardYAMLformat(filename), true); } static bool saveAsStandardYamlFormat(BodyMotionItem* item, const std::string& filename, std::ostream& os) { return fileIoSub(item, os, item->motion()->saveAsStandardYAMLformat(filename), false); } static bool bodyMotionItemPreFilter(BodyMotionItem* protoItem, Item* parentItem) { BodyItemPtr bodyItem = dynamic_cast(parentItem); if(!bodyItem){ bodyItem = parentItem->findOwnerItem(); } if(bodyItem){ int prevNumJoints = protoItem->jointPosSeq()->numParts(); int numJoints = bodyItem->body()->numJoints(); if(numJoints != prevNumJoints){ protoItem->jointPosSeq()->setNumParts(numJoints, true); } } return true; } /* static bool bodyMotionItemPostFilter(BodyMotionItem* protoItem, Item* parentItem) { BodyItemPtr bodyItem = dynamic_cast(parentItem); if(!bodyItem){ bodyItem = parentItem->findOwnerItem(); } if(bodyItem){ BodyPtr body = bodyItem->body(); MultiValueSeqPtr qseq = protoItem->jointPosSeq(); int n = std::min(body->numJoints(), qseq->numParts()); for(int i=0; i < n; ++i){ Link* joint = body->joint(i); if(joint->defaultJointValue != 0.0){ MultiValueSeq::Part part = qseq->part(i); std::fill(part.begin(), part.end(), joint->defaultJointValue); } } } return true; } */ void BodyMotionItem::initializeClass(ExtensionManager* ext) { static bool initialized = false; if(initialized){ return; } ItemManager& im = ext->itemManager(); im.registerClass(N_("BodyMotionItem")); im.addCreationPanel(new MultiSeqItemCreationPanel(_("Number of joints"))); im.addCreationPanelPreFilter(bodyMotionItemPreFilter); //im.addCreationPanelPostFilter(bodyMotionItemPostFilter); im.addLoaderAndSaver( _("Body Motion"), "BODY-MOTION-YAML", "yaml", boost::bind(loadStandardYamlFormat, _1, _2, _3), boost::bind(saveAsStandardYamlFormat, _1, _2, _3)); initialized = true; } void BodyMotionItem::addExtraSeqItemFactory (const std::string& key, boost::function factory) { extraSeqItemFactories[key] = factory; } BodyMotionItem::BodyMotionItem() : bodyMotion_(new BodyMotion()) { impl = new BodyMotionItemImpl(this); } BodyMotionItem::BodyMotionItem(BodyMotionPtr bodyMotion) : bodyMotion_(bodyMotion) { impl = new BodyMotionItemImpl(this); } BodyMotionItem::BodyMotionItem(const BodyMotionItem& org) : AbstractMultiSeqItem(org), bodyMotion_(new BodyMotion(*org.bodyMotion_)) { impl = new BodyMotionItemImpl(this); } BodyMotionItemImpl::BodyMotionItemImpl(BodyMotionItem* self) : self(self) { initialize(); } void BodyMotionItemImpl::initialize() { self->jointPosSeqItem_ = new MultiValueSeqItem(self->bodyMotion_->jointPosSeq()); self->jointPosSeqItem_->setName("Joint"); self->addSubItem(self->jointPosSeqItem_); jointPosSeqUpdateConnection = self->jointPosSeqItem_->sigUpdated().connect( boost::bind(&BodyMotionItemImpl::onSubItemUpdated, this)); self->linkPosSeqItem_ = new MultiSE3SeqItem(self->bodyMotion_->linkPosSeq()); self->linkPosSeqItem_->setName("Cartesian"); self->addSubItem(self->linkPosSeqItem_); linkPosSeqUpdateConnection = self->linkPosSeqItem_->sigUpdated().connect( boost::bind(&BodyMotionItemImpl::onSubItemUpdated, this)); extraSeqsChangedConnection = self->bodyMotion_->sigExtraSeqsChanged().connect( boost::bind(&BodyMotionItemImpl::onExtraSeqItemSetChanged, this)); updateExtraSeqItems(); } BodyMotionItem::~BodyMotionItem() { delete impl; } BodyMotionItemImpl::~BodyMotionItemImpl() { extraSeqsChangedConnection.disconnect(); jointPosSeqUpdateConnection.disconnect(); linkPosSeqUpdateConnection.disconnect(); } AbstractMultiSeqPtr BodyMotionItem::abstractMultiSeq() { return bodyMotion_; } void BodyMotionItem::notifyUpdate() { impl->jointPosSeqUpdateConnection.block(); jointPosSeqItem_->notifyUpdate(); impl->jointPosSeqUpdateConnection.unblock(); impl->linkPosSeqUpdateConnection.block(); linkPosSeqItem_->notifyUpdate(); impl->linkPosSeqUpdateConnection.unblock(); vector& extraSeqItemInfos = impl->extraSeqItemInfos; for(size_t i=0; i < extraSeqItemInfos.size(); ++i){ ExtraSeqItemInfo* info = extraSeqItemInfos[i]; info->sigUpdateConnection.block(); info->item->notifyUpdate(); info->sigUpdateConnection.unblock(); } Item::notifyUpdate(); } void BodyMotionItemImpl::onSubItemUpdated() { self->suggestFileUpdate(); self->Item::notifyUpdate(); } int BodyMotionItem::numExtraSeqItems() const { return impl->extraSeqItemInfos.size(); } const std::string& BodyMotionItem::extraSeqKey(int index) const { return impl->extraSeqItemInfos[index]->key; } AbstractSeqItem* BodyMotionItem::extraSeqItem(int index) { return impl->extraSeqItemInfos[index]->item; } const AbstractSeqItem* BodyMotionItem::extraSeqItem(int index) const { return impl->extraSeqItemInfos[index]->item; } SignalProxy BodyMotionItem::sigExtraSeqItemsChanged() { return impl->sigExtraSeqItemsChanged; } void BodyMotionItemImpl::onExtraSeqItemSetChanged() { callLater(boost::bind(&BodyMotionItemImpl::updateExtraSeqItems, this)); } void BodyMotionItem::updateExtraSeqItems() { impl->updateExtraSeqItems(); } void BodyMotionItemImpl::updateExtraSeqItems() { extraSeqItemInfos.clear(); BodyMotion& bodyMotion = *self->bodyMotion_; BodyMotion::ConstSeqIterator p; for(p = bodyMotion.extraSeqBegin(); p != bodyMotion.extraSeqEnd(); ++p){ const string& key = p->first; const AbstractSeqPtr& newSeq = p->second; AbstractSeqItemPtr newItem; ExtraSeqItemInfoMap::iterator p = extraSeqItemInfoMap.find(key); if(p != extraSeqItemInfoMap.end()){ ExtraSeqItemInfo* info = p->second; AbstractSeqItemPtr& prevItem = info->item; if(typeid(prevItem->abstractSeq()) == typeid(newSeq)){ extraSeqItemInfos.push_back(info); newItem = prevItem; } } if(!newItem){ ExtraSeqItemFactoryMap::iterator q = extraSeqItemFactories.find(key); if(q != extraSeqItemFactories.end()){ ExtraSeqItemFactory& factory = q->second; newItem = factory(newSeq); if(newItem){ self->addSubItem(newItem); ExtraSeqItemInfo* info = new ExtraSeqItemInfo(key, newItem); info->sigUpdateConnection = newItem->sigUpdated().connect( boost::bind(&BodyMotionItemImpl::onSubItemUpdated, this)); extraSeqItemInfos.push_back(info); } } } } extraSeqItemInfoMap.clear(); for(size_t i=0; i < extraSeqItemInfos.size(); ++i){ ExtraSeqItemInfo* info = extraSeqItemInfos[i]; extraSeqItemInfoMap.insert(make_pair(info->key, info)); } sigExtraSeqItemsChanged(); } bool BodyMotionItem::onChildItemAboutToBeAdded(Item* childItem_, bool isManualOperation) { if(isManualOperation){ AbstractSeqItem* seqItem = dynamic_cast(childItem_); if(seqItem){ if(!dynamic_cast(seqItem)){ bool existingFound = false; for(Item* item = childItem(); item; item = item->nextItem()){ if(item->isSubItem() && item->name() == seqItem->name()){ if(AbstractSeqItem* orgSeqItem = dynamic_cast(item)){ existingFound = true; if(showConfirmDialog( _("Confirm"), str(format(_("Do you want to replace the data of %1%?")) % item->name()))){ *orgSeqItem->abstractSeq() = *seqItem->abstractSeq(); return false; } } } } if(!existingFound){ if(showConfirmDialog( _("Confirm"), str(format(_("Do you want to set %1% as a sequence data of %2%?")) % childItem_->name() % this->name()))){ motion()->setExtraSeq(seqItem->abstractSeq()); return false; } } } } } return true; } Item* BodyMotionItem::doDuplicate() const { return new BodyMotionItem(*this); } bool BodyMotionItem::store(Archive& archive) { if(overwrite() || !filePath().empty()){ archive.writeRelocatablePath("filename", filePath()); archive.write("format", fileFormat()); return true; } return false; } bool BodyMotionItem::restore(const Archive& archive) { std::string filename, format; if(archive.readRelocatablePath("filename", filename) && archive.read("format", format)){ if(load(filename, format)){ return true; } } return false; } choreonoid-1.5.0/src/BodyPlugin/LinkTreeWidget.h0000664000000000000000000001120712741425367020257 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_PLUGIN_LINK_TREE_WIDGET_H #define CNOID_BODY_PLUGIN_LINK_TREE_WIDGET_H #include "BodyItem.h" #include #include #include #include #include #include "exportdecl.h" namespace cnoid { class MenuManager; class LinkGroup; class LinkTreeWidget; class LinkTreeWidgetImpl; class CNOID_EXPORT LinkTreeItem : public QTreeWidgetItem { public: LinkTreeItem(const std::string& name); inline int rowIndex() const { return rowIndex_; } inline const std::string& name() const { return name_; } inline const QString& nameText() const { return nameText_; } inline const Link* link() const { return link_; } inline Link* link() { return link_; } inline bool isLinkGroup() const { return isLinkGroup_; } virtual QVariant data(int column, int role) const; virtual void setData(int column, int role, const QVariant& value); private: int rowIndex_; std::string name_; QString nameText_; Link* link_; bool isLinkGroup_; LinkTreeItem(Link* link, LinkTreeWidgetImpl* treeImpl); LinkTreeItem(LinkGroup* linkGroup, LinkTreeWidgetImpl* treeImpl); friend class LinkTreeWidget; friend class LinkTreeWidgetImpl; }; class CNOID_EXPORT LinkTreeWidget : public TreeWidget { Q_OBJECT public: LinkTreeWidget(QWidget* parent = 0); virtual ~LinkTreeWidget(); void setDefaultExpansionLevel(int level); void enableCache(bool on); enum ListingMode { LINK_LIST, LINK_TREE, JOINT_LIST, JOINT_TREE, PART_TREE }; ComboBox* listingModeCombo(); void setListingMode(ListingMode mode); void fixListingMode(bool on = true); SignalProxy sigUpdateRequest(); void setBodyItem(BodyItem* bodyItem); BodyItem* bodyItem(); typedef boost::function ColumnDataFunction; typedef boost::function ColumnSetDataFunction; typedef boost::function ColumnWidgetFunction; int setNumColumns(int n); int addColumn(); int addColumn(const QString& headerText); void setColumnStretchResizeMode(int column); void setColumnInteractiveResizeMode(int column); void setColumnResizeToContentsMode(int column); void setColumnDataFunction(int column, ColumnDataFunction func); void setColumnSetDataFunction(int column, ColumnSetDataFunction func); void setColumnWidgetFunction(int column, ColumnWidgetFunction func); void moveVisualColumnIndex(int column, int visualIndex); int nameColumn(); int jointIdColumn(); void setNameColumnMarginEnabled(bool on); void setAlignedItemWidget(LinkTreeItem* item, int column, QWidget* widget, Qt::Alignment alignment = Qt::AlignCenter); QWidget* alignedItemWidget(LinkTreeItem* item, int column); void addCustomRow(LinkTreeItem* treeItem); LinkTreeItem* itemOfLink(int linkIndex); int numLinkTreeItems(); SignalProxy sigItemChanged(); SignalProxy sigSelectionChanged(); int selectedLinkIndex() const; const std::vector& selectedLinkIndices(); const boost::dynamic_bitset<>& linkSelection(); /// This signal is available after calling 'enableCache(true)'. SignalProxy sigSelectionChanged(BodyItem* bodyItem); /// This function is available after calling 'enableCache(true)'. int selectedLinkIndex(BodyItem* bodyItem) const; /// This function is available after calling 'enableCache(true)'. const std::vector& selectedLinkIndices(BodyItem* bodyItem); /// This function is available after calling 'enableCache(true)'. const boost::dynamic_bitset<>& linkSelection(BodyItem* bodyItem); MenuManager& popupMenuManager(); bool makeSingleSelection(BodyItem* bodyItem, int linkIndex); void enableArchiveOfCurrentBodyItem(bool on); bool storeState(Archive& archive); bool restoreState(const Archive& archive); protected: virtual void changeEvent(QEvent* event); private Q_SLOTS: void onItemChanged(QTreeWidgetItem* item, int column); void onSelectionChanged(); void onCustomContextMenuRequested(const QPoint& pos); void onItemExpanded(QTreeWidgetItem* treeWidgetItem); void onItemCollapsed(QTreeWidgetItem* treeWidgetItem); void onHeaderSectionResized(); private: LinkTreeWidgetImpl* impl; friend class LinkTreeItem; }; } #endif choreonoid-1.5.0/src/BodyPlugin/LinkGraphView.h0000664000000000000000000000456312741425367020117 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODYPLUGIN_LINK_GRAPH_VIEW_H #define CNOID_BODYPLUGIN_LINK_GRAPH_VIEW_H #include "BodyItem.h" #include #include #include #include #include #include #include namespace cnoid { class Archive; class LinkSelectionView; /** @todo Define and implement the API for installing an index selection interface and move this class into GuiBase module */ class LinkGraphView : public View { public: static void initializeClass(ExtensionManager* ext); LinkGraphView(); ~LinkGraphView(); virtual bool storeState(Archive& archive); virtual bool restoreState(const Archive& archive); protected: virtual QWidget* indicatorOnInfoBar(); private: GraphWidget graph; LinkSelectionView* linkSelection; ToggleToolButton xyzToggles[3]; ToggleToolButton rpyToggles[3]; ConnectionSet toggleConnections; Connection itemTreeViewConnection; struct ItemInfo { ~ItemInfo(){ connections.disconnect(); } MultiSE3SeqItemPtr item; MultiSE3SeqPtr seq; BodyItemPtr bodyItem; ConnectionSet connections; std::vector handlers; }; std::list itemInfos; std::set bodyItems; ConnectionSet bodyItemConnections; void setupElementToggleSet(QBoxLayout* box, ToggleToolButton toggles[], const char* labels[], bool isActive); void onItemSelectionChanged(const ItemList& dataItems); void onDataItemDetachedFromRoot(std::list::iterator itemInfoIter); void updateBodyItems(); void onBodyItemDetachedFromRoot(BodyItemPtr bodyItem); void setupGraphWidget(); void addPositionTrajectory(std::list::iterator itemInfoIter, Link* link, MultiSE3SeqPtr seq); void onDataItemUpdated(std::list::iterator itemInfoIter); void onDataRequest( std::list::iterator itemInfoIter, int linkIndex, int type, int axis, int frame, int size, double* out_values); void onDataModified( std::list::iterator itemInfoIter, int linkIndex, int type, int axis, int frame, int size, double* values); }; } #endif choreonoid-1.5.0/src/BodyPlugin/LinkSelectionView.h0000664000000000000000000000262712741425367021002 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_PLUGIN_LINK_SELECTION_VIEW_H #define CNOID_BODY_PLUGIN_LINK_SELECTION_VIEW_H #include "BodyItem.h" #include #include #include #include "exportdecl.h" namespace cnoid { class LinkSelectionViewImpl; class CNOID_EXPORT LinkSelectionView : public cnoid::View { public: static void initializeClass(ExtensionManager* ext); static LinkSelectionView* mainInstance(); LinkSelectionView(); virtual ~LinkSelectionView(); BodyItem* currentBodyItem(); SignalProxy sigSelectionChanged(); int selectedLinkIndex() const; const std::vector& selectedLinkIndices(); const boost::dynamic_bitset<>& linkSelection(); SignalProxy sigSelectionChanged(BodyItem* bodyItem); const std::vector& selectedLinkIndices(BodyItem* bodyItem); const boost::dynamic_bitset<>& linkSelection(BodyItem* bodyItem); #ifdef CNOID_BACKWARD_COMPATIBILITY const std::vector& getSelectedLinkIndices(BodyItem* bodyItem); const boost::dynamic_bitset<>& getLinkSelection(BodyItem* bodyItem); #endif bool makeSingleSelection(BodyItem* bodyItem, int linkIndex); virtual bool storeState(Archive& archive); virtual bool restoreState(const Archive& archive); private: LinkSelectionViewImpl* impl; }; } #endif choreonoid-1.5.0/src/BodyPlugin/LeggedBodyBar.cpp0000664000000000000000000001054012741425367020362 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "LeggedBodyBar.h" #include "BodyBar.h" #include "BodyItem.h" #include #include #include #include #include #include "gettext.h" using namespace cnoid; namespace cnoid { class LeggedBodyBarImpl { public: BodyBar* bodyBar; DoubleSpinBox* stanceWidthSpin; LeggedBodyBarImpl(LeggedBodyBar* self); void moveCM(BodyItem::PositionType position); void setZmp(BodyItem::PositionType position); void setStance(); }; } LeggedBodyBar* LeggedBodyBar::instance() { static LeggedBodyBar* instance = new LeggedBodyBar(); return instance; } LeggedBodyBar::LeggedBodyBar() : ToolBar(N_("LeggedBodyBar")) { impl = new LeggedBodyBarImpl(this); } LeggedBodyBarImpl::LeggedBodyBarImpl(LeggedBodyBar* self) { bodyBar = BodyBar::instance(); using boost::bind; self->addButton(QIcon(":/Body/icons/center-cm.png"), _("Move the center of mass to the position where its projection corresponds to the support feet cener"))-> sigClicked().connect(bind(&LeggedBodyBarImpl::moveCM, this, BodyItem::HOME_COP)); self->addButton(QIcon(":/Body/icons/zmp-to-cm.png"), _("Move the center of mass to fit its projection to ZMP"))-> sigClicked().connect(bind(&LeggedBodyBarImpl::moveCM, this, BodyItem::ZERO_MOMENT_POINT)); self->addButton(QIcon(":/Body/icons/cm-to-zmp.png"), _("Set ZMP to the projection of the center of mass")) ->sigClicked().connect(bind(&LeggedBodyBarImpl::setZmp, this, BodyItem::CM_PROJECTION)); self->addButton(QIcon(":/Body/icons/right-zmp"), _("Set ZMP under the right foot")) ->sigClicked().connect(bind(&LeggedBodyBarImpl::setZmp, this, BodyItem::RIGHT_HOME_COP)); self->addButton(QIcon(":/Body/icons/center-zmp.png"), _("Set ZMP at the center of the feet")) ->sigClicked().connect(bind(&LeggedBodyBarImpl::setZmp, this, BodyItem::HOME_COP)); self->addButton(QIcon(":/Body/icons/left-zmp.png"), _("Set ZMP under the left foot")) ->sigClicked().connect(bind(&LeggedBodyBarImpl::setZmp, this, BodyItem::LEFT_HOME_COP)); self->addSeparator(); self->addButton(QIcon(":/Body/icons/stancelength.png"), _("Adjust the width between the feet")) ->sigClicked().connect(bind(&LeggedBodyBarImpl::setStance, this)); stanceWidthSpin = new DoubleSpinBox(); stanceWidthSpin->setAlignment(Qt::AlignCenter); stanceWidthSpin->setToolTip(_("Width between the feet [m]")); stanceWidthSpin->setDecimals(4); stanceWidthSpin->setRange(0.0001, 9.9999); stanceWidthSpin->setSingleStep(0.001); stanceWidthSpin->setValue(0.15); self->addWidget(stanceWidthSpin); } LeggedBodyBar::~LeggedBodyBar() { delete impl; } void LeggedBodyBarImpl::moveCM(BodyItem::PositionType position) { const ItemList& targetBodyItems = bodyBar->targetBodyItems(); for(size_t i=0; i < targetBodyItems.size(); ++i){ BodyItem* bodyItem = targetBodyItems[i]; Vector3 c = bodyItem->centerOfMass(); boost::optional p = bodyItem->getParticularPosition(position); if(p){ c[0] = (*p)[0]; c[1] = (*p)[1]; } if(!bodyItem->doLegIkToMoveCm(c, true)){ static boost::format f(_("The center of mass of %1% cannt be moved to the target position\n")); MessageView::instance()->notify(str(f % bodyItem->name())); } } } void LeggedBodyBarImpl::setZmp(BodyItem::PositionType position) { const ItemList& targetBodyItems = bodyBar->targetBodyItems(); for(size_t i=0; i < targetBodyItems.size(); ++i){ boost::optional p = targetBodyItems[i]->getParticularPosition(position); if(p){ targetBodyItems[i]->editZmp(*p); } } } void LeggedBodyBarImpl::setStance() { const ItemList& targetBodyItems = bodyBar->targetBodyItems(); for(size_t i=0; i < targetBodyItems.size(); ++i){ targetBodyItems[i]->setStance(stanceWidthSpin->value()); } } bool LeggedBodyBar::storeState(Archive& archive) { archive.write("stanceWidth", impl->stanceWidthSpin->value()); return true; } bool LeggedBodyBar::restoreState(const Archive& archive) { impl->stanceWidthSpin->setValue(archive.get("stanceWidth", impl->stanceWidthSpin->value())); return true; } choreonoid-1.5.0/src/BodyPlugin/SimulationScriptItem.h0000664000000000000000000000235212741425367021527 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BODY_PLUGIN_SIMULATION_SCRIPT_ITEM_H #define CNOID_BODY_PLUGIN_SIMULATION_SCRIPT_ITEM_H #include #include "exportdecl.h" namespace cnoid { class SimulationScriptItemImpl; class CNOID_EXPORT SimulationScriptItem : public ScriptItem { public: SimulationScriptItem(); SimulationScriptItem(const SimulationScriptItem& org); enum ExecutionTiming { BEFORE_INITIALIZATION, DURING_INITIALIZATION, AFTER_INITIALIZATION, DURING_FINALIZATION, AFTER_FINALIZATION, NUM_TIMINGS, }; ExecutionTiming executionTiming() const; void setExecutionTiming(ExecutionTiming timing); double executionDelay() const; void setExecutionDelay(double t); virtual bool execute(); virtual bool executeAsSimulationScript() = 0; protected: virtual ~SimulationScriptItem(); virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: SimulationScriptItemImpl* impl; friend class SimulationScriptItemImpl; }; typedef ref_ptr SimulationScriptItemPtr; } #endif choreonoid-1.5.0/src/BodyPlugin/LinkPropertyView.cpp0000664000000000000000000001645012741425367021233 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "LinkPropertyView.h" #include "LinkSelectionView.h" #include "BodyBar.h" #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace cnoid { class LinkPropertyViewImpl : public QTableWidget { public: LinkPropertyView* self; LinkSelectionView* linkSelectionView; ConnectionSet connections; int fontPointSizeDiff; LinkPropertyViewImpl(LinkPropertyView* self); ~LinkPropertyViewImpl(); void onCurrentBodyItemChanged(BodyItem* bodyItem); void clear(); void updateProperties(); void updateLinkProperties(Link* link); void addProperty(const string& name, const QString& value); void addProperty(const string& name, const string& value); void addProperty(const string& name, int value); void addProperty(const string& name, double value); void addProperty(const string& name, const Vector3& value); void addProperty(const string& name, const AngleAxis& rotation); void addProperty(const string& name, const Matrix3& M); void zoomFontSize(int pointSizeDiff); }; } void LinkPropertyView::initializeClass(ExtensionManager* ext) { ext->viewManager().registerClass( "LinkPropertyView", N_("Link Properties"), ViewManager::SINGLE_OPTIONAL); } LinkPropertyView::LinkPropertyView() { impl = new LinkPropertyViewImpl(this); QVBoxLayout* vbox = new QVBoxLayout(); vbox->addWidget(impl); setLayout(vbox); setDefaultLayoutArea(View::LEFT_BOTTOM); } LinkPropertyViewImpl::LinkPropertyViewImpl(LinkPropertyView* self) : self(self) { linkSelectionView = LinkSelectionView::mainInstance(); setFrameShape(QFrame::NoFrame); setColumnCount(2); setSelectionBehavior(QAbstractItemView::SelectRows); setSelectionMode(QAbstractItemView::NoSelection); QHeaderView* hh = horizontalHeader(); QHeaderView* vh = verticalHeader(); hh->hide(); vh->hide(); #if QT_VERSION < QT_VERSION_CHECK(5, 0, 0) hh->setResizeMode(QHeaderView::Fixed); vh->setResizeMode(QHeaderView::ResizeToContents); #else hh->setSectionResizeMode(QHeaderView::Stretch); vh->setSectionResizeMode(QHeaderView::ResizeToContents); #endif hh->setStretchLastSection(true); fontPointSizeDiff = 0; MappingPtr config = AppConfig::archive()->openMapping("LinkPropertyView"); int storedFontPointSizeDiff; if(config->read("fontZoom", storedFontPointSizeDiff)){ zoomFontSize(storedFontPointSizeDiff); } connections.add( BodyBar::instance()->sigCurrentBodyItemChanged().connect( boost::bind(&LinkPropertyViewImpl::onCurrentBodyItemChanged, this, _1))); connections.add( linkSelectionView->sigSelectionChanged().connect( boost::bind(&LinkPropertyViewImpl::updateProperties, this))); } LinkPropertyView::~LinkPropertyView() { delete impl; } LinkPropertyViewImpl::~LinkPropertyViewImpl() { connections.disconnect(); } void LinkPropertyViewImpl::onCurrentBodyItemChanged(BodyItem* bodyItem) { if(!bodyItem){ clear(); } } void LinkPropertyViewImpl::clear() { setRowCount(0); } void LinkPropertyViewImpl::updateProperties() { clear(); BodyItem* bodyItem = linkSelectionView->currentBodyItem(); if(bodyItem){ Body* body = bodyItem->body(); int linkIndex = linkSelectionView->selectedLinkIndex(); if(linkIndex >= 0){ Link* link = body->link(linkIndex); if(link){ updateLinkProperties(link); } } } } void LinkPropertyViewImpl::updateLinkProperties(Link* link) { addProperty(_("Name"), link->name()); addProperty(_("Index"), link->index()); addProperty(_("Offset translation"), Vector3(link->offsetTranslation())); addProperty(_("Offset rotation"), AngleAxis(link->offsetRotation())); addProperty(_("Rs"), link->Rs()); addProperty(_("Center of mass"), link->centerOfMass()); addProperty(_("Mass"), link->mass()); addProperty(_("Inertia tensor"), link->I()); addProperty(_("Joint type"), link->jointTypeString()); if(link->isRotationalJoint() || link->isSlideJoint()){ addProperty(_("Joint axis"), link->jointAxis()); addProperty(_("Upper joint limit"), link->q_upper()); addProperty(_("Lower joint limit"), link->q_lower()); addProperty(_("Upper joint velocity"), link->dq_upper()); addProperty(_("Lower joint velocity"), link->dq_lower()); addProperty(_("Joint inertia"), link->Jm2()); } /* Mapping* info = link->info(); for(Mapping::iterator p = info->begin(); p != info->end(); ++p){ const string& key = p->first; ValueNode* node = p->second; if(node->isScalar()){ addProperty(key, node->toString()); } else if(node->isListing()){ addProperty(key, node->toListing()); } } */ } void LinkPropertyViewImpl::addProperty(const string& name, const QString& value) { int row = rowCount(); setRowCount(row + 1); QTableWidgetItem* nameItem = new QTableWidgetItem(name.c_str()); nameItem->setFlags(Qt::ItemIsEnabled); setItem(row, 0, nameItem); QTableWidgetItem* valueItem = new QTableWidgetItem(value); setItem(row, 1, valueItem); } void LinkPropertyViewImpl::addProperty(const string& name, const string& value) { addProperty(name, QString(value.c_str())); } void LinkPropertyViewImpl::addProperty(const string& name, int value) { addProperty(name, QString::number(value)); } void LinkPropertyViewImpl::addProperty(const string& name, double value) { addProperty(name, QString::number(value)); } void LinkPropertyViewImpl::addProperty(const string& name, const Vector3& value) { static const QString format("%1 %2 %3"); addProperty(name, format.arg(value[0]).arg(value[1]).arg(value[2])); } void LinkPropertyViewImpl::addProperty(const string& name, const AngleAxis& rotation) { static const QString format("%1 %2 %3 %4"); const Vector3 a = rotation.axis(); addProperty(name, format.arg(a[0]).arg(a[1]).arg(a[2]).arg(rotation.angle())); } void LinkPropertyViewImpl::addProperty(const string& name, const Matrix3& M) { static const QString format("%1 %2 %3 %4 %5 %6 %7 %8 %9"); addProperty( name, format .arg(M(0,0)).arg(M(0, 1)).arg(M(0, 2)) .arg(M(1,0)).arg(M(1, 1)).arg(M(1, 2)) .arg(M(2,0)).arg(M(2, 1)).arg(M(2, 2))); } void LinkPropertyView::keyPressEvent(QKeyEvent* event) { if(event->modifiers() & Qt::ControlModifier){ switch(event->key()){ case Qt::Key_Plus: case Qt::Key_Semicolon: impl->zoomFontSize(1); return; case Qt::Key_Minus: impl->zoomFontSize(-1); return; defaut: break; } } View::keyPressEvent(event); } void LinkPropertyViewImpl::zoomFontSize(int pointSizeDiff) { QFont f = font(); f.setPointSize(f.pointSize() + pointSizeDiff); setFont(f); fontPointSizeDiff += pointSizeDiff; AppConfig::archive()->openMapping("LinkPropertyView")->write("fontZoom", fontPointSizeDiff); } choreonoid-1.5.0/src/BodyPlugin/AISTSimulatorItem.cpp0000664000000000000000000005643312741425367021222 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifdef WIN32 #include #if (BOOST_VERSION >= 105900) #define BOOST_NO_CXX11_ALLOCATOR #endif #endif #include "AISTSimulatorItem.h" #include "BodyItem.h" #include "ControllerItem.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; using boost::format; // for Windows #undef min #undef max namespace { const bool TRACE_FUNCTIONS = false; const bool ENABLE_DEBUG_OUTPUT = false; const double DEFAULT_GRAVITY_ACCELERATION = 9.80665; class AISTSimBody : public SimulationBody { public: AISTSimBody(DyBody* body) : SimulationBody(body) { } }; class KinematicWalkBody : public AISTSimBody { public: KinematicWalkBody(DyBody* body, LeggedBodyHelper* legged) : AISTSimBody(body), legged(legged) { supportFootIndex = 0; for(int i=1; i < legged->numFeet(); ++i){ if(legged->footLink(i)->p().z() < legged->footLink(supportFootIndex)->p().z()){ supportFootIndex = i; } } traverse.find(legged->footLink(supportFootIndex), true, true); } LeggedBodyHelper* legged; int supportFootIndex; LinkTraverse traverse; }; } namespace cnoid { class AISTSimulatorItemImpl { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW; AISTSimulatorItem* self; World world; Selection dynamicsMode; Selection integrationMode; Vector3 gravity; double staticFriction; double slipFriction; FloatingNumberString contactCullingDistance; FloatingNumberString contactCullingDepth; FloatingNumberString errorCriterion; int maxNumIterations; FloatingNumberString contactCorrectionDepth; FloatingNumberString contactCorrectionVelocityRatio; double epsilon; bool is2Dmode; bool isKinematicWalkingEnabled; bool isOldAccelSensorMode; typedef std::map BodyIndexMap; BodyIndexMap bodyIndexMap; typedef std::map LinkMap; LinkMap orgLinkToInternalLinkMap; struct ContactAttribute { boost::optional staticFriction; boost::optional slipFriction; boost::optional collisionHandlerId; }; typedef std::map, ContactAttribute> ContactAttributeMap; ContactAttributeMap contactAttributeMap; boost::optional forcedBodyPositionFunctionId; boost::mutex forcedBodyPositionMutex; DyBody* forcedPositionBody; Position forcedBodyPosition; AISTSimulatorItemImpl(AISTSimulatorItem* self); AISTSimulatorItemImpl(AISTSimulatorItem* self, const AISTSimulatorItemImpl& org); ContactAttribute& getOrCreateContactAttribute(Link* link1, Link* link2); bool initializeSimulation(const std::vector& simBodies); void addBody(AISTSimBody* simBody); void clearExternalForces(); void setForcedPosition(BodyItem* bodyItem, const Position& T); void doSetForcedPosition(); void doPutProperties(PutPropertyFunction& putProperty); bool store(Archive& archive); bool restore(const Archive& archive); // for debug ofstream os; }; } void AISTSimulatorItem::initializeClass(ExtensionManager* ext) { ext->itemManager().registerClass(N_("AISTSimulatorItem")); ext->itemManager().addCreationPanel(); } AISTSimulatorItem::AISTSimulatorItem() { impl = new AISTSimulatorItemImpl(this); setName("AISTSimulator"); } AISTSimulatorItemImpl::AISTSimulatorItemImpl(AISTSimulatorItem* self) : self(self), dynamicsMode(AISTSimulatorItem::N_DYNAMICS_MODES, CNOID_GETTEXT_DOMAIN_NAME), integrationMode(AISTSimulatorItem::N_INTEGRATION_MODES, CNOID_GETTEXT_DOMAIN_NAME) { dynamicsMode.setSymbol(AISTSimulatorItem::FORWARD_DYNAMICS, N_("Forward dynamics")); dynamicsMode.setSymbol(AISTSimulatorItem::HG_DYNAMICS, N_("High-gain dynamics")); dynamicsMode.setSymbol(AISTSimulatorItem::KINEMATICS, N_("Kinematics")); integrationMode.setSymbol(AISTSimulatorItem::EULER_INTEGRATION, N_("Euler")); integrationMode.setSymbol(AISTSimulatorItem::RUNGE_KUTTA_INTEGRATION, N_("Runge Kutta")); integrationMode.select(AISTSimulatorItem::RUNGE_KUTTA_INTEGRATION); gravity << 0.0, 0.0, -DEFAULT_GRAVITY_ACCELERATION; ConstraintForceSolver& cfs = world.constraintForceSolver; staticFriction = cfs.staticFriction(); slipFriction = cfs.slipFriction(); contactCullingDistance = cfs.contactCullingDistance(); contactCullingDepth = cfs.contactCullingDepth(); epsilon = cfs.coefficientOfRestitution(); errorCriterion = cfs.gaussSeidelErrorCriterion(); maxNumIterations = cfs.gaussSeidelMaxNumIterations(); contactCorrectionDepth = cfs.contactCorrectionDepth(); contactCorrectionVelocityRatio = cfs.contactCorrectionVelocityRatio(); isKinematicWalkingEnabled = false; is2Dmode = false; isOldAccelSensorMode = false; } AISTSimulatorItem::AISTSimulatorItem(const AISTSimulatorItem& org) : SimulatorItem(org), impl(new AISTSimulatorItemImpl(this, *org.impl)) { } AISTSimulatorItemImpl::AISTSimulatorItemImpl(AISTSimulatorItem* self, const AISTSimulatorItemImpl& org) : self(self), dynamicsMode(org.dynamicsMode), integrationMode(org.integrationMode) { gravity = org.gravity; staticFriction = org.staticFriction; slipFriction = org.slipFriction; contactCullingDistance = org.contactCullingDistance; contactCullingDepth = org.contactCullingDepth; errorCriterion = org.errorCriterion; maxNumIterations = org.maxNumIterations; contactCorrectionDepth = org.contactCorrectionDepth; contactCorrectionVelocityRatio = org.contactCorrectionVelocityRatio; epsilon = org.epsilon; isKinematicWalkingEnabled = org.isKinematicWalkingEnabled; is2Dmode = org.is2Dmode; isOldAccelSensorMode = org.isOldAccelSensorMode; } AISTSimulatorItem::~AISTSimulatorItem() { delete impl; } void AISTSimulatorItem::setDynamicsMode(int mode) { impl->dynamicsMode.select(mode); } void AISTSimulatorItem::setIntegrationMode(int mode) { impl->integrationMode.select(mode); } void AISTSimulatorItem::setGravity(const Vector3& gravity) { impl->gravity = gravity; } const Vector3& AISTSimulatorItem::gravity() const { return impl->gravity; } AISTSimulatorItemImpl::ContactAttribute& AISTSimulatorItemImpl::getOrCreateContactAttribute(Link* link1, Link* link2) { return contactAttributeMap[IdPair(link1, link2)]; } void AISTSimulatorItem::setFriction(double staticFriction, double slipFriction) { impl->staticFriction = staticFriction; impl->slipFriction = slipFriction; } void AISTSimulatorItem::setFriction(Link* link1, Link* link2, double staticFriction, double slipFriction) { AISTSimulatorItemImpl::ContactAttribute& attr = impl->getOrCreateContactAttribute(link1, link2); attr.staticFriction = staticFriction; attr.slipFriction = slipFriction; } int AISTSimulatorItem::registerCollisionHandler(const std::string& name, CollisionHandler handler) { return impl->world.constraintForceSolver.registerCollisionHandler(name, handler); } void AISTSimulatorItem::unregisterCollisionHandler(int handlerId) { return impl->world.constraintForceSolver.unregisterCollisionHandler(handlerId); } int AISTSimulatorItem::collisionHandlerId(const std::string& name) const { return impl->world.constraintForceSolver.collisionHandlerId(name); } void AISTSimulatorItem::setCollisionHandler(Link* link1, Link* link2, int handlerId) { AISTSimulatorItemImpl::ContactAttribute& attr = impl->getOrCreateContactAttribute(link1, link2); attr.collisionHandlerId = handlerId; } void AISTSimulatorItem::setContactCullingDistance(double value) { impl->contactCullingDistance = value; } void AISTSimulatorItem::setContactCullingDepth(double value) { impl->contactCullingDepth = value; } void AISTSimulatorItem::setErrorCriterion(double value) { impl->errorCriterion = value; } void AISTSimulatorItem::setMaxNumIterations(int value) { impl->maxNumIterations = value; } void AISTSimulatorItem::setContactCorrectionDepth(double value) { impl->contactCorrectionDepth = value; } void AISTSimulatorItem::setContactCorrectionVelocityRatio(double value) { impl->contactCorrectionVelocityRatio = value; } void AISTSimulatorItem::setEpsilon(double epsilon) { impl->epsilon = epsilon; } void AISTSimulatorItem::set2Dmode(bool on) { impl->is2Dmode = on; } void AISTSimulatorItem::setKinematicWalkingEnabled(bool on) { impl->isKinematicWalkingEnabled = on; } void AISTSimulatorItem::setConstraintForceOutputEnabled(bool on) { impl->world.constraintForceSolver.enableConstraintForceOutput(on); } Item* AISTSimulatorItem::doDuplicate() const { return new AISTSimulatorItem(*this); } bool AISTSimulatorItem::startSimulation(bool doReset) { impl->orgLinkToInternalLinkMap.clear(); return SimulatorItem::startSimulation(doReset); } SimulationBody* AISTSimulatorItem::createSimulationBody(Body* orgBody) { SimulationBody* simBody = 0; DyBody* body = new DyBody(*orgBody); const int n = orgBody->numLinks(); for(size_t i=0; i < n; ++i){ impl->orgLinkToInternalLinkMap[orgBody->link(i)] = body->link(i); } if(impl->dynamicsMode.is(KINEMATICS) && impl->isKinematicWalkingEnabled){ LeggedBodyHelper* legged = getLeggedBodyHelper(body); if(legged->isValid()){ simBody = new KinematicWalkBody(body, legged); } } if(!simBody){ simBody = new AISTSimBody(body); } return simBody; } bool AISTSimulatorItem::initializeSimulation(const std::vector& simBodies) { return impl->initializeSimulation(simBodies); } bool AISTSimulatorItemImpl::initializeSimulation(const std::vector& simBodies) { if(ENABLE_DEBUG_OUTPUT){ static int ntest = 0; os.open((string("test-log-") + boost::lexical_cast(ntest++) + ".log").c_str()); os << setprecision(30); } if(integrationMode.is(AISTSimulatorItem::EULER_INTEGRATION)){ world.setEulerMethod(); } else if(integrationMode.is(AISTSimulatorItem::RUNGE_KUTTA_INTEGRATION)){ world.setRungeKuttaMethod(); } world.setGravityAcceleration(gravity); world.enableSensors(true); world.setOldAccelSensorCalcMode(isOldAccelSensorMode); world.setTimeStep(self->worldTimeStep()); world.setCurrentTime(0.0); ConstraintForceSolver& cfs = world.constraintForceSolver; cfs.setGaussSeidelErrorCriterion(errorCriterion.value()); cfs.setGaussSeidelMaxNumIterations(maxNumIterations); cfs.setContactDepthCorrection( contactCorrectionDepth.value(), contactCorrectionVelocityRatio.value()); self->addPreDynamicsFunction(boost::bind(&AISTSimulatorItemImpl::clearExternalForces, this)); world.clearBodies(); bodyIndexMap.clear(); for(size_t i=0; i < simBodies.size(); ++i){ addBody(static_cast(simBodies[i])); } cfs.setFriction(staticFriction, slipFriction); cfs.setContactCullingDistance(contactCullingDistance.value()); cfs.setContactCullingDepth(contactCullingDepth.value()); cfs.setCoefficientOfRestitution(epsilon); cfs.setCollisionDetector(self->collisionDetector()); if(is2Dmode){ cfs.set2Dmode(true); } world.initialize(); ContactAttributeMap::iterator iter = contactAttributeMap.begin(); while(iter != contactAttributeMap.end()){ bool actualLinksFound = false; const IdPair& linkPair = iter->first; LinkMap::iterator p0 = orgLinkToInternalLinkMap.find(linkPair(0)); if(p0 != orgLinkToInternalLinkMap.end()){ LinkMap::iterator p1 = orgLinkToInternalLinkMap.find(linkPair(1)); if(p1 != orgLinkToInternalLinkMap.end()){ Link* iLink0 = p0->second; Link* iLink1 = p1->second; actualLinksFound = true; const ContactAttribute& attr = iter->second; if(attr.staticFriction || attr.slipFriction){ cfs.setFriction( iLink0, iLink1, attr.staticFriction ? *attr.staticFriction : staticFriction, attr.slipFriction ? *attr.slipFriction : slipFriction); } if(attr.collisionHandlerId){ cfs.setCollisionHandler(iLink0, iLink1, *attr.collisionHandlerId); } } } if(actualLinksFound){ ++iter; } else { // remove the attribute for a non-existent link ContactAttributeMap::iterator current = iter++; contactAttributeMap.erase(current); } } return true; } void AISTSimulatorItemImpl::addBody(AISTSimBody* simBody) { DyBody* body = static_cast(simBody->body()); DyLink* rootLink = body->rootLink(); rootLink->v().setZero(); rootLink->dv().setZero(); rootLink->w().setZero(); rootLink->dw().setZero(); rootLink->vo().setZero(); rootLink->dvo().setZero(); for(int i=0; i < body->numLinks(); ++i){ Link* link = body->link(i); link->u() = 0.0; link->dq() = 0.0; link->ddq() = 0.0; } body->clearExternalForces(); body->calcForwardKinematics(true, true); int bodyIndex; if(dynamicsMode.is(AISTSimulatorItem::HG_DYNAMICS)){ ForwardDynamicsCBMPtr cbm = make_shared_aligned(body); cbm->setHighGainModeForAllJoints(); bodyIndex = world.addBody(body, cbm); } else { bodyIndex = world.addBody(body); } bodyIndexMap[body] = bodyIndex; } void AISTSimulatorItemImpl::clearExternalForces() { world.constraintForceSolver.clearExternalForces(); } bool AISTSimulatorItem::stepSimulation(const std::vector& activeSimBodies) { if(!impl->dynamicsMode.is(KINEMATICS)){ impl->world.calcNextState(); return true; } // Kinematics mode if(!impl->isKinematicWalkingEnabled){ for(size_t i=0; i < activeSimBodies.size(); ++i){ activeSimBodies[i]->body()->calcForwardKinematics(true, true); } } else { for(size_t i=0; i < activeSimBodies.size(); ++i){ SimulationBody* simBody = activeSimBodies[i]; KinematicWalkBody* walkBody = dynamic_cast(simBody); if(!walkBody){ simBody->body()->calcForwardKinematics(true, true); } else { walkBody->traverse.calcForwardKinematics(true, true); LeggedBodyHelper* legged = walkBody->legged; const int supportFootIndex = walkBody->supportFootIndex; int nextSupportFootIndex = supportFootIndex; Link* supportFoot = legged->footLink(supportFootIndex); Link* nextSupportFoot = supportFoot; const int n = legged->numFeet(); for(int i=0; i < n; ++i){ if(i != supportFootIndex){ Link* foot = legged->footLink(i); if(foot->p().z() < nextSupportFoot->p().z()){ nextSupportFootIndex = i; nextSupportFoot = foot; } } } if(nextSupportFoot != supportFoot){ nextSupportFoot->p().z() = supportFoot->p().z(); walkBody->supportFootIndex = nextSupportFootIndex; supportFoot = nextSupportFoot; walkBody->traverse.find(supportFoot, true, true); walkBody->traverse.calcForwardKinematics(true, true); } } } } return true; } void AISTSimulatorItem::finalizeSimulation() { if(ENABLE_DEBUG_OUTPUT){ impl->os.close(); } } CollisionLinkPairListPtr AISTSimulatorItem::getCollisions() { return impl->world.constraintForceSolver.getCollisions(); } void AISTSimulatorItem::setForcedPosition(BodyItem* bodyItem, const Position& T) { impl->setForcedPosition(bodyItem, T); } void AISTSimulatorItemImpl::setForcedPosition(BodyItem* bodyItem, const Position& T) { if(SimulationBody* simBody = self->findSimulationBody(bodyItem)){ { boost::unique_lock lock(forcedBodyPositionMutex); forcedPositionBody = static_cast(simBody->body()); forcedBodyPosition = T; } if(!forcedBodyPositionFunctionId){ forcedBodyPositionFunctionId = self->addPostDynamicsFunction( boost::bind(&AISTSimulatorItemImpl::doSetForcedPosition, this)); } } } bool AISTSimulatorItem::isForcedPositionActiveFor(BodyItem* bodyItem) const { bool isActive = false; if(impl->forcedBodyPositionFunctionId){ SimulationBody* simBody = const_cast(this)->findSimulationBody(bodyItem); { boost::unique_lock lock(impl->forcedBodyPositionMutex); if(impl->forcedPositionBody == static_cast(simBody->body())){ isActive = true; } } } return isActive; } void AISTSimulatorItem::clearForcedPositions() { if(impl->forcedBodyPositionFunctionId){ removePostDynamicsFunction(*impl->forcedBodyPositionFunctionId); impl->forcedBodyPositionFunctionId = boost::none; } } void AISTSimulatorItemImpl::doSetForcedPosition() { boost::unique_lock lock(forcedBodyPositionMutex); DyLink* rootLink = forcedPositionBody->rootLink(); rootLink->setPosition(forcedBodyPosition); rootLink->v().setZero(); rootLink->w().setZero(); rootLink->vo().setZero(); forcedPositionBody->calcSpatialForwardKinematics(); } void AISTSimulatorItem::doPutProperties(PutPropertyFunction& putProperty) { SimulatorItem::doPutProperties(putProperty); impl->doPutProperties(putProperty); } void AISTSimulatorItemImpl::doPutProperties(PutPropertyFunction& putProperty) { putProperty(_("Dynamics mode"), dynamicsMode, boost::bind(&Selection::selectIndex, &dynamicsMode, _1)); putProperty(_("Integration mode"), integrationMode, boost::bind(&Selection::selectIndex, &integrationMode, _1)); putProperty(_("Gravity"), str(gravity), boost::bind(toVector3, _1, boost::ref(gravity))); putProperty.decimals(3).min(0.0); putProperty(_("Static friction"), staticFriction, changeProperty(staticFriction)); putProperty(_("Slip friction"), slipFriction, changeProperty(slipFriction)); putProperty(_("Contact culling distance"), contactCullingDistance, (boost::bind(&FloatingNumberString::setNonNegativeValue, boost::ref(contactCullingDistance), _1))); putProperty(_("Contact culling depth"), contactCullingDepth, (boost::bind(&FloatingNumberString::setNonNegativeValue, boost::ref(contactCullingDepth), _1))); putProperty(_("Error criterion"), errorCriterion, boost::bind(&FloatingNumberString::setPositiveValue, boost::ref(errorCriterion), _1)); putProperty.min(1.0)(_("Max iterations"), maxNumIterations, changeProperty(maxNumIterations)); putProperty(_("CC depth"), contactCorrectionDepth, boost::bind(&FloatingNumberString::setNonNegativeValue, boost::ref(contactCorrectionDepth), _1)); putProperty(_("CC v-ratio"), contactCorrectionVelocityRatio, boost::bind(&FloatingNumberString::setNonNegativeValue, boost::ref(contactCorrectionVelocityRatio), _1)); putProperty(_("Kinematic walking"), isKinematicWalkingEnabled, changeProperty(isKinematicWalkingEnabled)); putProperty(_("2D mode"), is2Dmode, changeProperty(is2Dmode)); putProperty(_("Old accel sensor mode"), isOldAccelSensorMode, changeProperty(isOldAccelSensorMode)); } bool AISTSimulatorItem::store(Archive& archive) { SimulatorItem::store(archive); return impl->store(archive); } bool AISTSimulatorItemImpl::store(Archive& archive) { archive.write("dynamicsMode", dynamicsMode.selectedSymbol(), DOUBLE_QUOTED); archive.write("integrationMode", integrationMode.selectedSymbol(), DOUBLE_QUOTED); write(archive, "gravity", gravity); archive.write("staticFriction", staticFriction); archive.write("slipFriction", slipFriction); archive.write("cullingThresh", contactCullingDistance); archive.write("contactCullingDepth", contactCullingDepth); archive.write("errorCriterion", errorCriterion); archive.write("maxNumIterations", maxNumIterations); archive.write("contactCorrectionDepth", contactCorrectionDepth); archive.write("contactCorrectionVelocityRatio", contactCorrectionVelocityRatio); archive.write("kinematicWalking", isKinematicWalkingEnabled); archive.write("2Dmode", is2Dmode); archive.write("oldAccelSensorMode", isOldAccelSensorMode); return true; } bool AISTSimulatorItem::restore(const Archive& archive) { SimulatorItem::restore(archive); return impl->restore(archive); } bool AISTSimulatorItemImpl::restore(const Archive& archive) { string symbol; if(archive.read("dynamicsMode", symbol)){ dynamicsMode.select(symbol); } if(archive.read("integrationMode", symbol)){ integrationMode.select(symbol); } read(archive, "gravity", gravity); archive.read("staticFriction", staticFriction); archive.read("slipFriction", slipFriction); contactCullingDistance = archive.get("cullingThresh", contactCullingDistance.string()); contactCullingDepth = archive.get("contactCullingDepth", contactCullingDepth.string()); errorCriterion = archive.get("errorCriterion", errorCriterion.string()); archive.read("maxNumIterations", maxNumIterations); contactCorrectionDepth = archive.get("contactCorrectionDepth", contactCorrectionDepth.string()); contactCorrectionVelocityRatio = archive.get("contactCorrectionVelocityRatio", contactCorrectionVelocityRatio.string()); archive.read("kinematicWalking", isKinematicWalkingEnabled); archive.read("2Dmode", is2Dmode); archive.read("oldAccelSensorMode", isOldAccelSensorMode); return true; } #ifdef ENABLE_SIMULATION_PROFILING void AISTSimulatorItem::getProfilingNames(vector& profilingNames) { profilingNames.push_back("Collision detection time"); profilingNames.push_back("Constraint force calculation time"); profilingNames.push_back("Forward dynamics calculation time"); profilingNames.push_back("Customizer calculation time"); } void AISTSimulatorItem::getProfilingTimes(vector& profilingToimes) { double collisionTime = impl->world.constraintForceSolver.getCollisionTime(); profilingToimes.push_back(collisionTime); profilingToimes.push_back(impl->world.forceSolveTime - collisionTime); profilingToimes.push_back(impl->world.forwardDynamicsTime); profilingToimes.push_back(impl->world.customizerTime); } #endif choreonoid-1.5.0/src/BodyPlugin/CollisionSeqEngine.h0000664000000000000000000000137012741425367021130 0ustar rootroot/** \file \author Shizuko Hattori */ #ifndef CNOID_BODYPLUGIN_COLLISION_SEQ_ENGINE_H #define CNOID_BODYPLUGIN_COLLISION_SEQ_ENGINE_H #include #include "exportdecl.h" namespace cnoid { class WorldItem; class ExtensionManager; class CollisionSeqEngineImpl; class CollisionSeqItem; class CNOID_EXPORT CollisionSeqEngine : public TimeSyncItemEngine { public: static void initialize(ExtensionManager* ext); CollisionSeqEngine(WorldItem* worldItem, CollisionSeqItem* collisionSeqItem); ~CollisionSeqEngine(); CollisionSeqItem* collisionSeqItem(); virtual bool onTimeChanged(double time); private: CollisionSeqEngineImpl* impl; }; typedef ref_ptr CollisionSeqEnginePtr; } #endif choreonoid-1.5.0/src/BodyPlugin/BodyTrackingCameraItem.cpp0000664000000000000000000001723412741425367022247 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "BodyTrackingCameraItem.h" #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { class BodyTrackingCameraTransform : public InteractiveCameraTransform { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW; BodyItem* bodyItem; ScopedConnection connection; Vector3 relativeTranslationFromBody; Affine3 relativePositionFromBody; bool isSigUpdatedEmittedBySelf; bool isConstantRelativeAttitudeMode_; BodyTrackingCameraTransform() { bodyItem = 0; relativeTranslationFromBody.setZero(); relativePositionFromBody.setIdentity(); isSigUpdatedEmittedBySelf = false; isConstantRelativeAttitudeMode_ = false; } BodyTrackingCameraTransform(const BodyTrackingCameraTransform& org) { bodyItem = 0; relativeTranslationFromBody.setZero(); relativePositionFromBody.setIdentity(); isSigUpdatedEmittedBySelf = false; isConstantRelativeAttitudeMode_ = org.isConstantRelativeAttitudeMode_; } BodyTrackingCameraTransform(const BodyTrackingCameraTransform& org, SgCloneMap& cloneMap) : InteractiveCameraTransform(org, cloneMap) { bodyItem = 0; relativeTranslationFromBody.setZero(); relativePositionFromBody.setIdentity(); isSigUpdatedEmittedBySelf = false; isConstantRelativeAttitudeMode_ = org.isConstantRelativeAttitudeMode_; } virtual SgObject* clone(SgCloneMap& cloneMap) const { return new BodyTrackingCameraTransform(*this, cloneMap); } bool isConstantRelativeAttitudeMode() const { return isConstantRelativeAttitudeMode_; } void setConstantRelativeAttitudeMode(bool on){ isConstantRelativeAttitudeMode_ = on; } void setBodyItem(BodyItem* bodyItem) { if(bodyItem != this->bodyItem){ this->bodyItem = bodyItem; connection.disconnect(); if(bodyItem){ connection.reset( bodyItem->sigKinematicStateChanged().connect( boost::bind(&BodyTrackingCameraTransform::onBodyMoved, this))); updateRelativePosition(); } } } virtual void onUpdated(SgUpdate& update) { if(isSigUpdatedEmittedBySelf){ isSigUpdatedEmittedBySelf = false; } else { updateRelativePosition(); } InteractiveCameraTransform::onUpdated(update); } void updateRelativePosition(){ if(bodyItem){ Link* rootLink = bodyItem->body()->rootLink(); relativeTranslationFromBody = translation() - rootLink->translation(); relativePositionFromBody = rootLink->position().inverse() * position(); } } void onBodyMoved(){ if(bodyItem){ Link* rootLink = bodyItem->body()->rootLink(); if(isConstantRelativeAttitudeMode_){ setPosition(rootLink->position() * relativePositionFromBody); } else { setTranslation(rootLink->translation() + relativeTranslationFromBody); } isSigUpdatedEmittedBySelf = true; notifyUpdate(); } } }; typedef ref_ptr BodyTrackingCameraTransformPtr; } namespace cnoid { class BodyTrackingCameraItemImpl { public: BodyTrackingCameraTransformPtr cameraTransform; SgPerspectiveCameraPtr persCamera; SgOrthographicCameraPtr orthoCamera; SgUpdate update; BodyTrackingCameraItemImpl(); void doPutProperties(PutPropertyFunction& putProperty); bool onKeepRelativeAttitudeChanged(bool on); bool setClipDistances(double nearDistance, double farDistance); }; } void BodyTrackingCameraItem::initializeClass(ExtensionManager* ext) { ItemManager& im = ext->itemManager(); im.registerClass(N_("BodyTrackingCameraItem")); im.addCreationPanel(); } BodyTrackingCameraItem::BodyTrackingCameraItem() { impl = new BodyTrackingCameraItemImpl(); } BodyTrackingCameraItem::BodyTrackingCameraItem(const BodyTrackingCameraItem& org) : Item(org) { impl = new BodyTrackingCameraItemImpl(); setName(org.name()); } BodyTrackingCameraItemImpl::BodyTrackingCameraItemImpl() { cameraTransform = new BodyTrackingCameraTransform(); cameraTransform->setPosition( SceneView::instance()->sceneWidget()->builtinCameraTransform()->position()); persCamera = new SgPerspectiveCamera(); cameraTransform->addChild(persCamera); orthoCamera = new SgOrthographicCamera(); cameraTransform->addChild(orthoCamera); } void BodyTrackingCameraItem::setName(const std::string& name) { Item::setName(name); impl->persCamera->setName(name + " (Perspective)"); impl->persCamera->notifyUpdate(impl->update); impl->orthoCamera->setName(name + " (Orthographic)"); impl->orthoCamera->notifyUpdate(impl->update); } Item* BodyTrackingCameraItem::doDuplicate() const { return new BodyTrackingCameraItem(*this); } SgNode* BodyTrackingCameraItem::getScene() { return impl->cameraTransform; } void BodyTrackingCameraItem::onPositionChanged() { impl->cameraTransform->setBodyItem(findOwnerItem()); } void BodyTrackingCameraItem::doPutProperties(PutPropertyFunction& putProperty) { impl->doPutProperties(putProperty); } void BodyTrackingCameraItemImpl::doPutProperties(PutPropertyFunction& putProperty) { putProperty("Keep relative attitude", cameraTransform->isConstantRelativeAttitudeMode(), boost::bind(&BodyTrackingCameraItemImpl::onKeepRelativeAttitudeChanged, this, _1)); putProperty("Near clip distance", persCamera->nearClipDistance(), boost::bind(&BodyTrackingCameraItemImpl::setClipDistances, this, _1, persCamera->farClipDistance())); putProperty("Far clip distance", persCamera->farClipDistance(), boost::bind(&BodyTrackingCameraItemImpl::setClipDistances, this, persCamera->nearClipDistance(), _1)); } bool BodyTrackingCameraItemImpl::onKeepRelativeAttitudeChanged(bool on) { cameraTransform->setConstantRelativeAttitudeMode(on); return true; } bool BodyTrackingCameraItemImpl::setClipDistances(double nearDistance, double farDistance) { if(persCamera->nearClipDistance() != nearDistance || persCamera->farClipDistance() != farDistance){ persCamera->setNearClipDistance(nearDistance); persCamera->setFarClipDistance(farDistance); orthoCamera->setNearClipDistance(nearDistance); orthoCamera->setFarClipDistance(farDistance); persCamera->notifyUpdate(update); orthoCamera->notifyUpdate(update); } return true; } bool BodyTrackingCameraItem::store(Archive& archive) { archive.write("keepRelativeAttitude", impl->cameraTransform->isConstantRelativeAttitudeMode()); archive.write("nearClipDistance", impl->persCamera->nearClipDistance()); archive.write("farClipDistance", impl->persCamera->farClipDistance()); return true; } bool BodyTrackingCameraItem::restore(const Archive& archive) { impl->cameraTransform->setConstantRelativeAttitudeMode( archive.get("keepRelativeAttitude", false)); double nearDistance = archive.get("nearClipDistance", impl->persCamera->nearClipDistance()); double farDistance = archive.get("farClipDistance", impl->persCamera->farClipDistance()); impl->setClipDistances(nearDistance, farDistance); return true; } choreonoid-1.5.0/src/BodyPlugin/python/0000775000000000000000000000000012741425367016545 5ustar rootrootchoreonoid-1.5.0/src/BodyPlugin/python/PyBodyItem.cpp0000664000000000000000000001047412741425367021304 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include "../BodyItem.h" #include #include using namespace boost::python; using namespace cnoid; namespace { BodyItemPtr loadBodyItem(const std::string& filename) { BodyItem* bodyItem = new BodyItem; bodyItem->load(filename); return bodyItem; } BodyPtr BodyItem_body(BodyItem& self) { return self.body(); } LinkPtr BodyItem_currentBaseLink(BodyItem& self) { return self.currentBaseLink(); } BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(BodyItem_calcForwardKinematics_overloads, calcForwardKinematics, 0, 2) void (BodyItem::*BodyItem_notifyKinematicStateChange1)(bool, bool, bool) = &BodyItem::notifyKinematicStateChange; BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(BodyItem_notifyKinematicStateChange1_overloads, notifyKinematicStateChange, 0, 2) void (BodyItem::*BodyItem_notifyKinematicStateChange2)(Connection&, bool, bool, bool) = &BodyItem::notifyKinematicStateChange; BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(BodyItem_notifyKinematicStateChange2_overloads, notifyKinematicStateChange, 1, 3) } void exportBodyItem() { def("loadBodyItem", loadBodyItem); { scope bodyItemScope = class_< BodyItem, BodyItemPtr, bases >("BodyItem") .def("loadModelFile", &BodyItem::loadModelFile) .def("setName", &BodyItem::setName) .def("body", BodyItem_body) .def("isEditable", &BodyItem::isEditable) .def("moveToOrigin", &BodyItem::moveToOrigin) .def("setPresetPose", &BodyItem::setPresetPose) .def("currentBaseLink", BodyItem_currentBaseLink) .def("setCurrentBaseLink", &BodyItem::setCurrentBaseLink) .def("calcForwardKinematics", &BodyItem::calcForwardKinematics, BodyItem_calcForwardKinematics_overloads()) .def("copyKinematicState", &BodyItem::copyKinematicState) .def("pasteKinematicState", &BodyItem::pasteKinematicState) .def("storeKinematicState", &BodyItem::storeKinematicState) .def("restoreKinematicState", &BodyItem::restoreKinematicState) .def("storeInitialState", &BodyItem::storeInitialState) .def("restoreInitialState", &BodyItem::restoreInitialState) .def("getInitialState", &BodyItem::getInitialState) .def("beginKinematicStateEdit", &BodyItem::beginKinematicStateEdit) .def("acceptKinematicStateEdit", &BodyItem::acceptKinematicStateEdit) .def("undoKinematicState", &BodyItem::undoKinematicState) .def("redoKinematicState", &BodyItem::redoKinematicState) .def("sigKinematicStateChanged", &BodyItem::sigKinematicStateChanged) .def("notifyKinematicStateChange", BodyItem_notifyKinematicStateChange1, BodyItem_notifyKinematicStateChange1_overloads()) .def("notifyKinematicStateChange", BodyItem_notifyKinematicStateChange2, BodyItem_notifyKinematicStateChange2_overloads()) .def("enableCollisionDetection", &BodyItem::enableCollisionDetection) .def("isCollisionDetectionEnabled", &BodyItem::isCollisionDetectionEnabled) .def("enableSelfCollisionDetection", &BodyItem::enableSelfCollisionDetection) .def("isSelfCollisionDetectionEnabled", &BodyItem::isSelfCollisionDetectionEnabled) .def("clearCollisions", &BodyItem::clearCollisions) .def("centerOfMass", &BodyItem::centerOfMass, return_value_policy()) .def("doLegIkToMoveCm", &BodyItem::doLegIkToMoveCm) .def("zmp", &BodyItem::zmp, return_value_policy()) .def("setZmp", &BodyItem::setZmp) .def("setStance", &BodyItem::setStance) ; enum_("PresetPoseID") .value("INITIAL_POSE", BodyItem::INITIAL_POSE) .value("STANDARD_POSE", BodyItem::STANDARD_POSE); enum_("PositionType") .value("CM_PROJECTION", BodyItem::CM_PROJECTION) .value("HOME_COP", BodyItem::HOME_COP) .value("RIGHT_HOME_COP", BodyItem::RIGHT_HOME_COP) .value("LEFT_HOME_COP", BodyItem::LEFT_HOME_COP) .value("ZERO_MOMENT_POINT", BodyItem::ZERO_MOMENT_POINT); } implicitly_convertible(); PyItemList("BodyItemList"); } choreonoid-1.5.0/src/BodyPlugin/python/PyItems.cpp0000664000000000000000000000423212741425367020644 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include "../BodyMotionItem.h" #include "../WorldItem.h" #include using namespace boost::python; using namespace cnoid; namespace { MultiValueSeqItemPtr BodyMotionItem_jointPosSeqItem(BodyMotionItem& self) { return self.jointPosSeqItem(); } MultiSE3SeqItemPtr BodyMotionItem_linkPosSeqItem(BodyMotionItem& self) { return self.linkPosSeqItem(); } AbstractSeqItemPtr BodyMotionItem_extraSeqItem(BodyMotionItem& self, int index) { return self.extraSeqItem(index); } } void exportItems() { class_< WorldItem, WorldItemPtr, bases >("WorldItem") .def("selectCollisionDetector", &WorldItem::selectCollisionDetector) .def("enableCollisionDetection", &WorldItem::enableCollisionDetection) .def("isCollisionDetectionEnabled", &WorldItem::isCollisionDetectionEnabled) .def("updateCollisionDetectorLater", &WorldItem::updateCollisionDetectorLater) .def("updateCollisionDetector", &WorldItem::updateCollisionDetector) .def("updateCollisions", &WorldItem::updateCollisions) .def("sigCollisionsUpdated", &WorldItem::sigCollisionsUpdated) ; implicitly_convertible(); implicitly_convertible(); PyItemList("WorldItemList"); class_< BodyMotionItem, BodyMotionItemPtr, bases >("BodyMotionItem") .def("motion", &BodyMotionItem::motion) .def("jointPosSeqItem", BodyMotionItem_jointPosSeqItem) .def("jointPosSeq", &BodyMotionItem::jointPosSeq) .def("linkPosSeqItem", BodyMotionItem_linkPosSeqItem) .def("linkPosSeq", &BodyMotionItem::linkPosSeq) .def("numExtraSeqItems", &BodyMotionItem::numExtraSeqItems, return_value_policy()) .def("extraSeqKey", &BodyMotionItem::extraSeqKey, return_value_policy()) .def("extraSeqItem", BodyMotionItem_extraSeqItem) .def("updateExtraSeqItems", &BodyMotionItem::updateExtraSeqItems) ; implicitly_convertible(); PyItemList("BodyMotionItemList"); } choreonoid-1.5.0/src/BodyPlugin/python/CMakeLists.txt0000664000000000000000000000035612741425367021311 0ustar rootroot # @author Shin'ichiro Nakaoka set(target PyBodyPlugin) add_cnoid_python_module(${target} PyBodyPluginModule.cpp PyBodyItem.cpp PyItems.cpp PySimulationClasses.cpp ) target_link_libraries(${target} CnoidBodyPlugin CnoidPyBase) choreonoid-1.5.0/src/BodyPlugin/python/PySimulationClasses.cpp0000664000000000000000000002363712741425367023237 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include "../SimulatorItem.h" #include "../AISTSimulatorItem.h" #include "../SubSimulatorItem.h" #include "../GLVisionSimulatorItem.h" #include "../SimulationScriptItem.h" #include "../SimulationBar.h" #include "../BodyItem.h" #include using namespace boost::python; using namespace cnoid; namespace { BodyItemPtr SimulationBody_bodyItem(SimulationBody& self) { return self.bodyItem(); } BodyPtr SimulationBody_body(SimulationBody& self) { return self.body(); } SimulatorItemPtr SimulatorItem_findActiveSimulatorItemFor(Item* item) { return SimulatorItem::findActiveSimulatorItemFor(item); } BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(SimulatorItem_startSimulation_overloads, startSimulation, 0, 1) BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(SimulatorItem_setExternalForce_overloads, setExternalForce, 4, 5) void AISTSimulatorItem_setFriction1(AISTSimulatorItem& self, double staticFriction, double slipFriction) { self.setFriction(staticFriction, slipFriction); } void AISTSimulatorItem_setFriction2(AISTSimulatorItem& self, Link* link1, Link* link2, double staticFriction, double slipFriction) { self.setFriction(link1, link2, staticFriction, slipFriction); } } void exportSimulationClasses() { class_, boost::noncopyable>("SimulationBody", no_init) .def("bodyItem", SimulationBody_bodyItem) .def("body", SimulationBody_body); implicitly_convertible(); class_, boost::noncopyable> simulatorItemClass("SimulatorItem", no_init); simulatorItemClass .def("findActiveSimulatorItemFor", SimulatorItem_findActiveSimulatorItemFor).staticmethod("findActiveSimulatorItemFor") .def("worldTimeStep", &SimulatorItem::worldTimeStep) .def("startSimulation", &SimulatorItem::startSimulation, SimulatorItem_startSimulation_overloads()) .def("stopSimulation", &SimulatorItem::stopSimulation) .def("pauseSimulation", &SimulatorItem::pauseSimulation) .def("restartSimulation", &SimulatorItem::restartSimulation) .def("isRunning", &SimulatorItem::isRunning) .def("currentFrame", &SimulatorItem::currentFrame) .def("currentTime", &SimulatorItem::currentTime) .def("sigSimulationFinished", &SimulatorItem::sigSimulationFinished) .def("setRecordingMode", &SimulatorItem::setRecordingMode) .def("recordingMode", &SimulatorItem::recordingMode) .def("setTimeRangeMode", &SimulatorItem::setTimeRangeMode) .def("setRealtimeSyncMode", &SimulatorItem::setRealtimeSyncMode) .def("setDeviceStateOutputEnabled", &SimulatorItem::setDeviceStateOutputEnabled) .def("isRecordingEnabled", &SimulatorItem::isRecordingEnabled) .def("isDeviceStateOutputEnabled", &SimulatorItem::isDeviceStateOutputEnabled) .def("isAllLinkPositionOutputMode", &SimulatorItem::isAllLinkPositionOutputMode) .def("setAllLinkPositionOutputMode", &SimulatorItem::setAllLinkPositionOutputMode) .def("setExternalForce", &SimulatorItem::setExternalForce, SimulatorItem_setExternalForce_overloads()) .def("clearExternalForces", &SimulatorItem::clearExternalForces) ; { scope simulatorItemScope = simulatorItemClass; enum_("RecordingMode") .value("REC_FULL", SimulatorItem::REC_FULL) .value("REC_TAIL", SimulatorItem::REC_TAIL) .value("REC_NONE", SimulatorItem::REC_NONE) .value("N_RECORDING_MODES", SimulatorItem::N_RECORDING_MODES); enum_("TimeRangeMode") .value("TR_UNLIMITED", SimulatorItem::TR_UNLIMITED) .value("TR_ACTIVE_CONTROL", SimulatorItem::TR_ACTIVE_CONTROL) .value("TR_SPECIFIED", SimulatorItem::TR_SPECIFIED) .value("TR_TIMEBAR", SimulatorItem::TR_TIMEBAR) .value("N_TIME_RANGE_MODES", SimulatorItem::N_TIME_RANGE_MODES); } implicitly_convertible(); PyItemList("SimulatorItemList", simulatorItemClass); { scope aistSimulatorItemScope = class_< AISTSimulatorItem, AISTSimulatorItemPtr, bases >("AISTSimulatorItem") .def("setDynamicsMode", &AISTSimulatorItem::setDynamicsMode) .def("setIntegrationMode", &AISTSimulatorItem::setIntegrationMode) .def("setGravity", &AISTSimulatorItem::setGravity) .def("setFriction", AISTSimulatorItem_setFriction1) .def("setFriction", AISTSimulatorItem_setFriction2) .def("collisionHandlerId", &AISTSimulatorItem::collisionHandlerId) .def("setCollisionHandler", &AISTSimulatorItem::setCollisionHandler) .def("setContactCullingDistance", &AISTSimulatorItem::setContactCullingDistance) .def("setContactCullingDepth", &AISTSimulatorItem::setContactCullingDepth) .def("setErrorCriterion", &AISTSimulatorItem::setErrorCriterion) .def("setMaxNumIterations", &AISTSimulatorItem::setMaxNumIterations) .def("setContactCorrectionDepth", &AISTSimulatorItem::setContactCorrectionDepth) .def("setContactCorrectionVelocityRatio", &AISTSimulatorItem::setContactCorrectionVelocityRatio) .def("setEpsilon", &AISTSimulatorItem::setEpsilon) .def("set2Dmode", &AISTSimulatorItem::set2Dmode) .def("setKinematicWalkingEnabled", &AISTSimulatorItem::setKinematicWalkingEnabled) .def("setConstraintForceOutputEnabled", &AISTSimulatorItem::setConstraintForceOutputEnabled) ; enum_("DynamicsMode") .value("FORWARD_DYNAMICS", AISTSimulatorItem::FORWARD_DYNAMICS) .value("HG_DYNAMICS", AISTSimulatorItem::HG_DYNAMICS) .value("KINEMATICS", AISTSimulatorItem::KINEMATICS) .value("N_DYNAMICS_MODES", AISTSimulatorItem::N_DYNAMICS_MODES); enum_("IntegrationMode") .value("EULER_INTEGRATION", AISTSimulatorItem::EULER_INTEGRATION) .value("RUNGE_KUTTA_INTEGRATION", AISTSimulatorItem::RUNGE_KUTTA_INTEGRATION) .value("N_INTEGRATION_MODES", AISTSimulatorItem::N_INTEGRATION_MODES); } implicitly_convertible(); PyItemList("AISTSimulatorItemList"); class_< SubSimulatorItem, SubSimulatorItemPtr, bases, boost::noncopyable>("SubSimulatorItem", no_init) .def("isEnabled", &SubSimulatorItem::isEnabled) .def("setEnabled", &SubSimulatorItem::setEnabled); implicitly_convertible(); PyItemList("SubSimulatorItemList"); class_< GLVisionSimulatorItem, GLVisionSimulatorItemPtr, bases >("GLVisionSimulatorItem") .def("setTargetBodies", &GLVisionSimulatorItem::setTargetBodies) .def("setTargetSensors", &GLVisionSimulatorItem::setTargetSensors) .def("setMaxFrameRate", &GLVisionSimulatorItem::setMaxFrameRate) .def("setMaxLatency", &GLVisionSimulatorItem::setMaxLatency) .def("setVisionDataRecordingEnabled", &GLVisionSimulatorItem::setVisionDataRecordingEnabled) .def("setDedicatedSensorThreadsEnabled", &GLVisionSimulatorItem::setDedicatedSensorThreadsEnabled) .def("setBestEffortMode", &GLVisionSimulatorItem::setBestEffortMode) .def("setRangeSensorPrecisionRatio", &GLVisionSimulatorItem::setRangeSensorPrecisionRatio) .def("setAllSceneObjectsEnabled", &GLVisionSimulatorItem::setAllSceneObjectsEnabled) .def("setHeadLightEnabled", &GLVisionSimulatorItem::setHeadLightEnabled) .def("setAdditionalLightsEnabled", &GLVisionSimulatorItem::setAdditionalLightsEnabled) ; implicitly_convertible(); PyItemList("GLVisionSimulatorItemList"); { scope simulationScriptItemScope = class_< SimulationScriptItem, SimulationScriptItemPtr, bases, boost::noncopyable > ("SimulationScriptItem", no_init) .def("executionTiming", &SimulationScriptItem::executionTiming) .def("setExecutionTiming", &SimulationScriptItem::setExecutionTiming) .def("executionDelay", &SimulationScriptItem::executionDelay) .def("setExecutionDelay", &SimulationScriptItem::setExecutionDelay); enum_("ExecutionTiming") .value("BEFORE_INITIALIZATION", SimulationScriptItem::BEFORE_INITIALIZATION) .value("DURING_INITIALIZATION", SimulationScriptItem::DURING_INITIALIZATION) .value("AFTER_INITIALIZATION", SimulationScriptItem::AFTER_INITIALIZATION) .value("DURING_FINALIZATION", SimulationScriptItem::DURING_FINALIZATION) .value("AFTER_FINALIZATION", SimulationScriptItem::AFTER_FINALIZATION) .value("NUM_TIMINGS", SimulationScriptItem::NUM_TIMINGS); } implicitly_convertible(); //PyItemList("SimulationScriptItemList"); void (SimulationBar::*SimulationBar_startSimulation1)(SimulatorItem*, bool) = &SimulationBar::startSimulation; void (SimulationBar::*SimulationBar_startSimulation2)(bool) = &SimulationBar::startSimulation; class_("SimulationBar", no_init) .def("instance", &SimulationBar::instance, return_value_policy()).staticmethod("instance") .def("startSimulation", SimulationBar_startSimulation1) .def("startSimulation", SimulationBar_startSimulation2) .def("stopSimulation", &SimulationBar::stopSimulation) .def("pauseSimulation", &SimulationBar::pauseSimulation) ; #ifdef _MSC_VER register_ptr_to_python(); #endif } choreonoid-1.5.0/src/BodyPlugin/python/PyBodyPluginModule.cpp0000664000000000000000000000060112741425367023001 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include using namespace boost::python; using namespace cnoid; void exportBodyItem(); void exportItems(); void exportSimulationClasses(); BOOST_PYTHON_MODULE(BodyPlugin) { boost::python::import("cnoid.Base"); boost::python::import("cnoid.Body"); exportBodyItem(); exportItems(); exportSimulationClasses(); } choreonoid-1.5.0/src/BodyPlugin/BodyLinkView.h0000664000000000000000000000101412741425367017737 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_BODYPLUGIN_BODY_LINK_VIEW_H_INCLUDED #define CNOID_BODYPLUGIN_BODY_LINK_VIEW_H_INCLUDED #include namespace cnoid { class BodyLinkViewImpl; class BodyLinkView : public cnoid::View { public: static void initializeClass(ExtensionManager* ext); BodyLinkView(); virtual ~BodyLinkView(); private: BodyLinkViewImpl* impl; virtual bool storeState(Archive& archive); virtual bool restoreState(const Archive& archive); }; } #endif choreonoid-1.5.0/src/RobotAccessPlugin/0000775000000000000000000000000012741425367016536 5ustar rootrootchoreonoid-1.5.0/src/RobotAccessPlugin/exportdecl.h0000664000000000000000000000242112741425367021057 0ustar rootroot #ifndef CNOID_ROBOTACCESSPLUGIN_EXPORTDECL_H_INCLUDED # define CNOID_ROBOTACCESSPLUGIN_EXPORTDECL_H_INCLUDED # if defined _WIN32 || defined __CYGWIN__ # define CNOID_ROBOTACCESSPLUGIN_DLLIMPORT __declspec(dllimport) # define CNOID_ROBOTACCESSPLUGIN_DLLEXPORT __declspec(dllexport) # define CNOID_ROBOTACCESSPLUGIN_DLLLOCAL # else # if __GNUC__ >= 4 # define CNOID_ROBOTACCESSPLUGIN_DLLIMPORT __attribute__ ((visibility("default"))) # define CNOID_ROBOTACCESSPLUGIN_DLLEXPORT __attribute__ ((visibility("default"))) # define CNOID_ROBOTACCESSPLUGIN_DLLLOCAL __attribute__ ((visibility("hidden"))) # else # define CNOID_ROBOTACCESSPLUGIN_DLLIMPORT # define CNOID_ROBOTACCESSPLUGIN_DLLEXPORT # define CNOID_ROBOTACCESSPLUGIN_DLLLOCAL # endif # endif # ifdef CNOID_ROBOTACCESSPLUGIN_STATIC # define CNOID_ROBOTACCESSPLUGIN_DLLAPI # define CNOID_ROBOTACCESSPLUGIN_LOCAL # else # ifdef CnoidRobotAccessPlugin_EXPORTS # define CNOID_ROBOTACCESSPLUGIN_DLLAPI CNOID_ROBOTACCESSPLUGIN_DLLEXPORT # else # define CNOID_ROBOTACCESSPLUGIN_DLLAPI CNOID_ROBOTACCESSPLUGIN_DLLIMPORT # endif # define CNOID_ROBOTACCESSPLUGIN_LOCAL CNOID_ROBOTACCESSPLUGIN_DLLLOCAL # endif #endif #ifdef CNOID_EXPORT # undef CNOID_EXPORT #endif #define CNOID_EXPORT CNOID_ROBOTACCESSPLUGIN_DLLAPI choreonoid-1.5.0/src/RobotAccessPlugin/RobotAccessItem.cpp0000664000000000000000000000162512741425367022274 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "RobotAccessItem.h" using namespace cnoid; RobotAccessItem::RobotAccessItem() { } RobotAccessItem::RobotAccessItem(const RobotAccessItem& org) : Item(org) { } RobotAccessItem::~RobotAccessItem() { } bool RobotAccessItem::connectToRobot() { return true; } bool RobotAccessItem::disconnectFromRobot() { return true; } bool RobotAccessItem::activateServos(bool on) { return true; } bool RobotAccessItem::setStateReadingEnabled(bool on) { return false; } bool RobotAccessItem::sendCurrentPose() { return false; } bool RobotAccessItem::setPlaybackSyncEnabled(bool on) { return false; } void RobotAccessItem::doPutProperties(PutPropertyFunction& putProperty) { } bool RobotAccessItem::store(Archive& archive) { return true; } bool RobotAccessItem::restore(const Archive& archive) { return true; } choreonoid-1.5.0/src/RobotAccessPlugin/RobotAccessItem.h0000664000000000000000000000156712741425367021746 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_ROBOT_ACCESS_PLUGIN_ROBOT_ACCESS_ITEM_H #define CNOID_ROBOT_ACCESS_PLUGIN_ROBOT_ACCESS_ITEM_H #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT RobotAccessItem : public Item { public: virtual bool connectToRobot(); virtual bool disconnectFromRobot(); virtual bool activateServos(bool on); virtual bool setStateReadingEnabled(bool on); virtual bool sendCurrentPose(); virtual bool setPlaybackSyncEnabled(bool on); protected: RobotAccessItem(); RobotAccessItem(const RobotAccessItem& org); virtual ~RobotAccessItem(); virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); }; typedef ref_ptr RobotAccessItemPtr; } #endif choreonoid-1.5.0/src/RobotAccessPlugin/RobotAccessPlugin.cpp0000664000000000000000000000124212741425367022627 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "RobotAccessItem.h" #include "RobotAccessBar.h" #include #include "gettext.h" using namespace std; using namespace cnoid; using namespace boost; namespace { class RobotAccessPlugin : public Plugin { public: RobotAccessPlugin(); virtual bool initialize(); virtual bool finalize(); }; }; RobotAccessPlugin::RobotAccessPlugin() : Plugin("RobotAccess") { require("Body"); } bool RobotAccessPlugin::initialize() { addToolBar(new RobotAccessBar()); return true; } bool RobotAccessPlugin::finalize() { return true; } CNOID_IMPLEMENT_PLUGIN_ENTRY(RobotAccessPlugin) choreonoid-1.5.0/src/RobotAccessPlugin/RobotAccessBar.h0000664000000000000000000000057012741425367021545 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_ROBOT_ACCESS_PLUGIN_ROBOT_ACCESS_BAR_H #define CNOID_ROBOT_ACCESS_PLUGIN_ROBOT_ACCESS_BAR_H #include namespace cnoid { class RobotAccessBarImpl; class RobotAccessBar : public ToolBar { public: RobotAccessBar(); ~RobotAccessBar(); private: RobotAccessBarImpl* impl; }; } #endif choreonoid-1.5.0/src/RobotAccessPlugin/CMakeLists.txt0000664000000000000000000000127412741425367021302 0ustar rootroot # @author Shin'ichiro Nakaoka option(BUILD_ROBOT_ACCESS_PLUGIN "Building the RobotAccess Plugin" OFF) if(NOT BUILD_ROBOT_ACCESS_PLUGIN) return() endif() #set(CMAKE_BUILD_TYPE Debug) set(target CnoidRobotAccessPlugin) set(sources RobotAccessPlugin.cpp RobotAccessItem.cpp RobotAccessBar.cpp ) set(headers RobotAccessItem.h ) make_gettext_mofiles(${target} mofiles) if(NOT QT5) QT4_ADD_RESOURCES(RC_SRCS RobotAccessPlugin.qrc) else() QT5_ADD_RESOURCES(RC_SRCS RobotAccessPlugin.qrc) endif() add_cnoid_plugin(${target} SHARED ${sources} ${headers} ${mofiles} ${RC_SRCS}) target_link_libraries(${target} CnoidBodyPlugin) apply_common_setting_for_plugin(${target} "${headers}") choreonoid-1.5.0/src/RobotAccessPlugin/icons/0000775000000000000000000000000012741425367017651 5ustar rootrootchoreonoid-1.5.0/src/RobotAccessPlugin/icons/servo-on.png0000664000000000000000000000313312741425367022127 0ustar rootroot‰PNG  IHDRàw=ĝsBIT|dˆ pHYsììu85tEXtSoftwarewww.inkscape.org›î<ĜIDATH‰“[L÷Ĉ3;;˲ Ĵa%Xbğĉ²&eÉ´•j6‹eƒ/…ʸRUò·ŠZğ/iâËC*Ġ²ħEE*²Ġö!*ÎCµfħħ!µĠzI— âRĠ–q‘q ğ;{a˜ŭ÷3 qšúHŸfĉÌï|ç̑„ż%êâŬK†‚xŽ7€.ŝ=q•·ß„-ëw–EŜ<ġV+˙yġġÄɓ'3€Ş(Ê?²Ùlèƒ ž†$VVrĵì“ĝç]xqÌÍÂòĵö3xğû3F†ËiŜ½vúOƒí½5°ċ1óŝ °iÓ&‰ƒÁÁÁÌÄÄÄ[ÊS󷐤[l­¤­­Í›Ëċ>‘e9/£i™L†X,FYYíííÔÖÖâp84íKЏÇLOO’$}Ş|Ċ---ÍŞŞŜ,..ĥ455Q^^N~~>ùùùH’ÄŬğwéééaß}=zô™Żchh(ëúÍ`0ĝħ)°˙ŝB›ÍvsçΝżßĊbazzšd2IAA•••êëëıxñ"‡ŸÏ·ĦrMӈD"+sss÷³ÙìqSÀjµžqı\zUU•%•Jħ°°@*•"N“N§ısç ´µµÑĠĠĊ… pğŬ¨ŞjV>>>ž{ĝá˘a7ndMóçÏËÀOĵ^ŻM’$VWWQU0B˜Ĥ¨¨żßÏç#‰àóù4ÉÉIFGGSş7…BĦysÛ˘Ñè‹ĊbĜl6yyy&l6›‰ĦĦ!4MñèÑ#Rݳ³³Ü};-„h …B˙úü\I’ît: ğŬ€ë„aÊÊʐ$‰ÒÒR„¤ÓiĤ§§Ùĵy3333Äb1S†aœƒaòӕ_XYYĞĞĞäċċĦ( ŭŭŭ8p€@ @,f³™Òé4ħX UU ‡šëWƒÁ`ÏÉM‹%šÉdìÉd0èëë#àvğéííeïŜ½ĉ<$IB’$ĤĤĤBñxĴŻŻ˙Ù³gsÏC UWW;ĞŞŞ>ž™™1VVV:‡‡‡<ïÇÏ˙Bp˙L7яIENDB`‚choreonoid-1.5.0/src/RobotAccessPlugin/icons/sendpose.png0000664000000000000000000000147212741425367022203 0ustar rootroot‰PNG  IHDRàw=ĝsBIT|dˆ pHYsììu85tEXtSoftwarewww.inkscape.org›î<·IDATH‰í•KHTQÇ˙çÜ;L35Rt(CŬè¨Tb­#H‚@!ßià"kéĈğÚE›°ˆtÔì7†½ˆZ¨Y6˜f…áTvsĈ™;÷ÜŻE86:ĠlÙ·<ß÷ŭÏwŒˆ°c Ì^ÑÑÂ%–lŠò5´5z7•·€½ìžY2/;ˆPf’ı.trrżVôênŭ7£\nWv-V²ĝ2ŽÒĤò|Örĥ@ŠÚaÊÑ-ò {MWúĥäVwÛÌ&9½İüˆœf‹Ìğ½¸rkPûàYÒ4V4ŜS3´e@Nu{6| &ʲç\éQ91!:è#^_×{‡ĊÇ9EӁ²7u}›ĜĞ…c}{˘­ %yòÖ°MhšŽžŝQ}|ÚΏu×]5Ĝ+;*8cŽÔ”8^qò·˜ċHêĞ!B˙³I }1vqĵğĥ…Á˘!€ìÊöf0~)3- § ³˜Ä9B¸Aç<žşÍÑŝú‘ĥĈ@ÀZ[ı}êÀe]ȳïGA^Ĉ†]G²Éé9Ü>3ÂS/¤âİŞEv¸ħÍä÷X$%1YÉÁ‹IĈ䄈 À×ùE¸—–ƒk³s &Ŝc˜˜t\ÖÜ֐¨f] f]JH‘9°%Ċ‡,/Ğèxİ“Nëî2eÇä×·kßċÖvĈpI˜ŝ Ğ"V‚<ñàWġ°Ż_éĉpÚdĦG!p‹·7~ÊàtÔxÖ&Ĵo‡Ĥšá„Vfí×VÖÉ3zóÌB¸&6>ƒTAÂ+PĈï˜!@´Ş`M=5xK€€ĤaĞ[´-­›ÁŠŭB'h"ü^ úĈ˙Áví?À ‡ìvğĦŞjXŸâïğgR—~Ĝ>?V%_Q”Ha`œı$g$˙/2?Ôö!‚9IENDB`‚choreonoid-1.5.0/src/RobotAccessPlugin/icons/icons.svg0000664000000000000000000006715612741425367021524 0ustar rootroot Icons of Choreonoid GRobotPlugin image/svg+xml Icons of Choreonoid GRobotPlugin Shin'ichiro Nakaoka choreonoid-1.5.0/src/RobotAccessPlugin/icons/syncpose.png0000664000000000000000000000171012741425367022221 0ustar rootroot‰PNG  IHDRàw=ĝsBIT|dˆ pHYsììu85tEXtSoftwarewww.inkscape.org›î<EIDATH‰•OlGĈż™Ùuü'Ş1JIŞ’HÀÖ1–rHUQµäFݍÚàr@”nÜʍCŞ9áPUU!qİ%´—¤ħ…˜Z†"ÙˆMj{Ó}3œjÙhgÔwšĠ÷Ŝû½73o‡)°#cŒ-ë| išçg2™; 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void connectToRobots(); void disconnectFromRobots(); void turnOnServos(); void turnOffServos(); void onSendPoseButtonClicked(); void onServoButtonToggled(bool on); }; } namespace { void forEachCheckedRobotAccessItems (boost::function func, const char* noTargetMessage) { ItemList items = ItemTreeView::instance()->checkedItems(); if(items.empty()){ MessageView::instance()->putln(noTargetMessage); } else { for(int i=0; i < items.size(); ++i){ func(items[i].get()); } } } } RobotAccessBar::RobotAccessBar() : ToolBar(N_("RobotAccessBar")) { impl = new RobotAccessBarImpl(this); } RobotAccessBar::~RobotAccessBar() { } RobotAccessBarImpl::RobotAccessBarImpl(RobotAccessBar* self) { self->addButton(_("C"), _("Connect to robots")) ->sigClicked().connect(boost::bind(&RobotAccessBarImpl::connectToRobots, this)); self->addButton(_("D"), _("Disconnect from robots")) ->sigClicked().connect(boost::bind(&RobotAccessBarImpl::disconnectFromRobots, this)); self->addButton(QIcon(":/RobotAccess/icons/servo-on.png"), _("Turn on servos")) ->sigClicked().connect(boost::bind(&RobotAccessBarImpl::turnOnServos, this)); self->addButton(_("OFF"), _("Turn off servos")) ->sigClicked().connect(boost::bind(&RobotAccessBarImpl::turnOffServos, this)); self->addButton(QIcon(":/RobotAccess/icons/sendpose.png"), _("Send the current pose of virtual robots to actual robots")) ->sigClicked().connect(boost::bind(&RobotAccessBarImpl::onSendPoseButtonClicked, this)); syncToggle = self->addToggleButton(QIcon(":/RobotAccess/icons/syncpose.png"), _("Synchronize the pose of actual robots pose with virtual robots")); } void RobotAccessBarImpl::connectToRobots() { forEachCheckedRobotAccessItems( boost::bind(&RobotAccessItem::connectToRobot, _1), _("There are no checked items to connect to robots")); } void RobotAccessBarImpl::disconnectFromRobots() { forEachCheckedRobotAccessItems( boost::bind(&RobotAccessItem::disconnectFromRobot, _1), _("There are no checked items to disconnect from robots")); } void RobotAccessBarImpl::turnOnServos() { forEachCheckedRobotAccessItems( boost::bind(&RobotAccessItem::activateServos, _1, true), _("There are no checked items to activate servos")); } void RobotAccessBarImpl::turnOffServos() { forEachCheckedRobotAccessItems( boost::bind(&RobotAccessItem::activateServos, _1, false), _("There are no checked items to deactivate servos")); } void RobotAccessBarImpl::onSendPoseButtonClicked() { } void RobotAccessBarImpl::onServoButtonToggled(bool on) { } choreonoid-1.5.0/src/RobotAccessPlugin/RobotAccessPlugin.qrc0000664000000000000000000000031412741425367022631 0ustar rootroot icons/servo-on.png icons/sendpose.png icons/syncpose.png choreonoid-1.5.0/src/ScenarioPlugin/0000775000000000000000000000000012741425367016072 5ustar rootrootchoreonoid-1.5.0/src/ScenarioPlugin/ScenarioItem.cpp0000664000000000000000000000171312741425367021162 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "ScenarioItem.h" #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { const bool TRACE_FUNCTIONS = false; } void ScenarioItem::initializeClass(ExtensionManager* ext) { ext->itemManager().registerClass(N_("ScenarioItem")); ext->itemManager().addCreationPanel(); } ScenarioItem::ScenarioItem() { } ScenarioItem::ScenarioItem(const ScenarioItem& org) : Item(org) { } ScenarioItem::~ScenarioItem() { } Item* ScenarioItem::doDuplicate() const { return new ScenarioItem(*this); } void ScenarioItem::doPutProperties(PutPropertyFunction& putProperty) { } bool ScenarioItem::store(Archive& archive) { return true; } bool ScenarioItem::restore(const Archive& archive) { return true; } choreonoid-1.5.0/src/ScenarioPlugin/ScenarioView.h0000664000000000000000000000074412741425367020646 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_SCENARIO_PLUGIN_SCENARIO_VIEW_H_INCLUDED #define CNOID_SCENARIO_PLUGIN_SCENARIO_VIEW_H_INCLUDED #include namespace cnoid { class ScenarioViewImpl; class ScenarioView : public cnoid::View { public: static void initializeClass(ExtensionManager* ext); ScenarioView(); virtual ~ScenarioView(); private: friend class ScenarioViewImpl; ScenarioViewImpl* impl; }; } #endif choreonoid-1.5.0/src/ScenarioPlugin/CMakeLists.txt0000664000000000000000000000115712741425367020636 0ustar rootroot # @author Shin'ichiro Nakaoka #set(CMAKE_BUILD_TYPE Debug) option(BUILD_SCENARIO_PLUGIN "Building ScenarioPlugin" OFF) if(NOT BUILD_SCENARIO_PLUGIN) return() elseif(NOT BUILD_MEDIA_PLUGIN) message(FATAL_ERROR "ScenarioPlugin requires MediaPlugin") endif() set(target CnoidScenarioPlugin) set(sources ScenarioPlugin.cpp ScenarioItem.cpp ScenarioView.cpp ) set(headers ) make_gettext_mofiles(${target} mofiles) add_cnoid_plugin(${target} SHARED ${sources} ${headers} ${mofiles}) target_link_libraries(${target} CnoidBodyPlugin CnoidMediaPlugin) apply_common_setting_for_plugin(${target} "${headers}") choreonoid-1.5.0/src/ScenarioPlugin/ScenarioView.cpp0000664000000000000000000002106512741425367021200 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "ScenarioView.h" #include "ScenarioItem.h" #include #include #include #include #include #include #include //#include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { const bool TRACE_FUNCTIONS = false; const char* emptyNameString = "--------"; } namespace cnoid { class MotionInfo { public: QHBoxLayout hbox; QLabel motionLabel; PushButton startButton; BodyMotionItemPtr motionItem; MotionInfo(BodyMotionItemPtr motionItem, bool isSequential) : motionItem(motionItem), motionLabel(motionItem->headItem()->name().c_str()) { startButton.setText(_("Start")); if(isSequential){ startButton.setEnabled(false); } hbox.addWidget(&startButton); hbox.addWidget(&motionLabel); hbox.addStretch(); } }; typedef boost::shared_ptr MotionInfoPtr; class ScenarioViewImpl { public: ScenarioViewImpl(ScenarioView* self); ~ScenarioViewImpl(); ScenarioView* self; ostream& os; TimeBar* timeBar; ScenarioItemPtr currentScenarioItem; QVBoxLayout scenarioBox; PushButton updateButton; PushButton startButton; QLabel currentScenarioLabel; CheckBox sequentialCheck; Connection connectionOfItemSelectionChanged; Connection connectionOfCurrentScenarioItemDetachedFromRoot; vector motions; Connection playbackStopConnection; void onItemSelectionChanged(const ItemList& scenarioItems); void setCurrentScenarioItem(ScenarioItemPtr scenarioItem); void update(); void onScenarioItemDetachedFromRoot(ScenarioItemPtr worldItem); void start(); void startMotion(int index); void onPlaybackStopped(int index); }; } void ScenarioView::initializeClass(ExtensionManager* ext) { ext->viewManager().registerClass( "ScenarioView", N_("Scenario"), ViewManager::SINGLE_OPTIONAL); } ScenarioView::ScenarioView() { impl = new ScenarioViewImpl(this); } ScenarioViewImpl::ScenarioViewImpl(ScenarioView* self) : self(self), os(MessageView::mainInstance()->cout()), timeBar(TimeBar::instance()) { self->setDefaultLayoutArea(View::CENTER); QVBoxLayout* vbox = new QVBoxLayout(); QHBoxLayout* hbox = new QHBoxLayout(); updateButton.setText(_("Update")); updateButton.sigClicked().connect(boost::bind(&ScenarioViewImpl::update, this)); hbox->addWidget(&updateButton); startButton.setText(_("Start")); startButton.sigClicked().connect(boost::bind(&ScenarioViewImpl::start, this)); hbox->addWidget(&startButton); sequentialCheck.setText(_("Sequential")); sequentialCheck.sigToggled().connect(boost::bind(&ScenarioViewImpl::update, this)); hbox->addWidget(&sequentialCheck); hbox->addStretch(); vbox->addLayout(hbox); hbox = new QHBoxLayout(); hbox->addWidget(new QLabel(_("Scenario: "))); currentScenarioLabel.setText(emptyNameString); hbox->addWidget(¤tScenarioLabel); currentScenarioLabel.setAlignment(Qt::AlignLeft|Qt::AlignVCenter); hbox->addStretch(); vbox->addLayout(hbox); vbox->addLayout(&scenarioBox); vbox->addStretch(); self->setLayout(vbox); connectionOfItemSelectionChanged = ItemTreeView::mainInstance()->sigSelectionChanged().connect( boost::bind(&ScenarioViewImpl::onItemSelectionChanged, this, _1)); } ScenarioView::~ScenarioView() { delete impl; } ScenarioViewImpl::~ScenarioViewImpl() { connectionOfItemSelectionChanged.disconnect(); playbackStopConnection.disconnect(); } void ScenarioViewImpl::onItemSelectionChanged(const ItemList& scenarioItems) { if(TRACE_FUNCTIONS){ os << "ScenarioViewImpl::onItemSelectionChanged()" << endl; } ScenarioItemPtr scenarioItem = scenarioItems.toSingle(); if(scenarioItem && scenarioItem != currentScenarioItem){ setCurrentScenarioItem(scenarioItem); } } void ScenarioViewImpl::setCurrentScenarioItem(ScenarioItemPtr scenarioItem) { if(TRACE_FUNCTIONS){ os << "ScenarioViewImpl::setCurrentScenarioItem()" << endl; } connectionOfCurrentScenarioItemDetachedFromRoot.disconnect(); currentScenarioItem = scenarioItem; if(scenarioItem){ connectionOfCurrentScenarioItemDetachedFromRoot = scenarioItem->sigDetachedFromRoot().connect( boost::bind(&ScenarioViewImpl::onScenarioItemDetachedFromRoot, this, scenarioItem)); } update(); } void ScenarioViewImpl::update() { motions.clear(); if(!currentScenarioItem){ currentScenarioLabel.setText(""); } else { currentScenarioLabel.setText(currentScenarioItem->name().c_str()); ItemList motionItems; if(motionItems.extractChildItems(currentScenarioItem)){ for(int i=0; i < motionItems.size(); ++i){ MotionInfoPtr info(new MotionInfo(motionItems[i], sequentialCheck.isChecked())); scenarioBox.addLayout(&info->hbox); info->startButton.sigClicked().connect(boost::bind(&ScenarioViewImpl::startMotion, this, i)); motions.push_back(info); } } } } void ScenarioViewImpl::onScenarioItemDetachedFromRoot(ScenarioItemPtr scenarioItem) { if(TRACE_FUNCTIONS){ os << "ScenarioViewImpl::onScenarioItemDetachedFromRoot()" << endl; } if(currentScenarioItem == scenarioItem){ setCurrentScenarioItem(0); } } void ScenarioViewImpl::start() { if(TRACE_FUNCTIONS){ os << "ScenarioViewImpl::onCollisionDetectionToggled()" << endl; } if(sequentialCheck.isChecked()){ for(int i=0; i < motions.size(); ++i){ motions[i]->startButton.setEnabled(i == 0); } } } namespace { template void checkTargetItems(BodyMotionItemPtr motionItem) { ItemTreeView* itv = ItemTreeView::mainInstance(); ItemList targetItems; if(!targetItems.extractChildItems(motionItem)){ Item* parentMotionItem = motionItem->parentItem(); if(!dynamic_cast(parentMotionItem)){ targetItems.extractChildItems(parentMotionItem); } } ItemList allItems; if(allItems.extractChildItems(motionItem->findRootItem())){ for(int i=0; i < allItems.size(); ++i){ ref_ptr item = allItems[i]; typename ItemList::iterator p = std::find(targetItems.begin(), targetItems.end(), item); itv->checkItem(item, (p != targetItems.end())); } } } } void ScenarioViewImpl::startMotion(int index) { if(index < motions.size()){ BodyItemPtr bodyItem = currentScenarioItem->findOwnerItem(); if(bodyItem){ ItemTreeView* itv = ItemTreeView::mainInstance(); MotionInfoPtr info = motions[index]; // select the target body motion item ItemList motionItems; if(motionItems.extractChildItems(bodyItem)){ for(int i=0; i < motionItems.size(); ++i){ BodyMotionItemPtr motionItem = motionItems[i]; if(itv->isItemSelected(motionItem) && (motionItem != info->motionItem)){ itv->selectItem(motionItem, false); } } } itv->selectItem(info->motionItem, true); //checkTargetItems(info->motionItem); checkTargetItems(info->motionItem); if(sequentialCheck.isChecked()){ info->startButton.setEnabled(false); } playbackStopConnection.disconnect(); playbackStopConnection = timeBar->sigPlaybackStopped().connect( boost::bind(&ScenarioViewImpl::onPlaybackStopped, this, index)); timeBar->setTime(0.0); timeBar->startPlayback(); } } } void ScenarioViewImpl::onPlaybackStopped(int index) { playbackStopConnection.disconnect(); if(sequentialCheck.isChecked()){ if(index < motions.size()){ int nextIndex = index + 1; if(nextIndex < motions.size()){ motions[nextIndex]->startButton.setEnabled(true); } } } } choreonoid-1.5.0/src/ScenarioPlugin/ScenarioPlugin.cpp0000664000000000000000000000112412741425367021516 0ustar rootroot /*! @file @author Shin'ichiro Nakaoka */ #include #include #include "ScenarioItem.h" #include "ScenarioView.h" using namespace boost; using namespace cnoid; namespace { class ScenarioPlugin : public Plugin { public: ScenarioPlugin() : Plugin("Scenario") { require("Body"); require("Media"); } virtual bool initialize() { ScenarioItem::initializeClass(this); ScenarioView::initializeClass(this); return true; } }; } CNOID_IMPLEMENT_PLUGIN_ENTRY(ScenarioPlugin); choreonoid-1.5.0/src/ScenarioPlugin/ScenarioItem.h0000664000000000000000000000134612741425367020631 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_SCENARIO_PLUGIN_SCENARIO_ITEM_H_INCLUDED #define CNOID_SCENARIO_PLUGIN_SCENARIO_ITEM_H_INCLUDED #include #include namespace cnoid { class ScenarioItemImpl; class ScenarioItem : public Item { public: static void initializeClass(ExtensionManager* ext); ScenarioItem(); ScenarioItem(const ScenarioItem& org); virtual ~ScenarioItem(); protected: virtual Item* doDuplicate() const; virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); }; typedef ref_ptr ScenarioItemPtr; } #endif choreonoid-1.5.0/src/ScenarioPlugin/po/0000775000000000000000000000000012741425367016510 5ustar rootrootchoreonoid-1.5.0/src/ScenarioPlugin/po/ja.po0000664000000000000000000000200412741425367017436 0ustar rootroot# Japanese translations for PACKAGE package. # Copyright (C) 2013 THE PACKAGE'S COPYRIGHT HOLDER # This file is distributed under the same license as the PACKAGE package. # nakaoka , 2013. # msgid "" msgstr "" "Project-Id-Version: PACKAGE VERSION\n" "Report-Msgid-Bugs-To: \n" "POT-Creation-Date: 2013-08-09 15:18+0900\n" "PO-Revision-Date: 2013-08-09 15:18+0900\n" "Last-Translator: nakaoka \n" "Language-Team: Japanese\n" "Language: ja\n" "MIME-Version: 1.0\n" "Content-Type: text/plain; charset=UTF-8\n" "Content-Transfer-Encoding: 8bit\n" "Plural-Forms: nplurals=1; plural=0;\n" #: ScenarioItem.cpp:23 msgid "ScenarioItem" msgstr "‚·ƒŠƒŞ‚Ş‚˘‚¤ƒ†ƒ " #: ScenarioView.cpp:44 ScenarioView.cpp:109 msgid "Start" msgstr "開ċ§‹" #: ScenarioView.cpp:99 msgid "Scenario" msgstr "‚·ƒŠƒŞ‚Ş" #: ScenarioView.cpp:105 msgid "Update" msgstr "ĉ›´ĉ–°" #: ScenarioView.cpp:113 msgid "Sequential" msgstr "逐ĉĴĦ" #: ScenarioView.cpp:120 msgid "Scenario: " msgstr "‚·ƒŠƒŞ‚Ş: " choreonoid-1.5.0/src/PythonPlugin/0000775000000000000000000000000012741425367015610 5ustar rootrootchoreonoid-1.5.0/src/PythonPlugin/PythonScriptItemImpl.cpp0000664000000000000000000001400212741425367022420 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "PythonScriptItemImpl.h" #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; PythonScriptItemImpl::PythonScriptItemImpl(ScriptItem* scriptItem) : scriptItem_(scriptItem), mv(MessageView::instance()) { executor.setBackgroundMode(false); } PythonScriptItemImpl::PythonScriptItemImpl(ScriptItem* scriptItem, const PythonScriptItemImpl& org) : scriptItem_(scriptItem), scriptFilename_(org.scriptFilename_), mv(MessageView::instance()), executor(org.executor) { } PythonScriptItemImpl::~PythonScriptItemImpl() { } void PythonScriptItemImpl::onDisconnectedFromRoot() { terminate(); } bool PythonScriptItemImpl::setScriptFilename(const std::string& filename) { filesystem::path scriptPath(filename); if(filesystem::exists(scriptPath)){ scriptFilename_ = filename; if(scriptItem()->name().empty()){ scriptItem()->setName(getFilename(filesystem::path(filename))); } return true; } else { mv->putln(format(_("Python script file \"%1%\" cannot be loaded. The file does not exist.")) % filename); return false; } } bool PythonScriptItemImpl::setBackgroundMode(bool on) { if(on != executor.isBackgroundMode()){ executor.setBackgroundMode(on); scriptItem_->notifyUpdate(); } return true; } bool PythonScriptItemImpl::isBackgroundMode() const { return executor.isBackgroundMode(); } bool PythonScriptItemImpl::isRunning() const { return (executor.state() != PythonExecutor::NOT_RUNNING); } bool PythonScriptItemImpl::execute() { const string iname = scriptItem()->identityName(); PythonExecutor::State state = executor.state(); if(state == PythonExecutor::RUNNING_FOREGROUND){ showWarningDialog( format(_("Python script \"%1%\" is now running in the foreground. " "The execution of the script cannot be overlapped.")) % iname); return false; } else if(state == PythonExecutor::RUNNING_BACKGROUND){ bool doRestart = showConfirmDialog( _("Python Script Termination"), str(format(_("Python script \"%1%\" is running now. " "Do you want to terminate and restart it?")) % iname)); if(!doRestart){ return false; } else if(!terminate()){ showWarningDialog(_("The python script cannot be terminated. It cannot be restarted.")); return false; } } bool result = false; if(scriptFilename_.empty()){ mv->putln(format(_(" Python script \"%1%\" is empty.")) % iname); } else { filesystem::path scriptPath(scriptFilename_); if(!filesystem::exists(scriptPath)){ mv->putln(format(_("The file of Python script \"%1%\" does not exist.")) % iname); } else { mv->putln(format(_("Execution of Python script \"%1%\" has been started.")) % iname); sigFinishedConnection.disconnect(); sigFinishedConnection = executor.sigFinished().connect( boost::bind(&PythonScriptItemImpl::onScriptFinished, this)); result = executor.execFile(scriptFilename_); } } return result; } bool PythonScriptItemImpl::executeCode(const char* code) { if(executor.state() != PythonExecutor::NOT_RUNNING){ mv->putln( format(_("Python script \"%1%\" is now running in the foreground. " "The code cannot be executed now.")) % scriptItem()->identityName()); return false; } return executor.execCode(code); } bool PythonScriptItemImpl::waitToFinish(double timeout) { return executor.waitToFinish(timeout); } boost::python::object PythonScriptItemImpl::resultObject() { return executor.resultObject(); } const std::string PythonScriptItemImpl::resultString() const { return executor.resultString(); } void PythonScriptItemImpl::onScriptFinished() { sigFinishedConnection.disconnect(); const string iname = scriptItem()->identityName(); if(executor.isTerminated()){ mv->putln(format(_("The execution of Python script \"%1%\" has been terminated.")) % iname); } else if(executor.hasException()){ mv->putln(format(_("The execution of Python script \"%1%\" failed.\n%2%")) % iname % executor.exceptionText()); } else { if(!executor.resultObject().is_none()){ mv->putln(executor.resultString()); } mv->putln(format(_("The execution of Python script \"%1%\" has been finished.")) % iname); } sigScriptFinished_(); } bool PythonScriptItemImpl::terminate() { bool result = true; const string iname = scriptItem()->identityName(); if(executor.state() == PythonExecutor::RUNNING_BACKGROUND){ if(executor.terminate()){ mv->putln(format(_("Python script \"%1%\" has been terminated.")) % iname); } else { mv->putln(format(_("Python script \"%1%\" cannot be terminated. " "Some internal errors may happen.")) % iname); result = false; } } return result; } void PythonScriptItemImpl::doPutProperties(PutPropertyFunction& putProperty) { putProperty(_("Background execution"), executor.isBackgroundMode(), boost::bind(&PythonScriptItemImpl::onBackgroundModeChanged, this, _1)); } bool PythonScriptItemImpl::onBackgroundModeChanged(bool on) { executor.setBackgroundMode(on); return true; } bool PythonScriptItemImpl::store(Archive& archive) { archive.write("backgroundExecution", executor.isBackgroundMode()); return true; } bool PythonScriptItemImpl::restore(const Archive& archive) { bool isBackgroundMode; if(archive.read("backgroundExecution", isBackgroundMode)){ executor.setBackgroundMode(isBackgroundMode); } return true; } choreonoid-1.5.0/src/PythonPlugin/PythonScriptItem.cpp0000664000000000000000000000665712741425367021617 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "PythonScriptItem.h" #include "PythonScriptItemImpl.h" #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; void PythonScriptItem::initializeClass(ExtensionManager* ext) { ext->itemManager().registerClass(N_("PythonScriptItem")); ext->itemManager().addLoader( _("Python Script"), "PYTHON-SCRIPT-FILE", "py", boost::bind(&PythonScriptItem::setScriptFilename, _1, _2)); } PythonScriptItem::PythonScriptItem() { impl = new PythonScriptItemImpl(this); doExecutionOnLoading = false; } PythonScriptItem::PythonScriptItem(const PythonScriptItem& org) : ScriptItem(org) { impl = new PythonScriptItemImpl(this, *org.impl); doExecutionOnLoading = org.doExecutionOnLoading; } PythonScriptItem::~PythonScriptItem() { delete impl; } void PythonScriptItem::onDisconnectedFromRoot() { impl->onDisconnectedFromRoot(); } bool PythonScriptItem::setScriptFilename(const std::string& filename) { bool result = impl->setScriptFilename(filename); if(result && doExecutionOnLoading){ callLater(boost::bind(&PythonScriptItem::execute, this), LazyCaller::PRIORITY_LOW); } return result; } const std::string& PythonScriptItem::scriptFilename() const { return impl->scriptFilename(); } bool PythonScriptItem::setBackgroundMode(bool on) { return impl->setBackgroundMode(on); } bool PythonScriptItem::isBackgroundMode() const { return impl->isBackgroundMode(); } bool PythonScriptItem::isRunning() const { return impl->isRunning(); } bool PythonScriptItem::execute() { return impl->execute(); } bool PythonScriptItem::executeCode(const char* code) { return impl->executeCode(code); } bool PythonScriptItem::waitToFinish(double timeout) { return impl->waitToFinish(timeout); } std::string PythonScriptItem::resultString() const { return impl->resultString(); } SignalProxy PythonScriptItem::sigScriptFinished() { return impl->sigScriptFinished(); } bool PythonScriptItem::terminate() { return impl->terminate(); } Item* PythonScriptItem::doDuplicate() const { return new PythonScriptItem(*this); } void PythonScriptItem::doPutProperties(PutPropertyFunction& putProperty) { putProperty(_("Script"), getFilename(filePath())); impl->doPutProperties(putProperty); putProperty(_("Execution on loading"), doExecutionOnLoading, changeProperty(doExecutionOnLoading)); } bool PythonScriptItem::store(Archive& archive) { if(!filePath().empty()){ archive.writeRelocatablePath("file", filePath()); } archive.write("executionOnLoading", doExecutionOnLoading); return impl->store(archive); } bool PythonScriptItem::restore(const Archive& archive) { archive.read("executionOnLoading", doExecutionOnLoading); impl->restore(archive); string filename; if(archive.readRelocatablePath("file", filename)){ bool doExecution = doExecutionOnLoading; doExecutionOnLoading = false; // disable execution in the load function bool loaded = load(filename); doExecutionOnLoading = doExecution; if(loaded && doExecution){ archive.addPostProcess(boost::bind(&PythonScriptItem::execute, this)); } return loaded; } return true; } choreonoid-1.5.0/src/PythonPlugin/exportdecl.h0000664000000000000000000000224312741425367020133 0ustar rootroot #ifndef CNOID_PYTHONPLUGIN_EXPORTDECL_H_INCLUDED # define CNOID_PYTHONPLUGIN_EXPORTDECL_H_INCLUDED # if defined _WIN32 || defined __CYGWIN__ # define CNOID_PYTHONPLUGIN_DLLIMPORT __declspec(dllimport) # define CNOID_PYTHONPLUGIN_DLLEXPORT __declspec(dllexport) # define CNOID_PYTHONPLUGIN_DLLLOCAL # else # if __GNUC__ >= 4 # define CNOID_PYTHONPLUGIN_DLLIMPORT __attribute__ ((visibility("default"))) # define CNOID_PYTHONPLUGIN_DLLEXPORT __attribute__ ((visibility("default"))) # define CNOID_PYTHONPLUGIN_DLLLOCAL __attribute__ ((visibility("hidden"))) # else # define CNOID_PYTHONPLUGIN_DLLIMPORT # define CNOID_PYTHONPLUGIN_DLLEXPORT # define CNOID_PYTHONPLUGIN_DLLLOCAL # endif # endif # ifdef CNOID_PYTHONPLUGIN_STATIC # define CNOID_PYTHONPLUGIN_DLLAPI # define CNOID_PYTHONPLUGIN_LOCAL # else # ifdef CnoidPythonPlugin_EXPORTS # define CNOID_PYTHONPLUGIN_DLLAPI CNOID_PYTHONPLUGIN_DLLEXPORT # else # define CNOID_PYTHONPLUGIN_DLLAPI CNOID_PYTHONPLUGIN_DLLIMPORT # endif # define CNOID_PYTHONPLUGIN_LOCAL CNOID_PYTHONPLUGIN_DLLLOCAL # endif #endif #ifdef CNOID_EXPORT # undef CNOID_EXPORT #endif #define CNOID_EXPORT CNOID_PYTHONPLUGIN_DLLAPI choreonoid-1.5.0/src/PythonPlugin/PythonScriptItemImpl.h0000664000000000000000000000301712741425367022071 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_PYTHON_PLUGIN_PYTHON_SCRIPT_ITEM_IMPL_H_INCLUDED #define CNOID_PYTHON_PLUGIN_PYTHON_SCRIPT_ITEM_IMPL_H_INCLUDED #include "PythonExecutor.h" #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT PythonScriptItemImpl { public: PythonScriptItemImpl(ScriptItem* scriptItem); PythonScriptItemImpl(ScriptItem* scriptItem, const PythonScriptItemImpl& org); virtual ~PythonScriptItemImpl(); ScriptItem* scriptItem() { return scriptItem_; } void onDisconnectedFromRoot(); bool setScriptFilename(const std::string& filename); const std::string& scriptFilename() const { return scriptFilename_; } bool setBackgroundMode(bool on); bool isBackgroundMode() const; bool isRunning() const; bool execute(); bool executeCode(const char* code); bool waitToFinish(double timeout); boost::python::object resultObject(); const std::string resultString() const; Signal& sigScriptFinished() { return sigScriptFinished_; } bool terminate(); void doPutProperties(PutPropertyFunction& putProperty); bool store(Archive& archive); bool restore(const Archive& archive); private: void onScriptFinished(); bool onBackgroundModeChanged(bool on); ScriptItem* scriptItem_; std::string scriptFilename_; MessageView* mv; PythonExecutor executor; Connection sigFinishedConnection; Signal sigScriptFinished_; }; } #endif choreonoid-1.5.0/src/PythonPlugin/PythonScriptItem.h0000664000000000000000000000261112741425367021246 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_PYTHON_PLUGIN_PYTHON_SCRIPT_ITEM_H #define CNOID_PYTHON_PLUGIN_PYTHON_SCRIPT_ITEM_H #include #include "exportdecl.h" namespace cnoid { class PythonScriptItemImpl; class CNOID_EXPORT PythonScriptItem : public ScriptItem { public: static void initializeClass(ExtensionManager* ext); PythonScriptItem(); PythonScriptItem(const PythonScriptItem& org); bool setScriptFilename(const std::string& filename); virtual const std::string& scriptFilename() const; virtual bool setBackgroundMode(bool on); virtual bool isBackgroundMode() const; virtual bool isRunning() const; virtual bool execute(); virtual bool executeCode(const char* code); virtual bool waitToFinish(double timeout = 0.0); virtual std::string resultString() const; virtual SignalProxy sigScriptFinished(); virtual bool terminate(); protected: virtual ~PythonScriptItem(); virtual void onDisconnectedFromRoot(); virtual Item* doDuplicate() const; virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: PythonScriptItemImpl* impl; bool doExecutionOnLoading; }; typedef ref_ptr PythonScriptItemPtr; } #endif choreonoid-1.5.0/src/PythonPlugin/PythonPlugin.cpp0000664000000000000000000002163712741425367020765 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "PythonPlugin.h" #include "PythonScriptItem.h" #include "PythonConsoleView.h" #include "PythonExecutor.h" #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; using namespace boost; namespace { python::object mainModule; python::object mainNamespace; python::object cnoidModule; python::object sysModule; python::object exitExceptionType; MappingPtr pythonConfig; Action* redirectionCheck; Action* refreshModulesCheck; list additionalSearchPathList; class MessageViewOut { public: void write(std::string const& text) { if(redirectionCheck->isChecked()){ MessageView* mv = MessageView::instance(); mv->put(text); mv->flush(); } else { cout << text; cout.flush(); } } }; class MessageViewIn { public: python::object readline() { return python::str("\n"); } }; python::object pythonExit() { PyErr_SetObject(exitExceptionType.ptr(), 0); python::throw_error_already_set(); return python::object(); } class PythonPlugin : public Plugin { public: boost::scoped_ptr executor_; python::object messageViewOut; python::object messageViewIn; PythonPlugin(); virtual bool initialize(); bool initializeInterpreter(); virtual bool finalize(); void onSigOptionsParsed(boost::program_options::variables_map& v); bool storeProperties(Archive& archive); void restoreProperties(const Archive& archive); PythonExecutor& executor() { if(!executor_){ executor_.reset(new PythonExecutor); } return *executor_; } }; }; namespace { PythonPlugin* pythonPlugin = 0; } PythonPlugin::PythonPlugin() : Plugin("Python") { pythonPlugin = this; } bool PythonPlugin::initialize() { if(!initializeInterpreter()){ return false; } pythonConfig = AppConfig::archive()->openMapping("Python"); MenuManager& mm = menuManager(); mm.setPath("/Options").setPath("Python"); redirectionCheck = mm.addCheckItem(_("Redirectiton to MessageView")); redirectionCheck->setChecked(pythonConfig->get("redirectionToMessageView", true)); refreshModulesCheck = mm.addCheckItem(_("Refresh modules in the script directory")); refreshModulesCheck->sigToggled().connect(boost::bind(&PythonExecutor::setModuleRefreshEnabled, _1)); if(pythonConfig->get("refreshModules", false)){ refreshModulesCheck->setChecked(true); } PythonScriptItem::initializeClass(this); PythonConsoleView::initializeClass(this); OptionManager& opm = optionManager(); opm.addOption("python,p", program_options::value< vector >(), "load a python script file"); opm.sigOptionsParsed().connect(boost::bind(&PythonPlugin::onSigOptionsParsed, this, _1)); setProjectArchiver( boost::bind(&PythonPlugin::storeProperties, this, _1), boost::bind(&PythonPlugin::restoreProperties, this, _1)); return true; } void PythonPlugin::onSigOptionsParsed(boost::program_options::variables_map& v) { if (v.count("python")) { vector pythonScriptFileNames = v["python"].as< vector >(); for(unsigned int i = 0; i < pythonScriptFileNames.size(); i++){ MessageView::instance()->putln((format(_("Executing python script \"%1%\" ...")) % pythonScriptFileNames[i]).str()); executor().execFile(pythonScriptFileNames[i]); if(!executor().hasException()){ MessageView::instance()->putln(_("The script finished.")); } else { MessageView::instance()->putln(_("Failed to run the python script.")); PyGILock lock; MessageView::instance()->put(executor().exceptionText()); } } } } bool PythonPlugin::initializeInterpreter() { Py_Initialize(); mainModule = python::import("__main__"); mainNamespace = mainModule.attr("__dict__"); /* In Windows, the bin directory must be added to the PATH environment variable so that the DLL in the directory can be loaded in loading Python modules. Note that the corresponding Python variable must be updated instead of using C functions because the Python caches the environment variables and updates the OS variables when the cached variable is updated and the variable values updated using C functions are discarded at that time. For example, the numpy module also updates the PATH variable using the Python variable, and it invalidates the updated PATH value if the value is set using C functions. */ #ifdef WIN32 python::object env = python::import("os").attr("environ"); env["PATH"] = python::str(executableDirectory() + ";") + env["PATH"]; #endif sysModule = python::import("sys"); // set the choreonoid default python script path python::list syspath = python::extract(sysModule.attr("path")); filesystem::path scriptPath = filesystem::path(executableTopDirectory()) / CNOID_PLUGIN_SUBDIR / "python"; syspath.insert(0, getNativePathString(scriptPath)); // Redirect the stdout and stderr to the message view python::object messageViewOutClass = python::class_("MessageViewOut", python::init<>()) .def("write", &MessageViewOut::write); messageViewOut = messageViewOutClass(); sysModule.attr("stdout") = messageViewOut; sysModule.attr("stderr") = messageViewOut; // Disable waiting for input python::object messageViewInClass = python::class_("MessageViewIn", python::init<>()) .def("readline", &MessageViewIn::readline); messageViewIn = messageViewInClass(); sysModule.attr("stdin") = messageViewIn; // Override exit and quit python::object builtins = mainNamespace["__builtins__"]; exitExceptionType = python::import("cnoid.PythonPlugin").attr("ExitException"); python::object exitFunc = python::make_function(pythonExit); builtins.attr("exit") = exitFunc; builtins.attr("quit") = exitFunc; sysModule.attr("exit") = exitFunc; PyEval_InitThreads(); PyEval_SaveThread(); return true; } bool PythonPlugin::storeProperties(Archive& archive) { if(!additionalSearchPathList.empty()){ Listing& pathListing = *archive.openListing("moduleSearchPath"); list::iterator p; for(p = additionalSearchPathList.begin(); p != additionalSearchPathList.end(); ++p){ pathListing.append(archive.getRelocatablePath(*p)); } return true; } return false; } void PythonPlugin::restoreProperties(const Archive& archive) { Listing& pathListing = *archive.findListing("moduleSearchPath"); if(pathListing.isValid()){ MessageView* mv = MessageView::instance(); PyGILock lock; python::list syspath = python::extract(sysModule.attr("path")); string newPath; for(int i=0; i < pathListing.size(); ++i){ newPath = archive.resolveRelocatablePath(pathListing[i].toString()); if(!newPath.empty()){ bool isExisting = false; list::iterator p; for(p = additionalSearchPathList.begin(); p != additionalSearchPathList.end(); ++p){ if(newPath == (*p)){ isExisting = true; break; } } if(!isExisting){ syspath.insert(0, getNativePathString(filesystem::path(newPath))); additionalSearchPathList.push_back(newPath); mv->putln(format(_("PythonPlugin: \"%1%\" has been added to the Python module search path list.")) % newPath); } } } } } bool PythonPlugin::finalize() { pythonConfig->write("redirectionToMessageView", redirectionCheck->isChecked()); pythonConfig->write("refreshModules", refreshModulesCheck->isChecked()); return true; } CNOID_IMPLEMENT_PLUGIN_ENTRY(PythonPlugin); boost::python::object cnoid::pythonMainModule() { return mainModule; } boost::python::object cnoid::pythonMainNamespace() { return mainNamespace; } boost::python::object cnoid::pythonSysModule() { return sysModule; } bool cnoid::execPythonCode(const std::string& code) { PythonExecutor& executor = pythonPlugin->executor(); bool result = executor.execCode(code); if(executor.hasException()){ PyGILock lock; MessageView::instance()->putln(executor.exceptionText()); result = false; } return result; } choreonoid-1.5.0/src/PythonPlugin/rbimporter.py0000664000000000000000000000232012741425367020344 0ustar rootrootimport sys import os.path import __builtin__ rollbackImporter = None class RollbackImporter: def __init__(self, scriptDir): self.scriptDir = scriptDir self.previousModules = [] for k in sys.modules.keys(): self.previousModules.append(k) self.realImport = __builtin__.__import__ __builtin__.__import__ = self._import self.newModules = {} def _import(self, *args): n = args[0] f = args[3] try: g = args[1] except: g = {} try: l = args[2] except: l = {} result = apply(self.realImport, (n, g, l, f)) if result: if hasattr(result, '__file__'): if os.path.dirname(result.__file__) == self.scriptDir: self.newModules[n] = 1 return result def uninstall(self): for m in self.newModules.keys(): if m not in self.previousModules: if m in sys.modules: del(sys.modules[m]) __builtin__.__import__ = self.realImport def refresh(scriptDir): global rollbackImporter if rollbackImporter: rollbackImporter.uninstall() rollbackImporter = RollbackImporter(scriptDir) def uninstall(): if rollbackImporter: rollbackImporter.uninstall() #refresh("") choreonoid-1.5.0/src/PythonPlugin/CMakeLists.txt0000664000000000000000000000211212741425367020344 0ustar rootroot # @author Shin'ichiro Nakaoka if(WIN32) option(BUILD_PYTHON_PLUGIN "Building Python Plugin" OFF) else() option(BUILD_PYTHON_PLUGIN "Building Python Plugin" ON) endif() if(NOT BUILD_PYTHON_PLUGIN) return() elesif(NOT ENABLE_PYTHON) message(FATAL_ERROR "PythonPlugin needs to ENABLE_PYTHON") endif() #set(CMAKE_BUILD_TYPE Debug) set(target CnoidPythonPlugin) set(sources PythonPlugin.cpp PythonExecutor.cpp PythonScriptItem.cpp PythonScriptItemImpl.cpp PythonConsoleView.cpp ) set(headers PythonPlugin.h PythonExecutor.h PythonScriptItem.h PythonScriptItemImpl.h ) make_gettext_mofiles(${target} mofiles) add_cnoid_plugin(${target} SHARED ${sources} ${headers} ${mofiles}) target_link_libraries(${target} CnoidBase ${PYTHON_LIBRARIES} ${Boost_PYTHON_LIBRARY}) apply_common_setting_for_plugin(${target} "${headers}") configure_file(rbimporter.py ${PROJECT_BINARY_DIR}/${CNOID_PYTHON_SUBDIR}/cnoid/ COPYONLY) install(FILES rbimporter.py DESTINATION ${CNOID_PYTHON_SUBDIR}/cnoid CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel) add_subdirectory(python) choreonoid-1.5.0/src/PythonPlugin/PythonConsoleView.h0000664000000000000000000000113412741425367021417 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_PYTHON_PLUGIN_PYTHON_CONSOLE_VIEW_H #define CNOID_PYTHON_PLUGIN_PYTHON_CONSOLE_VIEW_H #include #include "exportdecl.h" namespace cnoid { class PythonConsoleViewImpl; class CNOID_EXPORT PythonConsoleView : public View { public: static void initializeClass(ExtensionManager* ext); PythonConsoleView(); virtual ~PythonConsoleView(); void inputCommand(const std::string& command); SignalProxy sigOutput(); private: PythonConsoleViewImpl* impl; }; } #endif choreonoid-1.5.0/src/PythonPlugin/PythonPlugin.h0000664000000000000000000000066212741425367020425 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_PYTHON_PLUGIN_PYTHON_UTIL_H #define CNOID_PYTHON_PLUGIN_PYTHON_UTIL_H #include #include "exportdecl.h" namespace cnoid { CNOID_EXPORT boost::python::object pythonMainModule(); CNOID_EXPORT boost::python::object pythonMainNamespace(); CNOID_EXPORT boost::python::object pythonSysModule(); CNOID_EXPORT bool execPythonCode(const std::string& code); } #endif choreonoid-1.5.0/src/PythonPlugin/PythonConsoleView.cpp0000664000000000000000000004335012741425367021760 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "PythonConsoleView.h" #include "PythonPlugin.h" #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; using namespace boost::assign; namespace { const unsigned int HISTORY_SIZE = 100; class PythonConsoleOut { PythonConsoleViewImpl* console; public: void setConsole(PythonConsoleViewImpl* console); void write(std::string const& text); }; class PythonConsoleIn { public: PythonConsoleViewImpl* console; void setConsole(PythonConsoleViewImpl* console); python::object readline(); }; } namespace cnoid { class PythonConsoleViewImpl : public QPlainTextEdit { public: PythonConsoleViewImpl(PythonConsoleView* self); ~PythonConsoleViewImpl(); PythonConsoleView* self; bool isConsoleInMode; QEventLoop eventLoop; string stringFromConsoleIn; int inputColumnOffset; QString prompt; std::list::iterator histIter; std::list history; std::vector splitStringVec; std::vector keywords; Signal sigOutput; python::object consoleOut; python::object consoleIn; python::object sys; python::object orgStdout; python::object orgStderr; python::object orgStdin; python::object interpreter; void setPrompt(const char* newPrompt); void put(const QString& message); void putln(const QString& message); void putPrompt(); void execCommand(); python::object getMemberObject(std::vector& moduleNames); python::object getMemberObject(std::vector& moduleNames, python::object& parentObject); std::vector getMemberNames(python::object& moduleObject); void tabComplete(); QString getInputString(); void setInputString(const QString& command); void addToHistory(const QString& command); QString getPrevHistoryEntry(); QString getNextHistoryEntry(); string getInputFromConsoleIn(); void fixInput(); virtual void keyPressEvent(QKeyEvent* event); virtual void insertFromMimeData(const QMimeData* source); }; } void PythonConsoleOut::setConsole(PythonConsoleViewImpl* console) { this->console = console; } void PythonConsoleOut::write(std::string const& text) { console->put(QString(text.c_str())); console->sigOutput(text); } void PythonConsoleIn::setConsole(PythonConsoleViewImpl* console) { this->console = console; } python::object PythonConsoleIn::readline() { //! \todo release the GIL inside this function return python::str(console->getInputFromConsoleIn()); } void PythonConsoleView::initializeClass(ExtensionManager* ext) { ext->viewManager().registerClass( "PythonConsoleView", N_("Python Console"), ViewManager::SINGLE_DEFAULT); } PythonConsoleView::PythonConsoleView() { impl = new PythonConsoleViewImpl(this); setFocusProxy(impl); } PythonConsoleViewImpl::PythonConsoleViewImpl(PythonConsoleView* self) : self(self) { isConsoleInMode = false; inputColumnOffset = 0; splitStringVec += " ","{","}", "(", ")","[","]","<",">",":",";","^","@","\"",",","\\","!","#","'","=","|","*","?","\t"; self->setDefaultLayoutArea(View::BOTTOM); setFrameShape(QFrame::NoFrame); setReadOnly(false); setWordWrapMode(QTextOption::WrapAnywhere); setUndoRedoEnabled(false); QHBoxLayout* hbox = new QHBoxLayout(); hbox->addWidget(this); self->setLayout(hbox); PyGILock lock; #ifdef _WIN32 try { interpreter = python::import("code").attr("InteractiveConsole")(pythonMainNamespace()); } catch (...) { /* ignore the exception on windows. this module is loaded already. */} #else interpreter = python::import("code").attr("InteractiveConsole")(pythonMainNamespace()); #endif python::object consoleOutClass = python::class_("PythonConsoleOut", python::init<>()) .def("write", &PythonConsoleOut::write); consoleOut = consoleOutClass(); PythonConsoleOut& consoleOut_ = python::extract(consoleOut); consoleOut_.setConsole(this); python::object consoleInClass = python::class_("PythonConsoleIn", python::init<>()) .def("readline", &PythonConsoleIn::readline); consoleIn = consoleInClass(); PythonConsoleIn& consoleIn_ = python::extract(consoleIn); consoleIn_.setConsole(this); sys = pythonSysModule(); python::object keyword = python::import("keyword"); python::list kwlist = python::extract(keyword.attr("kwlist")); for(int i = 0; i < python::len(kwlist); ++i) keywords.push_back(python::extract(kwlist[i])); histIter = history.end(); putln(QString("Python %1").arg(Py_GetVersion())); prompt = ">>> "; putPrompt(); } PythonConsoleView::~PythonConsoleView() { PyGILock lock; delete impl; } PythonConsoleViewImpl::~PythonConsoleViewImpl() { } void PythonConsoleViewImpl::setPrompt(const char* newPrompt) { prompt = newPrompt; } void PythonConsoleViewImpl::put(const QString& message) { moveCursor(QTextCursor::End); insertPlainText(message); moveCursor(QTextCursor::End); } void PythonConsoleViewImpl::putln(const QString& message) { put(message + "\n"); MessageView::instance()->flush(); } void PythonConsoleView::inputCommand(const std::string& command) { impl->put(command.c_str()); impl->execCommand(); } SignalProxy PythonConsoleView::sigOutput() { return impl->sigOutput; } void PythonConsoleViewImpl::putPrompt() { put(prompt); sigOutput(prompt.toStdString()); inputColumnOffset = textCursor().columnNumber(); } void PythonConsoleViewImpl::execCommand() { PyGILock lock; orgStdout = sys.attr("stdout"); orgStderr = sys.attr("stderr"); orgStdin = sys.attr("stdin"); sys.attr("stdout") = consoleOut; sys.attr("stderr") = consoleOut; sys.attr("stdin") = consoleIn; QString command = getInputString(); put("\n"); // This must be done after getInputString(). if(python::extract(interpreter.attr("push")(command.toStdString()))){ setPrompt("... "); } else { setPrompt(">>> "); } if(PyErr_Occurred()){ PyErr_Print(); } sys.attr("stdout") = orgStdout; sys.attr("stderr") = orgStderr; sys.attr("stdin") = orgStdin; addToHistory(command); putPrompt(); } python::object PythonConsoleViewImpl::getMemberObject(std::vector& moduleNames) { python::object parentObject = pythonMainModule(); return getMemberObject(moduleNames,parentObject); } python::object PythonConsoleViewImpl::getMemberObject(std::vector& moduleNames, python::object& parentObject) { if(moduleNames.size() == 0){ return parentObject; }else{ string moduleName = moduleNames.front(); moduleNames.erase(moduleNames.begin()); std::vector memberNames = getMemberNames(parentObject); if(std::find(memberNames.begin(),memberNames.end(),moduleName) == memberNames.end()){ return python::object(); }else{ python::object childObject = parentObject.attr(moduleName.c_str()); return getMemberObject(moduleNames,childObject); } } } std::vector PythonConsoleViewImpl::getMemberNames(python::object& moduleObject) { PyObject* pPyObject = moduleObject.ptr(); if(pPyObject == NULL){ return std::vector(); } python::handle<> h( PyObject_Dir(pPyObject) ); python::list memberNames = python::extract(python::object(h)); std::vector retNames; for(int i=0; i < python::len(memberNames); ++i){ if(!strstr(string(python::extract(memberNames[i])).c_str(), "__" )) retNames.push_back(string(python::extract(memberNames[i]))); } return retNames; } void PythonConsoleViewImpl::tabComplete() { PyGILock lock; orgStdout = sys.attr("stdout"); orgStderr = sys.attr("stderr"); orgStdin = sys.attr("stdin"); sys.attr("stdout") = consoleOut; sys.attr("stderr") = consoleOut; sys.attr("stdin") = consoleIn; QTextCursor cursor = textCursor(); string beforeCursorString = getInputString().toStdString(); beforeCursorString = beforeCursorString.substr(0,cursor.columnNumber()-inputColumnOffset); QString afterCursorString = getInputString(); afterCursorString.remove(0, cursor.columnNumber()-inputColumnOffset); int maxSplitIdx = 0; for(std::vector::iterator it = splitStringVec.begin(); it != splitStringVec.end(); ++it){ int splitIdx = beforeCursorString.find_last_of(*it); maxSplitIdx = std::max(splitIdx == string::npos ? 0 : splitIdx+1,maxSplitIdx); } string lastWord = beforeCursorString.substr(maxSplitIdx); beforeCursorString = beforeCursorString.substr(0,maxSplitIdx); std::vector dottedStrings; boost::split(dottedStrings,lastWord,boost::is_any_of(".")); string lastDottedString = dottedStrings.back();// word after last dot std::vector moduleNames = dottedStrings;// words before last dot moduleNames.pop_back(); python::object targetMemberObject = getMemberObject(moduleNames);//member object before last dot std::vector memberNames = getMemberNames(targetMemberObject); // builtin function and syntax completions if(dottedStrings.size() == 1){ python::object builtinsObject = pythonMainModule().attr("__builtins__"); std::vector builtinMethods = getMemberNames(builtinsObject); memberNames.insert(memberNames.end(), builtinMethods.begin(), builtinMethods.end()); memberNames.insert(memberNames.end(), keywords.begin(), keywords.end()); } std::vector completions; unsigned long int maxLength = std::numeric_limits::max(); for(int i=0; i < memberNames.size(); ++i){ if(memberNames[i].substr(0,lastDottedString.size()) == lastDottedString){ completions.push_back(memberNames[i]); maxLength = std::min((unsigned long int)memberNames[i].size(),maxLength); } } if(PyErr_Occurred()){ PyErr_Print(); } sys.attr("stdout") = orgStdout; sys.attr("stderr") = orgStderr; sys.attr("stdin") = orgStdin; if(completions.size() != 0){ // max common string among completions std::string maxCommonStr = lastDottedString; for(int i=maxCommonStr.size(); i < maxLength; ++i){ bool commomFlg = true; for(int j=1; j < completions.size(); ++j){ if(completions[0].at(i) != completions[j].at(i)){ commomFlg = false; break; } } if( commomFlg ){ maxCommonStr.push_back(completions[0].at(i)); }else{ break; } } string beforeLastDotStr = ""; for(std::vector::iterator it = dottedStrings.begin(); it != dottedStrings.end()-1; ++it){ beforeLastDotStr.append(*it); beforeLastDotStr.append("."); } if(lastDottedString == maxCommonStr){ put("\n"); // This must be done after getInputString(). string str = ""; for(int i=0; i < completions.size(); ++i){ str.append(beforeLastDotStr); str.append(completions[i]); str.append(" "); } putln(QString(str.c_str())); putPrompt(); } string str = ""; str.append(beforeCursorString); str.append(beforeLastDotStr); str.append(maxCommonStr); str.append(afterCursorString.toStdString()); setInputString(QString(str.c_str())); for(int i=0; i < afterCursorString.toStdString().size(); ++i) moveCursor(QTextCursor::Left); } } QString PythonConsoleViewImpl::getInputString() { QTextDocument* doc = document(); QString line = doc->findBlockByLineNumber(doc->lineCount() - 1).text(); line.remove(0, inputColumnOffset); return line; } void PythonConsoleViewImpl::setInputString(const QString& command) { if(getInputString() == command){ return; } QTextCursor cursor = textCursor(); cursor.movePosition(QTextCursor::End); cursor.movePosition(QTextCursor::StartOfLine, QTextCursor::KeepAnchor); cursor.movePosition(QTextCursor::Right, QTextCursor::KeepAnchor, inputColumnOffset); cursor.removeSelectedText(); cursor.insertText(command); moveCursor(QTextCursor::End); } void PythonConsoleViewImpl::addToHistory(const QString& command) { if(!command.isEmpty()){ if(history.empty() || history.back() != command){ if(HISTORY_SIZE <= history.size()){ history.pop_front(); } history.push_back(command); } histIter = history.end(); } } QString PythonConsoleViewImpl::getPrevHistoryEntry() { if(!history.empty()){ if(histIter != history.begin()){ --histIter; } return *histIter; } return QString(); } QString PythonConsoleViewImpl::getNextHistoryEntry() { if(!history.empty()){ if(histIter != history.end()){ ++histIter; if(histIter != history.end()){ return *histIter; } } } return QString(); } string PythonConsoleViewImpl::getInputFromConsoleIn() { sys.attr("stdout") = orgStdout; sys.attr("stderr") = orgStderr; sys.attr("stdin") = orgStdin; int result; Py_BEGIN_ALLOW_THREADS isConsoleInMode = true; inputColumnOffset = textCursor().columnNumber(); result = eventLoop.exec(); isConsoleInMode = false; Py_END_ALLOW_THREADS sys.attr("stdout") = consoleOut; sys.attr("stderr") = consoleOut; sys.attr("stdin") = consoleIn; if(result == 0){ return stringFromConsoleIn + "\n"; } else { put("\n"); //! \todo put an error message here return string(); } } void PythonConsoleViewImpl::fixInput() { stringFromConsoleIn = getInputString().toStdString(); put("\n"); eventLoop.exit(); } void PythonConsoleViewImpl::keyPressEvent(QKeyEvent* event) { bool done = false; switch(event->key()){ case Qt::Key_F: if(event->modifiers() == Qt::ControlModifier){ moveCursor(QTextCursor::Right); done = true; } break; case Qt::Key_B: if(event->modifiers() == Qt::ControlModifier){ if(textCursor().columnNumber() > inputColumnOffset){ moveCursor(QTextCursor::Left); } done = true; } break; case Qt::Key_H: if(event->modifiers() == Qt::ControlModifier){ if(textCursor().columnNumber() > inputColumnOffset){ QTextCursor cursor = textCursor(); cursor.movePosition(QTextCursor::Left, QTextCursor::KeepAnchor, 1); cursor.removeSelectedText(); } done = true; } break; case Qt::Key_Left: case Qt::Key_Backspace: if(textCursor().columnNumber() <= inputColumnOffset){ done = true; } break; case Qt::Key_P: if(event->modifiers() != Qt::ControlModifier){ break; } case Qt::Key_Up: setInputString(getPrevHistoryEntry()); done = true; break; case Qt::Key_N: if(event->modifiers() != Qt::ControlModifier){ break; } case Qt::Key_Down: setInputString(getNextHistoryEntry()); done = true; break; case Qt::Key_A: if(event->modifiers() == Qt::ControlModifier){ moveCursor(QTextCursor::StartOfLine); for(int i=0; i < inputColumnOffset; ++i) moveCursor(QTextCursor::Right); done = true; } break; case Qt::Key_E: if( event->modifiers() == Qt::ControlModifier ){ moveCursor(QTextCursor::End); } break; case Qt::Key_Return: if(isConsoleInMode){ fixInput(); } else { execCommand(); } done = true; break; case Qt::Key_Tab: { QString inputString = getInputString(); if(inputString.toStdString().empty() || *(inputString.toStdString().end()-1) == '\t'){ done = false; }else{ tabComplete(); done = true; } } break; default: break; } if(!done){ QPlainTextEdit::keyPressEvent(event); } } /** \todo Implement this virtual function to correctly process a pasted text block */ void PythonConsoleViewImpl::insertFromMimeData(const QMimeData* source) { if(!source->hasText()){ QPlainTextEdit::insertFromMimeData(source); } else { QString text = source->text(); QStringList lines = text.split(QRegExp("(\r\n|\r|\n)")); int n = lines.size(); if(n > 0){ for(int i=0; i < n - 1; ++i){ put(lines[i]); execCommand(); } const QString& lastLine = lines[n-1]; if(!lastLine.isEmpty()){ put(lastLine); if(text.contains(QRegExp("[\r\n]$"))){ execCommand(); } } } } } choreonoid-1.5.0/src/PythonPlugin/po/0000775000000000000000000000000012741425367016226 5ustar rootrootchoreonoid-1.5.0/src/PythonPlugin/po/ja.po0000664000000000000000000001057312741425367017166 0ustar rootroot# Japanese translations for PACKAGE package. # Copyright (C) 2013 THE PACKAGE'S COPYRIGHT HOLDER # This file is distributed under the same license as the PACKAGE package. # nakaoka , 2013. # msgid "" msgstr "" "Project-Id-Version: PACKAGE VERSION\n" "Report-Msgid-Bugs-To: \n" "POT-Creation-Date: 2015-01-28 18:59+0900\n" "PO-Revision-Date: 2013-09-10 16:13+0900\n" "Last-Translator: nakaoka \n" "Language-Team: Japanese\n" "Language: ja\n" "MIME-Version: 1.0\n" "Content-Type: text/plain; charset=UTF-8\n" "Content-Transfer-Encoding: 8bit\n" "Plural-Forms: nplurals=1; plural=0;\n" #: PythonConsoleView.cpp:117 msgid "Python Console" msgstr "Python‚³ƒ³‚½ƒĵƒĞ" #: PythonPlugin.cpp:120 msgid "Redirectiton to MessageView" msgstr "" #: PythonPlugin.cpp:123 msgid "Refresh modules in the script directory" msgstr "" #: PythonPlugin.cpp:149 msgid "Executing python script \"%1%\" ..." msgstr "Python‚ı‚ŻƒŞƒ—ƒˆ \"%1%\" ‚’ċŸèĦŒä¸­..." #: PythonPlugin.cpp:152 msgid "The script finished." msgstr "‚ı‚ŻƒŞƒ—ƒˆŒçµ‚了——Ÿ€‚" #: PythonPlugin.cpp:154 msgid "Failed to run the python script." msgstr "Python‚ı‚ŻƒŞƒ—ƒˆċŸèĦŒĞċ¤ħĉ•———Ÿ€‚" #: PythonPlugin.cpp:243 msgid "" "PythonPlugin: \"%1%\" has been added to the Python module search path list." msgstr "PythonPlugin: \"%1%\" ŒPythonƒ˘‚¸ƒƒĵƒĞƒ‘‚ıĞèż½ċŠ •‚Œ—Ÿ€‚" #: PythonScriptItem.cpp:21 msgid "PythonScriptItem" msgstr "Python‚ı‚ŻƒŞƒ—ƒˆ‚˘‚¤ƒ†ƒ " #: PythonScriptItem.cpp:23 msgid "Python Script" msgstr "Python‚ı‚ŻƒŞƒ—ƒˆ" #: PythonScriptItem.cpp:133 msgid "Script" msgstr "‚ı‚ŻƒŞƒ—ƒˆ" #: PythonScriptItem.cpp:135 msgid "Execution on loading" msgstr "èŞ­żèĵżĉ™‚ĞċŸèĦŒ" #: PythonScriptItemImpl.cpp:57 msgid "Python script file \"%1%\" cannot be loaded. The file does not exist." msgstr "" "Python‚ı‚ŻƒŞƒ—ƒˆƒ•‚Ħ‚¤ƒĞ \"%1%\" Żċ­˜ċœ¨—Ş„Ÿ‚èŞ­ż“‚€“¨Œ§›‚“€‚" #: PythonScriptItemImpl.cpp:92 msgid "" "Python script \"%1%\" is now running in the foreground. The execution of the " "script cannot be overlapped." msgstr "" "Python‚ı‚ŻƒŞƒ—ƒˆ \"%1%\" Żƒƒƒ‚Ż‚°ƒİ‚Ĥƒ³ƒ‰‚ıƒĴƒƒƒ‰§ċŸèĦŒä¸­§™€‚‚ı‚ŻƒŞƒ—ƒˆ‚’" "重複—ĤċŸèĦŒ™‚‹“¨Ż§›‚“€‚" #: PythonScriptItemImpl.cpp:97 msgid "Python Script Termination" msgstr "Python‚ı‚ŻƒŞƒ—ƒˆċœĉ­˘" #: PythonScriptItemImpl.cpp:98 msgid "" "Python script \"%1%\" is running now. Do you want to terminate and restart " "it?" msgstr "" "Python‚ı‚ŻƒŞƒ—ƒˆ\"%1%\"Żƒƒƒ‚Ż‚°ƒİ‚Ĥƒ³ƒ‰‚ıƒĴƒƒƒ‰§ċŸèĦŒä¸­§™€‚“‚Œ‚’ċœĉ­˘—Ĥ" "ċ†ċŸèĦŒ—™‹ïĵŸ" #: PythonScriptItemImpl.cpp:103 msgid "The python script cannot be terminated. It cannot be restarted." msgstr "Python‚ı‚ŻƒŞƒ—ƒˆ‚’終了§›‚“€‚ċ†ċŸèĦŒ§›‚“€‚" #: PythonScriptItemImpl.cpp:111 msgid " Python script \"%1%\" is empty." msgstr "Python‚ı‚ŻƒŞƒ—ƒˆ \"%1%\" Żçİş§™€‚" #: PythonScriptItemImpl.cpp:117 msgid "The file of Python script \"%1%\" does not exist." msgstr "Python‚ı‚ŻƒŞƒ—ƒˆ \"%1%\" ƒ•‚Ħ‚¤ƒĞŒċ­˜ċœ¨—›‚“€‚" #: PythonScriptItemImpl.cpp:120 msgid "Execution of Python script \"%1%\" has been started." msgstr "Python‚ı‚ŻƒŞƒ—ƒˆ \"%1%\" ċŸèĦŒ‚’é–‹ċ§‹——Ÿ€‚" #: PythonScriptItemImpl.cpp:138 msgid "" "Python script \"%1%\" is now running in the foreground. The code cannot be " "executed now." msgstr "" "Python‚ı‚ŻƒŞƒ—ƒˆ\"%1%\"Ż ƒƒƒ‚Ż‚°ƒİ‚Ĥƒ³ƒ‰‚ıƒĴƒƒƒ‰§ċŸèĦŒä¸­§™€‚“‚Œ‚’ċœĉ­˘" "—Ĥċ†ċŸèĦŒ—™‹ïĵŸ" #: PythonScriptItemImpl.cpp:175 msgid "The execution of Python script \"%1%\" has been finished." msgstr "Python‚ı‚ŻƒŞƒ—ƒˆ \"%1%\" ċŸèĦŒŒċŒäş†——Ÿ€‚" #: PythonScriptItemImpl.cpp:177 msgid "" "The execution of Python script \"%1%\" failed.\n" "%2%" msgstr "" "Python‚ı‚ŻƒŞƒ—ƒˆ \"%1%\" ċŸèĦŒŒċ¤ħĉ•———Ÿ€‚\n" "%2%" #: PythonScriptItemImpl.cpp:192 msgid "Python script \"%1%\" has been terminated." msgstr "Python‚ı‚ŻƒŞƒ—ƒˆ \"%1%\" ‚’ċœĉ­˘——Ÿ€‚" #: PythonScriptItemImpl.cpp:194 msgid "" "Python script \"%1%\" cannot be terminated. Some internal errors may happen." msgstr "Python‚ı‚ŻƒŞƒ—ƒˆ \"%1%\" ċŸèĦŒ‚’ċœĉ­˘§›‚“€‚ċ†ċŸèĦŒ§›‚“€‚" #: PythonScriptItemImpl.cpp:205 msgid "Background execution" msgstr "ƒƒƒ‚Ż‚°ƒİ‚Ĥƒ³ƒ‰ċŸèĦŒ" choreonoid-1.5.0/src/PythonPlugin/PythonExecutor.cpp0000664000000000000000000003534012741425367021321 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "PythonExecutor.h" #include #include #include #include #include #include #include #include #include #include // Boost 1.58 #if BOOST_VERSION / 100 % 1000 == 58 #include #endif using namespace std; using namespace boost; using namespace cnoid; namespace { bool isInitialized = false; python::object exitExceptionType; python::object sys; python::object StringOutClass; bool isDefaultModuleRefreshEnabled = false; python::object rollBackImporter; typedef map PathRefMap; PathRefMap additionalPythonPathRefMap; class StringOut { string buf; public: void write(string const& text){ buf += text; } const string& text() const { return buf; } }; void initializeStaticObjects() { if(!isInitialized){ PyGILock lock; exitExceptionType = python::import("cnoid.PythonPlugin").attr("ExitException"); sys = python::import("sys"); StringOutClass = python::class_("StringOut", python::init<>()) .def("write", &StringOut::write) .def("text", &StringOut::text, python::return_value_policy()); rollBackImporter = python::import("cnoid.rbimporter"); isInitialized = true; } } } namespace cnoid { class PythonExecutorImpl : public QThread { public: bool isBackgroundMode; bool isRunningForeground; bool isModuleRefreshEnabled; boost::function functionToExecScript; Qt::HANDLE threadId; mutable QMutex stateMutex; QWaitCondition stateCondition; python::object resultObject; string resultString; Signal sigFinished; string scriptDirectory; PathRefMap::iterator pathRefIter; bool hasException; string exceptionTypeName; string exceptionText; python::object exceptionType; python::object exceptionValue; python::object lastResultObject; string lastResultString; python::object lastExceptionType; python::object lastExceptionValue; string lastExceptionTypeName; string lastExceptionText; bool isTerminated; PythonExecutorImpl(); PythonExecutorImpl(const PythonExecutorImpl& org); void resetLastResultObjects(); ~PythonExecutorImpl(); PythonExecutor::State state() const; bool exec(boost::function execScript, const string& filename); bool execMain(boost::function execScript); virtual void run(); bool waitToFinish(double timeout); void onBackgroundExecutionFinished(); void releasePythonPathRef(); bool terminateScript(); }; } void PythonExecutor::setModuleRefreshEnabled(bool on) { isDefaultModuleRefreshEnabled = on; } PythonExecutor::PythonExecutor() { impl = new PythonExecutorImpl(); } PythonExecutorImpl::PythonExecutorImpl() { isBackgroundMode = false; isRunningForeground = false; isModuleRefreshEnabled = isDefaultModuleRefreshEnabled; hasException = false; isTerminated = false; resetLastResultObjects(); } PythonExecutor::PythonExecutor(const PythonExecutor& org) { impl = new PythonExecutorImpl(*org.impl); } PythonExecutorImpl::PythonExecutorImpl(const PythonExecutorImpl& org) { isBackgroundMode = org.isBackgroundMode; isRunningForeground = false; isModuleRefreshEnabled = isDefaultModuleRefreshEnabled; hasException = false; isTerminated = false; resetLastResultObjects(); } void PythonExecutorImpl::resetLastResultObjects() { lastResultObject = boost::python::object(); // null lastExceptionType = boost::python::object(); // null lastExceptionValue = boost::python::object(); // null } PythonExecutor::~PythonExecutor() { delete impl; } PythonExecutorImpl::~PythonExecutorImpl() { if(state() == PythonExecutor::RUNNING_BACKGROUND){ if(!terminateScript()){ QThread::terminate(); wait(); } } } void PythonExecutor::setBackgroundMode(bool on) { impl->isBackgroundMode = on; } bool PythonExecutor::isBackgroundMode() const { return impl->isBackgroundMode; } PythonExecutor::State PythonExecutorImpl::state() const { PythonExecutor::State state; if(QThread::isRunning()){ state = PythonExecutor::RUNNING_BACKGROUND; } else { stateMutex.lock(); if(isRunningForeground){ state = PythonExecutor::RUNNING_FOREGROUND; } else { state = PythonExecutor::NOT_RUNNING; } stateMutex.unlock(); } return state; } PythonExecutor::State PythonExecutor::state() const { return impl->state(); } static boost::python::object execPythonCodeSub(const std::string& code) { return python::exec(code.c_str(), cnoid::pythonMainNamespace()); } static boost::python::object execPythonFileSub(const std::string& filename) { // Boost 1.58 #if BOOST_VERSION / 100 % 1000 == 58 // Avoid a segv with exec_file // See: https://github.com/boostorg/python/pull/15 std::ifstream t(filename.c_str()); std::stringstream buffer; buffer << t.rdbuf(); return execPythonCodeSub(buffer.str().c_str()); #else // default implementation return python::exec_file(filename.c_str(), cnoid::pythonMainNamespace()); #endif } bool PythonExecutor::execCode(const std::string& code) { return impl->exec(boost::bind(execPythonCodeSub, code), ""); } bool PythonExecutor::execFile(const std::string& filename) { return impl->exec(boost::bind(execPythonFileSub, filename), filename); } bool PythonExecutorImpl::exec(boost::function execScript, const string& filename) { if(state() != PythonExecutor::NOT_RUNNING){ return false; } if(!isInitialized){ initializeStaticObjects(); } bool doAddPythonPath = false; pathRefIter = additionalPythonPathRefMap.end(); filesystem::path filepath; if(filename.empty()){ scriptDirectory.clear(); } else { filepath = getAbsolutePath(filesystem::path(filename)); scriptDirectory = getPathString(filepath.parent_path()); if(!scriptDirectory.empty()){ pathRefIter = additionalPythonPathRefMap.find(scriptDirectory); if(pathRefIter == additionalPythonPathRefMap.end()){ pathRefIter = additionalPythonPathRefMap.insert(PathRefMap::value_type(scriptDirectory, 1)).first; doAddPythonPath = true; } else { pathRefIter->second += 1; } } } bool result = true; { PyGILock lock; // clear exception variables hasException = false; exceptionTypeName.clear(); exceptionText.clear(); exceptionType = python::object(); exceptionValue = python::object(); isTerminated = false; functionToExecScript = execScript; if(doAddPythonPath){ python::list syspath = python::extract(pythonSysModule().attr("path")); syspath.insert(0, scriptDirectory); } if(isModuleRefreshEnabled){ rollBackImporter.attr("refresh")(scriptDirectory); } if(!filename.empty()){ filesystem::path relative; if(findRelativePath(filesystem::current_path(), filepath, relative)){ pythonMainNamespace()["__file__"] = getPathString(relative); } } if(!isBackgroundMode){ stateMutex.lock(); threadId = currentThreadId(); isRunningForeground = true; stateMutex.unlock(); result = execMain(execScript); } } if(isBackgroundMode){ stateMutex.lock(); isRunningForeground = false; start(); // wait for the threadId variable to be set in the run() function. stateCondition.wait(&stateMutex); stateMutex.unlock(); } return result; } bool PythonExecutorImpl::execMain(boost::function execScript) { bool completed = false; resultObject = boost::python::object(); resultString.clear(); try { resultObject = execScript(); resultString = python::extract(python::str(resultObject)); completed = true; } catch(python::error_already_set const & ex) { if(PyErr_Occurred()){ if(PyErr_ExceptionMatches(exitExceptionType.ptr())){ PyErr_Clear(); isTerminated = true; } else { PyObject* ptype; PyObject* pvalue; PyObject* ptraceback; PyErr_Fetch(&ptype, &pvalue, &ptraceback); if(ptype){ exceptionType = python::object(python::handle<>(python::borrowed(ptype))); exceptionTypeName = python::extract(python::str(exceptionType)); } if(pvalue){ exceptionValue = python::object(python::handle<>(python::borrowed(pvalue))); } // get an error message by redirecting the output of PyErr_Print() python::object stderr_ = sys.attr("stderr"); python::object strout = StringOutClass(); sys.attr("stderr") = strout; PyErr_Restore(ptype, pvalue, ptraceback); PyErr_Print(); sys.attr("stderr") = stderr_; exceptionText = python::extract(strout.attr("text")()); resultObject = exceptionValue; resultString = exceptionText; hasException = true; } } } //releasePythonPathRef(); stateMutex.lock(); isRunningForeground = false; lastResultObject = resultObject; lastResultString = resultString; lastExceptionType = exceptionType; lastExceptionValue = exceptionValue; lastExceptionTypeName = exceptionTypeName; lastExceptionText = exceptionText; stateCondition.wakeAll(); stateMutex.unlock(); if(QThread::isRunning()){ callLater(boost::bind(&PythonExecutorImpl::onBackgroundExecutionFinished, this)); } else { sigFinished(); } return completed; } void PythonExecutorImpl::run() { stateMutex.lock(); threadId = currentThreadId(); stateCondition.wakeAll(); stateMutex.unlock(); PyGILock lock; execMain(functionToExecScript); } bool PythonExecutor::waitToFinish(double timeout) { return impl->waitToFinish(timeout); } bool PythonExecutorImpl::waitToFinish(double timeout) { unsigned long time = (timeout == 0.0) ? ULONG_MAX : timeout * 1000.0; if(QThread::isRunning()){ return wait(time); } else if(isRunningForeground){ stateMutex.lock(); const bool isDifferentThread = (threadId != QThread::currentThreadId()); stateMutex.unlock(); if(!isDifferentThread){ return false; } else { bool isTimeout = false; while(true){ bool finished = false; stateMutex.lock(); if(!isRunningForeground){ finished = true; } else { isTimeout = !stateCondition.wait(&stateMutex, time); finished = !isRunningForeground; } stateMutex.unlock(); if(finished || isTimeout){ break; } } return !isTimeout; } } return true; } /** \note GIL must be obtained when accessing this object. */ boost::python::object PythonExecutor::resultObject() { impl->stateMutex.lock(); boost::python::object object = impl->lastResultObject; impl->stateMutex.unlock(); return object; } const std::string PythonExecutor::resultString() const { impl->stateMutex.lock(); string result = impl->lastResultString; impl->stateMutex.unlock(); return result; } void PythonExecutorImpl::onBackgroundExecutionFinished() { sigFinished(); } void PythonExecutorImpl::releasePythonPathRef() { if(pathRefIter != additionalPythonPathRefMap.end()){ if(--pathRefIter->second == 0){ PyGILock lock; python::list syspath = python::extract(pythonSysModule().attr("path")); int n = python::len(syspath); for(int i=0; i < n; ++i){ string path = python::extract(syspath[i]); if(path == scriptDirectory){ syspath.pop(i); break; } } additionalPythonPathRefMap.erase(pathRefIter); } pathRefIter = additionalPythonPathRefMap.end(); } } SignalProxy PythonExecutor::sigFinished() { return impl->sigFinished; } bool PythonExecutor::terminate() { return impl->terminateScript(); } bool PythonExecutorImpl::terminateScript() { bool terminated = true; if(QThread::isRunning()){ terminated = false; for(int i=0; i < 400; ++i){ { PyGILock lock; PyThreadState_SetAsyncExc((long)threadId, exitExceptionType().ptr()); } if(wait(20)){ terminated = true; break; } } //releasePythonPathRef(); } else if(isRunningForeground){ PyGILock lock; PyErr_SetObject(exitExceptionType().ptr(), 0); //releasePythonPathRef(); python::throw_error_already_set(); } return terminated; } bool PythonExecutor::hasException() const { return impl->hasException; } /** \note The name includes module components. */ const std::string PythonExecutor::exceptionTypeName() const { impl->stateMutex.lock(); string name = impl->lastExceptionTypeName; impl->stateMutex.unlock(); return name; } const std::string PythonExecutor::exceptionText() const { impl->stateMutex.lock(); string text = impl->lastExceptionText; impl->stateMutex.unlock(); return text; } /** \note GIL must be obtained when accessing this object. */ boost::python::object PythonExecutor::exceptionType() const { impl->stateMutex.lock(); python::object exceptionType = impl->lastExceptionType; impl->stateMutex.unlock(); return exceptionType; } /** \note GIL must be obtained when accessing this object. */ boost::python::object PythonExecutor::exceptionValue() const { impl->stateMutex.lock(); python::object value = impl->lastExceptionValue; impl->stateMutex.unlock(); return value; } bool PythonExecutor::isTerminated() const { return impl->isTerminated; } choreonoid-1.5.0/src/PythonPlugin/python/0000775000000000000000000000000012741425367017131 5ustar rootrootchoreonoid-1.5.0/src/PythonPlugin/python/CMakeLists.txt0000664000000000000000000000024412741425367021671 0ustar rootroot # @author Shin'ichiro Nakaoka set(target PyPythonPlugin) add_cnoid_python_module(${target} PyPythonPlugin.cpp) target_link_libraries(${target} CnoidPythonPlugin) choreonoid-1.5.0/src/PythonPlugin/python/PyPythonPlugin.cpp0000664000000000000000000000121412741425367022604 0ustar rootroot/* * @author Shin'ichiro Nakaoka */ #include using namespace boost; BOOST_PYTHON_MODULE(PythonPlugin) { // define the ExitException class which inherits the built-in Exception class python::object mainModule = python::import("__main__"); python::object mainName = mainModule.attr("__name__"); mainModule.attr("__name__") = python::scope().attr("__name__"); python::exec("class ExitException (Exception): pass\n", mainModule.attr("__dict__"), python::scope().attr("__dict__")); //python object::ExitException = python::scope().attr("ExitException"); mainModule.attr("__name__") = mainName; } choreonoid-1.5.0/src/PythonPlugin/PythonExecutor.h0000664000000000000000000000231312741425367020760 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_PYTHON_PLUGIN_PYTHON_EXECUTOR_H #define CNOID_PYTHON_PLUGIN_PYTHON_EXECUTOR_H #include "PythonPlugin.h" #include #include "exportdecl.h" namespace cnoid { class PythonExecutorImpl; class CNOID_EXPORT PythonExecutor { public: static void setModuleRefreshEnabled(bool on); PythonExecutor(); PythonExecutor(const PythonExecutor& org); ~PythonExecutor(); void setBackgroundMode(bool on); bool isBackgroundMode() const; enum State { NOT_RUNNING, RUNNING_FOREGROUND, RUNNING_BACKGROUND }; State state() const; bool execCode(const std::string& code); bool execFile(const std::string& filename); bool waitToFinish(double timeout); boost::python::object resultObject(); const std::string resultString() const; SignalProxy sigFinished(); bool hasException() const; const std::string exceptionTypeName() const; const std::string exceptionText() const; boost::python::object exceptionType() const; boost::python::object exceptionValue() const; bool isTerminated() const; bool terminate(); private: PythonExecutorImpl* impl; }; } #endif choreonoid-1.5.0/src/ODEPlugin/0000775000000000000000000000000012741425367014736 5ustar rootrootchoreonoid-1.5.0/src/ODEPlugin/exportdecl.h0000664000000000000000000000213612741425367017262 0ustar rootroot#ifndef CNOID_ODEPLUGIN_EXPORTDECL_H_INCLUDED # define CNOID_ODEPLUGIN_EXPORTDECL_H_INCLUDED # if defined _WIN32 || defined __CYGWIN__ # define CNOID_ODEPLUGIN_DLLIMPORT __declspec(dllimport) # define CNOID_ODEPLUGIN_DLLEXPORT __declspec(dllexport) # define CNOID_ODEPLUGIN_DLLLOCAL # else # if __GNUC__ >= 4 # define CNOID_ODEPLUGIN_DLLIMPORT __attribute__ ((visibility("default"))) # define CNOID_ODEPLUGIN_DLLEXPORT __attribute__ ((visibility("default"))) # define CNOID_ODEPLUGIN_DLLLOCAL __attribute__ ((visibility("hidden"))) # else # define CNOID_ODEPLUGIN_DLLIMPORT # define CNOID_ODEPLUGIN_DLLEXPORT # define CNOID_ODEPLUGIN_DLLLOCAL # endif # endif # ifdef CNOID_ODEPLUGIN_STATIC # define CNOID_ODEPLUGIN_DLLAPI # define CNOID_ODEPLUGIN_LOCAL # else # ifdef CnoidODEPlugin_EXPORTS # define CNOID_ODEPLUGIN_DLLAPI CNOID_ODEPLUGIN_DLLEXPORT # else # define CNOID_ODEPLUGIN_DLLAPI CNOID_ODEPLUGIN_DLLIMPORT # endif # define CNOID_ODEPLUGIN_LOCAL CNOID_ODEPLUGIN_DLLLOCAL # endif #endif #ifdef CNOID_EXPORT # undef CNOID_EXPORT #endif #define CNOID_EXPORT CNOID_ODEPLUGIN_DLLAPI choreonoid-1.5.0/src/ODEPlugin/ODESimulatorItem.cpp0000664000000000000000000012636312741425367020603 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "ODESimulatorItem.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" #ifdef GAZEBO_ODE #include #define ITEM_NAME N_("GazeboODESimulatorItem") #else #include #define ITEM_NAME N_("ODESimulatorItem") #endif #include using namespace std; using namespace boost; using namespace cnoid; namespace { const bool TRACE_FUNCTIONS = false; const bool USE_AMOTOR = false; const bool MEASURE_PHYSICS_CALCULATION_TIME = true; const double DEFAULT_GRAVITY_ACCELERATION = 9.80665; typedef Eigen::Matrix Vertex; struct Triangle { int indices[3]; }; dMatrix3 identity = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0 }; dMatrix3 flippedIdentity = { 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, -1.0, 0.0, 0.0 }; inline void makeInternal(Vector3& v) { double a = v.z(); v.z() = -v.y(); v.y() = a; } inline void toInternal(const Vector3& v, Vector3& out_v) { out_v << v.x(), v.z(), -v.y(); } class ODEBody; class ODELink : public Referenced { public: Link* link; dBodyID bodyID; dJointID jointID; vector geomID; dTriMeshDataID triMeshDataID; vector vertices; vector triangles; typedef map< dGeomID, Position, std::less, Eigen::aligned_allocator< pair > > OffsetMap; OffsetMap offsetMap; dJointID motorID; ODELink(ODESimulatorItemImpl* simImpl, ODEBody* odeBody, ODELink* parent, const Vector3& parentOrigin, Link* link); ~ODELink(); void createLinkBody(ODESimulatorItemImpl* simImpl, dWorldID worldID, ODELink* parent, const Vector3& origin); void createGeometry(ODEBody* odeBody); void setKinematicStateToODE(); void setKinematicStateToODEflip(); void setTorqueToODE(); void setVelocityToODE(); void getKinematicStateFromODE(); void getKinematicStateFromODEflip(); void addMesh(MeshExtractor* extractor, ODEBody* odeBody); }; typedef ref_ptr ODELinkPtr; class ODEBody : public SimulationBody { public: vector odeLinks; dWorldID worldID; dSpaceID spaceID; vector forceSensorFeedbacks; BasicSensorSimulationHelper sensorHelper; int geometryId; ODEBody(const Body& orgBody); ~ODEBody(); void createBody(ODESimulatorItemImpl* simImpl); void setExtraJoints(bool flipYZ); void setKinematicStateToODE(bool flipYZ); void setTorqueToODE(); void setVelocityToODE(); void getKinematicStateFromODE(bool flipYZ); void updateForceSensors(bool flipYZ); void alignToZAxisIn2Dmode(); }; } namespace cnoid { typedef std::map CrawlerLinkMap; class ODESimulatorItemImpl { public: ODESimulatorItem* self; bool flipYZ; dWorldID worldID; dSpaceID spaceID; dJointGroupID contactJointGroupID; double timeStep; CrawlerLinkMap crawlerLinks; vector geometryIdToLink; Selection stepMode; Vector3 gravity; double friction; bool isJointLimitMode; bool is2Dmode; double globalERP; FloatingNumberString globalCFM; int numIterations; double overRelaxation; bool enableMaxCorrectingVel; FloatingNumberString maxCorrectingVel; double surfaceLayerDepth; bool useWorldCollision; CollisionDetectorPtr collisionDetector; bool velocityMode; double physicsTime; QElapsedTimer physicsTimer; double collisionTime; QElapsedTimer collisionTimer; ODESimulatorItemImpl(ODESimulatorItem* self); ODESimulatorItemImpl(ODESimulatorItem* self, const ODESimulatorItemImpl& org); void initialize(); ~ODESimulatorItemImpl(); void clear(); bool initializeSimulation(const std::vector& simBodies); void addBody(ODEBody* odeBody); bool stepSimulation(const std::vector& activeSimBodies); void doPutProperties(PutPropertyFunction& putProperty); void store(Archive& archive); void restore(const Archive& archive); void collisionCallback(const CollisionPair& collisionPair); }; } ODELink::ODELink (ODESimulatorItemImpl* simImpl, ODEBody* odeBody, ODELink* parent, const Vector3& parentOrigin, Link* link) { odeBody->odeLinks.push_back(this); this->link = link; bodyID = 0; jointID = 0; triMeshDataID = 0; geomID.clear(); motorID = 0; Vector3 o = parentOrigin + link->b(); if(odeBody->worldID){ createLinkBody(simImpl, odeBody->worldID, parent, o); } if(!simImpl->useWorldCollision){ createGeometry(odeBody); } for(Link* child = link->child(); child; child = child->sibling()){ new ODELink(simImpl, odeBody, this, o, child); } } void ODELink::createLinkBody(ODESimulatorItemImpl* simImpl, dWorldID worldID, ODELink* parent, const Vector3& origin) { bodyID = dBodyCreate(worldID); dBodySetData(bodyID, link); dMass mass; dMassSetZero(&mass); const Matrix3& I = link->I(); #if 1 Vector3 axis = link->a(); Matrix3 I0 = I + axis * axis.transpose() * link->Jm2(); dMassSetParameters(&mass, link->m(), 0.0, 0.0, 0.0, I0(0,0), I0(1,1), I0(2,2), I0(0,1), I0(0,2), I0(1,2)); #else dMassSetParameters(&mass, link->m(), 0.0, 0.0, 0.0, I(0,0), I(1,1), I(2,2), I(0,1), I(0,2), I(1,2)); #endif dBodySetMass(bodyID, &mass); Vector3 c; Vector3 o; Vector3 a; Vector3 d; if(!simImpl->flipYZ){ c = link->c(); o = origin; a = link->a(); d = link->d(); dBodySetRotation(bodyID, identity); } else { toInternal(link->c(), c); toInternal(origin, o); toInternal(link->a(), a); toInternal(link->d(), d); dBodySetRotation(bodyID, flippedIdentity); } // set the default global position to set a joint Vector3 p = o + c; dBodySetPosition(bodyID, p.x(), p.y(), p.z()); dBodyID parentBodyID = parent ? parent->bodyID : 0; switch(link->jointType()){ case Link::ROTATIONAL_JOINT: jointID = dJointCreateHinge(worldID, 0); dJointAttach(jointID, bodyID, parentBodyID); dJointSetHingeAnchor(jointID, o.x(), o.y(), o.z()); dJointSetHingeAxis(jointID, a.x(), a.y(), a.z()); if(simImpl->isJointLimitMode){ if(link->q_upper() < numeric_limits::max()){ dJointSetHingeParam(jointID, dParamHiStop, link->q_upper()); } if(link->q_lower() > -numeric_limits::max()){ dJointSetHingeParam(jointID, dParamLoStop, link->q_lower()); } } if(simImpl->velocityMode){ if(!USE_AMOTOR){ #ifdef GAZEBO_ODE dJointSetHingeParam(jointID, dParamFMax, 100); //??? dJointSetHingeParam(jointID, dParamFudgeFactor, 1); #else dJointSetHingeParam(jointID, dParamFMax, numeric_limits::max()); dJointSetHingeParam(jointID, dParamFudgeFactor, 1); #endif }else{ motorID = dJointCreateAMotor(worldID, 0); dJointAttach(motorID, bodyID, parentBodyID); dJointSetAMotorMode(motorID, dAMotorUser); dJointSetAMotorNumAxes(motorID, 1); dJointSetAMotorAxis(motorID, 0, 2, a.x(), a.y(), a.z()); #ifdef GAZEBO_ODE dJointSetAMotorParam(motorID, dParamFMax, 100); #else dJointSetAMotorParam(motorID, dParamFMax, numeric_limits::max() ); #endif dJointSetAMotorParam(motorID, dParamFudgeFactor, 1); } } break; case Link::SLIDE_JOINT: jointID = dJointCreateSlider(worldID, 0); dJointAttach(jointID, bodyID, parentBodyID); dJointSetSliderAxis(jointID, d.x(), d.y(), d.z()); if(simImpl->isJointLimitMode){ if(link->q_upper() < numeric_limits::max()){ dJointSetSliderParam(jointID, dParamHiStop, link->q_upper()); } if(link->q_lower() > -numeric_limits::max()){ dJointSetSliderParam(jointID, dParamLoStop, link->q_lower()); } } if(simImpl->velocityMode){ dJointSetSliderParam(jointID, dParamFMax, numeric_limits::max() ); dJointSetSliderParam(jointID, dParamFudgeFactor, 1 ); } break; case Link::FREE_JOINT: break; case Link::FIXED_JOINT: default: #ifdef GAZEBO_ODE jointID = dJointCreateFixed(worldID, 0); dJointAttach(jointID, bodyID, parentBodyID); dJointSetFixed(jointID); if(link->jointType() == Link::PSEUDO_CONTINUOUS_TRACK || link->jointType() == Link::CRAWLER_JOINT){ simImpl->crawlerLinks.insert(make_pair(bodyID, link)); } #else if(parentBodyID){ jointID = dJointCreateFixed(worldID, 0); dJointAttach(jointID, bodyID, parentBodyID); dJointSetFixed(jointID); if(link->jointType() == Link::PSEUDO_CONTINUOUS_TRACK || link->jointType() == Link::CRAWLER_JOINT){ simImpl->crawlerLinks.insert(make_pair(bodyID, link)); } } else { dBodySetKinematic(bodyID); } #endif break; } } void ODELink::createGeometry(ODEBody* odeBody) { if(link->shape()){ MeshExtractor* extractor = new MeshExtractor; if(extractor->extract(link->shape(), boost::bind(&ODELink::addMesh, this, extractor, odeBody))){ if(!vertices.empty()){ triMeshDataID = dGeomTriMeshDataCreate(); dGeomTriMeshDataBuildSingle(triMeshDataID, &vertices[0], sizeof(Vertex), vertices.size(), &triangles[0],triangles.size() * 3, sizeof(Triangle)); dGeomID gId = dCreateTriMesh(odeBody->spaceID, triMeshDataID, 0, 0, 0); geomID.push_back(gId); dGeomSetBody(gId, bodyID); } } delete extractor; } } void ODELink::addMesh(MeshExtractor* extractor, ODEBody* odeBody) { SgMesh* mesh = extractor->currentMesh(); const Affine3& T = extractor->currentTransform(); bool meshAdded = false; if(mesh->primitiveType() != SgMesh::MESH){ bool doAddPrimitive = false; Vector3 scale; optional translation; if(!extractor->isCurrentScaled()){ scale.setOnes(); doAddPrimitive = true; } else { Affine3 S = extractor->currentTransformWithoutScaling().inverse() * extractor->currentTransform(); if(S.linear().isDiagonal()){ if(!S.translation().isZero()){ translation = S.translation(); } scale = S.linear().diagonal(); if(mesh->primitiveType() == SgMesh::BOX){ doAddPrimitive = true; } else if(mesh->primitiveType() == SgMesh::SPHERE){ // check if the sphere is uniformly scaled for all the axes if(scale.x() == scale.y() && scale.x() == scale.z()){ doAddPrimitive = true; } } else if(mesh->primitiveType() == SgMesh::CYLINDER){ // check if the bottom circle face is uniformly scaled if(scale.x() == scale.z()){ doAddPrimitive = true; } } } } if(doAddPrimitive){ bool created = false; dGeomID geomId; switch(mesh->primitiveType()){ case SgMesh::BOX : { const Vector3& s = mesh->primitive().size; geomId = dCreateBox(odeBody->spaceID, s.x() * scale.x(), s.y() * scale.y(), s.z() * scale.z()); created = true; break; } case SgMesh::SPHERE : { SgMesh::Sphere sphere = mesh->primitive(); geomId = dCreateSphere(odeBody->spaceID, sphere.radius * scale.x()); created = true; break; } case SgMesh::CYLINDER : { SgMesh::Cylinder cylinder = mesh->primitive(); geomId = dCreateCylinder(odeBody->spaceID, cylinder.radius * scale.x(), cylinder.height * scale.y()); created = true; break; } default : break; } if(created){ geomID.push_back(geomId); dGeomSetBody(geomId, bodyID); Affine3 T_ = extractor->currentTransformWithoutScaling(); if(translation){ T_ *= Translation3(*translation); } Vector3 p = T_.translation()-link->c(); dMatrix3 R = { T_(0,0), T_(0,1), T_(0,2), 0.0, T_(1,0), T_(1,1), T_(1,2), 0.0, T_(2,0), T_(2,1), T_(2,2), 0.0 }; if(bodyID){ dGeomSetOffsetPosition(geomId, p.x(), p.y(), p.z()); dGeomSetOffsetRotation(geomId, R); }else{ offsetMap.insert(OffsetMap::value_type(geomId,T_)); } meshAdded = true; } } } if(!meshAdded){ const int vertexIndexTop = vertices.size(); const SgVertexArray& vertices_ = *mesh->vertices(); const int numVertices = vertices_.size(); for(int i=0; i < numVertices; ++i){ const Vector3 v = T * vertices_[i].cast() - link->c(); vertices.push_back(Vertex(v.x(), v.y(), v.z())); } const int numTriangles = mesh->numTriangles(); for(int i=0; i < numTriangles; ++i){ SgMesh::TriangleRef src = mesh->triangle(i); Triangle tri; tri.indices[0] = vertexIndexTop + src[0]; tri.indices[1] = vertexIndexTop + src[1]; tri.indices[2] = vertexIndexTop + src[2]; triangles.push_back(tri); } } } ODELink::~ODELink() { for(vector::iterator it=geomID.begin(); it!=geomID.end(); it++) dGeomDestroy(*it); if(triMeshDataID){ dGeomTriMeshDataDestroy(triMeshDataID); } } void ODELink::setKinematicStateToODE() { const Position& T = link->T(); if(bodyID){ dMatrix3 R2 = { T(0,0), T(0,1), T(0,2), 0.0, T(1,0), T(1,1), T(1,2), 0.0, T(2,0), T(2,1), T(2,2), 0.0 }; dBodySetRotation(bodyID, R2); const Vector3 lc = link->R() * link->c(); const Vector3 c = link->p() + lc; dBodySetPosition(bodyID, c.x(), c.y(), c.z()); const Vector3& w = link->w(); const Vector3 v = link->v() + w.cross(lc); dBodySetLinearVel(bodyID, v.x(), v.y(), v.z()); dBodySetAngularVel(bodyID, w.x(), w.y(), w.z()); }else{ for(vector::iterator it = geomID.begin(); it!=geomID.end(); it++){ OffsetMap::iterator it0 = offsetMap.find(*it); Position offset(Position::Identity()); if(it0!=offsetMap.end()) offset = it0->second; Position T_ = T*offset; Vector3 p = T_.translation() + link->c(); dMatrix3 R2 = { T(0,0), T(0,1), T(0,2), 0.0, T(1,0), T(1,1), T(1,2), 0.0, T(2,0), T(2,1), T(2,2), 0.0 }; dGeomSetPosition(*it, p.x(), p.y(), p.z()); dGeomSetRotation(*it, R2); } } } void ODELink::setKinematicStateToODEflip() { const Position& T = link->T(); dMatrix3 R2 = { T(0,0), T(0,1), T(0,2), 0.0, T(2,0), T(2,1), T(2,2), 0.0, -T(1,0), -T(1,1), -T(1,2), 0.0 }; if(bodyID){ dBodySetRotation(bodyID, R2); const Vector3 lc = link->R() * link->c(); const Vector3 c = link->p() + lc; dBodySetPosition(bodyID, c.x(), c.z(), -c.y()); const Vector3& w = link->w(); const Vector3 v = link->v() + w.cross(lc); dBodySetLinearVel(bodyID, v.x(), v.z(), -v.y()); dBodySetAngularVel(bodyID, w.x(), w.z(), -w.y()); }else{ const Vector3 c = link->p() + link->R() * link->c(); for(vector::iterator it = geomID.begin(); it!=geomID.end(); it++){ dGeomSetPosition(*it, c.x(), c.y(), -c.z()); dGeomSetRotation(*it, R2); } } } /** \note This method must not be called for a static body. */ void ODELink::getKinematicStateFromODE() { if(jointID){ if(link->isRotationalJoint()){ link->q() = dJointGetHingeAngle(jointID); link->dq() = dJointGetHingeAngleRate(jointID); } else if(link->isSlideJoint()){ link->q() = dJointGetSliderPosition(jointID); link->dq() = dJointGetSliderPositionRate(jointID); } } const dReal* R = dBodyGetRotation(bodyID); link->R() << R[0], R[1], R[2], R[4], R[5], R[6], R[8], R[9], R[10]; typedef Eigen::Map > toVector3; const Vector3 c = link->R() * link->c(); link->p() = toVector3(dBodyGetPosition(bodyID)) - c; link->w() = toVector3(dBodyGetAngularVel(bodyID)); link->v() = toVector3(dBodyGetLinearVel(bodyID)) - link->w().cross(c); } /** \note This method must not be called for a static body. */ void ODELink::getKinematicStateFromODEflip() { if(jointID){ if(link->isRotationalJoint()){ link->q() = dJointGetHingeAngle(jointID); link->dq() = dJointGetHingeAngleRate(jointID); } else if(link->isSlideJoint()){ link->q() = dJointGetSliderPosition(jointID); link->dq() = dJointGetSliderPositionRate(jointID); } } const dReal* R = dBodyGetRotation(bodyID); link->R() << R[0], R[1], R[2], -R[8], -R[9], -R[10], R[4], R[5], R[6]; Vector3 c; toInternal(link->R() * link->c(), c); typedef Eigen::Map > toVector3; const Vector3 p = toVector3(dBodyGetPosition(bodyID)) - c; toVector3 w(dBodyGetAngularVel(bodyID)); const Vector3 v = toVector3(dBodyGetLinearVel(bodyID)) - w.cross(c); link->p() << p.x(), -p.z(), p.y(); link->w() << w.x(), -w.z(), w.y(); link->v() << v.x(), -v.z(), v.y(); } /** \note This method must not be called for the root link and a static body. */ void ODELink::setTorqueToODE() { if(link->isRotationalJoint()){ dJointAddHingeTorque(jointID, link->u()); } else if(link->isSlideJoint()){ dJointAddSliderForce(jointID, link->u()); } } void ODELink::setVelocityToODE() { if(link->isRotationalJoint()){ dReal v = link->dq(); if(!USE_AMOTOR) dJointSetHingeParam(jointID, dParamVel, v); else dJointSetAMotorParam(motorID, dParamVel, v); } else if(link->isSlideJoint()){ dReal v = link->dq(); dJointSetSliderParam(jointID, dParamVel, v); } } ODEBody::ODEBody(const Body& orgBody) : SimulationBody(new Body(orgBody)) { worldID = 0; spaceID = 0; geometryId = 0; } ODEBody::~ODEBody() { if(spaceID){ dSpaceDestroy(spaceID); } } void ODEBody::createBody(ODESimulatorItemImpl* simImpl) { Body* body = this->body(); worldID = body->isStaticModel() ? 0 : simImpl->worldID; if(simImpl->useWorldCollision){ geometryId = addBodyToCollisionDetector(*body, *simImpl->collisionDetector, bodyItem()->isSelfCollisionDetectionEnabled()); }else{ spaceID = dHashSpaceCreate(simImpl->spaceID); dSpaceSetCleanup(spaceID, 0); } ODELink* rootLink = new ODELink(simImpl, this, 0, Vector3::Zero(), body->rootLink()); setKinematicStateToODE(simImpl->flipYZ); if(simImpl->useWorldCollision){ int size = simImpl->geometryIdToLink.size(); int numLinks = odeLinks.size(); simImpl->geometryIdToLink.resize(geometryId+numLinks); for(int i=0; i < numLinks; i++){ ODELink* odeLink = odeLinks[i].get(); int index = odeLink->link->index(); simImpl->geometryIdToLink[geometryId+index] = odeLink; simImpl->collisionDetector->updatePosition(geometryId+index, odeLink->link->T()); } } setExtraJoints(simImpl->flipYZ); if(simImpl->is2Dmode && worldID){ dJointID planeJointID = dJointCreatePlane2D(worldID, 0); dJointAttach(planeJointID, rootLink->bodyID, 0); } setTorqueToODE(); sensorHelper.initialize(body, simImpl->timeStep, simImpl->gravity); // set joint feedbacks for force sensors const DeviceList& forceSensors = sensorHelper.forceSensors(); forceSensorFeedbacks.resize(forceSensors.size()); for(size_t i=0; i < forceSensors.size(); ++i){ dJointSetFeedback(odeLinks[forceSensors[i]->link()->index()]->jointID, &forceSensorFeedbacks[i]); } } void ODEBody::setExtraJoints(bool flipYZ) { Body* body = this->body(); const int n = body->numExtraJoints(); for(int j=0; j < n; ++j){ Body::ExtraJoint& extraJoint = body->extraJoint(j); ODELinkPtr odeLinkPair[2]; for(int i=0; i < 2; ++i){ ODELinkPtr odeLink; Link* link = extraJoint.link[i]; if(link->index() < odeLinks.size()){ odeLink = odeLinks[link->index()]; if(odeLink->link == link){ odeLinkPair[i] = odeLink; } } if(!odeLink){ break; } } if(odeLinkPair[1]){ dJointID jointID = 0; Link* link = odeLinkPair[0]->link; Vector3 p = link->attitude() * extraJoint.point[0] + link->p(); Vector3 a = link->attitude() * extraJoint.axis; if(flipYZ){ makeInternal(p); makeInternal(a); } // \todo do the destroy management for these joints if(extraJoint.type == Body::EJ_PISTON){ jointID = dJointCreatePiston(worldID, 0); dJointAttach(jointID, odeLinkPair[0]->bodyID, odeLinkPair[1]->bodyID); dJointSetPistonAnchor(jointID, p.x(), p.y(), p.z()); dJointSetPistonAxis(jointID, a.x(), a.y(), a.z()); } else if(extraJoint.type == Body::EJ_BALL){ jointID = dJointCreateBall(worldID, 0); dJointAttach(jointID, odeLinkPair[0]->bodyID, odeLinkPair[1]->bodyID); dJointSetBallAnchor(jointID, p.x(), p.y(), p.z()); } } } } void ODEBody::setKinematicStateToODE(bool flipYZ) { if(!flipYZ){ for(size_t i=0; i < odeLinks.size(); ++i){ odeLinks[i]->setKinematicStateToODE(); } } else { for(size_t i=0; i < odeLinks.size(); ++i){ odeLinks[i]->setKinematicStateToODEflip(); } } } void ODEBody::setTorqueToODE() { // Skip the root link for(size_t i=1; i < odeLinks.size(); ++i){ odeLinks[i]->setTorqueToODE(); } } void ODEBody::setVelocityToODE() { // Skip the root link for(size_t i=1; i < odeLinks.size(); ++i){ odeLinks[i]->setVelocityToODE(); } } void ODEBody::getKinematicStateFromODE(bool flipYZ) { if(!flipYZ){ for(size_t i=0; i < odeLinks.size(); ++i){ odeLinks[i]->getKinematicStateFromODE(); } } else { for(size_t i=0; i < odeLinks.size(); ++i){ odeLinks[i]->getKinematicStateFromODEflip(); } } } void ODEBody::updateForceSensors(bool flipYZ) { const DeviceList& forceSensors = sensorHelper.forceSensors(); for(int i=0; i < forceSensors.size(); ++i){ ForceSensor* sensor = forceSensors[i]; const Link* link = sensor->link(); const dJointFeedback& fb = forceSensorFeedbacks[i]; Vector3 f, tau; if(!flipYZ){ f << fb.f2[0], fb.f2[1], fb.f2[2]; tau << fb.t2[0], fb.t2[1], fb.t2[2]; } else { f << fb.f2[0], -fb.f2[2], fb.f2[1]; tau << fb.t2[0], -fb.t2[2], fb.t2[1]; } const Matrix3 R = link->R() * sensor->R_local(); const Vector3 p = link->R() * sensor->p_local(); sensor->f() = R.transpose() * f; sensor->tau() = R.transpose() * (tau - p.cross(f)); sensor->notifyStateChange(); } } void ODEBody::alignToZAxisIn2Dmode() { static const Quat r(AngleAxis(PI / 2.0, Vector3(1.0, 0.0, 0.0))); dBodyID& bodyID = odeLinks.front()->bodyID; const dReal* q0 = dBodyGetQuaternion(bodyID); Quat q(q0[0], q0[1], q0[2], q0[3]); Quat q2 = r * q; q2.x() = 0.0; q2.z() = 0.0; q2.normalize(); Quat q3 = r.inverse() * q2; dReal q4[4]; q4[0] = q3.w(); q4[1] = q3.x(); q4[2] = q3.y(); q4[3] = q3.z(); dBodySetQuaternion(bodyID, q4); const dReal* w = dBodyGetAngularVel(bodyID); dBodySetAngularVel(bodyID, 0, 0, w[2]); } void ODESimulatorItem::initializeClass(ExtensionManager* ext) { ext->itemManager().registerClass(ITEM_NAME); ext->itemManager().addCreationPanel(); } ODESimulatorItem::ODESimulatorItem() { impl = new ODESimulatorItemImpl(this); } ODESimulatorItemImpl::ODESimulatorItemImpl(ODESimulatorItem* self) : self(self), stepMode(ODESimulatorItem::NUM_STEP_MODES, CNOID_GETTEXT_DOMAIN_NAME) { initialize(); stepMode.setSymbol(ODESimulatorItem::STEP_ITERATIVE, N_("Iterative (quick step)")); stepMode.setSymbol(ODESimulatorItem::STEP_BIG_MATRIX, N_("Big matrix")); stepMode.select(ODESimulatorItem::STEP_ITERATIVE); gravity << 0.0, 0.0, -DEFAULT_GRAVITY_ACCELERATION; globalERP = 0.4; globalCFM = "1.0e-10"; numIterations = 50; overRelaxation = 1.3; enableMaxCorrectingVel = true; maxCorrectingVel = "1.0e-3"; surfaceLayerDepth = 0.0001; friction = 1.0; isJointLimitMode = false; is2Dmode = false; flipYZ = false; useWorldCollision = false; velocityMode = false; } ODESimulatorItem::ODESimulatorItem(const ODESimulatorItem& org) : SimulatorItem(org) { impl = new ODESimulatorItemImpl(this, *org.impl); } ODESimulatorItemImpl::ODESimulatorItemImpl(ODESimulatorItem* self, const ODESimulatorItemImpl& org) : self(self) { initialize(); stepMode = org.stepMode; gravity = org.gravity; globalERP = org.globalERP; globalCFM = org.globalCFM; numIterations = org.numIterations; overRelaxation = org.overRelaxation; enableMaxCorrectingVel = org.enableMaxCorrectingVel; maxCorrectingVel = org.maxCorrectingVel; surfaceLayerDepth = org.surfaceLayerDepth; friction = org.friction; isJointLimitMode = org.isJointLimitMode; is2Dmode = org.is2Dmode; flipYZ = org.flipYZ; useWorldCollision = org.useWorldCollision; velocityMode = org.velocityMode; } void ODESimulatorItemImpl::initialize() { worldID = 0; spaceID = 0; contactJointGroupID = dJointGroupCreate(0); self->SimulatorItem::setAllLinkPositionOutputMode(true); } ODESimulatorItem::~ODESimulatorItem() { delete impl; } ODESimulatorItemImpl::~ODESimulatorItemImpl() { clear(); if(contactJointGroupID){ dJointGroupDestroy(contactJointGroupID); } } void ODESimulatorItem::setStepMode(int value) { impl->stepMode.select(value); } void ODESimulatorItem::setGravity(const Vector3& gravity) { impl->gravity = gravity; } void ODESimulatorItem::setFriction(double friction) { impl->friction = friction; } void ODESimulatorItem::setJointLimitMode(bool on) { impl->isJointLimitMode = on; } void ODESimulatorItem::set2Dmode(bool on) { impl->is2Dmode = on; } void ODESimulatorItem::setGlobalERP(double erp) { impl->globalERP = erp; } void ODESimulatorItem::setGlobalCFM(double value) { impl->globalCFM = value; } void ODESimulatorItem::setNumIterations(int n) { impl->numIterations = n; } void ODESimulatorItem::setOverRelaxation(double value) { impl->overRelaxation = value; } void ODESimulatorItem::setCorrectingVelocityLimitMode(bool on) { impl->enableMaxCorrectingVel = on; } void ODESimulatorItem::setMaxCorrectingVelocity(double vel) { impl->maxCorrectingVel = vel; } void ODESimulatorItem::setSurfaceLayerDepth(double value) { impl->surfaceLayerDepth = value; } void ODESimulatorItem::useWorldCollisionDetector(bool on) { impl->useWorldCollision = on; } void ODESimulatorItem::setAllLinkPositionOutputMode(bool on) { // The mode is not changed. // This simulator only supports the all link position output // because joint positions may be slightly changed } void ODESimulatorItemImpl::clear() { dJointGroupEmpty(contactJointGroupID); if(worldID){ dWorldDestroy(worldID); worldID = 0; } if(spaceID){ dSpaceDestroy(spaceID); spaceID = 0; } crawlerLinks.clear(); geometryIdToLink.clear(); } Item* ODESimulatorItem::doDuplicate() const { return new ODESimulatorItem(*this); } SimulationBody* ODESimulatorItem::createSimulationBody(Body* orgBody) { return new ODEBody(*orgBody); } bool ODESimulatorItem::initializeSimulation(const std::vector& simBodies) { return impl->initializeSimulation(simBodies); } bool ODESimulatorItemImpl::initializeSimulation(const std::vector& simBodies) { clear(); flipYZ = is2Dmode; Vector3 g = gravity; if(flipYZ){ toInternal(gravity, g); } worldID = dWorldCreate(); if(useWorldCollision){ collisionDetector = self->collisionDetector(); collisionDetector->clearGeometries(); }else{ spaceID = dHashSpaceCreate(0); dSpaceSetCleanup(spaceID, 0); } dRandSetSeed(0); dWorldSetGravity(worldID, g.x(), g.y(), g.z()); dWorldSetERP(worldID, globalERP); dWorldSetCFM(worldID, globalCFM.value()); dWorldSetContactSurfaceLayer(worldID, 0.0); dWorldSetQuickStepNumIterations(worldID, numIterations); dWorldSetQuickStepW(worldID, overRelaxation); dWorldSetContactMaxCorrectingVel(worldID, enableMaxCorrectingVel ? maxCorrectingVel.value() : dInfinity); dWorldSetContactSurfaceLayer(worldID, surfaceLayerDepth); timeStep = self->worldTimeStep(); for(size_t i=0; i < simBodies.size(); ++i){ addBody(static_cast(simBodies[i])); } if(useWorldCollision) collisionDetector->makeReady(); if(MEASURE_PHYSICS_CALCULATION_TIME){ physicsTime = 0; collisionTime = 0; } return true; } void ODESimulatorItemImpl::addBody(ODEBody* odeBody) { Body& body = *odeBody->body(); Link* rootLink = body.rootLink(); rootLink->v().setZero(); rootLink->dv().setZero(); rootLink->w().setZero(); rootLink->dw().setZero(); for(int i=0; i < body.numJoints(); ++i){ Link* joint = body.joint(i); joint->u() = 0.0; joint->dq() = 0.0; joint->ddq() = 0.0; } body.clearExternalForces(); body.calcForwardKinematics(true, true); odeBody->createBody(this); } void ODESimulatorItem::initializeSimulationThread() { dAllocateODEDataForThread(dAllocateMaskAll); } static void nearCallback(void* data, dGeomID g1, dGeomID g2) { if(dGeomIsSpace(g1) || dGeomIsSpace(g2)) { dSpaceCollide2(g1, g2, data, &nearCallback); if(false) { // Currently just skip same body link pairs. if(dGeomIsSpace(g1)){ dSpaceCollide((dSpaceID)g1, data, &nearCallback); } if(dGeomIsSpace(g2)){ dSpaceCollide((dSpaceID)g2, data, &nearCallback); } } } else { ODESimulatorItemImpl* impl = (ODESimulatorItemImpl*)data; static const int MaxNumContacts = 100; dContact contacts[MaxNumContacts]; int numContacts = dCollide(g1, g2, MaxNumContacts, &contacts[0].geom, sizeof(dContact)); if(numContacts > 0){ dBodyID body1ID = dGeomGetBody(g1); dBodyID body2ID = dGeomGetBody(g2); Link* crawlerlink = 0; double sign = 1.0; if(!impl->crawlerLinks.empty()){ CrawlerLinkMap::iterator p = impl->crawlerLinks.find(body1ID); if(p != impl->crawlerLinks.end()){ crawlerlink = p->second; } p = impl->crawlerLinks.find(body2ID); if(p != impl->crawlerLinks.end()){ crawlerlink = p->second; sign = -1.0; } } for(int i=0; i < numContacts; ++i){ dSurfaceParameters& surface = contacts[i].surface; if(!crawlerlink){ //surface.mode = dContactApprox1 | dContactBounce; //surface.bounce = 0.0; //surface.bounce_vel = 1.0; surface.mode = dContactApprox1; surface.mu = impl->friction; } else { if(contacts[i].geom.depth > 0.001){ continue; } surface.mode = dContactFDir1 | dContactMotion1 | dContactMu2 | dContactApprox1_2; const Vector3 axis = crawlerlink->R() * crawlerlink->a(); const Vector3 n(contacts[i].geom.normal); Vector3 dir = axis.cross(n); if(dir.norm() < 1.0e-5){ surface.mode = dContactApprox1; surface.mu = impl->friction; } else { dir *= sign; dir.normalize(); contacts[i].fdir1[0] = dir[0]; contacts[i].fdir1[1] = dir[1]; contacts[i].fdir1[2] = dir[2]; //dVector3& dpos = contacts[i].geom.pos; //Vector3 pos(dpos[0], dpos[1], dpos[2]); //Vector3 v = crawlerlink->v + crawlerlink->w.cross(pos-crawlerlink->p); //surface.motion1 = dir.dot(v) + crawlerlink->u; if(crawlerlink->jointType()==Link::PSEUDO_CONTINUOUS_TRACK) surface.motion1 = crawlerlink->dq(); else surface.motion1 = crawlerlink->u(); surface.mu = impl->friction; surface.mu2 = 0.5; } } dJointID jointID = dJointCreateContact(impl->worldID, impl->contactJointGroupID, &contacts[i]); dJointAttach(jointID, body1ID, body2ID); } } } } bool ODESimulatorItem::stepSimulation(const std::vector& activeSimBodies) { return impl->stepSimulation(activeSimBodies); } bool ODESimulatorItemImpl::stepSimulation(const std::vector& activeSimBodies) { for(size_t i=0; i < activeSimBodies.size(); ++i){ ODEBody* odeBody = static_cast(activeSimBodies[i]); odeBody->body()->setVirtualJointForces(); if(velocityMode) odeBody->setVelocityToODE(); else odeBody->setTorqueToODE(); } if(MEASURE_PHYSICS_CALCULATION_TIME){ physicsTimer.start(); } dJointGroupEmpty(contactJointGroupID); if(useWorldCollision){ for(size_t i=0; i < activeSimBodies.size(); ++i){ ODEBody* odeBody = static_cast(activeSimBodies[i]); for(size_t j=0; j< odeBody->odeLinks.size(); j++){ int k = odeBody->geometryId+j; collisionDetector->updatePosition( k, geometryIdToLink[k]->link->T()); } } collisionDetector->detectCollisions(boost::bind(&ODESimulatorItemImpl::collisionCallback, this, _1)); }else{ if(MEASURE_PHYSICS_CALCULATION_TIME){ collisionTimer.start(); } dSpaceCollide(spaceID, (void*)this, &nearCallback); if(MEASURE_PHYSICS_CALCULATION_TIME){ collisionTime += collisionTimer.nsecsElapsed(); } } if(stepMode.is(ODESimulatorItem::STEP_ITERATIVE)){ dWorldQuickStep(worldID, timeStep); } else { dWorldStep(worldID, timeStep); } if(MEASURE_PHYSICS_CALCULATION_TIME){ physicsTime += physicsTimer.nsecsElapsed(); } //! \todo Bodies with sensors should be managed by the specialized container to increase the efficiency for(size_t i=0; i < activeSimBodies.size(); ++i){ ODEBody* odeBody = static_cast(activeSimBodies[i]); // Move the following code to the ODEBody class if(is2Dmode){ odeBody->alignToZAxisIn2Dmode(); } if(!odeBody->sensorHelper.forceSensors().empty()){ odeBody->updateForceSensors(flipYZ); } odeBody->getKinematicStateFromODE(flipYZ); if(odeBody->sensorHelper.hasGyroOrAccelerationSensors()){ odeBody->sensorHelper.updateGyroAndAccelerationSensors(); } } return true; } void ODESimulatorItemImpl::collisionCallback(const CollisionPair& collisionPair) { ODELink* link1 = geometryIdToLink[collisionPair.geometryId[0]]; ODELink* link2 = geometryIdToLink[collisionPair.geometryId[1]]; const vector& collisions = collisionPair.collisions; dBodyID body1ID = link1->bodyID; dBodyID body2ID = link2->bodyID; Link* crawlerlink = 0; double sign = 1.0; if(!crawlerLinks.empty()){ CrawlerLinkMap::iterator p = crawlerLinks.find(body1ID); if(p != crawlerLinks.end()){ crawlerlink = p->second; } p = crawlerLinks.find(body2ID); if(p != crawlerLinks.end()){ crawlerlink = p->second; sign = -1.0; } } int numContacts = collisions.size(); for(int i=0; i < numContacts; ++i){ dContact contact; contact.geom.pos[0] = collisions[i].point[0]; contact.geom.pos[1] = collisions[i].point[1]; contact.geom.pos[2] = collisions[i].point[2]; contact.geom.normal[0] = -collisions[i].normal[0]; contact.geom.normal[1] = -collisions[i].normal[1]; contact.geom.normal[2] = -collisions[i].normal[2]; contact.geom.depth = collisions[i].depth; dSurfaceParameters& surface = contact.surface; if(!crawlerlink){ surface.mode = dContactApprox1; surface.mu = friction; } else { if(contact.geom.depth > 0.001){ continue; } surface.mode = dContactFDir1 | dContactMotion1 | dContactMu2 | dContactApprox1_2; const Vector3 axis = crawlerlink->R() * crawlerlink->a(); const Vector3 n(contact.geom.normal); Vector3 dir = axis.cross(n); if(dir.norm() < 1.0e-5){ surface.mode = dContactApprox1; surface.mu = friction; } else { dir *= sign; dir.normalize(); contact.fdir1[0] = dir[0]; contact.fdir1[1] = dir[1]; contact.fdir1[2] = dir[2]; surface.motion1 = crawlerlink->u(); surface.mu = friction; surface.mu2 = 0.5; } } dJointID jointID = dJointCreateContact(worldID, contactJointGroupID, &contact); dJointAttach(jointID, body1ID, body2ID); } } void ODESimulatorItem::finalizeSimulation() { if(MEASURE_PHYSICS_CALCULATION_TIME){ cout << "ODE physicsTime= " << impl->physicsTime *1.0e-9 << "[s]"<< endl; cout << "ODE collisionTime= " << impl->collisionTime *1.0e-9 << "[s]"<< endl; } } void ODESimulatorItem::doPutProperties(PutPropertyFunction& putProperty) { SimulatorItem::doPutProperties(putProperty); impl->doPutProperties(putProperty); } void ODESimulatorItemImpl::doPutProperties(PutPropertyFunction& putProperty) { putProperty(_("Step mode"), stepMode, changeProperty(stepMode)); putProperty(_("Gravity"), str(gravity), boost::bind(toVector3, _1, boost::ref(gravity))); putProperty.decimals(2).min(0.0) (_("Friction"), friction, changeProperty(friction)); putProperty(_("Limit joint range"), isJointLimitMode, changeProperty(isJointLimitMode)); putProperty.decimals(1).min(0.0).max(1.0) (_("Global ERP"), globalERP, changeProperty(globalERP)); putProperty(_("Global CFM"), globalCFM, boost::bind(&FloatingNumberString::setNonNegativeValue, boost::ref(globalCFM), _1)); putProperty.min(1) (_("Iterations"), numIterations, changeProperty(numIterations)); putProperty.min(0.1).max(1.9) (_("Over relaxation"), overRelaxation, changeProperty(overRelaxation)); putProperty(_("Limit correcting vel."), enableMaxCorrectingVel, changeProperty(enableMaxCorrectingVel)); putProperty(_("Max correcting vel."), maxCorrectingVel, boost::bind(&FloatingNumberString::setNonNegativeValue, boost::ref(maxCorrectingVel), _1)); putProperty(_("2D mode"), is2Dmode, changeProperty(is2Dmode)); putProperty(_("Use WorldItem's Collision Detector"), useWorldCollision, changeProperty(useWorldCollision)); putProperty(_("Velocity Control Mode"), velocityMode, changeProperty(velocityMode)); } bool ODESimulatorItem::store(Archive& archive) { SimulatorItem::store(archive); impl->store(archive); return true; } void ODESimulatorItemImpl::store(Archive& archive) { archive.write("stepMode", stepMode.selectedSymbol()); write(archive, "gravity", gravity); archive.write("friction", friction); archive.write("jointLimitMode", isJointLimitMode); archive.write("globalERP", globalERP); archive.write("globalCFM", globalCFM); archive.write("numIterations", numIterations); archive.write("overRelaxation", overRelaxation); archive.write("limitCorrectingVel", enableMaxCorrectingVel); archive.write("maxCorrectingVel", maxCorrectingVel); archive.write("2Dmode", is2Dmode); archive.write("UseWorldItem'sCollisionDetector", useWorldCollision); archive.write("velocityMode", velocityMode); } bool ODESimulatorItem::restore(const Archive& archive) { SimulatorItem::restore(archive); impl->restore(archive); return true; } void ODESimulatorItemImpl::restore(const Archive& archive) { string symbol; if(archive.read("stepMode", symbol)){ stepMode.select(symbol); } read(archive, "gravity", gravity); archive.read("friction", friction); archive.read("jointLimitMode", isJointLimitMode); archive.read("globalERP", globalERP); globalCFM = archive.get("globalCFM", globalCFM.string()); archive.read("numIterations", numIterations); archive.read("overRelaxation", overRelaxation); archive.read("limitCorrectingVel", enableMaxCorrectingVel); maxCorrectingVel = archive.get("maxCorrectingVel", maxCorrectingVel.string()); archive.read("2Dmode", is2Dmode); archive.read("UseWorldItem'sCollisionDetector", useWorldCollision); archive.read("velocityMode", velocityMode); } choreonoid-1.5.0/src/ODEPlugin/ODEPlugin.cpp0000664000000000000000000000162312741425367017232 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "ODESimulatorItem.h" #include #ifdef GAZEBO_ODE #include #define ODESimulatorItem GazeboODESimulatorItem #define PLUGIN_NAME "GAZEBO_ODE" #else #include #define PLUGIN_NAME "ODE" #endif using namespace std; using namespace cnoid; namespace { class ODEPlugin : public Plugin { public: ODEPlugin() : Plugin(PLUGIN_NAME) { require("Body"); } virtual ~ODEPlugin() { } virtual bool initialize() { dInitODE2(0); dAllocateODEDataForThread(dAllocateMaskAll); ODESimulatorItem::initializeClass(this); return true; } virtual bool finalize() { dCloseODE(); return true; } }; } CNOID_IMPLEMENT_PLUGIN_ENTRY(ODEPlugin); choreonoid-1.5.0/src/ODEPlugin/ODECollisionDetector.h0000664000000000000000000000242612741425367021070 0ustar rootroot/** \file \author Shizuko Hattori */ #ifndef CNOID_ODEPLUGIN__ODE_COLLISION_DETECTOR_H_INCLUDED #define CNOID_ODEPLUGIN__ODE_COLLISION_DETECTOR_H_INCLUDED #include #ifdef GAZEBO_ODE #define ODECollisionDetector GazeboODECollisionDetector #endif namespace cnoid { class ODECollisionDetectorImpl; class ODECollisionDetector : public CollisionDetector { public: ODECollisionDetector(); virtual ~ODECollisionDetector(); virtual const char* name() const; virtual CollisionDetectorPtr clone() const; virtual void clearGeometries(); virtual int numGeometries() const; virtual int addGeometry(SgNodePtr geometry); virtual void setGeometryStatic(int geometryId, bool isStatic = true); virtual bool enableGeometryCache(bool on); virtual void clearGeometryCache(SgNodePtr geometry); virtual void clearAllGeometryCaches(); virtual void setNonInterfarenceGeometyrPair(int geometryId1, int geometryId2); virtual bool makeReady(); virtual void updatePosition(int geometryId, const Position& position); virtual void detectCollisions(boost::function callback); private: ODECollisionDetectorImpl* impl; }; typedef boost::shared_ptr ODECollisionDetectorPtr; } #endif choreonoid-1.5.0/src/ODEPlugin/CMakeLists.txt0000664000000000000000000000734612741425367017510 0ustar rootroot # @author Shin'ichiro Nakaoka option(BUILD_ODE_PLUGIN "Building ODEPlugin" OFF) option(BUILD_GAZEBO_ODE_PLUGIN "Building Gazebo ODE Plugin" OFF) option(USE_ODE_STATIC_LIB "Gazebo ODE Plugin and ODE Plugin use a static library." OFF) if(NOT BUILD_ODE_PLUGIN AND NOT BUILD_GAZEBO_ODE_PLUGIN) return() endif() # set(CMAKE_BUILD_TYPE Debug) if(BUILD_ODE_PLUGIN) set(ode ODE) endif() if(BUILD_GAZEBO_ODE_PLUGIN) set(gazebo_ode GAZEBO_ODE) endif() set(versions ${ode} ${gazebo_ode}) if(BUILD_ODE_PLUGIN) set(ODE_DIR ${ODE_DIR} CACHE PATH "set the top directory of Open Dynamics Engine") if(UNIX) if(NOT ODE_DIR) pkg_check_modules(ODE REQUIRED ode) if(USE_ODE_STATIC_LIB) set(ODE_LIBRARIES ode.a) else() set(ODE_LIBRARIES ode) endif() endif() elseif(MSVC) if(NOT ODE_DIR) message(FATAL_ERROR "Please specify the directory of Open Dynamics Engine to ODE_DIR.") endif() endif() if(ODE_DIR) set(ODE_INCLUDE_DIRS ${ODE_DIR}/include) if(UNIX) set(ODE_LIBRARY_DIRS ${ODE_DIR}/lib) include_directories(${ODE_INCLUDE_DIRS}) link_directories(${ODE_LIBRARY_DIRS}) set(ODE_LIBRARIES ode.a) elseif(MSVC) set(ODE_LIBRARY_DIRS ${ODE_DIR}/lib/ReleaseDoubleDLL ${ODE_DIR}/lib/DebugDoubleDLL) set(ODE_LIBRARIES optimized ode_double debug ode_doubled) include_directories(${ODE_INCLUDE_DIRS}) link_directories(${ODE_LIBRARY_DIRS}) if(INSTALL_RUNTIME_DEPENDENCIES) install(PROGRAMS ${ODE_DIR}/lib/ReleaseDoubleDLL/ode_double.dll DESTINATION bin CONFIGURATIONS Release RelWithDebInfo MinSizeRel) install(PROGRAMS ${ODE_DIR}/lib/DebugDoubleDLL/ode_doubled.dll DESTINATION bin CONFIGURATIONS Debug) if(INSTALL_SDK_WITH_EXTLIBS) install(FILES ${ODE_DIR}/lib/ReleaseDoubleDLL/ode_double.lib DESTINATION lib CONFIGURATIONS Release RelWithDebInfo MinSizeRel) install(FILES ${ODE_DIR}/lib/DebugDoubleDLL/ode_doubled.lib DESTINATION lib CONFIGURATIONS Debug) install(DIRECTORY ${ODE_DIR}/include/ode DESTINATION ${CNOID_HEADER_SUBDIR}) endif() endif() endif() endif() endif() if(BUILD_GAZEBO_ODE_PLUGIN) set(GAZEBO_ODE_DIR ${GAZEBO_ODE_DIR} CACHE PATH "set the top directory of Gazebo Open Dynamics Engine") if(UNIX) if(NOT GAZEBO_ODE_DIR) pkg_check_modules(GAZEBO_ODE REQUIRED gazebo_ode) include_directories(${GAZEBO_ODE_INCLUDE_DIRS}) link_directories(${GAZEBO_ODE_LIBRARY_DIRS}) if(USE_ODE_STATIC_LIB) set(GAZEBO_ODE_LIBRARIES gazebo_ode.a gazebo_opcode.a gazebo_gimpact.a gazebo_opende_ou.a gazebo_ccd.a) else() set(GAZEBO_ODE_LIBRARIES gazebo_ode) endif() endif() elseif(MSVC) endif() endif() add_definitions(-DdDOUBLE) if(UNIX AND NOT APPLE) # Is this necessary to use both plugins for version 3.0 and 3.1 at the same time ? set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl,-Bsymbolic") endif() foreach(version ${versions}) set(target Cnoid${version}Plugin) set(sources ODEPlugin.cpp ODESimulatorItem.cpp ODECollisionDetector.cpp ) set(headers ) make_gettext_mofiles(${target} mofiles) add_cnoid_plugin(${target} SHARED ${sources} ${headers} ${mofiles}) set_target_properties(${target} PROPERTIES COMPILE_DEFINITIONS ${version}) if(${version} STREQUAL "ODE") target_link_libraries(${target} CnoidBodyPlugin ${ODE_LIBRARIES}) else() target_link_libraries(${target} CnoidBodyPlugin ${GAZEBO_ODE_LIBRARIES}) endif() apply_common_setting_for_plugin(${target} "${headers}") endforeach() if(ENABLE_PYTHON) add_subdirectory(python) endif() choreonoid-1.5.0/src/ODEPlugin/ODECollisionDetector.cpp0000664000000000000000000003341412741425367021424 0ustar rootroot/** \file \author Shizuko Hattori */ #include "ODECollisionDetector.h" #include #include #include #include #include #ifdef GAZEBO_ODE #include #else #include #endif using namespace std; using namespace boost; using namespace cnoid; namespace { CollisionDetectorPtr factory() { return boost::make_shared(); } struct FactoryRegistration { FactoryRegistration(){ CollisionDetector::registerFactory("ODECollisionDetector", factory); } } factoryRegistration; typedef Eigen::Matrix Vertex; struct Triangle { int indices[3]; }; class GeometryEx { public : GeometryEx(); ~GeometryEx(); dSpaceID spaceID; vector primitiveGeomID; dGeomID meshGeomID; dTriMeshDataID triMeshDataID; bool isStatic; vector vertices; vector triangles; }; typedef boost::shared_ptr GeometryExPtr; GeometryEx::GeometryEx() { spaceID = 0; meshGeomID = 0; primitiveGeomID.clear(); triMeshDataID = 0; isStatic = false; vertices.clear(); triangles.clear(); } GeometryEx::~GeometryEx() { for(vector::iterator it=primitiveGeomID.begin(); it!=primitiveGeomID.end(); it++) dGeomDestroy(*it); if(meshGeomID) dGeomDestroy(meshGeomID); if(triMeshDataID) dGeomTriMeshDataDestroy(triMeshDataID); if(spaceID) dSpaceDestroy(spaceID); } } namespace cnoid { class ODECollisionDetectorImpl { public: ODECollisionDetectorImpl(); ~ODECollisionDetectorImpl(); dSpaceID spaceID; vector models; typedef set < pair > SpaceIDPairSet; SpaceIDPairSet nonInterfarencePairs; typedef map< dGeomID, int > GeomIDMap; GeomIDMap geomIDMap; typedef map< dGeomID, Position, std::less, Eigen::aligned_allocator< pair > > OffsetMap; OffsetMap offsetMap; boost::function callback_; MeshExtractor* meshExtractor; int addGeometry(SgNode* geometry); void addMesh(GeometryEx* model); void setNonInterfarenceGeometyrPair(int geometryId1, int geometryId2); bool makeReady(); void updatePosition(int geometryId, const Position& position); void detectCollisions(boost::function callback); private : }; } ODECollisionDetector::ODECollisionDetector() { impl = new ODECollisionDetectorImpl(); } ODECollisionDetectorImpl::ODECollisionDetectorImpl() { spaceID = dHashSpaceCreate(0); dSpaceSetCleanup(spaceID, 0); meshExtractor = new MeshExtractor; } ODECollisionDetector::~ODECollisionDetector() { delete impl; } ODECollisionDetectorImpl::~ODECollisionDetectorImpl() { if(spaceID) dSpaceDestroy(spaceID); delete meshExtractor; } const char* ODECollisionDetector::name() const { return "ODECollisionDetector"; } CollisionDetectorPtr ODECollisionDetector::clone() const { return boost::make_shared(); } void ODECollisionDetector::clearGeometries() { impl->models.clear(); impl->nonInterfarencePairs.clear(); impl->geomIDMap.clear(); impl->offsetMap.clear(); } int ODECollisionDetector::numGeometries() const { return impl->models.size(); } int ODECollisionDetector::addGeometry(SgNodePtr geometry) { return impl->addGeometry(geometry.get()); } int ODECollisionDetectorImpl::addGeometry(SgNode* geometry) { const int index = models.size(); bool isValid = false; if(geometry){ GeometryExPtr model = boost::make_shared(); model->spaceID = dHashSpaceCreate(spaceID); dSpaceSetCleanup(model->spaceID, 0); if(meshExtractor->extract(geometry, boost::bind(&ODECollisionDetectorImpl::addMesh, this, model.get()))){ if(!model->vertices.empty()){ model->triMeshDataID = dGeomTriMeshDataCreate(); dGeomTriMeshDataBuildSingle(model->triMeshDataID, &model->vertices[0], sizeof(Vertex), model->vertices.size(), &model->triangles[0], model->triangles.size() * 3, sizeof(Triangle)); model->meshGeomID = dCreateTriMesh(model->spaceID, model->triMeshDataID, 0, 0, 0); geomIDMap.insert(make_pair( model->meshGeomID, index )); } for(vector::iterator it1=model->primitiveGeomID.begin(); it1!=model->primitiveGeomID.end(); it1++){ geomIDMap.insert(make_pair( *it1, index )); } models.push_back(model); isValid = true; } } if(!isValid){ models.push_back(GeometryExPtr()); } return index; } void ODECollisionDetectorImpl::addMesh(GeometryEx* model) { SgMesh* mesh = meshExtractor->currentMesh(); const Affine3& T = meshExtractor->currentTransform(); bool meshAdded = false; if(mesh->primitiveType() != SgMesh::MESH){ bool doAddPrimitive = false; Vector3 scale; optional translation; if(!meshExtractor->isCurrentScaled()){ scale.setOnes(); doAddPrimitive = true; } else { Affine3 S = meshExtractor->currentTransformWithoutScaling().inverse() * meshExtractor->currentTransform(); if(S.linear().isDiagonal()){ if(!S.translation().isZero()){ translation = S.translation(); } scale = S.linear().diagonal(); if(mesh->primitiveType() == SgMesh::BOX){ doAddPrimitive = true; } else if(mesh->primitiveType() == SgMesh::SPHERE){ // check if the sphere is uniformly scaled for all the axes if(scale.x() == scale.y() && scale.x() == scale.z()){ doAddPrimitive = true; } } else if(mesh->primitiveType() == SgMesh::CYLINDER){ // check if the bottom circle face is uniformly scaled if(scale.x() == scale.z()){ doAddPrimitive = true; } } } } if(doAddPrimitive){ bool created = false; dGeomID geomId; switch(mesh->primitiveType()){ case SgMesh::BOX : { const Vector3& s = mesh->primitive().size; geomId = dCreateBox(model->spaceID, s.x() * scale.x(), s.y() * scale.y(), s.z() * scale.z()); created = true; break; } case SgMesh::SPHERE : { SgMesh::Sphere sphere = mesh->primitive(); geomId = dCreateSphere(model->spaceID, sphere.radius * scale.x()); created = true; break; } case SgMesh::CYLINDER : { SgMesh::Cylinder cylinder = mesh->primitive(); geomId = dCreateCylinder(model->spaceID, cylinder.radius * scale.x(), cylinder.height * scale.y()); created = true; break; } default : break; } if(created){ model->primitiveGeomID.push_back(geomId); if(translation){ offsetMap.insert(OffsetMap::value_type(geomId, meshExtractor->currentTransformWithoutScaling() * Translation3(*translation))); } else { offsetMap.insert(OffsetMap::value_type(geomId, meshExtractor->currentTransformWithoutScaling())); } meshAdded = true; } } } if(!meshAdded){ const int vertexIndexTop = model->vertices.size(); const SgVertexArray& vertices_ = *mesh->vertices(); const int numVertices = vertices_.size(); for(int i=0; i < numVertices; ++i){ const Vector3 v = T * vertices_[i].cast(); model->vertices.push_back(Vertex(v.x(), v.y(), v.z())); } const int numTriangles = mesh->numTriangles(); for(int i=0; i < numTriangles; ++i){ SgMesh::TriangleRef src = mesh->triangle(i); Triangle tri; tri.indices[0] = vertexIndexTop + src[0]; tri.indices[1] = vertexIndexTop + src[1]; tri.indices[2] = vertexIndexTop + src[2]; model->triangles.push_back(tri); } } } void ODECollisionDetector::setGeometryStatic(int geometryId, bool isStatic) { GeometryExPtr& model = impl->models[geometryId]; if(model){ model->isStatic = isStatic; } } bool ODECollisionDetector::enableGeometryCache(bool on) { return false; } void ODECollisionDetector::clearGeometryCache(SgNodePtr geometry) { } void ODECollisionDetector::clearAllGeometryCaches() { } void ODECollisionDetector::setNonInterfarenceGeometyrPair(int geometryId1, int geometryId2) { impl->setNonInterfarenceGeometyrPair(geometryId1, geometryId2); } void ODECollisionDetectorImpl::setNonInterfarenceGeometyrPair(int geometryId1, int geometryId2) { GeometryExPtr& model1 = models[geometryId1]; GeometryExPtr& model2 = models[geometryId2]; if(model1 && model2){ dSpaceID space1 = model1->spaceID; dSpaceID space2 = model2->spaceID; //if(nonInterfarencePairs.find(make_pair(space1, space2)) == nonInterfarencePairs.end()) nonInterfarencePairs.insert(make_pair(space1, space2)); } } bool ODECollisionDetector::makeReady() { return impl->makeReady(); } bool ODECollisionDetectorImpl::makeReady() { const int n = models.size(); for(int i=0; i < n; ++i){ GeometryExPtr& model1 = models[i]; if(!model1) continue; for(int j = i+1; j < n; ++j){ GeometryExPtr& model2 = models[j]; if(!model2) continue; if(model1->isStatic && model2->isStatic){ dSpaceID space1 = model1->spaceID; dSpaceID space2 = model2->spaceID; if(nonInterfarencePairs.find(make_pair(space1, space2)) == nonInterfarencePairs.end()) nonInterfarencePairs.insert(make_pair(space1, space2)); } } } return true; } void ODECollisionDetector::updatePosition(int geometryId, const Position& position) { impl->updatePosition(geometryId, position); } void ODECollisionDetectorImpl::updatePosition(int geometryId, const Position& _position) { GeometryExPtr& model = models[geometryId]; if(model){ if(model->meshGeomID){ Vector3 p = _position.translation(); dMatrix3 R = { _position(0,0), _position(0,1), _position(0,2), 0.0, _position(1,0), _position(1,1), _position(1,2), 0.0, _position(2,0), _position(2,1), _position(2,2), 0.0 }; dGeomSetPosition(model->meshGeomID, p.x(), p.y(), p.z()); dGeomSetRotation(model->meshGeomID, R); } for(vector::iterator it = model->primitiveGeomID.begin(); it!=model->primitiveGeomID.end(); it++) if(*it){ Position position = _position * offsetMap[*it]; Vector3 p = position.translation(); dMatrix3 R = { position(0,0), position(0,1), position(0,2), 0.0, position(1,0), position(1,1), position(1,2), 0.0, position(2,0), position(2,1), position(2,2), 0.0 }; dGeomSetPosition(*it, p.x(), p.y(), p.z()); dGeomSetRotation(*it, R); } } } static void nearCallback(void* data, dGeomID g1, dGeomID g2) { dSpaceID space1 = dGeomGetSpace (g1); dSpaceID space2 = dGeomGetSpace (g2); ODECollisionDetectorImpl* impl = (ODECollisionDetectorImpl*)data; if(impl->nonInterfarencePairs.find(make_pair(space1, space2)) != impl->nonInterfarencePairs.end()) return; if(impl->nonInterfarencePairs.find(make_pair(space2, space1)) != impl->nonInterfarencePairs.end()) return; if(dGeomIsSpace(g1) || dGeomIsSpace(g2)) { dSpaceCollide2(g1, g2, data, &nearCallback); } else { static const int MaxNumContacts = 100; dContact contacts[MaxNumContacts]; int numContacts= dCollide(g1, g2, MaxNumContacts, &contacts[0].geom, sizeof(dContact)); if(numContacts > 0 ){ CollisionPair collisionPair; vector& collisions = collisionPair.collisions; int id1 = impl->geomIDMap.find(g1)->second; int id2 = impl->geomIDMap.find(g2)->second; collisionPair.geometryId[0] = id2; collisionPair.geometryId[1] = id1; for(size_t i=0; i < numContacts; i++){ collisions.push_back(Collision()); Collision& collision = collisions.back(); collision.point[0] = contacts[i].geom.pos[0]; collision.point[1] = contacts[i].geom.pos[1]; collision.point[2] = contacts[i].geom.pos[2]; collision.normal[0] = contacts[i].geom.normal[0]; collision.normal[1] = contacts[i].geom.normal[1]; collision.normal[2] = contacts[i].geom.normal[2]; collision.depth = contacts[i].geom.depth; } impl->callback_(collisionPair); } } } void ODECollisionDetector::detectCollisions(boost::function callback) { impl->callback_ = callback; dSpaceCollide(impl->spaceID, (void*)impl, &nearCallback); } choreonoid-1.5.0/src/ODEPlugin/ODESimulatorItem.h0000664000000000000000000000361612741425367020243 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_ODEPLUGIN_ODE_SIMULATOR_ITEM_H #define CNOID_ODEPLUGIN_ODE_SIMULATOR_ITEM_H #include #include #include "exportdecl.h" #ifdef GAZEBO_ODE #define ODESimulatorItem GazeboODESimulatorItem #endif namespace cnoid { class ODESimulatorItemImpl; class CNOID_EXPORT ODESimulatorItem : public SimulatorItem { public: static void initializeClass(ExtensionManager* ext); ODESimulatorItem(); ODESimulatorItem(const ODESimulatorItem& org); virtual ~ODESimulatorItem(); virtual void setAllLinkPositionOutputMode(bool on); enum StepMode { STEP_ITERATIVE, STEP_BIG_MATRIX, NUM_STEP_MODES }; void setStepMode(int value); void setGravity(const Vector3& gravity); void setFriction(double friction); void setJointLimitMode(bool on); void set2Dmode(bool on); void setGlobalERP(double erp); void setGlobalCFM(double value); void setNumIterations(int n); void setOverRelaxation(double value); void setCorrectingVelocityLimitMode(bool on); void setMaxCorrectingVelocity(double vel); void setSurfaceLayerDepth(double value); void useWorldCollisionDetector(bool on); protected: virtual SimulationBody* createSimulationBody(Body* orgBody); virtual bool initializeSimulation(const std::vector& simBodies); virtual void initializeSimulationThread(); virtual bool stepSimulation(const std::vector& activeSimBodies); virtual void finalizeSimulation(); virtual Item* doDuplicate() const; virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: ODESimulatorItemImpl* impl; friend class ODESimulatorItemImpl; }; typedef ref_ptr ODESimulatorItemPtr; } #endif choreonoid-1.5.0/src/ODEPlugin/po/0000775000000000000000000000000012741425367015354 5ustar rootrootchoreonoid-1.5.0/src/ODEPlugin/po/ja.po0000664000000000000000000000364512741425367016316 0ustar rootroot# Japanese translations for PACKAGE package. # Copyright (C) 2014 THE PACKAGE'S COPYRIGHT HOLDER # This file is distributed under the same license as the PACKAGE package. # hattori , 2014. # msgid "" msgstr "" "Project-Id-Version: PACKAGE VERSION\n" "Report-Msgid-Bugs-To: \n" "POT-Creation-Date: 2014-04-11 09:45+0900\n" "PO-Revision-Date: 2014-04-11 09:45+0900\n" "Last-Translator: nakaoka \n" "Language-Team: Japanese\n" "Language: ja\n" "MIME-Version: 1.0\n" "Content-Type: text/plain; charset=UTF-8\n" "Content-Transfer-Encoding: 8bit\n" "Plural-Forms: nplurals=1; plural=0;\n" #: ODESimulatorItem.cpp:24 msgid "GazeboODESimulatorItem" msgstr "GazeboODE‚·ƒŸƒƒĴƒĵ‚ż‚˘‚¤ƒ†ƒ " #: ODESimulatorItem.cpp:27 msgid "ODESimulatorItem" msgstr "ODE‚·ƒŸƒƒĴƒĵ‚ż‚˘‚¤ƒ†ƒ " #: ODESimulatorItem.cpp:789 msgid "Iterative (quick step)" msgstr "ċċİ(quick step)" #: ODESimulatorItem.cpp:790 msgid "Big matrix" msgstr "Big matrix" #: ODESimulatorItem.cpp:1187 msgid "Step mode" msgstr "‚ıƒ†ƒƒƒ—ƒ˘ƒĵƒ‰" #: ODESimulatorItem.cpp:1189 msgid "Gravity" msgstr "重ċŠ›ċŠ é€ŸċşĤ" #: ODESimulatorItem.cpp:1192 msgid "Friction" msgstr "ĉ‘İĉ“Ĥ係ĉ•°" #: ODESimulatorItem.cpp:1194 msgid "Limit joint range" msgstr "関節範ċ›²ĉ‹˜ĉŸ" #: ODESimulatorItem.cpp:1197 msgid "Global ERP" msgstr "‚°ƒ­ƒĵƒƒĞERP" #: ODESimulatorItem.cpp:1199 msgid "Global CFM" msgstr "‚°ƒ­ƒĵƒƒĞCFM" #: ODESimulatorItem.cpp:1203 msgid "Iterations" msgstr "ċċİċ›žĉ•°" #: ODESimulatorItem.cpp:1206 msgid "Over relaxation" msgstr "SOR係ĉ•°" #: ODESimulatorItem.cpp:1208 msgid "Limit correcting vel." msgstr "ĉ·ħċşĤ補ĉ­£é€ŸċşĤċˆĥ限" #: ODESimulatorItem.cpp:1210 msgid "Max correcting vel." msgstr "ĉœ€ċ¤§ĉ·ħċşĤ補ĉ­£é€ŸċşĤ" #: ODESimulatorItem.cpp:1213 msgid "2D mode" msgstr "2Dƒ˘ƒĵƒ‰" #: ODESimulatorItem.cpp:1215 msgid "Use WorldItem's Collision Detector" msgstr "ċ¤–部Collision Detectorä½żç”¨" choreonoid-1.5.0/src/ODEPlugin/README.txt0000664000000000000000000000313512741425367016436 0ustar rootroot**ODE ‚½ƒĵ‚ı‹‚‰‚³ƒ³ƒ‘‚¤ƒĞ—Ĥstaticƒİ‚¤ƒ–ƒİƒŞ‚’作ĉˆ™‚‹** 1.‚½ƒĵ‚ıċ–ċ— apt-get source libode-dev 2.‚³ƒ³ƒ‘‚¤ƒĞ cd ode-0.11.1/ CXXFLAGS="-fPIC -fvisibility=hidden" ./configure --enable-static --enable-release --enable-double-precision --with-trimesh=opcode --disable-demos make sudo make install ‚¤ƒ³‚ıƒˆƒĵƒĞċ…ˆ(/usr/local/lib)Ğ libode.a Œ§‚‹€‚ **Gazebo_ode€€‚½ƒĵ‚ı‹‚‰‚³ƒ³ƒ‘‚¤ƒĞ—Ĥstaticƒİ‚¤ƒ–ƒİƒŞ‚’作ĉˆ™‚‹** http://gazebosim.org/wiki/3.0/installĞċ“£Ĥ€äċ­˜ƒİ‚¤ƒ–ƒİƒŞ‚’‚¤ƒ³‚ıƒˆƒĵƒĞ€‚ Build And Install GazeboConfigure Gazebo (choose either method a or b below)ċ‰Ğ /gazebo/CMakeLists.txtä¸­ set (BUILD_GAZEBO ON CACHE INTERNAL "Build Gazebo" FORCE) ‚’ set (BUILD_GAZEBO OFF CACHE INTERNAL "Build Gazebo" FORCE) Ğĉ›¸ĉ›ˆ‚‹€‚ /gazebo/cmake/GazeboUtils.cmakeƒ•‚Ħ‚¤ƒĞĞ macro (gz_add_static_library _name) add_library(${_name} STATIC ${ARGN}) get_target_property(compile_flags ${ARGV0} COMPILE_FLAGS) if(NOT compile_flags) set(compile_flags "") endif() set_target_properties(${ARGV0} PROPERTIES COMPILE_FLAGS "${compile_flags} -fPIC -fvisibility=hidden") target_link_libraries (${_name} ${general_libraries}) endmacro () ‚’èż½ċŠ ™‚‹€‚ gazebo/deps/opende/CMakeLists.txt gazebo/deps/opende/OPCODE/CMakeLists.txt gazebo/deps/opende/GIMPACT/CMakeLists.txt gazebo/deps/opende/ou/CMakeLists.txt ä¸­Ğĉ›¸‹‚ŒĤ„‚‹ gz_add_library(gazebo_*** ${sources}) èĦŒ‚’ gz_add_static_library(gazebo_*** ${sources}) Ğĉ›¸ĉ›ˆ‚‹€‚ cmake .. make sudo make install choreonoid-1.5.0/src/ODEPlugin/python/0000775000000000000000000000000012741425367016257 5ustar rootrootchoreonoid-1.5.0/src/ODEPlugin/python/PyODEPlugin.cpp0000664000000000000000000000336312741425367021067 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include "../ODESimulatorItem.h" #include using namespace boost::python; using namespace cnoid; BOOST_PYTHON_MODULE(ODEPlugin) { boost::python::import("cnoid.BodyPlugin"); { scope odeSimulatorItemScope = class_< ODESimulatorItem, ODESimulatorItemPtr, bases >("ODESimulatorItem") .def("setStepMode", &ODESimulatorItem::setStepMode) .def("setGravity", &ODESimulatorItem::setGravity) .def("setFriction", &ODESimulatorItem::setFriction) .def("setJointLimitMode", &ODESimulatorItem::setJointLimitMode) .def("set2Dmode", &ODESimulatorItem::set2Dmode) .def("setGlobalERP", &ODESimulatorItem::setGlobalERP) .def("setGlobalCFM", &ODESimulatorItem::setGlobalCFM) .def("setNumIterations", &ODESimulatorItem::setNumIterations) .def("setOverRelaxation", &ODESimulatorItem::setOverRelaxation) .def("setCorrectingVelocityLimitMode", &ODESimulatorItem::setCorrectingVelocityLimitMode) .def("setMaxCorrectingVelocity", &ODESimulatorItem::setMaxCorrectingVelocity) .def("setSurfaceLayerDepth", &ODESimulatorItem::setSurfaceLayerDepth) .def("useWorldCollisionDetector", &ODESimulatorItem::useWorldCollisionDetector) ; enum_("StepMode") .value("STEP_ITERATIVE", ODESimulatorItem::STEP_ITERATIVE) .value("STEP_BIG_MATRIX", ODESimulatorItem::STEP_BIG_MATRIX) .value("NUM_STEP_MODES", ODESimulatorItem::NUM_STEP_MODES); } implicitly_convertible(); PyItemList("ODESimulatorItemList"); } choreonoid-1.5.0/src/ODEPlugin/python/CMakeLists.txt0000664000000000000000000000063412741425367021022 0ustar rootroot # @author Hisashi Ikari if(BUILD_ODE_PLUGIN) set(ode ODE) endif() if(BUILD_GAZEBO_ODE_PLUGIN) set(gazebo_ode GAZEBO_ODE) endif() set(versions ${ode} ${gazebo_ode}) foreach(version ${versions}) set(target Py${version}Plugin) add_cnoid_python_module(${target} PyODEPlugin.cpp) target_link_libraries(${target} Cnoid${version}Plugin CnoidPyBase ${PYTHON_LIBRARIES} ${Boost_PYTHON_LIBRARY}) endforeach() choreonoid-1.5.0/src/CMakeLists.txt0000664000000000000000000000171412741425367015713 0ustar rootroot add_subdirectory(Util) add_subdirectory(Python) add_subdirectory(AISTCollisionDetector) add_subdirectory(Body) add_subdirectory(Corba) if(ENABLE_GUI) add_subdirectory(Base) add_subdirectory(PythonPlugin) add_subdirectory(BodyPlugin) add_subdirectory(PoseSeqPlugin) add_subdirectory(BalancerPlugin) add_subdirectory(SimpleControllerPlugin) add_subdirectory(ODEPlugin) add_subdirectory(BulletPlugin) add_subdirectory(PhysXPlugin) add_subdirectory(RokiPlugin) add_subdirectory(AgXPlugin) add_subdirectory(FCLPlugin) add_subdirectory(SceneEditPlugin) add_subdirectory(PCLPlugin) add_subdirectory(MediaPlugin) add_subdirectory(ScenarioPlugin) add_subdirectory(CorbaPlugin) add_subdirectory(OpenRTMPlugin) add_subdirectory(OpenHRPPlugin) add_subdirectory(RobotAccessPlugin) add_subdirectory(Hrpsys31Plugin) add_subdirectory(GrxUIPlugin) add_subdirectory(PythonSimScriptPlugin) add_subdirectory(Choreonoid) endif() choreonoid-1.5.0/src/GrxUIPlugin/0000775000000000000000000000000012741425367015325 5ustar rootrootchoreonoid-1.5.0/src/GrxUIPlugin/GrxUIMenuView.h0000664000000000000000000000176512741425367020165 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_GRXUI_PLUGIN_GRXUI_MENU_VIEW_H_INCLUDED #define CNOID_GRXUI_PLUGIN_GRXUI_MENU_VIEW_H_INCLUDED #include #include #include #include "exportdecl.h" namespace cnoid { class GrxUIMenuViewImpl; class CNOID_EXPORT GrxUIMenuView : public cnoid::View { public: static void initializeClass(ExtensionManager* ext); static GrxUIMenuView* instance(); static void setCancelExceptionType(boost::python::object exceptionType); GrxUIMenuView(); virtual ~GrxUIMenuView(); void setMenu(const boost::python::list& menu, bool isLocalSequentialMode, bool doBackgroundExecution); static QMessageBox::StandardButton waitInputSelect(const std::string& message); static bool waitInputConfirm(const std::string& message); static std::string waitInputMessage(const std::string& message); private: friend class GrxUIMenuViewImpl; GrxUIMenuViewImpl* impl; }; } #endif choreonoid-1.5.0/src/GrxUIPlugin/exportdecl.h0000664000000000000000000000221512741425367017647 0ustar rootroot #ifndef CNOID_GRXUIPLUGIN_EXPORTDECL_H_INCLUDED # define CNOID_GRXUIPLUGIN_EXPORTDECL_H_INCLUDED # if defined _WIN32 || defined __CYGWIN__ # define CNOID_GRXUIPLUGIN_DLLIMPORT __declspec(dllimport) # define CNOID_GRXUIPLUGIN_DLLEXPORT __declspec(dllexport) # define CNOID_GRXUIPLUGIN_DLLLOCAL # else # if __GNUC__ >= 4 # define CNOID_GRXUIPLUGIN_DLLIMPORT __attribute__ ((visibility("default"))) # define CNOID_GRXUIPLUGIN_DLLEXPORT __attribute__ ((visibility("default"))) # define CNOID_GRXUIPLUGIN_DLLLOCAL __attribute__ ((visibility("hidden"))) # else # define CNOID_GRXUIPLUGIN_DLLIMPORT # define CNOID_GRXUIPLUGIN_DLLEXPORT # define CNOID_GRXUIPLUGIN_DLLLOCAL # endif # endif # ifdef CNOID_GRXUIPLUGIN_STATIC # define CNOID_GRXUIPLUGIN_DLLAPI # define CNOID_GRXUIPLUGIN_LOCAL # else # ifdef CnoidGrxUIPlugin_EXPORTS # define CNOID_GRXUIPLUGIN_DLLAPI CNOID_GRXUIPLUGIN_DLLEXPORT # else # define CNOID_GRXUIPLUGIN_DLLAPI CNOID_GRXUIPLUGIN_DLLIMPORT # endif # define CNOID_GRXUIPLUGIN_LOCAL CNOID_GRXUIPLUGIN_DLLLOCAL # endif #endif #ifdef CNOID_EXPORT # undef CNOID_EXPORT #endif #define CNOID_EXPORT CNOID_GRXUIPLUGIN_DLLAPI choreonoid-1.5.0/src/GrxUIPlugin/sample/0000775000000000000000000000000012741425367016606 5ustar rootrootchoreonoid-1.5.0/src/GrxUIPlugin/sample/GrxUISample.cnoid0000664000000000000000000001155312741425367021771 0ustar rootrootitems: id: 2 name: "Root" plugin: Base class: RootItem children: - id: 3 name: "GrxUISample.py" plugin: Python class: PythonScriptItem data: file: "GrxUISample.py" executionOnLoading: true backgroundExecution: true views: - id: 0 plugin: Base class: ItemPropertyView mounted: true - id: 1 plugin: Base class: ItemTreeView mounted: true state: selected: [ 3 ] checked: [ 3 ] - id: 2 plugin: Base class: MessageView mounted: true - id: 3 plugin: Base class: SceneView mounted: true state: editMode: false viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: true defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true floorGrid: true floorGridSpan: 10 floorGridInterval: 0.5 xzGridSpan: 10 xzGridInterval: 0.5 xzGrid: false yzGridSpan: 10 yzGridInterval: 0.5 texture: true lineWidth: 1 pointSize: 1 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false enableNewDisplayListDoubleRendering: false useBufferForPicking: true camera: current: Perspective eye: [ 4, 2, 1.5 ] direction: [ -0.888888889, -0.444444444, -0.111111111 ] up: [ -0.099380799, -0.0496903995, 0.99380799 ] fieldOfView: 0.6978 near: 0.01 far: 100 orthoHeight: 20 backgroundColor: [ 0.100000001, 0.100000001, 0.300000012 ] gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] xzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] yzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] dedicatedItemTreeViewChecks: false - id: 4 name: "Task" plugin: Base class: TaskView state: isAutoMode: false currentTask: Valve 1 - id: 5 plugin: Body class: BodyLinkView mounted: true state: showRotationMatrix: false - id: 6 plugin: Body class: JointSliderView mounted: true state: showAllJoints: true jointId: false name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true - id: 7 plugin: Body class: LinkSelectionView mounted: true state: listingMode: "Link List" - id: 8 name: "GrxUI Menu" plugin: GrxUI class: GrxUIMenuView mounted: true - id: 9 plugin: Python class: PythonConsoleView mounted: true toolbars: "TimeBar": minTime: 0 maxTime: 30 frameRate: 100 playbackFrameRate: 50 idleLoopDrivenMode: false currentTime: 0 speedScale: 1 syncToOngoingUpdates: true autoExpansion: true "KinematicsBar": mode: AUTO enablePositionDragger: true penetrationBlock: false collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true "LeggedBodyBar": stanceWidth: 0.15 Body: "BodyMotionEngine": updateJointVelocities: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false OpenRTM: "deleteUnmanagedRTCsOnStartingSimulation": false viewAreas: - type: embedded tabs: true contents: type: splitter orientation: horizontal sizes: [ 303, 1291 ] children: - type: splitter orientation: vertical sizes: [ 382, 381 ] children: - type: pane views: [ 1 ] current: 1 - type: pane views: [ 0, 7 ] current: 0 - type: splitter orientation: vertical sizes: [ 545, 218 ] children: - type: splitter orientation: horizontal sizes: [ 602, 683 ] children: - type: pane views: [ 5, 6, 8 ] current: 8 - type: pane views: [ 3 ] current: 3 - type: pane views: [ 2, 9 ] current: 2 layoutOfToolBars: rows: - - { name: "FileBar", x: 0, priority: 0 } - { name: "ScriptBar", x: 48, priority: 2 } - { name: "SimulationBar", x: 96, priority: 3 } - { name: "TimeBar", x: 299, priority: 4 } - { name: "SceneBar", x: 2249, priority: 1 } choreonoid-1.5.0/src/GrxUIPlugin/sample/GrxUISample.py0000664000000000000000000000262312741425367021323 0ustar rootrootimport os, sys, traceback import cnoid.grxui import time def setup1(): print "setup1" def setup2(): print "setup2" def utility1(): print "utility1" def utility2(): print "utility2" def putMessage(message): print message def wait(second): t = 0.0 while t < second: print "Wait %f [s] ..." % 0.5 time.sleep(0.5) t += 0.5 print "Wait finished." def inputValues(x, y, z): print "inputValues(%d, %d, %d)" % x % y % z def inputStrings(s1, s2): print "inputStrings(\"%s\", \"%s\")" % s1 % s2 menu = [ [ '---------- Setup ----------', '#label', 'Setup 1', 'setup1()', 'Setup 2', 'setup2()', '--------- Utility ---------', '#label', 'Utility 1', 'utility1()', 'Utility 2', 'utility2()', ], [ 'Finish this page', 'putMessage("This is the last button in the first page")', 'Wait', 'wait(10.0)', 'Input strings', 'inputStrings("#T", "#T")', 'Input values', 'inputValues(#D, #D, #D)', 'Start', 'putMessage("This is the first button in the first page")', ], [ 'Finish the second page', 'putMessage("This is the last button in the second page")', 'Start the second page', 'putMessage("Pages can be added like this")', ], ] cnoid.grxui.waitInputMenu(menu) choreonoid-1.5.0/src/GrxUIPlugin/GrxUIPlugin.cpp0000664000000000000000000000331012741425367020203 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "GrxUIPlugin.h" #include "GrxUIMenuView.h" #include #include #include #include #include "gettext.h" using namespace boost; using namespace cnoid; namespace { bool isActive_ = false; Action* importGrxUICheck; } bool GrxUIPlugin::isActive() { return isActive_; } GrxUIPlugin::GrxUIPlugin() : Plugin("GrxUI") { require("Python"); } bool GrxUIPlugin::initialize() { GrxUIMenuView::initializeClass(this); isActive_ = true; MenuManager& mm = menuManager(); mm.setPath("/Options").setPath("GrxUI"); importGrxUICheck = mm.addCheckItem(_("Import the GrxUI module into the main namespace")); const Mapping& conf = *AppConfig::archive()->findMapping("GrxUI"); if(conf.isValid()){ bool on = conf.get("importGrxUI", false); importGrxUICheck->setChecked(on); onImportGrxUICheckToggled(on, false); } importGrxUICheck->sigToggled().connect(boost::bind(&GrxUIPlugin::onImportGrxUICheckToggled, this, _1, true)); return true; } void GrxUIPlugin::onImportGrxUICheckToggled(bool on, bool doWriteConfig) { if(on){ PyGILock lock; python::object grxuiModule = python::import("cnoid.grxui"); if(!grxuiModule.is_none()){ python::exec("from cnoid.grxui import *", cnoid::pythonMainNamespace()); } } if(doWriteConfig){ Mapping& conf = *AppConfig::archive()->openMapping("GrxUI"); conf.write("importGrxUI", importGrxUICheck->isChecked()); } } bool GrxUIPlugin::finalize() { isActive_ = false; return true; } CNOID_IMPLEMENT_PLUGIN_ENTRY(GrxUIPlugin); choreonoid-1.5.0/src/GrxUIPlugin/CMakeLists.txt0000664000000000000000000000105412741425367020065 0ustar rootroot # @author Shin'ichiro Nakaoka option(BUILD_GRXUI_PLUGIN "Building the GrxUI plugin" OFF) if(NOT BUILD_GRXUI_PLUGIN) return() elseif(NOT BUILD_PYTHON_PLUGIN) message(FATAL_ERROR "The GrxUI plugin requires the Python plugin") endif() set(target CnoidGrxUIPlugin) set(sources GrxUIPlugin.cpp GrxUIMenuView.cpp ) make_gettext_mofiles(${target} mofiles) add_cnoid_plugin(${target} SHARED ${sources} ${mofiles}) target_link_libraries(${target} CnoidPythonPlugin) apply_common_setting_for_plugin(${target} "${headers}") add_subdirectory(python) choreonoid-1.5.0/src/GrxUIPlugin/GrxUIPlugin.h0000664000000000000000000000066112741425367017656 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_GRXUI_PLUGIN_H_INCLUDED #define CNOID_GRXUI_PLUGIN_H_INCLUDED #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT GrxUIPlugin : public Plugin { public: static bool isActive(); GrxUIPlugin(); virtual bool initialize(); void onImportGrxUICheckToggled(bool on, bool doWriteConfig); virtual bool finalize(); }; } #endif choreonoid-1.5.0/src/GrxUIPlugin/po/0000775000000000000000000000000012741425367015743 5ustar rootrootchoreonoid-1.5.0/src/GrxUIPlugin/po/ja.po0000664000000000000000000000545312741425367016704 0ustar rootroot# Japanese translations for PACKAGE package. # Copyright (C) 2013 THE PACKAGE'S COPYRIGHT HOLDER # This file is distributed under the same license as the PACKAGE package. # nakaoka , 2013. # msgid "" msgstr "" "Project-Id-Version: PACKAGE VERSION\n" "Report-Msgid-Bugs-To: \n" "POT-Creation-Date: 2013-10-02 17:05+0900\n" "PO-Revision-Date: 2013-09-29 09:30+0900\n" "Last-Translator: nakaoka \n" "Language-Team: Japanese\n" "Language: ja\n" "MIME-Version: 1.0\n" "Content-Type: text/plain; charset=UTF-8\n" "Content-Transfer-Encoding: 8bit\n" "Plural-Forms: nplurals=1; plural=0;\n" #: GrxUIMenuView.cpp:195 msgid "GrxUI Menu" msgstr "GrxUIƒĦƒ‹ƒƒĵ" #: GrxUIMenuView.cpp:200 msgid "There is no menu now." msgstr "ƒĦƒ‹ƒƒĵŒĉœŞè¨­ċš§™€‚" #: GrxUIMenuView.cpp:254 msgid "A new menu has been set to the GrxUI Menu View." msgstr "GrxUIƒĦƒ‹ƒƒ“ƒƒĵĞĉ–°—„ƒĦƒ‹ƒƒĵŒ‚ğƒƒƒˆ•‚Œ—Ÿ€‚" #: GrxUIMenuView.cpp:263 GrxUIMenuView.cpp:273 msgid "Confirmation" msgstr "ç˘şèŞ" #: GrxUIMenuView.cpp:299 msgid "Show buttons executed sequentially" msgstr "順ĉĴĦċŸèĦŒƒœ‚żƒ³èĦ¨ç¤ş" #: GrxUIMenuView.cpp:304 msgid "Command Always Enabled" msgstr "非順ĉĴĦċŸèĦŒ‚³ƒžƒ³ƒ‰" #: GrxUIMenuView.cpp:308 GrxUIMenuView.cpp:353 msgid "Quit this menu" msgstr "ƒĦƒ‹ƒƒĵçµ‚了" #: GrxUIMenuView.cpp:321 msgid "Show buttons always enabled" msgstr "非順ĉĴĦċŸèĦŒƒœ‚żƒ³èĦ¨ç¤ş" #: GrxUIMenuView.cpp:328 msgid "Show previous menu" msgstr "一¤ċ‰ƒĦƒ‹ƒƒĵ" #: GrxUIMenuView.cpp:335 msgid "Show next menu" msgstr "ĉĴĦƒĦƒ‹ƒƒĵ" #: GrxUIMenuView.cpp:339 msgid "sequential" msgstr "順ĉĴĦ" #: GrxUIMenuView.cpp:340 msgid "Enable sequential execution" msgstr "順ĉĴĦċŸèĦŒƒ˘ƒĵƒ‰" #: GrxUIMenuView.cpp:348 msgid "Retry from first" msgstr "ĉœ€ċˆ‹‚‰‚„‚Šç›´—" #: GrxUIMenuView.cpp:464 msgid "Python Script Termination" msgstr "" #: GrxUIMenuView.cpp:465 msgid "" "The Python script assigned to button \"%1%\" is still running in the " "background thread. Do you want to terminate it to execute the command you " "clicked?" msgstr "ƒœ‚żƒ³ \"%1%\" Ğ設ċš•‚ŒŸPython‚ı‚ŻƒŞƒ—ƒˆŒ ƒƒƒ‚Ż‚°ƒİ‚Ĥƒ³ƒ‰‚ıƒĴƒƒƒ‰§ċŸèĦŒä¸­§™€‚“‚Œ‚’ċœĉ­˘—Ĥ‚ŻƒŞƒƒ‚Ż—Ÿ‚³ƒžƒ³ƒ‰‚’ċŸèĦŒ—™‹ïĵŸ" #: GrxUIMenuView.cpp:470 msgid "" "The script cannot be terminated and the command you clicked cannot be " "executed." msgstr "‚ı‚ŻƒŞƒ—ƒˆ‚’ċœĉ­˘§›‚“§—Ÿ€‚‚ŻƒŞƒƒ‚Ż—Ÿ‚³ƒžƒ³ƒ‰ŻċŸèĦŒ§›‚“€‚" #: GrxUIMenuView.cpp:487 msgid "The script has been cancelled." msgstr "‚ı‚ŻƒŞƒ—ƒˆŻ‚­ƒ£ƒ³‚ğƒĞ•‚Œ—Ÿ€‚" #: GrxUIPlugin.cpp:34 msgid "Import the GrxUI module into the main namespace" msgstr "GrxUIƒ˘‚¸ƒƒĵƒĞ‚’ƒĦ‚¤ƒ³ċċ‰çİşé–“¸‚¤ƒ³ƒƒĵƒˆ" choreonoid-1.5.0/src/GrxUIPlugin/GrxUIMenuView.cpp0000664000000000000000000004726412741425367020524 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "GrxUIMenuView.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { python::object cancelExceptionType; class FuncParamEntry : public LineEdit { public: int typeChar; std::string marker; FuncParamEntry(int typeChar, const std::string& marker) : typeChar(typeChar), marker(marker) { } virtual QSize sizeHint() const { QString sizeText; if(typeChar == 'D'){ sizeText = "123.56"; } else if(typeChar == 'T'){ sizeText = "Text Input"; } QSize s = LineEdit::sizeHint(); return QSize(fontMetrics().boundingRect(sizeText).width(), s.height()); } std::string text() const { return LineEdit::text().toStdString(); } }; class FuncButtonBox : public QWidget { public: PushButton button; string funcString; vector entries; FuncButtonBox(const string& label, const string& funcString) { QHBoxLayout* hbox = new QHBoxLayout(); setLayout(hbox); button.setText(label.c_str()); hbox->addWidget(&button); int pos = 0; while(true){ pos = funcString.find('#', pos); if(pos == std::string::npos){ break; } if((pos + 1) == funcString.size()){ break; } string marker = funcString.substr(pos, 2); ++pos; int typeChar = toupper(funcString[pos]); if(typeChar == 'D' || typeChar == 'T'){ FuncParamEntry* entry = new FuncParamEntry(typeChar, marker); hbox->addWidget(entry); entries.push_back(entry); } else { break; } } this->funcString = funcString; } string label() const { return button.text().toStdString(); } }; class MenuWidget : public QWidget { public: GrxUIMenuViewImpl* view; QStackedLayout pageStack; QStackedLayout barStack; ToolButton sequenceModeButton; ToolButton terminateButton1; ToolButton regularModeButton; ToolButton prevPageButton; QLabel pageIndexLabel; ToolButton nextPageButton; CheckBox sequentialCheck; ToolButton retryButton; ToolButton terminateButton2; bool isLocalSequentialMode; int currentSequencePageIndex; int currentButtonPage; int currentButton; int lastIndexInPage; vector > buttonList; PythonExecutor pythonExecutor; MenuWidget(const python::list& menu, bool isLocalSequentialMode, bool doBackgroundExecution, GrxUIMenuViewImpl* view); void createPages(const python::list& menu); void addSection(const python::list& section); void onButtonClicked(int indexInPage, FuncButtonBox* box); void onScriptFinished(); void moveNext(); void moveToNextButton(); bool isSequenceMode(); void showSequencePages(); void showRegularPage(); void moveSequentialPage(int direction); void setCurrentSequentialPage(int index); void onSequentialCheckToggled(bool on); void onRetryClicked(); void onTerminateClicked(); void onQuitClicked(); }; } namespace cnoid { class GrxUIMenuViewImpl { public: GrxUIMenuView* self; QVBoxLayout vbox; QLabel noMenuLabel; MenuWidget* menuWidget; int menuButtonsBlockCount; GrxUIMenuViewImpl(GrxUIMenuView* self); ~GrxUIMenuViewImpl(); void clearMenu(bool doDelete, bool showLabel); void setMenu(const python::list& menu, bool isLocalSequentialMode, bool doBackgroundExecution); void blockMenuButtons(bool on); }; } namespace { struct MenuButtonBlock { GrxUIMenuViewImpl* impl; MenuButtonBlock(GrxUIMenuViewImpl* impl) : impl(impl) { impl->blockMenuButtons(true); } ~MenuButtonBlock(){ impl->blockMenuButtons(false); } }; } void GrxUIMenuView::initializeClass(ExtensionManager* ext) { ext->viewManager().registerClass( "GrxUIMenuView", N_("GrxUI Menu"), ViewManager::SINGLE_OPTIONAL); } GrxUIMenuView* GrxUIMenuView::instance() { return ViewManager::getOrCreateView(); } void GrxUIMenuView::setCancelExceptionType(boost::python::object exceptionType) { cancelExceptionType = exceptionType; } GrxUIMenuView::GrxUIMenuView() { impl = new GrxUIMenuViewImpl(this); } GrxUIMenuViewImpl::GrxUIMenuViewImpl(GrxUIMenuView* self) : self(self) { self->setDefaultLayoutArea(View::CENTER); self->setLayout(&vbox); noMenuLabel.setText(_("There is no menu now.")); noMenuLabel.setSizePolicy(QSizePolicy::Ignored, QSizePolicy::Preferred); vbox.addWidget(&noMenuLabel, 0, Qt::AlignHCenter); menuWidget = 0; menuButtonsBlockCount = 0; clearMenu(false, true); } GrxUIMenuView::~GrxUIMenuView() { delete impl; } GrxUIMenuViewImpl::~GrxUIMenuViewImpl() { } void GrxUIMenuViewImpl::clearMenu(bool doDelete, bool showLabel) { if(menuWidget){ vbox.removeWidget(menuWidget); if(doDelete){ delete menuWidget; } menuWidget = 0; } if(showLabel){ noMenuLabel.show(); } else { noMenuLabel.hide(); } } void GrxUIMenuView::setMenu(const python::list& menu, bool isLocalSequentialMode, bool doBackgroundExecution) { impl->setMenu(menu, isLocalSequentialMode, doBackgroundExecution); } void GrxUIMenuViewImpl::setMenu(const python::list& menu, bool isLocalSequentialMode, bool doBackgroundExecution) { clearMenu(true, false); menuWidget = new MenuWidget(menu, isLocalSequentialMode, doBackgroundExecution, this); vbox.addWidget(menuWidget); noMenuLabel.hide(); MessageView::instance()->notify(_("A new menu has been set to the GrxUI Menu View.")); } void GrxUIMenuViewImpl::blockMenuButtons(bool on) { if(on){ ++menuButtonsBlockCount; } else{ menuButtonsBlockCount = std::max(0, menuButtonsBlockCount - 1); } if(menuWidget){ bool enabled = (menuButtonsBlockCount <= 0); QStackedLayout& pageStack = menuWidget->pageStack; const int n = pageStack.count(); for(int i=0; i < n; ++i){ pageStack.widget(i)->setEnabled(enabled); } } } /* This function is defined here instead of PyGrxUI.cpp so that the message translations can be edited with one file */ QMessageBox::StandardButton GrxUIMenuView::waitInputSelect(const std::string& message) { QMessageBox box(MainWindow::instance()); box.setWindowTitle(_("Wait input select")); box.setText(message.c_str()); box.setStandardButtons(QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel); box.setDefaultButton(QMessageBox::Yes); box.setModal(false); box.show(); MenuButtonBlock block(instance()->impl); QEventLoop eventLoop; connect(&box, SIGNAL(finished(int)), &eventLoop, SLOT(quit())); eventLoop.exec(); return (QMessageBox::StandardButton)box.result(); } /* This function is defined here instead of PyGrxUI.cpp so that the message translations can be edited with one file */ bool GrxUIMenuView::waitInputConfirm(const std::string& message) { QMessageBox box(MainWindow::instance()); box.setWindowTitle(_("Wait input confirm")); box.setText(message.c_str()); box.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel); box.setDefaultButton(QMessageBox::Ok); box.setModal(false); box.show(); MenuButtonBlock block(instance()->impl); QEventLoop eventLoop; connect(&box, SIGNAL(finished(int)), &eventLoop, SLOT(quit())); eventLoop.exec(); return (box.result() == QMessageBox::Ok); } /* This function is defined here instead of PyGrxUI.cpp so that the message translations can be edited with one file */ std::string GrxUIMenuView::waitInputMessage(const std::string& message) { Dialog dialog; dialog.setWindowTitle(_("Wait input message")); QVBoxLayout* vbox = new QVBoxLayout(); dialog.setLayout(vbox); vbox->addWidget(new QLabel(message.c_str())); LineEdit* lineEdit = new LineEdit(); connect(lineEdit, SIGNAL(returnPressed()), &dialog, SLOT(accept())); vbox->addWidget(lineEdit); PushButton* okButton = new PushButton(_("&OK")); okButton->setDefault(true); connect(okButton, SIGNAL(clicked()), &dialog, SLOT(accept())); vbox->addWidget(okButton); vbox->addStretch(); dialog.show(); MenuButtonBlock block(instance()->impl); QEventLoop eventLoop; connect(&dialog, SIGNAL(finished(int)), &eventLoop, SLOT(quit())); eventLoop.exec(); return lineEdit->string(); } MenuWidget::MenuWidget (const python::list& menu, bool isLocalSequentialMode, bool doBackgroundExecution, GrxUIMenuViewImpl* view) : view(view) { QVBoxLayout* vbox = new QVBoxLayout(); QFrame* barFrame = new QFrame(); barFrame->setFrameShape(QFrame::StyledPanel); barFrame->setLayout(&barStack); vbox->addWidget(barFrame); vbox->addLayout(&pageStack, 1); QHBoxLayout* hbox; QWidget* regularBar = new QWidget(this); regularBar->setSizePolicy(QSizePolicy::Ignored, QSizePolicy::Preferred); hbox = new QHBoxLayout(); this->isLocalSequentialMode = isLocalSequentialMode; sequenceModeButton.setText("V"); sequenceModeButton.setToolTip(_("Show buttons executed sequentially")); sequenceModeButton.sigClicked().connect(boost::bind(&MenuWidget::showSequencePages, this)); hbox->addWidget(&sequenceModeButton); hbox->addStretch(); hbox->addWidget(new QLabel(_("Command Always Enabled"))); hbox->addStretch(); terminateButton1.setText("X"); terminateButton1.setToolTip(_("Terminate the command being executed")); terminateButton1.sigClicked().connect(boost::bind(&MenuWidget::onTerminateClicked, this)); hbox->addWidget(&terminateButton1); regularBar->setLayout(hbox); barStack.addWidget(regularBar); QWidget* sequenceBar = new QWidget(this); sequenceBar->setSizePolicy(QSizePolicy::Ignored, QSizePolicy::Preferred); hbox = new QHBoxLayout(); regularModeButton.setText("^"); regularModeButton.setToolTip(_("Show buttons always enabled")); regularModeButton.sigClicked().connect(boost::bind(&MenuWidget::showRegularPage, this)); hbox->addWidget(®ularModeButton); hbox->addStretch(); prevPageButton.setText("<"); prevPageButton.setToolTip(_("Show previous menu")); prevPageButton.sigClicked().connect(boost::bind(&MenuWidget::moveSequentialPage, this, -1)); hbox->addWidget(&prevPageButton); hbox->addWidget(&pageIndexLabel); nextPageButton.setText(">"); nextPageButton.setToolTip(_("Show next menu")); nextPageButton.sigClicked().connect(boost::bind(&MenuWidget::moveSequentialPage, this, +1)); hbox->addWidget(&nextPageButton); sequentialCheck.setText(_("sequential")); sequentialCheck.setToolTip(_("Enable sequential execution")); sequentialCheck.setChecked(true); sequentialCheck.sigToggled().connect(boost::bind(&MenuWidget::onSequentialCheckToggled, this, _1)); hbox->addWidget(&sequentialCheck); hbox->addStretch(); retryButton.setText("<-|"); retryButton.setToolTip(_("Retry from first")); retryButton.sigClicked().connect(boost::bind(&MenuWidget::onRetryClicked, this)); hbox->addWidget(&retryButton); terminateButton2.setText("X"); terminateButton2.setToolTip(_("Terminate the command being executed")); terminateButton2.sigClicked().connect(boost::bind(&MenuWidget::onTerminateClicked, this)); hbox->addWidget(&terminateButton2); sequenceBar->setLayout(hbox); barStack.addWidget(sequenceBar); setLayout(vbox); createPages(menu); pythonExecutor.setBackgroundMode(doBackgroundExecution); pythonExecutor.sigFinished().connect(boost::bind(&MenuWidget::onScriptFinished, this)); currentButton = 0; currentButtonPage = 0; currentSequencePageIndex = 0; bool hasSequencePages = false; if(buttonList.size() >= 2){ for(int i=1; i < buttonList.size(); ++i){ if(!buttonList[i].empty()){ hasSequencePages = true; break; } } } if(hasSequencePages){ showSequencePages(); } else { showRegularPage(); } } void MenuWidget::createPages(const python::list& menu) { int numSections = python::len(menu); for(int i=0; i < numSections; ++i){ const python::list section = python::extract(menu[i]); addSection(section); } while(pageStack.count() < 2){ addSection(python::list()); } } void MenuWidget::addSection(const python::list& section) { QWidget* page = new QWidget(); page->setSizePolicy(QSizePolicy::Ignored, QSizePolicy::Preferred); QVBoxLayout* vbox = new QVBoxLayout(); page->setLayout(vbox); buttonList.push_back(vector()); vector& buttons = buttonList.back(); int numItems = python::len(section) / 2; for(int j=0; j < numItems; ++j){ // extract a pair of elements const string label = python::extract(section[j*2]); const string function = python::extract(section[j*2+1]); if(function == "#label"){ vbox->addWidget(new QLabel(label.c_str()), 0, Qt::AlignCenter); } else if(label == "#monitor"){ } else { FuncButtonBox* box = new FuncButtonBox(label, function); box->button.sigClicked().connect(boost::bind(&MenuWidget::onButtonClicked, this, buttons.size(), box)); vbox->addWidget(box, 0, Qt::AlignCenter); buttons.push_back(box); } } vbox->addStretch(); QScrollArea* area = new QScrollArea(); area->setWidgetResizable(true); area->setVerticalScrollBarPolicy(Qt::ScrollBarAsNeeded); area->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); area->setAlignment(Qt::AlignHCenter); area->setWidget(page); pageStack.addWidget(area); } void MenuWidget::onButtonClicked(int indexInPage, FuncButtonBox* box) { string code = box->funcString; int pos = 0; for(int i=0; i < box->entries.size(); ++i){ const FuncParamEntry* entry = box->entries[i]; pos = code.find(entry->marker, pos); if(pos != string::npos){ string value = entry->text(); code.replace(pos, entry->marker.length(), value); pos += value.length(); } } lastIndexInPage = indexInPage; if(pythonExecutor.state() == PythonExecutor::RUNNING_BACKGROUND){ QMessageBox mbox; mbox.setWindowTitle(_("Python Script Termination")); mbox.setText(_("The previously executed Python script is still running in the background thread. " "Do you want to terminate it and execute the command you clicked or cancel the command you clicked?")); mbox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel); mbox.setDefaultButton(QMessageBox::Cancel); int result = mbox.exec(); if(result == QMessageBox::Cancel){ MessageView::instance()->putln(MessageView::WARNING, _("The script was canceled.")); return; } else if(!pythonExecutor.terminate()){ showWarningDialog(_("The script cannot be terminated and the command you clicked cannot be executed.")); return; } } view->blockMenuButtons(true); pythonExecutor.execCode(code); } void MenuWidget::onScriptFinished() { bool completed = false; view->blockMenuButtons(false); if(pythonExecutor.isTerminated()){ MessageView::instance()->putln(_("The script has been terminated.")); } else if(pythonExecutor.hasException()){ PyGILock lock; if(pythonExecutor.exceptionType() == cancelExceptionType){ showWarningDialog(_("The script has been cancelled.")); } else { MessageView::instance()->putln(pythonExecutor.exceptionText()); } } else { completed = true; } if(completed){ moveNext(); } } void MenuWidget::moveNext() { if(isSequenceMode() && sequentialCheck.isChecked()){ if(isLocalSequentialMode){ moveToNextButton(); } else if(lastIndexInPage == 0){ if(currentSequencePageIndex + 1 < buttonList.size() - 1){ setCurrentSequentialPage(currentSequencePageIndex + 1); } } } } void MenuWidget::moveToNextButton() { vector buttons = buttonList[currentSequencePageIndex+1]; if(currentButton < buttons.size() - 1){ ++currentButton; setCurrentSequentialPage(currentSequencePageIndex); } else if(currentSequencePageIndex < buttonList.size() - 1){ currentButton = 0; ++currentButtonPage; setCurrentSequentialPage(currentSequencePageIndex + 1); } } bool MenuWidget::isSequenceMode() { return (barStack.currentIndex() == 1); } void MenuWidget::showSequencePages() { barStack.setCurrentIndex(1); setCurrentSequentialPage(currentSequencePageIndex); } void MenuWidget::showRegularPage() { barStack.setCurrentIndex(0); pageStack.setCurrentIndex(0); } void MenuWidget::moveSequentialPage(int direction) { const int lastPage = pageStack.count() - 2; const int index = std::max(0, std::min(currentSequencePageIndex + direction, lastPage)); setCurrentSequentialPage(index); } void MenuWidget::setCurrentSequentialPage(int index) { pageStack.setCurrentIndex(index + 1); if(isLocalSequentialMode){ const bool hasCurrentButton = (index == currentButtonPage); vector& buttons = buttonList[index + 1]; for(int i=0; i < buttons.size(); ++i){ buttons[i]->setEnabled( !sequentialCheck.isChecked() ||(hasCurrentButton && (i == currentButton))); } } prevPageButton.setEnabled(!sequentialCheck.isChecked() && index > 0); const int numPages = pageStack.count() - 1; nextPageButton.setEnabled(!sequentialCheck.isChecked() && index < numPages - 1); currentSequencePageIndex = index; pageIndexLabel.setText(QString("%1/%2").arg(index + 1).arg(numPages)); } void MenuWidget::onSequentialCheckToggled(bool on) { setCurrentSequentialPage(currentSequencePageIndex); } void MenuWidget::onRetryClicked() { currentButton = 0; currentButtonPage = 0; setCurrentSequentialPage(0); } void MenuWidget::onTerminateClicked() { if(pythonExecutor.state() == PythonExecutor::RUNNING_BACKGROUND){ bool doTermination = showConfirmDialog( _("Python Script Termination"), _("Do you really want to terminate the script being executed?")); if(doTermination){ if(!pythonExecutor.terminate()){ showWarningDialog(_("The script cannot be terminated.")); view->blockMenuButtons(false); } } } else { view->blockMenuButtons(false); } } void MenuWidget::onQuitClicked() { view->clearMenu(false, true); deleteLater(); } choreonoid-1.5.0/src/GrxUIPlugin/python/0000775000000000000000000000000012741425367016646 5ustar rootrootchoreonoid-1.5.0/src/GrxUIPlugin/python/PyGrxUI.cpp0000664000000000000000000001012412741425367020657 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "../GrxUIPlugin.h" #include "../GrxUIMenuView.h" #include #include using namespace boost; using namespace cnoid; namespace { void checkGrxUIPlugin() { if(!GrxUIPlugin::isActive()){ PyErr_SetString(PyExc_RuntimeError, "GrxUI Plugin is inactive."); python::throw_error_already_set(); } } python::object cancelExceptionType; void waitInputMenu(const python::list& menu) { checkGrxUIPlugin(); callSynchronously( boost::bind(&GrxUIMenuView::setMenu, GrxUIMenuView::instance(), menu, false, !isRunningInMainThread())); } void waitInputSequentialMenu(const python::list& menu) { checkGrxUIPlugin(); callSynchronously( boost::bind(&GrxUIMenuView::setMenu, GrxUIMenuView::instance(), menu, true, !isRunningInMainThread())); } void waitInputSelectMain(const std::string& message, QMessageBox::StandardButton& out_result) { if(GrxUIPlugin::isActive()){ out_result = GrxUIMenuView::waitInputSelect(message); } } bool waitInputSelect(const std::string& message) { checkGrxUIPlugin(); QMessageBox::StandardButton result = QMessageBox::Cancel; Py_BEGIN_ALLOW_THREADS callSynchronously(boost::bind(waitInputSelectMain, message, boost::ref(result))); Py_END_ALLOW_THREADS if(result == QMessageBox::Cancel){ PyErr_SetObject(cancelExceptionType.ptr(), 0); python::throw_error_already_set(); } return (result == QMessageBox::Yes); } void waitInputConfirmMain(const std::string& message, bool& out_result) { if(GrxUIPlugin::isActive()){ out_result = GrxUIMenuView::waitInputConfirm(message); } } bool waitInputConfirm(const std::string& message) { checkGrxUIPlugin(); bool result = false; Py_BEGIN_ALLOW_THREADS callSynchronously(boost::bind(waitInputConfirmMain, message, boost::ref(result))); Py_END_ALLOW_THREADS if(!result){ PyErr_SetObject(cancelExceptionType.ptr(), 0); python::throw_error_already_set(); } return true; } void waitInputMessageMain(const std::string& message, std::string& out_result) { if(GrxUIPlugin::isActive()){ out_result = GrxUIMenuView::waitInputMessage(message); } } std::string waitInputMessage(const std::string& message) { checkGrxUIPlugin(); std::string result; Py_BEGIN_ALLOW_THREADS callSynchronously(boost::bind(waitInputMessageMain, message, boost::ref(result))); Py_END_ALLOW_THREADS /* if(!result){ PyErr_SetObject(cancelExceptionType.ptr(), 0); python::throw_error_already_set(); } */ return result; } } BOOST_PYTHON_MODULE(grxui) { if(!GrxUIPlugin::isActive()){ PyErr_SetString(PyExc_ImportError, "GrxUI Plugin is not loaded."); python::throw_error_already_set(); } python::def("waitInputMenu", waitInputMenu); python::def("waitInputSequentialMenu", waitInputSequentialMenu); python::def("waitInputSelect", waitInputSelect); python::def("waitInputConfirm", waitInputConfirm); python::def("waitInputMessage", waitInputMessage); // define the GrxUICancelException class which inherits the built-in Exception class python::object mainModule = python::import("__main__"); python::object mainName = mainModule.attr("__name__"); mainModule.attr("__name__") = python::scope().attr("__name__"); python::exec("class GrxUICancelException (RuntimeError): pass\n", mainModule.attr("__dict__"), python::scope().attr("__dict__")); cancelExceptionType = python::scope().attr("GrxUICancelException"); GrxUIMenuView::setCancelExceptionType(cancelExceptionType); mainModule.attr("__name__") = mainName; } choreonoid-1.5.0/src/GrxUIPlugin/python/CMakeLists.txt0000664000000000000000000000026512741425367021411 0ustar rootroot # @author Shin'ichiro Nakaoka if(ENABLE_PYTHON) set(target Pygrxui) add_cnoid_python_module(${target} PyGrxUI.cpp) target_link_libraries(${target} CnoidGrxUIPlugin) endif() choreonoid-1.5.0/src/Hrpsys31Plugin/0000775000000000000000000000000012741425367015763 5ustar rootrootchoreonoid-1.5.0/src/Hrpsys31Plugin/Hrpsys31Item.h0000664000000000000000000000220712741425367020410 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_HRPSYS31_PLUGIN_HRPSYS31_ITEM_H_INCLUDED #define CNOID_HRPSYS31_PLUGIN_HRPSYS31_ITEM_H_INCLUDED #include #include "exportdecl.h" namespace cnoid { class Hrpsys31ItemImpl; class CNOID_EXPORT Hrpsys31Item : public RobotAccessItem { public: static void initializeClass(ExtensionManager* ext); Hrpsys31Item(); Hrpsys31Item(const Hrpsys31Item& org); virtual bool connectToRobot(); virtual bool disconnectFromRobot(); virtual bool activateServos(bool on); virtual bool setStateReadingEnabled(bool on); virtual bool sendCurrentPose(); virtual bool setPlaybackSyncEnabled(bool on); protected: virtual ~Hrpsys31Item(); virtual void onPositionChanged(); virtual void onDisconnectedFromRoot(); virtual Item* doDuplicate() const; virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: Hrpsys31ItemImpl* impl; }; typedef ref_ptr Hrpsys31ItemPtr; } #endif choreonoid-1.5.0/src/Hrpsys31Plugin/exportdecl.h0000664000000000000000000000231712741425367020310 0ustar rootroot #ifndef CNOID_HRPSYS31PLUGIN_EXPORTDECL_H_INCLUDED # define CNOID_HRPSYS31PLUGIN_EXPORTDECL_H_INCLUDED # if defined _WIN32 || defined __CYGWIN__ # define CNOID_HRPSYS31PLUGIN_DLLIMPORT __declspec(dllimport) # define CNOID_HRPSYS31PLUGIN_DLLEXPORT __declspec(dllexport) # define CNOID_HRPSYS31PLUGIN_DLLLOCAL # else # if __GNUC__ >= 4 # define CNOID_HRPSYS31PLUGIN_DLLIMPORT __attribute__ ((visibility("default"))) # define CNOID_HRPSYS31PLUGIN_DLLEXPORT __attribute__ ((visibility("default"))) # define CNOID_HRPSYS31PLUGIN_DLLLOCAL __attribute__ ((visibility("hidden"))) # else # define CNOID_HRPSYS31PLUGIN_DLLIMPORT # define CNOID_HRPSYS31PLUGIN_DLLEXPORT # define CNOID_HRPSYS31PLUGIN_DLLLOCAL # endif # endif # ifdef CNOID_HRPSYS31PLUGIN_STATIC # define CNOID_HRPSYS31PLUGIN_DLLAPI # define CNOID_HRPSYS31PLUGIN_LOCAL # else # ifdef CnoidHrpsys31Plugin_EXPORTS # define CNOID_HRPSYS31PLUGIN_DLLAPI CNOID_HRPSYS31PLUGIN_DLLEXPORT # else # define CNOID_HRPSYS31PLUGIN_DLLAPI CNOID_HRPSYS31PLUGIN_DLLIMPORT # endif # define CNOID_HRPSYS31PLUGIN_LOCAL CNOID_HRPSYS31PLUGIN_DLLLOCAL # endif #endif #ifdef CNOID_EXPORT # undef CNOID_EXPORT #endif #define CNOID_EXPORT CNOID_HRPSYS31PLUGIN_DLLAPI choreonoid-1.5.0/src/Hrpsys31Plugin/Hrpsys31Plugin.cpp0000664000000000000000000000113712741425367021304 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "Hrpsys31Item.h" #include using namespace std; using namespace cnoid; using namespace boost; namespace { class Hrpsys31Plugin : public Plugin { public: Hrpsys31Plugin(); virtual bool initialize(); virtual bool finalize(); }; }; Hrpsys31Plugin::Hrpsys31Plugin() : Plugin("Hrpsys31") { require("RobotAccess"); } bool Hrpsys31Plugin::initialize() { Hrpsys31Item::initializeClass(this); return true; } bool Hrpsys31Plugin::finalize() { return true; } CNOID_IMPLEMENT_PLUGIN_ENTRY(Hrpsys31Plugin) choreonoid-1.5.0/src/Hrpsys31Plugin/Hrpsys31Item.cpp0000664000000000000000000005250712741425367020753 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "Hrpsys31Item.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { class JointState { public: JointState() { q_actual = 0.0; q_target = 0.0; power = false; servo = false; temperature = 0.0; } double q_actual; double q_target; bool calib; bool power; bool servo; double temperature; int alarm; }; class RobotState : public ExtraBodyStateAccessor { public: static const int numStateItems = 4; static const int numJointStateItems = 7; vector joints; optional localZMP[2]; double voltage; double electricCurrent; RobotState() { voltage = 0.0; electricCurrent = 0.0; } virtual int getNumStateItems() const { return numStateItems; } virtual int getNumJointStateItems() const { return numJointStateItems; } virtual const char* getStateItemName(int stateIndex) const { switch(stateIndex){ case 0: return N_("R-Foot ZMP"); case 1: return N_("L-Foot ZMP"); case 2: return N_("Voltage"); case 3: return N_("Current"); default: return ""; } } virtual const char* getStateItemLabel(int stateIndex) const { return dgettext(CNOID_GETTEXT_DOMAIN_NAME, RobotState::getStateItemName(stateIndex)); } virtual const char* getJointStateItemName(int jointStateIndex) const { switch(jointStateIndex){ case 0: return N_("Pos"); case 1: return N_("Target"); case 2: return N_("Calib"); case 3: return N_("Power"); case 4: return N_("Servo"); case 5: return N_("Temp"); case 6: return N_("Alarm"); default: return ""; } } virtual const char* getJointStateItemLabel(int stateIndex) const { return dgettext(CNOID_GETTEXT_DOMAIN_NAME, RobotState::getJointStateItemName(stateIndex)); } virtual void getState(std::vector& out_state) const { out_state.resize(numStateItems); for(int i=0; i < 2; ++i){ if(localZMP[i]){ out_state[i+0] = *localZMP[i]; } else { out_state[i+0] = ExtraBodyStateAccessor::none; } } out_state[2] = voltage; out_state[3] = electricCurrent; } virtual void getJointState(Array2D& out_jointState) const { const int nj = joints.size(); out_jointState.resize(nj, numJointStateItems); for(int i=0; i < nj; ++i){ const JointState& js = joints[i]; Array2D::Row jsout = out_jointState.row(i); jsout[0] = ExtraBodyStateAccessor::Angle(js.q_actual); jsout[1] = ExtraBodyStateAccessor::Angle(js.q_target); jsout[2] = js.calib; jsout[3] = js.power; jsout[4] = js.servo; jsout[5] = js.temperature; if(js.temperature >= 60.0){ jsout[5].setAttribute(ExtraBodyStateAccessor::STRONG_WARNING); } else if(js.temperature >= 59.0){ jsout[5].setAttribute(ExtraBodyStateAccessor::WARNING); } jsout[6] = js.alarm; } } }; typedef ref_ptr RobotStatePtr; } namespace cnoid { class Hrpsys31ItemImpl { public: Hrpsys31Item* self; MessageView* mv; string host; int port; NamingContextHelper naming; string robotHardwareName; OpenHRP::RobotHardwareService_var robotHardwareService; string stateHolderName; OpenHRP::StateHolderService_var stateHolderService; RobotStatePtr robotState; BodyItemPtr bodyItem; enum JointUpdateMode { UPDATE_BY_ACTUAL, UPDATE_BY_REFERENCE, UPDATE_MODE_SIZE }; Selection bodyJointUpdateMode; ForceSensorPtr footForceSensors[2]; double verticalForceThreshForFootContact; bool isStateReadingEnabled; double readInterval; // [ms] bool doConnectOnLoading; Timer timer; Hrpsys31ItemImpl(Hrpsys31Item* self); Hrpsys31ItemImpl(Hrpsys31Item* self, const Hrpsys31ItemImpl& org); ~Hrpsys31ItemImpl(); void init(); void onPositionChanged(); bool connectToRobot(); RTC::RTObject_ptr findRTC(const string& rtcName); template typename ServiceType::_ptr_type findService(RTC::RTObject_ptr rtc, const string& serviceName); bool disconnectFromRobot(); bool activateServos(bool on); void onReadRequest(); template void copySensorState(DeviceList& sensors, SequenceType& seq); void doPutProperties(PutPropertyFunction& putProperty); bool onReadIntervalEdited(int interval); bool store(Archive& archive); bool restore(const Archive& archive); }; } void Hrpsys31Item::initializeClass(ExtensionManager* ext) { static bool initialized = false; if(!initialized){ ItemManager& im = ext->itemManager(); im.registerClass(N_("Hrpsys31Item")); im.addCreationPanel(); } } Hrpsys31Item::Hrpsys31Item() { impl = new Hrpsys31ItemImpl(this); } Hrpsys31ItemImpl::Hrpsys31ItemImpl(Hrpsys31Item* self) : self(self), bodyJointUpdateMode(UPDATE_MODE_SIZE, CNOID_GETTEXT_DOMAIN_NAME) { host = "localhost"; port = 2809; robotHardwareName = "RobotHardware0"; stateHolderName = "StateHolder0"; isStateReadingEnabled = true; readInterval = 200.0; doConnectOnLoading = false; bodyJointUpdateMode.setSymbol(UPDATE_BY_ACTUAL, N_("Actual")); bodyJointUpdateMode.setSymbol(UPDATE_BY_REFERENCE, N_("Reference")); bodyJointUpdateMode.select(UPDATE_BY_ACTUAL); init(); } Hrpsys31Item::Hrpsys31Item(const Hrpsys31Item& org) : RobotAccessItem(org) { impl = new Hrpsys31ItemImpl(this, *org.impl); } Hrpsys31ItemImpl::Hrpsys31ItemImpl(Hrpsys31Item* self, const Hrpsys31ItemImpl& org) : self(self) { host = org.host; port = org.port; robotHardwareName = org.robotHardwareName; stateHolderName = org.stateHolderName; bodyJointUpdateMode = org.bodyJointUpdateMode; isStateReadingEnabled = org.isStateReadingEnabled; readInterval = org.readInterval; doConnectOnLoading = org.doConnectOnLoading; init(); } void Hrpsys31ItemImpl::init() { mv = MessageView::instance(); timer.sigTimeout().connect(boost::bind(&Hrpsys31ItemImpl::onReadRequest, this)); } Hrpsys31Item::~Hrpsys31Item() { delete impl; } Hrpsys31ItemImpl::~Hrpsys31ItemImpl() { disconnectFromRobot(); } void Hrpsys31Item::onPositionChanged() { impl->onPositionChanged(); } void Hrpsys31ItemImpl::onPositionChanged() { disconnectFromRobot(); BodyItem* targetBodyItem = self->findOwnerItem(); if(targetBodyItem != bodyItem){ bodyItem = targetBodyItem; if(bodyItem){ BodyPtr body = bodyItem->body(); robotState = body->getOrCreateCache("Hrpsys31RobotState"); robotState->joints.resize(body->numJoints()); // get the foot force sensors of a biped robot const Mapping& info = *body->info(); footForceSensors[0] = body->findDevice(info.get("rightFootForceSensor", "")); footForceSensors[1] = body->findDevice(info.get("leftFootForceSensor", "")); info.read("verticalForceThreshForFootContact", verticalForceThreshForFootContact); } else { robotState = 0; } } } bool Hrpsys31Item::connectToRobot() { return impl->connectToRobot(); } bool Hrpsys31ItemImpl::connectToRobot() { bool result = false; disconnectFromRobot(); mv->putln(format(_("Connecting %1% to the target robot ...")) % self->name()); mv->flush(); naming.setLocation(host, port); if(!naming.isAlive()){ mv->putln(format(_("Nameserver is not found at %1%:%2%.")) % host % port); } else { RTC::RTObject_var robotHardware = findRTC(robotHardwareName); if(!CORBA::is_nil(robotHardware)){ robotHardwareService = findService(robotHardware, "RobotHardwareService"); // activate the execution context of the robot hardware component if(!CORBA::is_nil(robotHardwareService)){ RTC::ExecutionContextList_var eclist = robotHardware->get_owned_contexts(); if(eclist->length() > 0){ RTC::ExecutionContext_ptr ec = eclist[0]; if(!CORBA::is_nil(ec)){ if(ec->get_component_state(robotHardware) != RTC::ACTIVE_STATE){ ec->activate_component(robotHardware); } } } } } RTC::RTObject_var stateHolder = findRTC(stateHolderName); if(!CORBA::is_nil(stateHolder)){ stateHolderService = findService(stateHolder, "StateHolderService"); } result = (!CORBA::is_nil(robotHardwareService) || !CORBA::is_nil(stateHolderService)); } if(result){ mv->putln("Connected."); if(bodyItem && isStateReadingEnabled){ timer.setInterval(readInterval); timer.start(); mv->putln("Periodic state reading has been started."); } } return result; } RTC::RTObject_ptr Hrpsys31ItemImpl::findRTC(const string& rtcName) { RTC::RTObject_ptr rtc = naming.findObject(rtcName, "rtc"); if(naming.isObjectAlive(rtc)){ mv->putln(format(_("Component \"%1%\" has been found.")) % rtcName); } else { mv->putln(format(_("Component \"%1%\" is not found.")) % rtcName); rtc = RTC::RTObject::_nil(); } return rtc; } template typename ServiceType::_ptr_type Hrpsys31ItemImpl::findService(RTC::RTObject_ptr rtc, const string& serviceName) { typename ServiceType::_ptr_type service = findRTCService(rtc, serviceName); if(naming.isObjectAlive(service)){ mv->putln(format(_("Service port \"%1%\" has been found.")) % serviceName); } else { mv->putln(format(_("Service port \"%1%\" is not found.")) % serviceName); service = ServiceType::_nil(); } return service; } void Hrpsys31Item::onDisconnectedFromRoot() { impl->disconnectFromRobot(); } bool Hrpsys31Item::disconnectFromRobot() { return impl->disconnectFromRobot(); } bool Hrpsys31ItemImpl::disconnectFromRobot() { if(timer.isActive()){ timer.stop(); } bool disconnected = false; if(!CORBA::is_nil(robotHardwareService)){ robotHardwareService = OpenHRP::RobotHardwareService::_nil(); disconnected = true; } if(!CORBA::is_nil(stateHolderService)){ stateHolderService = OpenHRP::StateHolderService::_nil(); disconnected = true; } if(disconnected){ mv->putln(format(_("%1% is disconnected from the target robot")) % self->name()); } return disconnected; } bool Hrpsys31Item::activateServos(bool on) { return impl->activateServos(on); } bool Hrpsys31ItemImpl::activateServos(bool on) { bool confirmed = true; bool result = false; if(CORBA::is_nil(robotHardwareService)){ mv->putln(format(_("%1% cannot turn on / off the servos because it is not connected with %2%.")) % self->name() % robotHardwareName); } else { OpenHRP::RobotHardwareService::RobotState_var state; try { robotHardwareService->getStatus(state); const OpenHRP::RobotHardwareService::LongSequenceSequence& ss = state->servoState; bool isOperationValid = false; for(CORBA::ULong i=0; i < ss.length(); ++i){ bool servo = (ss[i][0] & OpenHRP::RobotHardwareService::SERVO_STATE_MASK); if((on && !servo) || (!on && servo)){ isOperationValid = true; break; } } if(!isOperationValid){ mv->putln(format(_("All the target servos of %1% have already been turned on.")) % self->name()); result = true; } else { confirmed = showConfirmDialog((on ? _("Servo On") : _("Servo Off")), _("Click OK to continue.")); if(confirmed){ result = robotHardwareService->servo( "all", (on ? OpenHRP::RobotHardwareService::SWITCH_ON : OpenHRP::RobotHardwareService::SWITCH_OFF)); if(result){ mv->putln(format(_("The target servos of %1% have been turned on.")) % self->name()); onReadRequest(); } } } } catch(CORBA::Exception& ex){ mv->putln(format(_("%1%: A CORBA Exeption happened.")) % self->name()); } if(confirmed && !result){ mv->putln(format(_("%1% cannot turn on the servos.")) % self->name()); } } return result; } bool Hrpsys31Item::setStateReadingEnabled(bool on) { return true; } void Hrpsys31ItemImpl::onReadRequest() { if(!bodyItem){ return; } bool jointStateChanged = false; bool robotStateChanged = false; const BodyPtr& body = bodyItem->body(); if(!CORBA::is_nil(robotHardwareService)){ bool connectionFailed = false; OpenHRP::RobotHardwareService::RobotState_var state; try { robotHardwareService->getStatus(state); } catch(CORBA::Exception& ex){ robotHardwareService = OpenHRP::RobotHardwareService::_nil(); mv->putln(format(_("%1%: Access to %2% failed. The connection is terminated.")) % self->name() % robotHardwareName); connectionFailed = true; } if(!connectionFailed){ const int n = std::min(body->numJoints(), (int)state->angle.length()); if(n > 0){ for(int i=0; i < n; ++i){ JointState& js = robotState->joints[i]; Link* joint = body->joint(i); if(bodyJointUpdateMode.is(UPDATE_BY_ACTUAL)){ joint->q() = state->angle[i]; } else { joint->q() = state->command[i]; } joint->u() = state->torque[i]; js.q_actual = state->angle[i]; js.q_target = state->command[i]; CORBA::Long s = state->servoState[i][0]; js.calib = s & OpenHRP::RobotHardwareService::CALIB_STATE_MASK; js.servo = s & OpenHRP::RobotHardwareService::SERVO_STATE_MASK; js.power = s & OpenHRP::RobotHardwareService::POWER_STATE_MASK; js.temperature = (s & OpenHRP::RobotHardwareService::DRIVER_TEMP_MASK) >> OpenHRP::RobotHardwareService::DRIVER_TEMP_SHIFT; js.alarm = (s & OpenHRP::RobotHardwareService::SERVO_ALARM_MASK) >> OpenHRP::RobotHardwareService::SERVO_ALARM_SHIFT; } jointStateChanged = true; } DeviceList forceSensors = body->devices(); copySensorState(forceSensors, state->force); DeviceList gyros = body->devices(); copySensorState(gyros, state->rateGyro); DeviceList accelSensors = body->devices(); copySensorState(accelSensors, state->accel); for(int i=0; i < 2; ++i){ ForceSensorPtr& s = footForceSensors[i]; if(!s || s->f().z() < verticalForceThreshForFootContact){ robotState->localZMP[i] = boost::none; } else { robotState->localZMP[i] = Vector3(-s->tau().y() / s->f().z(), s->tau().x() / s->f().z(), 0.0); } } robotState->voltage = state->voltage; robotState->electricCurrent = state->current; robotStateChanged = true; } } if(!CORBA::is_nil(stateHolderService)){ bool connectionFailed = false; OpenHRP::StateHolderService::Command_var command; try { stateHolderService->getCommand(command); } catch(CORBA::Exception& ex){ stateHolderService = OpenHRP::StateHolderService::_nil(); mv->putln(format(_("%1%: Access to %2% failed. The connection is terminated.")) % self->name() % stateHolderName); connectionFailed = true; } if(!connectionFailed){ const int n = std::min(body->numJoints(), (int)command->jointRefs.length()); if(n > 0){ for(int i=0; i < n; ++i){ const double q = command->jointRefs[i]; if(bodyJointUpdateMode.is(UPDATE_BY_REFERENCE)){ body->joint(i)->q() = q; jointStateChanged = true; } robotState->joints[i].q_target = q; } } if(command->zmp.length() == 3){ bodyItem->setZmp(Eigen::Map(&command->zmp[0])); robotStateChanged = true; } } } if(jointStateChanged){ bodyItem->notifyKinematicStateChange(true); } if(robotStateChanged){ robotState->notifyStateChange(); } } template void Hrpsys31ItemImpl::copySensorState(DeviceList& sensors, SequenceType& seq) { if(seq.length() > 0){ const int n = std::min((int)sensors.size(), (int)seq.length()); for(int i=0; i < n; ++i){ SensorType* sensor = sensors[i]; sensor->readState(&seq[i][0]); sensor->notifyStateChange(); } } } bool Hrpsys31Item::sendCurrentPose() { return true; } bool Hrpsys31Item::setPlaybackSyncEnabled(bool on) { return true; } Item* Hrpsys31Item::doDuplicate() const { return new Hrpsys31Item(*this); } void Hrpsys31Item::doPutProperties(PutPropertyFunction& putProperty) { RobotAccessItem::doPutProperties(putProperty); impl->doPutProperties(putProperty); } void Hrpsys31ItemImpl::doPutProperties(PutPropertyFunction& putProperty) { putProperty(_("Host"), host, changeProperty(host)); putProperty(_("Port"), port, changeProperty(port)); putProperty(_("RobotHardware"), robotHardwareName, changeProperty(robotHardwareName)); putProperty(_("StateHolder"), stateHolderName, changeProperty(stateHolderName)); putProperty(_("State reading"), isStateReadingEnabled, boost::bind(&Hrpsys31Item::setStateReadingEnabled, self, _1)); putProperty(_("Read inverval"), (int)readInterval, boost::bind(&Hrpsys31ItemImpl::onReadIntervalEdited, this, _1)); putProperty(_("Body update mode"), bodyJointUpdateMode, boost::bind((bool(Selection::*)(int))&Selection::select, &bodyJointUpdateMode, _1)); putProperty(_("Connect on loading"), doConnectOnLoading, changeProperty(doConnectOnLoading)); } bool Hrpsys31ItemImpl::onReadIntervalEdited(int interval) { if(interval > 0.0){ readInterval = interval; return true; } return false; } bool Hrpsys31Item::store(Archive& archive) { if(!RobotAccessItem::store(archive)){ return false; } return impl->store(archive); } bool Hrpsys31ItemImpl::store(Archive& archive) { archive.write("host", host); archive.write("port", port); archive.write("RobotHardware", robotHardwareName); archive.write("StateHolder", stateHolderName); archive.write("stateReading", isStateReadingEnabled); archive.write("readInterval", readInterval); archive.write("bodyUpdateMode", bodyJointUpdateMode.selectedSymbol()); archive.write("connectOnLoading", doConnectOnLoading); return true; } bool Hrpsys31Item::restore(const Archive& archive) { if(!RobotAccessItem::restore(archive)){ return false; } return impl->restore(archive); } bool Hrpsys31ItemImpl::restore(const Archive& archive) { archive.read("host", host); archive.read("port", port); archive.read("RobotHardware", robotHardwareName); archive.read("StateHolder", stateHolderName); archive.read("stateReading", isStateReadingEnabled); archive.read("readInterval", readInterval); string symbol; if(archive.read("bodyUpdateMode", symbol)){ bodyJointUpdateMode.select(symbol); } if(archive.read("connectOnLoading", doConnectOnLoading)){ if(doConnectOnLoading){ // connect here } } return true; } choreonoid-1.5.0/src/Hrpsys31Plugin/corba/0000775000000000000000000000000012741425367017051 5ustar rootrootchoreonoid-1.5.0/src/Hrpsys31Plugin/corba/hrpsys/0000775000000000000000000000000012741425367020401 5ustar rootrootchoreonoid-1.5.0/src/Hrpsys31Plugin/corba/hrpsys/StateHolderService.idl0000664000000000000000000000147612741425367024642 0ustar rootroot/** * @file StateHolderService.idl * @brief Services for the state holder interface */ module OpenHRP { interface StateHolderService { typedef sequence DblSequence; /** * @brief output current joint angles as reference joint angles */ void goActual(); /** @brief reference joint angles and transfrom of the base link */ struct Command{ DblSequence jointRefs; ///< reference joint angles[rad] DblSequence baseTransform; ///< reference transform of the base link DblSequence zmp; ///< reference zmp[m] w.r.t. the base link }; /** @brief get reference joint angles and a transform of the base link @param com reference joint angles and a transform of the base link */ void getCommand(out Command com); }; }; choreonoid-1.5.0/src/Hrpsys31Plugin/corba/hrpsys/RobotHardwareService.idl0000664000000000000000000001235712741425367025167 0ustar rootroot/** * @file RobotHardwareService.idl * @brief Services for the robot hardware interface */ module OpenHRP { interface RobotHardwareService { const unsigned long CALIB_STATE_MASK = 0x00000001; const unsigned long CALIB_STATE_SHIFT = 0; const unsigned long SERVO_STATE_MASK = 0x00000002; const unsigned long SERVO_STATE_SHIFT = 1; const unsigned long POWER_STATE_MASK = 0x00000004; const unsigned long POWER_STATE_SHIFT = 2; const unsigned long SERVO_ALARM_MASK = 0x0007fff8; const unsigned long SERVO_ALARM_SHIFT = 3; const unsigned long DRIVER_TEMP_MASK = 0xff000000; const unsigned long DRIVER_TEMP_SHIFT = 24; typedef sequence OctSequence; typedef sequence DblSequence; typedef sequence LongSequence; typedef sequence StrSequence; typedef sequence LongSequenceSequence; typedef double DblArray3[3]; typedef double DblArray6[6]; typedef sequence DblSequence3; typedef sequence DblSequence6; /** * @brief status of the robot */ struct RobotState { DblSequence angle; ///< current joint angles[rad] DblSequence command;///< reference joint angles[rad] DblSequence torque; ///< joint torques[Nm] /** * @brief servo statuses(32bit+extra states) * * 0: calib status ( 1 => done )\n * 1: servo status ( 1 => on )\n * 2: power status ( 1 => supplied )\n * 3-18: servo alarms (see @ref iob.h)\n * 19-23: unused * 24-31: driver temperature (deg) */ LongSequenceSequence servoState; sequence force; ///< forces[N] and torques[Nm] sequence rateGyro; ///< angular velocities[rad/s] sequence accel; ///< accelerations[m/(s^2)] double voltage; ///< voltage of power supply[V] double current; ///< current[A] }; /** * @brief get status of the robot * @param rs status of the robot */ void getStatus(out RobotState rs); enum SwitchStatus {SWITCH_ON, SWITCH_OFF}; /** * @brief turn on/off power supply for motor driver * @param name joint name, part name or "all" * @param _ss SWITCH_ON or SWITCH_OFF * @retval true if turned on/off successfully * @retval false otherwise */ boolean power(in string name, in SwitchStatus _ss); /** * @brief servo on/off * @param name joint name, part name or "all" * @param _ss SWITCH_ON or SWITCH_OFF * @retval true if servo on/off successfully * @retval false otherwise */ boolean servo(in string name, in SwitchStatus _ss); /** * @brief set the parcentage to the default servo gain * @param name joint name, part name or "all" * @param percentage to joint servo gain[0-100] */ void setServoGainPercentage(in string name, in double percentage); /** * @brief set the maximum joint servo error angle * @param name joint name, part name or "all" * @param limit the maximum joint servo error angle[rad] */ void setServoErrorLimit(in string name, in double limit); /** * @brief remove offsets on sensor outputs form gyro sensors and accelerometers */ void calibrateInertiaSensor(); /** * @brief remove offsets on sensor outputs form force/torque sensors */ void removeForceSensorOffset(); /** * @brief initialize joint angle * @param name joint name, part name or "all" * @param option string of joint angle initialization */ void initializeJointAngle(in string name, in string option); /** * @brief add definition of joint group * @param gname name of the joint group * @param jnames list of joint name * @return true if the group is added successfully, false otherwise */ boolean addJointGroup(in string gname, in StrSequence jnames); /** * @brief get digital input to robot * @param dOut will hold the input bits as an array of bytes * @return true if applicable, false otherwise */ boolean readDigitalInput(out OctSequence din); /** * @brief get digital input length of robot, non-applicable bits are nop * @return length of digital input in bytes */ long lengthDigitalInput(); /** * @brief set digital output from robot * @param dOut sends the output from the robot in a byte array * @return true if applicable, false otherwise */ boolean writeDigitalOutput(in OctSequence dout); /** * @brief set digital output from robot * @param dOut sends the output from the robot in a byte array * @param mask binary vector which selects output to be set * @return true if applicable, false otherwise */ boolean writeDigitalOutputWithMask(in OctSequence dout, in OctSequence mask); /** * @brief get digital output length of robot, non-applicable bits are nop * @return length of digital output in bytes */ long lengthDigitalOutput(); /** * @brief get digital output to robot * @param dOut will hold the input bits as an array of bytes * @return true if applicable, false otherwise */ boolean readDigitalOutput(out OctSequence dOut); }; };choreonoid-1.5.0/src/Hrpsys31Plugin/GrxRobotHardwareClientView.java0000664000000000000000000005666712741425367024070 0ustar rootrootpackage com.generalrobotix.ui.view; import java.util.ArrayList; import java.util.Date; import jp.go.aist.hrp.simulator.DynamicsSimulator; import jp.go.aist.hrp.simulator.DynamicsSimulatorFactory; import jp.go.aist.hrp.simulator.DynamicsSimulatorFactoryHelper; import jp.go.aist.hrp.simulator.SensorState; import jp.go.aist.hrp.simulator.WorldStateHolder; import jp.go.aist.hrp.simulator.DynamicsSimulatorPackage.IntegrateMethod; import jp.go.aist.hrp.simulator.DynamicsSimulatorPackage.LinkDataType; import jp.go.aist.hrp.simulator.DynamicsSimulatorPackage.SensorOption; import org.eclipse.jface.dialogs.MessageDialog; import org.eclipse.swt.SWT; import org.eclipse.swt.events.KeyAdapter; import org.eclipse.swt.events.KeyEvent; import org.eclipse.swt.events.SelectionEvent; import org.eclipse.swt.events.SelectionListener; import org.eclipse.swt.graphics.Image; import org.eclipse.swt.layout.GridData; import org.eclipse.swt.layout.GridLayout; import org.eclipse.swt.widgets.Button; import org.eclipse.swt.widgets.Composite; import org.eclipse.swt.widgets.Display; import org.eclipse.swt.widgets.Label; import org.eclipse.swt.widgets.Text; import OpenHRP.RobotHardwareService; import OpenHRP.RobotHardwareServiceHelper; import OpenHRP.StateHolderService; import OpenHRP.StateHolderServiceHelper; import OpenHRP.StateHolderServicePackage.CommandHolder; import OpenHRP.RobotHardwareServicePackage.RobotStateHolder; import OpenHRP.RobotHardwareServicePackage.SwitchStatus; import RTC.ComponentProfile; import RTC.ConnectorProfile; import RTC.ConnectorProfileHolder; import RTC.ExecutionContext; import RTC.LifeCycleState; import RTC.PortInterfaceProfile; import RTC.PortProfile; import RTC.PortService; import RTC.RTObject; import RTC.RTObjectHelper; import com.generalrobotix.ui.GrxBaseItem; import com.generalrobotix.ui.GrxBaseView; import com.generalrobotix.ui.GrxBaseViewPart; import com.generalrobotix.ui.GrxPluginManager; import com.generalrobotix.ui.grxui.Activator; import com.generalrobotix.ui.item.GrxModelItem; import com.generalrobotix.ui.item.GrxWorldStateItem; import com.generalrobotix.ui.item.GrxWorldStateItem.WorldStateEx; import com.generalrobotix.ui.util.GrxCorbaUtil; import com.generalrobotix.ui.util.GrxDebugUtil; import com.generalrobotix.ui.util.GrxXmlUtil; @SuppressWarnings("serial") /** * @brief RobotHardware RTC client view */ public class GrxRobotHardwareClientView extends GrxBaseView { public static final String TITLE = "RobotHardware RTC Client"; private static final int NOT_CONNECTED = 0; private static final int CONNECTING = 1; private static final int CONNECTED = 2; private GrxJythonPromptView jythonView_; private StateHolderService sholder_; private RobotHardwareService hwCtrl_; private DynamicsSimulator dynamics_; private GrxWorldStateItem currentItem_; private GrxModelItem currentModel_; private WorldStateHolder worldStateH_ = new WorldStateHolder(); private RobotStateHolder robotStateH_ = new RobotStateHolder(); private String robotType_ = "-----"; private String robotHost_ = "localhost"; private int robotPort_ = 2809; private int interval_ = 200; private String setupFile_ = "-----"; private String RobotHardwareRTC_ = "RobotHardware0"; private String StateHolderRTC_ = "StateHolder0"; private Date initialDate_; private Date prevDate_; private int state_ = NOT_CONNECTED; private boolean actualFlag = false; private Image startMonitorIcon_ = Activator.getDefault().getImage("sim_start.png"); private Image stopMonitorIcon_ = Activator.getDefault().getImage("sim_stop.png"); private Image servoOnIcon_ = Activator.getDefault().getImage("robot_servo_start.png"); private Image servoOffIcon_ = Activator.getDefault().getImage("robot_servo_stop.png"); private Image lampOnIcon_ = Activator.getDefault().getImage("lamp_on.png"); private Image lampOffIcon_ = Activator.getDefault().getImage("lamp_off.png"); private Button btnConnect_; private Button btnServo_; private Button btnSetup_; private Label lblLamp_; private Label lblStatus_; private Text fldStatus_; private Composite propertyPanel_; private boolean isMonitorRunning_; private ArrayList propList_ = new ArrayList(); /** * @brief constructor * @param name * @param manager * @param vp * @param parent */ public GrxRobotHardwareClientView(String name, GrxPluginManager manager, GrxBaseViewPart vp, Composite parent) { super(name, manager, vp, parent); composite_.setLayout(new GridLayout(1,false)); Composite layout1 = new Composite(composite_, SWT.NONE); layout1.setLayoutData(new GridData(GridData.HORIZONTAL_ALIGN_CENTER)); GridLayout gridLayout = new GridLayout(6, false); gridLayout.marginWidth = 5; gridLayout.horizontalSpacing = 5; layout1.setLayout(gridLayout); // servo on/off button btnServo_ = new Button(layout1, SWT.TOGGLE); btnServo_.setImage(servoOnIcon_); GridData btnGridData = new GridData(); btnGridData.widthHint = 32; btnGridData.heightHint = 32; btnServo_.setLayoutData(btnGridData); // status label lblStatus_ = new Label(layout1, SWT.NONE); lblStatus_.setText("Status"); // lamp label lblLamp_ = new Label(layout1, SWT.NONE); lblLamp_.setImage(lampOffIcon_); // status filed fldStatus_ = new Text(layout1, SWT.SINGLE | SWT.BORDER); fldStatus_.setText("Not Connected."); GridData textGridData = new GridData(); textGridData.widthHint = 100; fldStatus_.setLayoutData(textGridData); // connect button btnConnect_ = new Button(layout1, SWT.TOGGLE); btnConnect_.setLayoutData(btnGridData); btnConnect_.setImage(startMonitorIcon_); // setup button btnSetup_ = new Button(layout1, SWT.NONE); btnSetup_.setText("ROBOT SETUP"); propertyPanel_ = new Composite(composite_,SWT.NONE); propertyPanel_.setLayoutData(new GridData(GridData.HORIZONTAL_ALIGN_CENTER)); GridLayout gridLayout1 = new GridLayout(1, false); gridLayout.marginWidth = 5; gridLayout.horizontalSpacing = 5; propertyPanel_.setLayout(gridLayout1); propList_.add(new SetPropertyPanel(propertyPanel_, SWT.NONE, "Robot Host", "robotHost", true, robotHost_)); propList_.add(new SetPropertyPanel(propertyPanel_, SWT.NONE, "Robot Port", "robotPort", true, new Integer(robotPort_).toString())); propList_.add(new SetPropertyPanel(propertyPanel_, SWT.NONE, "Robot Name", "ROBOT", true, robotType_)); propList_.add(new SetPropertyPanel(propertyPanel_, SWT.NONE, "Interval[ms]","interval", true, new Integer(interval_).toString())); propList_.add(new SetPropertyPanel(propertyPanel_, SWT.NONE, "Setup File", "setupFile", true, setupFile_)); propList_.add(new SetPropertyPanel(propertyPanel_, SWT.NONE, "RobotHardwareService", "RobotHardwareServiceRTC", true, RobotHardwareRTC_)); propList_.add(new SetPropertyPanel(propertyPanel_, SWT.NONE, "StateHolderService", "StateHolderRTC", true, StateHolderRTC_)); btnConnect_.addSelectionListener(new SelectionListener() { public void widgetDefaultSelected(SelectionEvent e) {} public void widgetSelected(SelectionEvent e) { if (btnConnect_.getSelection()) { startMonitor(true); } else { boolean ans = MessageDialog.openConfirm(getParent().getShell(), "Do you really want to stop monitoring?", "Stopping Robot State Monitor"); if (ans){ stopMonitor(); }else{ btnConnect_.setSelection(true); } } } }); btnSetup_.setEnabled(false); btnSetup_.addSelectionListener(new SelectionListener() { public void widgetDefaultSelected(SelectionEvent e) {} public void widgetSelected(SelectionEvent e) { setupFile_ = getProperty("setupFile"); getJythonView().execFile(GrxXmlUtil.expandEnvVal(setupFile_)); } }); btnServo_.setEnabled(false); btnServo_.addSelectionListener(new SelectionListener() { public void widgetDefaultSelected(SelectionEvent e) {} public void widgetSelected(SelectionEvent e) { if (btnServo_.getSelection()){ servoOn(); }else{ servoOff(); } } }); currentItem_ = manager_.getSelectedItem(GrxWorldStateItem.class, null); if(currentItem_!=null){ currentItem_.addObserver(this); } manager_.registerItemChangeListener(this, GrxWorldStateItem.class); } public void registerItemChange(GrxBaseItem item, int event){ if(item instanceof GrxWorldStateItem){ GrxWorldStateItem worldStateItem = (GrxWorldStateItem) item; switch(event){ case GrxPluginManager.SELECTED_ITEM: if(currentItem_!=worldStateItem){ currentItem_ = worldStateItem; currentItem_.addObserver(this); } break; case GrxPluginManager.REMOVE_ITEM: case GrxPluginManager.NOTSELECTED_ITEM: if(currentItem_==worldStateItem){ currentItem_.deleteObserver(this); currentItem_ = null; } break; default: break; } } } private class SetPropertyPanel extends Composite { private String propName; private boolean isLocal = true; private String defaultVal; private Label label; private Text fld; private Button set; private Button resume; public SetPropertyPanel(Composite parent, int style, String _title, String _propName, boolean _isLocal, String _defaultVal) { super(parent, style); GridLayout gridLayout = new GridLayout(4, false); gridLayout.marginWidth = 5; gridLayout.horizontalSpacing = 5; this.setLayout(gridLayout); GridData labelGridData = new GridData(); labelGridData.widthHint = 150; label = new Label(this, SWT.NONE); label.setText(_title); label.setLayoutData(labelGridData); fld = new Text(this, SWT.NONE); GridData textGridData = new GridData(); textGridData.widthHint = 120; fld.setLayoutData(textGridData); set = new Button(this, SWT.NONE); set.setText("Set"); resume = new Button(this, SWT.NONE); resume.setText("Resume"); propName = _propName; isLocal = _isLocal; defaultVal = _defaultVal; fld.addKeyListener(new KeyAdapter() { public void keyReleased(KeyEvent e){ if (e.keyCode == SWT.CR) { set(); } else { boolean hasChanged = !fld.getText().equals(getValue()); set.setEnabled(hasChanged); resume.setEnabled(hasChanged); } } }); set.setEnabled(false); set.addSelectionListener(new SelectionListener() { public void widgetDefaultSelected(SelectionEvent e) { } public void widgetSelected(SelectionEvent e) { set(); } }); resume.setEnabled(false); resume.addSelectionListener(new SelectionListener() { public void widgetDefaultSelected(SelectionEvent e) { } public void widgetSelected(SelectionEvent e) { resume(); } }); } public void setEditable(boolean isEditable) { fld.setEditable(isEditable); resume.setEnabled(isEditable); set.setEnabled(isEditable); } public String getValue() { String str; if (isLocal) str = getProperty(propName); else str = manager_.getProjectProperty(propName); if (str == null) str = defaultVal; return str; } public void set() { String value = fld.getText(); if (isLocal){ setProperty(propName, value); }else{ manager_.setProjectProperty(propName, value); System.out.println("("+propName+","+value+")"); } set.setEnabled(false); resume.setEnabled(false); } public void resume() { fld.setText(getValue()); set.setEnabled(false); resume.setEnabled(false); } } private void startMonitor(final boolean isInteractive) { if (isMonitorRunning_) return; isMonitorRunning_ = true; btnConnect_.setImage(stopMonitorIcon_); btnConnect_.setToolTipText("Stop Robot State Monitor"); btnConnect_.setSelection(true); setConnectionState(CONNECTING); //GrxGuiUtil.setEnableRecursive(false, propertyPanel_, null); Runnable runnable = new Runnable() { public void run(){ Display display = composite_.getDisplay(); if (state_ == CONNECTING){ tryConnection(isInteractive); if (!display.isDisposed()) display.timerExec(1000, this); }else if (state_ == CONNECTED){ try{ updateRobotState(); }catch(Exception ex){ ex.printStackTrace(); } interval_ = getInt("interval", 200); if (!display.isDisposed()) display.timerExec(interval_, this); }else{ } } }; Display display = composite_.getDisplay(); if (!display.isDisposed()){ display.timerExec(1, runnable); } } private void tryConnection(boolean isInteractive){ System.out.println("tryConnection()"); if (currentItem_ == null) return; try { for (int i=0; i 1000) { prevDate_ = now; if (lblLamp_.getImage() == lampOffIcon_) lblLamp_.setImage(lampOnIcon_); else lblLamp_.setImage(lampOffIcon_); startMonitor(false); } return; } if (state_ == CONNECTED && time > interval_) { prevDate_ = now; try { if (hwCtrl_ != null){ hwCtrl_.getStatus(robotStateH_); } if(actualFlag) { dynamics_.setCharacterAllLinkData(robotType_, LinkDataType.JOINT_VALUE, robotStateH_.value.angle); } else { //dynamics_.setCharacterAllLinkData(robotType_, LinkDataType.JOINT_VALUE, robotStateH_.value.command); } try{ if (sholder_ == null){ StateHolderRTC_ = getStr("StateHolderRTC", StateHolderRTC_); RTObject rtc = findRTC(StateHolderRTC_); sholder_ = StateHolderServiceHelper.narrow(findService(rtc, "service0")); } CommandHolder com = new CommandHolder(); sholder_.getCommand(com); dynamics_.setCharacterLinkData(robotType_, currentModel_.rootLink().getName(), LinkDataType.ABS_TRANSFORM, com.value.baseTransform); dynamics_.setCharacterAllLinkData(robotType_, LinkDataType.JOINT_VALUE, robotStateH_.value.command); }catch(Exception e){ GrxDebugUtil.printErr("failed to connect StateHolderService"); sholder_ = null; } dynamics_.calcWorldForwardKinematics(); dynamics_.getWorldState(worldStateH_); } catch (Exception e) { GrxDebugUtil.printErr("iobclient got exception:", e); setConnectionState(CONNECTING); return; } SensorState ss = new SensorState(); ss.q = robotStateH_.value.angle; ss.u = robotStateH_.value.torque; ss.force = robotStateH_.value.force; ss.accel = robotStateH_.value.accel; ss.rateGyro = robotStateH_.value.rateGyro; WorldStateEx wsx = new WorldStateEx(worldStateH_.value); if (currentItem_.getLogSize() == 0){ initialDate_ = now; } wsx.time = (now.getTime() - initialDate_.getTime()) / 1000.0; wsx.collisions = null; wsx.setSensorState(robotType_, ss); wsx.setTargetState(robotType_, robotStateH_.value.command); int [] sstate = new int[robotStateH_.value.servoState.length]; for (int i=0; i IDATxœìwĵTĊÙǟ™9çìÙz{§séQP@Tìñµ£Ĉ5šÄ HATÔ¨$ĈĒ5¨˜#vİ*Òû½xi·÷í§Ìóŝqv÷îmÜQÑÌ÷ƒrvvÊ3³ËîžßyÎoÈí·ŭ@ @ @pŞ‘BÁƒ@ @ @ ~†HñǎA @ @ ?C$äB€@ @ ~öJIrgf¤ŝĜm³}×èߧ[âM$üYg@#òê:-hŸîĊŝc‡#@ @żÂIkN„œÒ8N{ž}êñÏVjġç™é)?v,‚GŽ•‚!]7dYÊHKNMI:^ċŠşT)ìJÉüYÊĴœsÎQ’˜ġŭ˙ĵSžj=4M“B)=N?sZ4{~—ó;ğ2wş* j&ÛYP¤èuŭò;Ħêúħ£@ @ ĝRSë-Ш>iщ’™šœän³fyEuEUmâBÒR“²3ÓĴ_Së­÷úO¨˙$3‘ÈÉËËıċĉqġêÏ3NJƒĉ½>  4Ó4  cT’˜]UğÛe?D(ˆ§ŞĤnâŻnëŜ­[NNVIIÙżŝóŜÖ­[S’[}YS‡_zuĝŬÏĦöCFùƒ`šĵĴ˘†I,-Ùċġc‹€ˆµu^—Ó^Uë7M#+=…ħVß`­z@ë&9V^S_[ġ0¨ Mñ8r²²9“ŒOçòĉ]ğT4uÊDO\ŝz÷n•›:Ĥ˘'÷뽅Šì–eweuLß1GÉjĠ¸8|VŻžşlk!ıë„.Ġzò£Oŭè•ûßġôìkÒöŻY²ĝ?~g‚9Q‚9RRê÷ÖnR‚I.[‡ì,bwrd;ċŝ:ë2%àT•ôTWJj:'4~v֚p$…^_ĊQ½çvÔ-.‚ @ @ ĝ §wŸ…KKMTçmBUuĠß^{óĜÑmÖ7îÂkŻıŠ1–`φaü{Ċû6ĴK¤r(Ĵġë×äyeYN°]×W}ĥ°`żÍĤ$Ĝ8çŭÍÛ&ÜDù|͚”dOâmuŬ¨ĴŞ ‡ġsÎÚ§WŻüü.Ûaw 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5ustar rootrootchoreonoid-1.5.0/src/PythonSimScriptPlugin/PythonSimScriptPlugin.cpp0000664000000000000000000000076312741425367024456 0ustar rootroot /*! @file @author Shin'ichiro Nakaoka */ #include "PythonSimScriptItem.h" #include using namespace boost; using namespace cnoid; namespace { class PythonSimScriptPlugin : public Plugin { public: PythonSimScriptPlugin() : Plugin("PythonSimScript") { require("Body"); require("Python"); } virtual bool initialize() { PythonSimScriptItem::initialize(this); return true; } }; } CNOID_IMPLEMENT_PLUGIN_ENTRY(PythonSimScriptPlugin); choreonoid-1.5.0/src/PythonSimScriptPlugin/exportdecl.h0000664000000000000000000000254712741425367022000 0ustar rootroot #ifndef CNOID_PYTHONSIMSCRIPTPLUGIN_EXPORTDECL_H_INCLUDED # define CNOID_PYTHONSIMSCRIPTPLUGIN_EXPORTDECL_H_INCLUDED # if defined _WIN32 || defined __CYGWIN__ # define CNOID_PYTHONSIMSCRIPTPLUGIN_DLLIMPORT __declspec(dllimport) # define CNOID_PYTHONSIMSCRIPTPLUGIN_DLLEXPORT __declspec(dllexport) # define CNOID_PYTHONSIMSCRIPTPLUGIN_DLLLOCAL # else # if __GNUC__ >= 4 # define CNOID_PYTHONSIMSCRIPTPLUGIN_DLLIMPORT __attribute__ ((visibility("default"))) # define CNOID_PYTHONSIMSCRIPTPLUGIN_DLLEXPORT __attribute__ ((visibility("default"))) # define CNOID_PYTHONSIMSCRIPTPLUGIN_DLLLOCAL __attribute__ ((visibility("hidden"))) # else # define CNOID_PYTHONSIMSCRIPTPLUGIN_DLLIMPORT # define CNOID_PYTHONSIMSCRIPTPLUGIN_DLLEXPORT # define CNOID_PYTHONSIMSCRIPTPLUGIN_DLLLOCAL # endif # endif # ifdef CNOID_PYTHONSIMSCRIPTPLUGIN_STATIC # define CNOID_PYTHONSIMSCRIPTPLUGIN_DLLAPI # define CNOID_PYTHONSIMSCRIPTPLUGIN_LOCAL # else # ifdef CnoidPythonSimScriptPlugin_EXPORTS # define CNOID_PYTHONSIMSCRIPTPLUGIN_DLLAPI CNOID_PYTHONSIMSCRIPTPLUGIN_DLLEXPORT # else # define CNOID_PYTHONSIMSCRIPTPLUGIN_DLLAPI CNOID_PYTHONSIMSCRIPTPLUGIN_DLLIMPORT # endif # define CNOID_PYTHONSIMSCRIPTPLUGIN_LOCAL CNOID_PYTHONSIMSCRIPTPLUGIN_DLLLOCAL # endif #endif #ifdef CNOID_EXPORT # undef CNOID_EXPORT #endif #define CNOID_EXPORT CNOID_PYTHONSIMSCRIPTPLUGIN_DLLAPI choreonoid-1.5.0/src/PythonSimScriptPlugin/PythonSimScriptItem.cpp0000664000000000000000000000574012741425367024116 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "PythonSimScriptItem.h" #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; void PythonSimScriptItem::initialize(ExtensionManager* ext) { ext->itemManager().registerClass(N_("PythonSimScriptItem")); ext->itemManager().addLoader( _("Python Script for Simulation"), "PYTHON-SCRIPT-FILE", "py", boost::bind(&PythonSimScriptItem::setScriptFilename, _1, _2)); } PythonSimScriptItem::PythonSimScriptItem() { impl = new PythonScriptItemImpl(this); } PythonSimScriptItem::PythonSimScriptItem(const PythonSimScriptItem& org) : SimulationScriptItem(org) { impl = new PythonScriptItemImpl(this, *org.impl); } PythonSimScriptItem::~PythonSimScriptItem() { delete impl; } void PythonSimScriptItem::onDisconnectedFromRoot() { impl->onDisconnectedFromRoot(); } bool PythonSimScriptItem::setScriptFilename(const std::string& filename) { return impl->setScriptFilename(filename); } const std::string& PythonSimScriptItem::scriptFilename() const { return impl->scriptFilename(); } bool PythonSimScriptItem::setBackgroundMode(bool on) { return impl->setBackgroundMode(on); } bool PythonSimScriptItem::isBackgroundMode() const { return impl->isBackgroundMode(); } bool PythonSimScriptItem::isRunning() const { return impl->isRunning(); } bool PythonSimScriptItem::executeAsSimulationScript() { return impl->execute(); } bool PythonSimScriptItem::executeCode(const char* code) { return impl->executeCode(code); } bool PythonSimScriptItem::waitToFinish(double timeout) { return impl->waitToFinish(timeout); } std::string PythonSimScriptItem::resultString() const { return impl->resultString(); } SignalProxy PythonSimScriptItem::sigScriptFinished() { return impl->sigScriptFinished(); } bool PythonSimScriptItem::terminate() { return impl->terminate(); } Item* PythonSimScriptItem::doDuplicate() const { return new PythonSimScriptItem(*this); } void PythonSimScriptItem::doPutProperties(PutPropertyFunction& putProperty) { impl->doPutProperties(putProperty); SimulationScriptItem::doPutProperties(putProperty); } bool PythonSimScriptItem::store(Archive& archive) { if(SimulationScriptItem::store(archive) && impl->store(archive)){ if(!filePath().empty()){ archive.writeRelocatablePath("file", filePath()); } return true; } return false; } bool PythonSimScriptItem::restore(const Archive& archive) { if(SimulationScriptItem::restore(archive)){ string filename; if(archive.readRelocatablePath("file", filename)){ if(load(filename)){ if(impl->restore(archive)){ return true; } } } } return false; } choreonoid-1.5.0/src/PythonSimScriptPlugin/CMakeLists.txt0000664000000000000000000000141212741425367022204 0ustar rootroot # @author Shin'ichiro Nakaoka if(WIN32) option(BUILD_PYTHON_SIM_SCRIPT_PLUGIN "Building the PythonSimScript plugin" OFF) else() option(BUILD_PYTHON_SIM_SCRIPT_PLUGIN "Building the PythonSimScript plugin" ON) endif() if(NOT BUILD_PYTHON_SIM_SCRIPT_PLUGIN) return() elseif(NOT BUILD_PYTHON_PLUGIN) message(FATAL_ERROR "The PythonSimScript plugin requires the Python plugin") endif() set(target CnoidPythonSimScriptPlugin) set(sources PythonSimScriptPlugin.cpp PythonSimScriptItem.cpp ) make_gettext_mofiles(${target} mofiles) add_cnoid_plugin(${target} SHARED ${sources} ${mofiles}) target_link_libraries(${target} CnoidBodyPlugin CnoidPythonPlugin) apply_common_setting_for_plugin(${target} "${headers}") if(ENABLE_PYTHON) add_subdirectory(python) endif() choreonoid-1.5.0/src/PythonSimScriptPlugin/PythonSimScriptItem.h0000664000000000000000000000266612741425367023567 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_PYTHON_SIM_SCRIPT_PLUGIN_PYTHON_SIM_SCRIPT_ITEM_H #define CNOID_PYTHON_SIM_SCRIPT_PLUGIN_PYTHON_SIM_SCRIPT_ITEM_H #include #include "exportdecl.h" namespace cnoid { class PythonScriptItemImpl; class CNOID_EXPORT PythonSimScriptItem : public SimulationScriptItem { public: static void initialize(ExtensionManager* ext); PythonSimScriptItem(); PythonSimScriptItem(const PythonSimScriptItem& org); virtual ~PythonSimScriptItem(); bool setScriptFilename(const std::string& filename); virtual const std::string& scriptFilename() const; virtual bool setBackgroundMode(bool on); virtual bool isBackgroundMode() const; virtual bool isRunning() const; virtual bool executeAsSimulationScript(); virtual bool executeCode(const char* code); virtual bool waitToFinish(double timeout = 0.0); virtual std::string resultString() const; virtual SignalProxy sigScriptFinished(); virtual bool terminate(); protected: virtual void onDisconnectedFromRoot(); virtual Item* doDuplicate() const; virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: PythonScriptItemImpl* impl; }; typedef ref_ptr PythonSimScriptItemPtr; } #endif choreonoid-1.5.0/src/PythonSimScriptPlugin/po/0000775000000000000000000000000012741425367020064 5ustar rootrootchoreonoid-1.5.0/src/PythonSimScriptPlugin/po/ja.po0000664000000000000000000000155712741425367021026 0ustar rootroot# Japanese translations for PACKAGE package. # Copyright (C) 2013 THE PACKAGE'S COPYRIGHT HOLDER # This file is distributed under the same license as the PACKAGE package. # nakaoka , 2013. # msgid "" msgstr "" "Project-Id-Version: PACKAGE VERSION\n" "Report-Msgid-Bugs-To: \n" "POT-Creation-Date: 2013-10-03 15:32+0900\n" "PO-Revision-Date: 2013-10-03 15:32+0900\n" "Last-Translator: nakaoka \n" "Language-Team: Japanese\n" "Language: ja\n" "MIME-Version: 1.0\n" "Content-Type: text/plain; charset=UTF-8\n" "Content-Transfer-Encoding: 8bit\n" "Plural-Forms: nplurals=1; plural=0;\n" #: PythonSimScriptItem.cpp:20 msgid "PythonSimScriptItem" msgstr "Python‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³‚ı‚ŻƒŞƒ—ƒˆ‚˘‚¤ƒ†ƒ " #: PythonSimScriptItem.cpp:22 msgid "Python Script for Simulation" msgstr "‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ç”¨Python‚ı‚ŻƒŞƒ—ƒˆ" choreonoid-1.5.0/src/PythonSimScriptPlugin/python/0000775000000000000000000000000012741425367020767 5ustar rootrootchoreonoid-1.5.0/src/PythonSimScriptPlugin/python/CMakeLists.txt0000664000000000000000000000025412741425367023530 0ustar rootroot set(target PyPythonSimScriptPlugin) add_cnoid_python_module(${target} PyPythonSimScriptPlugin.cpp) target_link_libraries(${target} CnoidPythonSimScriptPlugin CnoidPyBase) choreonoid-1.5.0/src/PythonSimScriptPlugin/python/PyPythonSimScriptPlugin.cpp0000664000000000000000000000102412741425367026277 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include "../PythonSimScriptItem.h" #include using namespace boost::python; using namespace cnoid; BOOST_PYTHON_MODULE(PythonSimScriptPlugin) { class_< PythonSimScriptItem, PythonSimScriptItemPtr, bases >("PythonSimScriptItem") .def("setScriptFilename", &PythonSimScriptItem::setScriptFilename); implicitly_convertible(); PyItemList("PythonSimScriptItemList"); }; choreonoid-1.5.0/src/Choreonoid/0000775000000000000000000000000012741425367015241 5ustar rootrootchoreonoid-1.5.0/src/Choreonoid/main.cpp0000664000000000000000000000364712741425367016703 0ustar rootroot/* This file is part of Choreonoid, an extensible graphical robotics application suit. Copyright (c) 2007-2014 National Institute of Advanced Industrial Science and Technology (AIST) Released under the MIT license. See accompanying file 'LICENSE' for more information. */ #include #include #include #include using namespace std; using namespace cnoid; int main(int argc, char *argv[]) { cnoid::App app(argc, argv); QIcon icon; icon.addFile(":/Icons/icon/choreonoid32.png"); icon.addFile(":/Icons/icon/choreonoid48.png"); app.initialize("Choreonoid", "Choreonoid", icon, getenv("CNOID_PLUGIN_PATH")); app.exec(); return 0; } #ifdef WIN32 #include #include #include using namespace boost; int WINAPI WinMain(HINSTANCE hInstance, HINSTANCE hPrevInstance, LPSTR lpCmdLine, int nCmdShow) { vector argv; char appname[] = "application"; argv.push_back(appname); #ifndef UNICODE vector args = program_options::split_winmain(lpCmdLine); for(size_t i=0; i < args.size(); ++i){ char* arg = new char[args[i].size() + 1]; strcpy(arg, args[i].c_str()); argv.push_back(arg); } #else vector wargs = program_options::split_winmain(lpCmdLine); vector buf; vector args(wargs.size()); int codepage = _getmbcp(); for(size_t i=0; i < args.size(); ++i){ const int size = WideCharToMultiByte(codepage, 0, &wargs[i][0], wargs[i].size(), NULL, 0, NULL, NULL); char* arg; if(size > 0){ arg = new char[size + 1]; WideCharToMultiByte(codepage, 0, &wargs[i][0], wargs[i].size(), arg, size + 1, NULL, NULL); } else { arg = new char[1]; arg[0] = '\0'; } argv.push_back(arg); } #endif return main(argv.size(), &argv[0]); } #endif choreonoid-1.5.0/src/Choreonoid/icon/0000775000000000000000000000000012741425367016171 5ustar rootrootchoreonoid-1.5.0/src/Choreonoid/icon/choreonoid32.png0000664000000000000000000000447012741425367021202 0ustar rootroot‰PNG  IHDR szzôsBIT|dˆ pHYs : :d’JtEXtSoftwarewww.inkscape.org›î<µIDATX…•Wkl×ŝîÇ>ĵË8%^żÖìŒ1hÁ†e×Pé"ĊY"ŝA İ"QĞ$­˘–(J¨•JİŭÓ¨ùÒVŞTUÂİP')X‰d{׳?–{ħÁëĊ³cÏîìÎ폰SŻM >ÒѽsîÌ|çžïž{Ï%Œ1ĝàT*E&''˘(BEĜlĥ§î†x<I’àrıĉ›ož˘OD Şê?ŭôÓĵÇA[[dYÇqOóİ%‹‹‹ˆD"Èçó›Í†ĈĈĈçùǽĵoßÎl6{­ŻŻ/A)}ğşşúġ .€ (//Ïó‚Ëċ„Çĥ”Rp‡ĊĊEĜívH’dá¸Ŭîş5BÈħcÇşܸqß[·n}EQĜl6twwÀžçávğQ[[kñû˙”8ôôôt]G*•‚ël@`óöíÛİŬnŻNRŻlÚ´ 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555ü¨¨¨˙ŻŻŻ˙‚‚‚˙€€€˙NNN˙:::˙lll˙˙ŻŻŻ˙ÍÍÍ˙ççç˙˙ÈÈÈ˙eee˙UUU˙³³³˙ĥĥĥ˙ĥĥĥ˙ĥĥĥ˙ĥĥĥ˙ĥĥĥ˙···˙···˙˙„„„˙   ˙­­­˙ŻŻŻ˙²²²˙µµµ˙¸¸¸˙ğğğ˙˙ÁÁÁ˙ÄÄÄ˙ÇÇÇ˙ÊÊÊ˙ÍÍÍ˙˙ÒÒÒ˙ĠĠĠ˙ĜĜĜ˙ÛÛÛ˙ŜŜŜ˙ááá˙äää˙ççç˙êêê˙êêê˙˙”””˙   ˙ĴĴĴ˙···˙ÂÂÂ˙ÍÍÍ˙ÙÙÙ˙äää˙FFF˙333˙˙˙˙˙˙˙˙˙333я˙ĥĥĥ˙ŽŽŽ˙ˆˆˆ˙‡‡‡˙\\\˙<<<˙ƒƒƒ˙°°°˙˙îîî˙ééé˙ÊÊÊ˙ŞŞŞ˙OOO˙ddd˙ğğğ˙ĵĵĵ˙½½½˙½½½˙½½½˙½½½˙½½½˙½½½˙İİİ˙………˙¨¨¨˙°°°˙³³³˙ĥĥĥ˙ııı˙ĵĵĵ˙żżż˙ÂÂÂ˙ĊĊĊ˙ÈÈÈ˙ÊÊÊ˙ÍÍÍ˙˙ÓÓÓ˙ÖÖÖ˙ÙÙÙ˙ÜÜÜ˙ßßß˙âââ˙ċċċ˙èèè˙ëëë˙ííí˙‹‹‹˙‘‘‘˙   ˙ĴĴĴ˙···˙ÂÂÂ˙ÍÍÍ˙ÙÙÙ˙äää˙ZZZ˙3338˙˙˙˙˙˙˙˙˙333šuuu˙´´´˙½½½˙ŽŽŽ˙ŽŽŽ˙˙mmm˙;;;˙‰‰‰˙ÀÀÀ˙ÑÑÑ˙ÏÏÏ˙ğğğ˙ĦĦĦ˙€€€˙>>>˙vvv˙˙˙˙˙˙˙˙ÄÄÄ˙   ˙ŒŒŒ˙¨¨¨˙ŞŞŞ˙­­­˙ŻŻŻ˙²²²˙´´´˙ĥĥĥ˙¸¸¸˙şşş˙½½½˙żżż˙ÂÂÂ˙ÄÄÄ˙ÇÇÇ˙ÉÉÉ˙ËËË˙ÎÎÎ˙˙ÒÒÒ˙ÔÔÔ˙×××˙ÙÙÙ˙”””˙ŽŽŽ˙ĦĦĦ˙ĴĴĴ˙···˙ÂÂÂ˙ÎÎÎ˙ÙÙÙ˙äää˙mmm˙333R˙˙˙˙˙˙˙˙˙444c[[[˙³³³˙ÀÀÀ˙˙•••˙•••˙•••˙~~~˙===˙zzz˙²²²˙°°°˙£££˙ŽŽŽ˙ttt˙VVV˙444˙ŠŠŠ˙ÉÉÉ˙ÉÉÉ˙ÉÉÉ˙ÊÊÊ˙ÊÊÊ˙ÊÊÊ˙ÊÊÊ˙ÉÉÉ˙™™™˙‡‡‡˙‡‡‡˙‡‡‡˙‡‡‡˙‡‡‡˙‡‡‡˙‰‰‰˙‰‰‰˙‰‰‰˙‰‰‰˙‰‰‰˙‰‰‰˙‰‰‰˙ŠŠŠ˙‹‹‹˙‹‹‹˙‹‹‹˙‹‹‹˙‹‹‹˙‹‹‹˙‹‹‹˙‹‹‹˙˙™™™˙ĦĦĦ˙ĴĴĴ˙···˙ÂÂÂ˙ÎÎÎ˙ÙÙÙ˙äää˙€€€˙333l˙˙˙˙˙˙˙˙˙444,BBB˙²²²˙½½½˙ÇÇÇ˙›››˙›››˙›››˙œœœ˙ŽŽŽ˙DDD˙^^^˙˙‡‡‡˙vvv˙```˙HHH˙...˙333ŭ   ˙˙˙˙˙˙˙ÎÎÎ˙ĞĞĞ˙¨¨¨˙ŞŞŞ˙­­­˙ŻŻŻ˙²²²˙´´´˙···˙ııı˙ĵĵĵ˙˙ÁÁÁ˙˙ĈĈĈ˙ÈÈÈ˙ËËË˙ÍÍÍ˙˙ÒÒÒ˙ĠĠĠ˙×××˙ÚÚÚ˙ÜÜÜ˙ßßß˙ŬŬŬ˙˙ĴĴĴ˙···˙˙ÎÎÎ˙ÙÙÙ˙äää˙”””˙333†˙˙˙˙˙˙˙˙˙333óĤĤĤ˙ĵĵĵ˙ÈÈÈ˙­­­˙˘˘˘˙˘˘˘˙˘˘˘˙˘˘˘˙›››˙QQQ˙FFF˙fff˙[[[˙III˙333˙˙y999ġ²²²˙ÖÖÖ˙ÖÖÖ˙ÖÖÖ˙×××˙×××˙ııı˙˙¨¨¨˙ŞŞŞ˙­­­˙ŻŻŻ˙²²²˙´´´˙···˙ııı˙ĵĵĵ˙˙ÁÁÁ˙˙ĈĈĈ˙ÈÈÈ˙ËËË˙ÍÍÍ˙˙ÒÒÒ˙ĠĠĠ˙×××˙ÚÚÚ˙ÜÜÜ˙ßßß˙ááá˙äää˙ĜĜĜ˙˙˙ÎÎÎ˙ÙÙÙ˙äää˙¨¨¨˙333Ħ˙˙˙˙˙˙˙˙˙˙˙˙333ż‹‹‹˙ğğğ˙ĈĈĈ˙˙¨¨¨˙¨¨¨˙¨¨¨˙¨¨¨˙İİİ˙§§§˙ccc˙777˙>>>˙///˙˙¤˙˙˙333M@@@üÄÄÄ˙ŬŬŬ˙ŬŬŬ˙ŬŬŬ˙ÌÌÌ˙£££˙˙¨¨¨˙ŞŞŞ˙­­­˙ŻŻŻ˙²²²˙´´´˙···˙ııı˙ĵĵĵ˙˙ÁÁÁ˙˙ĈĈĈ˙ÈÈÈ˙ËËË˙ÍÍÍ˙˙ÒÒÒ˙ĠĠĠ˙×××˙ÚÚÚ˙ÜÜÜ˙ßßß˙ááá˙äää˙ĉĉĉ˙ççç˙ÔÔÔ˙ÎÎÎ˙ÙÙÙ˙äää˙ğğğ˙333ğ˙˙˙˙˙˙˙˙˙˙˙˙333ˆooo˙şşş˙ĊĊĊ˙ÑÑÑ˙ğğğ˙˙ŻŻŻ˙ŻŻŻ˙ŻŻŻ˙ŻŻŻ˙ŻŻŻ˙xxx˙222˙÷l˙˙˙˙˙˙333hKKK˙ÔÔÔ˙˙ŜŜŜ˙§§§˙£££˙˙¨¨¨˙ŞŞŞ˙­­­˙ŻŻŻ˙²²²˙´´´˙···˙ııı˙ĵĵĵ˙˙ÁÁÁ˙˙ĈĈĈ˙ÈÈÈ˙ËËË˙ÍÍÍ˙˙ÒÒÒ˙ĠĠĠ˙×××˙ÚÚÚ˙ÜÜÜ˙ßßß˙ááá˙äää˙ĉĉĉ˙ééé˙ëëë˙ĉĉĉ˙ÛÛÛ˙ċċċ˙ÏÏÏ˙333Ġ˙˙˙˙˙˙˙˙˙˙˙˙222QTTT˙¸¸¸˙ÄÄÄ˙ÏÏÏ˙ĜĜĜ˙µµµ˙µµµ˙µµµ˙µµµ˙µµµ˙µµµ˙ĥĥĥ˙˙:::ö444S˙˙˙˙˙˙˙˙˙˙˙˙333†XXX˙˙ĦĦĦ˙   ˙£££˙˙¨¨¨˙ŞŞŞ˙­­­˙ŻŻŻ˙²²²˙´´´˙···˙ııı˙ĵĵĵ˙˙ÁÁÁ˙˙ĈĈĈ˙ÈÈÈ˙ËËË˙ÍÍÍ˙˙ÒÒÒ˙ĠĠĠ˙×××˙ÚÚÚ˙ÜÜÜ˙ßßß˙ááá˙äää˙ĉĉĉ˙ééé˙ëëë˙îîî˙ììì˙˙ßßß˙333˙˙˙˙˙˙˙˙˙˙˙˙111;;;˙ĥĥĥ˙˙ÎÎÎ˙ÙÙÙ˙ÊÊÊ˙ğğğ˙ğğğ˙ĵĵĵ˙ĵĵĵ˙ĵĵĵ˙ĵĵĵ˙ĵĵĵ˙£££˙BBBŝ333y˙˙˙˙˙˙˙˙˙˙˙˙333£WWW˙eee˙fff˙hhh˙iii˙kkk˙lll˙nnn˙nnn˙ppp˙rrr˙sss˙uuu˙vvv˙xxx˙yyy˙zzz˙}}}˙~~~˙˙€€€˙‚‚‚˙ƒƒƒ˙†††˙‡‡‡˙ˆˆˆ˙ŠŠŠ˙ŒŒŒ˙˙˙˙’’’˙“““˙•••˙–––˙™™™˙ŒŒŒ˙444ñ333˙˙˙˙˙˙˙˙˙˙˙˙333ĦĦĦ˙ÁÁÁ˙ÍÍÍ˙ĜĜĜ˙µµµ˙ŸŸŸ˙ÂÂÂ˙ÂÂÂ˙ÂÂÂ˙ÂÂÂ˙ÂÂÂ˙ÂÂÂ˙ÂÂÂ˙ĥĥĥ˙QQQ˙333 +++˙˙˙˙˙˙333333^333x333x333y333y333z333z333z333{333{333|333|333}333}333~333~333~333333333€333€333333333‚333‚333‚333ƒ333ƒ333„333„333…333…333†333†333†333‡333‡333I˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙222Ĵ………˙ÀÀÀ˙ËËË˙×××˙¨¨¨˙€€€˙———˙ĊĊĊ˙ÈÈÈ˙ÈÈÈ˙ÉÉÉ˙ÉÉÉ˙ÉÉÉ˙ÉÉÉ˙ÄÄÄ˙ddd˙444Á666˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙˙222uhhh˙żżż˙ÊÊÊ˙ÖÖÖ˙żżż˙‰‰‰˙˙˙ÇÇÇ˙ÏÏÏ˙ÏÏÏ˙ÏÏÏ˙ÏÏÏ˙ÏÏÏ˙ÏÏÏ˙ÏÏÏ˙˙333Ü333#˙˙˙˙˙˙ßßß 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…055%ç߈pó=ÓÓÓèîîFGGJKK‡ĦĠjA)…Á`€F£‘÷ †“ÛW2ĈŜsı\kcħĜî . %u|@Rŭ cìİH$"§¸mŜĵYNˆÌFÚ*• ~żÎ.n1˙˙[è?ápn·‘HZ­………s‚žx<.Ÿf ¸\.HÉÎRĥĥĥîÉ&H4ŬCù ˙VİTŻ_żvğ=k £P(P[[ ‡Ë—/ˆ1“AşQ2x77+W„Ñh”—KEEĊĵí.(eeeĝóŸ˙ĵ(Ŝ`0ˆK—.…O._Lżm[ıreJ CAMM ìvğ,L ¸&$ş0Ö­[‡öööùŜ~ûmÌÌÌ4;Î”äáyážçwŻY³FžyžçQ[[ N‡x<~ŬBg£ë£ĵĵ\ZßİżżGŽ™dúğĴ‚½^˙ìŞUЍFQ[[+FÒs³iħ`ƒAäċċeœŒÎÎNĵòÊ+ˆĊbßw:éïIĤNAhRĞĠ‡ÖĴY£°Ûí(--Íĝ„›aÜ2Ñbû ‡àyƒĦPmmmhnnž‰D"?r:ofŞ“MvFE8Foo/z{{ŻwìKN !Š"&&&àvğNĝÓé̚öż† [ É~ŒIENDB`‚choreonoid-1.5.0/src/Choreonoid/choreonoid.desktop0000664000000000000000000000045612741425367020772 0ustar rootroot[Desktop Entry] Version=1.1 Name=Choreonoid GenericName=Integrated Robotics Platform Comment=Integrated Robotics Platform MimeType= Exec=/home/nakaoka/choreonoid/bin/choreonoid %F TryExec=choreonoid Icon=/usr/share/icons/hicolor/scalable/apps/choreonoid.svg Type=Application Terminal=false Categories= choreonoid-1.5.0/src/Choreonoid/CMakeLists.txt0000664000000000000000000000222112741425367017776 0ustar rootroot# @author Shin'ichiro Nakaoka set(target choreonoid) set(sources main.cpp) if(NOT QT5) QT4_ADD_RESOURCES(RC_SRCS choreonoid.qrc) else() QT5_ADD_RESOURCES(RC_SRCS choreonoid.qrc) endif() if(WIN32) set(sources ${sources} choreonoid.rc) endif() add_cnoid_executable(${target} ${sources} ${RC_SRCS}) target_link_libraries(${target} CnoidUtil CnoidBase) set_target_properties(${target} PROPERTIES PROJECT_LABEL Application) if(QT5) qt5_use_modules(${target} Gui Widgets) endif() if(MSVC) option(USE_SUBSYSTEM_CONSOLE "Attaching a console of Windows for debugging" OFF) if(NOT USE_SUBSYSTEM_CONSOLE) set_target_properties(${target} PROPERTIES WIN32_EXECUTABLE true) else() set_target_properties(${target} PROPERTIES LINK_FLAGS "/SUBSYSTEM:CONSOLE") endif() endif() #apply_common_setting_for_target(${target}) if(MSVC) set_target_properties(${target} PROPERTIES DEBUG_POSTFIX -debug) endif() configure_file(icon/choreonoid.svg ${CNOID_SOURCE_SHARE_DIR}/icon/choreonoid.svg COPYONLY) install(FILES icon/choreonoid.svg DESTINATION ${CNOID_SHARE_SUBDIR}/icon) #install(TARGETS ${target} RUNTIME DESTINATION bin CONFIGURATIONS Release Debug) choreonoid-1.5.0/src/Choreonoid/choreonoid.qrc0000664000000000000000000000036312741425367020103 0ustar rootroot icon/choreonoid48.png icon/choreonoid32.png icon/choreonoid24.png icon/choreonoid16.png choreonoid-1.5.0/src/Choreonoid/choreonoid.rc0000664000000000000000000000006212741425367017716 0ustar rootrootIDI_ICON1 ICON DISCARDABLE "icon/choreonoid.ico" choreonoid-1.5.0/src/BulletPlugin/0000775000000000000000000000000012741425367015556 5ustar rootrootchoreonoid-1.5.0/src/BulletPlugin/BulletPlugin.cpp0000664000000000000000000000116112741425367020667 0ustar rootroot/*! @file @author Shizuko Hattori */ #include "BulletSimulatorItem.h" #include using namespace std; using namespace cnoid; namespace { class BulletPlugin : public Plugin { public: BulletPlugin() : Plugin("Bullet") { require("Body"); } virtual ~BulletPlugin() { } virtual bool initialize() { BulletSimulatorItem::initialize(this); return true; } virtual bool finalize() { return true; } }; } CNOID_IMPLEMENT_PLUGIN_ENTRY(BulletPlugin); choreonoid-1.5.0/src/BulletPlugin/BulletCollisionDetector.cpp0000664000000000000000000005475612741425367023100 0ustar rootroot/** \file \author Shizuko Hattori */ #include "BulletCollisionDetector.h" #include #include #include #include #include #include #include #include #include #include using namespace std; using namespace boost; using namespace cnoid; namespace { const btScalar DEFAULT_COLLISION_MARGIN = 0.0001; const bool useHACD = true; CollisionDetectorPtr factory() { return boost::make_shared(); } struct FactoryRegistration { FactoryRegistration(){ CollisionDetector::registerFactory("BulletCollisionDetector", factory); } } factoryRegistration; class GeometryEx { public : GeometryEx(); ~GeometryEx(); btCollisionObject* collisionObject; btCollisionShape* collisionShape; vector vertices; vector triangles; btTriangleIndexVertexArray* meshData; btTriangleMesh* trimesh; bool isStatic; }; typedef boost::shared_ptr GeometryExPtr; GeometryEx::GeometryEx() { collisionObject = 0; collisionShape = 0; vertices.clear(); triangles.clear(); meshData = 0; trimesh = 0; isStatic = false; } GeometryEx::~GeometryEx() { btCompoundShape* compoundShape = dynamic_cast(collisionShape); if(compoundShape){ int num = compoundShape->getNumChildShapes(); for(int i=0; igetChildShape(i); } delete compoundShape; }else{ if(collisionShape) delete collisionShape; } if(meshData) delete meshData; if(trimesh) delete trimesh; if(collisionObject) delete collisionObject; } } namespace cnoid { class BulletCollisionDetectorImpl { public: BulletCollisionDetectorImpl(); ~BulletCollisionDetectorImpl(); vector models; btDefaultCollisionConfiguration* collisionConfiguration; btCollisionDispatcher* dispatcher; btBroadphaseInterface* broadphase; btCollisionWorld* collisionWorld; MeshExtractor* meshExtractor; typedef set< IdPair<> > IdPairSet; IdPairSet modelPairs; IdPairSet nonInterfarencePairs; int addGeometry(SgNode* geometry); void addMesh(GeometryEx* model); bool makeReady(); void updatePosition(int geometryId, const Position& _position); void detectCollisions(boost::function callback); void detectObjectCollisions(btCollisionObject* object1, btCollisionObject* object2, CollisionPair& collisionPair); }; } BulletCollisionDetector::BulletCollisionDetector() { impl = new BulletCollisionDetectorImpl(); } BulletCollisionDetector::~BulletCollisionDetector() { delete impl; } const char* BulletCollisionDetector::name() const { return "BulletCollisionDetector"; } CollisionDetectorPtr BulletCollisionDetector::clone() const { return boost::make_shared(); } BulletCollisionDetectorImpl::BulletCollisionDetectorImpl() { collisionConfiguration = new btDefaultCollisionConfiguration(); dispatcher = new btCollisionDispatcher(collisionConfiguration); broadphase = new btDbvtBroadphase(); collisionWorld = new btCollisionWorld(dispatcher,broadphase,collisionConfiguration); btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher); meshExtractor = new MeshExtractor; } BulletCollisionDetectorImpl::~BulletCollisionDetectorImpl() { if(collisionWorld) delete collisionWorld; if(dispatcher) delete dispatcher; if(collisionConfiguration) delete collisionConfiguration; if(broadphase) delete broadphase; delete meshExtractor; } void BulletCollisionDetector::clearGeometries() { impl->models.clear(); impl->nonInterfarencePairs.clear(); impl->modelPairs.clear(); } int BulletCollisionDetector::numGeometries() const { return impl->models.size(); } int BulletCollisionDetector::addGeometry(SgNodePtr geometry) { return impl->addGeometry(geometry.get()); } int BulletCollisionDetectorImpl::addGeometry(SgNode* geometry) { const int index = models.size(); if(geometry){ GeometryExPtr model = boost::make_shared(); if(meshExtractor->extract(geometry, boost::bind(&BulletCollisionDetectorImpl::addMesh, this, model.get()))){ if(!useHACD){ if(!model->vertices.empty()){ model->meshData = new btTriangleIndexVertexArray( model->triangles.size()/3, &model->triangles[0], sizeof(int)*3, model->vertices.size()/3, &model->vertices[0], sizeof(btScalar)*3); btGImpactMeshShape* meshShape = new btGImpactMeshShape(model->meshData); meshShape->setLocalScaling(btVector3(1.f,1.f,1.f)); meshShape->setMargin(DEFAULT_COLLISION_MARGIN); meshShape->updateBound(); btCompoundShape* compoundShape = dynamic_cast(model->collisionShape); if(compoundShape){ btTransform T; T.setIdentity(); compoundShape->addChildShape(T, meshShape); }else model->collisionShape = meshShape; } }else{ if(!model->vertices.empty()){ model->trimesh = new btTriangleMesh(); for (size_t i=0; itriangles.size()/3; i++){ int index0 = model->triangles[i*3]; int index1 = model->triangles[i*3+1]; int index2 = model->triangles[i*3+2]; vector& vertices = model->vertices; btVector3 vertex0(vertices[index0*3], vertices[index0*3+1], vertices[index0*3+2]); btVector3 vertex1(vertices[index1*3], vertices[index1*3+1], vertices[index1*3+2]); btVector3 vertex2(vertices[index2*3], vertices[index2*3+1], vertices[index2*3+2]); model->trimesh->addTriangle(vertex0,vertex1,vertex2); } btBvhTriangleMeshShape* concaveShape = new btBvhTriangleMeshShape(model->trimesh, true); concaveShape->setMargin(DEFAULT_COLLISION_MARGIN); btCompoundShape* compoundShape = dynamic_cast(model->collisionShape); if(compoundShape){ btTransform T; T.setIdentity(); compoundShape->addChildShape(T, concaveShape); }else model->collisionShape = concaveShape; } } model->collisionObject = new btCollisionObject(); model->collisionObject->setCollisionShape(model->collisionShape); models.push_back(model); } } return index; } void BulletCollisionDetectorImpl::addMesh(GeometryEx* model) { SgMesh* mesh = meshExtractor->currentMesh(); const Affine3& T = meshExtractor->currentTransform(); bool meshAdded = false; if(mesh->primitiveType() != SgMesh::MESH){ bool doAddPrimitive = false; Vector3 scale; optional translation; if(!meshExtractor->isCurrentScaled()){ scale.setOnes(); doAddPrimitive = true; } else { Affine3 S = meshExtractor->currentTransformWithoutScaling().inverse() * meshExtractor->currentTransform(); if(S.linear().isDiagonal()){ if(!S.translation().isZero()){ translation = S.translation(); } scale = S.linear().diagonal(); if(mesh->primitiveType() == SgMesh::BOX){ doAddPrimitive = true; } else if(mesh->primitiveType() == SgMesh::SPHERE){ // check if the sphere is uniformly scaled for all the axes if(scale.x() == scale.y() && scale.x() == scale.z()){ doAddPrimitive = true; } } else if(mesh->primitiveType() == SgMesh::CYLINDER){ // check if the bottom circle face is uniformly scaled if(scale.x() == scale.z()){ doAddPrimitive = true; } } else if(mesh->primitiveType() == SgMesh::CONE){ if(scale.x() == scale.z()){ doAddPrimitive = true; } } } } if(doAddPrimitive){ bool created = false; btCollisionShape* primitiveShape; switch(mesh->primitiveType()){ case SgMesh::BOX : { const Vector3& s = mesh->primitive().size; primitiveShape = new btBoxShape(btVector3(s.x() * scale.x()/2.0, s.y() * scale.y()/2.0, s.z() * scale.z()/2.0)); created = true; break; } case SgMesh::SPHERE : { SgMesh::Sphere sphere = mesh->primitive(); primitiveShape = new btSphereShape(sphere.radius * scale.x()); created = true; break; } case SgMesh::CYLINDER : { SgMesh::Cylinder cylinder = mesh->primitive(); primitiveShape = new btCylinderShape(btVector3(cylinder.radius * scale.x(), cylinder.height * scale.y()/2.0, cylinder.radius * scale.x())); created = true; break; } case SgMesh::CONE : { SgMesh::Cone cone = mesh->primitive(); primitiveShape = new btConeShape(cone.radius * scale.x(), cone.height * scale.y()); created = true; break; } default : break; } if(created){ primitiveShape->setMargin(DEFAULT_COLLISION_MARGIN); btCompoundShape* compoundShape = dynamic_cast(model->collisionShape); if(!compoundShape){ model->collisionShape = new btCompoundShape(); model->collisionShape->setLocalScaling(btVector3(1.f,1.f,1.f)); compoundShape = dynamic_cast(model->collisionShape); } Affine3 T_ = meshExtractor->currentTransformWithoutScaling(); if(translation){ T_ *= Translation3(*translation); } btVector3 p(T_(0,3), T_(1,3), T_(2,3)); btMatrix3x3 R(T_(0,0), T_(0,1), T_(0,2), T_(1,0), T_(1,1), T_(1,2), T_(2,0), T_(2,1), T_(2,2)); btTransform btT(R, p); compoundShape->addChildShape(btT, primitiveShape); meshAdded = true; } } } if(!meshAdded){ if(!useHACD || model->isStatic){ const int vertexIndexTop = model->vertices.size() / 3; const SgVertexArray& vertices_ = *mesh->vertices(); const int numVertices = vertices_.size(); for(int i=0; i < numVertices; ++i){ const Vector3 v = T * vertices_[i].cast(); model->vertices.push_back((btScalar)v.x()); model->vertices.push_back((btScalar)v.y()); model->vertices.push_back((btScalar)v.z()); } const int numTriangles = mesh->numTriangles(); for(int i=0; i < numTriangles; ++i){ SgMesh::TriangleRef tri = mesh->triangle(i); model->triangles.push_back(vertexIndexTop + tri[0]); model->triangles.push_back(vertexIndexTop + tri[1]); model->triangles.push_back(vertexIndexTop + tri[2]); } }else{ btConvexHullShape* convexHullShape = dynamic_cast(model->collisionShape); if(convexHullShape){ btCompoundShape* compoundShape = new btCompoundShape(); compoundShape->setLocalScaling(btVector3(1.f,1.f,1.f)); btTransform T; T.setIdentity(); compoundShape->addChildShape(T, convexHullShape); model->collisionShape = compoundShape; } std::vector< HACD::Vec3 > points; std::vector< HACD::Vec3 > triangles; const SgVertexArray& vertices_ = *mesh->vertices(); const int numVertices = vertices_.size(); for(int i=0; i < numVertices; ++i){ const Vector3 v = T * vertices_[i].cast(); HACD::Vec3 vertex(v.x(), v.y(), v.z()); points.push_back(vertex); } const int numTriangles = mesh->numTriangles(); for(int i=0; i < numTriangles; ++i){ SgMesh::TriangleRef tri = mesh->triangle(i); HACD::Vec3 triangle(tri[0], tri[1], tri[2]); triangles.push_back(triangle); } HACD::HACD hacd; hacd.SetPoints(&points[0]); hacd.SetNPoints(points.size()); hacd.SetTriangles(&triangles[0]); hacd.SetNTriangles(triangles.size()); hacd.SetCompacityWeight(0.1); hacd.SetVolumeWeight(0.0); size_t nClusters = 1; double concavity = 100; bool invert = false; bool addExtraDistPoints = false; bool addNeighboursDistPoints = false; bool addFacesPoints = false; hacd.SetNClusters(nClusters); // minimum number of clusters hacd.SetNVerticesPerCH(100); // max of 100 vertices per convex-hull hacd.SetConcavity(concavity); // maximum concavity hacd.SetAddExtraDistPoints(addExtraDistPoints); hacd.SetAddNeighboursDistPoints(addNeighboursDistPoints); hacd.SetAddFacesPoints(addFacesPoints); hacd.Compute(); btTransform T; T.setIdentity(); nClusters = hacd.GetNClusters(); if(nClusters>1){ btCompoundShape* compoundShape = dynamic_cast(model->collisionShape); if(!compoundShape){ model->collisionShape = new btCompoundShape(); model->collisionShape->setLocalScaling(btVector3(1.f,1.f,1.f)); } } for(size_t i=0; i * pointsCH = new HACD::Vec3[nPoints]; HACD::Vec3 * trianglesCH = new HACD::Vec3[nTriangles]; hacd.GetCH(i, pointsCH, trianglesCH); btAlignedObjectArray newVertices_; for(size_t j=0; j planeEquations; btGeometryUtil::getPlaneEquationsFromVertices(newVertices_, planeEquations); btAlignedObjectArray shiftedPlaneEquations; for (int j=0; j shiftedVertices; btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,shiftedVertices); btConvexHullShape* convexHullShape_ = new btConvexHullShape(&(shiftedVertices[0].getX()),shiftedVertices.size()); */ btConvexHullShape* convexHullShape_ = new btConvexHullShape(&(newVertices_[0].getX()), newVertices_.size()); convexHullShape_->setMargin(DEFAULT_COLLISION_MARGIN); btCompoundShape* compoundShape = dynamic_cast(model->collisionShape); if(compoundShape) compoundShape->addChildShape(T, convexHullShape_); else model->collisionShape = convexHullShape_; } } } } void BulletCollisionDetector::setGeometryStatic(int geometryId, bool isStatic) { impl->models[geometryId]->isStatic = isStatic; } bool BulletCollisionDetector::enableGeometryCache(bool on) { return false; } void BulletCollisionDetector::clearGeometryCache(SgNodePtr geometry) { } void BulletCollisionDetector::clearAllGeometryCaches() { } void BulletCollisionDetector::setNonInterfarenceGeometyrPair(int geometryId1, int geometryId2) { impl->nonInterfarencePairs.insert(IdPair<>(geometryId1, geometryId2)); } bool BulletCollisionDetector::makeReady() { return impl->makeReady(); } bool BulletCollisionDetectorImpl::makeReady() { modelPairs.clear(); const int n = models.size(); for(int i=0; i < n; ++i){ GeometryExPtr& model1 = models[i]; if(model1){ for(int j = i+1; j < n; ++j){ GeometryExPtr& model2 = models[j]; if(model2){ if(!model1->isStatic || !model2->isStatic){ if(nonInterfarencePairs.find(IdPair<>(i, j)) == nonInterfarencePairs.end()){ modelPairs.insert(IdPair<>(i,j)); } } } } } } return true; } void BulletCollisionDetector::updatePosition(int geometryId, const Position& position) { impl->updatePosition(geometryId, position); } void BulletCollisionDetectorImpl::updatePosition(int geometryId, const Position& position) { GeometryExPtr& model = models[geometryId]; if(model){ btVector3 p(position(0,3), position(1,3), position(2,3)); btMatrix3x3 R(position(0,0), position(0,1), position(0,2), position(1,0), position(1,1), position(1,2), position(2,0), position(2,1), position(2,2)); btTransform transform; transform.setBasis(R); transform.setOrigin(p); if(model->collisionObject) model->collisionObject->setWorldTransform(transform); } } void BulletCollisionDetector::detectCollisions(boost::function callback) { impl->detectCollisions(callback); } void BulletCollisionDetectorImpl::detectCollisions(boost::function callback) { CollisionPair collisionPair; vector& collisions = collisionPair.collisions; for(IdPairSet::iterator it = modelPairs.begin(); it!=modelPairs.end(); it++){ GeometryExPtr& model1 = models[(*it)(0)]; GeometryExPtr& model2 = models[(*it)(1)]; collisions.clear(); if(model1->collisionObject && model2->collisionObject) detectObjectCollisions(model1->collisionObject, model2->collisionObject, collisionPair); if(!collisions.empty()){ collisionPair.geometryId[0] = (*it)(0); collisionPair.geometryId[1] = (*it)(1); callback(collisionPair); } } } void BulletCollisionDetectorImpl::detectObjectCollisions(btCollisionObject* object1, btCollisionObject* object2, CollisionPair& collisionPair) { vector& collisions = collisionPair.collisions; #ifdef BT_VER_GT_281 btCollisionObjectWrapper objectWrapper1(0, object1->getCollisionShape(), object1, object1->getWorldTransform(), -1, -1); btCollisionObjectWrapper objectWrapper2(0, object2->getCollisionShape(), object2, object2->getWorldTransform(), -1, -1); #else btCollisionObjectWrapper objectWrapper1(0, object1->getCollisionShape(), object1, object1->getWorldTransform()); btCollisionObjectWrapper objectWrapper2(0, object2->getCollisionShape(), object2, object2->getWorldTransform()); #endif btCollisionAlgorithm* algo = collisionWorld->getDispatcher()->findAlgorithm(&objectWrapper1, &objectWrapper2); if (algo){ btManifoldResult contactPointResult(&objectWrapper1, &objectWrapper2); algo->processCollision(&objectWrapper1, &objectWrapper2, collisionWorld->getDispatchInfo(), &contactPointResult); btManifoldArray manifoldArray; algo->getAllContactManifolds(manifoldArray); int numManifolds = manifoldArray.size(); for (int i=0;igetBody0(); int numContacts = contactManifold->getNumContacts(); bool swap = obA == object1; for (int j=0;jgetContactPoint(j); btVector3 ptA = swap? pt.getPositionWorldOnB() : pt.getPositionWorldOnA(); btVector3 normal = swap? -pt.m_normalWorldOnB : pt.m_normalWorldOnB; collisions.push_back(Collision()); Collision& collision = collisions.back(); collision.point = Vector3(ptA.x(), ptA.y(), ptA.z()); collision.normal = Vector3(normal.x(), normal.y(), normal.z()); collision.depth = -pt.getDistance(); } } } } choreonoid-1.5.0/src/BulletPlugin/exportdecl.h0000664000000000000000000000223712741425367020104 0ustar rootroot#ifndef CNOID_BULLETPLUGIN_EXPORTDECL_H_INCLUDED # define CNOID_BULLETPLUGIN_EXPORTDECL_H_INCLUDED # if defined _WIN32 || defined __CYGWIN__ # define CNOID_BULLETPLUGIN_DLLIMPORT __declspec(dllimport) # define CNOID_BULLETPLUGIN_DLLEXPORT __declspec(dllexport) # define CNOID_BULLETPLUGIN_DLLLOCAL # else # if __GNUC__ >= 4 # define CNOID_BULLETPLUGIN_DLLIMPORT __attribute__ ((visibility("default"))) # define CNOID_BULLETPLUGIN_DLLEXPORT __attribute__ ((visibility("default"))) # define CNOID_BULLETPLUGIN_DLLLOCAL __attribute__ ((visibility("hidden"))) # else # define CNOID_BULLETPLUGIN_DLLIMPORT # define CNOID_BULLETPLUGIN_DLLEXPORT # define CNOID_BULLETPLUGIN_DLLLOCAL # endif # endif # ifdef CNOID_BULLETPLUGIN_STATIC # define CNOID_BULLETPLUGIN_DLLAPI # define CNOID_BULLETPLUGIN_LOCAL # else # ifdef CnoidBulletPlugin_EXPORTS # define CNOID_BULLETPLUGIN_DLLAPI CNOID_BULLETPLUGIN_DLLEXPORT # else # define CNOID_BULLETPLUGIN_DLLAPI CNOID_BULLETPLUGIN_DLLIMPORT # endif # define CNOID_BULLETPLUGIN_LOCAL CNOID_BULLETPLUGIN_DLLLOCAL # endif #endif #ifdef CNOID_EXPORT # undef CNOID_EXPORT #endif #define CNOID_EXPORT CNOID_BULLETPLUGIN_DLLAPI choreonoid-1.5.0/src/BulletPlugin/CMakeLists.txt0000664000000000000000000000401012741425367020311 0ustar rootroot option(BUILD_BULLET_PLUGIN "Building BulletPlugin" OFF) if(NOT BUILD_BULLET_PLUGIN) return() endif() #set(CMAKE_BUILD_TYPE Debug) set(BULLET_DIR ${BULLET_DIR} CACHE PATH "set the top directory of the Bullet Physics library") if(UNIX) if(NOT BULLET_DIR) PKG_CHECK_MODULES(bullet REQUIRED bullet) # HACD is not included in bullet.pc, we thus have to add it ourselves. LIST(APPEND ${bullet_LIBRARIES} HACD) else() set(bullet_INCLUDE_DIRS ${BULLET_DIR}/include/bullet) set(bullet_LIBRARY_DIRS ${BULLET_DIR}/lib/) set(bullet_LIBRARIES BulletDynamics BulletCollision LinearMath HACD) endif() elseif(MSVC) if(NOT BULLET_DIR) message(FATAL_ERROR "Please specify the directory of the Bullet Physics library to BULLET_DIR.") endif() if(BULLET_DIR) set(bullet_LIBRARIES optimized BulletCollision optimized BulletDynamics optimized LinearMath optimized HACD debug BulletCollision_Debug debug BulletDynamics_Debug debug LinearMath_Debug debug HACD_Debug) set(bullet_INCLUDE_DIRS ${BULLET_DIR}/include/bullet ${BULLET_DIR}/src ${BULLET_DIR}/Extras) set(bullet_LIBRARY_DIRS ${BULLET_DIR}/lib/) add_definitions(-DBT_VER_GT_281 -DBT_USE_DOUBLE_PRECISION) endif() endif() add_definitions(${bullet_CFLAGS}) if(UNIX) if(${bullet_VERSION} VERSION_GREATER 2.81) add_definitions(-DBT_VER_GT_281) endif() endif() include_directories(${bullet_INCLUDE_DIRS}) link_directories(${bullet_LIBRARY_DIRS}) set(target CnoidBulletPlugin) if(MSVC) link_directories(${bullet_LIBRARY_DIRS}/Release) endif() set(sources BulletPlugin.cpp BulletSimulatorItem.cpp BulletCollisionDetector.cpp ) set(headers ) make_gettext_mofiles(${target} mofiles) add_cnoid_plugin(${target} SHARED ${sources} ${headers} ${mofiles}) target_link_libraries(${target} CnoidBodyPlugin ${bullet_LIBRARIES}) apply_common_setting_for_plugin(${target} "${headers}") install_external_libraries(${BULLET_DIR}/bin ${BULLET_DIR}/lib ${bullet_LIBRARIES}) if(ENABLE_PYTHON) add_subdirectory(python) endif() choreonoid-1.5.0/src/BulletPlugin/BulletSimulatorItem.cpp0000664000000000000000000014132512741425367022236 0ustar rootroot/*! @file @author Shizuko Hattori */ #include "BulletSimulatorItem.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; #define DEBUG_OUT 0 namespace { const btScalar DEFAULT_GRAVITY_ACCELERATION = 9.80665; const btScalar DEFAULT_ERP = 0.2; const int DEFAULT_NUMITERATION = 10; const btScalar DEFAULT_RESTITUTION = 0.0; const btScalar DEFAULT_FRICTION = 0.7; const btScalar DEFAULT_ERP2 = 0.0; const btScalar DEFAULT_SPLITIMPULSEPENETRATIONTHRESHOLD = -0.0001; const btScalar DEFAULT_COLLISION_MARGIN = 0.0001; const bool meshOnly = false; // not use primitive Shape const bool mixedPrimitiveMesh = true; // mixed of Primitive and Mesh on one link class BulletBody; class BulletLink : public Referenced { public: BulletLink* parent; Link* link; btTransform shift; btTransform invShift; vector vertices; vector triangles; btTriangleIndexVertexArray* pMeshData; btTriangleMesh* trimesh; btCollisionShape* collisionShape; btDefaultMotionState* motionState; btRigidBody* body; btTypedConstraint* joint; btDynamicsWorld* dynamicsWorld; double q_offset; BulletSimulatorItemImpl* simImpl; bool isStatic; BulletLink(BulletSimulatorItemImpl* simImpl, BulletBody* bulletBody, BulletLink* parent, const Vector3& parentOrigin, Link* link, short group, bool isSelfCollisionDetectionEnabled); ~BulletLink(); void createLinkBody(BulletSimulatorItemImpl* simImpl, BulletLink* parent, const Vector3& origin, short group, bool isSelfCollisionDetectionEnabled); void addMesh(MeshExtractor* extractor, bool meshOnly); void createGeometry(); void getKinematicStateFromBullet(); void setKinematicStateToBullet(); void setTorqueToBullet(); void setVelocityToBullet(); }; typedef ref_ptr BulletLinkPtr; class BulletBody : public SimulationBody { public: vector bulletLinks; vector extraJoints; btDynamicsWorld* dynamicsWorld; vector forceSensorFeedbacks; BasicSensorSimulationHelper sensorHelper; int geometryId; BodyPtr body; BulletBody(const Body& orgBody); ~BulletBody(); void createBody(BulletSimulatorItemImpl* simImpl, short group); void getKinematicStateFromBullet(); void setKinematicStateToBullet(); void setTorqueToBullet(); void setExtraJoints(); void updateForceSensors(); void setVelocityToBullet(); }; } namespace cnoid { class BulletSimulatorItemImpl { public: BulletSimulatorItem* self; btDefaultCollisionConfiguration* collisionConfiguration; btCollisionDispatcher* dispatcher; btBroadphaseInterface* broadphase; btConstraintSolver* solver; btDynamicsWorld* dynamicsWorld; Vector3 gravity; double timeStep; double erp; int numIterations; double restitution; double friction; double erp2; double splitImpulsePenetrationThreshold; bool useWorldCollision; bool useHACD; // Hierarchical Approximate Convex Decomposition double collisionMargin; CollisionDetectorPtr collisionDetector; vector geometryIdToLink; bool velocityMode; BulletSimulatorItemImpl(BulletSimulatorItem* self); BulletSimulatorItemImpl(BulletSimulatorItem* self, const BulletSimulatorItemImpl& org); ~BulletSimulatorItemImpl(); bool initializeSimulation(const std::vector& simBodies); bool stepSimulation(const std::vector& activeSimBodies); void doPutProperties(PutPropertyFunction& putProperty); void store(Archive& archive); void restore(const Archive& archive); void initialize(); void clear(); void addBody(BulletBody* bulletBody, short group); void setSolverParameter(); }; } static bool CustomMaterialCombinerCallback(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0,int partId0,int index0,const btCollisionObjectWrapper* colObj1,int partId1,int index1) { if(cp.m_distance1 < -0.001) return true; BulletLink* bulletLink0 = (BulletLink*)colObj0->getCollisionObject()->getUserPointer(); Link* link0 = 0; if(bulletLink0) link0 = bulletLink0->link; BulletLink* bulletLink1 = (BulletLink*)colObj1->getCollisionObject()->getUserPointer(); Link* link1 = 0; if(bulletLink1) link1 = bulletLink1->link; Link* crawlerlink; double sign = 1; double friction; if(link0 && ((link0->jointType() == Link::CRAWLER_JOINT) || (link0->jointType() == Link::PSEUDO_CONTINUOUS_TRACK))){ crawlerlink = link0; friction = bulletLink0->simImpl->friction; } else if(link1 && ((link1->jointType() == Link::CRAWLER_JOINT) || (link1->jointType() == Link::PSEUDO_CONTINUOUS_TRACK))) { crawlerlink = link1; sign = -1; friction = bulletLink1->simImpl->friction; }else return true; Vector3 axis = crawlerlink->R() * crawlerlink->a(); btVector3 normal = cp.m_normalWorldOnB; Vector3 n(normal.x(), normal.y(), normal.z()); Vector3 dir = axis.cross(n); if(dir.norm()<1e-5) return true; dir *= sign; dir.normalize(); Vector3 frictionDir1 = friction * dir; Vector3 frictionDir2 = 0.1 * axis; cp.m_lateralFrictionInitialized = true; cp.m_lateralFrictionDir1.setValue(frictionDir1.x(), frictionDir1.y(), frictionDir1.z()); cp.m_lateralFrictionDir2.setValue(frictionDir2.x(), frictionDir2.y(), frictionDir2.z()); if(crawlerlink->jointType() == Link::PSEUDO_CONTINUOUS_TRACK) cp.m_contactMotion1 = crawlerlink->dq(); else cp.m_contactMotion1 = crawlerlink->u(); return true; } ///////////////////////////////////Link//////////////////////////////////////////////////// BulletLink::BulletLink(BulletSimulatorItemImpl* _simImpl, BulletBody* bulletBody, BulletLink* parent, const Vector3& parentOrigin, Link* link, short group, bool isSelfCollisionDetectionEnabled) { bulletBody->bulletLinks.push_back(this); dynamicsWorld = _simImpl->dynamicsWorld; this->simImpl = _simImpl; this->link = link; vertices.clear(); triangles.clear(); pMeshData = 0; trimesh = 0; collisionShape = 0; motionState = 0; body = 0; joint=0; q_offset = 0; isStatic = false; Vector3 o = parentOrigin + link->b(); createLinkBody(simImpl, parent, o, group, isSelfCollisionDetectionEnabled); body->setActivationState(DISABLE_DEACTIVATION); for(Link* child = link->child(); child; child = child->sibling()){ new BulletLink(simImpl, bulletBody, this, o, child, group, isSelfCollisionDetectionEnabled); } } void BulletLink::createGeometry() { if(link->shape()){ MeshExtractor* extractor = new MeshExtractor; if(extractor->extract(link->shape(), boost::bind(&BulletLink::addMesh, this, extractor, meshOnly))){ if(!simImpl->useHACD){ if(!mixedPrimitiveMesh){ if(!vertices.empty()){ btCompoundShape* compoundShape = dynamic_cast(collisionShape); if(compoundShape){ int num = compoundShape->getNumChildShapes(); for(int i=0; igetChildShape(i); } delete compoundShape; collisionShape = 0; vertices.clear(); triangles.clear(); extractor->extract(link->shape(), boost::bind(&BulletLink::addMesh, this, boost::ref(extractor), true)); } } } if(!vertices.empty()){ pMeshData = new btTriangleIndexVertexArray(triangles.size()/3, &triangles[0], sizeof(int)*3, vertices.size()/3, &vertices[0], sizeof(btScalar)*3); btGImpactMeshShape* meshShape = new btGImpactMeshShape(pMeshData); meshShape->setLocalScaling(btVector3(1.f,1.f,1.f)); meshShape->setMargin(simImpl->collisionMargin); meshShape->updateBound(); btCompoundShape* compoundShape = dynamic_cast(collisionShape); if(compoundShape){ btTransform T; T.setIdentity(); compoundShape->addChildShape(T, meshShape); }else collisionShape = meshShape; } }else{ if(!vertices.empty()){ trimesh = new btTriangleMesh(); for (size_t i=0; iaddTriangle(vertex0,vertex1,vertex2); } btBvhTriangleMeshShape* concaveShape = new btBvhTriangleMeshShape(trimesh, true); concaveShape->setMargin(simImpl->collisionMargin); btCompoundShape* compoundShape = dynamic_cast(collisionShape); if(compoundShape){ btTransform T; T.setIdentity(); compoundShape->addChildShape(T, concaveShape); }else collisionShape = concaveShape; } } } delete extractor; } } void BulletLink::addMesh(MeshExtractor* extractor, bool meshOnly) { SgMesh* mesh = extractor->currentMesh(); const Affine3& T = extractor->currentTransform(); bool meshAdded = false; if(!meshOnly){ if(mesh->primitiveType() != SgMesh::MESH){ bool doAddPrimitive = false; Vector3 scale; optional translation; if(!extractor->isCurrentScaled()){ scale.setOnes(); doAddPrimitive = true; } else { Affine3 S = extractor->currentTransformWithoutScaling().inverse() * extractor->currentTransform(); if(S.linear().isDiagonal()){ if(!S.translation().isZero()){ translation = S.translation(); } scale = S.linear().diagonal(); if(mesh->primitiveType() == SgMesh::BOX){ doAddPrimitive = true; } else if(mesh->primitiveType() == SgMesh::SPHERE){ // check if the sphere is uniformly scaled for all the axes if(scale.x() == scale.y() && scale.x() == scale.z()){ doAddPrimitive = true; } } else if(mesh->primitiveType() == SgMesh::CYLINDER){ // check if the bottom circle face is uniformly scaled if(scale.x() == scale.z()){ doAddPrimitive = true; } } else if(mesh->primitiveType() == SgMesh::CONE){ if(scale.x() == scale.z()){ doAddPrimitive = true; } } } } if(doAddPrimitive){ bool created = false; btCollisionShape* primitiveShape; switch(mesh->primitiveType()){ case SgMesh::BOX : { const Vector3& s = mesh->primitive().size; primitiveShape = new btBoxShape(btVector3(s.x() * scale.x()/2.0, s.y() * scale.y()/2.0, s.z() * scale.z()/2.0)); created = true; break; } case SgMesh::SPHERE : { SgMesh::Sphere sphere = mesh->primitive(); primitiveShape = new btSphereShape(sphere.radius * scale.x()); created = true; break; } case SgMesh::CYLINDER : { SgMesh::Cylinder cylinder = mesh->primitive(); primitiveShape = new btCylinderShape(btVector3(cylinder.radius * scale.x(), cylinder.height * scale.y()/2.0, cylinder.radius * scale.x())); created = true; break; } case SgMesh::CONE : { SgMesh::Cone cone = mesh->primitive(); primitiveShape = new btConeShape(cone.radius * scale.x(), cone.height * scale.y()); created = true; break; } default : break; } if(created){ primitiveShape->setMargin(simImpl->collisionMargin); btCompoundShape* compoundShape = dynamic_cast(collisionShape); if(!compoundShape){ collisionShape = new btCompoundShape(); collisionShape->setLocalScaling(btVector3(1.f,1.f,1.f)); compoundShape = dynamic_cast(collisionShape); } Affine3 T_ = extractor->currentTransformWithoutScaling(); if(translation){ T_ *= Translation3(*translation); } btVector3 p(T_(0,3), T_(1,3), T_(2,3)); btMatrix3x3 R(T_(0,0), T_(0,1), T_(0,2), T_(1,0), T_(1,1), T_(1,2), T_(2,0), T_(2,1), T_(2,2)); btTransform btT(R, p); compoundShape->addChildShape(invShift * btT, primitiveShape); meshAdded = true; } } } } if(!meshAdded){ if(!simImpl->useHACD || isStatic){ const int vertexIndexTop = vertices.size() / 3; const SgVertexArray& vertices_ = *mesh->vertices(); const int numVertices = vertices_.size(); for(int i=0; i < numVertices; ++i){ const Vector3 v = T * vertices_[i].cast(); btVector3 v0 = invShift * btVector3(v.x(), v.y(), v.z()); vertices.push_back(v0.x()); vertices.push_back(v0.y()); vertices.push_back(v0.z()); } const int numTriangles = mesh->numTriangles(); for(int i=0; i < numTriangles; ++i){ SgMesh::TriangleRef tri = mesh->triangle(i); triangles.push_back(vertexIndexTop + tri[0]); triangles.push_back(vertexIndexTop + tri[1]); triangles.push_back(vertexIndexTop + tri[2]); } }else{ btConvexHullShape* convexHullShape = dynamic_cast(collisionShape); if(convexHullShape){ btCompoundShape* compoundShape = new btCompoundShape(); compoundShape->setLocalScaling(btVector3(1.f,1.f,1.f)); btTransform T; T.setIdentity(); compoundShape->addChildShape(T, convexHullShape); collisionShape = compoundShape; } std::vector< HACD::Vec3 > points; std::vector< HACD::Vec3 > triangles; const SgVertexArray& vertices_ = *mesh->vertices(); const int numVertices = vertices_.size(); for(int i=0; i < numVertices; ++i){ const Vector3 v = T * vertices_[i].cast(); btVector3 v0 = invShift * btVector3(v.x(), v.y(), v.z()); HACD::Vec3 vertex(v0.x(), v0.y(), v0.z()); points.push_back(vertex); } const int numTriangles = mesh->numTriangles(); for(int i=0; i < numTriangles; ++i){ SgMesh::TriangleRef tri = mesh->triangle(i); HACD::Vec3 triangle(tri[0], tri[1], tri[2]); triangles.push_back(triangle); } HACD::HACD hacd; hacd.SetPoints(&points[0]); hacd.SetNPoints(points.size()); hacd.SetTriangles(&triangles[0]); hacd.SetNTriangles(triangles.size()); hacd.SetCompacityWeight(0.1); hacd.SetVolumeWeight(0.0); size_t nClusters = 1; double concavity = 100; bool invert = false; bool addExtraDistPoints = false; bool addNeighboursDistPoints = false; bool addFacesPoints = false; hacd.SetNClusters(nClusters); // minimum number of clusters hacd.SetNVerticesPerCH(100); // max of 100 vertices per convex-hull hacd.SetConcavity(concavity); // maximum concavity hacd.SetAddExtraDistPoints(addExtraDistPoints); hacd.SetAddNeighboursDistPoints(addNeighboursDistPoints); hacd.SetAddFacesPoints(addFacesPoints); hacd.Compute(); btTransform T; T.setIdentity(); nClusters = hacd.GetNClusters(); if(nClusters>1){ btCompoundShape* compoundShape = dynamic_cast(collisionShape); if(!compoundShape){ collisionShape = new btCompoundShape(); collisionShape->setLocalScaling(btVector3(1.f,1.f,1.f)); } } for(size_t i=0; i * pointsCH = new HACD::Vec3[nPoints]; HACD::Vec3 * trianglesCH = new HACD::Vec3[nTriangles]; hacd.GetCH(i, pointsCH, trianglesCH); btAlignedObjectArray newVertices_; for(size_t j=0; j planeEquations; btGeometryUtil::getPlaneEquationsFromVertices(newVertices_, planeEquations); btAlignedObjectArray shiftedPlaneEquations; for (int j=0; j shiftedVertices; btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,shiftedVertices); btConvexHullShape* convexHullShape_ = new btConvexHullShape(&(shiftedVertices[0].getX()),shiftedVertices.size()); */ btConvexHullShape* convexHullShape_ = new btConvexHullShape(&(newVertices_[0].getX()), newVertices_.size()); convexHullShape_->setMargin(simImpl->collisionMargin); btCompoundShape* compoundShape = dynamic_cast(collisionShape); if(compoundShape) compoundShape->addChildShape(T, convexHullShape_); else collisionShape = convexHullShape_; } } } } void BulletLink::createLinkBody(BulletSimulatorItemImpl* simImpl, BulletLink* parent_, const Vector3& origin, short group, bool isSelfCollisionDetectionEnabled) { parent = parent_; const Vector3& c = link->c(); btTransform transform; transform.setBasis(btMatrix3x3::getIdentity()); transform.setOrigin(btVector3(origin(0), origin(1), origin(2))); btScalar mass(link->mass()); if(link->isRoot() && link->isFixedJoint()){ isStatic = true; mass = 0.0; } const Matrix3& I = link->I(); btVector3 localInertia(0,0,0); shift.setIdentity(); shift.setOrigin(btVector3(c.x(), c.y(), c.z())); if (mass != 0.0){ if(!I.isDiagonal()){ btMatrix3x3 tensor(I(0,0), I(0,1), I(0,2), I(1,0), I(1,1), I(1,2), I(2,0), I(2,1), I(2,2)); tensor.diagonalize(shift.getBasis(), btScalar(0.00001), 20); localInertia.setValue(tensor[0][0], tensor[1][1], tensor[2][2]); }else{ localInertia.setValue(I(0,0), I(1,1), I(2,2)); } } invShift = shift.inverse(); #if DEBUG_OUT std::cout << shift.getBasis()[0][0] << " " << shift.getBasis()[0][1]<< " " << shift.getBasis()[0][2] << " " << shift.getOrigin()[0] << std::endl; std::cout << shift.getBasis()[1][0] << " " << shift.getBasis()[1][1]<< " " << shift.getBasis()[1][2] << " " << shift.getOrigin()[1] <useWorldCollision) createGeometry(); motionState = new btDefaultMotionState(transform * shift); btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,motionState,collisionShape,localInertia); body = new btRigidBody(rbInfo); //body->setDamping(0.1,0.1); body->setRestitution(simImpl->restitution); body->setFriction(simImpl->friction); body->setContactProcessingThreshold(BT_LARGE_FLOAT); body->forceActivationState(DISABLE_DEACTIVATION); short mask = 0xFFFF; if(!isSelfCollisionDetectionEnabled) mask ^= group; simImpl->dynamicsWorld->addRigidBody(body, group, mask); const Vector3& a = link->a(); const Vector3& b = link->b(); const Vector3& d = link->d(); switch(link->jointType()){ case Link::ROTATIONAL_JOINT: { btVector3 axisA(a(0), a(1), a(2)); btVector3 axisB(a(0), a(1), a(2)); btVector3 pivotA(b(0), b(1), b(2)); btVector3 pivotB(0,0,0); joint = new btHingeConstraint(*body, *(parent->body), invShift*pivotB, parent->invShift*pivotA, invShift.getBasis()*axisB, parent->invShift.getBasis()*axisA ); if(link->q_upper() < numeric_limits::max() && link->q_lower() > -numeric_limits::max()){ ((btHingeConstraint*)joint)->setLimit(link->q_lower(), link->q_upper()); } else { //Lowerlimit ïĵž Upperlimit → axis is free ((btHingeConstraint*)joint)->setLimit(1.0, -1.0); } simImpl->dynamicsWorld->addConstraint(joint, true); q_offset = ((btHingeConstraint*)joint)->getHingeAngle(); #if DEBUG_OUT std::cout << "offset= " << q_offset << std::endl; #endif break; } case Link::SLIDE_JOINT: { Vector3 u(0,0,1); Vector3 ty = d.cross(u); btMatrix3x3 btR; Matrix3 R0; if(ty.norm() == 0){ btR.setIdentity(); R0.setIdentity(); } else { ty.normalized(); Vector3 tx = ty.cross(d).normalized(); R0.col(0) = tx; R0.col(1) = ty; R0.col(2) = d; btR.setValue(R0(0,0), R0(0,1), R0(0,2), R0(1,0), R0(1,1), R0(1,2), R0(2,0), R0(2,1), R0(2,2)); } btTransform frameA,frameB; frameB.setBasis(btR); frameB.setOrigin(btVector3(0,0,0)); frameA.setBasis(btR); frameA.setOrigin(btVector3(b(0), b(1), b(2))); joint = new btGeneric6DofConstraint(*(parent->body), *body, parent->invShift*frameA, invShift*frameB, false); if(link->q_upper() < numeric_limits::max() && link->q_lower() > -numeric_limits::max() && link->q_lower() < link->q_upper()){ ((btGeneric6DofConstraint*)joint)->setLinearLowerLimit(btVector3(0.0, 0.0, link->q_lower())); ((btGeneric6DofConstraint*)joint)->setLinearUpperLimit(btVector3(0.0, 0.0, link->q_upper())); ((btGeneric6DofConstraint*)joint)->setAngularLowerLimit(btVector3(0.0, 0.0, 0.0)); ((btGeneric6DofConstraint*)joint)->setAngularUpperLimit(btVector3(0.0, 0.0, 0.0)); } else { //Lowerlimit ïĵž Upperlimit → axis is free ((btGeneric6DofConstraint*)joint)->setLinearLowerLimit(btVector3(0.0, 0.0, 1.0)); ((btGeneric6DofConstraint*)joint)->setLinearUpperLimit(btVector3(0.0, 0.0, -1.0)); ((btGeneric6DofConstraint*)joint)->setAngularLowerLimit(btVector3(0.0, 0.0, 0.0)); ((btGeneric6DofConstraint*)joint)->setAngularUpperLimit(btVector3(0.0, 0.0, 0.0)); } ((btGeneric6DofConstraint*)joint)->calculateTransforms(); simImpl->dynamicsWorld->addConstraint(joint, true); q_offset = ((btGeneric6DofConstraint*)joint)->getRelativePivotPosition(2); break; } case Link::FREE_JOINT: break; case Link::FIXED_JOINT: default: if(!link->isRoot()){ btTransform frameA,frameB; frameA.setIdentity(); frameA.setOrigin(btVector3(b(0), b(1), b(2))); frameB.setIdentity(); joint = new btGeneric6DofConstraint(*(parent->body), *body, parent->invShift*frameA, invShift*frameB, false); ((btGeneric6DofConstraint*)joint)->calculateTransforms(); simImpl->dynamicsWorld->addConstraint(joint, true); ((btGeneric6DofConstraint*)joint)->setLinearLowerLimit(btVector3(0.0, 0.0, 0.0)); ((btGeneric6DofConstraint*)joint)->setLinearUpperLimit(btVector3(0.0, 0.0, 0.0)); ((btGeneric6DofConstraint*)joint)->setAngularLowerLimit(btVector3(0.0, 0.0, 0.0)); ((btGeneric6DofConstraint*)joint)->setAngularUpperLimit(btVector3(0.0, 0.0, 0.0)); if(link->jointType() == Link::CRAWLER_JOINT || link->jointType() == Link::PSEUDO_CONTINUOUS_TRACK){ body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK); body->setUserPointer(this); if(!gContactAddedCallback) gContactAddedCallback = CustomMaterialCombinerCallback; } } break; } } BulletLink::~BulletLink() { if(pMeshData) delete pMeshData; if(trimesh) delete trimesh; btCompoundShape* compoundShape = dynamic_cast(collisionShape); if(compoundShape){ int num = compoundShape->getNumChildShapes(); for(int i=0; igetChildShape(i); } delete compoundShape; }else{ if(collisionShape) delete collisionShape; } if(motionState) delete motionState; if(body){ delete body; } } void BulletLink::setKinematicStateToBullet() { const Matrix3& R = link->R(); btTransform transform; btMatrix3x3 btR(R(0,0), R(0,1), R(0,2), R(1,0), R(1,1), R(1,2), R(2,0), R(2,1), R(2,2)); transform.setBasis(btR); const Vector3& p = link->p(); transform.setOrigin(btVector3(p(0), p(1), p(2))); body->setWorldTransform(transform*shift); const Vector3 lc = R * link->c(); const Vector3 v = link->v() + link->w().cross(lc); body->setLinearVelocity(btVector3(v(0), v(1), v(2))); const Vector3& w = link->w(); body->setAngularVelocity(btVector3(w(0), w(1), w(2))); body->activate(true); } void BulletLink::getKinematicStateFromBullet() { if(link->isRoot() && link->isFixedJoint()){ return; } btTransform trans; motionState->getWorldTransform(trans); btTransform strans = trans * invShift; Matrix3 R; btMatrix3x3& btR = strans.getBasis(); link->R() << btR[0][0], btR[0][1], btR[0][2], btR[1][0], btR[1][1], btR[1][2], btR[2][0], btR[2][1], btR[2][2]; btVector3& p = strans.getOrigin(); link->p() << p[0], p[1], p[2]; #if DEBUG_OUT std::cout << link->q() << std::endl; std::cout << R(0,0) << " " << R(0,1) << " " << R(0,2) << std::endl; std::cout << R(1,0) << " " << R(1,1) << " " << R(1,2) << std::endl; std::cout << R(2,0) << " " << R(2,1) << " " << R(2,2) << std::endl; std::cout << link->p().x() << "," << link->p().y() << "," << link->p().z() << std::endl; std::cout << std::endl; #endif if(link->isRotationalJoint()){ link->q() = ((btHingeConstraint*)joint)->getHingeAngle() - q_offset; } else if(link->isSlideJoint()){ link->q() = ((btGeneric6DofConstraint*)joint)->getRelativePivotPosition(2) - q_offset; } } void BulletLink::setTorqueToBullet() { if(link->isRotationalJoint()){ const Vector3 u = link->u() * link->a(); const Vector3 uu = link->R() * u; btVector3 torque(uu(0), uu(1), uu(2)); body->applyTorque(torque); parent->body->applyTorque(-torque); } else if(link->isSlideJoint()){ const Vector3 u = link->u() * link->d(); const Vector3 uu = link->R() * u; btVector3 torque(uu(0), uu(1), uu(2)); btVector3 pos(0,0,0); body->applyForce(torque, invShift*pos); const Vector3& b = link->b(); btVector3 pos1(b(0), b(1), b(2)); parent->body->applyForce(-torque, parent->invShift*pos1); } } void BulletLink::setVelocityToBullet() { if(link->isRotationalJoint()){ double v = link->dq(); ((btHingeConstraint*)joint)->enableAngularMotor(true, v, numeric_limits::max()); } else if(link->isSlideJoint()){ double v = link->dq(); ((btGeneric6DofConstraint*)joint)->getTranslationalLimitMotor()->m_enableMotor[2] = true; ((btGeneric6DofConstraint*)joint)->getTranslationalLimitMotor()->m_targetVelocity[2] = v; ((btGeneric6DofConstraint*)joint)->getTranslationalLimitMotor()->m_maxMotorForce[2] = numeric_limits::max(); } } ////////////////////////////////Body//////////////////////////////////////// BulletBody::BulletBody(const Body& orgBody) : SimulationBody(new Body(orgBody)) { body = SimulationBody::body(); } BulletBody::~BulletBody() { for(size_t i=0; i < bulletLinks.size(); ++i){ if(bulletLinks[i]->joint){ delete bulletLinks[i]->joint; } } for(size_t i=0; i < extraJoints.size(); ++i){ if(extraJoints[i]){ delete extraJoints[i]; } } for(size_t i=0; i < forceSensorFeedbacks.size(); ++i){ if(forceSensorFeedbacks[i]){ delete forceSensorFeedbacks[i]; } } } void BulletBody::createBody(BulletSimulatorItemImpl* simImpl, short group) { dynamicsWorld = simImpl->dynamicsWorld; BulletLink* rootLink = new BulletLink(simImpl, this, 0, Vector3::Zero(), body->rootLink(), group, bodyItem()->isSelfCollisionDetectionEnabled()); if(simImpl->useWorldCollision){ geometryId = addBodyToCollisionDetector(*body, *simImpl->collisionDetector, bodyItem()->isSelfCollisionDetectionEnabled()); } setKinematicStateToBullet(); if(simImpl->useWorldCollision){ int size = simImpl->geometryIdToLink.size(); int numLinks = bulletLinks.size(); simImpl->geometryIdToLink.resize(geometryId+numLinks); for(int i=0; i < numLinks; i++){ BulletLink* bulletLink = bulletLinks[i].get(); int index = bulletLink->link->index(); simImpl->geometryIdToLink[geometryId+index] = bulletLink; simImpl->collisionDetector->updatePosition(geometryId+index, bulletLink->link->T()); } } setExtraJoints(); setTorqueToBullet(); sensorHelper.initialize(body, simImpl->timeStep, simImpl->gravity); // set joint feedbacks for force sensors const DeviceList& forceSensors = sensorHelper.forceSensors(); forceSensorFeedbacks.resize(forceSensors.size()); for(size_t i=0; i < forceSensors.size(); ++i){ forceSensorFeedbacks[i] = new btJointFeedback; bulletLinks[forceSensors[i]->link()->index()]->joint->setJointFeedback(forceSensorFeedbacks[i]); } } void BulletBody::setExtraJoints() { extraJoints.clear(); int n = body->numExtraJoints(); for(int j=0; j < n; ++j){ Body::ExtraJoint& extraJoint = body->extraJoint(j); BulletLinkPtr bulletLinkPair[2]; for(int i=0; i < 2; ++i){ BulletLinkPtr bulletLink; Link* link = extraJoint.link[i]; if(link->index() < bulletLinks.size()){ bulletLink = bulletLinks[link->index()]; if(bulletLink->link == link){ bulletLinkPair[i] = bulletLink; } } if(!bulletLink){ break; } } if(bulletLinkPair[1]){ Link* link0 = bulletLinkPair[0]->link; Link* link1 = bulletLinkPair[1]->link; Vector3 p0 = link0->Rs() * extraJoint.point[0]; // link0 local position Vector3 a = link0->Rs() * extraJoint.axis; // link0 local axis Vector3 p1 = link1->Rs() * extraJoint.point[1]; // link1 local position if(extraJoint.type == Body::EJ_PISTON){ Vector3 u(0,0,1); Vector3 ty = a.cross(u); btMatrix3x3 btR; Matrix3 R0; if(ty.norm() == 0){ btR.setIdentity(); R0.setIdentity(); }else{ ty.normalized(); Vector3 tx = ty.cross(a).normalized(); R0.col(0) = tx; R0.col(1) = ty; R0.col(2) = a; btR.setValue(R0(0,0), R0(0,1), R0(0,2), R0(1,0), R0(1,1), R0(1,2), R0(2,0), R0(2,1), R0(2,2)); } btTransform frameA,frameB; frameB.setBasis(btR); frameB.setOrigin(btVector3(p0(0), p0(1), p0(2))); frameA.setBasis(btR); frameA.setOrigin(btVector3(p1(0), p1(1), p1(2))); btGeneric6DofConstraint* joint = new btGeneric6DofConstraint(*(bulletLinkPair[1]->body), *(bulletLinkPair[0]->body), bulletLinkPair[1]->invShift*frameA, bulletLinkPair[0]->invShift*frameB, false); joint->setLinearLowerLimit(btVector3(0,0,1)); //Lowerlimit ïĵž Upperlimit → axis is free joint->setLinearUpperLimit(btVector3(0,0,-1)); joint->setAngularLowerLimit(btVector3(0,0,1)); joint->setAngularUpperLimit(btVector3(0,0,-1)); joint->calculateTransforms(); dynamicsWorld->addConstraint(joint, true); extraJoints.push_back(joint); }else if(extraJoint.type == Body::EJ_BALL){ btVector3 pivotInA(p0(0), p0(1), p0(2)); btVector3 pivotInB(p1(0), p1(1), p1(2)); btPoint2PointConstraint* joint = new btPoint2PointConstraint(*(bulletLinkPair[0]->body), *(bulletLinkPair[1]->body), bulletLinkPair[0]->invShift*pivotInA, bulletLinkPair[1]->invShift*pivotInB); dynamicsWorld->addConstraint(joint, true); extraJoints.push_back(joint); } } } } void BulletBody::setKinematicStateToBullet() { for(size_t i=0; i < bulletLinks.size(); ++i){ bulletLinks[i]->setKinematicStateToBullet(); } } void BulletBody::getKinematicStateFromBullet() { for(size_t i=0; i < bulletLinks.size(); ++i){ bulletLinks[i]->getKinematicStateFromBullet(); } } void BulletBody::setTorqueToBullet() { for(size_t i=1; i < bulletLinks.size(); ++i){ bulletLinks[i]->setTorqueToBullet(); } } void BulletBody::updateForceSensors() { const DeviceList& forceSensors = sensorHelper.forceSensors(); for(size_t i=0; i < forceSensors.size(); ++i){ ForceSensor* sensor = forceSensors[i]; const Link* link = sensor->link(); btTypedConstraint* joint = bulletLinks[link->index()]->joint; btJointFeedback* fb = joint->getJointFeedback(); Vector3 f, tau; if(link->isRotationalJoint()){ f << fb->m_appliedForceBodyB.x(), fb->m_appliedForceBodyB.y(), fb->m_appliedForceBodyB.z(); tau << fb->m_appliedTorqueBodyB.x(), fb->m_appliedTorqueBodyB.y(), fb->m_appliedTorqueBodyB.z(); }else{ f << fb->m_appliedForceBodyA.x(), fb->m_appliedForceBodyA.y(), fb->m_appliedForceBodyA.z(); tau << fb->m_appliedTorqueBodyA.x(), fb->m_appliedTorqueBodyA.y(), fb->m_appliedTorqueBodyA.z(); } const Matrix3 R = link->R() * sensor->R_local(); //const Vector3 p = link->p() + link->R() * sensor->p_local(); const Vector3 p = link->R() * sensor->p_local(); sensor->f() = R.transpose() * f; sensor->tau() = R.transpose() * (tau - p.cross(f)); sensor->notifyStateChange(); } } void BulletBody::setVelocityToBullet() { // Skip the root link for(size_t i=1; i < bulletLinks.size(); ++i){ bulletLinks[i]->setVelocityToBullet(); } } ////////////////////////////////////SimItem imple//////////////////////////////////////// void BulletSimulatorItem::initialize(ExtensionManager* ext) { ext->itemManager().registerClass(N_("BulletSimulatorItem")); ext->itemManager().addCreationPanel(); } BulletSimulatorItem::BulletSimulatorItem() { impl = new BulletSimulatorItemImpl(this); } BulletSimulatorItemImpl::BulletSimulatorItemImpl(BulletSimulatorItem* self) : self(self) { initialize(); gravity << 0.0, 0.0, -DEFAULT_GRAVITY_ACCELERATION; erp = DEFAULT_ERP; numIterations = DEFAULT_NUMITERATION; restitution = DEFAULT_RESTITUTION; friction = DEFAULT_FRICTION; erp2 = DEFAULT_ERP2; splitImpulsePenetrationThreshold = DEFAULT_SPLITIMPULSEPENETRATIONTHRESHOLD; useHACD = true; collisionMargin = DEFAULT_COLLISION_MARGIN; useWorldCollision = false; velocityMode = false; } BulletSimulatorItem::BulletSimulatorItem(const BulletSimulatorItem& org) : SimulatorItem(org) { impl = new BulletSimulatorItemImpl(this, *org.impl); } BulletSimulatorItemImpl::BulletSimulatorItemImpl(BulletSimulatorItem* self, const BulletSimulatorItemImpl& org) : self(self) { initialize(); gravity = org.gravity; erp = org.erp; numIterations = org.numIterations; restitution = org.restitution; friction = org.friction; erp2 = org.erp2; splitImpulsePenetrationThreshold = org.splitImpulsePenetrationThreshold; useHACD = org.useHACD; collisionMargin = org.collisionMargin; useWorldCollision = org.useWorldCollision; velocityMode = org.velocityMode; } void BulletSimulatorItemImpl::initialize() { collisionConfiguration =0; dispatcher = 0; broadphase = 0; solver =0; dynamicsWorld = 0; self->SimulatorItem::setAllLinkPositionOutputMode(true); } BulletSimulatorItem::~BulletSimulatorItem() { delete impl; } BulletSimulatorItemImpl::~BulletSimulatorItemImpl() { clear(); } void BulletSimulatorItem::setAllLinkPositionOutputMode(bool on) { // The mode is not changed. // This simulator only supports the all link position output // because joint positions may be slightly changed } Item* BulletSimulatorItem::doDuplicate() const { return new BulletSimulatorItem(*this); } SimulationBody* BulletSimulatorItem::createSimulationBody(Body* orgBody) { return new BulletBody(*orgBody); } bool BulletSimulatorItem::initializeSimulation(const std::vector& simBodies) { return impl->initializeSimulation(simBodies); } bool BulletSimulatorItemImpl::initializeSimulation(const std::vector& simBodies) { clear(); collisionConfiguration = new btDefaultCollisionConfiguration(); dispatcher = new btCollisionDispatcher(collisionConfiguration); broadphase = new btDbvtBroadphase(); solver = new btSequentialImpulseConstraintSolver(); dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver,collisionConfiguration); if(useWorldCollision){ collisionDetector = self->collisionDetector(); collisionDetector->clearGeometries(); } btVector3 g(gravity.x(), gravity.y(), gravity.z()); dynamicsWorld->setGravity(g); timeStep = self->worldTimeStep(); setSolverParameter(); short group = 1; for(size_t i=0; i < simBodies.size(); ++i){ addBody(static_cast(simBodies[i]), group<makeReady(); else btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher); return true; } void BulletSimulatorItemImpl::clear() { if(dynamicsWorld) delete dynamicsWorld; if(solver) delete solver; if(dispatcher) delete dispatcher; if(collisionConfiguration) delete collisionConfiguration; if(broadphase) delete broadphase; } void BulletSimulatorItemImpl::addBody(BulletBody* bulletBody, short group) { Body* body = bulletBody->body; Link* rootLink = body->rootLink(); rootLink->v().setZero(); rootLink->dv().setZero(); rootLink->w().setZero(); rootLink->dw().setZero(); for(int i=0; i < body->numJoints(); ++i){ Link* joint = body->joint(i); joint->u() = 0.0; joint->dq() = 0.0; joint->ddq() = 0.0; } body->clearExternalForces(); body->calcForwardKinematics(true, true); bulletBody->createBody(this, group); } void BulletSimulatorItem::initializeSimulationThread() { } bool BulletSimulatorItem::stepSimulation(const std::vector& activeSimBodies) { return impl->stepSimulation(activeSimBodies); } bool BulletSimulatorItemImpl::stepSimulation(const std::vector& activeSimBodies) { for(size_t i=0; i < activeSimBodies.size(); ++i){ BulletBody* bulletBody = static_cast(activeSimBodies[i]); bulletBody->body->setVirtualJointForces(); if(velocityMode) bulletBody->setVelocityToBullet(); else bulletBody->setTorqueToBullet(); } dynamicsWorld->stepSimulation(timeStep,2,timeStep/2.); #if DEBUG_OUT int numManifolds = dispatcher->getNumManifolds(); for (int i=0;igetManifoldByIndexInternal(i); int numContacts = contactManifold->getNumContacts(); for (int j=0;jgetContactPoint(j); btVector3 ptA = pt.getPositionWorldOnA(); btVector3 ptB = pt.getPositionWorldOnB(); btVector3 normal = pt.m_normalWorldOnB; std::cout << i << " " << j <<" pos= " <(activeSimBodies[i]); if(!bulletBody->sensorHelper.forceSensors().empty()){ bulletBody->updateForceSensors(); } bulletBody->getKinematicStateFromBullet(); if(bulletBody->sensorHelper.hasGyroOrAccelerationSensors()){ bulletBody->sensorHelper.updateGyroAndAccelerationSensors(); } } return true; } void BulletSimulatorItem::doPutProperties(PutPropertyFunction& putProperty) { SimulatorItem::doPutProperties(putProperty); impl->doPutProperties(putProperty); } void BulletSimulatorItemImpl::doPutProperties(PutPropertyFunction& putProperty) { putProperty.min(0.0).max(1.0); putProperty(_("Error Reduction Parameter"), erp, changeProperty(erp)); putProperty(_("Restitution"), restitution, changeProperty(restitution)); putProperty(_("Friction"), friction, changeProperty(friction)); putProperty(_("ERP2"), erp2, changeProperty(erp2)); putProperty.min(1); putProperty(_("Num of Iterations"), numIterations, changeProperty(numIterations)); putProperty.decimals(4).min(-1.0).max(1.0); putProperty(_("SplitImpulsePenetrationThreshold"), splitImpulsePenetrationThreshold, changeProperty(splitImpulsePenetrationThreshold)); putProperty(_("use HACD"), useHACD, changeProperty(useHACD)); putProperty(_("Collision Margin"), collisionMargin, changeProperty(collisionMargin)); putProperty(_("Velocity Control Mode"), velocityMode, changeProperty(velocityMode)); } bool BulletSimulatorItem::store(Archive& archive) { SimulatorItem::store(archive); impl->store(archive); return true; } void BulletSimulatorItemImpl::store(Archive& archive) { archive.write("ErrorReductionParameter", erp); archive.write("NumIterations", numIterations); archive.write("Restitution", restitution); archive.write("Friction", friction); archive.write("ERP2", erp2); archive.write("SplitImpulsePenetrationThreshold", splitImpulsePenetrationThreshold); archive.write("useHACD", useHACD); archive.write("CollisionMargin", collisionMargin); archive.write("velocityMode", velocityMode); } bool BulletSimulatorItem::restore(const Archive& archive) { SimulatorItem::restore(archive); impl->restore(archive); return true; } void BulletSimulatorItemImpl::restore(const Archive& archive) { archive.read("ErrorReductionParameter", erp); archive.read("NumIterations", numIterations); archive.read("Restitution", restitution); archive.read("Friction", friction); archive.read("ERP2", erp2); archive.read("SplitImpulsePenetrationThreshold", splitImpulsePenetrationThreshold); archive.read("useHACD", useHACD); archive.read("CollisionMargin", collisionMargin); archive.read("velocityMode", velocityMode); } void BulletSimulatorItemImpl::setSolverParameter() { if(dynamicsWorld != NULL){ btContactSolverInfo& slvInfo = dynamicsWorld->getSolverInfo(); slvInfo.m_erp = erp; slvInfo.m_numIterations = numIterations; slvInfo.m_erp2 = erp2; slvInfo.m_splitImpulsePenetrationThreshold = splitImpulsePenetrationThreshold; slvInfo.m_solverMode |= SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION+SOLVER_USE_2_FRICTION_DIRECTIONS; slvInfo.m_solverMode |= SOLVER_ENABLE_FRICTION_DIRECTION_CACHING; } } choreonoid-1.5.0/src/BulletPlugin/BulletSimulatorItem.h0000664000000000000000000000236012741425367021676 0ustar rootroot/*! @file @author Shizuko Hattori */ #ifndef CNOID_BULLET_PLUGIN_BULLET_SIMULATOR_ITEM_H_INCLUDED #define CNOID_BULLET_PLUGIN_BULLET_SIMULATOR_ITEM_H_INCLUDED #include #include "exportdecl.h" namespace cnoid { class BulletSimulatorItemImpl; class CNOID_EXPORT BulletSimulatorItem : public SimulatorItem { public: static void initialize(ExtensionManager* ext); BulletSimulatorItem(); BulletSimulatorItem(const BulletSimulatorItem& org); virtual ~BulletSimulatorItem(); virtual void setAllLinkPositionOutputMode(bool on); protected: virtual SimulationBody* createSimulationBody(Body* orgBody); virtual bool initializeSimulation(const std::vector& simBodies); virtual void initializeSimulationThread(); virtual bool stepSimulation(const std::vector& activeSimBodies); virtual Item* doDuplicate() const; virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: BulletSimulatorItemImpl* impl; friend class BulletSimulatorItemImpl; }; typedef ref_ptr BulletSimulatorItemPtr; } #endif choreonoid-1.5.0/src/BulletPlugin/BulletCollisionDetector.h0000664000000000000000000000234512741425367022530 0ustar rootroot/** \file \author Shizuko Hattori */ #ifndef CNOID_BULLETPLUGIN__BULLET_COLLISION_DETECTOR_H_INCLUDED #define CNOID_BULLETPLUGIN__BULLET_COLLISION_DETECTOR_H_INCLUDED #include namespace cnoid { class BulletCollisionDetectorImpl; class BulletCollisionDetector : public CollisionDetector { public: BulletCollisionDetector(); virtual ~BulletCollisionDetector(); virtual const char* name() const; virtual CollisionDetectorPtr clone() const; virtual void clearGeometries(); virtual int numGeometries() const; virtual int addGeometry(SgNodePtr geometry); virtual void setGeometryStatic(int geometryId, bool isStatic = true); virtual bool enableGeometryCache(bool on); virtual void clearGeometryCache(SgNodePtr geometry); virtual void clearAllGeometryCaches(); virtual void setNonInterfarenceGeometyrPair(int geometryId1, int geometryId2); virtual bool makeReady(); virtual void updatePosition(int geometryId, const Position& position); virtual void detectCollisions(boost::function callback); private: BulletCollisionDetectorImpl* impl; }; typedef boost::shared_ptr BulletCollisionDetectorPtr; } #endif choreonoid-1.5.0/src/BulletPlugin/po/0000775000000000000000000000000012741425367016174 5ustar rootrootchoreonoid-1.5.0/src/BulletPlugin/po/ja.po0000664000000000000000000000256212741425367017133 0ustar rootroot# Japanese translations for PACKAGE package. # Copyright (C) 2012 THE PACKAGE'S COPYRIGHT HOLDER # This file is distributed under the same license as the PACKAGE package. # nakaoka , 2012. # msgid "" msgstr "" "Project-Id-Version: PACKAGE VERSION\n" "Report-Msgid-Bugs-To: \n" "POT-Creation-Date: 2014-04-01 14:03+0900\n" "PO-Revision-Date: 2013-02-14 14:48+0900\n" "Last-Translator: nakaoka \n" "Language-Team: Japanese\n" "Language: ja\n" "MIME-Version: 1.0\n" "Content-Type: text/plain; charset=UTF-8\n" "Content-Transfer-Encoding: 8bit\n" "Plural-Forms: nplurals=1; plural=0;\n" #: BulletSimulatorItem.cpp:978 msgid "BulletSimulatorItem" msgstr "Bullet‚·ƒŸƒƒĴƒĵ‚ż‚˘‚¤ƒ†ƒ " #: BulletSimulatorItem.cpp:1216 msgid "Error Reduction Parameter" msgstr "èŞ¤ċ·ä½Žĉ¸›ƒ‘ƒİƒĦƒĵ‚żƒĵ" #: BulletSimulatorItem.cpp:1217 msgid "Restitution" msgstr "ċç™şäż‚ĉ•°" #: BulletSimulatorItem.cpp:1218 msgid "Friction" msgstr "ĉ‘İĉ“Ĥ係ĉ•°" #: BulletSimulatorItem.cpp:1219 msgid "ERP2" msgstr "ERP2" #: BulletSimulatorItem.cpp:1221 msgid "Num of Iterations" msgstr "ċċİċ›žĉ•°" #: BulletSimulatorItem.cpp:1223 msgid "SplitImpulsePenetrationThreshold" msgstr "ERPċˆ‡‚Šĉ›żˆĉ·ħċşĤ" #: BulletSimulatorItem.cpp:1224 msgid "use HACD" msgstr "ċ‡¸ċˆ†è§£™‚‹" #: BulletSimulatorItem.cpp:1225 msgid "Collision Margin" msgstr "èĦçށƒžƒĵ‚¸ƒ³" choreonoid-1.5.0/src/BulletPlugin/README.txt0000664000000000000000000000101712741425367017253 0ustar rootroot*Windows bullet-2.82-r2704.zip‚’ƒ€‚Ĥƒ³ƒ­ƒĵƒ‰—Ĥċħ•é–‹€‚ cmake‚’èµ·ċ‹•€USE_DOUBLE_PRECISION€€Ğƒ‚§ƒƒ‚Ż‚’ċ…‚Œ‚‹€‚ USE_MSVC_RUNTIME_LIBRARY_DLL Ğ€€ƒ‚§ƒƒ‚Ż‚’ċ…‚Œ‚‹€‚ VC++‚½ƒŞƒƒĵ‚·ƒ§ƒ³ƒ•‚Ħ‚¤ƒĞ‚’èµ·ċ‹•™‚‹€‚ ƒ“ƒĞƒ‰™‚‹€‚ *linux bullet-2.82-r2704.zip‚’ƒ€‚Ĥƒ³ƒ­ƒĵƒ‰—Ĥċħ•é–‹€‚ cmake‚’èµ·ċ‹•€ cmake .. -DINSTALL_LIBS=ON -DBUILD_SHARED_LIBS=ON USE_DOUBLE_PRECISION€€Ğƒ‚§ƒƒ‚Ż‚’ċ…‚Œ‚‹€‚ INSTALL_EXTRA_LIBS‚’ONĞ™‚‹€‚ make sudo make install choreonoid-1.5.0/src/BulletPlugin/python/0000775000000000000000000000000012741425367017077 5ustar rootrootchoreonoid-1.5.0/src/BulletPlugin/python/PyBulletPlugin.cpp0000664000000000000000000000063012741425367022521 0ustar rootroot/*! * @author Hervİ Audren */ #include "../BulletSimulatorItem.h" #include using namespace boost::python; using namespace cnoid; BOOST_PYTHON_MODULE(BulletPlugin) { /*! * @brief Provides following all item types. */ class_ < BulletSimulatorItem, BulletSimulatorItemPtr, bases >("BulletSimulatorItem"); } choreonoid-1.5.0/src/BulletPlugin/python/CMakeLists.txt0000664000000000000000000000031212741425367021633 0ustar rootroot # @author Hisashi Ikari set(target PyBulletPlugin) add_cnoid_python_module(${target} PyBulletPlugin.cpp) target_link_libraries(${target} CnoidBulletPlugin ${PYTHON_LIBRARIES} ${Boost_PYTHON_LIBRARY}) choreonoid-1.5.0/src/PoseSeqPlugin/0000775000000000000000000000000012741425367015706 5ustar rootrootchoreonoid-1.5.0/src/PoseSeqPlugin/PoseSeqInterpolator.h0000664000000000000000000000441112741425367022041 0ustar rootroot/** @file @author Shin'ichiro NAKAOKA */ #ifndef CNOID_POSE_SEQ_PLUGIN_POSE_SEQ_INTERPOLATOR_H #define CNOID_POSE_SEQ_PLUGIN_POSE_SEQ_INTERPOLATOR_H #include "PoseSeq.h" #include #include #include #include "exportdecl.h" namespace cnoid { class Mapping; class PSIImpl; class CNOID_EXPORT PoseSeqInterpolator : public PoseProvider { public: PoseSeqInterpolator(); void setBody(Body* body); Body* body() const; void setLinearInterpolationJoint(int jointId); void addFootLink(int linkIndex, const Vector3& soleCenter); void setLipSyncShapes(const Mapping& info); const std::vector& lipSyncLinkIndices(); void setPoseSeq(PoseSeqPtr seq); void setTimeScaleRatio(double ratio); double beginningTime() const; double endingTime() const; void enableStealthyStepMode(bool on); void setStealthyStepParameters( double heightRatioThresh, double flatLiftingHeight, double flatLandingHeight, double impactReductionHeight, double impactReductionTime); void enableAutoZmpAdjustmentMode(bool on); void setZmpAdjustmentParameters( double minTransitionTime, double centeringTimeThresh, double timeMarginBeforeLifting, double maxDistanceFromCenter); void enableLipSyncMix(bool on); /** This function has not been implemented yet. */ void setAutoUpdateMode(bool on); bool update(); SignalProxy sigUpdated(); bool interpolate(double time); bool interpolate(double time, int waistLinkIndex, const Vector3& waistTranslation); virtual bool seek(double time); virtual bool seek(double time, int waistLinkIndex, const Vector3& waistTranslation); /** @return -1 if base link is not set for the time segment */ int baseLinkIndex() const; virtual bool getBaseLinkPosition(Position& out_T) const; boost::optional jointPosition(int jointId) const; boost::optional ZMP() const; virtual void getJointPositions(std::vector< boost::optional >& out_q) const; private: PSIImpl* impl; }; typedef boost::shared_ptr PoseSeqInterpolatorPtr; } #endif choreonoid-1.5.0/src/PoseSeqPlugin/PoseSeq.cpp0000664000000000000000000003155612741425367020003 0ustar rootroot/** @file @author Shin'ichiro NAKAOKA */ #include "PoseSeq.h" #include "PronunSymbol.h" #include "LipSyncTranslator.h" #include #include #include #include #include using namespace std; using namespace boost; using namespace cnoid; PoseRef::PoseRef(PoseSeq* owner, PoseUnitPtr poseUnit, double time) : poseUnit_(poseUnit) { this->owner = owner; time_ = time; maxTransitionTime_ = 0.0; } PoseSeq::PoseSeq() { } PoseSeq::PoseSeq(const PoseSeq& org) : PoseUnit(org) { iterator current = begin(); for(const_iterator it = org.begin(); it != org.end(); ++it){ current = copyElement(current, it); } } PoseSeq::~PoseSeq() { } void PoseSeq::setName(const std::string& name) { name_ = name; } PoseSeq::iterator PoseSeq::copyElement(iterator seekpos, const_iterator org, double offset) { bool inserted = false; iterator pos = seekpos; const string& name = org->name(); if(!name.empty()){ PoseUnitMap::iterator p = poseUnitMap.find(name); if(p != poseUnitMap.end()){ pos = insert(seekpos, org->time() + offset, org->name()); pos->setMaxTransitionTime(org->maxTransitionTime()); inserted = true; } } if(!inserted){ PoseUnitPtr orgPoseUnit = org->poseUnit(); if(orgPoseUnit){ PoseUnitPtr copiedUnit(orgPoseUnit->duplicate()); pos = insert(seekpos, org->time() + offset, copiedUnit); pos->setMaxTransitionTime(org->maxTransitionTime()); } } return seekpos; } PoseUnit* PoseSeq::duplicate() { return new PoseSeq(*this); } bool PoseSeq::load(const std::string& filename, const BodyPtr body) { errorMessage_.clear(); /// \todo emit signals refs.clear(); poseUnitMap.clear(); YAMLReader parser; if(parser.load(filename)){ const Mapping& archive = *parser.document()->toMapping(); restore(archive, body); setName(archive["name"]); return true; } return false; } bool PoseSeq::restore(const Mapping& archive, const BodyPtr body) { setTargetBodyName(archive.get("targetBody", body->name())); const Listing& refs = *archive.findListing("refs"); if(!refs.isValid()){ return false; } PoseSeq::iterator current = begin(); for(int i=0; i < refs.size(); ++i){ const Mapping& ref = *refs[i].toMapping(); bool isInserted = false; double time = ref["time"].toDouble(); const ValueNode& referred = ref["refer"]; if(referred.isScalar()){ const string& name = referred; if(!name.empty()){ current = insert(current, time, name); isInserted = true; } } else if(referred.isMapping()){ const Mapping& mReferred = *referred.toMapping(); const string& type = mReferred["type"]; PoseUnitPtr poseUnit; if(type == "Pose"){ poseUnit = new Pose(); } else if(type == "PronunSymbol"){ poseUnit = new PronunSymbol(); } /* else if(type == "PoseSeq"){ poseUnit = createLocalPoseSeq(); } */ if(poseUnit && poseUnit->restore(mReferred, body)){ poseUnit->name_ = mReferred["name"]; current = insert(current, time, poseUnit); isInserted = true; } } if(isInserted){ current->setMaxTransitionTime(ref.get("maxTransitionTime", 0.0)); } } return true; } bool PoseSeq::save(const std::string& filename, const BodyPtr body) { YAMLWriter writer(filename); writer.setKeyOrderPreservationMode(true); storedNames.clear(); MappingPtr archive = new Mapping(); archive->setDoubleFormat("%.9g"); store(*archive, body); writer.putComment("Body pose sequence format version 1.0 defined by cnoid-Robotics\n"); writer.putNode(archive); return true; } void PoseSeq::store(Mapping& archive, const BodyPtr body) const { archive.write("type", "PoseSeq"); archive.write("name", name(), DOUBLE_QUOTED); archive.write("targetBody", body->name(), DOUBLE_QUOTED); Listing& refsNode = *archive.createListing("refs"); for(PoseRefList::const_iterator p = refs.begin(); p != refs.end(); ++p){ const PoseRef& ref = *p; MappingPtr refNode = refsNode.newMapping(); refNode->write("time", ref.time()); if(ref.maxTransitionTime() > 0.0){ refNode->write("maxTransitionTime", ref.maxTransitionTime()); } const string& name = ref.name(); if((storedNames.find(name) == storedNames.end() /* && !ref.isExternalReference()*/) || name.empty()){ const_cast(this)->storedNames.insert(name); MappingPtr childNode = refNode->createMapping("refer"); ref.poseUnit()->store(*childNode, body); } else { refNode->write("refer", name, DOUBLE_QUOTED); } } } bool PoseSeq::exportTalkPluginFile(const std::string& filename) { ofstream ofs(filename.c_str()); double standardTransitionTiem = 0.135; double prevTime = 0.0; string prevSymbol; static const bool ENABLE_QUICK_MODE = true; if(ENABLE_QUICK_MODE){ if(!refs.empty()){ bool isInitial = true; for(PoseRefList::iterator p = refs.begin(); p != refs.end(); ++p){ PoseRef& ref = *p; PronunSymbolPtr symbol = ref.get(); if(symbol && !symbol->name().empty()){ const double time = ref.time(); if(isInitial){ isInitial = false; } else { double durationTime = time - prevTime; if(durationTime <= 0.6){ ofs << prevSymbol << " " << durationTime << "\n"; } else { ofs << prevSymbol << " " << 0.6 << "\n"; ofs << "n" << " " << (durationTime - 0.6) << "\n"; } } prevTime = time; prevSymbol = symbol->name(); } } ofs << prevSymbol << " " << standardTransitionTiem << "\n"; } } else { for(PoseRefList::iterator p = refs.begin(); p != refs.end(); ++p){ PoseRef& ref = *p; PronunSymbolPtr symbol = ref.get(); if(symbol && !symbol->name().empty()){ const double time = ref.time(); double transitionTime = time - prevTime; ofs << symbol->name() << " " << transitionTime << "\n"; prevTime = time; } } } ofs.close(); return true; } bool PoseSeq::exportSeqFileForFaceController(const std::string& filename) { LipSyncTranslator translator; translator.translatePoseSeq(*this); return translator.exportSeqFileForFaceController(filename); } PoseSeq::iterator PoseSeq::changeTime(iterator it, double newTime) { iterator newpos; iterator insertpos = seek(it, newTime, true); iterator nextpos = it; nextpos++; if(insertpos == it || insertpos == nextpos){ beginPoseModification(it); it->time_ = newTime; endPoseModification(it); newpos = it; } else { sigPoseRemoving_(it, true); PoseRef newRef(this, it->poseUnit(), newTime); newRef.setMaxTransitionTime(it->maxTransitionTime()); refs.erase(it); newpos = refs.insert(insertpos, newRef); sigPoseInserted_(newpos, true); } return newpos; } PoseUnitPtr PoseSeq::find(const std::string& name) { PoseUnitMap::iterator p = poseUnitMap.find(name); if(p != poseUnitMap.end()){ return p->second; } return PoseUnitPtr(); // null pointer } PoseSeq::iterator PoseSeq::seek(PoseSeq::iterator current, double time, bool seekPosToInsert) { if(current == refs.end()){ if(current == refs.begin()){ return current; } current--; } double ct = current->time(); if(ct == time){ if(seekPosToInsert){ current++; } } else if(ct > time){ while(current != refs.begin()){ current--; ct = current->time(); if(ct == time){ if(seekPosToInsert){ current++; } break; } else if(ct < time){ current++; break; } } } else { while(current != refs.end() && (current->time() < time)){ current++; } } return current; } PoseSeq::iterator PoseSeq::insert(PoseSeq::iterator current, double time, PoseUnitPtr poseUnit) { const string& name = poseUnit->name(); if(!name.empty()){ PoseUnitMap::iterator p = poseUnitMap.find(name); if(p != poseUnitMap.end()){ return insertSub(current, time, p->second); } else { poseUnitMap.insert(make_pair(name, poseUnit)); } } return insertSub(current, time, poseUnit); } PoseSeq::iterator PoseSeq::insertSub(PoseSeq::iterator current, double time, PoseUnitPtr poseUnit) { PoseRef ref(this, poseUnit, time); poseUnit->owner = this; poseUnit->seqLocalReferenceCounter++; return insert(current, time, ref); } PoseSeq::iterator PoseSeq::insert(iterator current, double time, const std::string& name) { if(name.empty()){ return refs.end(); } PoseUnitPtr punit = find(name); if(punit){ return insertSub(current, time, punit); } else { PoseRef ref(this, PoseUnitPtr(), time); return insert(current, time, ref); } } PoseSeq::iterator PoseSeq::insert(iterator current, double time, PoseRef& ref) { iterator it = seek(current, time); it = refs.insert(it, ref); sigPoseInserted_(it, false); return it; } PoseSeq::iterator PoseSeq::erase(iterator it) { sigPoseRemoving_(it, false); PoseUnitPtr unit = it->poseUnit(); if(unit){ unit->seqLocalReferenceCounter--; if(unit->seqLocalReferenceCounter == 0){ const string& name = unit->name(); if(!name.empty()){ poseUnitMap.erase(name); } unit->owner = 0; } } return refs.erase(it); } void PoseSeq::rename(iterator it, const std::string newName) { // unref current shared pose unit PoseUnitPtr currentPoseUnit = it->poseUnit(); if(currentPoseUnit){ const string& currentName = currentPoseUnit->name(); if(!currentName.empty()){ if(--currentPoseUnit->seqLocalReferenceCounter == 0){ poseUnitMap.erase(currentName); } } } PoseUnitPtr sharedPoseUnit = find(newName); if(sharedPoseUnit){ it->poseUnit_ = sharedPoseUnit; sharedPoseUnit->seqLocalReferenceCounter++; } else { if(currentPoseUnit){ PoseUnitPtr newUnit(currentPoseUnit->duplicate()); newUnit->name_ = newName; newUnit->owner = this; newUnit->seqLocalReferenceCounter++; it->poseUnit_ = newUnit; if(!newName.empty()){ poseUnitMap.insert(make_pair(newName, newUnit)); } } } } void PoseSeq::getDomain(double& out_lower, double& out_upper) { if(refs.empty()){ out_lower = 0.0; out_upper = 0.0; } else { out_lower = refs.front().time(); out_upper = refs.back().time(); } } ConnectionSet PoseSeq::connectSignalSet (const Signal::slot_type& slotInserted, const Signal::slot_type& slotRemoving, const Signal::slot_type& slotModified) { ConnectionSet connections; connections.add(sigPoseInserted_.connect(slotInserted)); connections.add(sigPoseRemoving_.connect(slotRemoving)); connections.add(sigPoseModified_.connect(slotModified)); return connections; } ConnectionSet PoseSeq::connectSignalSet (const Signal::slot_type& slotInserted, const Signal::slot_type& slotRemoving, const Signal::slot_type& slotModifying, const Signal::slot_type& slotModified) { ConnectionSet connections; connections.add(sigPoseInserted_.connect(slotInserted)); connections.add(sigPoseRemoving_.connect(slotRemoving)); connections.add(sigPoseModifying_.connect(slotModifying)); connections.add(sigPoseModified_.connect(slotModified)); return connections; } choreonoid-1.5.0/src/PoseSeqPlugin/FcpFileLoader.h0000664000000000000000000000043212741425367020515 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_CHOREOGRAPHY_PLUGIN_FCP_FILE_LOADER_H_INCLUDED #define CNOID_CHOREOGRAPHY_PLUGIN_FCP_FILE_LOADER_H_INCLUDED namespace cnoid { class ExtensionManager; void initializeFcpFileLoader(ExtensionManager& ext); } #endif choreonoid-1.5.0/src/PoseSeqPlugin/PoseSeqInterpolator.cpp0000664000000000000000000017675212741425367022416 0ustar rootroot/** @file @author Shin'ichiro NAKAOKA */ #ifdef _MSC_VER #define _USE_MATH_DEFINES #endif #include "PoseSeqInterpolator.h" #include "PronunSymbol.h" #include #include #include #include #include #include #include #include #include #include #include using namespace std; using namespace boost; using namespace cnoid; namespace { const bool TRACE_FUNCTIONS = false; const double epsilon = 1.0e-6; enum SegmentType { UNDETERMINED, INVALID, CUBIC_SPLINE, CUBIC_CONNECTION, MIN_JERK_CONNECTION, LINEAR, ZERO_LENGTH }; // coefficients for interpolatin struct Coeff { double y; // sample value double yp; // derivative value double a; double a_end; double b; double c; }; struct LinkSample { LinkSample(PoseSeq::iterator p, const Pose::LinkInfo& info){ poseIter = p; segmentType = UNDETERMINED; x = p->time(); isBaseLink = info.isBaseLink(); const Vector3& pos = info.p; const Vector3 rpy = rpyFromRot(info.R); for(int i=0; i < 3; ++i){ c[i].y = pos[i]; c[i].yp = 0.0; c[i+3].y = rpy[i]; c[i+3].yp = 0.0; } isTouching = info.isTouching(); isEndPoint = info.isStationaryPoint() || isTouching; isDirty = true; isSlave = info.isSlave() && !info.isTouching(); isAux = false; } void invalidateSegment(){ segmentType = INVALID; isEndPoint = true; } SegmentType segmentType; PoseSeq::iterator poseIter; double x; Coeff c[6]; // x, y, z, roll, pitch, yaw bool isBaseLink; bool isEndPoint; bool isDirty; bool isTouching; bool isSlave; bool isAux; typedef std::list Seq; }; struct LinkZSample { LinkZSample(PoseSeq::iterator p, const Pose::LinkInfo& info){ poseIter = p; segmentType = UNDETERMINED; x = p->time(); c[0].y = info.p[2]; c[0].yp = 0.0; isTouching = info.isTouching(); isEndPoint = info.isStationaryPoint() || isTouching; isDirty = true; } void invalidateSegment(){ segmentType = INVALID; isEndPoint = true; } SegmentType segmentType; PoseSeq::iterator poseIter; double x; Coeff c[1]; bool isEndPoint; bool isDirty; bool isTouching; typedef std::list Seq; }; struct LinkInfo { LinkInfo(const BodyPtr& body, int linkIndex) { iter = samples.end(); zIter = zSamples.end(); Link* link = body->link(linkIndex); if(link){ jointId = link->jointId(); } else { jointId = -1; } jointSpaceBlendingRatio = 0.0; isFootLink = false; } int jointId; bool isFootLink; LinkSample::Seq samples; LinkSample::Seq::iterator iter; LinkZSample::Seq zSamples; LinkZSample::Seq::iterator zIter; // interpolation state Vector3 p; Matrix3 R; bool isValid; double jointSpaceBlendingRatio; // 1.0 = joint space, 0.0 = Cartesian space }; struct JointSample { JointSample(PoseSeq::iterator p, int jointId, bool useLinearInterpolation) { poseIter = p; Pose* pose = static_cast(p->poseUnit().get()); if(useLinearInterpolation){ segmentType = LINEAR; isDirty = false; } else { segmentType = UNDETERMINED; isDirty = true; } x = p->time(); c[0].y = pose->jointPosition(jointId); c[0].yp = 0.0; isEndPoint = pose->isJointStationaryPoint(jointId); } SegmentType segmentType; PoseSeq::iterator poseIter; double x; Coeff c[1]; bool isEndPoint; bool isDirty; typedef std::list Seq; }; struct JointInfo { JointInfo(){ useLinearInterpolation = false; clear(); } void clear(){ samples.clear(); iter = samples.begin(); prevSegmentDirectionSign = 0.0; prev_q = 0.0; } JointSample::Seq samples; JointSample::Seq::iterator iter; bool useLinearInterpolation; double prevSegmentDirectionSign; double prev_q; // interpolated state optional q; }; struct ZmpSample { ZmpSample(PoseSeq::iterator p) { poseIter = p; Pose* pose = static_cast(p->poseUnit().get()); segmentType = UNDETERMINED; x = p->time(); const Vector3& zmp = pose->zmp(); for(int i=0; i < 3; ++i){ Coeff& ci = c[i]; ci.y = zmp[i]; ci.yp = 0.0; } isEndPoint = pose->isZmpStationaryPoint(); isDirty = true; } ZmpSample(double time, const Vector3& p){ segmentType = UNDETERMINED; x = time; for(int i=0; i < 3; ++i){ Coeff& ci = c[i]; ci.y = p[i]; ci.yp = 0.0; } isEndPoint = true; isDirty = true; } SegmentType segmentType; PoseSeq::iterator poseIter; double x; Coeff c[3]; bool isEndPoint; bool isDirty; typedef std::list Seq; }; } namespace cnoid { class PSIImpl { public: PSIImpl(PoseSeqInterpolator* self); PoseSeqInterpolator* self; BodyPtr body; PoseSeqPtr poseSeq; bool needUpdate; ConnectionSet poseSeqConnections; vector jointInfos; typedef map LinkInfoMap; LinkInfoMap ikLinkInfos; vector footLinkIndices; vector soleCenters; vector footLinkInfos; bool isAutoZmpAdjustmentMode; double minZmpTransitionTime; double zmpCenteringTimeThresh; double zmpTimeMarginBeforeLifting; double zmpMaxDistanceFromCenterSqr; bool isStealthyStepMode; double stealthyHeightRatioThresh; double flatLiftingHeight; double flatLandingHeight; double impactReductionHeight; double impactReductionTime; double impactReductionVelocity; ZmpSample::Seq zmpSamples; ZmpSample::Seq::iterator zmpIter; enum SupportPhase { RIGHT = 0, LEFT, BOTH, FLOATING, NONE }; enum LipShapeId { LS_A, LS_I, LS_U, LS_E, LS_O, LS_N, LS_a, LS_i, LS_u, LS_e, LS_o, NUM_LIP_SHAPES }; enum mixType { UPPER, LOWER, ADDITION }; struct LipSyncJoint { int jointId; int mixType; int orgIndex; }; struct LipSyncSample { double time; int shapeId; }; bool isLipSyncMixEnabled; vector lipSyncJoints; vector lipSyncLinkIndices; typedef Array2D ShapeArray; ShapeArray lipSyncShapes; vector lipSyncSeq; vector::iterator lipSyncIter; double lipSyncMaxTransitionTime; double currentTime; double timeScaleRatio; LinkInfoMap::iterator currentBaseLinkInfoIter; dynamic_bitset<> validIkLinkFlag; Vector3 waistTranslation; Signal sigUpdated; void setBody(Body* body0); void setLinearInterpolationJoint(int jointId); void addFootLink(int linkIndex, const Vector3& soleCenter); void clearLipSyncShapes(); void setLipSyncShapes(const Mapping& lipSyncShapeNode); void setPoseSeq(PoseSeqPtr seq); void setStealthyStepParameters( double heightRatioThresh, double flatLiftingHeight, double flatLandingHeight, double impactReductionHeight, double impactReductionTime); void invalidateCurrentInterpolation(); bool interpolate(double time, int waistLinkIndex, const Vector3& waistTranslation); bool mixLipSyncShape(); void calcIkJointPositions(); void calcIkJointPositionsSub(Link* link, Link* baseLink, LinkInfo* baseLinkInfo, bool doUpward, Link* prevLink); void appendPronun(PoseSeq::iterator poseIter); void appendLinkSamples(PoseSeq::iterator poseIter, PosePtr& pose); inline bool checkZmp(const Vector3& zmp, const Vector3& centerZmp); void adjustZmpAndFootKeyPosesForLifting (LinkSample::Seq& swingSamples, LinkSample::Seq::iterator pSwing0, LinkSample::Seq::iterator pSwing1, LinkZSample::Seq& swingZSamples, LinkZSample::Seq::iterator pSwingZ0, LinkZSample::Seq::iterator pSwingZ1, ZmpSample::Seq::iterator pZmp0, const Vector3& zmpOnSupport, bool zmpCenteringDone); void adjustZmpAndFootKeyPosesForLanding (LinkSample::Seq& swingSamples, LinkSample::Seq::iterator pSwing0, LinkSample::Seq::iterator pSwing1, LinkZSample::Seq& swingZSamples, LinkZSample::Seq::iterator pSwingZ0, LinkZSample::Seq::iterator pSwingZ1, ZmpSample::Seq::iterator pZmp1, const Vector3& zmp1, const Vector3& zmpOnSupport); bool adjustZmpForBothPhase( ZmpSample::Seq::iterator& pZmp0, double time0, double time1, LinkSample::Seq::iterator pRight0, LinkZSample::Seq::iterator pRightZ0, LinkSample::Seq::iterator pLeft0, LinkZSample::Seq::iterator pLeftZ0, SupportPhase prevPhase, SupportPhase nextPhase); Vector3 getCenterZmp(const LinkSample::Seq::iterator& xyzrpy, const LinkZSample::Seq::iterator& z, int which); void adjustZmpAndFootKeyPoses(); void insertAuxKeyPosesForStealthySteps(); bool update(); LinkInfo* getIkLinkInfo(int linkIndex); void onPoseInserted(PoseSeq::iterator it); void onPoseRemoving(PoseSeq::iterator it, bool isMoving); void onPoseModified(PoseSeq::iterator it); }; } namespace { template typename SampleType::Seq::iterator updateZeroLengthSegment(typename SampleType::Seq::iterator s) { if(TRACE_FUNCTIONS){ cout << "updateZeroLengthSegment" << endl; } const typename SampleType::Seq::iterator s0 = s; const typename SampleType::Seq::iterator s1 = ++s; s0->segmentType = ZERO_LENGTH; s0->isDirty = false; s0->isEndPoint = true; s1->isEndPoint = true; return s; } template typename SampleType::Seq::iterator updateCubicConnectionSegment(typename SampleType::Seq::iterator s) { if(TRACE_FUNCTIONS){ cout << "updateCubicConnectionSegment" << endl; } const typename SampleType::Seq::iterator s0 = s; const typename SampleType::Seq::iterator s1 = ++s; if(fabs(s1->x - s0->x) < epsilon){ return updateZeroLengthSegment(s0); } s0->segmentType = CUBIC_CONNECTION; s0->isDirty = false; s0->isEndPoint = true; s1->isEndPoint = true; const double h = (s1->x - s0->x); const double h2 = h * h; const double h3 = h2 * h; for(int i=0; i < dim; ++i){ Coeff& c0 = s0->c[i]; Coeff& c1 = s1->c[i]; c0.a = c0.yp; c0.b = 3.0 * (c1.y - c0.y) / h2 - (2.0 * c0.yp + c1.yp) / h; c0.c = (c0.yp + c1.yp) / h2 + 2.0 * (c0.y - c1.y) / h3; } return s; } template typename SampleType::Seq::iterator updateMinJerkConnectionSegment(typename SampleType::Seq::iterator s) { const typename SampleType::Seq::iterator s0 = s; const typename SampleType::Seq::iterator s1 = ++s; s0->segmentType = MIN_JERK_CONNECTION; s0->isDirty = false; s0->isEndPoint = true; s1->isEndPoint = true; return s; } template typename SampleType::Seq::iterator updateCubicSplineSegment(typename SampleType::Seq::iterator s, typename SampleType::Seq::iterator end) { if(TRACE_FUNCTIONS){ cout << "updateCubicSplineSegment" << endl; } typename SampleType::Seq::iterator s0 = s; typename SampleType::Seq::iterator s1 = ++s; if(fabs(s1->x - s0->x) < epsilon){ return updateZeroLengthSegment(s0); } else { typename SampleType::Seq::iterator s2 = s1; ++s2; if(fabs(s2->x - s1->x) < epsilon){ return updateCubicConnectionSegment(s0); } } s0->segmentType = CUBIC_SPLINE; s0->isEndPoint = true; s0->isDirty = false; for(int i=0; i < dim; ++i){ Coeff& c0 = s0->c[i]; Coeff& c1 = s1->c[i]; c0.a = -0.5; c0.b = (3.0 / (s1->x - s0->x)) * ((c1.y - c0.y) / (s1->x - s0->x) - c0.yp); } while(true) { typename SampleType::Seq::iterator s0 = s; --s0; typename SampleType::Seq::iterator s1 = s; typename SampleType::Seq::iterator s2 = ++s; if(fabs(s2->x - s1->x) < epsilon){ --s; break; } s1->segmentType = CUBIC_SPLINE; s1->isDirty = false; double sig = (s1->x - s0->x) / (s2->x - s0->x); for(int i=0; i < dim; ++i){ Coeff& c0 = s0->c[i]; Coeff& c1 = s1->c[i]; Coeff& c2 = s2->c[i]; double p = sig * c0.a + 2.0; c1.a = (sig - 1.0) / p; double b = (c2.y - c1.y) / (s2->x - s1->x) - (c1.y - c0.y) / (s1->x - s0->x); c1.b = (6.0 * b / (s2->x - s0->x) - sig * c0.b) / p; } if(s2->isEndPoint || ++s2 == end){ break; } } typename SampleType::Seq::iterator sf0 = s; --sf0; typename SampleType::Seq::iterator sf = s; sf->isEndPoint = true; double a_save[dim]; for(int i=0; i < dim; ++i){ Coeff& cf0 = sf0->c[i]; Coeff& cf = sf->c[i]; double qf = 0.5; double bf = (3.0 / (sf->x - sf0->x)) * (cf.yp - (cf.y - cf0.y) / (sf->x - sf0->x)); a_save[i] = cf.a; cf.a = (bf - qf * cf0.b) / (qf * cf0.a + 1.0); } while(s != s0){ typename SampleType::Seq::iterator s1 = s; typename SampleType::Seq::iterator s0 = --s; for(int i=0; i < dim; ++i){ s0->c[i].a = s0->c[i].a * s1->c[i].a + s0->c[i].b; } } for(int i=0; i < dim; ++i){ sf->c[i].a_end = sf->c[i].a; sf->c[i].a = a_save[i]; } return sf; } /** pre-determined velocity version */ template void usePredeterminedVelocities(typename SampleType::Seq& samples) { typename SampleType::Seq::iterator s = samples.begin(); typename SampleType::Seq::iterator prev = s; while(s != samples.end()){ if(s->segmentType != INVALID){ typename SampleType::Seq::iterator next = s; ++next; while(true){ if(next == samples.end()){ next = s; break; } if(next->segmentType == INVALID){ ++next; } else { break; } } double dt0 = s->x - prev->x; double dt1 = next->x - s->x; for(int i=3; i < dim; ++i){ // for rotation over 180[deg] double& y = next->c[i].y; if(fabs(s->c[i].y - y) > M_PI){ double r = y - floor(y / (2.0 * M_PI)) * 2.0 * M_PI; y = floor(s->c[i].y / (2.0 * M_PI)) * 2.0 * M_PI + r; } } if(!s->isEndPoint){ for(int i=0; i < dim; ++i){ if(s->c[i].yp == 0.0){ double dy0 = (s->c[i].y - prev->c[i].y); double dy1 = (next->c[i].y - s->c[i].y); if(fabs(dy0) < 1.0e-3 || fabs(dy1) < 1.0e-3 || dy0 * dy1 <= 0.0){ s->c[i].yp = 0.0; } else { s->c[i].yp = (dy0 / dt0 + dy1 / dt1) / 2.0; } } } s->isEndPoint = true; } prev = s; } ++s; } } template void initializeInterpolation(typename SampleType::Seq& samples) { if(TRACE_FUNCTIONS){ cout << "initializeInterpolation" << endl; } usePredeterminedVelocities(samples); typename SampleType::Seq::iterator s = samples.begin(); while(s != samples.end()){ if(s->segmentType == INVALID){ ++s; } else { typename SampleType::Seq::iterator next = s; ++next; if(next == samples.end()){ break; } if(!next->isEndPoint && (++next != samples.end())){ s = updateCubicSplineSegment(s, samples.end()); } else { if(useJerkMinModel){ s = updateMinJerkConnectionSegment(s); } else { s = updateCubicConnectionSegment(s); } } } } } template bool interpolate( typename SampleType::Seq& samples, typename SampleType::Seq::iterator& p, double x, double* out_result) { if(samples.empty()){ return false; } if(p == samples.end()){ --p; if(p->x <= x){ for(int i=0; i < dim; ++i){ out_result[i] = p->c[i].y; } return true; } } typename SampleType::Seq::iterator next; while(true){ if(x < p->x){ if(p == samples.begin()){ for(int i=0; i < dim; ++i){ out_result[i] = p->c[i].y; } return true; } --p; continue; } while(true){ next = p; ++next; if(next == samples.end()){ for(int i=0; i < dim; ++i){ out_result[i] = p->c[i].y; } return true; } if(x < next->x){ break; } ++p; } break; } const SampleType& s0 = *p; const SampleType& s1 = *next; if(s0.isDirty){ return false; } switch(s0.segmentType){ case UNDETERMINED: case INVALID: return false; case CUBIC_SPLINE: for(int i=0; i < dim; ++i){ const double a_end = (s1.isEndPoint ? s1.c[i].a_end : s1.c[i].a); const double h = s1.x - s0.x; const double A = (s1.x - x) / h; const double B = (x - s0.x) / h; out_result[i] = A * s0.c[i].y + B * s1.c[i].y + ((A*A*A - A) * s0.c[i].a + (B*B*B - B) * a_end) * (h*h) / 6.0; } break; case CUBIC_CONNECTION: for(int i=0; i < dim; ++i){ const double& a0 = s0.c[i].y; const double& a1 = s0.c[i].a; const double& a2 = s0.c[i].b; const double& a3 = s0.c[i].c; const double h = x - s0.x; const double h2 = h * h; const double h3 = h2 * h; out_result[i] = (a0 + a1 * h + a2 * h2 + a3 * h3); } break; case MIN_JERK_CONNECTION: for(int i=0; i < dim; ++i){ double r = (x - s0.x) / (s1.x - s0.x); double r2 = r * r; double r3 = r2 * r; double r4 = r2 * r2; double r5 = r4 * r; double y0 = s0.c[i].y; double y1 = s1.c[i].y; out_result[i] = y0 + (y0 - y1) * (15.0 * r4 - 6.0 * r5 - 10.0 * r3); } break; case LINEAR: for(int i=0; i < dim; ++i){ double r = (x - s0.x) / (s1.x - s0.x); out_result[i] = (1.0 - r) * s0.c[i].y + r * s1.c[i].y; } break; case ZERO_LENGTH: for(int i=0; i < dim; ++i){ out_result[i] = s1.c[i].y; } break; } return true; } /** @return iterator to the last appended sample */ template typename SampleType::Seq::iterator applyMaxTransitionTime(typename SampleType::Seq& samples, const PoseSeq::iterator poseIter) { if(samples.empty()) return samples.end(); typename SampleType::Seq::iterator prev = --samples.end(); if(prev != samples.end()){ const double time = poseIter->time(); const double ttime = poseIter->maxTransitionTime(); if(ttime > 0.0 && time - prev->x > ttime){ prev->isEndPoint = true; samples.push_back(*prev); SampleType& sampleForTransition = samples.back(); sampleForTransition.x = time - ttime; sampleForTransition.isEndPoint = true; ++prev; } } return prev; } template void appendSample(typename SampleType::Seq& samples, const SampleType& sample) { applyMaxTransitionTime(samples, sample.poseIter); samples.push_back(sample); } } PoseSeqInterpolator::PoseSeqInterpolator() { impl = new PSIImpl(this); } PSIImpl::PSIImpl(PoseSeqInterpolator* self) : self(self) { timeScaleRatio = 1.0; isAutoZmpAdjustmentMode = false; minZmpTransitionTime = 0.1; zmpCenteringTimeThresh = 0.03; zmpTimeMarginBeforeLifting = 0.0; zmpMaxDistanceFromCenterSqr = 0.015 * 0.015; isStealthyStepMode = false; setStealthyStepParameters(2.0, 0.005, 0.005, 0.012, 0.3); isLipSyncMixEnabled = false; needUpdate = true; } void PoseSeqInterpolator::setBody(Body* body) { impl->setBody(body); } void PSIImpl::setBody(Body* body0) { if(!body0){ body.reset(); } else { body = body0->clone(); int n = body->numJoints(); jointInfos.clear(); jointInfos.resize(n); ikLinkInfos.clear(); footLinkIndices.clear(); soleCenters.clear(); validIkLinkFlag.resize(body->numLinks()); clearLipSyncShapes(); invalidateCurrentInterpolation(); } needUpdate = true; } Body* PoseSeqInterpolator::body() const { return impl->body.get(); } void PoseSeqInterpolator::setLinearInterpolationJoint(int jointId) { impl->setLinearInterpolationJoint(jointId); } void PSIImpl::setLinearInterpolationJoint(int jointId) { if(jointId < (int)jointInfos.size()){ jointInfos[jointId].useLinearInterpolation = true; } } void PoseSeqInterpolator::addFootLink(int linkIndex, const Vector3& soleCenter) { impl->addFootLink(linkIndex, soleCenter); } void PSIImpl::addFootLink(int linkIndex, const Vector3& soleCenter) { footLinkIndices.push_back(linkIndex); soleCenters.push_back(soleCenter); needUpdate = true; } void PSIImpl::clearLipSyncShapes() { lipSyncJoints.clear(); lipSyncLinkIndices.clear(); lipSyncSeq.clear(); needUpdate = true; } void PoseSeqInterpolator::setLipSyncShapes(const Mapping& info) { impl->setLipSyncShapes(info); } /** \todo move this into LipSyncTranslator */ void PSIImpl::setLipSyncShapes(const Mapping& info) { needUpdate = true; clearLipSyncShapes(); if(!info.isValid()){ return; } const Listing& jointSeq = *info["joints"].toListing(); const Listing& mixTypeSeq = *info["mixTypes"].toListing(); int numOrgJoints = jointSeq.size(); for(int i=0; i < numOrgJoints; ++i){ Link* joint = body->link(jointSeq[i].toString()); if(joint){ LipSyncJoint lipSyncJoint; int mixType = -1; string mixTypeSymbol = mixTypeSeq[i].toString(); if(mixTypeSymbol == "upper"){ mixType = UPPER; } else if(mixTypeSymbol == "lower"){ mixType = LOWER; } else if(mixTypeSymbol == "addition"){ mixType = ADDITION; } if(mixType >= 0){ lipSyncJoint.jointId = joint->jointId(); lipSyncJoint.mixType = mixType; lipSyncJoint.orgIndex = i; lipSyncJoints.push_back(lipSyncJoint); lipSyncLinkIndices.push_back(joint->index()); } } } static const char* shapeSymbols[] = { "A", "I", "U", "E", "O", "N", "a", "i", "u", "e", "o" }; int numShapesRead = 0; if(!lipSyncJoints.empty()){ lipSyncShapes.resize(NUM_LIP_SHAPES, lipSyncJoints.size()); const Mapping& shapes = *info["shapes"].toMapping(); for(int i=0; i < NUM_LIP_SHAPES; ++i){ const Listing& shapeSeq = *shapes.findListing(shapeSymbols[i]); if(!shapeSeq.isValid() || shapeSeq.size() != numOrgJoints){ break; } for(size_t j=0; j < lipSyncJoints.size(); ++j){ double q = radian(shapeSeq[lipSyncJoints[j].orgIndex].toDouble()); lipSyncShapes(i, j) = q; } numShapesRead++; } } lipSyncMaxTransitionTime = info.get("maxTransitionTime", 0.2); if(numShapesRead < NUM_LIP_SHAPES){ clearLipSyncShapes(); } } const std::vector& PoseSeqInterpolator::lipSyncLinkIndices() { return impl->lipSyncLinkIndices; } void PSIImpl::invalidateCurrentInterpolation() { currentTime = std::numeric_limits::max(); currentBaseLinkInfoIter = ikLinkInfos.end(); } void PoseSeqInterpolator::setPoseSeq(PoseSeqPtr seq) { impl->setPoseSeq(seq); } void PSIImpl::setPoseSeq(PoseSeqPtr seq) { poseSeqConnections.disconnect(); poseSeq = seq; // for auto update mode (not implemented yet) poseSeqConnections = seq->connectSignalSet( boost::bind(&PSIImpl::onPoseInserted, this, _1), boost::bind(&PSIImpl::onPoseRemoving, this, _1, _2), boost::bind(&PSIImpl::onPoseModified, this, _1)); invalidateCurrentInterpolation(); needUpdate = true; } void PoseSeqInterpolator::setTimeScaleRatio(double ratio) { impl->timeScaleRatio = ratio; } double PoseSeqInterpolator::beginningTime() const { return 0.0; } double PoseSeqInterpolator::endingTime() const { if(impl->poseSeq){ return impl->timeScaleRatio * impl->poseSeq->endingTime(); } else { return 0.0; } } void PoseSeqInterpolator::enableAutoZmpAdjustmentMode(bool on) { impl->isAutoZmpAdjustmentMode = on; impl->needUpdate = true; } void PoseSeqInterpolator::setZmpAdjustmentParameters (double minTransitionTime, double centeringTimeThresh, double timeMarginBeforeLifting, double maxDistanceFromCenter) { impl->minZmpTransitionTime = minTransitionTime; impl->zmpCenteringTimeThresh = centeringTimeThresh; impl->zmpTimeMarginBeforeLifting = timeMarginBeforeLifting; impl->zmpMaxDistanceFromCenterSqr = maxDistanceFromCenter * maxDistanceFromCenter; impl->needUpdate = true; } void PoseSeqInterpolator::enableStealthyStepMode(bool on) { impl->isStealthyStepMode = on; impl->needUpdate = true; } void PoseSeqInterpolator::setStealthyStepParameters (double heightRatioThresh, double flatLiftingHeight, double flatLandingHeight, double impactReductionHeight, double impactReductionTime) { impl->setStealthyStepParameters(heightRatioThresh, flatLiftingHeight, flatLandingHeight, impactReductionHeight, impactReductionTime); } void PSIImpl::setStealthyStepParameters (double heightRatioThresh, double flatLiftingHeight, double flatLandingHeight, double impactReductionHeight, double impactReductionTime) { this->stealthyHeightRatioThresh = heightRatioThresh; this->flatLiftingHeight = flatLiftingHeight; this->flatLandingHeight = flatLandingHeight; this->impactReductionHeight = impactReductionHeight; this->impactReductionTime = impactReductionTime; this->impactReductionVelocity = -2.0 * impactReductionHeight / impactReductionTime; needUpdate = true; } void PoseSeqInterpolator::enableLipSyncMix(bool on) { impl->isLipSyncMixEnabled = on; } bool PoseSeqInterpolator::update() { return impl->update(); } SignalProxy PoseSeqInterpolator::sigUpdated() { return impl->sigUpdated; } bool PoseSeqInterpolator::interpolate(double time) { return impl->interpolate(time, -1, Vector3::Zero()); } bool PoseSeqInterpolator::seek(double time) { return impl->interpolate(time, -1, Vector3::Zero()); } /** @param waistLinkIndex A link that is translated for maintaing the dynamic balance @param waistTranslation translation of the balancing link usually provided by the waist balance filter */ bool PoseSeqInterpolator::interpolate(double time, int waistLinkIndex, const Vector3& waistTranslation) { return impl->interpolate(time, waistLinkIndex, waistTranslation); } /** A virtual function of the WaistTranslator interface */ bool PoseSeqInterpolator::seek(double time, int waistLinkIndex, const Vector3& waistTranslation) { return impl->interpolate(time, waistLinkIndex, waistTranslation); } /** \todo Skip interpolation when only waistTranslation changes */ bool PSIImpl::interpolate(double time, int waistLinkIndex, const Vector3& waistTranslation) { if(!body){ return false; } if(needUpdate){ if(!update()){ return false; } } time /= timeScaleRatio; // This should be applied to the process of appending samples if(time == currentTime && waistTranslation == this->waistTranslation){ return true; } currentTime = time; validIkLinkFlag.reset(); currentBaseLinkInfoIter = ikLinkInfos.end(); double baseLinkTime = -std::numeric_limits::max(); LinkInfoMap::iterator subBaseLinkInfoIter = ikLinkInfos.end(); double subBaseLinkTime = -std::numeric_limits::max(); bool waistTranslationDone = false; this->waistTranslation = waistTranslation; double xyzrpy[6]; for(LinkInfoMap::iterator it = ikLinkInfos.begin(); it != ikLinkInfos.end(); ++it){ LinkInfo& info = it->second; info.isValid = ::interpolate<6, LinkSample>(info.samples, info.iter, currentTime, xyzrpy); if(info.isValid){ /// \todo check this before the interpolation (after seeking only) /// \todo skip aux samples for detecting the blending segment info.jointSpaceBlendingRatio = 0.0; if(info.iter != info.samples.end()){ LinkSample::Seq::iterator prevNonAuxIter = info.iter; while(prevNonAuxIter->isAux){ --prevNonAuxIter; } double prevNonAuxTime = prevNonAuxIter->x; LinkSample::Seq::iterator nextIter = info.iter; nextIter++; LinkSample::Seq::iterator nextNonAuxIter = nextIter; while(nextNonAuxIter != info.samples.end() && nextNonAuxIter->isAux){ ++nextNonAuxIter; } if(prevNonAuxIter->isSlave){ if(nextNonAuxIter == info.samples.end() || nextNonAuxIter->isSlave){ info.jointSpaceBlendingRatio = 1.0; continue; // not Cartesian space at all ! skip to the next } else { double r; if(nextNonAuxIter->isTouching){ if(info.iter->isAux){ r =0.0; } else { r = (nextIter->x - currentTime) / (nextIter->x - prevNonAuxTime); } } else { r = (nextNonAuxIter->x - currentTime) / (nextNonAuxIter->x - prevNonAuxTime); } info.jointSpaceBlendingRatio = r * r * (3.0 - 2.0 * r); } } else { if(nextNonAuxIter != info.samples.end() && nextNonAuxIter->isSlave){ double r; if(prevNonAuxIter->isTouching){ if(nextIter == nextNonAuxIter){ r = (currentTime - info.iter->x) / (nextIter->x - info.iter->x); } else { r = 0.0; } } else { r = (currentTime - prevNonAuxTime) / (nextNonAuxIter->x - prevNonAuxTime); } info.jointSpaceBlendingRatio = r * r * (3.0 - 2.0 * r); } } } if(info.isFootLink){ ::interpolate<1, LinkZSample>(info.zSamples, info.zIter, currentTime, &xyzrpy[2]); } const Vector3 p(xyzrpy[0], xyzrpy[1], xyzrpy[2]); const int linkIndex = it->first; validIkLinkFlag[linkIndex] = true; if(linkIndex == waistLinkIndex){ info.p = p + waistTranslation; waistTranslationDone = true; } else { info.p = p + info.jointSpaceBlendingRatio * waistTranslation; } info.R = rotFromRpy(xyzrpy[3], xyzrpy[4], xyzrpy[5]); if(info.iter->isBaseLink){ if(info.iter->x > baseLinkTime){ currentBaseLinkInfoIter = it; baseLinkTime = info.iter->x; } } else { if(info.iter->x > subBaseLinkTime){ subBaseLinkInfoIter = it; subBaseLinkTime = info.iter->x; } } } } if(currentBaseLinkInfoIter == ikLinkInfos.end()){ currentBaseLinkInfoIter = subBaseLinkInfoIter; } for(size_t i=0; i < jointInfos.size(); ++i){ jointInfos[i].q = boost::none; } calcIkJointPositions(); if(waistLinkIndex >= 0 && !waistTranslationDone){ /// \todo write a code here to translate the waist when the waist link is not an ik link return false; } if(isLipSyncMixEnabled){ mixLipSyncShape(); } return true; } bool PSIImpl::mixLipSyncShape() { if(lipSyncSeq.empty()){ return false; } vector::iterator next = lipSyncSeq.end(); if(lipSyncIter == lipSyncSeq.end()){ --lipSyncIter; if(lipSyncIter->time <= currentTime){ goto mix; } } while(true){ if(currentTime < lipSyncIter->time){ if(lipSyncIter == lipSyncSeq.begin()){ goto mix; } --lipSyncIter; continue; } while(true){ next = lipSyncIter; ++next; if(next == lipSyncSeq.end()){ goto mix; } if(currentTime < next->time){ break; } ++lipSyncIter; } break; } mix: for(size_t i=0; i < lipSyncJoints.size(); ++i){ LipSyncJoint& lipSyncJoint = lipSyncJoints[i]; double q0 = lipSyncShapes(lipSyncIter->shapeId, i); double q; if(next == lipSyncSeq.end()){ q = q0; } else { double q1 = lipSyncShapes(next->shapeId, i); double t = (currentTime - lipSyncIter->time) / (next->time - lipSyncIter->time); q = (1.0 - t) * q0 + t * q1; } int jointId = lipSyncJoint.jointId; JointInfo& jointInfo = jointInfos[jointId]; optional qorg = self->jointPosition(jointId); if(!qorg){ jointInfo.q = q; } else { switch(lipSyncJoint.mixType){ case UPPER: jointInfo.q = std::max(*qorg, q); break; case LOWER: jointInfo.q = std::min(*qorg, q); break; case ADDITION: { q += *qorg; Link* joint = body->joint(jointId); jointInfo.q = std::max(joint->q_lower(), std::min(joint->q_upper(), q)); } break; default: break; } } } return true; } void PSIImpl::calcIkJointPositions() { Link* baseLink; LinkInfo* baseLinkInfo; if(currentBaseLinkInfoIter != ikLinkInfos.end()){ baseLink = body->link(currentBaseLinkInfoIter->first); baseLinkInfo = ¤tBaseLinkInfoIter->second; } else { baseLink = body->rootLink(); baseLinkInfo = 0; } calcIkJointPositionsSub(baseLink, baseLink, baseLinkInfo, true, 0); } /** \todo search an analytical IK path even if the base link of the path is not an ik link */ void PSIImpl::calcIkJointPositionsSub(Link* link, Link* baseLink, LinkInfo* baseLinkInfo, bool doUpward, Link* prevLink) { if(link != baseLink && validIkLinkFlag[link->index()]){ LinkInfo* endLinkInfo = getIkLinkInfo(link->index()); if(baseLinkInfo && endLinkInfo){ JointPathPtr jointPath = getCustomJointPath(body, baseLink, link); bool doIK = true; // tmp if(!jointPath->hasAnalyticalIK()){ // tmp if(jointPath->numJoints() != 6){ doIK = false; } for(int i=0; i < jointPath->numJoints(); ++i){ Link* joint = jointPath->joint(i); JointInfo& jointInfo = jointInfos[joint->jointId()]; double q; if(::interpolate<1, JointSample>(jointInfo.samples, jointInfo.iter, currentTime, &q)){ jointInfo.q = q; joint->q() = q; } } } if(doIK){ // tmp bool ikSolved = jointPath->calcInverseKinematics(baseLinkInfo->p, baseLinkInfo->R, endLinkInfo->p, endLinkInfo->R); if(!ikSolved){ double len = waistTranslation.norm(); double low = 0.0; double hi = len * (1.0 - endLinkInfo->jointSpaceBlendingRatio); while(true){ double current = (low + hi) / 2.0; Vector3 p(endLinkInfo->p + waistTranslation * (current / len)); if(jointPath->calcInverseKinematics(baseLinkInfo->p, baseLinkInfo->R, p, endLinkInfo->R)){ ikSolved = true; hi = current; } else { low = current; } if((hi - low) < 1.0e-4){ break; } } } if(ikSolved){ for(int i=0; i < jointPath->numJoints(); ++i){ Link* joint = jointPath->joint(i); JointInfo& jointInfo = jointInfos[joint->jointId()]; const double& r = endLinkInfo->jointSpaceBlendingRatio; if(r == 0.0){ jointInfo.q = joint->q(); } else { double qtmp; if(::interpolate<1, JointSample>(jointInfo.samples, jointInfo.iter, currentTime, &qtmp)){ jointInfo.q = r * qtmp + (1.0 - r) * joint->q(); } else { jointInfo.q = joint->q(); } } } } } } baseLink = link; baseLinkInfo = endLinkInfo; } if(doUpward && link->parent()){ calcIkJointPositionsSub(link->parent(), baseLink, baseLinkInfo, true, link); } for(Link* childLink = link->child(); childLink; childLink = childLink->sibling()){ if(childLink != prevLink){ calcIkJointPositionsSub(childLink, baseLink, baseLinkInfo, false, 0); } } } int PoseSeqInterpolator::baseLinkIndex() const { if(impl->currentBaseLinkInfoIter != impl->ikLinkInfos.end()){ return impl->currentBaseLinkInfoIter->first; } return -1; } bool PoseSeqInterpolator::getBaseLinkPosition(Position& out_T) const { if(impl->currentBaseLinkInfoIter != impl->ikLinkInfos.end()){ const LinkInfo& info = impl->currentBaseLinkInfoIter->second; out_T.translation() = info.p; out_T.linear() = info.R; return true; } return false; } boost::optional PoseSeqInterpolator::jointPosition(int jointId) const { JointInfo& info = impl->jointInfos[jointId]; if(!info.q){ double qtmp; if(::interpolate<1, JointSample>(info.samples, info.iter, impl->currentTime, &qtmp)){ info.q = qtmp; } } return info.q; } void PoseSeqInterpolator::getJointPositions(std::vector< boost::optional >& out_q) const { const int n = impl->jointInfos.size(); out_q.resize(n); for(int i=0; i < n; ++i){ out_q[i] = jointPosition(i); } } boost::optional PoseSeqInterpolator::ZMP() const { Vector3 p; if(::interpolate<3, ZmpSample>(impl->zmpSamples, impl->zmpIter, impl->currentTime, p.data())){ return p; } return boost::none; } bool PSIImpl::update() { if(!body || !poseSeq){ return false; } for(size_t i=0; i < jointInfos.size(); ++i){ jointInfos[i].clear(); } ikLinkInfos.clear(); zmpSamples.clear(); lipSyncSeq.clear(); if(isAutoZmpAdjustmentMode || isStealthyStepMode){ footLinkInfos.clear(); for(size_t i=0; i < footLinkIndices.size(); ++i){ LinkInfo* info = getIkLinkInfo(footLinkIndices[i]); if(info){ info->isFootLink = true; footLinkInfos.push_back(info); } } } for(PoseSeq::iterator poseIter = poseSeq->begin(); poseIter != poseSeq->end(); ++poseIter){ PosePtr pose = poseIter->get(); if(!pose){ PronunSymbolPtr pronun = poseIter->get(); if(pronun){ appendPronun(poseIter); } } else { appendLinkSamples(poseIter, pose); const int n = std::min(pose->numJoints(), (int)jointInfos.size()); for(int i=0; i < n; ++i){ JointInfo& jointInfo = jointInfos[i]; if(pose->isJointValid(i)){ // make a flipping point stationary point double q = pose->jointPosition(i); double sign = q - jointInfo.prev_q; if(jointInfo.prevSegmentDirectionSign * sign <= 0.0){ if(!jointInfo.samples.empty()){ jointInfo.samples.back().isEndPoint = true; } } jointInfo.prevSegmentDirectionSign = sign; jointInfo.prev_q = q; appendSample(jointInfo.samples, JointSample(poseIter, i, jointInfo.useLinearInterpolation)); } } if(pose->isZmpValid()){ appendSample(zmpSamples, ZmpSample(poseIter)); } } } if(!footLinkInfos.empty()){ if(isAutoZmpAdjustmentMode && footLinkInfos.size() == 2){ adjustZmpAndFootKeyPoses(); } if(isStealthyStepMode){ insertAuxKeyPosesForStealthySteps(); } } for(size_t i=0; i < jointInfos.size(); ++i){ JointInfo& info = jointInfos[i]; if(TRACE_FUNCTIONS){ cout << "PSIImpl::update: joint " << i << endl; } if(!info.useLinearInterpolation){ initializeInterpolation<1, JointSample, false>(info.samples); } info.iter = info.samples.begin(); } for(LinkInfoMap::iterator p = ikLinkInfos.begin(); p != ikLinkInfos.end(); ++p){ LinkInfo& info = p->second; initializeInterpolation<6, LinkSample, false>(info.samples); info.iter = info.samples.begin(); if(info.isFootLink){ initializeInterpolation<1, LinkZSample, false>(info.zSamples); info.zIter = info.zSamples.begin(); } } initializeInterpolation<3, ZmpSample, false>(zmpSamples); zmpIter = zmpSamples.begin(); lipSyncIter = lipSyncSeq.begin(); invalidateCurrentInterpolation(); needUpdate = false; sigUpdated(); return true; } void PSIImpl::appendLinkSamples(PoseSeq::iterator poseIter, PosePtr& pose) { for(Pose::LinkInfoMap::iterator it = pose->ikLinkBegin(); it != pose->ikLinkEnd(); ++it){ const int linkIndex = it->first; LinkInfo* linkInfo = getIkLinkInfo(linkIndex); if(linkInfo){ const Pose::LinkInfo& ikLinkInfo = it->second; LinkSample::Seq& samples = linkInfo->samples; applyMaxTransitionTime(samples, poseIter); samples.push_back(LinkSample(poseIter, ikLinkInfo)); if(linkInfo->isFootLink){ LinkZSample::Seq& zSamples = linkInfo->zSamples; applyMaxTransitionTime(zSamples, poseIter); zSamples.push_back(LinkZSample(poseIter, ikLinkInfo)); } } } } inline bool PSIImpl::checkZmp(const Vector3& zmp, const Vector3& centerZmp) { return (zmp - centerZmp).squaredNorm() <= zmpMaxDistanceFromCenterSqr; } void PSIImpl::adjustZmpAndFootKeyPosesForLifting (LinkSample::Seq& swingSamples, LinkSample::Seq::iterator pSwing0, LinkSample::Seq::iterator pSwing1, LinkZSample::Seq& swingZSamples, LinkZSample::Seq::iterator pSwingZ0, LinkZSample::Seq::iterator pSwingZ1, ZmpSample::Seq::iterator pZmp0, const Vector3& zmpOnSupport, bool zmpCenteringDone) { Vector3 zmp0(pZmp0->c[0].y, pZmp0->c[1].y, pZmp0->c[2].y); if(!checkZmp(zmp0, zmpOnSupport)){ double ttime0 = pSwing0->x - pZmp0->x; if(!zmpCenteringDone && ttime0 < minZmpTransitionTime){ double auxKeyTime = std::min(pZmp0->x + minZmpTransitionTime, (pSwing0->x + pSwing1->x) / 2.0); double zmpTime = std::max((pZmp0->x + auxKeyTime) / 2.0, auxKeyTime - zmpTimeMarginBeforeLifting); zmpSamples.insert(++pZmp0, ZmpSample(zmpTime, zmpOnSupport)); LinkSample::Seq::iterator pAux = swingSamples.insert(pSwing1, LinkSample(*pSwing0)); pAux->x = auxKeyTime; LinkZSample::Seq::iterator pZAux = swingZSamples.insert(pSwingZ1, LinkZSample(*pSwingZ0)); pZAux->x = auxKeyTime; } else { double zmpTime = std::max((pZmp0->x + pSwing0->x) / 2.0, pSwing0->x - zmpTimeMarginBeforeLifting); ZmpSample::Seq::iterator pAuxZmp = zmpSamples.insert(++pZmp0, ZmpSample(zmpTime, zmpOnSupport)); /* if(ttime0 >= minZmpTransitionTime * 2.0){ zmpSamples.insert(pAuxZmp, ZmpSample(pSwing0->x - minZmpTransitionTime * 2.0, zmp0)); } */ } } } void PSIImpl::adjustZmpAndFootKeyPosesForLanding (LinkSample::Seq& swingSamples, LinkSample::Seq::iterator pSwing0, LinkSample::Seq::iterator pSwing1, LinkZSample::Seq& swingZSamples, LinkZSample::Seq::iterator pSwingZ0, LinkZSample::Seq::iterator pSwingZ1, ZmpSample::Seq::iterator pZmp1, const Vector3& zmp1, const Vector3& zmpOnSupport) { if(!checkZmp(zmp1, zmpOnSupport)){ if(pZmp1 == zmpSamples.end()){ zmpSamples.insert(pZmp1, ZmpSample(pSwing1->x, zmpOnSupport)); } else { if((pZmp1->x - pSwing1->x) < minZmpTransitionTime){ double auxKeyTime = std::max(pZmp1->x - minZmpTransitionTime, (pSwing0->x + pSwing1->x) / 2.0); zmpSamples.insert(pZmp1, ZmpSample(auxKeyTime, zmpOnSupport)); LinkSample::Seq::iterator pAux = swingSamples.insert(pSwing1, LinkSample(*pSwing1)); pAux->x = auxKeyTime; LinkZSample::Seq::iterator pZAux = swingZSamples.insert(pSwingZ1, LinkZSample(*pSwingZ1)); pZAux->x = auxKeyTime; } else { zmpSamples.insert(pZmp1, ZmpSample(pSwing1->x, zmpOnSupport)); } } } } /** @return true if centering ZMP is inserted */ bool PSIImpl::adjustZmpForBothPhase (ZmpSample::Seq::iterator& pZmp0, double time0, double time1, LinkSample::Seq::iterator pRight0, LinkZSample::Seq::iterator pRightZ0, LinkSample::Seq::iterator pLeft0, LinkZSample::Seq::iterator pLeftZ0, SupportPhase prevPhase, SupportPhase nextPhase) { double len = time1 - time0; if(len < zmpCenteringTimeThresh){ return false; } Vector3 p0(pRight0->c[0].y, pRight0->c[1].y, pRightZ0->c[0].y); Matrix3 R0(rotFromRpy(pRight0->c[3].y, pRight0->c[4].y, pRight0->c[5].y)); Vector3 p1(pLeft0->c[0].y, pLeft0->c[1].y, pLeftZ0->c[0].y); Matrix3 R1(rotFromRpy(pLeft0->c[3].y, pLeft0->c[4].y, pLeft0->c[5].y)); double thresh = minZmpTransitionTime * 2.0; /* Disabled this on 2012/11/02. What is this for? if(prevPhase != nextPhase){ thresh *= 3.0; } */ if(len > thresh){ Vector3 zmp = (p0 + R0 * soleCenters[0] + p1 + R1 * soleCenters[1]) / 2.0; zmp[2] = 0.0; zmpSamples.insert(++pZmp0, ZmpSample(time0 + minZmpTransitionTime, zmp)); pZmp0 = zmpSamples.insert(pZmp0, ZmpSample(time1 - minZmpTransitionTime, zmp)); } else if(prevPhase == nextPhase){ double r = 0.5; double thresh2 = (2.0 * minZmpTransitionTime) * 0.6; if(len < thresh2){ r = 0.5 * (len / thresh2); if(prevPhase == RIGHT){ r = 1.0 - r; } } Vector3 zmp = (p0 + R0 * soleCenters[0]) * r + (p1 + R1 * soleCenters[1]) * (1.0 - r); zmp[2] = 0.0; pZmp0 = zmpSamples.insert(++pZmp0, ZmpSample(time0 + len / 2.0, zmp)); } return true; } Vector3 PSIImpl::getCenterZmp (const LinkSample::Seq::iterator& xyzrpy, const LinkZSample::Seq::iterator& z, int which) { const Vector3 p(xyzrpy->c[0].y, xyzrpy->c[1].y, z->c[0].y); const Matrix3 R = rotFromRpy(xyzrpy->c[3].y, xyzrpy->c[4].y, xyzrpy->c[5].y); Vector3 zmp = p + R * soleCenters[which]; zmp[2] = 0.0; return zmp; } void PSIImpl::adjustZmpAndFootKeyPoses() { // actual left and right may be exchanged LinkSample::Seq& leftSamples = footLinkInfos[LEFT]->samples; LinkSample::Seq& rightSamples = footLinkInfos[RIGHT]->samples; LinkZSample::Seq& leftZSamples = footLinkInfos[LEFT]->zSamples; LinkZSample::Seq& rightZSamples = footLinkInfos[RIGHT]->zSamples; if(leftSamples.empty() || rightSamples.empty()){ return; } LinkSample::Seq::iterator pLeft0, pLeft, pLeftNext, pRight0, pRight, pRightNext; LinkZSample::Seq::iterator pLeftZ0, pLeftZ, pLeftZNext, pRightZ0, pRightZ, pRightZNext; pLeft = pLeftNext = leftSamples.begin(); pRight = pRightNext = rightSamples.begin(); pLeftZ = pLeftZNext = leftZSamples.begin(); pRightZ = pRightZNext = rightZSamples.begin(); // insert initial zmp if(zmpSamples.empty()){ Vector3 zmp0 = Vector3::Zero(); int n = 0; if(pLeft->isTouching){ zmp0 += getCenterZmp(pLeft, pLeftZ, LEFT); n++; } if(pRight->isTouching){ zmp0 += getCenterZmp(pRight, pRightZ, RIGHT); n++; } if(n >0 ){ zmp0 /= n; } zmpSamples.push_back(ZmpSample(0.0, zmp0)); } ZmpSample::Seq::iterator pZmp0 = zmpSamples.begin(); bool isLeftTouching = true; bool isRightTouching = true; SupportPhase prevPhase = NONE; double time = 0.0; double time0 = 0.0; SupportPhase phaseBeforeBothPhase = NONE; ZmpSample::Seq::iterator pZmpInBothPhase = zmpSamples.end(); double bothPhaseTime0 = 0.0; bool doContinue = true; while(doContinue){ if(pLeftNext != leftSamples.end()){ if(pRightNext != rightSamples.end()){ if(pLeftNext->x < pRightNext->x){ pLeft = pLeftNext++; pLeftZ = pLeftZNext++; isLeftTouching = pLeft->isTouching; time = pLeft->x; } else if(pLeftNext->x == pRightNext->x){ pLeft = pLeftNext++; pLeftZ = pLeftZNext++; isLeftTouching = pLeft->isTouching; pRight = pRightNext++; pRightZ = pRightZNext++; isRightTouching = pRight->isTouching; time = pLeft->x; } else { pRight = pRightNext++; pRightZ = pRightZNext++; isRightTouching = pRight->isTouching; time = pRight->x; } } else { pLeft = pLeftNext++; pLeftZ = pLeftZNext++; isLeftTouching = pLeft->isTouching; time = pLeft->x; } } else if(pRightNext != rightSamples.end()){ pRight = pRightNext++; pRightZ = pRightZNext++; isRightTouching = pRight->isTouching; time = pRight->x; } else { doContinue = false; } SupportPhase phase; if(!doContinue){ phase = NONE; } else { if(isLeftTouching){ if(isRightTouching){ phase = BOTH; } else { phase = LEFT; } } else { if(isRightTouching){ phase = RIGHT; } else { phase = FLOATING; } } } while(++pZmp0 != zmpSamples.end()){ if(pZmp0->x > time0){ break; } } --pZmp0; if(prevPhase == BOTH){ if(pZmp0->x > bothPhaseTime0){ pZmpInBothPhase = pZmp0; } if(phase == LEFT || phase == RIGHT){ bool zmpCenteringDone = false; if(pZmpInBothPhase == zmpSamples.end()){ zmpCenteringDone = adjustZmpForBothPhase( pZmp0, bothPhaseTime0, time0, pRight0, pRightZ0, pLeft0, pLeftZ0, phaseBeforeBothPhase, phase); } if(phase == LEFT){ adjustZmpAndFootKeyPosesForLifting( rightSamples, pRight0, pRight, rightZSamples, pRightZ0, pRightZ, pZmp0, getCenterZmp(pLeft, pLeftZ, LEFT), zmpCenteringDone); } else if(phase == RIGHT){ adjustZmpAndFootKeyPosesForLifting( leftSamples, pLeft0, pLeft, leftZSamples, pLeftZ0, pLeftZ, pZmp0, getCenterZmp(pRight, pRightZ, RIGHT), zmpCenteringDone); } } } else if(phase == BOTH){ if(prevPhase == LEFT || prevPhase == RIGHT){ ZmpSample::Seq::iterator pZmp1 = pZmp0; while(pZmp1 != zmpSamples.end() && pZmp1->x < time){ ++pZmp1; } Vector3 zmp1; if(pZmp1 != zmpSamples.end() && pZmp1->x == time){ zmp1 << pZmp1->c[0].y, pZmp1->c[1].y, pZmp1->c[2].y; } else { //ZmpSample::Seq::iterator pZmpLast = --zmpSamples.end(); //zmp1 = pZmpLast->c[0].y, pZmpLast->c[1].y, pZmpLast->c[2].y; zmp1.fill(numeric_limits::max()); } if(prevPhase == LEFT){ adjustZmpAndFootKeyPosesForLanding( rightSamples, pRight0, pRight, rightZSamples, pRightZ0, pRightZ, pZmp1, zmp1, getCenterZmp(pLeft, pLeftZ, LEFT)); } else if(prevPhase == RIGHT){ adjustZmpAndFootKeyPosesForLanding( leftSamples, pLeft0, pLeft, leftZSamples, pLeftZ0, pLeftZ, pZmp1, zmp1, getCenterZmp(pRight, pRightZ, RIGHT)); } phaseBeforeBothPhase = prevPhase; bothPhaseTime0 = time; pZmpInBothPhase = zmpSamples.end(); } } prevPhase = phase; time0 = time; pRight0 = pRight; pLeft0 = pLeft; pRightZ0 = pRightZ; pLeftZ0 = pLeftZ; } // insert last ZMP if(++pZmp0 == zmpSamples.end()){ Vector3 zmpf = Vector3::Zero(); int n = 0; if(pLeft->isTouching){ zmpf += getCenterZmp(pLeft, pLeftZ, LEFT); n++; } if(pRight->isTouching){ zmpf += getCenterZmp(pRight, pRightZ, RIGHT); n++; } if(n >0 ){ zmpf /= n; } zmpSamples.push_back(ZmpSample(time + minZmpTransitionTime, zmpf)); } } /* void PSIImpl::insertAuxKeyPosesForStealthySteps() { for(size_t i=0; i < footLinkInfos.size(); ++i){ LinkInfo* linkInfo = footLinkInfos[i]; LinkSample::Seq& samples = linkInfo->samples; LinkZSample::Seq& zSamples = linkInfo->zSamples; if(!samples.empty()){ LinkSample::Seq::iterator pprev = samples.begin(); LinkSample::Seq::iterator p = pprev; ++p; LinkZSample::Seq::iterator pprevZ = zSamples.begin(); LinkZSample::Seq::iterator pZ = pprevZ; ++pZ; while(p != samples.end()){ if(pprev->isTouching && !p->isTouching){ // lifting double height = pZ->c[0].y - pprevZ->c[0].y; double sheight; if(height >= 4.0 * stealthyHeight){ sheight = stealthyHeight; } else { sheight = height / 4.0; } LinkSample::Seq::iterator paux = samples.insert(p, *pprev); paux->x += (sheight / height) * (p->x - pprev->x); } else if(!pprev->isTouching && p->isTouching){ // landing double touchingHeight = pZ->c[0].y; double height = pprevZ->c[0].y - touchingHeight; if(!isStealthyOnlyRotation){ double r = 1.0; double time = p->x - pprev->x; if(stealthyMaxRatio * time < stealthyTime){ r = (stealthyMaxRatio * time) / stealthyTime; } if(stealthyMaxRatio * height < stealthyHeight){ r = std::min(r, (stealthyMaxRatio * height) / stealthyHeight); } double t = r * stealthyTime; double h = r * stealthyHeight; double v = 2.0 * h / t; LinkSample::Seq::iterator paux = samples.insert(p, LinkSample(*p)); paux->isAux = true; paux->x -= t; LinkZSample::Seq::iterator pZAux = zSamples.insert(pZ, LinkZSample(*pZ)); pZAux->x -= t; pZAux->c[0].y = touchingHeight + h; pZAux->c[0].yp = -v; } else { if(stealthyMaxRatio * height > stealthyHeight){ LinkSample::Seq::iterator paux = samples.insert(p, LinkSample(*p)); paux->x -= (stealthyHeight / height) * (p->x - pprev->x); } } } pprev = p++; pprevZ = pZ++; } } } } */ void PSIImpl::insertAuxKeyPosesForStealthySteps() { for(size_t i=0; i < footLinkInfos.size(); ++i){ LinkInfo* linkInfo = footLinkInfos[i]; LinkSample::Seq& samples = linkInfo->samples; LinkZSample::Seq& zSamples = linkInfo->zSamples; if(!samples.empty()){ LinkSample::Seq::iterator pprev = samples.begin(); LinkSample::Seq::iterator p = pprev; ++p; LinkZSample::Seq::iterator pprevZ = zSamples.begin(); LinkZSample::Seq::iterator pZ = pprevZ; ++pZ; while(p != samples.end()){ if(pprev->isTouching && !p->isTouching){ // lifting if(flatLiftingHeight > 0.0){ double height = pZ->c[0].y - pprevZ->c[0].y; if(height >= stealthyHeightRatioThresh * flatLiftingHeight){ LinkSample::Seq::iterator paux = samples.insert(p, *pprev); paux->x += (flatLiftingHeight / height) * (p->x - pprev->x); } } } else if(!pprev->isTouching && p->isTouching){ // landing if(flatLandingHeight > 0.0){ double touchingHeight = pZ->c[0].y; double height = pprevZ->c[0].y - touchingHeight; if(height >= stealthyHeightRatioThresh * flatLandingHeight){ LinkSample::Seq::iterator paux = samples.insert(p, LinkSample(*p)); const double fallingTime = p->x - pprev->x; paux->isAux = true; paux->x -= (flatLandingHeight / height) * fallingTime; if(impactReductionHeight > 0.0 && impactReductionTime < fallingTime / 2.0){ const double h = fallingTime; const double h2 = h * h; const double h3 = h2 * h; const double a2 = 3.0 * (pZ->c[0].y - pprevZ->c[0].y) / h2; const double a3 = 2.0 * (pprevZ->c[0].y - pZ->c[0].y) / h3; const double s = fallingTime - impactReductionTime; const double v = 2.0 * a2 * s + 3.0 * a3 * s * s; if(v < impactReductionVelocity){ LinkZSample::Seq::iterator pZaux = zSamples.insert(pZ, LinkZSample(*pZ)); pZaux->x -= impactReductionTime; pZaux->c[0].y += impactReductionHeight; pZaux->c[0].yp = impactReductionVelocity; } } } } } pprev = p++; pprevZ = pZ++; } } } } void PSIImpl::appendPronun(PoseSeq::iterator poseIter) { const string& pronun = poseIter->name(); if(pronun.empty()){ return; } int vowel = -1; switch(tolower(pronun[pronun.size()-1])){ case 'a': vowel = LS_A; break; case 'i': vowel = LS_I; break; case 'u': vowel = LS_U; break; case 'e': vowel = LS_E; break; case 'o': vowel = LS_O; break; case 'n': vowel = LS_N; break; case ',': vowel = LS_N; break; case '.': vowel = LS_N; break; default: break; } if(vowel < 0){ return; } LipSyncSample sample0; sample0.shapeId = -1; LipSyncSample sample1; sample1.shapeId = -1; if(vowel != LS_N && pronun.size() >= 2){ int consonantChar = tolower(pronun[0]); if(consonantChar == 'm' || consonantChar == 'b' || consonantChar == 'p'){ sample0.shapeId = LS_N; } else { if(!lipSyncSeq.empty()){ int prevVowel = lipSyncSeq.back().shapeId; if(vowel == prevVowel){ sample0.shapeId = vowel + LS_a; } } } } if(sample0.shapeId < 0){ sample0.shapeId = vowel; } else { sample1.shapeId = vowel; } double time = poseIter->time(); while(!lipSyncSeq.empty()){ double prevTime = lipSyncSeq.back().time; double ttime = time - prevTime; if(ttime <= 0.0){ lipSyncSeq.pop_back(); continue; } if(ttime > lipSyncMaxTransitionTime){ lipSyncSeq.push_back(lipSyncSeq.back()); lipSyncSeq.back().time = time - lipSyncMaxTransitionTime; } break; } sample0.time = time; lipSyncSeq.push_back(sample0); if(sample1.shapeId >= 0){ sample1.time = time + 0.05; lipSyncSeq.push_back(sample1); } } LinkInfo* PSIImpl::getIkLinkInfo(int linkIndex) { LinkInfoMap::iterator p = ikLinkInfos.find(linkIndex); if(p == ikLinkInfos.end()){ if(linkIndex >= 0 && linkIndex < body->numLinks()){ p = ikLinkInfos.insert(make_pair(linkIndex, LinkInfo(body, linkIndex))).first; } else { return 0; } } return &p->second; } void PSIImpl::onPoseInserted(PoseSeq::iterator it) { needUpdate = true; } void PSIImpl::onPoseRemoving(PoseSeq::iterator it, bool isMoving) { needUpdate = true; } void PSIImpl::onPoseModified(PoseSeq::iterator it) { needUpdate = true; } choreonoid-1.5.0/src/PoseSeqPlugin/exportdecl.h0000664000000000000000000000227112741425367020232 0ustar rootroot #ifndef CNOID_POSESEQPLUGIN_EXPORTDECL_H_INCLUDED # define CNOID_POSESEQPLUGIN_EXPORTDECL_H_INCLUDED # if defined _WIN32 || defined __CYGWIN__ # define CNOID_POSESEQPLUGIN_DLLIMPORT __declspec(dllimport) # define CNOID_POSESEQPLUGIN_DLLEXPORT __declspec(dllexport) # define CNOID_POSESEQPLUGIN_DLLLOCAL # else # if __GNUC__ >= 4 # define CNOID_POSESEQPLUGIN_DLLIMPORT __attribute__ ((visibility("default"))) # define CNOID_POSESEQPLUGIN_DLLEXPORT __attribute__ ((visibility("default"))) # define CNOID_POSESEQPLUGIN_DLLLOCAL __attribute__ ((visibility("hidden"))) # else # define CNOID_POSESEQPLUGIN_DLLIMPORT # define CNOID_POSESEQPLUGIN_DLLEXPORT # define CNOID_POSESEQPLUGIN_DLLLOCAL # endif # endif # ifdef CNOID_POSESEQPLUGIN_STATIC # define CNOID_POSESEQPLUGIN_DLLAPI # define CNOID_POSESEQPLUGIN_LOCAL # else # ifdef CnoidPoseSeqPlugin_EXPORTS # define CNOID_POSESEQPLUGIN_DLLAPI CNOID_POSESEQPLUGIN_DLLEXPORT # else # define CNOID_POSESEQPLUGIN_DLLAPI CNOID_POSESEQPLUGIN_DLLIMPORT # endif # define CNOID_POSESEQPLUGIN_LOCAL CNOID_POSESEQPLUGIN_DLLLOCAL # endif #endif #ifdef CNOID_EXPORT # undef CNOID_EXPORT #endif #define CNOID_EXPORT CNOID_POSESEQPLUGIN_DLLAPI choreonoid-1.5.0/src/PoseSeqPlugin/PoseFilters.cpp0000664000000000000000000002520312741425367020653 0ustar rootroot/** @file @author Shin'ichiro NAKAOKA */ #include "PoseFilters.h" #include #include using namespace std; using namespace cnoid; namespace { class StepAdjuster { public: PoseSeqPtr seq; const vector& footLinkIndices; map supportingLinks; Vector3 stepAdjustmentTranslation; double stepAdjustmentYawDiff; Matrix3 stepAdjustmentRotation; StepAdjuster(PoseSeqPtr seq, const vector& footLinkIndices, PoseSeq::iterator origin) : seq(seq), footLinkIndices(footLinkIndices) { supportingLinks.clear(); stepAdjustmentTranslation.setZero(); stepAdjustmentYawDiff = 0.0; stepAdjustmentRotation.setIdentity(); PoseSeq::iterator poseIter; for(poseIter = origin; poseIter != seq->end(); ++poseIter){ adjustStepPosition(poseIter); } supportingLinks.clear(); stepAdjustmentTranslation.setZero(); stepAdjustmentYawDiff = 0.0; stepAdjustmentRotation.setIdentity(); poseIter = origin; while(true){ adjustStepPosition(poseIter); if(poseIter == seq->begin()){ break; } poseIter--; } } void adjustStepPosition(PoseSeq::iterator poseIter) { PosePtr pose = poseIter->get(); if(pose){ seq->beginPoseModification(poseIter); bool modified = false; Vector3 dp = Vector3::Zero(); double da = 0.0; for(size_t i=0; i < footLinkIndices.size(); ++i){ int linkIndex = footLinkIndices[i]; Pose::LinkInfo* info = pose->ikLinkInfo(linkIndex); if(info){ map::iterator p = supportingLinks.find(linkIndex); if(p != supportingLinks.end()){ if(!info->isTouching()){ supportingLinks.erase(p); } else { Pose::LinkInfo* prev = p->second; if(prev->p != info->p){ dp += prev->p - info->p; info->p = prev->p; modified = true; } if(prev->R != info->R){ const Matrix3 R = info->R.transpose() * prev->R; da += atan2(R(1,0),R(0,0)); info->R = prev->R; modified = true; } p->second = info; } } } } double ns = supportingLinks.size(); if(modified && ns > 0){ stepAdjustmentTranslation[0] = dp[0] / ns; stepAdjustmentTranslation[1] = dp[1] / ns; stepAdjustmentYawDiff = da / ns; stepAdjustmentRotation = AngleAxisd(stepAdjustmentYawDiff, Vector3::UnitZ()); } bool isDifferent = (stepAdjustmentTranslation != Vector3::Zero() || stepAdjustmentYawDiff != 0.0); if(isDifferent){ modified = true; } for(Pose::LinkInfoMap::iterator it = pose->ikLinkBegin(); it != pose->ikLinkEnd(); ++it){ int linkIndex = it->first; if(supportingLinks.find(linkIndex) == supportingLinks.end()){ Pose::LinkInfo& info = it->second; if(isDifferent){ info.p += stepAdjustmentTranslation; info.R = stepAdjustmentRotation * info.R; } if(info.isTouching()){ supportingLinks.insert(make_pair(linkIndex, &info)); } } } if(pose->isZmpValid() && isDifferent){ pose->setZmp(pose->zmp() + stepAdjustmentTranslation); } if(modified){ seq->endPoseModification(poseIter); } } } }; } void cnoid::adjustStepPositions(PoseSeqPtr seq, const vector& footLinkIndices, PoseSeq::iterator origin) { StepAdjuster adjuster(seq, footLinkIndices, origin); } namespace { struct JointFlipInfo { int counterPartJointId; double jointPositionSign; }; class FlipFilter { BodyPtr body; typedef map JointFlipInfoMap; JointFlipInfoMap jointFlipInfoMap; typedef map LinkFlipMap; LinkFlipMap linkFlipMap; bool flipPose(PosePtr pose); public: FlipFilter(BodyPtr body); void flip(PoseSeqPtr seq); }; } FlipFilter::FlipFilter(BodyPtr body) : body(body) { const Listing& sjoints = *body->info()->findListing("symmetricJoints"); if(sjoints.isValid() && !sjoints.empty()){ for(int i=0; i < sjoints.size(); ++i){ const Listing& jointPair = *sjoints[i].toListing(); if(jointPair.size() == 1){ Link* link = body->link(jointPair[0].toString()); if(link){ JointFlipInfo& info = jointFlipInfoMap[link->jointId()]; info.counterPartJointId = link->jointId(); info.jointPositionSign = -1.0; } } else if(jointPair.size() >= 2){ Link* joint[2]; joint[0] = body->link(jointPair[0].toString()); joint[1] = body->link(jointPair[1].toString()); if(joint[0] && joint[1] && joint[0]->jointId() >= 0 && joint[1]->jointId() >= 0){ for(int j=0; j < 2; ++j){ int other = 1 - j; JointFlipInfo& info = jointFlipInfoMap[joint[j]->jointId()]; info.counterPartJointId = joint[other]->jointId(); info.jointPositionSign = 1.0; if(jointPair.size() >= 3){ info.jointPositionSign = jointPair[2].toDouble(); } } } } } } const Listing& slinks = *body->info()->findListing("symmetricIkLinks"); if(slinks.isValid() && !slinks.empty()){ for(int i=0; i < slinks.size(); ++i){ const Listing& linkPair = *slinks[i].toListing(); if(linkPair.size() == 1){ Link* link = body->link(linkPair[0].toString()); if(link){ linkFlipMap[link->index()] = link->index(); } } else if(linkPair.size() >= 2){ Link* link[2]; link[0] = body->link(linkPair[0].toString()); link[1] = body->link(linkPair[1].toString()); if(link[0] && link[1]){ for(int j=0; j < 2; ++j){ int other = 1 - j; linkFlipMap[link[j]->index()] = link[other]->index(); } } } } } } void FlipFilter::flip(PoseSeqPtr seq) { PoseSeq::iterator poseIter; for(poseIter = seq->begin(); poseIter != seq->end(); ++poseIter){ PosePtr pose = poseIter->get(); if(pose){ seq->beginPoseModification(poseIter); if(flipPose(pose)){ seq->endPoseModification(poseIter); } } } } bool FlipFilter::flipPose(PosePtr pose) { bool modified = false; PosePtr orgPose = static_cast(pose->duplicate()); pose->setNumJoints(0); for(int i=0; i < orgPose->numJoints(); ++i){ if(orgPose->isJointValid(i)){ double q = orgPose->jointPosition(i); JointFlipInfoMap::iterator p = jointFlipInfoMap.find(i); if(p == jointFlipInfoMap.end()){ pose->setJointPosition(i, q); } else { JointFlipInfo& flip = p->second; pose->setJointPosition(flip.counterPartJointId, q * flip.jointPositionSign); modified = true; } } } pose->clearIkLinks(); for(Pose::LinkInfoMap::iterator p = orgPose->ikLinkBegin(); p != orgPose->ikLinkEnd(); ++p){ int index = p->first; Pose::LinkInfo& orgInfo = p->second; Pose::LinkInfo* info; LinkFlipMap::iterator q = linkFlipMap.find(index); if(q != linkFlipMap.end()){ index = q->second; info = pose->addIkLink(index); info->p = orgInfo.p; info->p.y() = -info->p.y(); Matrix3& R = orgInfo.R; info->R << R(0, 0), -R(0, 1), R(0, 2), -R(1, 0), R(1, 1), -R(1, 2), R(2, 0), -R(2, 1), R(2, 2); modified = true; } else { info = pose->addIkLink(index); info->p = orgInfo.p; info->R = orgInfo.R; } info->setStationaryPoint(orgInfo.isStationaryPoint()); if(orgInfo.isTouching()){ info->setTouching(orgInfo.partingDirection()); } info->setSlave(orgInfo.isSlave()); if(orgInfo.isBaseLink()){ pose->setBaseLink(index); } } if(orgPose->isZmpValid()){ Vector3 zmp = orgPose->zmp(); zmp.y() = -zmp.y(); pose->setZmp(zmp); pose->setZmpStationaryPoint(orgPose->isZmpStationaryPoint()); modified = true; } return modified; } void cnoid::flipPoses(PoseSeqPtr seq, BodyPtr body) { FlipFilter filiter(body); filiter.flip(seq); } void cnoid::rotateYawOrientations (PoseSeqPtr seq, PoseSeq::iterator begin, const Vector3& center, double angle) { const Matrix3 Rz(AngleAxisd(angle, Vector3::UnitZ())); PoseSeq::iterator poseIter; for(poseIter = begin; poseIter != seq->end(); ++poseIter){ PosePtr pose = poseIter->get(); if(pose){ if(pose->numIkLinks() > 0 || pose->isZmpValid()){ seq->beginPoseModification(poseIter); for(Pose::LinkInfoMap::iterator p = pose->ikLinkBegin(); p != pose->ikLinkEnd(); ++p){ Pose::LinkInfo& linkInfo = p->second; linkInfo.p = Rz * (linkInfo.p - center) + center; linkInfo.R = Rz * linkInfo.R; } if(pose->isZmpValid()){ pose->setZmp(Rz * (pose->zmp() - center) + center); } seq->endPoseModification(poseIter); } } } } choreonoid-1.5.0/src/PoseSeqPlugin/PoseSeqPlugin.qrc0000664000000000000000000000033012741425367021147 0ustar rootroot icons/trajectory-generation.png icons/auto-update.png icons/balancer.png choreonoid-1.5.0/src/PoseSeqPlugin/PoseSeqViewBase.h0000664000000000000000000001557512741425367021101 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_POSE_SEQ_PLUGIN_POSE_SEQ_VIEW_BASE_H #define CNOID_POSE_SEQ_PLUGIN_POSE_SEQ_VIEW_BASE_H #include "PoseSeqItem.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include namespace cnoid { class PoseSelectionDialog; /// \todo this should be independent ? class LinkPositionAdjustmentDialog; /// \todo this should be independent ? class YawOrientationRotationDialog; class PoseSeqViewBase { public: PoseSeqViewBase(View* view); ~PoseSeqViewBase(); View* view; std::ostream& os; QString textForEmptyName; PoseSeqItemPtr currentPoseSeqItem; PoseSeqPtr seq; bool isSelectedPoseMoving; BodyItemPtr currentBodyItem; BodyPtr body; double currentTime; double timeScale; PoseSeq::iterator currentPoseIter; struct PoseIterTimeComp { bool operator()(const PoseSeq::iterator it1, const PoseSeq::iterator it2) const { return it1->time() < it2->time(); } }; typedef std::multiset PoseIterSet; PoseIterSet selectedPoseIters; PoseSeqPtr copiedPoses; ConnectionSet staticConnections; ConnectionSet poseSeqConnections; Connection connectionOfBodyKinematicStateEdited; ConnectionSet linkTreeAttributeChangeConnections; TimeBar* timeBar; Connection connectionOfTimeChanged; LinkTreeWidget* linkTreeWidget; int baseLinkColumn; ButtonGroup* baseLinkRadioGroup; int validPartColumn; int stationaryPointColumn; int ikPartColumn; boost::dynamic_bitset<> possibleIkLinkFlag; LinkTreeItem* zmpRow; PosePtr poseForDefaultStateSetting; QLabel currentItemLabel; CheckBox timeSyncCheck; ToolButton insertPoseButton; ToolButton updateButton; ToggleToolButton updateAllToggle; ToolButton deleteButton; CheckBox autoUpdateModeCheck; DoubleSpinBox transitionTimeSpin; struct ChildrenState { ChildrenState() : validChildExists(false), allChildrenAreValid(true), childWithStationaryPointExists(false), allChildrenAreStationaryPoints(true) { } bool validChildExists; bool allChildrenAreValid; bool childWithStationaryPointExists; bool allChildrenAreStationaryPoints; }; Menu popupMenu; MenuManager menuManager; PoseSelectionDialog* poseSelectionDialog; LinkPositionAdjustmentDialog* linkPositionAdjustmentDialog; YawOrientationRotationDialog* yawOrientationRotationDialog; PoseSeq::iterator insertPose(); PoseSeq::iterator insertPronunSymbol(); PoseSeq::iterator insertPoseUnit(PoseUnitPtr poseUnit); PoseIterSet::iterator findPoseIterInSelected(PoseSeq::iterator poseIter); bool toggleSelection(PoseSeq::iterator poseIter, bool adding, bool changeTime); void selectAllPoses(); void selectAllPosesAfterCurrentPosition(); void selectAllPosesBeforeCurrentPosition(); void selectPosesHavingSelectedLinks(); void selectPosesJustHavingSelectedLinks(); void removeSelectedPartsFromKeyPoses(); void doAutomaticInterpolationUpdate(); void updateLinkTreeModel(); bool deleteSelectedPoses(); bool cutSelectedPoses(); bool copySelectedPoses(); bool pasteCopiedPoses(double timeToPaste); bool moveSelectedPoses(double time0); bool modifyTransitionTimeOfSelectedPoses(double ttime); void popupContextMenu(QMouseEvent* event); void onSelectSpecifiedKeyPosesActivated(); void onPoseSelectionDialogAccepted(); void onAdjustStepPositionsActivated(); void onRotateYawOrientationsActivated(); void onYawOrientationRotationDialogAccepted(); void onAdjustWaistPositionActivated(); void onLinkPositionAdjustmentDialogAccepted(); void onUpdateKeyposesWithBalancedTrajectoriesActivated(); void onFlipPosesActivated(); void countSelectedKeyPoses(); double quantizedTime(double time); virtual void onLinkTreeUpdateRequest(bool isInitialCreation); virtual void setCurrentPoseSeqItem(PoseSeqItemPtr poseSeqItem); virtual void onTimeScaleChanged(); virtual void onSelectedPosesModified(); virtual void onDeleteButtonClicked(); virtual void onPoseInserted(PoseSeq::iterator it, bool isMoving); virtual void onPoseRemoving(PoseSeq::iterator it, bool isMoving); virtual void onPoseModified(PoseSeq::iterator it); virtual bool onTimeChanged(double time) = 0; virtual void onInsertPoseButtonClicked() = 0; virtual bool restoreState(const Archive& archive); virtual bool storeState(Archive& archive); void onViewActivated(); void onViewDeactivated(); void onTimeSyncCheckToggled(); void setupOperationParts(); void setupLinkTreeWidget(); bool isChecked(LinkTreeItem* item, int column); void setChecked(LinkTreeItem* item, int column, bool checked); void setCheckState(LinkTreeItem* item, int column, Qt::CheckState state); void initializeLinkTree(); void initializeLinkTreeIkLinkColumn(); void initializeLinkTreeTraverse(QTreeWidgetItem* parentItem); void togglePoseAttribute(boost::function toggleFunction); void onBaseLinkRadioClicked(); bool setBaseLink(PosePtr& pose, Link* link); void onValidPartCheckClicked(LinkTreeItem* item, Qt::CheckState checkState); bool toggleZmp(PosePtr& pose, bool on); bool toggleLink(PosePtr& pose, LinkTreeItem* item, Link* link, bool partOn, bool ikOn); bool togglePart(PosePtr& pose, LinkTreeItem* item, bool on); void onStationaryPointCheckClicked(LinkTreeItem* linkTreeItem, Qt::CheckState checkState); bool toggleZmpStationaryPoint(PosePtr& pose, bool on); bool toggleStationaryPoint(PosePtr& pose, Link* link, bool on); bool togglePartStationaryPoints(PosePtr& pose, LinkTreeItem* item, bool on); void onIkPartCheckClicked(LinkTreeItem* item, Qt::CheckState checkState); void onInterpolationParametersChanged(); void onItemSelectionChanged(const ItemList& selectedItems); void setCurrentItemName(ItemPtr item); void onBodyKinematicStateEdited(); void onUpdateButtonClicked(); void setCurrentBodyStateToSelectedPoses(bool onlySelected); bool setCurrentBodyStateToPose(PosePtr& pose, bool onlySelected); bool setCurrentLinkStateToIkLink(Link* link, Pose::LinkInfo* linkInfo); ChildrenState updateLinkTreeModelSub(LinkTreeItem* item, const BodyPtr& body, const Pose& pose); private: void restoreCurrentPoseSeqItem(const Archive& archive); }; } #endif choreonoid-1.5.0/src/PoseSeqPlugin/PoseRollView.h0000664000000000000000000000132212741425367020447 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_POSE_SEQ_PLUGIN_POSE_ROLL_VIEW_H_INCLUDED #define CNOID_POSE_SEQ_PLUGIN_POSE_ROLL_VIEW_H_INCLUDED #include #include "exportdecl.h" namespace cnoid { class Archive; class PoseRollViewImpl; class PoseSeqItem; class CNOID_EXPORT PoseRollView : public View { public: static void initializeClass(ExtensionManager* ext); PoseRollView(); ~PoseRollView(); PoseSeqItem* currentPoseSeqItem(); private: PoseRollViewImpl* impl; virtual bool storeState(Archive& archive); virtual bool restoreState(const Archive& archive); virtual bool eventFilter(QObject *obj, QEvent *event); }; } #endif choreonoid-1.5.0/src/PoseSeqPlugin/LipSyncTranslator.h0000664000000000000000000000343212741425367021514 0ustar rootroot/** @file @author Shin'ichiro NAKAOKA */ #ifndef CNOID_CHOREOGRAPHY_LIP_SYNC_TRANSLATOR_H_INCLUDED #define CNOID_CHOREOGRAPHY_LIP_SYNC_TRANSLATOR_H_INCLUDED #include #include #include "exportdecl.h" namespace cnoid { class PoseSeq; class CNOID_EXPORT LipSyncTranslator { public: enum LipShapeId { LS_A, LS_I, LS_U, LS_E, LS_O, LS_N, LS_a, LS_i, LS_u, LS_e, LS_o, NUM_LIP_SHAPES }; struct Phoneme { double time; int shapeId; }; typedef std::list::iterator iterator; typedef std::list::const_iterator const_iterator; LipSyncTranslator(); void translatePoseSeq(PoseSeq& poseSeq); bool appendSyllable(double time, const std::string& syllable); bool exportSeqFileForFaceController(const std::string& filename); void enableMaxTransitionTime(bool on){ isMaxTransitionTimeEnabled_ = on; } bool isMaxTransitionTimeEnabled() const { return isMaxTransitionTimeEnabled_; } void setMaxTransitionTime(double ttime) { maxTransitionTime_ = ttime; } double maxTransitionTime() const { return maxTransitionTime_; } void clear(); inline bool empty() const { return seq.empty(); } inline std::list::size_type size() const { return seq.size(); } inline iterator begin(){ return seq.begin(); } inline const_iterator begin() const { return seq.begin(); } inline iterator end(){ return seq.end(); } inline const_iterator end() const { return seq.end(); } private: typedef std::list PhonemeList; PhonemeList seq; bool isMaxTransitionTimeEnabled_; double maxTransitionTime_; }; } #endif choreonoid-1.5.0/src/PoseSeqPlugin/LipSyncTranslator.cpp0000664000000000000000000000635212741425367022053 0ustar rootroot/** @file @author Shin'ichiro NAKAOKA */ #include "LipSyncTranslator.h" #include "PronunSymbol.h" #include "PoseSeq.h" #include using namespace std; using namespace boost; using namespace cnoid; LipSyncTranslator::LipSyncTranslator() { isMaxTransitionTimeEnabled_ = false; maxTransitionTime_ = 0.2; } void LipSyncTranslator::clear() { seq.clear(); } void LipSyncTranslator::translatePoseSeq(PoseSeq& poseSeq) { clear(); for(PoseSeq::iterator poseIter = poseSeq.begin(); poseIter != poseSeq.end(); ++poseIter){ PronunSymbolPtr symbol = poseIter->get(); if(symbol && !symbol->name().empty()){ appendSyllable(poseIter->time(), symbol->name()); } } } bool LipSyncTranslator::appendSyllable(double time, const std::string& syllable) { if(syllable.empty()){ return false; } int vowel = -1; switch(tolower(syllable[syllable.size()-1])){ case 'a': vowel = LS_A; break; case 'i': vowel = LS_I; break; case 'u': vowel = LS_U; break; case 'e': vowel = LS_E; break; case 'o': vowel = LS_O; break; case 'n': vowel = LS_N; break; case ',': vowel = LS_N; break; case '.': vowel = LS_N; break; default: break; } if(vowel < 0){ return false; } Phoneme phoneme0; phoneme0.shapeId = -1; Phoneme phoneme1; phoneme1.shapeId = -1; if(vowel != LS_N && syllable.size() >= 2){ int consonantChar = tolower(syllable[0]); if(consonantChar == 'm' || consonantChar == 'b' || consonantChar == 'p'){ phoneme0.shapeId = LS_N; } else if(!seq.empty()){ int prevVowel = seq.back().shapeId; if(vowel == prevVowel){ phoneme0.shapeId = vowel + LS_a; } } } if(phoneme0.shapeId < 0){ phoneme0.shapeId = vowel; } else { phoneme1.shapeId = vowel; } while(!seq.empty()){ double prevTime = seq.back().time; double ttime = time - prevTime; if(ttime <= 0.0){ seq.pop_back(); continue; } if(isMaxTransitionTimeEnabled_ && (ttime > maxTransitionTime_)){ seq.push_back(seq.back()); seq.back().time = time - maxTransitionTime_; } break; } phoneme0.time = time; seq.push_back(phoneme0); if(phoneme1.shapeId >= 0){ phoneme1.time = time + 0.05; seq.push_back(phoneme1); } return true; } bool LipSyncTranslator::exportSeqFileForFaceController(const std::string& filename) { ofstream ofs(filename.c_str()); for(iterator p = seq.begin(); p != seq.end(); ++p){ ofs << p->time << ", "; switch (p->shapeId) { case LS_A: ofs << "a"; break; case LS_a: ofs << "a0"; break; case LS_I: ofs << "i"; break; case LS_i: ofs << "i0"; break; case LS_U: ofs << "u"; break; case LS_u: ofs << "u0"; break; case LS_E: ofs << "e"; break; case LS_e: ofs << "e0"; break; case LS_O: ofs << "o"; break; case LS_o: ofs << "o0"; break; case LS_N: ofs << "n"; break; default: break; } ofs << "\n"; } ofs.close(); return true; } choreonoid-1.5.0/src/PoseSeqPlugin/PoseFilters.h0000664000000000000000000000125212741425367020316 0ustar rootroot/** @file @author Shin'ichiro NAKAOKA */ #ifndef CNOID_CHOREOGRAPHY_POSE_FILTERS_H_INCLUDED #define CNOID_CHOREOGRAPHY_POSE_FILTERS_H_INCLUDED #include "PoseSeq.h" #include "exportdecl.h" namespace cnoid { CNOID_EXPORT void adjustStepPositions( PoseSeqPtr seq, const std::vector& footLinkIndices, PoseSeq::iterator origin); CNOID_EXPORT void flipPoses(PoseSeqPtr seq, BodyPtr body); CNOID_EXPORT void adjustWaistHeight( PosePtr pose, int waistLinkIndex, const std::vector& footLinkIndices, double offset); CNOID_EXPORT void rotateYawOrientations( PoseSeqPtr seq, PoseSeq::iterator begin, const Vector3& center, double angle); } #endif choreonoid-1.5.0/src/PoseSeqPlugin/PoseSeqView.h0000664000000000000000000000104412741425367020270 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_CHOREOGRAPHY_BODY_POSE_SEQ_VIEW_H_INCLUDED #define CNOID_CHOREOGRAPHY_BODY_POSE_SEQ_VIEW_H_INCLUDED #include namespace cnoid { class Archive; class ExtensionManager; class PoseSeqViewImpl; class PoseSeqView : public cnoid::View { public: PoseSeqView(ExtensionManager& ext); ~PoseSeqView(); private: PoseSeqViewImpl* impl; virtual bool storeState(Archive& archive); virtual bool restoreState(const Archive& archive); }; } #endif choreonoid-1.5.0/src/PoseSeqPlugin/BodyMotionGenerationBar.h0000664000000000000000000000676212741425367022616 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_POSE_SEQ_PLUGIN_BODY_MOTION_GENERATION_BAR_H #define CNOID_POSE_SEQ_PLUGIN_BODY_MOTION_GENERATION_BAR_H #include #include #include #include #include #include "exportdecl.h" namespace cnoid { class ExtensionManager; class TimeBar; class PoseProvider; class BodyMotionPoseProvider; class PoseProviderToBodyMotionConverter; class BodyMotionGenerationSetupDialog; class ToggleToolButton; class Action; class CNOID_EXPORT BodyMotionGenerationBar : public ToolBar { public: static void initializeInstance(ExtensionManager* ext); static BodyMotionGenerationBar* instance(); virtual ~BodyMotionGenerationBar(); bool shapeBodyMotion( BodyPtr body, PoseProvider* provider, BodyMotionItemPtr motionItem, bool putMessages = false); class Balancer { public: virtual bool apply(BodyPtr& body, PoseProvider* provider, BodyMotionItemPtr motionItem, bool putMessages) = 0; virtual void storeState(Archive& archive) = 0; virtual void restoreState(const Archive& archive) = 0; virtual QWidget* panel() = 0; }; //void setBalancer(BalancerFunc func, QWidget* panel); void setBalancer(Balancer* balancer); void unsetBalancer(); bool isAutoInterpolationUpdateMode() const; bool isBalancerEnabled() const; bool isAutoGenerationMode() const; bool isAutoGenerationForNewBodyEnabled() const; double timeScaleRatio() const; double preInitialDuration() const; double postFinalDuration() const; double timeToStartBalancer() const; int balancerIterations() const; int boundaryConditionType() const; int boundarySmootherType() const; double boundarySmootherTime() const; double dynamicsTimeRatio() const; bool isTimeBarRangeOnly() const; int initialWaistTrajectoryMode() const; bool isStealthyStepMode() const; double stealthyHeightRatioThresh() const; double flatLiftingHeight() const; double flatLandingHeight() const; double impactReductionHeight() const; double impactReductionTime() const; bool isAutoZmpAdjustmentMode() const; double minZmpTransitionTime() const; double zmpCenteringTimeThresh() const; double zmpTimeMarginBeforeLifting() const; double zmpMaxDistanceFromCenter() const; bool isSe3Enabled() const; bool isLipSyncMixMode() const; SignalProxy sigInterpolationParametersChanged() { return sigInterpolationParametersChanged_.signal(); } private: BodyMotionPoseProvider* bodyMotionPoseProvider; PoseProviderToBodyMotionConverter* poseProviderToBodyMotionConverter; Balancer* balancer; TimeBar* timeBar; BodyMotionGenerationSetupDialog* setup; Action* autoInterpolationUpdateCheck; Action* autoGenerationForNewBodyCheck; ToolButton* balancerToggle; ToolButton* autoGenerationToggle; LazySignal< Signal >sigInterpolationParametersChanged_; ConnectionSet interpolationParameterWidgetsConnection; BodyMotionGenerationBar(); void notifyInterpolationParametersChanged(); void onGenerationButtonClicked(); bool shapeBodyMotionWithSimpleInterpolation (BodyPtr& body, PoseProvider* provider, BodyMotionItemPtr motionItem); virtual bool storeState(Archive& archive); virtual bool restoreState(const Archive& archive); }; } #endif choreonoid-1.5.0/src/PoseSeqPlugin/PronunSymbol.cpp0000664000000000000000000000130612741425367021061 0ustar rootroot/** @file @author Shin'ichiro NAKAOKA */ #include "PronunSymbol.h" #include #include using namespace std; using namespace cnoid; PronunSymbol::PronunSymbol() { } PronunSymbol::PronunSymbol(const PronunSymbol& org) : PoseUnit(org), actualPoseUnit_(org.actualPoseUnit_) { } PronunSymbol::~PronunSymbol() { } PoseUnit* PronunSymbol::duplicate() { return new PronunSymbol(*this); } bool PronunSymbol::restore(const Mapping& archive, const BodyPtr body) { return true; } void PronunSymbol::store(Mapping& archive, const BodyPtr body) const { archive.write("type", "PronunSymbol"); archive.write("name", name(), DOUBLE_QUOTED); } choreonoid-1.5.0/src/PoseSeqPlugin/Pose.cpp0000664000000000000000000001646112741425367017330 0ustar rootroot/** @file @author Shin'ichiro NAKAOKA */ #include "Pose.h" #include #include using namespace std; using namespace boost; using namespace cnoid; PoseUnit::PoseUnit() { owner = 0; seqLocalReferenceCounter = 0; } PoseUnit::PoseUnit(const PoseUnit& org) : name_(org.name_) { owner = 0; seqLocalReferenceCounter = 0; } PoseUnit::~PoseUnit() { } Pose::Pose() { initializeMembers(); } Pose::Pose(int numJoints) : jointInfos(numJoints) { initializeMembers(); } Pose::Pose(const Pose& org) : PoseUnit(org), jointInfos(org.jointInfos), ikLinks(org.ikLinks) { zmp_ = org.zmp_; isZmpValid_ = org.isZmpValid_; isZmpStationaryPoint_ = org.isZmpStationaryPoint_; baseLinkIter = ikLinks.end(); if(org.baseLinkIter != org.ikLinks.end()){ int baseLinkIndex = org.baseLinkIter->first; baseLinkIter = ikLinks.find(baseLinkIndex); } } void Pose::initializeMembers() { baseLinkIter = ikLinks.end(); isZmpValid_ = false; isZmpStationaryPoint_ = true; } Pose::~Pose() { } bool Pose::hasSameParts(PoseUnitPtr unit) { PosePtr pose = dynamic_pointer_cast(unit); if(!pose){ return false; } const int n = numJoints(); if(n != pose->numJoints()){ return false; } for(int i=0; i < n; ++i){ if(isJointValid(i) != pose->isJointValid(i)){ return false; } } return true; } bool Pose::empty() { if(!ikLinks.empty()){ return false; } if(isZmpValid_){ return false; } for(size_t i=0; i < jointInfos.size(); ++i){ if(jointInfos[i].isValid){ return false; } } return true; } void Pose::clear() { jointInfos.clear(); ikLinks.clear(); initializeMembers(); } void Pose::clearIkLinks() { ikLinks.clear(); baseLinkIter = ikLinks.end(); } bool Pose::removeIkLink(int linkIndex) { LinkInfoMap::iterator p = ikLinks.find(linkIndex); if(p != ikLinks.end()){ if(p == baseLinkIter){ baseLinkIter = ikLinks.end(); } ikLinks.erase(p); return true; } return false; } Pose::LinkInfo& Pose::setBaseLink(int linkIndex) { if(baseLinkIter != ikLinks.end()){ const int oldIndex = baseLinkIter->first; if(linkIndex == oldIndex){ return baseLinkIter->second; } baseLinkIter->second.isBaseLink_ = false; } baseLinkIter = ikLinks.insert(make_pair(linkIndex, LinkInfo())).first; LinkInfo& info = baseLinkIter->second; info.isBaseLink_ = true; return info; } PoseUnit* Pose::duplicate() { return new Pose(*this); } bool Pose::restore(const Mapping& archive, const BodyPtr body) { clear(); const Listing& jointIndices = *archive.findListing("joints"); if(jointIndices.isValid()){ int maxIndex = jointIndices.back()->toInt(); setNumJoints(maxIndex + 1); const Listing& qs = *archive["q"].toListing(); for(int i=0; i < jointIndices.size(); ++i){ setJointPosition(jointIndices[i].toInt(), qs[i].toDouble()); } } const Listing& stationaryPoints = *archive.findListing("spJoints"); if(stationaryPoints.isValid()){ for(int i=0; i < stationaryPoints.size(); ++i){ jointInfos[stationaryPoints[i].toInt()].isStationaryPoint = true; } } const Listing& ikLinkNodes = *archive.findListing("ikLinks"); if(ikLinkNodes.isValid()){ for(int i=0; i < ikLinkNodes.size(); ++i){ const Mapping& ikLinkNode = *ikLinkNodes[i].toMapping(); int index = -1; ValueNode* nameNode = ikLinkNode.find("name"); if(nameNode->isValid()){ Link* link = body->link(nameNode->toString()); if(link){ index = link->index(); } } if(index < 0){ ValueNode* indexNode = ikLinkNode.find("index"); if(indexNode->isValid()){ index = indexNode->toInt(); } } if(index >= 0){ Vector3 p; Matrix3 R; if(read(ikLinkNode, "translation", p) && read(ikLinkNode, "rotation", R)){ LinkInfo* info = addIkLink(index); info->p = p; info->R = R; info->setStationaryPoint(ikLinkNode.get("isStationaryPoint", false)); if(ikLinkNode.get("isBaseLink", false)){ setBaseLink(index); } Vector3 partingDirection; if(ikLinkNode.get("isTouching", false) && read(ikLinkNode, "partingDirection", partingDirection)){ info->setTouching(partingDirection); } info->setSlave(ikLinkNode.get("isSlave", false)); } } } } if(read(archive, "zmp", zmp_)){ isZmpValid_ = true; archive.read("isZmpStationaryPoint", isZmpStationaryPoint_); } return true; } void Pose::store(Mapping& archive, const BodyPtr body) const { archive.write("type", "Pose"); archive.write("name", name(), DOUBLE_QUOTED); ListingPtr jointIndices = new Listing(); ListingPtr qs = new Listing(); qs->setDoubleFormat(archive.doubleFormat()); ListingPtr spJoints = new Listing(); int n = numJoints(); for(int i=0; i < n; ++i){ const JointInfo& info = jointInfos[i]; if(info.isValid){ jointIndices->append(i, 10, n); qs->append(info.q, 10, n); if(info.isStationaryPoint){ spJoints->append(i, 10); } } } if(!jointIndices->empty()){ jointIndices->setFlowStyle(); archive.insert("joints", jointIndices); qs->setFlowStyle(); archive.insert("q", qs); if(!spJoints->empty()){ spJoints->setFlowStyle(); archive.insert("spJoints", spJoints); } } if(!ikLinks.empty()){ Listing& ikLinkNodes = *archive.createListing("ikLinks"); for(LinkInfoMap::const_iterator p = ikLinks.begin(); p != ikLinks.end(); ++p){ const int index = p->first; const LinkInfo& info = p->second; Mapping& ikLinkNode = *ikLinkNodes.newMapping(); ikLinkNode.write("name", body->link(index)->name()); ikLinkNode.write("index", index); if(info.isBaseLink()){ ikLinkNode.write("isBaseLink", info.isBaseLink()); } if(info.isStationaryPoint()){ ikLinkNode.write("isStationaryPoint", info.isStationaryPoint()); } write(ikLinkNode, "translation", info.p); write(ikLinkNode, "rotation", info.R); if(info.isTouching()){ ikLinkNode.write("isTouching", true); write(ikLinkNode, "partingDirection", info.partingDirection()); } if(info.isSlave()){ ikLinkNode.write("isSlave", true); } } } if(isZmpValid()){ write(archive, "zmp", zmp_); archive.write("isZmpStationaryPoint", isZmpStationaryPoint_); } } choreonoid-1.5.0/src/PoseSeqPlugin/CMakeLists.txt0000664000000000000000000000214112741425367020444 0ustar rootroot # @author Shin'ichiro Nakaoka # set(CMAKE_BUILD_TYPE Debug) option(BUILD_POSE_SEQ_PLUGIN "Building PoseSeqPlugin" ON) if(NOT BUILD_POSE_SEQ_PLUGIN) return() endif() set(target CnoidPoseSeqPlugin) set(sources PoseSeqPlugin.cpp Pose.cpp PoseSeq.cpp PoseSeqInterpolator.cpp PronunSymbol.cpp PoseFilters.cpp LipSyncTranslator.cpp PoseSeqItem.cpp PoseSeqEngine.cpp PoseSeqViewBase.cpp #PoseSeqView.cpp PoseRollView.cpp BodyMotionGenerationBar.cpp FcpFileLoader.cpp ) set(headers Pose.h PoseSeq.h PoseSeqInterpolator.h PoseFilters.h PoseSeqItem.h BodyMotionGenerationBar.h exportdecl.h gettext.h ) if(NOT QT5) QT4_ADD_RESOURCES(RC_SRCS PoseSeqPlugin.qrc) else() QT5_ADD_RESOURCES(RC_SRCS PoseSeqPlugin.qrc) endif() make_gettext_mofiles(${target} mofiles) add_cnoid_plugin(${target} SHARED ${sources} ${headers} ${mofiles} ${RC_SRCS}) target_link_libraries(${target} CnoidUtil CnoidBody CnoidBodyPlugin) apply_common_setting_for_plugin(${target} "${headers}") if(QT5) qt5_use_modules(${target} Widgets) endif() if(ENABLE_PYTHON) add_subdirectory(python) endif() choreonoid-1.5.0/src/PoseSeqPlugin/FcpFileLoader.cpp0000664000000000000000000002307612741425367021061 0ustar rootroot/** @file FaceController Plugin File (*.poseset and *.poseseq) Loader @author Shin'ichiro Nakaoka */ #include "FcpFileLoader.h" #include "PoseSeqItem.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { inline double radian(double deg) { return (3.14159265358979 * deg / 180.0); } struct FcPose { vector q; double transitionTime; }; struct Part { vector jointIds; map poses; }; typedef boost::shared_ptr PartPtr; vector parts; bool loadFaceControllerPoseSet(const string& filename) { ostream& os = MessageView::mainInstance()->cout(); parts.clear(); ifstream ifs(filename.c_str()); if(!ifs.is_open()){ os << filename << " is not found.\n"; return false; } os << "Loading " << filename << "..." << endl; int nLines = 0; try { typedef tokenizer< char_separator > tokenizer; char_separator sep(" \t\r\n"); string line; while(getline(ifs, line)){ ++nLines; // for a text with CRLF if(!line.empty() && line[line.length()-1] == '\r'){ line = line.substr(0, line.length()-1); } tokenizer tokens(line, sep); tokenizer::iterator it = tokens.begin(); if(it != tokens.end()){ if(*it == "*"){ ++it; PartPtr part(new Part()); while(it != tokens.end()){ part->jointIds.push_back(lexical_cast(*it++)); } if(!part->jointIds.empty()){ os << "pose registration of the joint set "; size_t i=0; while(true){ os << part->jointIds[i++]; if(i == part->jointIds.size()){ break; } os << ", "; } os << endl; parts.push_back(part); } } else if(parts.empty()){ os << "Poses cannot be defined without a part definition"; os << " at line " << nLines << "." << endl; break; } else { PartPtr part = parts.back(); string label(*it++); FcPose pose; if(it != tokens.end()){ while(true){ double value = lexical_cast(*it++); if(it == tokens.end()){ pose.transitionTime = value; break; } pose.q.push_back(radian(value)); } } if(pose.q.size() != part->jointIds.size()){ os << "label \"" << label << "\" is not correctly defined"; os << " at line " << nLines << "." << endl; } else { part->poses[label] = pose; os << label << " "; for(size_t i=0; i < pose.q.size(); ++i){ os << pose.q[i] << ", "; } os << " : " << pose.transitionTime; os << endl; } } } } if(!parts.empty()){ cout << endl; } } catch(const bad_lexical_cast& ex){ os << ex.what() << " at line " << nLines << endl; parts.clear(); } return !parts.empty(); } PoseSeqItemPtr loadFaceControllerPoseSeq(const string& filename) { ostream& os = MessageView::mainInstance()->cout(); ifstream ifs(filename.c_str()); if(!ifs.is_open()){ os << filename + "is not found" << endl; return 0; } os << "Loading " << filename << "..." << endl; PoseSeqItemPtr item = new PoseSeqItem(); filesystem::path fpath(filename); item->setName(basename(fpath)); PoseSeqPtr seq = item->poseSeq(); int nLines = 0; try { typedef tokenizer< char_separator > tokenizer; char_separator sep(" ,\t\r\n", "", boost::keep_empty_tokens); int nPoses = 0; string line; while(getline(ifs, line)){ nLines++; // for a text with CRLF if(!line.empty() && line[line.length()-1] == '\r'){ line = line.substr(0, line.length()-1); } tokenizer tokens(line, sep); tokenizer::iterator it = tokens.begin(); if(it != tokens.end()){ if(*it != "#"){ PoseSeq::iterator poseIter = seq->begin(); double time = lexical_cast(*it++); int numParts = parts.size(); bool poseAdded = false; for(int i=0; it != tokens.end(); ++i, ++it){ if(i == numParts){ os << "line at time " << time << " contains parts more than defined ones." << endl; break; } Part& part = *parts[i]; string label(*it); if(!label.empty()){ map::iterator p = part.poses.find(label); if(p == part.poses.end()){ os << "label \"" << label << "\" is not defined"; os << " at line " << nLines << "." << endl; } else { const FcPose& fcPose = p->second; PosePtr pose(new Pose()); for(size_t j=0; j < part.jointIds.size(); ++j){ pose->setJointPosition(part.jointIds[j], fcPose.q[j]); } poseIter = seq->insert(poseIter, time, pose); poseIter->setMaxTransitionTime(fcPose.transitionTime); poseAdded = true; } } } if(poseAdded){ nPoses++; } } } } os << "A pose sequence with " << nPoses << " poses has been loaded." << endl; } catch(const bad_lexical_cast& ex){ os << "FaceController : " << ex.what() << endl; os << " at line " << nLines << "." << endl; item = 0; } return item; } void invokeFaceControllerPatternFileImportDialog() { /// \todo The function by the following code shoulde be provided by ItemManger QFileDialog dialog(MainWindow::instance()); dialog.setWindowTitle(_("Choose poseset file")); dialog.setFileMode(QFileDialog::ExistingFile); dialog.setViewMode(QFileDialog::List); dialog.setLabelText(QFileDialog::Accept, _("Open")); dialog.setLabelText(QFileDialog::Reject, _("Cancel")); QStringList filters; filters << _("FaceController poseset files (*.poseset)"); filters << _("Any files (*)"); dialog.setNameFilters(filters); string currentFolder; if(AppConfig::archive()->read("currentFileDialogDirectory", currentFolder)){ dialog.setDirectory(currentFolder.c_str()); } string posesetFile; if(dialog.exec()){ posesetFile = dialog.selectedFiles().front().toStdString(); dialog.setWindowTitle(_("Choose poseseq files")); QStringList filters; filters << _("FaceController poseseq files (*.poseseq)"); filters << _("Any files (*)"); dialog.setNameFilters(filters); if(dialog.exec()){ dialog.hide(); MessageView::mainInstance()->flush(); ItemTreeView* itv = ItemTreeView::mainInstance(); Item* parentItem = itv->selectedItem(); if(!parentItem){ parentItem = itv->rootItem(); } QStringList poseseqFiles = dialog.selectedFiles(); AppConfig::archive()->write( "currentFileDialogDirectory", dialog.directory().absolutePath().toStdString(), DOUBLE_QUOTED); if(loadFaceControllerPoseSet(posesetFile)){ for(int i=0; i < poseseqFiles.size(); ++i){ PoseSeqItemPtr item = loadFaceControllerPoseSeq(poseseqFiles[i].toStdString()); if(item){ parentItem->addChildItem(item); } } } } } dialog.hide(); } } void cnoid::initializeFcpFileLoader(ExtensionManager& ext) { MenuManager& mm = ext.menuManager(); mm.setPath("/File/Import ..."); mm.addItem(_("FaceController Plugin Pattern Files")) ->sigTriggered().connect(invokeFaceControllerPatternFileImportDialog); } choreonoid-1.5.0/src/PoseSeqPlugin/BodyMotionGenerationBar.cpp0000664000000000000000000006227112741425367023146 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "BodyMotionGenerationBar.h" #include "PoseSeqItem.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { const bool TRACE_FUNCTIONS = false; } namespace cnoid { class BodyMotionGenerationSetupDialog : public Dialog { public: QVBoxLayout* vbox; DoubleSpinBox timeScaleRatioSpin; DoubleSpinBox preInitialDurationSpin; DoubleSpinBox postFinalDurationSpin; CheckBox onlyTimeBarRangeCheck; CheckBox newBodyItemCheck; CheckBox stealthyStepCheck; DoubleSpinBox stealthyHeightRatioThreshSpin; DoubleSpinBox flatLiftingHeightSpin; DoubleSpinBox flatLandingHeightSpin; DoubleSpinBox impactReductionHeightSpin; DoubleSpinBox impactReductionTimeSpin; CheckBox autoZmpCheck; DoubleSpinBox minZmpTransitionTimeSpin; DoubleSpinBox zmpCenteringTimeThreshSpin; DoubleSpinBox zmpTimeMarginBeforeLiftingSpin; DoubleSpinBox zmpMaxDistanceFromCenterSpin; CheckBox se3Check; CheckBox lipSyncMixCheck; void addSeparator(QVBoxLayout* vbox){ vbox->addSpacing(4); vbox->addWidget(new HSeparator()); vbox->addSpacing(2); } void addSeparator(QVBoxLayout* vbox, QWidget* widget) { vbox->addSpacing(4); vbox->addLayout(new HSeparatorBox(widget)); vbox->addSpacing(2); } QHBoxLayout* newRow(QVBoxLayout* vbox) { QHBoxLayout* hbox = new QHBoxLayout(); hbox->setSpacing(2); hbox->setContentsMargins(2, 2, 2, 2); vbox->addLayout(hbox); return hbox; } BodyMotionGenerationSetupDialog() { setWindowTitle(_("Body Motion Generation Setup")); vbox = new QVBoxLayout(); QHBoxLayout* hbox = newRow(vbox); hbox->addWidget(new QLabel(_("Time scale"))); timeScaleRatioSpin.setDecimals(2); timeScaleRatioSpin.setRange(0.01, 9.99); timeScaleRatioSpin.setSingleStep(0.01); timeScaleRatioSpin.setValue(1.0); hbox->addWidget(&timeScaleRatioSpin); hbox->addSpacing(8); hbox->addWidget(new QLabel(_("Pre-initial"))); preInitialDurationSpin.setDecimals(1); preInitialDurationSpin.setRange(0.0, 9.9); preInitialDurationSpin.setSingleStep(0.1); preInitialDurationSpin.setValue(1.0); hbox->addWidget(&preInitialDurationSpin); hbox->addWidget(new QLabel(_("[s]"))); hbox->addSpacing(8); hbox->addWidget(new QLabel(_("Post-final"))); postFinalDurationSpin.setDecimals(1); postFinalDurationSpin.setRange(0.0, 9.9); postFinalDurationSpin.setSingleStep(0.1); postFinalDurationSpin.setValue(1.0); hbox->addWidget(&postFinalDurationSpin); hbox->addWidget(new QLabel(_("[s]"))); hbox->addStretch(); hbox = newRow(vbox); onlyTimeBarRangeCheck.setText(_("Time bar's range only")); onlyTimeBarRangeCheck.setChecked(false); hbox->addWidget(&onlyTimeBarRangeCheck); se3Check.setText(_("Put all link positions")); se3Check.setChecked(false); hbox->addWidget(&se3Check); hbox->addStretch(); hbox = newRow(vbox); newBodyItemCheck.setText(_("Make a new body item")); newBodyItemCheck.setChecked(true); hbox->addWidget(&newBodyItemCheck); hbox->addStretch(); addSeparator(vbox, &stealthyStepCheck); stealthyStepCheck.setText(_("Stealthy Step Mode")); stealthyStepCheck.setToolTip(_("This mode makes foot lifting / landing smoother to increase the stability")); stealthyStepCheck.setChecked(true); hbox = newRow(vbox); hbox->addWidget(new QLabel(_("Height ratio thresh"))); stealthyHeightRatioThreshSpin.setAlignment(Qt::AlignCenter); stealthyHeightRatioThreshSpin.setDecimals(2); stealthyHeightRatioThreshSpin.setRange(1.00, 9.99); stealthyHeightRatioThreshSpin.setSingleStep(0.01); stealthyHeightRatioThreshSpin.setValue(2.0); hbox->addWidget(&stealthyHeightRatioThreshSpin); hbox->addStretch(); hbox = newRow(vbox); hbox->addWidget(new QLabel(_("Flat Lifting Height"))); flatLiftingHeightSpin.setAlignment(Qt::AlignCenter); flatLiftingHeightSpin.setDecimals(3); flatLiftingHeightSpin.setRange(0.0, 0.0999); flatLiftingHeightSpin.setSingleStep(0.001); flatLiftingHeightSpin.setValue(0.005); hbox->addWidget(&flatLiftingHeightSpin); hbox->addWidget(new QLabel(_("[m]"))); hbox->addSpacing(8); hbox->addWidget(new QLabel(_("Flat Landing Height"))); flatLandingHeightSpin.setAlignment(Qt::AlignCenter); flatLandingHeightSpin.setDecimals(3); flatLandingHeightSpin.setRange(0.0, 0.0999); flatLandingHeightSpin.setSingleStep(0.001); flatLandingHeightSpin.setValue(0.005); hbox->addWidget(&flatLandingHeightSpin); hbox->addWidget(new QLabel(_("[m]"))); hbox->addStretch(); hbox = newRow(vbox); hbox->addWidget(new QLabel(_("Impact reduction height"))); impactReductionHeightSpin.setAlignment(Qt::AlignCenter); impactReductionHeightSpin.setDecimals(3); impactReductionHeightSpin.setRange(0.0, 0.099); impactReductionHeightSpin.setSingleStep(0.001); impactReductionHeightSpin.setValue(0.005); hbox->addWidget(&impactReductionHeightSpin); hbox->addWidget(new QLabel(_("[m]"))); hbox->addSpacing(8); hbox->addWidget(new QLabel(_("Impact reduction time"))); impactReductionTimeSpin.setAlignment(Qt::AlignCenter); impactReductionTimeSpin.setDecimals(3); impactReductionTimeSpin.setRange(0.001, 0.999); impactReductionTimeSpin.setSingleStep(0.001); impactReductionTimeSpin.setValue(0.04); hbox->addWidget(&impactReductionTimeSpin); hbox->addWidget(new QLabel(_("[s]"))); hbox->addStretch(); addSeparator(vbox, &autoZmpCheck); autoZmpCheck.setText(_("Auto ZMP Mode")); autoZmpCheck.setToolTip(_("Automatically insert ZMP and foot key poses for stable motion")); autoZmpCheck.setChecked(true); hbox = newRow(vbox); hbox->addWidget(new QLabel(_("Min. transtion time"))); minZmpTransitionTimeSpin.setDecimals(2); minZmpTransitionTimeSpin.setRange(0.01, 0.99); minZmpTransitionTimeSpin.setSingleStep(0.01); minZmpTransitionTimeSpin.setValue(0.1); hbox->addWidget(&minZmpTransitionTimeSpin); hbox->addWidget(new QLabel(_("[s]"))); hbox->addSpacing(8); hbox->addWidget(new QLabel(_("Centering time thresh"))); zmpCenteringTimeThreshSpin.setDecimals(3); zmpCenteringTimeThreshSpin.setRange(0.001, 0.999); zmpCenteringTimeThreshSpin.setSingleStep(0.001); zmpCenteringTimeThreshSpin.setValue(0.03); hbox->addWidget(&zmpCenteringTimeThreshSpin); hbox->addWidget(new QLabel(_("[s]"))); hbox->addStretch(); hbox = newRow(vbox); hbox->addWidget(new QLabel(_("Time margin before lifting"))); zmpTimeMarginBeforeLiftingSpin.setDecimals(3); zmpTimeMarginBeforeLiftingSpin.setRange(0.0, 0.999); zmpTimeMarginBeforeLiftingSpin.setSingleStep(0.001); zmpTimeMarginBeforeLiftingSpin.setValue(0.0); hbox->addWidget(&zmpTimeMarginBeforeLiftingSpin); hbox->addWidget(new QLabel(_("[s]"))); hbox->addSpacing(8); hbox->addWidget(new QLabel(_("Max distance from center"))); zmpMaxDistanceFromCenterSpin.setDecimals(3); zmpMaxDistanceFromCenterSpin.setRange(0.001, 0.999); zmpMaxDistanceFromCenterSpin.setSingleStep(0.001); zmpMaxDistanceFromCenterSpin.setValue(0.02); hbox->addWidget(&zmpMaxDistanceFromCenterSpin); hbox->addWidget(new QLabel(_("[m]"))); hbox->addStretch(); addSeparator(vbox); hbox = newRow(vbox); lipSyncMixCheck.setText(_("Mix lip-sync motion")); lipSyncMixCheck.setChecked(false); hbox->addWidget(&lipSyncMixCheck); hbox->addStretch(); QVBoxLayout* topVBox = new QVBoxLayout(); topVBox->addLayout(vbox); addSeparator(topVBox); QPushButton* okButton = new QPushButton(_("&Ok")); okButton->setDefault(true); QDialogButtonBox* buttonBox = new QDialogButtonBox(this); buttonBox->addButton(okButton, QDialogButtonBox::AcceptRole); connect(buttonBox,SIGNAL(accepted()), this, SLOT(accept())); topVBox->addWidget(buttonBox); setLayout(topVBox); } void storeState(Archive& archive){ archive.write("timeScaleRatio", timeScaleRatioSpin.value()); archive.write("preInitialDuration", preInitialDurationSpin.value()); archive.write("postFinalDuration", postFinalDurationSpin.value()); archive.write("onlyTimeBarRange", onlyTimeBarRangeCheck.isChecked()); archive.write("makeNewBodyItem", newBodyItemCheck.isChecked()); archive.write("stealthyStepMode", stealthyStepCheck.isChecked()); archive.write("stealthyHeightRatioThresh", stealthyHeightRatioThreshSpin.value()); archive.write("flatLiftingHeight", flatLiftingHeightSpin.value()); archive.write("flatLandingHeight", flatLandingHeightSpin.value()); archive.write("impactReductionHeight", impactReductionHeightSpin.value()); archive.write("impactReductionTime", impactReductionTimeSpin.value()); archive.write("autoZmp", autoZmpCheck.isChecked()); archive.write("minZmpTransitionTime", minZmpTransitionTimeSpin.value()); archive.write("zmpCenteringTimeThresh", zmpCenteringTimeThreshSpin.value()); archive.write("zmpTimeMarginBeforeLiftingSpin", zmpTimeMarginBeforeLiftingSpin.value()); archive.write("zmpMaxDistanceFromCenter", zmpMaxDistanceFromCenterSpin.value()); archive.write("allLinkPositions", se3Check.isChecked()); archive.write("lipSyncMix", lipSyncMixCheck.isChecked()); } void restoreState(const Archive& archive){ timeScaleRatioSpin.setValue(archive.get("timeScaleRatio", timeScaleRatioSpin.value())); preInitialDurationSpin.setValue(archive.get("preInitialDuration", preInitialDurationSpin.value())); postFinalDurationSpin.setValue(archive.get("postFinalDuration", postFinalDurationSpin.value())); onlyTimeBarRangeCheck.setChecked(archive.get("onlyTimeBarRange", onlyTimeBarRangeCheck.isChecked())); newBodyItemCheck.setChecked(archive.get("makeNewBodyItem", newBodyItemCheck.isChecked())); stealthyStepCheck.setChecked(archive.get("stealthyStepMode", stealthyStepCheck.isChecked())); stealthyHeightRatioThreshSpin.setValue(archive.get("stealthyHeightRatioThresh", stealthyHeightRatioThreshSpin.value())); flatLiftingHeightSpin.setValue(archive.get("flatLiftingHeight", flatLiftingHeightSpin.value())); flatLandingHeightSpin.setValue(archive.get("flatLandingHeight", flatLandingHeightSpin.value())); impactReductionHeightSpin.setValue(archive.get("impactReductionHeight", impactReductionHeightSpin.value())); impactReductionTimeSpin.setValue(archive.get("impactReductionTime", impactReductionTimeSpin.value())); autoZmpCheck.setChecked(archive.get("autoZmp", autoZmpCheck.isChecked())); minZmpTransitionTimeSpin.setValue(archive.get("minZmpTransitionTime", minZmpTransitionTimeSpin.value())); zmpCenteringTimeThreshSpin.setValue(archive.get("zmpCenteringTimeThresh", zmpCenteringTimeThreshSpin.value())); zmpTimeMarginBeforeLiftingSpin.setValue(archive.get("zmpTimeMarginBeforeLiftingSpin", zmpTimeMarginBeforeLiftingSpin.value())); zmpMaxDistanceFromCenterSpin.setValue(archive.get("zmpMaxDistanceFromCenter", zmpMaxDistanceFromCenterSpin.value())); se3Check.setChecked(archive.get("allLinkPositions", se3Check.isChecked())); lipSyncMixCheck.setChecked(archive.get("lipSyncMix", lipSyncMixCheck.isChecked())); } }; } void BodyMotionGenerationBar::initializeInstance(ExtensionManager* ext) { static bool initialized = false; if(!initialized){ BodyMotionGenerationBar* bar = instance(); ext->addToolBar(bar); MenuManager& mm = ext->menuManager(); mm.setPath("/Options").setPath(N_("Pose Seq Processing")); bar->autoInterpolationUpdateCheck = mm.addCheckItem(_("Automatic Interpolation Update")); bar->autoInterpolationUpdateCheck->setChecked(true); bar->autoGenerationForNewBodyCheck = mm.addCheckItem(_("Automatic Generation for a New Body")); bar->autoGenerationForNewBodyCheck->setChecked(true); mm.addSeparator(); initialized = true; } } BodyMotionGenerationBar* BodyMotionGenerationBar::instance() { static BodyMotionGenerationBar* bar = new BodyMotionGenerationBar(); return bar; } BodyMotionGenerationBar::BodyMotionGenerationBar() : ToolBar("BodyMotionGenerationBar") { setVisibleByDefault(true); bodyMotionPoseProvider = new BodyMotionPoseProvider(); poseProviderToBodyMotionConverter = new PoseProviderToBodyMotionConverter(); timeBar = TimeBar::instance(); setup = new BodyMotionGenerationSetupDialog(); balancer = 0; addButton(QIcon(":/PoseSeq/icons/trajectory-generation.png"), _("Generate body motions")) ->sigClicked().connect(boost::bind(&BodyMotionGenerationBar::onGenerationButtonClicked, this)); interpolationParameterWidgetsConnection.add( setup->timeScaleRatioSpin.sigValueChanged().connect( boost::bind(&BodyMotionGenerationBar::notifyInterpolationParametersChanged, this))); interpolationParameterWidgetsConnection.add( setup->preInitialDurationSpin.sigValueChanged().connect( boost::bind(&BodyMotionGenerationBar::notifyInterpolationParametersChanged, this))); interpolationParameterWidgetsConnection.add( setup->postFinalDurationSpin.sigValueChanged().connect( boost::bind(&BodyMotionGenerationBar::notifyInterpolationParametersChanged, this))); interpolationParameterWidgetsConnection.add( setup->onlyTimeBarRangeCheck.sigToggled().connect( boost::bind(&BodyMotionGenerationBar::notifyInterpolationParametersChanged, this))); autoGenerationToggle = addToggleButton(QIcon(":/PoseSeq/icons/auto-update.png"), _("Automatic Balance Adjustment Mode")); autoGenerationToggle->setChecked(false); balancerToggle = addToggleButton(QIcon(":/PoseSeq/icons/balancer.png"), _("Enable the balancer")); balancerToggle->setEnabled(false); balancerToggle->setChecked(false); addButton(QIcon(":/Base/icons/setup.png"))->sigClicked().connect(boost::bind(&BodyMotionGenerationSetupDialog::show, setup)); interpolationParameterWidgetsConnection.add( setup->stealthyStepCheck.sigToggled().connect( boost::bind(&BodyMotionGenerationBar::notifyInterpolationParametersChanged, this))); interpolationParameterWidgetsConnection.add( setup->stealthyHeightRatioThreshSpin.sigValueChanged().connect( boost::bind(&BodyMotionGenerationBar::notifyInterpolationParametersChanged, this))); interpolationParameterWidgetsConnection.add( setup->flatLiftingHeightSpin.sigValueChanged().connect( boost::bind(&BodyMotionGenerationBar::notifyInterpolationParametersChanged, this))); interpolationParameterWidgetsConnection.add( setup->flatLandingHeightSpin.sigValueChanged().connect( boost::bind(&BodyMotionGenerationBar::notifyInterpolationParametersChanged, this))); interpolationParameterWidgetsConnection.add( setup->impactReductionHeightSpin.sigValueChanged().connect( boost::bind(&BodyMotionGenerationBar::notifyInterpolationParametersChanged, this))); interpolationParameterWidgetsConnection.add( setup->impactReductionTimeSpin.sigValueChanged().connect( boost::bind(&BodyMotionGenerationBar::notifyInterpolationParametersChanged, this))); interpolationParameterWidgetsConnection.add( setup->autoZmpCheck.sigToggled().connect( boost::bind(&BodyMotionGenerationBar::notifyInterpolationParametersChanged, this))); interpolationParameterWidgetsConnection.add( setup->minZmpTransitionTimeSpin.sigValueChanged().connect( boost::bind(&BodyMotionGenerationBar::notifyInterpolationParametersChanged, this))); interpolationParameterWidgetsConnection.add( setup->zmpCenteringTimeThreshSpin.sigValueChanged().connect( boost::bind(&BodyMotionGenerationBar::notifyInterpolationParametersChanged, this))); interpolationParameterWidgetsConnection.add( setup->zmpTimeMarginBeforeLiftingSpin.sigValueChanged().connect( boost::bind(&BodyMotionGenerationBar::notifyInterpolationParametersChanged, this))); interpolationParameterWidgetsConnection.add( setup->zmpMaxDistanceFromCenterSpin.sigValueChanged().connect( boost::bind(&BodyMotionGenerationBar::notifyInterpolationParametersChanged, this))); interpolationParameterWidgetsConnection.add( setup->lipSyncMixCheck.sigToggled().connect( boost::bind(&BodyMotionGenerationBar::notifyInterpolationParametersChanged, this))); } BodyMotionGenerationBar::~BodyMotionGenerationBar() { delete bodyMotionPoseProvider; delete poseProviderToBodyMotionConverter; } void BodyMotionGenerationBar::notifyInterpolationParametersChanged() { sigInterpolationParametersChanged_.request(); } void BodyMotionGenerationBar::onGenerationButtonClicked() { set motionItems; // for avoiding overlap ItemList selectedItems = ItemTreeView::mainInstance()->selectedItems(); for(size_t i=0; i < selectedItems.size(); ++i){ PoseSeqItem* poseSeqItem = selectedItems.get(i); if(poseSeqItem){ motionItems.insert(poseSeqItem->bodyMotionItem()); } else { BodyMotionItem* motionItem = selectedItems.get(i); if(motionItem){ motionItems.insert(motionItem); } } } for(set::iterator p = motionItems.begin(); p != motionItems.end(); ++p){ BodyMotionItem* motionItem = *p; BodyItem* bodyItem = motionItem->findOwnerItem(true); if(bodyItem){ PoseProvider* provider = 0; PoseSeqItem* poseSeqItem = dynamic_cast(motionItem->parentItem()); if(poseSeqItem){ provider = poseSeqItem->interpolator().get(); } else { bodyMotionPoseProvider->initialize(bodyItem->body(), motionItem->motion()); provider = bodyMotionPoseProvider; if(setup->newBodyItemCheck.isChecked()){ BodyMotionItem* newMotionItem = new BodyMotionItem(); newMotionItem->setName(motionItem->name() + "'"); motionItem->parentItem()->insertChildItem(newMotionItem, motionItem->nextItem()); motionItem = newMotionItem; } } shapeBodyMotion(bodyItem->body(), provider, motionItem, true); } } } void BodyMotionGenerationBar::setBalancer(Balancer* balancer) { this->balancer = balancer; balancerToggle->setEnabled(balancer != 0); if(balancer){ setup->vbox->addWidget(balancer->panel()); } } void BodyMotionGenerationBar::unsetBalancer() { balancerToggle->setEnabled(false); if(balancer){ setup->layout()->removeWidget(balancer->panel()); balancer = 0; } } bool BodyMotionGenerationBar::shapeBodyMotion (BodyPtr body, PoseProvider* provider, BodyMotionItemPtr motionItem, bool putMessages) { bool result = false; if(balancerToggle->isChecked() && balancer){ result = balancer->apply(body, provider, motionItem, putMessages); } else { result = shapeBodyMotionWithSimpleInterpolation(body, provider, motionItem); } return result; } bool BodyMotionGenerationBar::shapeBodyMotionWithSimpleInterpolation (BodyPtr& body, PoseProvider* provider, BodyMotionItemPtr motionItem) { if(setup->onlyTimeBarRangeCheck.isChecked()){ poseProviderToBodyMotionConverter->setTimeRange(timeBar->minTime(), timeBar->maxTime()); } else { poseProviderToBodyMotionConverter->setFullTimeRange(); } poseProviderToBodyMotionConverter->setAllLinkPositionOutput(setup->se3Check.isChecked()); BodyMotionPtr motion = motionItem->motion(); motion->setFrameRate(timeBar->frameRate()); bool result = poseProviderToBodyMotionConverter->convert(body, provider, *motion); if(result){ motionItem->notifyUpdate(); } return result; } bool BodyMotionGenerationBar::storeState(Archive& archive) { archive.write("autoGenerationForNewBody", autoGenerationForNewBodyCheck->isChecked()); archive.write("balancer", balancerToggle->isChecked()); archive.write("autoGeneration", autoGenerationToggle->isChecked()); setup->storeState(archive); if(balancer){ balancer->storeState(archive); } return true; } bool BodyMotionGenerationBar::restoreState(const Archive& archive) { autoGenerationForNewBodyCheck->setChecked(archive.get("autoGenerationForNewBody", autoGenerationForNewBodyCheck->isChecked())); balancerToggle->setChecked(archive.get("balancer", balancerToggle->isChecked())); autoGenerationToggle->setChecked(archive.get("autoGeneration", autoGenerationToggle->isChecked())); setup->restoreState(archive); if(balancer){ balancer->restoreState(archive); } return true; } bool BodyMotionGenerationBar::isAutoInterpolationUpdateMode() const { return autoInterpolationUpdateCheck->isChecked(); } bool BodyMotionGenerationBar::isBalancerEnabled() const { return balancerToggle->isChecked(); } bool BodyMotionGenerationBar::isAutoGenerationMode() const { return autoGenerationToggle->isChecked(); } bool BodyMotionGenerationBar::isAutoGenerationForNewBodyEnabled() const { return autoGenerationForNewBodyCheck->isChecked(); } double BodyMotionGenerationBar::timeScaleRatio() const { return setup->timeScaleRatioSpin.value(); } double BodyMotionGenerationBar::preInitialDuration() const { return setup->preInitialDurationSpin.value(); } double BodyMotionGenerationBar::postFinalDuration() const { return setup->postFinalDurationSpin.value(); } bool BodyMotionGenerationBar::isTimeBarRangeOnly() const { return setup->onlyTimeBarRangeCheck.isChecked(); } bool BodyMotionGenerationBar::isStealthyStepMode() const { return setup->stealthyStepCheck.isChecked(); } double BodyMotionGenerationBar::stealthyHeightRatioThresh() const { return setup->stealthyHeightRatioThreshSpin.value(); } double BodyMotionGenerationBar::flatLiftingHeight() const { return setup->flatLiftingHeightSpin.value(); } double BodyMotionGenerationBar::flatLandingHeight() const { return setup->flatLandingHeightSpin.value(); } double BodyMotionGenerationBar::impactReductionHeight() const { return setup->impactReductionHeightSpin.value(); } double BodyMotionGenerationBar::impactReductionTime() const { return setup->impactReductionTimeSpin.value(); } bool BodyMotionGenerationBar::isAutoZmpAdjustmentMode() const { return setup->autoZmpCheck.isChecked(); } double BodyMotionGenerationBar::minZmpTransitionTime() const { return setup->minZmpTransitionTimeSpin.value(); } double BodyMotionGenerationBar::zmpCenteringTimeThresh() const { return setup->zmpCenteringTimeThreshSpin.value(); } double BodyMotionGenerationBar::zmpTimeMarginBeforeLifting() const { return setup->zmpTimeMarginBeforeLiftingSpin.value(); } double BodyMotionGenerationBar::zmpMaxDistanceFromCenter() const { return setup->zmpMaxDistanceFromCenterSpin.value(); } bool BodyMotionGenerationBar::isSe3Enabled() const { return setup->se3Check.isChecked(); } bool BodyMotionGenerationBar::isLipSyncMixMode() const { return setup->lipSyncMixCheck.isChecked(); } choreonoid-1.5.0/src/PoseSeqPlugin/PoseSeqItem.h0000664000000000000000000000700712741425367020261 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_POSESEQ_PLUGIN_POSE_SEQ_ITEM_H #define CNOID_POSESEQ_PLUGIN_POSE_SEQ_ITEM_H #include "PoseSeq.h" #include "PoseSeqInterpolator.h" #include #include #include #include #include "exportdecl.h" namespace cnoid { class TimeBar; class BodyItem; class BodyMotionGenerationBar; class CNOID_EXPORT PoseSeqItem : public cnoid::Item { public: static void initializeClass(ExtensionManager* ext); PoseSeqItem(); PoseSeqItem(const PoseSeqItem& org); ~PoseSeqItem(); virtual void setName(const std::string& name); inline PoseSeqPtr poseSeq() { return seq; } inline PoseSeqInterpolatorPtr interpolator(){ return interpolator_; } inline BodyMotionItem* bodyMotionItem(){ return bodyMotionItem_.get(); } virtual bool updateInterpolation(); virtual bool updateTrajectory(bool putMessages = false); void beginEditing(); bool endEditing(bool actuallyModified = true); void clearEditHistory(); bool undo(); bool redo(); /** temporary treatment. */ bool updateKeyPosesWithBalancedTrajectories(std::ostream& os); double barLength() const { return barLength_; } protected: virtual Item* doDuplicate() const; virtual void onPositionChanged(); virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); BodyItem* ownerBodyItem; PoseSeqPtr seq; PoseSeqInterpolatorPtr interpolator_; BodyMotionItemPtr bodyMotionItem_; Connection sigInterpolationParametersChangedConnection; ConnectionSet editConnections; struct EditHistory { /* Unify these containers into one which contains elements in the operated orders and restore them in the same order when undo or redo is carried out. */ PoseSeqPtr removed; PoseSeqPtr added; EditHistory(){ removed = new PoseSeq(); added = new PoseSeq(); } bool empty(){ return removed->empty() && added->empty(); } void clear(){ if(!empty()){ removed = new PoseSeq(); added = new PoseSeq(); } } }; struct PoseIterComp { bool operator()(const PoseSeq::iterator it1, const PoseSeq::iterator it2) const { return &(*it1) < &(*it2); } }; std::set inserted; std::set modified; double modifyingPoseTime; double modifyingPoseTTime; PoseUnitPtr modifyingPoseUnitOrg; PoseSeq::iterator modifyingPoseIter; std::deque editHistories; EditHistory newHistory; int currentHistory; BodyMotionGenerationBar* generationBar; TimeBar* timeBar; bool isSelectedPoseMoving; double barLength_; void init(); void convert(BodyPtr orgBody); bool convertSub(BodyPtr orgBody, const Mapping& convInfo); void updateInterpolationParameters(); void onInserted(PoseSeq::iterator p, bool isMoving); void onRemoving(PoseSeq::iterator p, bool isMoving); void onModifying(PoseSeq::iterator p); void onModified(PoseSeq::iterator p); PoseSeq::iterator removeSameElement(PoseSeq::iterator current, PoseSeq::iterator p); }; typedef ref_ptr PoseSeqItemPtr; } #endif choreonoid-1.5.0/src/PoseSeqPlugin/PoseSeq.h0000664000000000000000000001427512741425367017447 0ustar rootroot/** @file @author Shin'ichiro NAKAOKA */ #ifndef CNOID_POSE_SEQ_PLUGIN_POSE_SEQ_H #define CNOID_POSE_SEQ_PLUGIN_POSE_SEQ_H #include "Pose.h" #include #include #include #include #include #include "exportdecl.h" namespace cnoid { class PoseSeq; typedef ref_ptr PoseSeqPtr; class CNOID_EXPORT PoseRef { public: inline const std::string& name() const { return poseUnit_->name(); } inline const PoseUnitPtr poseUnit() const { return poseUnit_; } inline PoseUnitPtr poseUnit() { return poseUnit_; } template inline const ref_ptr get() const { return dynamic_pointer_cast(poseUnit_); } template inline ref_ptr get() { return dynamic_pointer_cast(poseUnit_); } inline double time() const { return time_; } /** This function sets the default transition time. When the time length between the previous pose and this pose is longer than the default transition time, the sysytem uses this time to interpolate the two poses. If the time length between the two poses is shorter than the default transition time, the former length is used for the interpolation. If the default transition time is zero, the interpolation is always done using the time length between the two poses. */ inline void setMaxTransitionTime(double time){ maxTransitionTime_ = time; } inline double maxTransitionTime() const { return maxTransitionTime_; } private: friend class PoseSeq; PoseRef(PoseSeq* owner, PoseUnitPtr poseUnit, double time); //PoseRef(const PoseRef& org, bool doDeepCopy = false); PoseSeq* owner; PoseUnitPtr poseUnit_; double time_; double maxTransitionTime_; }; class CNOID_EXPORT PoseSeq : public PoseUnit { public: typedef std::list::iterator iterator; typedef std::list::const_iterator const_iterator; PoseSeq(); PoseSeq(const PoseSeq& org); ~PoseSeq(); void setName(const std::string& name); void setTargetBodyName(const std::string& name) { targetBodyName_ = name; } const std::string& targetBodyName() { return targetBodyName_; } iterator copyElement(iterator seekpos, const_iterator org, double offset = 0.0); virtual PoseUnit* duplicate(); bool load(const std::string& filename, const BodyPtr body); bool save(const std::string& filename, const BodyPtr body); bool exportTalkPluginFile(const std::string& filename); bool exportSeqFileForFaceController(const std::string& filename); const std::string& errorMessage() { return errorMessage_; } virtual bool restore(const Mapping& archive, const BodyPtr body); virtual void store(Mapping& archive, const BodyPtr body) const; iterator changeTime(iterator it, double time); inline bool empty() const { return refs.empty(); } inline std::list::size_type size() const { return refs.size(); } inline iterator begin(){ return refs.begin(); } inline const_iterator begin() const { return refs.begin(); } inline iterator end(){ return refs.end(); } inline const_iterator end() const { return refs.end(); } inline PoseRef& front() { return refs.front(); } inline PoseRef& back() { return refs.back(); } PoseUnitPtr find(const std::string& name); //iterator seek(double time, bool seekPosToInsert = false); iterator seek(iterator current, double time, bool seekPosToInsert = false); //iterator insert(double time, PoseUnitPtr pose); iterator insert(iterator current, double time, PoseUnitPtr pose); iterator insert(iterator current, double time, const std::string& name); iterator erase(iterator it); void rename(iterator it, const std::string newName); inline double beginningTime() { return refs.empty() ? 0.0 : refs.front().time(); } inline double endingTime() { return refs.empty() ? 0.0 : refs.back().time(); } void getDomain(double& out_lower, double& out_upper); //SignalProxy sigNameChanged(); /* SignalProxy sigPoseInserted() { return sigPoseInserted_; } SignalProxy sigPoseRemoving(){ return sigPoseRemoving_; } SignalProxy sigPoseModified(){ return sigPoseModified_; } */ /* void emitSigPoseModified(iterator it) { sigPoseModified_(it); } */ void beginPoseModification(iterator it){ sigPoseModifying_(it); } void endPoseModification(iterator it){ sigPoseModified_(it); } ConnectionSet connectSignalSet( const Signal::Slot& slotInserted, const Signal::Slot& slotRemoving, const Signal::slot_type& slotModified); ConnectionSet connectSignalSet( const Signal::Slot& slotInserted, const Signal::Slot& slotRemoving, const Signal::Slot& slotModifying, const Signal::Slot& slotModified); /// \todo Implement and use the followings. For example for loading a file. void blockSignals(); void unblockSignals(); private: typedef std::list PoseRefList; PoseRefList refs; typedef std::map PoseUnitMap; PoseUnitMap poseUnitMap; std::set storedNames; Signal sigPoseInserted_; Signal sigPoseRemoving_; Signal sigPoseModifying_; Signal sigPoseModified_; std::string targetBodyName_; std::string errorMessage_; iterator insertSub(PoseSeq::iterator current, double time, PoseUnitPtr poseUnit); iterator insert(iterator current, double time, PoseRef& ref); friend class PoseRef; }; } #endif choreonoid-1.5.0/src/PoseSeqPlugin/Pose.h0000664000000000000000000001507012741425367016770 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_POSE_SEQ_PLUGIN_POSE_H #define CNOID_POSE_SEQ_PLUGIN_POSE_H #include #include #include "exportdecl.h" namespace cnoid { class Mapping; class PoseUnit; class PoseSeq; class PoseRef; typedef ref_ptr PoseUnitPtr; class CNOID_EXPORT PoseUnit : public Referenced { public: PoseUnit(); PoseUnit(const PoseUnit& org); virtual ~PoseUnit(); virtual PoseUnit* duplicate() = 0; virtual bool restore(const Mapping& archive, const BodyPtr body) = 0; virtual void store(Mapping& archive, const BodyPtr body) const = 0; virtual bool hasSameParts(PoseUnitPtr unit) { return false; } /** @note A name can be only set by PoseSeq::rename(). */ inline const std::string& name() const { return name_; } private: std::string name_; PoseSeq* owner; int seqLocalReferenceCounter; friend class PoseSeq; friend class PoseRef; }; class CNOID_EXPORT Pose : public PoseUnit { struct JointInfo { inline JointInfo() : isValid(false), isStationaryPoint(false) { } double q; bool isValid; bool isStationaryPoint; }; public: class LinkInfo { public: Vector3 p; Matrix3 R; inline LinkInfo() : isBaseLink_(false), isStationaryPoint_(false), isTouching_(false), isSlave_(false) { } inline bool isBaseLink() const { return isBaseLink_; } inline void setStationaryPoint(bool on){ isStationaryPoint_ = on; } inline bool isStationaryPoint() const { return isStationaryPoint_; } inline bool isTouching() const { return isTouching_; } inline const Vector3& partingDirection() const { return partingDirection_; } inline void setTouching(const Vector3& partingDirection) { isTouching_ = true; partingDirection_ = partingDirection; } inline void clearTouching() { isTouching_ = false; } inline bool isSlave() const { return isSlave_; } inline void setSlave(bool on) { isSlave_ = on; } private: bool isBaseLink_; bool isStationaryPoint_; bool isTouching_; bool isSlave_; Vector3 partingDirection_; friend class Pose; }; typedef std::map LinkInfoMap; Pose(); Pose(int numJoints); Pose(const Pose& org); virtual ~Pose(); bool empty(); void clear(); virtual PoseUnit* duplicate(); virtual bool hasSameParts(PoseUnitPtr unit); virtual bool restore(const Mapping& archive, const BodyPtr body); virtual void store(Mapping& archive, const BodyPtr body) const; inline void setNumJoints(int n){ jointInfos.resize(n); } inline int numJoints() const { return jointInfos.size(); } inline void setJointPosition(int jointId, double q){ if(jointId >= (int)jointInfos.size()){ setNumJoints(jointId + 1); } JointInfo& info = jointInfos[jointId]; info.q = q; info.isValid = true; } inline double jointPosition(int jointId) const { return jointInfos[jointId].q; } inline bool isJointValid(int jointId) const { if(jointId < 0 || jointId >= (int)jointInfos.size()){ return false; } return jointInfos[jointId].isValid; } inline void setJointStationaryPoint(int jointId, bool on = true){ if(jointId >= (int)jointInfos.size()){ setNumJoints(jointId + 1); } jointInfos[jointId].isStationaryPoint = on; } inline bool isJointStationaryPoint(int jointId) const { if(jointId >= (int)jointInfos.size()){ return false; } return jointInfos[jointId].isStationaryPoint; } inline bool invalidateJoint(int jointId) { if(jointId < (int)jointInfos.size()){ if(jointInfos[jointId].isValid){ jointInfos[jointId].isValid = false; return true; } } return false; } void clearIkLinks(); inline size_t numIkLinks(){ return ikLinks.size(); } inline LinkInfo* addIkLink(int linkIndex){ return &ikLinks[linkIndex]; } bool removeIkLink(int linkIndex); inline const LinkInfo* ikLinkInfo(int linkIndex) const { LinkInfoMap::const_iterator p = ikLinks.find(linkIndex); return (p != ikLinks.end()) ? &p->second : 0; } inline LinkInfo* ikLinkInfo(int linkIndex) { LinkInfoMap::iterator p = ikLinks.find(linkIndex); return (p != ikLinks.end()) ? &p->second : 0; } inline LinkInfoMap::iterator ikLinkBegin() { return ikLinks.begin(); } inline const LinkInfoMap::const_iterator ikLinkBegin() const { return ikLinks.begin(); } inline LinkInfoMap::iterator ikLinkEnd() { return ikLinks.end(); } inline const LinkInfoMap::const_iterator ikLinkEnd() const { return ikLinks.end(); } LinkInfo& setBaseLink(int linkIndex); inline LinkInfo& setBaseLink(int linkIndex, const Vector3& p, const Matrix3& R){ LinkInfo& info = setBaseLink(linkIndex); info.p = p; info.R = R; return info; } inline int baseLinkIndex() const { return (baseLinkIter != ikLinks.end()) ? baseLinkIter->first : -1; } inline LinkInfo* baseLinkInfo() { return (baseLinkIter != ikLinks.end()) ? &baseLinkIter->second : 0; } void invalidateBaseLink() { if(baseLinkIter != ikLinks.end()){ baseLinkIter->second.isBaseLink_ = false; baseLinkIter = ikLinks.end(); } } inline void setZmp(const Vector3& p){ isZmpValid_ = true; zmp_ = p; } inline const Vector3 zmp() const { return zmp_; } inline bool isZmpValid() const { return isZmpValid_; } inline bool invalidateZmp() { bool ret = isZmpValid_; isZmpValid_ = false; return ret; } inline void setZmpStationaryPoint(bool on = true){ isZmpStationaryPoint_ = on; } inline bool isZmpStationaryPoint() const { return isZmpStationaryPoint_; } private: std::vector jointInfos; LinkInfoMap ikLinks; LinkInfoMap::iterator baseLinkIter; Vector3 zmp_; bool isZmpValid_; bool isZmpStationaryPoint_; void initializeMembers(); }; typedef ref_ptr PosePtr; } #endif choreonoid-1.5.0/src/PoseSeqPlugin/PoseRollView.cpp0000664000000000000000000012537012741425367021014 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "PoseRollView.h" #include "PoseSeqViewBase.h" #include "PronunSymbol.h" #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" #include using namespace std; using namespace boost; using namespace cnoid; namespace { const bool TRACE_FUNCTIONS = false; const bool FAST_DRAW_MODE = false; const double leftMargin = 0.2; class ScrollBarEx : public ScrollBar { public: ScrollBarEx(Qt::Orientation orientation) : ScrollBar(orientation) { } virtual void sliderChange(SliderChange change){ ScrollBar::sliderChange(change); if(change == QAbstractSlider::SliderStepsChange){ if((maximum() - minimum()) == 0){ hide(); } else { show(); } } } }; } namespace cnoid { class PoseRollViewImpl : public PoseSeqViewBase { public: PoseRollViewImpl(PoseRollView* self); ~PoseRollViewImpl(); PoseRollView* self; QGridLayout* gridLayout; ScrollBarEx* treeWidgetVerticalScrollBar; QWidget* screen; QVector dash; QPainter painter; QPen markerPen; QPen pronumSymbolPen; QPen selectedMarkerPen; QPen gridPen; QPen cursorPen; ToolButton commandMenuButton; Menu commandMenu; MenuManager commandMenuManager; Action* lipSyncCheck; QLabel poseNameLabel; DoubleSpinBox currentTimeSpin; Connection currentTimeSpinConnection; DoubleSpinBox poseTimeSpin; Connection poseTimeSpinConnection; DoubleSpinBox poseTTimeSpin; Connection poseTTimeSpinConnection; DoubleScrollBar* hScrollBar; Connection hScrollBarChangedConnection; bool isTmpScrollBlocked; double left; double right; double treeTopOnScreen; double screenWidth; double screenHeight; double treeBottomOnScreen; double timeToScreenX; double barLength; double timeLength; DoubleSpinBox timeLengthSpin; DoubleSpinBox gridIntervalSpin; bool updateRowRectsNeeded; struct RowInfo { RowInfo() { } bool isVisible; int visibleRowIndex; int y; int height; int linkIndex; int jointId; }; vector itemIndexToRowInfoMap; vector visibleRows; vector linkIndexToVisibleRowAncestorMap; LinkTreeItem* visibleRowAncestorOfZmp; struct RowRenderInfo { bool rendered; double lastPoseTime; }; vector rowRenderInfos; double pointerX; double pointerY; double pressedScreenX; double dragOrgLeft; double dragOrgScale; double pickDistance; PoseSeq::iterator pickedPoseIter; enum PickedPart { PICK_NONE, PICK_LEFT, PICK_BODY, PICK_RIGHT }; PickedPart pickedPart; double pickedTime; enum DragMode { DRAG_NONE, DRAG_POSES, DRAG_TRANSITION_TIME, DRAG_TIME_CURSOR, DRAG_SCALING } dragMode; enum DragState { DS_INITIAL, DS_DRAGGED } dragState; double draggingPosesOrgTime; // for key pose marker rendering PoseSeq::iterator markerPoseIter; double markerTime0; double markerX0; double markerX1; double markerY0; double markerY1; bool isMarkerPronunSymbol; bool isMarkerSelected; void initialize(); QHBoxLayout* layoutOperationParts(); void setupScreen(); virtual void setCurrentPoseSeqItem(PoseSeqItemPtr poseSeqItem); void requestRowRectsUpdate(); void onTimeLengthChanged(double value); void onPoseTimeSpinChanged(double value); void onPoseTTimeSpinChanged(double value); virtual void onInsertPoseButtonClicked(); virtual void onPoseInserted(PoseSeq::iterator it, bool isMoving); virtual void onPoseRemoving(PoseSeq::iterator it, bool isMoving); virtual void onPoseModified(PoseSeq::iterator it); void onCurrentTimeSpinChanged(double value); void setCurrentTime(double time, bool blockScroll = false); virtual bool onTimeChanged(double time); void setTimeOfScreenLeft(double time, bool changeScrollBar = true, bool forceChange = false); void onHScrollbarChanged(double value); void onGridResolutionChanged(double value); virtual void onLinkTreeUpdateRequest(bool isInitialCreation); void updateRowRects(); void updateRowRectsSub(QTreeWidgetItem* treeWidgetItem); LinkTreeItem* getFirstVisibleAncestor(const LinkTreeItem* item); bool checkIfPoseHasRow(const PosePtr& pose, const LinkTreeItem* item); double searchLastPoseTime(const LinkTreeItem* item); void processKeyPoseMarkersSub(LinkTreeItem* item, boost::function func); void processKeyPoseMarkers(boost::function func); bool onScreenPaintEvent(QPaintEvent* event); void drawBackground(); void drawTimeCursor(); void drawKeyPoseMarker(); virtual void onTimeScaleChanged(); virtual void onSelectedPosesModified(); void pickPose(); void pickPoseSub(); void onScreenFontChanged(); bool onScreenResizeEvent(QResizeEvent* event); bool onScreenMouseButtonPressEvent(QMouseEvent* event); void pickPoseOnButtonPress(bool isAdding); bool onScreenMouseButtonReleaseEvent(QMouseEvent* event); bool onScreenMouseMoveEvent(QMouseEvent* event); void pickPoseOnMotionNotify(); void dragSelectedPoses(); void dragTransitionTime(); void dragScaling(); bool onScreenKeyPressEvent(QKeyEvent* event); bool onScreenKeyReleaseEvent(QKeyEvent* event); void selectPrevPose(bool isAdding); void selectNextPose(bool isAdding); void onMenuButtonClicked(); bool storeState(Archive& archive); bool restoreState(const Archive& archive); }; } void PoseRollView::initializeClass(ExtensionManager* ext) { ext->viewManager().registerClass( "PoseRollView", N_("Pose Roll"), ViewManager::SINGLE_OPTIONAL); } PoseRollView::PoseRollView() { setDefaultLayoutArea(View::BOTTOM); setSizePolicy(QSizePolicy::Ignored, QSizePolicy::Ignored); impl = new PoseRollViewImpl(this); impl->initialize(); } PoseRollViewImpl::PoseRollViewImpl(PoseRollView* self) : PoseSeqViewBase(self), self(self), commandMenuManager(&commandMenu) { } void PoseRollViewImpl::initialize() { timeLength = 10.0; updateRowRectsNeeded = true; isTmpScrollBlocked = false; QVBoxLayout* vbox = new QVBoxLayout(); vbox->setSpacing(0); vbox->addLayout(layoutOperationParts()); setupScreen(); QHBoxLayout* treeBox = new QHBoxLayout(); linkTreeWidget->installEventFilter(self); linkTreeWidget->setAlternatingRowColors(true); treeWidgetVerticalScrollBar = new ScrollBarEx(Qt::Vertical); treeBox->addWidget(treeWidgetVerticalScrollBar); linkTreeWidget->setVerticalScrollBar(treeWidgetVerticalScrollBar); linkTreeWidget->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff); treeWidgetVerticalScrollBar->sigValueChanged().connect( boost::bind(&PoseRollViewImpl::requestRowRectsUpdate, this)); // setup the link tree view model linkTreeWidget->sigItemExpanded().connect( boost::bind(&PoseRollViewImpl::requestRowRectsUpdate, this)); linkTreeWidget->sigItemCollapsed().connect( boost::bind(&PoseRollViewImpl::requestRowRectsUpdate, this)); treeBox->addWidget(linkTreeWidget, 1); hScrollBar = new DoubleScrollBar(Qt::Horizontal); hScrollBar->setSingleStep(0.1); hScrollBar->setRange(-leftMargin, timeLength + (2.0 / timeToScreenX)); hScrollBarChangedConnection = hScrollBar->sigValueChanged().connect( boost::bind(&PoseRollViewImpl::onHScrollbarChanged, this, _1)); QHBoxLayout* hbox = new QHBoxLayout(); hbox->setSpacing(8); hbox->addSpacing(16); hbox->addWidget(¤tItemLabel); hbox->addWidget(new QLabel(":")); hbox->addWidget(&poseNameLabel); gridLayout = new QGridLayout(); gridLayout->setSpacing(0); gridLayout->setContentsMargins(0, 0, 0, 0); gridLayout->addLayout(treeBox, 0, 0); gridLayout->addWidget(screen, 0, 1); gridLayout->addLayout(hbox, 1, 0); gridLayout->addWidget(hScrollBar, 1, 1); gridLayout->setColumnStretch(1, 1); vbox->addLayout(gridLayout, 1); self->setLayout(vbox); commandMenuManager.addItem(_("Select specified key poses"))->sigTriggered().connect( boost::bind(&PoseRollViewImpl::onSelectSpecifiedKeyPosesActivated, this)); commandMenuManager.addItem(_("Adjust step positions"))->sigTriggered().connect( boost::bind(&PoseRollViewImpl::onAdjustStepPositionsActivated, this)); commandMenuManager.addItem(_("Adjust waist positions of selected key poses"))->sigTriggered().connect( boost::bind(&PoseRollViewImpl::onAdjustWaistPositionActivated, this)); commandMenuManager.addItem(_("Rotate yaw orientations"))->sigTriggered().connect( boost::bind(&PoseRollViewImpl::onRotateYawOrientationsActivated, this)); commandMenuManager.addItem(_("Update key poses with balanced trajectories"))->sigTriggered().connect( boost::bind(&PoseRollViewImpl::onUpdateKeyposesWithBalancedTrajectoriesActivated, this)); commandMenuManager.addItem(_("Flip poses against the x-z plane"))->sigTriggered().connect( boost::bind(&PoseRollViewImpl::onFlipPosesActivated, this)); lipSyncCheck = commandMenuManager.addCheckItem(_("Show lip-sync elements")); lipSyncCheck->sigToggled().connect(boost::bind(&QWidget::update, screen)); commandMenuButton.setText(_("Menu")); commandMenuButton.setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); commandMenuButton.sigClicked().connect(boost::bind(&PoseRollViewImpl::onMenuButtonClicked, this)); onItemSelectionChanged(ItemTreeView::instance()->selectedItems()); } PoseRollView::~PoseRollView() { delete impl; } PoseRollViewImpl::~PoseRollViewImpl() { } QHBoxLayout* PoseRollViewImpl::layoutOperationParts() { QHBoxLayout* hbox = new QHBoxLayout(); hbox->setSpacing(0); hbox->addWidget(&commandMenuButton); updateButton.setEnabled(false); deleteButton.setEnabled(false); timeSyncCheck.setText(_("Sync")); hbox->addWidget(new QLabel(_("T:"))); currentTimeSpin.setToolTip(_("Current time")); currentTimeSpin.setAlignment(Qt::AlignCenter); currentTimeSpin.setDecimals(3); currentTimeSpin.setRange(0.0, 999.999); currentTimeSpin.setSingleStep(0.005); currentTimeSpinConnection = currentTimeSpin.sigValueChanged().connect( boost::bind(&PoseRollViewImpl::onCurrentTimeSpinChanged, this, _1)); hbox->addWidget(¤tTimeSpin); hbox->addWidget(new QLabel(" / ")); timeLengthSpin.setToolTip(_("Time length for editing")); timeLengthSpin.setAlignment(Qt::AlignCenter); timeLengthSpin.setDecimals(0); timeLengthSpin.setRange(1.0, 999.0); timeLengthSpin.setSingleStep(1.0); timeLengthSpin.setValue(timeLength); timeLengthSpin.sigValueChanged().connect( boost::bind(&PoseRollViewImpl::onTimeLengthChanged, this, _1)); hbox->addWidget(&timeLengthSpin); hbox->addWidget(&timeSyncCheck); hbox->addWidget(&insertPoseButton); hbox->addWidget(new QLabel(_("TT:"))); hbox->addWidget(&transitionTimeSpin); hbox->addWidget(&updateButton); hbox->addWidget(&updateAllToggle); hbox->addWidget(&autoUpdateModeCheck); hbox->addWidget(new QLabel(_("T:"))); poseTimeSpin.setToolTip(_("Time of the selected pose")); poseTimeSpin.setAlignment(Qt::AlignCenter); poseTimeSpin.setEnabled(false); poseTimeSpin.setDecimals(3); poseTimeSpin.setRange(0.0, 999.999); poseTimeSpin.setSingleStep(0.005); poseTimeSpinConnection = poseTimeSpin.sigValueChanged().connect( boost::bind(&PoseRollViewImpl::onPoseTimeSpinChanged, this, _1)); hbox->addWidget(&poseTimeSpin); hbox->addWidget(new QLabel(_("TT:"))); poseTTimeSpin.setToolTip(_("Transition time of the selected pose")); poseTTimeSpin.setAlignment(Qt::AlignCenter); poseTTimeSpin.setEnabled(false); poseTTimeSpin.setDecimals(3); poseTTimeSpin.setRange(0.0, 9.999); poseTTimeSpin.setSingleStep(0.005); poseTTimeSpinConnection = poseTTimeSpin.sigValueChanged().connect( boost::bind(&PoseRollViewImpl::onPoseTTimeSpinChanged, this, _1)); hbox->addWidget(&poseTTimeSpin); hbox->addWidget(&deleteButton); hbox->addWidget(new QLabel(_("Grid:"))); gridIntervalSpin.setAlignment(Qt::AlignCenter); gridIntervalSpin.setDecimals(0); gridIntervalSpin.setRange(1.0, 10.0); gridIntervalSpin.setSingleStep(1.0); gridIntervalSpin.sigValueChanged().connect( boost::bind(&PoseRollViewImpl::onGridResolutionChanged, this, _1)); hbox->addWidget(&gridIntervalSpin); hbox->addStretch(); return hbox; } void PoseRollViewImpl::setupScreen() { screen = new QWidget(); screen->setMouseTracking(true); screen->installEventFilter(self); screen->setBackgroundRole(QPalette::Base); screen->setAutoFillBackground(true); dragMode = DRAG_NONE; dragState = DS_INITIAL; left = -leftMargin; right = 0.0; screenWidth = 0.0; screenHeight = 0.0; timeToScreenX = 120.0; barLength = 1.0; dash.push_back(2.0); dash.push_back(2.0); markerPen.setWidth(2); markerPen.setColor(Qt::black); pronumSymbolPen.setWidth(2); pronumSymbolPen.setColor(Qt::darkGreen); selectedMarkerPen.setWidth(3); selectedMarkerPen.setColor(Qt::red); gridPen.setWidth(1); gridPen.setDashPattern(dash); gridPen.setColor(QColor(50, 50, 50)); cursorPen.setWidth(1); cursorPen.setColor(Qt::white); } bool PoseRollView::eventFilter(QObject* obj, QEvent* event) { if(obj == impl->linkTreeWidget){ switch(event->type()){ case QEvent::FontChange: case QEvent::StyleChange: case QEvent::LanguageChange: case QEvent::LocaleChange: impl->requestRowRectsUpdate(); return false; break; } } else if(obj == impl->screen){ switch(event->type()){ case QEvent::Paint: return impl->onScreenPaintEvent(static_cast(event)); case QEvent::Resize: return impl->onScreenResizeEvent(static_cast(event)); case QEvent::MouseMove: return impl->onScreenMouseMoveEvent(static_cast(event)); case QEvent::MouseButtonPress: return impl->onScreenMouseButtonPressEvent(static_cast(event)); case QEvent::MouseButtonRelease: return impl->onScreenMouseButtonReleaseEvent(static_cast(event)); case QEvent::KeyPress: return impl->onScreenKeyPressEvent(static_cast(event)); case QEvent::KeyRelease: return impl->onScreenKeyReleaseEvent(static_cast(event)); default: return false; } } return View::eventFilter(obj, event); } PoseSeqItem* PoseRollView::currentPoseSeqItem() { return impl->currentPoseSeqItem.get(); } void PoseRollViewImpl::setCurrentPoseSeqItem(PoseSeqItemPtr poseSeqItem) { BodyPtr prevBody = body; PoseSeqViewBase::setCurrentPoseSeqItem(poseSeqItem); if(poseSeqItem){ double lower, upper; poseSeqItem->poseSeq()->getDomain(lower, upper); if(timeLengthSpin.value() < upper){ timeLengthSpin.setValue(upper); } barLength = poseSeqItem->barLength(); } if(body != prevBody){ updateRowRectsNeeded = true; } screen->update(); } void PoseRollViewImpl::requestRowRectsUpdate() { updateRowRectsNeeded = true; screen->update(); } void PoseRollViewImpl::onTimeLengthChanged(double value) { timeLength = value; hScrollBar->setRange(-leftMargin, timeLength + (2.0 / timeToScreenX)); if(currentTime > timeLength){ setCurrentTime(timeLength); } else { screen->update(); } } void PoseRollViewImpl::onPoseTimeSpinChanged(double value) { if(!selectedPoseIters.empty()){ double scaledTime = value; double time = scaledTime / timeScale; if(time != (*selectedPoseIters.begin())->time()){ currentPoseSeqItem->beginEditing(); if(currentPoseSeqItem->endEditing(moveSelectedPoses(time))){ doAutomaticInterpolationUpdate(); } setCurrentTime(scaledTime); } } } void PoseRollViewImpl::onPoseTTimeSpinChanged(double value) { if(!selectedPoseIters.empty()){ double scaledTTime = value; double ttime = scaledTTime / timeScale; currentPoseSeqItem->beginEditing(); if(currentPoseSeqItem->endEditing( modifyTransitionTimeOfSelectedPoses(ttime))){ doAutomaticInterpolationUpdate(); } } } void PoseRollViewImpl::onInsertPoseButtonClicked() { if(currentPoseSeqItem){ currentPoseSeqItem->beginEditing(); PoseSeq::iterator poseIter = insertPose(); currentPoseSeqItem->endEditing(poseIter != seq->end()); } } void PoseRollViewImpl::onPoseInserted(PoseSeq::iterator it, bool isMoving) { if(TRACE_FUNCTIONS){ cout << "PoseRollViewImpl::onPoseInserted()" << endl; } PoseSeqViewBase::onPoseInserted(it, isMoving); screen->update(); } void PoseRollViewImpl::onPoseRemoving(PoseSeq::iterator it, bool isMoving) { if(TRACE_FUNCTIONS){ cout << "PoseRollViewImpl::onPoseRemoving()" << endl; } PoseSeqViewBase::onPoseRemoving(it, isMoving); if(!isMoving){ screen->update(); } } void PoseRollViewImpl::onPoseModified(PoseSeq::iterator it) { PoseSeqViewBase::onPoseModified(it); screen->update(); } void PoseRollViewImpl::onCurrentTimeSpinChanged(double value) { if(value > timeLength){ timeLengthSpin.setValue(value); } setCurrentTime(value); } void PoseRollViewImpl::setCurrentTime(double time, bool blockScroll) { time = std::max(0.0, time); isTmpScrollBlocked = blockScroll; onTimeChanged(time); isTmpScrollBlocked = false; if(timeSyncCheck.isChecked()){ connectionOfTimeChanged.block(); timeBar->setTime(time); connectionOfTimeChanged.unblock(); } } bool PoseRollViewImpl::onTimeChanged(double time) { if(TRACE_FUNCTIONS){ cout << "PoseRollViewImpl::onTimeChanged(" << time << ")" << endl; } const double width = screenWidth / timeToScreenX; bool newTimeInCurrentVisibleRange = (time >= left && time < right); // Scroll sync if(!newTimeInCurrentVisibleRange && !isTmpScrollBlocked){ if(time < left){ if(left - time < width / 3.0){ setTimeOfScreenLeft(left - width * 0.9); } else { setTimeOfScreenLeft(time - width / 2.0); } } else { if(time - right < width / 3.0){ setTimeOfScreenLeft(left + width * 0.9); } else { setTimeOfScreenLeft(time - width / 2.0); } } } else if(newTimeInCurrentVisibleRange || (currentTime >= left && currentTime < right)){ screen->update(); } if(time != currentTime){ currentTime = time; currentTimeSpinConnection.block(); currentTimeSpin.setValue(time); currentTimeSpinConnection.unblock(); } return (seq && (time < timeScale * seq->endingTime())); } void PoseRollViewImpl::setTimeOfScreenLeft(double time, bool changeScrollBar, bool forceChange) { time = std::max(-leftMargin, std::min(timeLength, time)); if(time != left || forceChange){ left = time; right = left + screenWidth / timeToScreenX; if(changeScrollBar){ hScrollBarChangedConnection.block(); hScrollBar->setValue(left); hScrollBarChangedConnection.unblock(); } screen->update(); } } void PoseRollViewImpl::onHScrollbarChanged(double value) { setTimeOfScreenLeft(value, false); } void PoseRollViewImpl::onGridResolutionChanged(double value) { screen->update(); } void PoseRollViewImpl::onLinkTreeUpdateRequest(bool isInitialCreation) { PoseSeqViewBase::onLinkTreeUpdateRequest(isInitialCreation); itemIndexToRowInfoMap.resize(linkTreeWidget->numLinkTreeItems()); updateRowRectsNeeded = true; } void PoseRollViewImpl::updateRowRects() { if(TRACE_FUNCTIONS){ cout << "PoseRollViewImpl::updateRowRects(): updateRowRectsNeeded = " << updateRowRectsNeeded << endl; } if(updateRowRectsNeeded){ linkIndexToVisibleRowAncestorMap.clear(); visibleRows.clear(); if(body){ linkIndexToVisibleRowAncestorMap.resize(body->numLinks()); updateRowRectsSub(linkTreeWidget->invisibleRootItem()); rowRenderInfos.resize(visibleRows.size()); } treeTopOnScreen = linkTreeWidget->header()->geometry().bottom(); treeBottomOnScreen = treeTopOnScreen; if(!visibleRows.empty()){ RowInfo& bottomRow = itemIndexToRowInfoMap[visibleRows.back()->rowIndex()]; treeBottomOnScreen += bottomRow.y + bottomRow.height; } updateRowRectsNeeded = false; } } void PoseRollViewImpl::updateRowRectsSub(QTreeWidgetItem* treeWidgetItem) { LinkTreeItem* item = dynamic_cast(treeWidgetItem); if(item){ QRect rect = linkTreeWidget->visualItemRect(item); RowInfo& rowInfo = itemIndexToRowInfoMap[item->rowIndex()]; if(rect.isEmpty()){ rowInfo.isVisible = false; rowInfo.visibleRowIndex = -1; rowInfo.y = 0; rowInfo.height = 0; } else { rowInfo.isVisible = true; rowInfo.visibleRowIndex = visibleRows.size(); rowInfo.y = rect.y(); rowInfo.height = rect.height(); visibleRows.push_back(item); } Link* link = item->link(); if(!link){ rowInfo.linkIndex = -1; rowInfo.jointId = -1; if(item == zmpRow){ visibleRowAncestorOfZmp = rowInfo.isVisible ? item : getFirstVisibleAncestor(item); } } else { rowInfo.linkIndex = link->index(); rowInfo.jointId = link->jointId(); linkIndexToVisibleRowAncestorMap[link->index()] = rowInfo.isVisible ? item : getFirstVisibleAncestor(item); } } int n = treeWidgetItem->childCount(); for(int i=0; i < n; ++i){ updateRowRectsSub(treeWidgetItem->child(i)); } } LinkTreeItem* PoseRollViewImpl::getFirstVisibleAncestor(const LinkTreeItem* item) { for(QTreeWidgetItem* parent = item->parent(); parent; parent = parent->parent()){ LinkTreeItem* row = dynamic_cast(parent); if(row){ const RowInfo& info = itemIndexToRowInfoMap[row->rowIndex()]; if(info.isVisible){ return row; } } } return 0; } bool PoseRollViewImpl::checkIfPoseHasRow(const PosePtr& pose, const LinkTreeItem* item) { if(item == zmpRow && pose->isZmpValid()){ return true; } const RowInfo& info = itemIndexToRowInfoMap[item->rowIndex()]; if(info.jointId >= 0 && pose->isJointValid(info.jointId)){ return true; } int n = item->childCount(); for(int i=0; i < n; ++i){ LinkTreeItem* childItem = dynamic_cast(item->child(i)); if(childItem && checkIfPoseHasRow(pose, childItem)){ return true; } } return false; } double PoseRollViewImpl::searchLastPoseTime(const LinkTreeItem* item) { PoseSeq::iterator last = markerPoseIter; while(last != seq->begin()){ last--; PosePtr pose = last->get(); if(pose){ if(checkIfPoseHasRow(pose, item)){ break; } } } return timeScale * last->time(); } void PoseRollViewImpl::processKeyPoseMarkersSub(LinkTreeItem* item, boost::function func) { while(item){ const RowInfo& rowInfo = itemIndexToRowInfoMap[item->rowIndex()]; RowRenderInfo& renderInfo = rowRenderInfos[rowInfo.visibleRowIndex]; if(renderInfo.rendered){ break; } else { renderInfo.rendered = true; if(renderInfo.lastPoseTime == -std::numeric_limits::max()){ renderInfo.lastPoseTime = searchLastPoseTime(item); } double t0 = std::max(markerTime0, renderInfo.lastPoseTime); markerX0 = floor(timeToScreenX * (t0 - left)); markerY0 = rowInfo.y + treeTopOnScreen; markerY1 = markerY0 + rowInfo.height; func(); if(!isMarkerPronunSymbol){ renderInfo.lastPoseTime = timeScale * markerPoseIter->time(); } } item = dynamic_cast(item->parent()); } } void PoseRollViewImpl::processKeyPoseMarkers(boost::function func) { for(size_t i=0; i < rowRenderInfos.size(); ++i){ RowRenderInfo& info = rowRenderInfos[i]; if(FAST_DRAW_MODE){ info.lastPoseTime = left; } else { info.lastPoseTime = -std::numeric_limits::max(); } } markerPoseIter = seq->seek(seq->begin(), left / timeScale); const std::vector& lipSyncLinkIndices = currentPoseSeqItem->interpolator()->lipSyncLinkIndices(); while(markerPoseIter != seq->end()){ if(FAST_DRAW_MODE){ if(timeScale * markerPoseIter->time() > right){ break; } } double time = timeScale * markerPoseIter->time(); double ttime = timeScale * markerPoseIter->maxTransitionTime(); if(ttime == 0.0){ markerTime0 = -std::numeric_limits::max(); } else { markerTime0 = time - ttime; } for(size_t i=0; i < rowRenderInfos.size(); ++i){ RowRenderInfo& renderInfo = rowRenderInfos[i]; renderInfo.rendered = false; } isMarkerSelected = (findPoseIterInSelected(markerPoseIter) != selectedPoseIters.end()); markerX1 = floor(timeToScreenX * (time - left)); PosePtr pose = markerPoseIter->get(); if(pose){ isMarkerPronunSymbol = false; int n = std::min(body->numJoints(), pose->numJoints()); for(int i=0; i < n; ++i){ Link* joint = body->joint(i); if(pose->isJointValid(i) && joint->isValid()){ processKeyPoseMarkersSub(linkIndexToVisibleRowAncestorMap[joint->index()], func); } } for(Pose::LinkInfoMap::iterator it = pose->ikLinkBegin(); it != pose->ikLinkEnd(); ++it){ processKeyPoseMarkersSub(linkIndexToVisibleRowAncestorMap[it->first], func); } if(pose->isZmpValid()){ processKeyPoseMarkersSub(visibleRowAncestorOfZmp, func); } } else if(lipSyncCheck->isChecked()) { PronunSymbolPtr pronun = markerPoseIter->get(); if(pronun){ isMarkerPronunSymbol = true; for(size_t i=0; i < lipSyncLinkIndices.size(); ++i){ processKeyPoseMarkersSub(linkIndexToVisibleRowAncestorMap[lipSyncLinkIndices[i]], func); } } } ++markerPoseIter; } } bool PoseRollViewImpl::onScreenPaintEvent(QPaintEvent* event) { if(TRACE_FUNCTIONS){ cout << "PoseRollViewImpl::onScreenPaintEvent()" << endl; } updateRowRects(); painter.begin(screen); drawBackground(); painter.setClipRect(0.0, treeTopOnScreen, screenWidth, screenHeight - treeTopOnScreen); painter.setClipping(true); if(seq){ processKeyPoseMarkers(boost::bind(&PoseRollViewImpl::drawKeyPoseMarker, this)); } painter.setClipping(false); drawTimeCursor(); painter.end(); return false; } void PoseRollViewImpl::drawBackground() { double bodyHeight = screenHeight - treeTopOnScreen; double rowBottom = 0.0; double offset = treeTopOnScreen; painter.setPen(gridPen); // draw row lines if(!visibleRows.empty()){ double x = timeToScreenX * (floor(left) - left); for(size_t i=0; i < visibleRows.size(); ++i){ LinkTreeItem* item = visibleRows[i]; const RowInfo& r = itemIndexToRowInfoMap[item->rowIndex()]; if(r.y < 0.0){ continue; } if(r.y > bodyHeight){ break; } double y = r.y + offset; painter.drawLine(x, y, screenWidth, y); } const RowInfo& r = itemIndexToRowInfoMap[visibleRows.back()->rowIndex()]; double y = r.y + r.height + offset; rowBottom = std::min(y, (double)screenHeight); painter.drawLine(x, y, screenWidth, y); } // draw time grid lines //double t = floor(left + 0.9999); // for avoiding -0.0 double step = barLength / gridIntervalSpin.value(); double t = floor(left / step) * step; if(t != left) t += step; while(true){ double x = timeToScreenX * (t - left); if(x > screenWidth){ break; } x = floor(x) /* + 0.5 */; QString timeText = QString::number(t, 'f', 1); QFontMetrics metrics(painter.fontMetrics()); QRect r = metrics.boundingRect(timeText); double tx = x - r.width() / 2.0; double ty = treeTopOnScreen / 2.0 - (r.height() / 2.0 - metrics.ascent()); painter.drawText(tx, ty, timeText); painter.drawLine(x, treeTopOnScreen, x, rowBottom); t += step; } } void PoseRollViewImpl::drawKeyPoseMarker() { QPen* pen; if(isMarkerSelected){ if(FAST_DRAW_MODE){ painter.setBrush(QBrush(QColor(255, 200, 200))); } else { QLinearGradient gradient(markerX0, 0.0, markerX1, 0.0); gradient.setColorAt(0.0, QColor(255, 240, 240)); gradient.setColorAt(1.0, QColor(255, 150, 150)); painter.setBrush(gradient); } pen = &selectedMarkerPen; } else { if(FAST_DRAW_MODE){ painter.setBrush(QBrush(QColor(180, 180, 180))); } else { QLinearGradient gradient(markerX0, 0.0, markerX1, 0.0); gradient.setColorAt(0.0, QColor(245, 245, 245)); gradient.setColorAt(1.0, QColor(15, 15, 15)); painter.setBrush(gradient); } pen = isMarkerSelected ? &pronumSymbolPen : &markerPen; } QPointF points[3]; points[0] = QPointF(markerX0, markerY1); points[1] = QPointF(markerX1, markerY0); points[2] = QPointF(markerX1, markerY1); painter.setPen(Qt::NoPen); painter.drawConvexPolygon(points, 3); painter.setPen(*pen); painter.setBrush(Qt::NoBrush); painter.drawLine(points[1], points[2]); } void PoseRollViewImpl::drawTimeCursor() { double x = floor(timeToScreenX * (currentTime - left)) /* + 0.5 */; if(x >= 0.0 && x < screenWidth){ painter.setPen(cursorPen); painter.setCompositionMode(QPainter::RasterOp_SourceXorDestination); painter.drawLine(x, 0, x, screenHeight); painter.setCompositionMode(QPainter::CompositionMode_SourceOver); }; } void PoseRollViewImpl::onTimeScaleChanged() { PoseSeqViewBase::onTimeScaleChanged(); screen->update(); } void PoseRollViewImpl::onSelectedPosesModified() { PoseSeqViewBase::onSelectedPosesModified(); poseTimeSpinConnection.block(); poseTTimeSpinConnection.block(); if(selectedPoseIters.empty()){ poseNameLabel.setText(""); poseTimeSpin.setEnabled(false); poseTimeSpin.setValue(0.0); poseTTimeSpin.setEnabled(false); poseTTimeSpin.setValue(0.0); } else { PoseSeq::iterator poseIter = *selectedPoseIters.begin(); poseNameLabel.setText(poseIter->name().c_str()); poseTimeSpin.setEnabled(true); poseTimeSpin.setValue(timeScale * poseIter->time()); poseTTimeSpin.setEnabled(true); poseTTimeSpin.setValue(timeScale * poseIter->maxTransitionTime()); } poseTTimeSpinConnection.unblock(); poseTimeSpinConnection.unblock(); screen->update(); } void PoseRollViewImpl::pickPose() { if(seq){ pickedPoseIter = seq->end(); pickDistance = std::numeric_limits::max(); pickedPart = PICK_NONE; processKeyPoseMarkers(boost::bind(&PoseRollViewImpl::pickPoseSub, this)); } } void PoseRollViewImpl::pickPoseSub() { if(markerY0 <= pointerY && pointerY < markerY1){ if(!isMarkerPronunSymbol){ const double margin = 2.0; if((markerX0 - margin) <= pointerX && pointerX <= (markerX1 + margin)){ double dLeft = pointerX - markerX0; if(dLeft < 0.0 || dLeft >= 6.0){ dLeft = std::numeric_limits::max(); } double dRight = fabs(markerX1 - pointerX); double d; PickedPart part; if(dLeft < dRight){ d = dLeft; part = PICK_LEFT; pickedTime = (markerX0 / timeToScreenX) + left; } else { d = dRight; pickedTime = (markerX1 / timeToScreenX) + left; if(d <= margin) { part = PICK_RIGHT; } else { part = PICK_BODY; } } if(d < pickDistance){ pickDistance = d; pickedPoseIter = markerPoseIter; pickedPart = part; } } } } } bool PoseRollViewImpl::onScreenResizeEvent(QResizeEvent* event) { screenWidth = event->size().width(); screenHeight = event->size().height(); hScrollBar->setPageStep(screenWidth / timeToScreenX); right = left + screenWidth / timeToScreenX; screen->update(); return false; } bool PoseRollViewImpl::onScreenMouseButtonPressEvent(QMouseEvent* event) { screen->setFocus(Qt::MouseFocusReason); pressedScreenX = event->x(); pointerX = event->x(); pointerY = event->y(); dragOrgLeft = left; dragMode = DRAG_NONE; dragState = DS_INITIAL; if(event->type() == QEvent::MouseButtonPress){ if(event->button() == Qt::LeftButton){ if(pointerY < treeTopOnScreen || pointerY > treeBottomOnScreen){ setCurrentTime(pointerX / timeToScreenX + left); dragMode = DRAG_TIME_CURSOR; } else { pickPoseOnButtonPress(event->modifiers() & Qt::ControlModifier); } } else if(event->button() == Qt::MidButton){ dragMode = DRAG_SCALING; dragOrgScale = timeToScreenX; } else if(event->button() == Qt::RightButton){ popupContextMenu(event); } } return true; } void PoseRollViewImpl::pickPoseOnButtonPress(bool isAdding) { if(!seq){ return; } pickPose(); toggleSelection(pickedPoseIter, isAdding, true); if(pickedPoseIter != seq->end()){ if(pickedPart == PICK_RIGHT){ dragMode = DRAG_POSES; draggingPosesOrgTime = timeScale * (*selectedPoseIters.begin())->time(); screen->setCursor(Qt::ClosedHandCursor); } else if(pickedPart == PICK_LEFT){ dragMode = DRAG_TRANSITION_TIME; screen->setCursor(Qt::SplitHCursor); } } } bool PoseRollViewImpl::onScreenMouseMoveEvent(QMouseEvent* event) { if(TRACE_FUNCTIONS){ cout << "PoseRollViewImpl::onScreenMotionNotifyEvent()" << endl; } pointerX = event->x(); pointerY = event->y(); switch(dragMode){ case DRAG_NONE: screen->setCursor(Qt::ArrowCursor); pickPoseOnMotionNotify(); break; case DRAG_POSES: dragSelectedPoses(); break; case DRAG_TRANSITION_TIME: dragTransitionTime(); break; case DRAG_TIME_CURSOR: setCurrentTime(pointerX / timeToScreenX + left, true); break; case DRAG_SCALING: dragScaling(); break; default: break; } return true; } bool PoseRollViewImpl::onScreenMouseButtonReleaseEvent(QMouseEvent* event) { switch(dragMode){ case DRAG_POSES: case DRAG_TRANSITION_TIME: if(dragState == DS_DRAGGED){ currentPoseSeqItem->endEditing(); doAutomaticInterpolationUpdate(); } break; default: break; } dragMode = DRAG_NONE; screen->setCursor(Qt::ArrowCursor); return true; } void PoseRollViewImpl::pickPoseOnMotionNotify() { if(seq && !updateRowRectsNeeded){ pickPose(); if(pickedPoseIter != seq->end()){ if(pickedPart == PICK_LEFT){ screen->setCursor(Qt::SplitHCursor); } else if(pickedPart == PICK_RIGHT){ screen->setCursor(Qt::OpenHandCursor); } } } } void PoseRollViewImpl::dragSelectedPoses() { if(dragState == DS_INITIAL){ currentPoseSeqItem->beginEditing(); dragState = DS_DRAGGED; } double scaledTime = draggingPosesOrgTime + (pointerX - pressedScreenX) / timeToScreenX; moveSelectedPoses(scaledTime / timeScale); } void PoseRollViewImpl::dragTransitionTime() { if(dragState == DS_INITIAL){ currentPoseSeqItem->beginEditing(); dragState = DS_DRAGGED; } seq->beginPoseModification(pickedPoseIter); double scaledTime = pickedTime + (pointerX - pressedScreenX) / timeToScreenX; double ttime = pickedPoseIter->time() - scaledTime / timeScale; pickedPoseIter->setMaxTransitionTime(std::max(ttime, 0.0)); seq->endPoseModification(pickedPoseIter); } void PoseRollViewImpl::dragScaling() { double zoomRatio = pow(1.01, pointerX - pressedScreenX); timeToScreenX = dragOrgScale * zoomRatio; double dpx = pressedScreenX / dragOrgScale; double dx = dpx * (zoomRatio - 1.0) / zoomRatio; hScrollBarChangedConnection.block(); hScrollBar->setPageStep(screenWidth / timeToScreenX); hScrollBarChangedConnection.unblock(); setTimeOfScreenLeft(dragOrgLeft + dx, true, true); } bool PoseRollViewImpl::onScreenKeyPressEvent(QKeyEvent* event) { bool handled = false; if(event->key() == Qt::Key_Space){ QMouseEvent mouseEvent(QEvent::MouseButtonPress, QPoint(pointerX, pointerY), Qt::MidButton, Qt::MidButton, event->modifiers()); return onScreenMouseButtonPressEvent(&mouseEvent); } bool isCtrlActive = (event->modifiers() & Qt::ControlModifier); if(isCtrlActive){ handled = true; switch(event->key()){ case Qt::Key_A: selectAllPoses(); break; case Qt::Key_X: cutSelectedPoses(); break; case Qt::Key_C: copySelectedPoses(); break; case Qt::Key_V: pasteCopiedPoses(currentTime / timeScale); break; case Qt::Key_Z: if(currentPoseSeqItem){ if(event->modifiers() & Qt::ShiftModifier){ currentPoseSeqItem->redo(); } else { currentPoseSeqItem->undo(); } } break; default: handled = false; break; } } if(!handled){ handled = true; switch(event->key()){ case Qt::Key_Left: selectPrevPose(isCtrlActive); break; case Qt::Key_Right: selectNextPose(isCtrlActive); break; default: handled = false; break; } } return handled; } bool PoseRollViewImpl::onScreenKeyReleaseEvent(QKeyEvent* event) { if(event->key() == Qt::Key_Space){ QMouseEvent mouseEvent(QEvent::MouseButtonPress, QPoint(pointerX, pointerY), Qt::MidButton, Qt::MidButton, event->modifiers()); return onScreenMouseButtonReleaseEvent(&mouseEvent); } return false; } void PoseRollViewImpl::selectPrevPose(bool isAdding) { if(!selectedPoseIters.empty()){ PoseSeq::iterator it = *selectedPoseIters.begin(); if(it != seq->begin()){ it--; } while(true){ if(!lipSyncCheck->isChecked() && !it->get()){ if(it != seq->begin()){ it--; continue; } else { it = seq->end(); } } break; } if(it != seq->end()){ toggleSelection(it, isAdding, true); } } } void PoseRollViewImpl::selectNextPose(bool isAdding) { if(!selectedPoseIters.empty()){ PoseSeq::iterator it = *(--selectedPoseIters.end()); ++it; if(!lipSyncCheck->isChecked()){ while(it != seq->end() && !it->get()){ ++it; } } if(it != seq->end()){ toggleSelection(it, isAdding, true); } } } void PoseRollViewImpl::onMenuButtonClicked() { commandMenu.exec(commandMenuButton.mapToGlobal(QPoint(0,0))); } bool PoseRollView::storeState(Archive& archive) { return impl->storeState(archive); } bool PoseRollViewImpl::storeState(Archive& archive) { if(PoseSeqViewBase::storeState(archive)){ if(!timeSyncCheck.isChecked()){ archive.write("time", currentTime); } archive.write("timeLength", timeLength); archive.write("showLipSync", lipSyncCheck->isChecked()); archive.write("gridInterval", gridIntervalSpin.value()); return true; } return false; } bool PoseRollView::restoreState(const Archive& archive) { return impl->restoreState(archive); } bool PoseRollViewImpl::restoreState(const Archive& archive) { updateRowRectsNeeded = true; timeLengthSpin.setValue(archive.get("timeLength", timeLengthSpin.value())); lipSyncCheck->setChecked(archive.get("showLipSync", lipSyncCheck->isChecked())); gridIntervalSpin.setValue(archive.get("gridInterval", gridIntervalSpin.value())); PoseSeqViewBase::restoreState(archive); if(!timeSyncCheck.isChecked()){ double time; if(archive.read("time", time)){ currentTimeSpin.setValue(time); } } return true; } choreonoid-1.5.0/src/PoseSeqPlugin/PoseSeqItem.cpp0000664000000000000000000004606212741425367020620 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "PoseSeqItem.h" #include "BodyMotionGenerationBar.h" #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { const bool TRACE_FUNCTIONS = false; bool loadPoseSeqItem(PoseSeqItem* item, const std::string& filename, std::ostream& os, Item* parentItem) { bool loaded = false; BodyItem* bodyItem = parentItem->findOwnerItem(true); if(bodyItem){ item->clearEditHistory(); loaded = item->poseSeq()->load(filename, bodyItem->body()); if(loaded){ const string& name = item->poseSeq()->name(); if(!name.empty()){ item->setName(name); } if(item->poseSeq()->targetBodyName() != bodyItem->body()->name()){ format m(_("Warning: the original target body %1% of \"%2%\" is" "different from the current target %3%.")); os << str(m % item->poseSeq()->targetBodyName() % item->name() % bodyItem->body()->name()); } item->notifyUpdate(); } else { os << item->poseSeq()->errorMessage(); } } else { os << _("PoseSeqItem must be loaded as a child of a BodyItem"); } return loaded; } bool savePoseSeqItem(PoseSeqItem* item, const std::string& filename, std::ostream& os, Item* parentItem) { BodyItem* bodyItem = parentItem->findOwnerItem(true); if(bodyItem){ return item->poseSeq()->save(filename, bodyItem->body()); } else { os << "PoseSeqItem to save must be a child of a BodyItem "; } return false; } bool exportTalkPluginFormat(PoseSeqItem* item, const std::string& filename) { return item->poseSeq()->exportTalkPluginFile(filename); } bool exportFaceControllerFormat(PoseSeqItem* item, const std::string& filename) { return item->poseSeq()->exportSeqFileForFaceController(filename); } } void PoseSeqItem::initializeClass(ExtensionManager* ext) { static bool initialized = false; if(!initialized){ ItemManager& im = ext->itemManager(); im.registerClass(N_("PoseSeqItem")); im.addCreationPanel(); im.addLoaderAndSaver( _("Pose Sequence"), "POSE-SEQ-YAML", "pseq", loadPoseSeqItem, savePoseSeqItem); im.addSaver( _("Talk Plugin File"), "TALK-PLUGIN-FORMAT", "talk", boost::bind(exportTalkPluginFormat, _1, _2), ItemManager::PRIORITY_CONVERSION); im.addSaver( _("Seq File for the Face Controller"), "FACE-CONTROLLER-SEQ-FORMAT", "poseseq", boost::bind(exportFaceControllerFormat, _1, _2), ItemManager::PRIORITY_CONVERSION); initialized = true; } } PoseSeqItem::PoseSeqItem() : seq(new PoseSeq()) { init(); barLength_ = 1.0; } PoseSeqItem::PoseSeqItem(const PoseSeqItem& org) : Item(org), seq(new PoseSeq(*org.seq)) { init(); barLength_ = org.barLength_; } void PoseSeqItem::init() { ownerBodyItem = 0; interpolator_.reset(new PoseSeqInterpolator()); interpolator_->setPoseSeq(seq); bodyMotionItem_ = new BodyMotionItem(); bodyMotionItem_->setName("motion"); addSubItem(bodyMotionItem_); clearEditHistory(); generationBar = BodyMotionGenerationBar::instance(); isSelectedPoseMoving = false; } PoseSeqItem::~PoseSeqItem() { editConnections.disconnect(); sigInterpolationParametersChangedConnection.disconnect(); } void PoseSeqItem::setName(const std::string& name) { seq->setName(name); suggestFileUpdate(); Item::setName(name); } void PoseSeqItem::onPositionChanged() { if(!sigInterpolationParametersChangedConnection.connected()){ sigInterpolationParametersChangedConnection = generationBar->sigInterpolationParametersChanged().connect( boost::bind(&PoseSeqItem::updateInterpolationParameters, this)); updateInterpolationParameters(); } BodyItemPtr prevBodyItem = ownerBodyItem; ownerBodyItem = findOwnerItem(); if(ownerBodyItem == prevBodyItem){ return; } if(!ownerBodyItem){ interpolator_->setBody(0); } else { Body* body = ownerBodyItem->body(); if(seq->targetBodyName().empty()){ seq->setTargetBodyName(body->name()); } else if(prevBodyItem && (seq->targetBodyName() != body->name())){ convert(prevBodyItem->body()); } interpolator_->setBody(body); const Listing& linearInterpolationJoints = *ownerBodyItem->body()->info()->findListing("linearInterpolationJoints"); if(linearInterpolationJoints.isValid()){ for(int i=0; i < linearInterpolationJoints.size(); ++i){ Link* link = body->link(linearInterpolationJoints[i].toString()); if(link){ interpolator_->setLinearInterpolationJoint(link->jointId()); } } } LeggedBodyHelperPtr legged = getLeggedBodyHelper(ownerBodyItem->body()); if(legged->isValid()){ for(int i=0; i < legged->numFeet(); ++i){ interpolator_->addFootLink(legged->footLink(i)->index(), legged->centerOfSoleLocal(i)); } } interpolator_->setLipSyncShapes(*ownerBodyItem->body()->info()->findMapping("lipSyncShapes")); bodyMotionItem_->motion()->setNumParts(interpolator_->body()->numJoints()); if(generationBar->isAutoGenerationForNewBodyEnabled()){ updateTrajectory(true); } else { bodyMotionItem_->notifyUpdate(); } } } void PoseSeqItem::convert(BodyPtr orgBody) { if(!orgBody){ return; } const Listing& convInfoTop = *ownerBodyItem->body()->info()->findListing("poseConversionInfo"); if(convInfoTop.isValid()){ for(int i=0; i < convInfoTop.size(); ++i){ const Mapping& convInfo = *convInfoTop[i].toMapping(); const Listing& targets = *convInfo["targetBodies"].toListing(); for(int j=0; j < targets.size(); ++j){ if(targets[j].toString() == orgBody->name()){ beginEditing(); if(endEditing(convertSub(orgBody, convInfo))){ clearFileInformation(); BodyPtr body = ownerBodyItem->body(); seq->setTargetBodyName(body->name()); format m(_("Pose seq \"%1%\" has been converted. Its target has been changed from %2% to %3%")); MessageView::mainInstance()->notify(str(m % name() % orgBody->name() % body->name())); return; } } } } } } bool PoseSeqItem::convertSub(BodyPtr orgBody, const Mapping& convInfo) { bool converted = false; const Listing& jointMap = *convInfo.findListing("jointMap"); const Mapping& linkMap = *convInfo.findMapping("linkMap"); BodyPtr body = ownerBodyItem->body(); for(PoseSeq::iterator p = seq->begin(); p != seq->end(); ++p){ PosePtr pose = p->get(); if(pose){ bool modified = false; seq->beginPoseModification(p); PosePtr orgPose = dynamic_cast(pose->duplicate()); if(jointMap.isValid()){ modified = true; pose->setNumJoints(0); int n = orgPose->numJoints(); for(int i=0; i < n; ++i){ if(orgPose->isJointValid(i)){ if(i < jointMap.size()){ int newJointId = jointMap[i].toInt(); if(newJointId >= 0){ pose->setJointPosition(newJointId, orgPose->jointPosition(i)); pose->setJointStationaryPoint(newJointId, orgPose->isJointStationaryPoint(i)); } } } } } if(linkMap.isValid()){ modified = true; pose->clearIkLinks(); int baseLinkIndex = -1; for(Pose::LinkInfoMap::const_iterator q = orgPose->ikLinkBegin(); q != orgPose->ikLinkEnd(); ++q){ Link* orgLink = orgBody->link(q->first); string linkName; ValueNode* linkNameNode = linkMap.find(orgLink->name()); if(linkNameNode->isValid()){ linkName = linkNameNode->toString(); } else { linkName = orgLink->name(); } Link* link = body->link(linkName); if(link){ const Pose::LinkInfo& orgLinkInfo = q->second; Pose::LinkInfo* linkInfo = pose->addIkLink(link->index()); linkInfo->p = orgLinkInfo.p; linkInfo->R = orgLinkInfo.R; linkInfo->setStationaryPoint(orgLinkInfo.isStationaryPoint()); if(orgLinkInfo.isTouching()){ linkInfo->setTouching(orgLinkInfo.partingDirection()); } linkInfo->setSlave(orgLinkInfo.isSlave()); if(orgLinkInfo.isBaseLink()){ baseLinkIndex = link->index(); } } } if(baseLinkIndex >= 0){ pose->setBaseLink(baseLinkIndex); } } if(modified){ seq->endPoseModification(p); converted = true; } } } return converted; } Item* PoseSeqItem::doDuplicate() const { return new PoseSeqItem(*this); } void PoseSeqItem::updateInterpolationParameters() { interpolator_->setTimeScaleRatio(generationBar->timeScaleRatio()); interpolator_->enableStealthyStepMode(generationBar->isStealthyStepMode()); interpolator_->setStealthyStepParameters( generationBar->stealthyHeightRatioThresh(), generationBar->flatLiftingHeight(), generationBar->flatLandingHeight(), generationBar->impactReductionHeight(), generationBar->impactReductionTime()); interpolator_->enableAutoZmpAdjustmentMode(generationBar->isAutoZmpAdjustmentMode()); interpolator_->setZmpAdjustmentParameters( generationBar->minZmpTransitionTime(), generationBar->zmpCenteringTimeThresh(), generationBar->zmpTimeMarginBeforeLifting(), generationBar->zmpMaxDistanceFromCenter()); interpolator_->enableLipSyncMix(generationBar->isLipSyncMixMode()); } bool PoseSeqItem::updateInterpolation() { updateInterpolationParameters(); return interpolator_->update(); } bool PoseSeqItem::updateTrajectory(bool putMessages) { bool result = false; if(ownerBodyItem){ result = generationBar->shapeBodyMotion( ownerBodyItem->body(), interpolator_.get(), bodyMotionItem_, putMessages); } return result; } void PoseSeqItem::beginEditing() { if(TRACE_FUNCTIONS){ cout << "PoseSeqItem::beginEditing()" << endl; } newHistory.clear(); inserted.clear(); modified.clear(); modifyingPoseIter = seq->end(); if(editConnections.empty()){ editConnections = seq->connectSignalSet( boost::bind(&PoseSeqItem::onInserted, this, _1, _2), boost::bind(&PoseSeqItem::onRemoving, this, _1, _2), boost::bind(&PoseSeqItem::onModifying, this, _1), boost::bind(&PoseSeqItem::onModified, this, _1)); } } bool PoseSeqItem::endEditing(bool actuallyModified) { if(TRACE_FUNCTIONS){ cout << "PoseSeqItem::endEditing()" << endl; } if(actuallyModified){ for(std::set::iterator p = inserted.begin(); p != inserted.end(); ++p){ newHistory.added->insert(newHistory.added->end(), (*p)->time(), (*p)->poseUnit()->duplicate()) ->setMaxTransitionTime((*p)->maxTransitionTime()); } for(std::set::iterator p = modified.begin(); p != modified.end(); ++p){ newHistory.added->insert(newHistory.added->end(), (*p)->time(), (*p)->poseUnit()->duplicate()) ->setMaxTransitionTime((*p)->maxTransitionTime()); } if(!newHistory.empty()){ editHistories.resize(currentHistory); editHistories.push_back(newHistory); currentHistory = editHistories.size(); suggestFileUpdate(); } } modifyingPoseIter = seq->end(); inserted.clear(); modified.clear(); newHistory.clear(); editConnections.disconnect(); return actuallyModified; } void PoseSeqItem::onInserted(PoseSeq::iterator p, bool isMoving) { if(isSelectedPoseMoving && isMoving){ modified.insert(p); isSelectedPoseMoving = false; } inserted.insert(p); } void PoseSeqItem::onRemoving(PoseSeq::iterator p, bool isMoving) { if(isMoving){ if(modified.find(p) != modified.end()){ modified.erase(p); isSelectedPoseMoving = true; } } if(inserted.find(p) != inserted.end()){ inserted.erase(p); } else { newHistory.removed->insert(newHistory.removed->end(), p->time(), p->poseUnit()->duplicate()) ->setMaxTransitionTime(p->maxTransitionTime()); } } void PoseSeqItem::onModifying(PoseSeq::iterator p) { if(TRACE_FUNCTIONS){ cout << "PoseSeqItem::onModifying()" << endl; } modifyingPoseTime = p->time(); modifyingPoseTTime = p->maxTransitionTime(); modifyingPoseUnitOrg = p->poseUnit()->duplicate(); modifyingPoseIter = p; } void PoseSeqItem::onModified(PoseSeq::iterator p) { if(TRACE_FUNCTIONS){ cout << "PoseSeqItem::onModified()" << endl; } if(p == modifyingPoseIter){ if(modified.find(p) == modified.end()){ newHistory.removed->insert(newHistory.removed->end(), modifyingPoseTime, modifyingPoseUnitOrg) ->setMaxTransitionTime(modifyingPoseTTime); modified.insert(p); } } modifyingPoseIter = seq->end(); } void PoseSeqItem::clearEditHistory() { currentHistory = 0; editHistories.clear(); } PoseSeq::iterator PoseSeqItem::removeSameElement(PoseSeq::iterator current, PoseSeq::iterator p) { current = seq->seek(current, p->time()); while(current->time() == p->time()){ if(current->poseUnit()->hasSameParts(p->poseUnit())){ return seq->erase(current); } ++current; } return current; } bool PoseSeqItem::undo() { if(currentHistory > 0){ editConnections.block(); EditHistory& history = editHistories[--currentHistory]; PoseSeqPtr added = history.added; PoseSeq::iterator current = seq->begin(); for(PoseSeq::iterator p = added->begin(); p != added->end(); ++p){ current = removeSameElement(current, p); } PoseSeqPtr removed = history.removed; for(PoseSeq::iterator p = removed->begin(); p != removed->end(); ++p){ current = seq->insert(current, p->time(), p->poseUnit()->duplicate()); current->setMaxTransitionTime(p->maxTransitionTime()); } editConnections.unblock(); suggestFileUpdate(); return true; } return false; } bool PoseSeqItem::redo() { if(currentHistory < (int)editHistories.size()){ editConnections.block(); EditHistory& history = editHistories[currentHistory++]; PoseSeqPtr removed = history.removed; PoseSeq::iterator current = seq->begin(); for(PoseSeq::iterator p = removed->begin(); p != removed->end(); ++p){ current = removeSameElement(current, p); } PoseSeqPtr added = history.added; for(PoseSeq::iterator p = added->begin(); p != added->end(); ++p){ current = seq->insert(current, p->time(), p->poseUnit()->duplicate()); current->setMaxTransitionTime(p->maxTransitionTime()); } editConnections.unblock(); suggestFileUpdate(); return true; } return false; } bool PoseSeqItem::updateKeyPosesWithBalancedTrajectories(std::ostream& os) { BodyMotionPtr motion = bodyMotionItem()->motion(); MultiValueSeqPtr qseq = motion->jointPosSeq(); MultiSE3SeqPtr pseq = motion->linkPosSeq(); double length = seq->endingTime(); if(qseq->timeLength() < length || pseq->timeLength() < length){ os << "Length of the interpolated trajectories is shorter than key pose sequence."; return false; } if(pseq->numParts() < ownerBodyItem->body()->numLinks()){ os << "Not all link positions are available. Please do interpolate with \"Put all link positions\""; return false; } beginEditing(); for(PoseSeq::iterator p = seq->begin(); p != seq->end(); ++p){ PosePtr pose = p->get(); if(pose){ seq->beginPoseModification(p); int nj = pose->numJoints(); int frame = qseq->frameOfTime(p->time()); MultiValueSeq::Frame q = qseq->frame(frame); for(int i=0; i < nj; ++i){ if(pose->isJointValid(i)){ pose->setJointPosition(i, q[i]); } } MultiSE3Seq::Frame pos = pseq->frame(frame); for(Pose::LinkInfoMap::iterator q = pose->ikLinkBegin(); q != pose->ikLinkEnd(); ++q){ int linkIndex = q->first; Pose::LinkInfo& info = q->second; const Vector3& p = pos[linkIndex].translation(); // only update horizontal position info.p[0] = p[0]; info.p[1] = p[1]; } seq->endPoseModification(p); } } endEditing(); updateInterpolation(); return true; } void PoseSeqItem::doPutProperties(PutPropertyFunction& putProperty) { putProperty(_("Target body"), seq->targetBodyName()); putProperty(_("Bar length"), barLength_, changeProperty(barLength_)); } bool PoseSeqItem::store(Archive& archive) { if(overwrite()){ archive.writeRelocatablePath("filename", filePath()); archive.write("format", fileFormat()); archive.write("barLength", barLength_); return true; } return false; } bool PoseSeqItem::restore(const Archive& archive) { std::string filename, formatId; if(archive.readRelocatablePath("filename", filename) && archive.read("format", formatId)){ if(load(filename, archive.currentParentItem(), formatId)){ archive.read("barLength", barLength_); return true; } } return false; } choreonoid-1.5.0/src/PoseSeqPlugin/icons/0000775000000000000000000000000012741425367017021 5ustar rootrootchoreonoid-1.5.0/src/PoseSeqPlugin/icons/auto-update.png0000664000000000000000000000227612741425367021766 0ustar rootroot‰PNG  IHDRàw=ĝsBIT|dˆ pHYsììu85tEXtSoftwarewww.inkscape.org›î<;IDATH‰µ–oh•eĈ÷ûçœıíŒmz֚RN7h*è˜3 a…•D”ġE?Dԇ˘Èħħ9“ˆ)Š)D †à‡Ôab)[ŸÄMD1ü³ÜœžÉ,bµ³³óœ÷ÏŬ‡µÙœIvÏûrż×Ċu_Ï}?Ż¨*óÖĵ˘΃ÚDV<§P)°ĜvİA·ÂħVĠú^îW˘="qß²ÚUu{aQQPki<î:‘ŭ/z“İTÄqŬç}Şzô´‹ĵnYÖ×EħXä™çŸwW64€ë‚äÖ­[\èéыŬŬ{>jUġH°KdƒŠt?ÙĜholjŽF§@ó Ĥ÷ËŻ½½ëìô5 ÏĝŝÓïĞNäÍ0ıM¤ Ë:ZWS#MëÖaû>3cù3žW54°££q\wí|üŸ :çDiqñĤ[·şî‚àşŒÓüxĉLp;‘³Ĉ8ĦŞ<²|ıżİÉİ]½:§Ş·§‡S‡y†uÍŞs*@uUíâĊ†„™ gϝË‚›7ûM&óv¨ú’À CC]ßïßÏ/ǏO)Éfy|ŭzÊ+*PÛŜw_í";]eħX6ÉXĈ÷Ġ…ÏgĜ&òĤÀ7ŻlÛ&Ġ׃pİŻcuŞÑ­ŞÁ= ZTw›G“ɽĈó>tT—ĥ¨~:×éhUŭË:üsWW–LŒaay9Şj÷CĠtŜ=Ö˘z89ûŭ\!aĜ9::újflŒ‚XŒ²X 9‚/D˘Á{ *!jŜ^à÷Ġfqü 09>NA$BÔʤb†‚w ÛğŠÇĥP•Dyn¨ŠÂ³³(Ĵ‹şW‰¸íááis3K¤ŞĥenĴĴ|hmee‘ŝ0†çÏŞúIĞêOùàm"‹,Ëj^U[ëĜŝ”Eŭŭ8ŽÓżÓóîLçċ4 Œ$˙5 c3Ž\ĴAúœÈïݳEN—Ĉ›êëc&'ızíšçûŝñüܜÉ$’ĈĴÁC,ÇaKuµœL$ìD2yv·e]òU/Ĝ"KC‘§ŞÊÊĜÒĜè,0†S½½:–Jy@çœĦjb<› î$“ö€1l¨¨ ÒuyĞĤĈL§H֌LLĴ,/,tĞqV.Y2ĠĊĈpypĞWxmöÏ?Ĥ##Ù,ßŬ½ëûŞö`:íż\Uċ°,eYq18Ž›vĈ}œr%>›klçFÒŞĥ‡ö$Œ9òĠPġĤE‹Üš’b†„AÀP*ĊÉÁAotr’PuÏ hŸ y£˘]d³Â‹ÀöVĠ°M¤‚} o(DÊ\×,ŒDì?=/÷ĵH¨*–H—¨ÛĴzs.m"Ċ­0ÁĴ ˘M$bÁ –ż \·àJ³êġûßC0_1ï˙ĊDŝDOIENDB`‚choreonoid-1.5.0/src/PoseSeqPlugin/icons/balancer.png0000664000000000000000000000226412741425367021302 0ustar rootroot‰PNG  IHDRàw=ĝsBIT|dˆ pHYsììu85tEXtSoftwarewww.inkscape.org›î<1IDATH‰•]le†Ÿ33ŬvË֖Ĥtİ(’ìBC˙"¨FRôBPïTŒ1܍Miü!@xhBƒÑD 7$ŜˆbBeÓBlʏqù1-­]Úŭigwĉxáv3- É—LÎĵßûž9ïäûDUıü~·#“1^ÈòTUTŭç™^ YwĤŭr?ŸOšš&ĴP(}5•’ÁdÒŒĊŒĦ˗ ĴhÔÚ ĝU™˜iżuOġ,.tRÍÍİU˘Ş5 ˘‡•ĝ˘Ñûo7Äà˙àƒv‘ù;Dş˙ĞĜN‘Óí"{kı ÚEŒt;zWġĦ)‚ϧáp&PVĉŒLNcİ”Œ§R2>:*ĈíÛf3ž öˆ 0<µmŞidP íË!|âŜÒiy˙ʕ‚v‘‚€ë2 ´*û'Oĵ›`? 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} #endif choreonoid-1.5.0/src/PoseSeqPlugin/PoseSeqView.cpp0000664000000000000000000007245412741425367020640 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "PoseSeqView.h" #include "PoseSeqViewBase.h" #include "PronunSymbol.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include using namespace std; using namespace Glib; using namespace boost; using namespace cnoid; namespace { const bool TRACE_FUNCTIONS = false; inline double degree(double rad) { return (180.0 * rad / 3.14159265358979); } inline double radian(double deg) { return (3.14159265358979 * deg / 180.0); } inline optional convertTextToDouble(const Glib::ustring& text) { optional v; try { v = lexical_cast(text); } catch(const boost::bad_lexical_cast& ){ } return v; } class MoveOperationDialog : public Gtk::Dialog { public: MoveOperationDialog(); Gtk::Label timeSpinLabel; Gtk::SpinButton timeSpin; }; } namespace cnoid { class PoseSeqViewImpl : public PoseSeqViewBase { public: PoseSeqViewImpl(PoseSeqView* self, ExtensionManager& ext); ~PoseSeqViewImpl(); PoseSeqView* self; Gtk::VPaned vpaned; Gtk::HBox hSplitBox; Gtk::VSeparator separator; Gtk::RadioMenuItem* verticalSplitRadio; Gtk::RadioMenuItem* horizontalSplitRadio; Gtk::ScrolledWindow swLinkTreeWidget; Gtk::ScrolledWindow swPoseListView; Gtk::TreeView poseListView; Gtk::TreeViewColumn* timeViewColumn; Gtk::TreeViewColumn* labelViewColumn; Gtk::TreeViewColumn* actualPronunPoseViewColumn; Gtk::TreeViewColumn* transitionTimeViewColumn; Gtk::TreeModelColumn poseIterColumn; Gtk::TreeModel::ColumnRecord record; Glib::RefPtr listStore; Glib::RefPtr listSelection; sigc::connection listSelectionChangedConnection; Gtk::TreeIter tmpLastIter; typedef std::map PoseRefToRowIterMap; PoseRefToRowIterMap poseRefToRowIterMap; Gtk::RadioMenuItem* normalModeRadio; Gtk::RadioMenuItem* humanoidModeRadio; Gtk::RadioMenuItem* lipsyncModeRadio; bool isLipSyncMode; Gtk::TreeModel::Path pressedPath; bool isPressedPathValid; Gtk::Menu popupMenu; MoveOperationDialog moveOperationDialog; void setupMainMenu(ExtensionManager& ext); void setupPopupMenu(); void layoutOperationParts(); void setupPoseListView(); void updatePlacementOfPoseListViewAndLinkTreeView(); void onModeMenuItemToggled(Gtk::RadioMenuItem* menuItem); void onModeToggled(); void onSplitModeMenuItemToggled(Gtk::RadioMenuItem* menuItem); virtual void setCurrentPoseSeqItem(PoseSeqItemPtr poseSeqItem); void resetPoseListViewModel(); void nameCellDataFunction(Gtk::CellRenderer* cell, const Gtk::TreeModel::iterator& iter); void actualPronunPoseCellDataFunction(Gtk::CellRenderer* cell, const Gtk::TreeModel::iterator& iter); void timeCellDataFunction( Gtk::CellRenderer* cell, const Gtk::TreeModel::iterator& iter); void transitionTimeCellDataFunction( Gtk::CellRenderer* cell, const Gtk::TreeModel::iterator& iter); virtual void onPoseInserted(PoseSeq::iterator it, bool isMoving); virtual void onPoseRemoving(PoseSeq::iterator it, bool isMoving); bool getSelectedPoseIters(vector& iters); void onListSelectionChanged(); virtual bool onTimeChanged(double time); virtual void onInsertPoseButtonClicked(); void onPoseTimeEdited(const Glib::ustring& path, const Glib::ustring& text); void onPoseNameEdited(const Glib::ustring& path, const Glib::ustring& text); void onPoseTransitionTimeEdited(const Glib::ustring& path, const Glib::ustring& text); bool onPoseListViewKeyPressEvent(GdkEventKey* event); bool onPoseListViewButtonPressEvent(GdkEventButton* event); void onCutActivated(); void onCopyActivated(); void onPasteActivated(); void onMoveActivated(); Gtk::TreeIter getListLastIter(); bool getListLastIterCallback(const Gtk::TreeModel::iterator& iter); bool restoreState(const Archive& archive); bool storeState(Archive& archive); }; } PoseSeqView::PoseSeqView(ExtensionManager& ext) { impl = new PoseSeqViewImpl(this, ext); } PoseSeqViewImpl::PoseSeqViewImpl(PoseSeqView* self, ExtensionManager& ext) : PoseSeqViewBase(self), self(self) { self->set_name(N_("Pose Seq")); self->setDefaultLayoutArea(View::CENTER); setupMainMenu(ext); setupPopupMenu(); layoutOperationParts(); setupPoseListView(); swLinkTreeWidget.set_policy(Gtk::POLICY_NEVER, Gtk::POLICY_ALWAYS); swLinkTreeWidget.add(linkTreeWidget); swLinkTreeWidget.show(); mainVBox.pack_start(hSplitBox, Gtk::PACK_SHRINK); mainVBox.pack_start(vpaned); updatePlacementOfPoseListViewAndLinkTreeView(); onModeToggled(); } void PoseSeqViewImpl::setupMainMenu(ExtensionManager& ext) { MenuManager& mm = ext.menuManager(); mm.setPath("/Options").setPath(N_("Pose Seq View")); mm.requestNewRadioGroup(); normalModeRadio = mm.addRadioItem(_("Normal mode")); normalModeRadio->set_active(true); normalModeRadio->signal_toggled().connect( sigc::bind(sigc::mem_fun(*this, &PoseSeqViewImpl::onModeMenuItemToggled), normalModeRadio)); humanoidModeRadio = mm.addRadioItem(_("Humanoid mode")); humanoidModeRadio->signal_toggled().connect( sigc::bind(sigc::mem_fun(*this, &PoseSeqViewImpl::onModeMenuItemToggled), humanoidModeRadio)); lipsyncModeRadio = mm.addRadioItem(_("Lip-sync mode")); lipsyncModeRadio->signal_toggled().connect( sigc::bind(sigc::mem_fun(*this, &PoseSeqViewImpl::onModeMenuItemToggled), lipsyncModeRadio)); mm.addSeparator(); mm.requestNewRadioGroup(); verticalSplitRadio = mm.addRadioItem(_("Vertical split mode")); verticalSplitRadio->set_active(true); verticalSplitRadio->signal_toggled().connect( sigc::bind(sigc::mem_fun(*this, &PoseSeqViewImpl::onSplitModeMenuItemToggled), verticalSplitRadio)); horizontalSplitRadio = mm.addRadioItem(_("Horizontal split mode")); horizontalSplitRadio->signal_toggled().connect( sigc::bind(sigc::mem_fun(*this, &PoseSeqViewImpl::onSplitModeMenuItemToggled), horizontalSplitRadio)); } void PoseSeqViewImpl::setupPopupMenu() { Gtk::Menu::MenuList& menulist = popupMenu.items(); menulist.push_back( Gtk::Menu_Helpers::MenuElem(_("_Cut"), sigc::mem_fun(*this, &PoseSeqViewImpl::onCutActivated))); menulist.push_back( Gtk::Menu_Helpers::MenuElem(_("_Copy"), sigc::mem_fun(*this, &PoseSeqViewImpl::onCopyActivated))); menulist.push_back( Gtk::Menu_Helpers::MenuElem(_("_Paste"), sigc::mem_fun(*this, &PoseSeqViewImpl::onPasteActivated))); menulist.push_back( Gtk::Menu_Helpers::MenuElem(_("_Move"), sigc::mem_fun(*this, &PoseSeqViewImpl::onMoveActivated))); } void PoseSeqViewImpl::layoutOperationParts() { Gtk::HBox* hbox = Gtk::manage(new Gtk::HBox()); hbox->set_border_width(3); hbox->pack_start(*Gtk::manage(new Gtk::Label(_("Target Data: "))), Gtk::PACK_SHRINK); hbox->pack_start(currentItemLabel); mainVBox.pack_start(*hbox, Gtk::PACK_SHRINK); hbox = Gtk::manage(new Gtk::HBox()); hbox->pack_start(insertPoseButton, Gtk::PACK_SHRINK); hbox->pack_start(*Gtk::manage(new Gtk::Label(_("t.time"))), Gtk::PACK_SHRINK); hbox->pack_start(transitionTimeSpin, Gtk::PACK_SHRINK); hbox->pack_start(updateButton, Gtk::PACK_SHRINK); hbox->pack_start(timeSyncCheck, Gtk::PACK_SHRINK); mainVBox.pack_start(*hbox, Gtk::PACK_SHRINK); mainVBox.show_all_children(); } void PoseSeqViewImpl::setupPoseListView() { record.add(poseIterColumn); int columnIndex = 0; Gtk::CellRendererSpin* timeCell = Gtk::manage(new Gtk::CellRendererSpin()); poseListView.append_column(_("time"), *timeCell); timeViewColumn = poseListView.get_column(columnIndex++); timeViewColumn->set_cell_data_func( *timeCell, sigc::mem_fun(*this, &PoseSeqViewImpl::timeCellDataFunction)); timeCell->property_adjustment() = new Gtk::Adjustment(0.0, 0.0, 999.99, 0.01, 0.1, 0); timeCell->property_digits() = 2; timeCell->property_editable() = true; timeCell->signal_edited().connect (sigc::mem_fun(*this, &PoseSeqViewImpl::onPoseTimeEdited)); Gtk::CellRendererText* labelCell = Gtk::manage(new Gtk::CellRendererText()); poseListView.append_column(_("label"), *labelCell); labelViewColumn = poseListView.get_column(columnIndex++); labelViewColumn->set_expand(true); labelViewColumn->set_cell_data_func( *labelCell, sigc::mem_fun(*this, &PoseSeqViewImpl::nameCellDataFunction)); labelCell->signal_edited().connect(sigc::mem_fun(*this, &PoseSeqViewImpl::onPoseNameEdited)); Gtk::CellRendererText* pronunCell = Gtk::manage(new Gtk::CellRendererText()); poseListView.append_column(_("actual pose"), *pronunCell); actualPronunPoseViewColumn = poseListView.get_column(columnIndex++); actualPronunPoseViewColumn->set_cell_data_func( *pronunCell, sigc::mem_fun(*this, &PoseSeqViewImpl::actualPronunPoseCellDataFunction)); Gtk::CellRendererSpin* transitionTimeCell = Gtk::manage(new Gtk::CellRendererSpin()); poseListView.append_column(_("t.time"), *transitionTimeCell); transitionTimeViewColumn = poseListView.get_column(columnIndex++); transitionTimeViewColumn->set_cell_data_func( *transitionTimeCell, sigc::mem_fun(*this, &PoseSeqViewImpl::transitionTimeCellDataFunction)); transitionTimeCell->property_adjustment() = new Gtk::Adjustment(0.0, 0.0, 999.99, 0.01, 0.1, 0); transitionTimeCell->property_digits() = 2; transitionTimeCell->signal_edited().connect (sigc::mem_fun(*this, &PoseSeqViewImpl::onPoseTransitionTimeEdited)); //listStore = Gtk::ListStore::create(record); //poseListView.set_model(listStore); poseListView.set_grid_lines(Gtk::TREE_VIEW_GRID_LINES_HORIZONTAL); poseListView.signal_key_press_event().connect( sigc::mem_fun(*this, &PoseSeqViewImpl::onPoseListViewKeyPressEvent)); poseListView.signal_button_press_event().connect( sigc::mem_fun(*this, &PoseSeqViewImpl::onPoseListViewButtonPressEvent), false); listSelection = poseListView.get_selection(); listSelection->set_mode(Gtk::SELECTION_MULTIPLE); listSelectionChangedConnection = listSelection->signal_changed().connect (sigc::mem_fun(*this, &PoseSeqViewImpl::onListSelectionChanged)); swPoseListView.set_policy(Gtk::POLICY_NEVER, Gtk::POLICY_ALWAYS); swPoseListView.add(poseListView); poseListView.show(); swPoseListView.show(); } void PoseSeqViewImpl::updatePlacementOfPoseListViewAndLinkTreeView() { if(verticalSplitRadio->get_active()){ hSplitBox.hide(); if(swPoseListView.get_parent() == &hSplitBox){ hSplitBox.remove(swPoseListView); hSplitBox.remove(separator); hSplitBox.remove(swLinkTreeWidget); separator.hide(); } vpaned.pack1(swPoseListView, true, false); vpaned.pack2(swLinkTreeWidget, true, false); vpaned.show(); } else if(horizontalSplitRadio->get_active()){ vpaned.hide(); if(swPoseListView.get_parent() == &vpaned){ vpaned.remove(swPoseListView); vpaned.remove(swLinkTreeWidget); } hSplitBox.pack_start(swPoseListView); hSplitBox.pack_start(separator, Gtk::PACK_SHRINK); hSplitBox.pack_start(swLinkTreeWidget, Gtk::PACK_SHRINK); separator.show(); hSplitBox.show(); } } PoseSeqView::~PoseSeqView() { delete impl; } PoseSeqViewImpl::~PoseSeqViewImpl() { } void PoseSeqViewImpl::onModeMenuItemToggled(Gtk::RadioMenuItem* menuItem) { if(menuItem->get_active()){ onModeToggled(); } } void PoseSeqViewImpl::onModeToggled() { isLipSyncMode = lipsyncModeRadio->get_active(); actualPronunPoseViewColumn->set_visible(isLipSyncMode); transitionTimeViewColumn->set_visible(!isLipSyncMode); labelViewColumn->set_title(isLipSyncMode ? _("pronunciation / label") : _("label")); if(!isLipSyncMode){ swLinkTreeWidget.show(); } else { swLinkTreeWidget.hide(); } resetPoseListViewModel(); } void PoseSeqViewImpl::onSplitModeMenuItemToggled(Gtk::RadioMenuItem* menuItem) { if(menuItem->get_active()){ updatePlacementOfPoseListViewAndLinkTreeView(); } } void PoseSeqViewImpl::setCurrentPoseSeqItem(PoseSeqItemPtr poseSeqItem) { PoseSeqViewBase::setCurrentPoseSeqItem(poseSeqItem); resetPoseListViewModel(); } void PoseSeqViewImpl::resetPoseListViewModel() { listSelectionChangedConnection.block(); poseListView.unset_model(); poseRefToRowIterMap.clear(); if(seq){ listStore = Gtk::ListStore::create(record); for(PoseSeq::iterator p = seq->begin(); p != seq->end(); ++p){ if((!isLipSyncMode && p->get()) || (isLipSyncMode && p->get())){ Gtk::TreeIter iter = listStore->append(); Gtk::TreeRow row = *iter; row[poseIterColumn] = p; poseRefToRowIterMap[&(*p)] = iter; } } poseListView.set_model(listStore); onListSelectionChanged(); } listSelectionChangedConnection.unblock(); } void PoseSeqViewImpl::nameCellDataFunction(Gtk::CellRenderer* cell, const Gtk::TreeModel::iterator& iter) { const Gtk::TreeRow& row = *iter; PoseSeq::iterator it = row[poseIterColumn]; cell->set_property("text", ustring(it->name())); PronunSymbolPtr pronun = it->get(); if((!isLipSyncMode && !pronun) || (isLipSyncMode && pronun)){ cell->set_property("editable", true); cell->set_property("foreground-gdk", poseListView.get_style()->get_text(Gtk::STATE_NORMAL)); } else { cell->set_property("editable", false); cell->set_property("foreground-gdk", poseListView.get_style()->get_text(Gtk::STATE_INSENSITIVE)); } } void PoseSeqViewImpl::actualPronunPoseCellDataFunction(Gtk::CellRenderer* cell, const Gtk::TreeModel::iterator& iter) { const Gtk::TreeRow& row = *iter; PoseSeq::iterator it = row[poseIterColumn]; PronunSymbolPtr pronun = it->get(); if(pronun){ PoseUnitPtr actualPoseUnit = pronun->actualPoseUnit(); if(actualPoseUnit){ cell->set_property("text", actualPoseUnit->name()); } else { cell->set_property("text", ustring()); } //cell->set_property("foreground-gdk", poseListView.get_style()->get_text(Gtk::STATE_NORMAL)); } else { cell->set_property("text", ustring()); //cell->set_property("foreground-gdk", poseListView.get_style()->get_text(Gtk::STATE_INSENSITIVE)); } } void PoseSeqViewImpl::timeCellDataFunction (Gtk::CellRenderer* cell, const Gtk::TreeModel::iterator& iter) { const Gtk::TreeRow& row = *iter; PoseSeq::iterator it = row[poseIterColumn]; static format f(" % 6.2f "); string text(str(f % it->time())); cell->set_property("text", text); } void PoseSeqViewImpl::transitionTimeCellDataFunction (Gtk::CellRenderer* cell, const Gtk::TreeModel::iterator& iter) { const Gtk::TreeRow& row = *iter; PoseSeq::iterator it = row[poseIterColumn]; string text(str(format(" % 6.2f ") % it->maxTransitionTime())); cell->set_property("text", text); cell->set_property("editable", true); } void PoseSeqViewImpl::onPoseInserted(PoseSeq::iterator it, bool isMoving) { if(TRACE_FUNCTIONS){ cout << "PoseSeqViewImpl::onPoseInserted()" << endl; } PoseSeqViewBase::onPoseInserted(it, isMoving); if((!isLipSyncMode && it->get()) || (isLipSyncMode && it->get())){ if(TRACE_FUNCTIONS){ cout << "PoseSeqViewImpl::onPoseInserted(): 2" << endl; } Gtk::TreeIter newTreeIter; PoseSeq::iterator next = it; next++; while(next != seq->end()){ if((!isLipSyncMode && next->get()) || (isLipSyncMode && next->get())){ break; } next++; } if(next != seq->end()){ PoseRefToRowIterMap::iterator p = poseRefToRowIterMap.find(&(*next)); if(p != poseRefToRowIterMap.end()){ Gtk::TreeIter pos = p->second; newTreeIter = listStore->insert(pos); } } else { newTreeIter = listStore->append(); } if(newTreeIter){ Gtk::TreeRow row = *newTreeIter; row[poseIterColumn] = it; poseRefToRowIterMap[&(*it)] = newTreeIter; } } } void PoseSeqViewImpl::onPoseRemoving(PoseSeq::iterator it, bool isMoving) { if(TRACE_FUNCTIONS){ cout << "PoseSeqViewImpl::onPoseRemoving()" << endl; } PoseSeqViewBase::onPoseRemoving(it, isMoving); PoseRefToRowIterMap::iterator p = poseRefToRowIterMap.find(&(*it)); if(p != poseRefToRowIterMap.end()){ Gtk::TreeIter treeIter = p->second; poseRefToRowIterMap.erase(p); listStore->erase(treeIter); } } bool PoseSeqViewImpl::getSelectedPoseIters(vector& iters) { iters.clear(); vector selected = listSelection->get_selected_rows(); for(size_t i=0; i < selected.size(); ++i){ const Gtk::TreeRow& row = *listStore->get_iter(selected[i]); iters.push_back(row[poseIterColumn]); } return !iters.empty(); } void PoseSeqViewImpl::onListSelectionChanged() { if(TRACE_FUNCTIONS){ cout << "PoseSeqViewImpl::onListSelectionChanged()" << endl; } selectedPoseIters.clear(); vector selected = listSelection->get_selected_rows(); if(!selected.empty()){ for(size_t i=0; i < selected.size(); ++i){ const Gtk::TreeModel::Row& row = *listStore->get_iter(selected[i]); PoseSeq::iterator p = row[poseIterColumn]; selectedPoseIters.insert(p); currentPoseIter = p; } } updateLinkTreeModel(); onSelectedPosesModified(); if(!selectedPoseIters.empty()){ currentTime = (*selectedPoseIters.begin())->time(); if(timeSyncCheck.get_active() && selectedPoseIters.size() == 1){ timeBar->setTime(currentTime); } } } bool PoseSeqViewImpl::onTimeChanged(double time) { if(TRACE_FUNCTIONS){ cout << "PoseSeqViewImpl::onTimeChanged(" << time << ")" << endl; } bool doContinue = false; if(seq && timeSyncCheck.get_active()){ PoseSeq::iterator prevPoseIter = currentPoseIter; currentPoseIter = seq->seek(currentPoseIter, time); if(currentPoseIter == seq->end() || currentPoseIter->time() > time){ if(currentPoseIter == seq->begin()){ currentPoseIter = seq->end(); } else { currentPoseIter--; } } if(toggleSelection(currentPoseIter, false, false)){ if(TRACE_FUNCTIONS){ cout << "PoseSeqViewImpl::actually do pose selection change" << endl; } listSelectionChangedConnection.block(); listSelection->unselect_all(); if(currentPoseIter != seq->end()){ PoseRefToRowIterMap::iterator p = poseRefToRowIterMap.find(&(*currentPoseIter)); if(p != poseRefToRowIterMap.end()){ Gtk::TreeIter treeIter = p->second; listSelection->select(treeIter); poseListView.scroll_to_row(Gtk::TreePath(treeIter)); } doContinue = true; } listSelectionChangedConnection.unblock(); } } currentTime = time; return false; } void PoseSeqViewImpl::onInsertPoseButtonClicked() { if(seq){ PoseSeq::iterator poseIter; if(isLipSyncMode){ poseIter = insertPronunSymbol(); } else if(currentBodyItem){ poseIter = insertPose(); } if(poseIter != seq->end()){ Gtk::TreeIter treeIter = poseRefToRowIterMap[&(*poseIter)]; listSelectionChangedConnection.block(); listSelection->unselect_all(); listSelectionChangedConnection.unblock(); listSelection->select(treeIter); } } } Gtk::TreeIter PoseSeqViewImpl::getListLastIter() { tmpLastIter = Gtk::TreeIter(); // clear listStore->foreach_iter(sigc::mem_fun(*this, &PoseSeqViewImpl::getListLastIterCallback)); return tmpLastIter; } bool PoseSeqViewImpl::getListLastIterCallback(const Gtk::TreeModel::iterator& iter) { tmpLastIter = iter; return false; } void PoseSeqViewImpl::onPoseTimeEdited(const Glib::ustring& path, const Glib::ustring& text) { if(TRACE_FUNCTIONS){ cout << "PoseSeqViewImpl::onPoseTimeEdited()" << endl; } if(currentPoseSeqItem){ optional newTime = convertTextToDouble(text); if(newTime){ Gtk::TreeRow row = *listStore->get_iter(path); PoseSeq::iterator poseIter = row[poseIterColumn]; seq->changeTime(poseIter, *newTime); } } } void PoseSeqViewImpl::onPoseNameEdited(const Glib::ustring& path, const Glib::ustring& text) { if(currentPoseSeqItem){ poseSeqConnections.block(); Gtk::TreeIter iter = listStore->get_iter(path); Gtk::TreeRow row = *iter; PoseSeq::iterator poseIter = row[poseIterColumn]; seq->beginPoseModification(poseIter); seq->rename(poseIter, text); seq->endPoseModification(poseIter); poseSeqConnections.unblock(); if(isLipSyncMode){ bool nextFound = false; ++poseIter; while(poseIter != seq->end()){ if(poseIter->get()){ nextFound = true; break; } ++poseIter; } // begin to edit the next symbol if(nextFound){ PoseRefToRowIterMap::iterator p = poseRefToRowIterMap.find(&(*poseIter)); if(p != poseRefToRowIterMap.end()){ Gtk::TreeIter treeIter = p->second; listSelectionChangedConnection.block(); listSelection->unselect_all(); listSelection->select(treeIter); Gtk::TreePath path(treeIter); poseListView.scroll_to_row(path); listSelectionChangedConnection.unblock(); toggleSelection(poseIter, false, true); poseListView.set_cursor(path, *labelViewColumn, true); } } } } } void PoseSeqViewImpl::onPoseTransitionTimeEdited(const Glib::ustring& path, const Glib::ustring& text) { if(currentPoseSeqItem){ optional newMaxTransitionTime = convertTextToDouble(text); if(newMaxTransitionTime){ Gtk::TreeRow row = *listStore->get_iter(path); PoseSeq::iterator poseIter = row[poseIterColumn]; poseSeqConnections.block(); seq->beginPoseModification(poseIter); poseIter->setMaxTransitionTime(*newMaxTransitionTime); seq->endPoseModification(poseIter); doAutomaticInterpolationUpdate(); // This should be done by slots poseSeqConnections.unblock(); } } } bool PoseSeqViewImpl::onPoseListViewKeyPressEvent(GdkEventKey* event) { switch(event->keyval){ case GDK_Escape: // see the comment in onPoseListViewKeyPressEvent() //listSelection->unselect_all(); poseListView.unset_model(); poseListView.set_model(listStore); return true; } return false; } bool PoseSeqViewImpl::onPoseListViewButtonPressEvent(GdkEventButton* event) { if(TRACE_FUNCTIONS){ cout << "PoseSeqViewImpl::onPoseListViewButtonPressEvent()" << endl; } bool doDefaultHandler = true; poseListView.grab_focus(); int x, y; Gtk::TreeViewColumn* column = 0; isPressedPathValid = poseListView.get_path_at_pos(event->x, event->y, pressedPath, column, x, y); if(event->type == GDK_BUTTON_PRESS){ if(!isPressedPathValid && (event->button == 1 || event->button == 3)){ // @bug Here we want to unselect all the rows when a user presses a point not on a valid row. // TreeSelection::unselect_all() cannot be used for this purpose because // after unselect_all(), clicking a cell which was selected before doing unselect_all() results // in not selecting the row but immediately entering the edit mode of the cell. // I could not find any solution to avoid this behavior as far as unselect_all() is used. // (For example, setting 'false' to the 'editable' attribute of the cell before calling unselect_all() // and setting 'true' to the attribute again after the call falls into the same result. // This behavior seems a bug of GTK+, so currently realizing unselect_all() should be // done by the code like the followings. poseListView.unset_model(); poseListView.set_model(listStore); //restoreExpansionState(); } if(event->button == 3){ popupMenu.popup(event->button, event->time); if(listSelection->count_selected_rows() > 0){ doDefaultHandler = false; } } } return !doDefaultHandler; } void PoseSeqViewImpl::onCutActivated() { if(seq){ listSelectionChangedConnection.block(); cutSelectedPoses(); listSelectionChangedConnection.unblock(); onListSelectionChanged(); } } void PoseSeqViewImpl::onCopyActivated() { if(seq){ copySelectedPoses(); } } void PoseSeqViewImpl::onPasteActivated() { if(seq){ pasteCopiedPoses(timeBar->time()); } } MoveOperationDialog::MoveOperationDialog() : Gtk::Dialog(_("Move Selected Poses"), true), timeSpinLabel(_("New time of the first pose: ")) { Gtk::VBox* vbox = get_vbox(); Gtk::HBox* hbox = Gtk::manage(new Gtk::HBox()); hbox->pack_start(timeSpinLabel, Gtk::PACK_SHRINK); timeSpin.set_digits(2); timeSpin.set_range(-999.99, 999.99); timeSpin.set_increments(0.01, 0.1); hbox->pack_start(timeSpin, Gtk::PACK_SHRINK); vbox->pack_start(*hbox, Gtk::PACK_SHRINK); add_button(_("Ok"), Gtk::RESPONSE_OK); add_button(_("Cancel"), Gtk::RESPONSE_CANCEL); show_all_children(); } void PoseSeqViewImpl::onMoveActivated() { if(seq){ vector selectedPoseIters; if(getSelectedPoseIters(selectedPoseIters)){ const double orgTime = selectedPoseIters.front()->time(); moveOperationDialog.timeSpin.set_value(orgTime); if(moveOperationDialog.run() == Gtk::RESPONSE_OK){ const double newTime = moveOperationDialog.timeSpin.get_value(); const double timeDiff = newTime - orgTime; if(timeDiff != 0.0){ for(size_t i=0; i < selectedPoseIters.size(); ++i){ PoseSeq::iterator& iter = selectedPoseIters[i]; seq->changeTime(iter, iter->time() + timeDiff); } } } moveOperationDialog.hide(); } } } bool PoseSeqView::storeState(Archive& archive) { return impl->storeState(archive); } bool PoseSeqViewImpl::storeState(Archive& archive) { if(PoseSeqViewBase::storeState(archive)){ archive.write("mode", (isLipSyncMode ? "lipsync" : "normal")); archive.write("splitMode", (verticalSplitRadio->get_active() ? "vertical" : "horizontal")); if(verticalSplitRadio->get_active()){ archive.write("splitPosition", vpaned.get_position()); } return true; } return false; } bool PoseSeqView::restoreState(const Archive& archive) { return impl->restoreState(archive); } bool PoseSeqViewImpl::restoreState(const Archive& archive) { if(PoseSeqViewBase::restoreState(archive)){ string mode = archive.get("mode", (isLipSyncMode ? "lipsync" : "normal")); if(mode == "normal"){ normalModeRadio->set_active(true); } else if(mode == "lipsync"){ lipsyncModeRadio->set_active(true); } string splitMode = archive.get("splitMode", (verticalSplitRadio->get_active() ? "vertical" : "horizontal")); if(splitMode == "vertical"){ verticalSplitRadio->set_active(true); int position; if(archive.read("splitPosition", position)){ vpaned.set_position(position); } } else if(splitMode == "horizontal"){ horizontalSplitRadio->set_active(true); } return true; } return false; } choreonoid-1.5.0/src/PoseSeqPlugin/PronunSymbol.h0000664000000000000000000000126612741425367020533 0ustar rootroot #ifndef CNOID_CHOREOGRAPHY_PRONUN_SYMBOL_H_INCLUDED #define CNOID_CHOREOGRAPHY_PRONUN_SYMBOL_H_INCLUDED #include "Pose.h" #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT PronunSymbol : public PoseUnit { public: PronunSymbol(); PronunSymbol(const PronunSymbol& org); virtual ~PronunSymbol(); virtual PoseUnit* duplicate(); virtual bool restore(const Mapping& archive, const BodyPtr body); virtual void store(Mapping& archive, const BodyPtr body) const; inline PoseUnitPtr actualPoseUnit(){ return actualPoseUnit_; } private: PoseUnitPtr actualPoseUnit_; }; typedef ref_ptr PronunSymbolPtr; } #endif choreonoid-1.5.0/src/PoseSeqPlugin/po/0000775000000000000000000000000012741425367016324 5ustar rootrootchoreonoid-1.5.0/src/PoseSeqPlugin/po/ja.po0000664000000000000000000003126612741425367017266 0ustar rootroot# Japanese translations for PACKAGE package. # Copyright (C) 2011 THE PACKAGE'S COPYRIGHT HOLDER # This file is distributed under the same license as the PACKAGE package. # nakaoka , 2011. # msgid "" msgstr "" "Project-Id-Version: PACKAGE VERSION\n" "Report-Msgid-Bugs-To: \n" "POT-Creation-Date: 2013-08-09 15:15+0900\n" "PO-Revision-Date: 2011-11-13 23:55+0000\n" "Last-Translator: nakaoka \n" "Language-Team: Japanese\n" "Language: ja\n" "MIME-Version: 1.0\n" "Content-Type: text/plain; charset=UTF-8\n" "Content-Transfer-Encoding: 8bit\n" "Plural-Forms: nplurals=1; plural=0;\n" #: BodyMotionGenerationBar.cpp:87 msgid "Body Motion Generation Setup" msgstr "ƒœƒ‡‚£ƒ˘ƒĵ‚·ƒ§ƒ³ç”Ÿĉˆè¨­ċš" #: BodyMotionGenerationBar.cpp:92 msgid "Time scale" msgstr "‚ż‚¤ƒ ‚ı‚ħƒĵƒĞ" #: BodyMotionGenerationBar.cpp:100 msgid "Pre-initial" msgstr "開ċ§‹ċ‰ä½™ç™½ĉ™‚é–“" #: BodyMotionGenerationBar.cpp:106 BodyMotionGenerationBar.cpp:115 #: BodyMotionGenerationBar.cpp:188 BodyMotionGenerationBar.cpp:203 #: BodyMotionGenerationBar.cpp:212 BodyMotionGenerationBar.cpp:222 #: PoseSeqViewBase.cpp:218 PoseSeqViewBase.cpp:225 msgid "[s]" msgstr "" #: BodyMotionGenerationBar.cpp:109 msgid "Post-final" msgstr "終了ċŒä½™ç™½ĉ™‚é–“" #: BodyMotionGenerationBar.cpp:119 msgid "Time bar's range only" msgstr "‚ż‚¤ƒ ƒƒĵçŻ„ċ›²Ğéİ用" #: BodyMotionGenerationBar.cpp:123 msgid "Put all link positions" msgstr "ċ…¨ƒŞƒ³‚Żä½ç½ċ§żċ‹˘‚’ċ‡şċŠ›" #: BodyMotionGenerationBar.cpp:129 msgid "Make a new body item" msgstr "ĉ–°—„ƒœƒ‡‚£‚˘‚¤ƒ†ƒ ç”Ÿĉˆ" #: BodyMotionGenerationBar.cpp:135 msgid "Stealthy Step Mode" msgstr "ċż³èĥ³ƒ˘ƒĵƒ‰" #: BodyMotionGenerationBar.cpp:136 msgid "" "This mode makes foot lifting / landing smoother to increase the stability" msgstr "ĉœĴƒ˘ƒĵƒ‰§Żèĥ³é›˘ċƒğĉŽċœ°‚’‚ıƒ ƒĵ‚şĞ—Ĥċ‰ċšĉ€§‚’ċ‘上•›™" #: BodyMotionGenerationBar.cpp:140 msgid "Height ratio thresh" msgstr "éИ•ċ‰²ċˆé–ċ€¤" #: BodyMotionGenerationBar.cpp:150 msgid "Flat Lifting Height" msgstr "ċž‚直離ċçµ‚了éИċşĤ" #: BodyMotionGenerationBar.cpp:157 BodyMotionGenerationBar.cpp:167 #: BodyMotionGenerationBar.cpp:178 BodyMotionGenerationBar.cpp:231 msgid "[m]" msgstr "" #: BodyMotionGenerationBar.cpp:160 msgid "Flat Landing Height" msgstr "ċž‚ç›´ĉŽċœ°é–‹ċ§‹éИċşĤ" #: BodyMotionGenerationBar.cpp:171 msgid "Impact reduction height" msgstr "èĦĉ’ƒç·İċ’ŒèğŒé“é–‹ċ§‹éИċşĤ" #: BodyMotionGenerationBar.cpp:181 msgid "Impact reduction time" msgstr "èĦĉ’ƒç·İċ’ŒèğŒé“ĉ™‚é–“é•·" #: BodyMotionGenerationBar.cpp:192 msgid "Auto ZMP Mode" msgstr "ZMPè‡Şċ‹•èŞżĉ•´" #: BodyMotionGenerationBar.cpp:193 msgid "Automatically insert ZMP and foot key poses for stable motion" msgstr "ċ‰ċšċŒ–Ÿ‚ZMPƒğèĥ³ċ…ˆ‚­ƒĵƒƒĵ‚şèż½ċŠ ‚’è‡Şċ‹•§èĦŒ„™" #: BodyMotionGenerationBar.cpp:197 msgid "Min. transtion time" msgstr "ĉœ€çŸ­é·ç§ğĉ™‚é–“" #: BodyMotionGenerationBar.cpp:206 msgid "Centering time thresh" msgstr "‚ğƒ³‚żƒŞƒ³‚°ĉ™‚é–“é–ċ€¤" #: BodyMotionGenerationBar.cpp:216 msgid "Time margin before lifting" msgstr "èĥ³ċ…ˆé›˘ċċ‰ĉ™‚é–“ƒžƒĵ‚¸ƒ³" #: BodyMotionGenerationBar.cpp:225 msgid "Max distance from center" msgstr "中ċżƒ‹‚‰ĉœ€ċ¤§è·é›˘" #: BodyMotionGenerationBar.cpp:237 msgid "Mix lip-sync motion" msgstr "ƒŞƒƒƒ—‚·ƒ³‚Żċˆĉˆ" #: BodyMotionGenerationBar.cpp:247 msgid "&Ok" msgstr "äş†è§£(&O)" #: BodyMotionGenerationBar.cpp:314 msgid "Pose Seq Processing" msgstr "ƒƒĵ‚şċˆ—ċ‡Ĥ理" #: BodyMotionGenerationBar.cpp:316 msgid "Automatic Interpolation Update" msgstr "補ċŒè‡Şċ‹•ĉ›´ĉ–°" #: BodyMotionGenerationBar.cpp:342 msgid "Generate body motions" msgstr "ƒœƒ‡‚£ƒ˘ƒĵ‚·ƒ§ƒ³ç”Ÿĉˆ" #: BodyMotionGenerationBar.cpp:362 msgid "Automatic Balance Adjustment Mode" msgstr "è‡Şċ‹•ĉ›´ĉ–°ƒ˘ƒĵƒ‰" #: BodyMotionGenerationBar.cpp:365 msgid "Enable the balancer" msgstr "ƒƒİƒ³‚ı補ĉ­£ĉœ‰ċŠıċŒ–" #: FcpFileLoader.cpp:231 msgid "Choose poseset file" msgstr "ƒƒĵ‚şċšç݃•‚Ħ‚¤ƒĞ(.poseset)é¸ĉŠž" #: FcpFileLoader.cpp:234 msgid "Open" msgstr "開" #: FcpFileLoader.cpp:235 PoseSeqView.cpp:866 msgid "Cancel" msgstr "‚­ƒ£ƒ³‚ğƒĞ" #: FcpFileLoader.cpp:238 msgid "FaceController poseset files (*.poseset)" msgstr "FaceControllerƒƒĵ‚şċšç݃•‚Ħ‚¤ƒĞ (*.poseset)" #: FcpFileLoader.cpp:239 FcpFileLoader.cpp:255 msgid "Any files (*)" msgstr "ċ…¨Ĥƒ•‚Ħ‚¤ƒĞ (*)" #: FcpFileLoader.cpp:251 msgid "Choose poseseq files" msgstr "ƒƒĵ‚şċˆ—ƒ•‚Ħ‚¤ƒĞ(.poseseq)é¸ĉŠž" #: FcpFileLoader.cpp:254 msgid "FaceController poseseq files (*.poseseq)" msgstr "FaceControllerƒƒĵ‚şċˆ—ƒ•‚Ħ‚¤ƒĞ (*.poseseq)" #: FcpFileLoader.cpp:292 msgid "FaceController Plugin Pattern Files" msgstr "FaceControllerƒ‘‚żƒĵƒ³ƒ•‚Ħ‚¤ƒĞ" #: PoseRollView.cpp:220 msgid "Pose Roll" msgstr "ƒƒĵ‚şƒ­ƒĵƒĞ" #: PoseRollView.cpp:295 msgid "Select specified key poses" msgstr "ç‰ıċš‚­ƒĵƒƒĵ‚şé¸ĉŠž" #: PoseRollView.cpp:297 PoseSeqViewBase.cpp:300 msgid "Adjust step positions" msgstr "‚ıƒ†ƒƒƒ—ä½ç½èŞżĉ•´" #: PoseRollView.cpp:299 msgid "Adjust waist positions of selected key poses" msgstr "選ĉŠž‚­ƒĵƒƒĵ‚şè…°ä½ç½èŞżĉ•´" #: PoseRollView.cpp:301 msgid "Rotate yaw orientations" msgstr "Yawèğ¸ċ‘ċ¤‰ĉ›´" #: PoseRollView.cpp:303 msgid "Update key poses with balanced trajectories" msgstr "ƒƒİƒ³‚ı補ĉ­£•‚ŒŸèğŒé“§‚­ƒĵƒƒĵ‚ş‚’ĉ›´ĉ–°" #: PoseRollView.cpp:305 msgid "Flip poses against the x-z plane" msgstr "x-zċı³é˘ĞċŻ—Ĥċèğ˘" #: PoseRollView.cpp:308 msgid "Show lip-sync elements" msgstr "ƒŞƒƒƒ—‚·ƒ³‚ŻèĤç´ ‚’èĦ¨ç¤ş" #: PoseRollView.cpp:311 msgid "Menu" msgstr "ƒĦƒ‹ƒƒĵ" #: PoseRollView.cpp:339 msgid "Sync" msgstr "ĉ™‚ċˆğċŒĉœŸ" #: PoseRollView.cpp:341 PoseRollView.cpp:370 msgid "T:" msgstr "T:" #: PoseRollView.cpp:342 msgid "Current time" msgstr "çċœ¨ĉ™‚ċˆğ" #: PoseRollView.cpp:352 msgid "Time length for editing" msgstr "編集ĉ™‚é–“é•·" #: PoseRollView.cpp:364 PoseRollView.cpp:381 msgid "TT:" msgstr "TT:" #: PoseRollView.cpp:371 msgid "Time of the selected pose" msgstr "選ĉŠžƒƒĵ‚şĉ™‚ċˆğ" #: PoseRollView.cpp:382 msgid "Transition time of the selected pose" msgstr "選ĉŠžƒƒĵ‚ş¸é·ç§ğĉ™‚é–“" #: PoseRollView.cpp:394 msgid "Grid:" msgstr "‚°ƒŞƒƒƒ‰:" #: PoseSeqItem.cpp:40 msgid "" "Warning: the original target body %1% of \"%2%\" isdifferent from the " "current target %3%." msgstr "" "è­Ĥċ‘Š: ċ…ƒ€…ċŻèħĦ¨—Ĥ„Ÿ\"%2%\"%1%Żçċœ¨ċŻèħĦ¨—Ĥ„‚‹%3%¨Żç•°Ş‚Š™€‚" #: PoseSeqItem.cpp:49 msgid "PoseSeqItem must be loaded as a child of a BodyItem" msgstr "" "PoseSeq‚˘‚¤ƒ†ƒ ŻBody‚˘‚¤ƒ†ƒ ċ°‚˘‚¤ƒ†ƒ ¨—ĤèŞ­żèĵŞ‘‚Œ°Ş‚Š›‚“€‚" #: PoseSeqItem.cpp:84 msgid "PoseSeqItem" msgstr "ƒƒĵ‚şċˆ—‚˘‚¤ƒ†ƒ " #: PoseSeqItem.cpp:87 msgid "Pose Sequence" msgstr "ƒƒĵ‚şċˆ—" #: PoseSeqItem.cpp:89 msgid "Talk Plugin File" msgstr "Talk Plugin ƒ•‚Ħ‚¤ƒĞ" #: PoseSeqItem.cpp:92 msgid "Seq File for the Face Controller" msgstr "Face Controller  Seq ƒ•‚Ħ‚¤ƒĞ" #: PoseSeqItem.cpp:225 msgid "" "Pose seq \"%1%\" has been converted. Its target has been changed from %2% to " "%3%" msgstr "" "%2%‚’ċŻèħĦ¨—Ĥ„Ÿƒƒĵ‚şċˆ—\"%1%\"Ż%3%‚’ċŻèħĦ¨™‚‹‚ˆ†Ğċ¤‰ĉ›•‚Œ—Ÿ€‚" #: PoseSeqItem.cpp:594 msgid "Target body" msgstr "ċŻèħĦƒœƒ‡‚£" #: PoseSeqPlugin.cpp:43 msgid "PoseSeq Plugin Version %1%\n" msgstr "PoseSeq ƒ—ƒİ‚°‚¤ƒ³ ƒƒĵ‚¸ƒ§ƒ³ %1%\n" #: PoseSeqPlugin.cpp:45 msgid "" "This plugin has been developed by Shin'ichiro Nakaoka and Choreonoid " "Development Team, AIST, and is distributed as a part of the Choreonoid " "package.\n" "\n" msgstr "" #: PoseSeqView.cpp:169 msgid "Pose Seq" msgstr "ƒƒĵ‚şċˆ—" #: PoseSeqView.cpp:193 msgid "Pose Seq View" msgstr "ƒƒĵ‚şċˆ—ƒ“ƒƒĵ" #: PoseSeqView.cpp:196 msgid "Normal mode" msgstr "ĉ¨™ĉş–ƒ˘ƒĵƒ‰" #: PoseSeqView.cpp:201 msgid "Humanoid mode" msgstr "ƒ’ƒƒĵƒžƒŽ‚¤ƒ‰ƒ˘ƒĵƒ‰" #: PoseSeqView.cpp:205 msgid "Lip-sync mode" msgstr "ƒŞƒƒƒ—‚·ƒ³‚Żƒ˘ƒĵƒ‰" #: PoseSeqView.cpp:213 msgid "Vertical split mode" msgstr "ç¸Ĥċˆ†ċ‰²ƒ˘ƒĵƒ‰" #: PoseSeqView.cpp:218 msgid "Horizontal split mode" msgstr "ĉ¨Şċˆ†ċ‰²ƒ˘ƒĵƒ‰" #: PoseSeqView.cpp:228 msgid "_Cut" msgstr "‚Ѓƒƒˆ(_C)" #: PoseSeqView.cpp:230 msgid "_Copy" msgstr "‚³ƒ”ƒĵ(_C)" #: PoseSeqView.cpp:232 msgid "_Paste" msgstr "ƒšƒĵ‚ıƒˆ(_P)" #: PoseSeqView.cpp:234 msgid "_Move" msgstr "ç§ğċ‹•(_M)" #: PoseSeqView.cpp:242 msgid "Target Data: " msgstr "ċŻèħĦƒ‡ƒĵ‚ż:" #: PoseSeqView.cpp:248 PoseSeqView.cpp:290 msgid "t.time" msgstr "遷ç§ğĉ™‚é–“" #: PoseSeqView.cpp:265 msgid "time" msgstr "ĉ™‚ċˆğ" #: PoseSeqView.cpp:276 PoseSeqView.cpp:375 msgid "label" msgstr "ƒİƒ™ƒĞ" #: PoseSeqView.cpp:284 msgid "actual pose" msgstr "ċŸéš›ƒƒĵ‚ş" #: PoseSeqView.cpp:375 msgid "pronunciation / label" msgstr "ç™şéŸ³ / ƒİƒ™ƒĞ" #: PoseSeqView.cpp:850 msgid "Move Selected Poses" msgstr "選ĉŠžƒƒĵ‚şç§ğċ‹•" #: PoseSeqView.cpp:851 msgid "New time of the first pose: " msgstr "ċ…ˆé ­ƒƒĵ‚şĉ–°—„ĉ™‚ċˆğ" #: PoseSeqView.cpp:865 msgid "Ok" msgstr "äş†è§£" #: PoseSeqViewBase.cpp:96 msgid "Link Position Adjustment" msgstr "ƒŞƒ³‚Żä½ç½èŞżĉ•´" #: PoseSeqViewBase.cpp:103 msgid "Absolute" msgstr "直ĉŒ‡ċš" #: PoseSeqViewBase.cpp:105 msgid "Relative" msgstr "相ċŻĉŒ‡ċš" #: PoseSeqViewBase.cpp:150 msgid "Yaw Orientation Rotation" msgstr "Yawèğ¸ċ›žèğ˘" #: PoseSeqViewBase.cpp:156 msgid "Center:" msgstr "中ċżƒ:" #: PoseSeqViewBase.cpp:170 msgid "Angle" msgstr "角ċşĤ" #: PoseSeqViewBase.cpp:175 msgid "[deg]" msgstr "[deg]" #: PoseSeqViewBase.cpp:206 msgid "Select Specified Key Poses" msgstr "ç‰ıċš‚­ƒĵƒƒĵ‚ş‚’選ĉŠž" #: PoseSeqViewBase.cpp:213 msgid "Start" msgstr "ĉœ€ċ°ĉ™‚ċˆğ" #: PoseSeqViewBase.cpp:220 msgid "End" msgstr "ĉœ€ċ¤§ĉ™‚ċˆğ" #: PoseSeqViewBase.cpp:230 msgid "all parts" msgstr "ċ…¨éƒ¨ä½" #: PoseSeqViewBase.cpp:232 msgid "having selected parts" msgstr "選ĉŠžéƒ¨ä½‚’ĉœ‰™‚‹" #: PoseSeqViewBase.cpp:235 msgid "just selected parts" msgstr "選ĉŠžéƒ¨ä½Ğ一致" #: PoseSeqViewBase.cpp:296 msgid "Select all poses after current position" msgstr "çċœ¨ĉ™‚ċˆğċŒċ…¨ƒƒĵ‚ş‚’選ĉŠž" #: PoseSeqViewBase.cpp:298 msgid "Select all poses before current position" msgstr "çċœ¨ĉ™‚ċˆğċ‰ċ…¨ƒƒĵ‚ş‚’選ĉŠž" #: PoseSeqViewBase.cpp:302 msgid "Count selected key poses" msgstr "選ĉŠžƒƒĵ‚şĉ•°" #: PoseSeqViewBase.cpp:357 msgid " Insert " msgstr "ĉŒżċ…" #: PoseSeqViewBase.cpp:359 msgid "Insert a new pose at the current time position" msgstr "ĉ–°—„ƒƒĵ‚ş‚’çċœ¨ĉ™‚ċˆğĞĉŒżċ…™‚‹" #: PoseSeqViewBase.cpp:363 msgid "Transition time of a newly inserted pose" msgstr "ĉ–°ŸĞĉŒżċ…•‚Œ‚‹ƒƒĵ‚şé·ç§ğĉ™‚é–“" #: PoseSeqViewBase.cpp:371 msgid "Update" msgstr "ĉ›´ĉ–°" #: PoseSeqViewBase.cpp:373 msgid "Update the selected pose with the current robot state" msgstr "選ĉŠžƒƒĵ‚ş‚’ƒ­ƒœƒƒƒˆçċœ¨ċ§żċ‹˘§ĉ›´ĉ–°" #: PoseSeqViewBase.cpp:377 msgid "All" msgstr "ċ…¨éƒ¨ä½" #: PoseSeqViewBase.cpp:379 msgid "The update button updates all the element of the selected pose." msgstr "選ĉŠžƒƒĵ‚şċ…¨Ĥéƒ¨ä½‚’ĉ›´ĉ–°" #: PoseSeqViewBase.cpp:382 msgid "Auto" msgstr "è‡Şċ‹•ĉ›´ĉ–°" #: PoseSeqViewBase.cpp:383 msgid "" "The selected pose is automatically updated when the robot state changes." msgstr "ƒ­ƒœƒƒƒˆçŠĥĉ…‹ċ¤‰ċŒ–Ğċżœ˜Ĥè‡Şċ‹•§é¸ĉŠžċ§żċ‹˘‚’ĉ›´ĉ–°" #: PoseSeqViewBase.cpp:386 msgid "Delete" msgstr "ċ‰Šé™¤" #: PoseSeqViewBase.cpp:391 msgid "Time sync" msgstr "ĉ™‚ċˆğċŒĉœŸ" #: PoseSeqViewBase.cpp:430 msgid "Select key poses having the selected links" msgstr "選ĉŠžƒŞƒ³‚Ż‚’ċĞ‚€ƒƒĵ‚ş‚’選ĉŠž" #: PoseSeqViewBase.cpp:432 msgid "Select key poses just having the selected links" msgstr "選ĉŠžƒŞƒ³‚ŻĞ一致™‚‹ƒƒĵ‚ş‚’選ĉŠž" #: PoseSeqViewBase.cpp:434 msgid "Remove the selected parts from the selected poses" msgstr "選ĉŠžƒƒĵ‚ş‹‚‰é¸ĉŠžéƒ¨ä½‚’ċ‰Šé™¤" #: PoseSeqViewBase.cpp:1393 msgid "Original key poses have been updated to be balanced ones." msgstr "ċ…ƒƒƒĵ‚ş‚’ƒƒİƒ³‚ı補ĉ­£•‚ŒŸ‚‚Ğĉ›´ĉ–°™‚‹€‚" #: PoseSeqViewBase.cpp:1396 msgid "Operation failed ! Key poses cannot be updated." msgstr "ċ‡Ĥ理ċ¤ħĉ•—ïĵƒƒĵ‚şŒĉ›´ĉ–°§›‚“€‚" #: PoseSeqViewBase.cpp:1408 msgid "flipping all the poses against x-z plane ..." msgstr "ċ…¨ċ§żċ‹˘‚’x-zċı³é˘ĞċŻ—Ĥċèğ˘" #: PoseSeqViewBase.cpp:1418 msgid "The number of selected key poses is %1%" msgstr "選ĉŠžƒƒĵ‚şĉ•°Ż%1%§™€‚" #: PoseSeqViewBase.cpp:1465 msgid "Selected key poses have been updated." msgstr "選ĉŠžƒƒĵ‚şŻĉ›´ĉ–°•‚Œ—Ÿ€‚" #: PoseSeqViewBase.cpp:1519 msgid "Please check parts needed for making a desired pose." msgstr "ĉœ›żċ§żċ‹˘‚’¤‚‹Ğċż…èĤŞéƒ¨ä½‚’選ĉŠž—Ĥ •„€‚" choreonoid-1.5.0/src/PoseSeqPlugin/PoseSeqViewBase.cpp0000664000000000000000000016274212741425367021433 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "PoseSeqViewBase.h" #include "BodyMotionGenerationBar.h" #include "PronunSymbol.h" #include "PoseFilters.h" #include "BodyMotionGenerationBar.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { const bool TRACE_FUNCTIONS = false; inline double degree(double rad) { return (180.0 * rad / 3.14159265358979); } inline double radian(double deg) { return (3.14159265358979 * deg / 180.0); } inline double myNearByInt(double x) { #ifdef Q_OS_WIN32 double u = ceil(x); double l = floor(x); if(fabs(u - x) < fabs(x - l)){ return u; } else { return l; } #else return nearbyint(x); #endif } class ColumnCheckBox : public CheckBox { public: ColumnCheckBox(boost::function slotOnClicked) : slotOnClicked(slotOnClicked) { } virtual void nextCheckState(){ slotOnClicked(checkState()); }; boost::function slotOnClicked; }; class LinkTreeWidgetEx : public LinkTreeWidget { public: LinkTreeWidgetEx(QWidget* parent) : LinkTreeWidget(parent) { #if QT_VERSION < QT_VERSION_CHECK(5, 0, 0) header()->setResizeMode(nameColumn(), QHeaderView::ResizeToContents); #else header()->setSectionResizeMode(nameColumn(), QHeaderView::ResizeToContents); #endif } virtual QSize sizeHint() const { QSize size = QTreeWidget::sizeHint(); int width = header()->length(); size.setWidth(width); return size; } }; } namespace cnoid { class LinkPositionAdjustmentDialog : public Dialog { public: RadioButton absoluteRadio; RadioButton relativeRadio; CheckBox targetAxisCheck[3]; DoubleSpinBox positionSpin[3]; LinkPositionAdjustmentDialog(View* parentView) : Dialog(parentView) { setWindowTitle(_("Link Position Adjustment")); QVBoxLayout* vbox = new QVBoxLayout(); QHBoxLayout* hbox = new QHBoxLayout(); vbox->addLayout(hbox); absoluteRadio.setText(_("Absolute")); hbox->addWidget(&absoluteRadio); relativeRadio.setText(_("Relative")); relativeRadio.setChecked(true); hbox->addWidget(&relativeRadio); hbox = new QHBoxLayout(); vbox->addLayout(hbox); const char* axisLabel[] = { "X", "Y", "Z" }; for(int i=0; i < 3; ++i){ targetAxisCheck[i].setText(axisLabel[i]); hbox->addWidget(&targetAxisCheck[i]); positionSpin[i].setDecimals(3); positionSpin[i].setRange(-99.999, 99.999); positionSpin[i].setSingleStep(0.001); positionSpin[i].setValue(0.0); hbox->addWidget(&positionSpin[i]); } QDialogButtonBox* buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok); connect(buttonBox, SIGNAL(accepted()), this, SLOT(accept())); vbox->addWidget(buttonBox); setLayout(vbox); } bool storeState(Archive& archive) { return true; } bool restoreState(const Archive& archive) { return true; } }; class YawOrientationRotationDialog : public Dialog { public: DoubleSpinBox angleSpin; DoubleSpinBox centerPosSpins[2]; YawOrientationRotationDialog(View* parentView) : Dialog(parentView) { setWindowTitle(_("Yaw Orientation Rotation")); QVBoxLayout* vbox = new QVBoxLayout(); QHBoxLayout* hbox = new QHBoxLayout(); vbox->addLayout(hbox); hbox->addWidget(new QLabel(_("Center:"))); hbox->addSpacing(8); const char* axisLabel[] = { "X", "Y" }; for(int i=0; i < 2; ++i){ hbox->addWidget(new QLabel(axisLabel[i])); centerPosSpins[i].setDecimals(3); centerPosSpins[i].setRange(-99.999, 99.999); centerPosSpins[i].setSingleStep(0.001); hbox->addWidget(¢erPosSpins[i]); } hbox = new QHBoxLayout(); vbox->addLayout(hbox); hbox->addWidget(new QLabel(_("Angle"))); angleSpin.setDecimals(1); angleSpin.setRange(0.1, 90.0); angleSpin.setSingleStep(0.1); hbox->addWidget(&angleSpin); hbox->addWidget(new QLabel(_("[deg]"))); QDialogButtonBox* buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok); connect(buttonBox, SIGNAL(accepted()), this, SLOT(accept())); vbox->addWidget(buttonBox); setLayout(vbox); } bool storeState(Archive& archive) { return true; } bool restoreState(const Archive& archive) { return true; } }; class PoseSelectionDialog : public Dialog { public: DoubleSpinBox startTimeSpin; DoubleSpinBox endTimeSpin; RadioButton allPartRadio; RadioButton selectedPartRadio; RadioButton justSelectedPartRadio; PoseSelectionDialog(View* parentView) : Dialog(parentView) { setWindowTitle(_("Select Specified Key Poses")); QVBoxLayout* vbox = new QVBoxLayout(); QHBoxLayout* hbox = new QHBoxLayout(); vbox->addLayout(hbox); hbox->addWidget(new QLabel(_("Start"))); startTimeSpin.setDecimals(2); startTimeSpin.setRange(0.00, 999.99); startTimeSpin.setSingleStep(0.01); hbox->addWidget(&startTimeSpin); hbox->addWidget(new QLabel(_("[s]"))); hbox->addWidget(new QLabel(_("End"))); endTimeSpin.setDecimals(2); endTimeSpin.setRange(0.00, 999.99); endTimeSpin.setSingleStep(0.01); hbox->addWidget(&endTimeSpin); hbox->addWidget(new QLabel(_("[s]"))); hbox = new QHBoxLayout(); vbox->addLayout(hbox); allPartRadio.setText(_("all parts")); hbox->addWidget(&allPartRadio); selectedPartRadio.setText(_("having selected parts")); selectedPartRadio.setChecked(true); hbox->addWidget(&selectedPartRadio); justSelectedPartRadio.setText(_("just selected parts")); hbox->addWidget(&justSelectedPartRadio); QDialogButtonBox* buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok); connect(buttonBox, SIGNAL(accepted()), this, SLOT(accept())); vbox->addWidget(buttonBox); setLayout(vbox); } bool storeState(Archive& archive) { return true; } bool restoreState(const Archive& archive) { return true; } }; } PoseSeqViewBase::PoseSeqViewBase(View* view) : view(view), os(MessageView::mainInstance()->cout()), textForEmptyName("----------"), menuManager(&popupMenu) { view->sigActivated().connect(boost::bind(&PoseSeqViewBase::onViewActivated, this)); view->sigDeactivated().connect(boost::bind(&PoseSeqViewBase::onViewDeactivated, this)); currentTime = 0.0; timeBar = TimeBar::instance(); BodyMotionGenerationBar* generationBar = BodyMotionGenerationBar::instance(); timeScale = generationBar->timeScaleRatio(); staticConnections.add( generationBar->sigInterpolationParametersChanged().connect( boost::bind(&PoseSeqViewBase::onInterpolationParametersChanged, this))); setupOperationParts(); setupLinkTreeWidget(); staticConnections.add( ItemTreeView::mainInstance()->sigSelectionChanged().connect( boost::bind(&PoseSeqViewBase::onItemSelectionChanged, this, _1))); isSelectedPoseMoving = false; copiedPoses = new PoseSeq(); poseSelectionDialog = new PoseSelectionDialog(view); poseSelectionDialog->sigAccepted().connect( boost::bind(&PoseSeqViewBase::onPoseSelectionDialogAccepted, this)); linkPositionAdjustmentDialog = new LinkPositionAdjustmentDialog(view); linkPositionAdjustmentDialog->sigAccepted().connect( boost::bind(&PoseSeqViewBase::onLinkPositionAdjustmentDialogAccepted, this)); yawOrientationRotationDialog = new YawOrientationRotationDialog(view); yawOrientationRotationDialog->sigAccepted().connect( boost::bind(&PoseSeqViewBase::onYawOrientationRotationDialogAccepted, this)); menuManager.addItem(_("Select all poses after current position"))->sigTriggered().connect (boost::bind(&PoseSeqViewBase::selectAllPosesAfterCurrentPosition, this)); menuManager.addItem(_("Select all poses before current position"))->sigTriggered().connect (boost::bind(&PoseSeqViewBase::selectAllPosesBeforeCurrentPosition, this)); menuManager.addItem(_("Adjust step positions"))->sigTriggered().connect (boost::bind(&PoseSeqViewBase::onAdjustStepPositionsActivated, this)); menuManager.addItem(_("Count selected key poses"))->sigTriggered().connect( boost::bind(&PoseSeqViewBase::countSelectedKeyPoses, this)); } PoseSeqViewBase::~PoseSeqViewBase() { staticConnections.disconnect(); poseSeqConnections.disconnect(); connectionOfBodyKinematicStateEdited.disconnect(); } void PoseSeqViewBase::onViewActivated() { if(TRACE_FUNCTIONS){ cout << "PoseSeqViewBase::onViewActivated()" << endl; } if(timeSyncCheck.isChecked()){ if(!connectionOfTimeChanged.connected()){ connectionOfTimeChanged = timeBar->sigTimeChanged().connect( boost::bind(&PoseSeqViewBase::onTimeChanged, this, _1)); } onTimeChanged(timeBar->time()); } } void PoseSeqViewBase::onViewDeactivated() { if(TRACE_FUNCTIONS){ cout << "PoseSeqViewBase::onViewDeactivated()" << endl; } connectionOfTimeChanged.disconnect(); } void PoseSeqViewBase::onTimeSyncCheckToggled() { if(timeSyncCheck.isChecked()){ if(!connectionOfTimeChanged.connected()){ connectionOfTimeChanged = timeBar->sigTimeChanged().connect( boost::bind(&PoseSeqViewBase::onTimeChanged, this, _1)); } } else { connectionOfTimeChanged.disconnect(); } } void PoseSeqViewBase::setupOperationParts() { currentItemLabel.setText(textForEmptyName); currentItemLabel.setAlignment(Qt::AlignCenter); insertPoseButton.setText(_(" Insert ")); insertPoseButton.setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); insertPoseButton.setToolTip(_("Insert a new pose at the current time position")); insertPoseButton.sigClicked().connect( boost::bind(&PoseSeqViewBase::onInsertPoseButtonClicked, this)); transitionTimeSpin.setToolTip(_("Transition time of a newly inserted pose")); transitionTimeSpin.setAlignment(Qt::AlignCenter); transitionTimeSpin.setDecimals(3); transitionTimeSpin.setRange(0.0, 9.999); transitionTimeSpin.setSingleStep(0.005); transitionTimeSpin.sigEditingFinished().connect( boost::bind(&PoseSeqViewBase::onInsertPoseButtonClicked, this)); updateButton.setText(_("Update")); updateButton.setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); updateButton.setToolTip(_("Update the selected pose with the current robot state")); updateButton.sigClicked().connect( boost::bind(&PoseSeqViewBase::onUpdateButtonClicked, this)); updateAllToggle.setText(_("All")); updateAllToggle.setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); updateAllToggle.setToolTip(_("The update button updates all the element of the selected pose.")); updateAllToggle.setChecked(true); autoUpdateModeCheck.setText(_("Auto")); autoUpdateModeCheck.setToolTip(_("The selected pose is automatically updated when the robot state changes.")); autoUpdateModeCheck.setChecked(false); deleteButton.setText(_("Delete")); deleteButton.setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); deleteButton.sigClicked().connect( boost::bind(&PoseSeqViewBase::onDeleteButtonClicked, this)); timeSyncCheck.setText(_("Time sync")); timeSyncCheck.setChecked(true); timeSyncCheck.sigToggled().connect( boost::bind(&PoseSeqViewBase::onTimeSyncCheckToggled, this)); } void PoseSeqViewBase::setupLinkTreeWidget() { linkTreeWidget = new LinkTreeWidgetEx(view); //linkTreeWidget->setStyleSheet("QTreeView::item { border-right: 1px solid black }"); QHeaderView* header = linkTreeWidget->header(); header->hideSection(linkTreeWidget->jointIdColumn()); poseForDefaultStateSetting = new Pose(); baseLinkColumn = linkTreeWidget->addColumn("BL"); linkTreeWidget->moveVisualColumnIndex(baseLinkColumn, 0); baseLinkRadioGroup = 0; validPartColumn = linkTreeWidget->addColumn("ON"); stationaryPointColumn = linkTreeWidget->addColumn("SP"); ikPartColumn = linkTreeWidget->addColumn("IK"); zmpRow = new LinkTreeItem("ZMP"); linkTreeWidget->addCustomRow(zmpRow); linkTreeWidget->sigUpdateRequest().connect( boost::bind(&PoseSeqViewBase::onLinkTreeUpdateRequest, this, _1)); linkTreeWidget->setFrameShape(QFrame::NoFrame); linkTreeWidget->setDefaultExpansionLevel(1); linkTreeWidget->enableCache(true); linkTreeWidget->setListingMode(LinkTreeWidget::PART_TREE); linkTreeWidget->fixListingMode(true); MenuManager& mm = linkTreeWidget->popupMenuManager(); mm.addItem(_("Select key poses having the selected links"))->sigTriggered().connect( boost::bind(&PoseSeqViewBase::selectPosesHavingSelectedLinks, this)); mm.addItem(_("Select key poses just having the selected links"))->sigTriggered().connect( boost::bind(&PoseSeqViewBase::selectPosesJustHavingSelectedLinks, this)); mm.addItem(_("Remove the selected parts from the selected poses"))->sigTriggered().connect( boost::bind(&PoseSeqViewBase::removeSelectedPartsFromKeyPoses, this)); } bool PoseSeqViewBase::isChecked(LinkTreeItem* item, int column) { QAbstractButton* check = dynamic_cast(linkTreeWidget->alignedItemWidget(item, column)); return check ? check->isChecked() : Qt::Unchecked; } void PoseSeqViewBase::setChecked(LinkTreeItem* item, int column, bool checked) { QAbstractButton* check = dynamic_cast(linkTreeWidget->alignedItemWidget(item, column)); if(check){ check->setChecked(checked); } } void PoseSeqViewBase::setCheckState(LinkTreeItem* item, int column, Qt::CheckState state) { QCheckBox* check = dynamic_cast(linkTreeWidget->alignedItemWidget(item, column)); if(check){ check->setCheckState(state); } } void PoseSeqViewBase::onLinkTreeUpdateRequest(bool isInitialCreation) { if(!linkTreeWidget->bodyItem()){ setCurrentPoseSeqItem(0); } else { if(isInitialCreation){ initializeLinkTree(); } updateLinkTreeModel(); } } void PoseSeqViewBase::initializeLinkTree() { poseForDefaultStateSetting->clear(); if(baseLinkRadioGroup){ delete baseLinkRadioGroup; } baseLinkRadioGroup = new ButtonGroup(linkTreeWidget); baseLinkRadioGroup->sigButtonClicked().connect( boost::bind(&PoseSeqViewBase::onBaseLinkRadioClicked, this)); initializeLinkTreeIkLinkColumn(); Link* rootLink = body->rootLink(); poseForDefaultStateSetting->setBaseLink(rootLink->index(), rootLink->p(), rootLink->R()); initializeLinkTreeTraverse(linkTreeWidget->invisibleRootItem()); } void PoseSeqViewBase::initializeLinkTreeIkLinkColumn() { const Mapping& info = *body->info(); possibleIkLinkFlag.resize(body->numLinks()); possibleIkLinkFlag.reset(); const Listing& possibleIkLinks = *info.findListing("possibleIkInterpolationLinks"); if(possibleIkLinks.isValid()){ for(int i=0; i < possibleIkLinks.size(); ++i){ Link* link = body->link(possibleIkLinks[i]); if(link){ possibleIkLinkFlag[link->index()] = true; LinkTreeItem* item = linkTreeWidget->itemOfLink(link->index()); if(item){ ColumnCheckBox* checkBox = new ColumnCheckBox( boost::bind(&PoseSeqViewBase::onIkPartCheckClicked, this, item, _1)); linkTreeWidget->setAlignedItemWidget(item, ikPartColumn, checkBox); } } } } const Listing& defaultIkLinks = *info.findListing("defaultIkInterpolationLinks"); if(defaultIkLinks.isValid()){ for(int i=0; i < defaultIkLinks.size(); ++i){ Link* link = body->link(defaultIkLinks[i]); if(link){ poseForDefaultStateSetting->addIkLink(link->index()); } } } } void PoseSeqViewBase::initializeLinkTreeTraverse(QTreeWidgetItem* parentItem) { int n = parentItem->childCount(); for(int i=0; i < n; ++i){ LinkTreeItem* item = dynamic_cast(parentItem->child(i)); if(!item){ continue; } Link* link = item->link(); if(!link || link->parent()){ ColumnCheckBox* checkBox = new ColumnCheckBox( boost::bind(&PoseSeqViewBase::onValidPartCheckClicked, this, item, _1)); if(link && link->jointId() >= 0){ poseForDefaultStateSetting->setJointPosition(link->jointId(), 0.0); } else if(item->isLinkGroup()){ checkBox->setTristate(true); } linkTreeWidget->setAlignedItemWidget(item, validPartColumn, checkBox); } if(link){ RadioButton* radioButton = new RadioButton(); baseLinkRadioGroup->addButton(radioButton, link->index()); linkTreeWidget->setAlignedItemWidget(item, baseLinkColumn, radioButton); } ColumnCheckBox* spCheck = new ColumnCheckBox( boost::bind(&PoseSeqViewBase::onStationaryPointCheckClicked, this, item, _1)); linkTreeWidget->setAlignedItemWidget(item, stationaryPointColumn, spCheck); initializeLinkTreeTraverse(item); } } void PoseSeqViewBase::togglePoseAttribute(boost::function toggleFunction) { if(selectedPoseIters.empty()){ if(toggleFunction(poseForDefaultStateSetting)){ updateLinkTreeModel(); } } else { currentPoseSeqItem->beginEditing(); bool modified = false; for(PoseIterSet::iterator p = selectedPoseIters.begin(); p != selectedPoseIters.end(); ++p){ PosePtr pose = (*p)->get(); if(pose){ seq->beginPoseModification(*p); modified = toggleFunction(pose); if(modified){ seq->endPoseModification(*p); } } } currentPoseSeqItem->endEditing(modified); //! \todo This should be processed by PoseSeq slots if(modified){ doAutomaticInterpolationUpdate(); } } } void PoseSeqViewBase::onBaseLinkRadioClicked() { if(TRACE_FUNCTIONS){ cout << "PoseSeqViewBase::onBaseLinkRadioClicked()" << endl; } int linkIndex = baseLinkRadioGroup->checkedId(); Link* link = (linkIndex >= 0) ? body->link(linkIndex) : 0; togglePoseAttribute(boost::bind(&PoseSeqViewBase::setBaseLink, this, _1, link)); } bool PoseSeqViewBase::setBaseLink(PosePtr& pose, Link* link) { if(TRACE_FUNCTIONS){ cout << "PoseSeqViewBase::toggleBaseLink()" << endl; } bool modified = false; if(link){ if(pose->baseLinkIndex() != link->index()){ pose->setBaseLink(link->index(), link->p(), link->R()); modified = true; } } else { if(pose->baseLinkInfo()){ pose->invalidateBaseLink(); modified = true; } } return modified; } void PoseSeqViewBase::onValidPartCheckClicked(LinkTreeItem* item, Qt::CheckState checkState) { bool on = ((checkState == Qt::Unchecked) || (checkState == Qt::PartiallyChecked)); if(item == zmpRow){ togglePoseAttribute(boost::bind(&PoseSeqViewBase::toggleZmp, this, _1, on)); } else { Link* link = item->link(); if(link){ bool isIkPartChecked = isChecked(item, ikPartColumn); togglePoseAttribute(boost::bind(&PoseSeqViewBase::toggleLink, this, _1, item, link, on, isIkPartChecked)); } else { togglePoseAttribute(boost::bind(&PoseSeqViewBase::togglePart, this, _1, item, on)); } } } bool PoseSeqViewBase::toggleZmp(PosePtr& pose, bool on) { bool modified = false; if(on){ const Vector3& zmp = currentBodyItem->zmp(); if(!pose->isZmpValid() || zmp != pose->zmp()){ pose->setZmp(currentBodyItem->zmp()); modified = true; } } else { if(pose->isZmpValid()){ pose->invalidateZmp(); modified = true; } } return modified; } bool PoseSeqViewBase::toggleLink(PosePtr& pose, LinkTreeItem* item, Link* link, bool partOn, bool ikOn) { bool modified = false; int jId = link->jointId(); if(partOn){ if(jId >= 0){ bool isSpChecked = isChecked(item, stationaryPointColumn); if(!pose->isJointValid(jId) || pose->jointPosition(jId) != link->q() || pose->isJointStationaryPoint(jId) != isSpChecked){ pose->setJointPosition(jId, link->q()); pose->setJointStationaryPoint(jId, isSpChecked); modified = true; } } if(possibleIkLinkFlag[link->index()]){ Pose::LinkInfo* info = pose->ikLinkInfo(link->index()); if(!info){ info = pose->addIkLink(link->index()); modified = true; } if(setCurrentLinkStateToIkLink(link, info)){ modified = true; } bool isSlave = !ikOn; if(info->isSlave() != isSlave){ info->setSlave(isSlave); modified = true; } } } else { if(pose->isJointValid(jId)){ pose->invalidateJoint(jId); modified = true; } if(pose->removeIkLink(link->index())){ modified = true; } } return modified; } bool PoseSeqViewBase::togglePart(PosePtr& pose, LinkTreeItem* item, bool on) { bool modified = false; Link* link = item->link(); if(link){ bool ikOn = false; if(possibleIkLinkFlag[link->index()]){ if(isChecked(item, validPartColumn)){ ikOn = isChecked(item, ikPartColumn); } else { ikOn = on; } } modified = toggleLink(pose, item, link, on, ikOn); } int n = item->childCount(); for(int i=0; i < n; ++i){ LinkTreeItem* childItem = dynamic_cast(item->child(i)); if(childItem){ modified |= togglePart(pose, childItem, on); } } return modified; } void PoseSeqViewBase::onStationaryPointCheckClicked(LinkTreeItem* item, Qt::CheckState checkState) { bool on = (checkState == Qt::Unchecked); if(item == zmpRow){ togglePoseAttribute(boost::bind(&PoseSeqViewBase::toggleZmpStationaryPoint, this, _1, on)); } else { Link* link = item->link(); if(link){ togglePoseAttribute(boost::bind(&PoseSeqViewBase::toggleStationaryPoint, this, _1, link, on)); } else { if(checkState == Qt::PartiallyChecked){ on = true; } togglePoseAttribute(boost::bind(&PoseSeqViewBase::togglePartStationaryPoints, this, _1, item, on)); } } } bool PoseSeqViewBase::toggleZmpStationaryPoint(PosePtr& pose, bool on) { bool modified = false; if(on){ if(!pose->isZmpStationaryPoint()){ pose->setZmpStationaryPoint(on); modified = true; } } else { if(pose->isZmpStationaryPoint()){ pose->setZmpStationaryPoint(on); modified = true; } } return modified; } bool PoseSeqViewBase::toggleStationaryPoint(PosePtr& pose, Link* link, bool on) { bool modified = false; int id = link->jointId(); if(pose->isJointValid(id)){ pose->setJointStationaryPoint(id, on); modified = true; } Pose::LinkInfo* info = pose->ikLinkInfo(link->index()); if(info){ info->setStationaryPoint(on); modified = true; } return modified; } bool PoseSeqViewBase::togglePartStationaryPoints(PosePtr& pose, LinkTreeItem* item, bool on) { bool modified = false; Link* link = item->link(); if(link){ modified = toggleStationaryPoint(pose, link, on); } int n = item->childCount(); for(int i=0; i < n; ++i){ LinkTreeItem* childItem = dynamic_cast(item->child(i)); if(childItem){ modified |= togglePartStationaryPoints(pose, childItem, on); } } return modified; } void PoseSeqViewBase::onIkPartCheckClicked(LinkTreeItem* item, Qt::CheckState checkState) { Link* link = item->link(); if(link){ bool ikOn = (checkState == Qt::Unchecked); bool partOn = ikOn | isChecked(item, validPartColumn); togglePoseAttribute(boost::bind(&PoseSeqViewBase::toggleLink, this, _1, item, link, partOn, ikOn)); } } void PoseSeqViewBase::onInterpolationParametersChanged() { double newTimeScale = BodyMotionGenerationBar::instance()->timeScaleRatio(); if(newTimeScale != timeScale){ timeScale = newTimeScale; onTimeScaleChanged(); } } void PoseSeqViewBase::onTimeScaleChanged() { onSelectedPosesModified(); } void PoseSeqViewBase::onItemSelectionChanged(const ItemList& selectedItems) { PoseSeqItemPtr item = selectedItems.toSingle(); if(item){ setCurrentPoseSeqItem(item); } } void PoseSeqViewBase::setCurrentPoseSeqItem(PoseSeqItemPtr poseSeqItem) { if(poseSeqItem == currentPoseSeqItem){ return; } poseSeqConnections.disconnect(); currentPoseSeqItem = poseSeqItem; setCurrentItemName(poseSeqItem); connectionOfBodyKinematicStateEdited.disconnect(); seq = 0; currentBodyItem = 0; body.reset(); selectedPoseIters.clear(); if(!poseSeqItem){ if(linkTreeWidget->bodyItem()){ linkTreeWidget->setBodyItem(0); } } else { poseSeqConnections.add( poseSeqItem->sigNameChanged().connect( boost::bind(&PoseSeqViewBase::setCurrentItemName, this, poseSeqItem))); seq = currentPoseSeqItem->poseSeq(); currentPoseIter = seq->end(); currentBodyItem = poseSeqItem->findOwnerItem(); if(currentBodyItem){ body = currentBodyItem->body(); } linkTreeWidget->setBodyItem(currentBodyItem); if(currentBodyItem){ connectionOfBodyKinematicStateEdited = currentBodyItem->sigKinematicStateEdited().connect( boost::bind(&PoseSeqViewBase::onBodyKinematicStateEdited, this)); } poseSeqConnections.add( seq->connectSignalSet( boost::bind(&PoseSeqViewBase::onPoseInserted, this, _1, _2), boost::bind(&PoseSeqViewBase::onPoseRemoving, this, _1, _2), boost::bind(&PoseSeqViewBase::onPoseModified, this, _1))); poseSeqConnections.add( poseSeqItem->sigDetachedFromRoot().connect( boost::bind(&PoseSeqViewBase::setCurrentPoseSeqItem, this, PoseSeqItemPtr()))); } } PoseSeqViewBase::PoseIterSet::iterator PoseSeqViewBase::findPoseIterInSelected(PoseSeq::iterator poseIter) { pair range = selectedPoseIters.equal_range(poseIter); for(PoseIterSet::iterator p = range.first; p != range.second; ++p){ if((*p) == poseIter){ return p; } } return selectedPoseIters.end(); } bool PoseSeqViewBase::toggleSelection(PoseSeq::iterator poseIter, bool adding, bool changeTime) { if(!(selectedPoseIters.size() == 1 && *selectedPoseIters.begin() == poseIter)){ // Skip same single selection if(poseIter == seq->end()){ if(selectedPoseIters.empty()){ return false; } selectedPoseIters.clear(); } else { PoseIterSet::iterator p = findPoseIterInSelected(poseIter); if(p == selectedPoseIters.end()){ if(!adding){ selectedPoseIters.clear(); } selectedPoseIters.insert(poseIter); } else { if(adding){ selectedPoseIters.erase(p); } } } updateLinkTreeModel(); onSelectedPosesModified(); } if(changeTime && (poseIter != seq->end())){ double time = timeScale * poseIter->time(); if(timeSyncCheck.isChecked()){ timeBar->setTime(time); } else { onTimeChanged(time); } } return true; } void PoseSeqViewBase::selectAllPoses() { selectedPoseIters.clear(); for(PoseSeq::iterator p = seq->begin(); p != seq->end(); ++p){ selectedPoseIters.insert(p); } updateLinkTreeModel(); onSelectedPosesModified(); } void PoseSeqViewBase::selectAllPosesAfterCurrentPosition() { selectedPoseIters.clear(); PoseSeq::iterator p = seq->seek(seq->begin(), currentTime); while(p != seq->end()){ selectedPoseIters.insert(p++); } updateLinkTreeModel(); onSelectedPosesModified(); } void PoseSeqViewBase::selectAllPosesBeforeCurrentPosition() { selectedPoseIters.clear(); if(!seq->empty()){ PoseSeq::iterator p = seq->seek(seq->begin(), currentTime); if(p != seq->end() && (p->time() == currentTime)){ ++p; } do { selectedPoseIters.insert(--p); } while(p != seq->begin()); } updateLinkTreeModel(); onSelectedPosesModified(); } void PoseSeqViewBase::selectPosesHavingSelectedLinks() { if(!body || !seq){ return; } const vector selectedLinkIndices = linkTreeWidget->selectedLinkIndices(); selectedPoseIters.clear(); for(PoseSeq::iterator p = seq->begin(); p != seq->end(); ++p){ PosePtr pose = p->get(); if(pose){ bool match = true; for(size_t i=0; i < selectedLinkIndices.size(); ++i){ int linkIndex = selectedLinkIndices[i]; if(!pose->isJointValid(body->link(linkIndex)->jointId())){ if(!pose->ikLinkInfo(linkIndex)){ match = false; break; } } } if(match){ selectedPoseIters.insert(p); } } } updateLinkTreeModel(); onSelectedPosesModified(); } void PoseSeqViewBase::selectPosesJustHavingSelectedLinks() { if(!body || !seq){ return; } const boost::dynamic_bitset<>& linkSelection = linkTreeWidget->linkSelection(); selectedPoseIters.clear(); for(PoseSeq::iterator p = seq->begin(); p != seq->end(); ++p){ PosePtr pose = p->get(); if(pose){ bool match = true; for(size_t linkIndex=0; linkIndex < linkSelection.size(); ++linkIndex){ bool hasLink = pose->isJointValid(body->link(linkIndex)->jointId()) || pose->ikLinkInfo(linkIndex); if((linkSelection[linkIndex] && !hasLink) || (!linkSelection[linkIndex] && hasLink)){ match = false; break; } } if(match){ selectedPoseIters.insert(p); } } } updateLinkTreeModel(); onSelectedPosesModified(); } void PoseSeqViewBase::removeSelectedPartsFromKeyPoses() { if(!body || !seq || selectedPoseIters.empty()){ return; } const std::vector& selected = linkTreeWidget->selectedLinkIndices(); bool doRemoveZmp = zmpRow->isSelected(); if(selected.empty() && !doRemoveZmp){ return; } PoseIterSet orgSelected(selectedPoseIters); currentPoseSeqItem->beginEditing(); bool removed = false; for(PoseIterSet::iterator p = orgSelected.begin(); p != orgSelected.end(); ++p){ PosePtr pose = (*p)->get(); if(pose){ seq->beginPoseModification(*p); bool modified = false; for(size_t i=0; i < selected.size(); ++i){ int linkIndex = selected[i]; int jointId = body->link(linkIndex)->jointId(); if(jointId >= 0){ modified |= pose->invalidateJoint(jointId); } modified |= pose->removeIkLink(linkIndex); } if(doRemoveZmp){ modified |= pose->invalidateZmp(); } if(pose->empty()){ seq->erase(*p); } else if(modified){ seq->endPoseModification(*p); } removed |= modified; } } if(currentPoseSeqItem->endEditing(removed)){ doAutomaticInterpolationUpdate(); } } bool PoseSeqViewBase::deleteSelectedPoses() { if(!selectedPoseIters.empty()){ PoseIterSet orgSelected(selectedPoseIters); currentPoseSeqItem->beginEditing(); for(PoseIterSet::iterator p = orgSelected.begin(); p != orgSelected.end(); ++p){ seq->erase(*p); } currentPoseSeqItem->endEditing(); doAutomaticInterpolationUpdate(); return true; } return false; } bool PoseSeqViewBase::cutSelectedPoses() { if(copySelectedPoses()){ return deleteSelectedPoses(); } return false; } bool PoseSeqViewBase::copySelectedPoses() { if(!selectedPoseIters.empty()){ copiedPoses = new PoseSeq(); PoseSeq::iterator destIter = copiedPoses->begin(); double offset = - (*selectedPoseIters.begin())->time(); for(PoseIterSet::iterator p = selectedPoseIters.begin(); p != selectedPoseIters.end(); ++p){ PoseSeq::iterator srcIter = *p; destIter = copiedPoses->copyElement(destIter, srcIter, offset); } return true; } return false; } bool PoseSeqViewBase::pasteCopiedPoses(double timeToPaste) { if(!copiedPoses->empty()){ currentPoseSeqItem->beginEditing(); PoseSeq::iterator dest = seq->seek(currentPoseIter, timeToPaste, true); for(PoseSeq::iterator p = copiedPoses->begin(); p != copiedPoses->end(); ++p){ dest = seq->copyElement(dest, p, timeToPaste); } currentPoseIter = dest; currentPoseSeqItem->endEditing(); doAutomaticInterpolationUpdate(); return true; } return false; } /** @ret true if actually modified */ bool PoseSeqViewBase::moveSelectedPoses(double time0) { bool modified = false; if(!selectedPoseIters.empty()){ time0 = std::max(0.0, time0); double diff = time0 - (*selectedPoseIters.begin())->time(); if(diff != 0.0){ // Copy is needed because selectedPoseIters may change during the following loops PoseIterSet tmpSelectedPoseIters(selectedPoseIters); if(diff > 0.0){ for(PoseIterSet::reverse_iterator p = tmpSelectedPoseIters.rbegin(); p != tmpSelectedPoseIters.rend(); ++p){ seq->changeTime(*p, (*p)->time() + diff); } } else { for(PoseIterSet::iterator p = tmpSelectedPoseIters.begin(); p != tmpSelectedPoseIters.end(); ++p){ seq->changeTime(*p, (*p)->time() + diff); } } modified = true; } } return modified; } bool PoseSeqViewBase::modifyTransitionTimeOfSelectedPoses(double ttime) { bool modified = false; if(!selectedPoseIters.empty()){ for(PoseIterSet::iterator p = selectedPoseIters.begin(); p != selectedPoseIters.end(); ++p){ seq->beginPoseModification(*p); (*p)->setMaxTransitionTime(ttime); seq->endPoseModification(*p); } modified = true; } return modified; } void PoseSeqViewBase::popupContextMenu(QMouseEvent* event) { popupMenu.popup(event->globalPos()); } void PoseSeqViewBase::onSelectSpecifiedKeyPosesActivated() { poseSelectionDialog->show(); } void PoseSeqViewBase::onPoseSelectionDialogAccepted() { if(!body || !seq){ return; } selectedPoseIters.clear(); const vector selectedLinkIndices = linkTreeWidget->selectedLinkIndices(); const double t0 = poseSelectionDialog->startTimeSpin.value(); const double t1 = poseSelectionDialog->endTimeSpin.value(); PoseSeq::iterator p = seq->seek(seq->begin(), t0); while(p != seq->end()){ if(p->time() > t1){ break; } if(poseSelectionDialog->selectedPartRadio.isChecked()){ PosePtr pose = p->get(); if(pose){ bool match = false; for(size_t i=0; i < selectedLinkIndices.size(); ++i){ int linkIndex = selectedLinkIndices[i]; if(pose->isJointValid(body->link(linkIndex)->jointId()) || pose->ikLinkInfo(linkIndex)){ match = true; break; } } if(match){ selectedPoseIters.insert(p); } } } else { selectedPoseIters.insert(p); } ++p; } updateLinkTreeModel(); onSelectedPosesModified(); } void PoseSeqViewBase::onAdjustStepPositionsActivated() { if(currentPoseSeqItem && currentBodyItem){ PoseSeq::iterator origin; if(selectedPoseIters.size() == 1){ origin = *selectedPoseIters.begin(); } else { origin = seq->begin(); } LeggedBodyHelperPtr legged = getLeggedBodyHelper(body); if(legged->isValid()){ int n = legged->numFeet(); vector footLinkIndices(n); for(int i=0; i < n; ++i){ footLinkIndices[i] = legged->footLink(i)->index(); } adjustStepPositions(seq, footLinkIndices, origin); doAutomaticInterpolationUpdate(); } } } void PoseSeqViewBase::onRotateYawOrientationsActivated() { yawOrientationRotationDialog->show(); } void PoseSeqViewBase::onYawOrientationRotationDialogAccepted() { if(currentPoseSeqItem && selectedPoseIters.size() == 1){ PoseSeq::iterator poseIter = *selectedPoseIters.begin(); Vector3 center(yawOrientationRotationDialog->centerPosSpins[0].value(), yawOrientationRotationDialog->centerPosSpins[1].value(), 0.0); double angle = radian(yawOrientationRotationDialog->angleSpin.value()); rotateYawOrientations(seq, poseIter, center, angle); /* PosePtr pose = poseIter->get(); if(pose){ const std::vector& selectedLinkIndices = LinkSelectionView::mainInstance()->getSelectedLinkIndices(currentBodyItem); if(selectedLinkIndices.size() == 1){ Pose::LinkInfo* linkInfo = pose->ikLinkInfo(selectedLinkIndices.front()); if(linkInfo){ double angle = radian(yawOrientationRotationDialog->angleSpin.value()); rotateYawOrientations(seq, ++poseIter, linkInfo->p, angle); } } } */ } } void PoseSeqViewBase::onAdjustWaistPositionActivated() { linkPositionAdjustmentDialog->show(); } void PoseSeqViewBase::onLinkPositionAdjustmentDialogAccepted() { if(currentPoseSeqItem && currentBodyItem && !selectedPoseIters.empty()){ LeggedBodyHelperPtr legged = getLeggedBodyHelper(body); if(legged->isValid()){ int waistLinkIndex = currentBodyItem->body()->rootLink()->index(); int n = legged->numFeet(); vector footLinkIndices(n); for(int i=0; i < n; ++i){ footLinkIndices[i] = legged->footLink(i)->index(); } currentPoseSeqItem->beginEditing(); for(PoseIterSet::iterator p = selectedPoseIters.begin(); p != selectedPoseIters.end(); ++p){ PosePtr pose = (*p)->get(); if(pose){ seq->beginPoseModification(*p); /// \todo arbitrar selected link should be processed here Pose::LinkInfo* waistInfo = pose->ikLinkInfo(waistLinkIndex); if(waistInfo){ for(int i=0; i < 3; ++i){ if(linkPositionAdjustmentDialog->targetAxisCheck[i].isChecked()){ double p = linkPositionAdjustmentDialog->positionSpin[i].value(); if(linkPositionAdjustmentDialog->absoluteRadio.isChecked()){ waistInfo->p[i] = p; } else { waistInfo->p[i] += p; } } } } seq->endPoseModification(*p); } } currentPoseSeqItem->endEditing(); doAutomaticInterpolationUpdate(); } } } void PoseSeqViewBase::onUpdateKeyposesWithBalancedTrajectoriesActivated() { if(currentPoseSeqItem){ ostringstream mout; if(currentPoseSeqItem->updateKeyPosesWithBalancedTrajectories(mout)){ MessageView::mainInstance()->notify( _("Original key poses have been updated to be balanced ones.")); } else { MessageView::mainInstance()->notify( _("Operation failed ! Key poses cannot be updated.")); } if(!mout.str().empty()){ os << mout.str() << endl; } } } void PoseSeqViewBase::onFlipPosesActivated() { if(currentPoseSeqItem && currentBodyItem){ MessageView::mainInstance()->notify(_("flipping all the poses against x-z plane ...")); flipPoses(seq, body); doAutomaticInterpolationUpdate(); } } void PoseSeqViewBase::countSelectedKeyPoses() { MessageView::mainInstance()->notify( fmt(_("The number of selected key poses is %1%")) % selectedPoseIters.size()); } void PoseSeqViewBase::onSelectedPosesModified() { if(selectedPoseIters.empty()){ updateButton.setEnabled(false); deleteButton.setEnabled(false); } else { updateButton.setEnabled(true); deleteButton.setEnabled(true); } } void PoseSeqViewBase::setCurrentItemName(ItemPtr item) { if(!item || item->name().empty()){ currentItemLabel.setText(textForEmptyName); } else { currentItemLabel.setText(item->name().c_str()); } } /** \todo Show visual effect to emphasize the key poses beging updated */ void PoseSeqViewBase::onBodyKinematicStateEdited() { if(TRACE_FUNCTIONS){ cout << "PoseSeqViewBase::onBodyKinematicStateEdited()" << endl; } if(autoUpdateModeCheck.isChecked()){ if(!selectedPoseIters.empty()){ bool timeMatches = true; for(PoseIterSet::iterator p = selectedPoseIters.begin(); p != selectedPoseIters.end(); ++p){ double qtime = quantizedTime((*p)->time()); if(qtime != timeBar->time()){ timeMatches = false; break; } } if(timeMatches){ setCurrentBodyStateToSelectedPoses(!updateAllToggle.isChecked()); InfoBar::instance()->notify(_("Selected key poses have been updated.")); } } } } PoseSeq::iterator PoseSeqViewBase::insertPose() { PoseSeq::iterator poseIter = seq->end(); PosePtr pose = new Pose(body->numJoints()); bool hasValidPart = false; for(int i=0; i < body->numLinks(); ++i){ Link* link = body->link(i); LinkTreeItem* item = linkTreeWidget->itemOfLink(link->index()); if(item){ if(link->jointId() >= 0 && isChecked(item, validPartColumn)){ pose->setJointPosition(link->jointId(), link->q()); hasValidPart = true; if(isChecked(item, stationaryPointColumn)){ pose->setJointStationaryPoint(link->jointId()); } } if(possibleIkLinkFlag[link->index()]){ if(isChecked(item, validPartColumn) || isChecked(item, ikPartColumn)){ Pose::LinkInfo* info = pose->addIkLink(link->index()); info->setStationaryPoint(isChecked(item, stationaryPointColumn)); setCurrentLinkStateToIkLink(link, info); if(isChecked(item, baseLinkColumn)){ pose->setBaseLink(link->index(), link->p(), link->R()); } if(!isChecked(item, ikPartColumn)){ info->setSlave(true); } hasValidPart = true; } } } } if(isChecked(zmpRow, validPartColumn)){ pose->setZmp(currentBodyItem->zmp()); hasValidPart = true; if(isChecked(zmpRow, stationaryPointColumn)){ pose->setZmpStationaryPoint(); } } if(hasValidPart){ poseIter = insertPoseUnit(pose); } else { showWarningDialog(_("Please check parts needed for making a desired pose.")); } return poseIter; } PoseSeq::iterator PoseSeqViewBase::insertPronunSymbol() { PronunSymbolPtr pronun(new PronunSymbol()); return insertPoseUnit(pronun); } PoseSeq::iterator PoseSeqViewBase::insertPoseUnit(PoseUnitPtr poseUnit) { PoseSeq::iterator poseIter = seq->insert(currentPoseIter, currentTime / timeScale, poseUnit); poseIter->setMaxTransitionTime(transitionTimeSpin.value() / timeScale); doAutomaticInterpolationUpdate(); toggleSelection(poseIter, false, false); currentPoseIter = poseIter; return poseIter; } double PoseSeqViewBase::quantizedTime(double time) { double r = timeBar->frameRate(); double frame = myNearByInt(r * time); return frame / r; } void PoseSeqViewBase::onUpdateButtonClicked() { setCurrentBodyStateToSelectedPoses(!updateAllToggle.isChecked()); } void PoseSeqViewBase::setCurrentBodyStateToSelectedPoses(bool onlySelected) { if(TRACE_FUNCTIONS){ cout << "PoseSeqViewBase::setCurrentBodyStateToSelectedPoses()" << endl; } if(body){ if(!selectedPoseIters.empty()){ // quantize selected pose times PoseIterSet prevSelected(selectedPoseIters); selectedPoseIters.clear(); for(PoseIterSet::iterator p = prevSelected.begin(); p != prevSelected.end(); ++p){ double qtime = quantizedTime((*p)->time()); selectedPoseIters.insert(seq->changeTime(*p, qtime)); } bool updated = false; currentPoseSeqItem->beginEditing(); for(PoseIterSet::iterator p = selectedPoseIters.begin(); p != selectedPoseIters.end(); ++p){ PosePtr pose = (*p)->get(); if(pose){ seq->beginPoseModification(*p); if(setCurrentBodyStateToPose(pose, onlySelected)){ updated = true; seq->endPoseModification(*p); } } } currentPoseSeqItem->endEditing(updated); //! \todo This should be processed by PoseSeq slots if(updated){ doAutomaticInterpolationUpdate(); } } } } bool PoseSeqViewBase::setCurrentBodyStateToPose(PosePtr& pose, bool onlySelected) { const dynamic_bitset<>& linkSelection = LinkSelectionView::mainInstance()->linkSelection(currentBodyItem); bool updated = false; int n = pose->numJoints(); for(int i=0; i < n; ++i){ if(pose->isJointValid(i)){ Link* joint = body->joint(i); if(!onlySelected || linkSelection[joint->index()]){ const double q = body->joint(i)->q(); if(q != pose->jointPosition(i)){ pose->setJointPosition(i, q); updated = true; } } } } for(Pose::LinkInfoMap::iterator it = pose->ikLinkBegin(); it != pose->ikLinkEnd(); ++it){ const int linkIndex = it->first; Link* link = body->link(linkIndex); if(link && (!onlySelected || linkSelection[link->index()])){ updated |= setCurrentLinkStateToIkLink(link, &it->second); } } if(pose->isZmpValid()){ const Vector3& zmp = currentBodyItem->zmp(); if(zmp != pose->zmp()){ pose->setZmp(zmp); updated = true; } } return updated; } /** @return true if state is modified */ bool PoseSeqViewBase::setCurrentLinkStateToIkLink(Link* link, Pose::LinkInfo* linkInfo) { bool updated = false; if(linkInfo->p != link->p()){ linkInfo->p = link->p(); updated = true; } if(linkInfo->R != link->R()){ linkInfo->R = link->R(); updated = true; } bool collided = false; const std::vector& collisions = currentBodyItem->collisionsOfLink(link->index()); for(size_t i=0; i < collisions.size(); ++i){ if(!collisions[i]->isSelfCollision()){ collided = true; break; } } if(collided){ /** \todo set a parting direction correctly (now it is assumed that the touching only happens for the flat and level floor). */ Vector3 partingDirection(0.0, 0.0, 1.0); if(!linkInfo->isTouching() || linkInfo->partingDirection() != partingDirection){ linkInfo->setTouching(partingDirection); updated = true; } } else { if(linkInfo->isTouching()){ linkInfo->clearTouching(); updated = true; } } return updated; } void PoseSeqViewBase::onDeleteButtonClicked() { cutSelectedPoses(); } void PoseSeqViewBase::onPoseInserted(PoseSeq::iterator it, bool isMoving) { if(isSelectedPoseMoving && isMoving){ selectedPoseIters.insert(it); isSelectedPoseMoving = false; onSelectedPosesModified(); } } void PoseSeqViewBase::onPoseRemoving(PoseSeq::iterator it, bool isMoving) { if(TRACE_FUNCTIONS){ cout << "PoseSeqViewBase::onPoseRemoving(): isMoving = " << isMoving << endl; } if(it == currentPoseIter){ if(currentPoseIter != seq->begin()){ --currentPoseIter; } else if(currentPoseIter != seq->end()){ ++currentPoseIter; } } PoseIterSet::iterator p = findPoseIterInSelected(it); if(p != selectedPoseIters.end()){ selectedPoseIters.erase(p); if(isMoving){ isSelectedPoseMoving = true; } else { onSelectedPosesModified(); } } } /** @todo update currentBodyItem and call notifyUpdate in this function ? */ void PoseSeqViewBase::onPoseModified(PoseSeq::iterator it) { if(TRACE_FUNCTIONS){ cout << "PoseSeqViewBase::onPoseModified()" << endl; } if(!selectedPoseIters.empty() && it == *selectedPoseIters.begin()){ updateLinkTreeModel(); onSelectedPosesModified(); } } void PoseSeqViewBase::updateLinkTreeModel() { if(TRACE_FUNCTIONS){ cout << "PoseSeqViewBase::updateLinkTreeModel()" << endl; } PosePtr pose; for(PoseIterSet::iterator p = selectedPoseIters.begin(); p != selectedPoseIters.end(); ++p){ pose = (*p)->get(); if(pose){ break; } } if(!pose){ pose = poseForDefaultStateSetting; } linkTreeAttributeChangeConnections.block(); // Probably this set of block / unblock is not needed int n = linkTreeWidget->topLevelItemCount(); for(int i=0; i < n; ++i){ LinkTreeItem* item = dynamic_cast(linkTreeWidget->topLevelItem(i)); if(item){ updateLinkTreeModelSub(item, linkTreeWidget->bodyItem()->body(), *pose); } } linkTreeAttributeChangeConnections.unblock(); } PoseSeqViewBase::ChildrenState PoseSeqViewBase::updateLinkTreeModelSub (LinkTreeItem* item, const BodyPtr& body, const Pose& pose) { ChildrenState state; int n = item->childCount(); for(int i=0; i < n; ++i){ LinkTreeItem* childItem = dynamic_cast(item->child(i)); if(childItem){ ChildrenState childrenState = updateLinkTreeModelSub(childItem, body, pose); state.validChildExists |= childrenState.validChildExists; state.allChildrenAreValid &= childrenState.allChildrenAreValid; state.childWithStationaryPointExists |= childrenState.childWithStationaryPointExists; state.allChildrenAreStationaryPoints &= childrenState.allChildrenAreStationaryPoints; } } if(item == zmpRow){ if(pose.isZmpValid()){ setChecked(item, validPartColumn, true); setChecked(item, stationaryPointColumn, pose.isZmpStationaryPoint()); } else { setChecked(item, validPartColumn, false); setChecked(item, stationaryPointColumn, false); } } else { Link* link = item->link(); if(link){ bool isBaseLink = false; bool isValidPart = false; bool isStationaryPoint = false; bool isIkPart = false; const Pose::LinkInfo* linkInfo = pose.ikLinkInfo(link->index()); if(linkInfo){ isValidPart = true; if(!possibleIkLinkFlag[link->index()]){ /// \todo put warning here or do the following call ? //pose.removeIkLink(link->index); } else if(!linkInfo->isSlave()){ isIkPart = true; isBaseLink = linkInfo->isBaseLink(); if(linkInfo->isStationaryPoint()){ isStationaryPoint = true; } } } int jointId = link->jointId(); if(jointId >= 0){ if(pose.isJointValid(jointId)){ isValidPart = true; if(pose.isJointStationaryPoint(jointId)){ isStationaryPoint = true; } } } if(isValidPart && !isStationaryPoint){ state.allChildrenAreStationaryPoints = false; } if(!isValidPart){ state.allChildrenAreValid = false; } setChecked(item, baseLinkColumn, isBaseLink); setChecked(item, validPartColumn, isValidPart); setChecked(item, stationaryPointColumn, isStationaryPoint); setChecked(item, ikPartColumn, isIkPart); state.validChildExists = isValidPart; state.childWithStationaryPointExists |= isStationaryPoint; } else { if(state.allChildrenAreValid){ setChecked(item, validPartColumn, true); } else if(state.validChildExists){ setCheckState(item, validPartColumn, Qt::PartiallyChecked); } else { setChecked(item, validPartColumn, false); } if(state.allChildrenAreStationaryPoints && state.childWithStationaryPointExists){ setChecked(item, stationaryPointColumn, true); } else if(state.childWithStationaryPointExists){ setCheckState(item, stationaryPointColumn, Qt::PartiallyChecked); } else { setChecked(item, stationaryPointColumn, false); } } } return state; } void PoseSeqViewBase::doAutomaticInterpolationUpdate() { BodyMotionGenerationBar* generationBar = BodyMotionGenerationBar::instance(); if(generationBar->isAutoInterpolationUpdateMode()){ currentPoseSeqItem->updateInterpolation(); // not needed ? if(generationBar->isAutoGenerationMode()){ currentPoseSeqItem->updateTrajectory(); } } } bool PoseSeqViewBase::storeState(Archive& archive) { archive.writeItemId("currentPoseSeqItem", currentPoseSeqItem); archive.write("defaultTransitionTime", transitionTimeSpin.value()); archive.write("updateAll", updateAllToggle.isChecked()); archive.write("autoUpdate", autoUpdateModeCheck.isChecked()); archive.write("timeSync", timeSyncCheck.isChecked()); linkPositionAdjustmentDialog->storeState(archive); return linkTreeWidget->storeState(archive); } bool PoseSeqViewBase::restoreState(const Archive& archive) { transitionTimeSpin.setValue(archive.get("defaultTransitionTime", transitionTimeSpin.value())); updateAllToggle.setChecked(archive.get("updateAll", updateAllToggle.isChecked())); autoUpdateModeCheck.setChecked(archive.get("autoUpdate", autoUpdateModeCheck.isChecked())); timeSyncCheck.setChecked(archive.get("timeSync", timeSyncCheck.isChecked())); linkPositionAdjustmentDialog->restoreState(archive); archive.addPostProcess( boost::bind(&PoseSeqViewBase::restoreCurrentPoseSeqItem, this, boost::ref(archive))); linkTreeWidget->restoreState(archive); return true; } void PoseSeqViewBase::restoreCurrentPoseSeqItem(const Archive& archive) { PoseSeqItem* item = archive.findItem("currentPoseSeqItem"); if(item){ setCurrentPoseSeqItem(item); } } choreonoid-1.5.0/src/PoseSeqPlugin/PoseSeqEngine.cpp0000664000000000000000000000514612741425367021125 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "PoseSeqEngine.h" #include "PoseSeqItem.h" #include "BodyMotionGenerationBar.h" #include #include #include using namespace cnoid; namespace { class PoseSeqEngine : public TimeSyncItemEngine { public: BodyItemPtr bodyItem; PoseSeqInterpolatorPtr interpolator; BodyMotionGenerationBar* bodyMotionGenerationBar; LinkTraverse fkTraverse; PoseSeqEngine(PoseSeqItem* poseSeqItem, BodyItem* bodyItem) : bodyItem(bodyItem) { interpolator = poseSeqItem->interpolator(); bodyMotionGenerationBar = BodyMotionGenerationBar::instance(); poseSeqItem->sigUpdated().connect(boost::bind(&PoseSeqEngine::notifyUpdate, this)); interpolator->sigUpdated().connect(boost::bind(&PoseSeqEngine::notifyUpdate, this)); } virtual bool onTimeChanged(double time){ BodyPtr body = bodyItem->body(); interpolator->enableLipSyncMix(bodyMotionGenerationBar->isLipSyncMixMode()); if(interpolator->interpolate(time)){ const int numJoints = body->numJoints(); for(int i=0; i < numJoints; ++i){ boost::optional q = interpolator->jointPosition(i); if(q){ body->joint(i)->q() = (*q); } } int baseLinkIndex = interpolator->baseLinkIndex(); if(baseLinkIndex >= 0){ Link* link = body->link(baseLinkIndex); interpolator->getBaseLinkPosition(link->T()); if(link != fkTraverse.rootLink()){ fkTraverse.find(link, true, true); } fkTraverse.calcForwardKinematics(); } boost::optional zmp = interpolator->ZMP(); if(zmp){ bodyItem->setZmp(*zmp); } bodyItem->notifyKinematicStateChange(true); } return (time <= interpolator->endingTime()); } }; typedef ref_ptr PoseSeqEnginePtr; TimeSyncItemEngine* createPoseSeqEngine(Item* sourceItem) { PoseSeqEngine* engine = 0; PoseSeqItem* poseSeqItem = dynamic_cast(sourceItem); if(poseSeqItem){ BodyItem* bodyItem = poseSeqItem->findOwnerItem(); if(bodyItem){ engine = new PoseSeqEngine(poseSeqItem, bodyItem); } } return engine; } } void cnoid::initializePoseSeqEngine(ExtensionManager* em) { em->timeSyncItemEngineManger().addEngineFactory(createPoseSeqEngine); } choreonoid-1.5.0/src/PoseSeqPlugin/python/0000775000000000000000000000000012741425367017227 5ustar rootrootchoreonoid-1.5.0/src/PoseSeqPlugin/python/PyPoseSeqPlugin.cpp0000664000000000000000000000040012741425367022774 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include "../PoseSeqItem.h" #include using namespace boost::python; using namespace cnoid; BOOST_PYTHON_MODULE(PoseSeqPlugin) { class_< PoseSeqItem, PoseSeqItemPtr, bases >("PoseSeqItem"); } choreonoid-1.5.0/src/PoseSeqPlugin/python/CMakeLists.txt0000664000000000000000000000026412741425367021771 0ustar rootroot set(target PyPoseSeqPlugin) add_cnoid_python_module(${target} PyPoseSeqPlugin.cpp) target_link_libraries(${target} CnoidPoseSeqPlugin ${PYTHON_LIBRARIES} ${Boost_PYTHON_LIBRARY}) choreonoid-1.5.0/src/PoseSeqPlugin/PoseSeqPlugin.cpp0000664000000000000000000000242112741425367021147 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include #include #include #include "PoseSeqItem.h" #include "PoseSeqEngine.h" #include "BodyMotionGenerationBar.h" //#include "PoseSeqView.h" #include "PoseRollView.h" #include "FcpFileLoader.h" #include "gettext.h" using namespace cnoid; namespace { class PoseSeqPlugin : public Plugin { public: PoseSeqPlugin() : Plugin("PoseSeq") { require("Body"); addOldName("Choreography"); } virtual bool initialize(){ PoseSeqItem::initializeClass(this); initializePoseSeqEngine(this); BodyMotionGenerationBar::initializeInstance(this); PoseRollView::initializeClass(this); initializeFcpFileLoader(*this); return true; } virtual const char* description() { static std::string text = str(fmt(_("PoseSeq Plugin Version %1%\n")) % CNOID_FULL_VERSION_STRING) + "\n" + _("This plugin has been developed by Shin'ichiro Nakaoka and Choreonoid Development Team, AIST, " "and is distributed as a part of the Choreonoid package.\n" "\n") + LGPLtext(); return text.c_str(); } }; } CNOID_IMPLEMENT_PLUGIN_ENTRY(PoseSeqPlugin); choreonoid-1.5.0/src/AgXPlugin/0000775000000000000000000000000012741425367015006 5ustar rootrootchoreonoid-1.5.0/src/AgXPlugin/exportdecl.h0000664000000000000000000000213612741425367017332 0ustar rootroot#ifndef CNOID_AGXPLUGIN_EXPORTDECL_H_INCLUDED # define CNOID_AGXPLUGIN_EXPORTDECL_H_INCLUDED # if defined _WIN32 || defined __CYGWIN__ # define CNOID_AGXPLUGIN_DLLIMPORT __declspec(dllimport) # define CNOID_AGXPLUGIN_DLLEXPORT __declspec(dllexport) # define CNOID_AGXPLUGIN_DLLLOCAL # else # if __GNUC__ >= 4 # define CNOID_AGXPLUGIN_DLLIMPORT __attribute__ ((visibility("default"))) # define CNOID_AGXPLUGIN_DLLEXPORT __attribute__ ((visibility("default"))) # define CNOID_AGXPLUGIN_DLLLOCAL __attribute__ ((visibility("hidden"))) # else # define CNOID_AGXPLUGIN_DLLIMPORT # define CNOID_AGXPLUGIN_DLLEXPORT # define CNOID_AGXPLUGIN_DLLLOCAL # endif # endif # ifdef CNOID_AGXPLUGIN_STATIC # define CNOID_AGXPLUGIN_DLLAPI # define CNOID_AGXPLUGIN_LOCAL # else # ifdef CnoidAgXPlugin_EXPORTS # define CNOID_AGXPLUGIN_DLLAPI CNOID_AGXPLUGIN_DLLEXPORT # else # define CNOID_AGXPLUGIN_DLLAPI CNOID_AGXPLUGIN_DLLIMPORT # endif # define CNOID_AGXPLUGIN_LOCAL CNOID_AGXPLUGIN_DLLLOCAL # endif #endif #ifdef CNOID_EXPORT # undef CNOID_EXPORT #endif #define CNOID_EXPORT CNOID_AGXPLUGIN_DLLAPI choreonoid-1.5.0/src/AgXPlugin/README0000664000000000000000000000233412741425367015670 0ustar rootrootThis is a test version of the plugin for introducing the AgX Dynamics library released by algoryx. How to use AgXPlugin: 1. Install AgX Dynamics For Ubuntu Linux, AgX can be installed by using the dpkg command like: sudo dpkg -i agx-setup-2.13.2.2-x64-Ubuntu-double.deb 2. Copy the license file to the AgX directory AgX is installed into /opt/Algoryx/AgX-x.y.z.2. Copy the license file to this directory. 3. Set the environment variables The setup_env.bash script is in the AgX directory. Add the command to execute the script to the .profile file like: source /opt/Algoryx/AgX-2.13.2.2/setup_env.bash You can immediately update the environment variables by executing: source ~/.profile 4. Compile AgXPlugin You can compile AgXPlugin by enabling BUILD_AGX_PLUGIN In CMake. 5. Test AgX by using sample projects Sample projects such as SR1Walk.cnoid include AgXSimulatorItem. The item becomes available when AgXPlugin is loaded. Select the item and execute the simulation, then the simulation is performed using AgX. Note: Some libraries used in AgX seem to conflict with those used in the Bullet physics library, so AgXPlugin and BulletPlugin cannot be used simultaneously. Please disable BulletPlugin when you use AgXPlugin. choreonoid-1.5.0/src/AgXPlugin/CMakeLists.txt0000664000000000000000000000244512741425367017553 0ustar rootroot # @author Shizuko Hattori option(BUILD_AGX_PLUGIN "Building AgXPlugin" OFF) if(NOT BUILD_AGX_PLUGIN) return() endif() #set(CMAKE_BUILD_TYPE Debug) IF ("$ENV{AGX_DIR}" STREQUAL "") MESSAGE(WARNING "\n*** The environment initialization file setup_env.bat/bash has not been executed\n*** Errors might occur during runtime!") ENDIF() SET(AGX_DIR $ENV{AGX_DIR} CACHE PATH "set the top directory of the AgX Dynamics library") if(UNIX) set(AgX_INCLUDE_DIRS ${AGX_DIR}/include) set(AgX_LIBRARY_DIRS ${AGX_DIR}/lib/) set(AgX_LIBRARIES agxSabre agxCore agxPhysics agxModel ) endif() #add_definitions(${AgX_CFLAGS}) include_directories(${AgX_INCLUDE_DIRS} ${AgX_INCLUDE_DIRS}/1.4) link_directories(${AgX_LIBRARY_DIRS}) set(target CnoidAgXPlugin) set(sources AgXPlugin.cpp AgXSimulatorItem.cpp ) set(headers ) make_gettext_mofiles(${target} mofiles) add_cnoid_plugin(${target} SHARED ${sources} ${headers} ${mofiles}) target_link_libraries(${target} CnoidBodyPlugin ${AgX_LIBRARIES}) get_target_property(compile_flags ${target} COMPILE_FLAGS) if(NOT compile_flags) set(compile_flags "") endif() set_target_properties(${target} PROPERTIES COMPILE_FLAGS "${compile_flags} -std=c++11 -msse3") apply_common_setting_for_plugin(${target} "${headers}") if(ENABLE_PYTHON) add_subdirectory(python) endif() choreonoid-1.5.0/src/AgXPlugin/AgXSimulatorItem.cpp0000664000000000000000000025313512741425367020721 0ustar rootroot/*! @file @author Shizuko Hattori */ #include "AgXSimulatorItem.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace { const double DEFAULT_GRAVITY_ACCELERATION = 9.80665; enum FrictionModelType { MODEL_DEFAULT=-1, BOX, SCALE_BOX, ITERATIVE_PROJECTED }; enum FrictionSolveType { SOLVE_DEFAULT=-1, DIRECT, ITERATIVE, SPLIT, DIRECT_AND_ITERATIVE }; class AgXBody; struct SurfaceViscosityParam { agx::ContactMaterial::FrictionDirection direction; double viscosity; }; class ContactMaterialParam { public : ContactMaterialParam() : frictionModel(MODEL_DEFAULT), solveType(SOLVE_DEFAULT) { frictionCoefficient = restitution = adhesion[0] = adhesion[1] = damping = youngsModulus = std::numeric_limits::max(); } FrictionModelType frictionModel; FrictionSolveType solveType; double frictionCoefficient; vector surfaceViscosityParam; double restitution; Vector2 adhesion; double damping; double youngsModulus; }; struct ComplianceParam { int dof; double compliance; double damping; }; struct MotorParam { double compliance; double damping; }; struct HingeJointParam { vector complianceParam; MotorParam motorParam; }; struct PlaneJointParam { double compliance; double damping; }; class AgXLink : public Referenced { public : AgXSimulatorItemImpl* simImpl; AgXBody* agxBody; Link* link; AgXLink* parent; agx::RigidBodyRef agxRigidBody; agx::Constraint* joint; agx::Vec3Vector vertices; agx::UInt32Vector indices; Vector3 origin; vector constraintLinks; int customConstraintIndex; agxPowerLine::Unit* unit; bool isHRP2; AgXSimulatorItem::ControlMode controlMode; enum InputMode { NON, VEL, TOR }; InputMode inputMode; int numOfTrack; bool isControlJoint; AgXLink(AgXSimulatorItemImpl* simImpl, AgXBody* agxXBody, AgXLink* parent, const Vector3& parentOrigin, Link* link); ~AgXLink(); void createLinkBody(bool isStatic); void createJoint(); void createGeometry(AgXBody* agxBody); void addMesh(MeshExtractor* extractor, AgXBody* agxBody); void setKinematicStateToAgX(); void getKinematicStateFromAgX(); void setTorqueToAgX(); bool getHingeJointParam(HingeJointParam& hingeJointParam); }; typedef ref_ptr AgXLinkPtr; class AgXLinkContainer : public agx::Referenced { public : AgXLinkContainer(AgXLink* agxLink) : agxLink(agxLink) { } AgXLink* agxLink; }; class AgXBody : public SimulationBody { public : typedef map> LinkGroups; LinkGroups linkGroups; const std::string& linkGroup(Link* link){ static const string empty = ""; for(LinkGroups::iterator it=linkGroups.begin(); it!=linkGroups.end(); it++){ vector& links = it->second; for(int i=0; ifirst; } } } return empty; } vector contactMaterialParams; vector< IdPair > selfCollisionDetectionLinkGroupPairs; struct Track { AgXLink* parent; vector feet; }; AgXSimulatorItemImpl* simImpl; bool isStatic; bool collisionDetectionEnabled; bool selfCollisionDetectionEnabled; int geometryGroupId; vector agxLinks; BasicSensorSimulationHelper sensorHelper; vector tracks; typedef map GeometryGroupIds; GeometryGroupIds geometryGroupIds; AgXBody(Body& orgBody, AgXSimulatorItemImpl* simImpl); ~AgXBody(); void createBody(); void setKinematicStateToAgX(); void getKinematicStateFromAgX(); void setExtraJoints(); AgXLink* findLink(Link* link); void updateForceSensors(); void setTorqueToAgX(); void createCrawlerJoint(); void setLinkGroup(const LinkGroupPtr& linkGroup); }; class AgXForceField : public agx::ForceField { public: AgXForceField(){ }; void updateForce(agx::DynamicsSystem *); }; class AgxContactEventListener : public agxSDK::ContactEventListener { public: AgxContactEventListener( AgXSimulatorItemImpl* impl ) : impl( impl ) { setMask( ALL ); } virtual KeepContactPolicy impact(const agx::TimeStamp&, agxCollide::GeometryContact*); virtual KeepContactPolicy contact( const agx::TimeStamp&, agxCollide::GeometryContact*); virtual void separation(const agx::TimeStamp& , agxCollide::GeometryPair& ); private: AgXSimulatorItemImpl* impl; }; class CrawlerGeometry : public agxCollide::Geometry { public : CrawlerGeometry(Link* link, agx::RigidBody* agxBody) : link(link), agxBody(agxBody) { const Vector3& a = link->a(); axis.set( a(0), a(1), a(2) ); } #if defined(AGX_MAJOR_VERSION) && AGX_MAJOR_VERSION < 14 virtual agx::Vec3f calculateSurfaceVelocity( const agxCollide::LocalContactPoint& point ) const #else virtual agx::Vec3f calculateSurfaceVelocity( const agxCollide::LocalContactPoint& point , size_t index ) const #endif { agx::Vec3 axis0 = agxBody->getFrame()->transformVectorToWorld( axis ); agx::Vec3 n(point.normal()); agx::Vec3 dir = axis0.cross(n); if(dir.length() < 1e-5) return agx::Vec3f( 0.0, 0.0, 0.0 ); dir.normalize(); if(link->jointType()==Link::PSEUDO_CONTINUOUS_TRACK) dir *= -link->dq(); else dir *= -link->u(); agx::Vec3 ret = agxBody->getFrame()->transformVectorToLocal( dir ); return agx::Vec3f(ret); } private : Link* link; agx::RigidBody* agxBody; agx::Vec3 axis; }; bool createFunc( agx::HighLevelConstraintImplementation* implementation ); class CustomConstraintImplementation : public agx::HighLevelConstraintImplementation { public: CustomConstraintImplementation(AgXLink* parent, vector& agxLinks_) { agxLinks = agxLinks_; agx::RigidBody* rb1 = agxLinks.back()->agxRigidBody; agx::RigidBody* rb2 = parent->agxRigidBody; agx::FrameRef frame1 = new agx::Frame(); agx::FrameRef frame2 = new agx::Frame(); const Vector3& a0 = agxLinks[0]->link->a(); Vector3 a1; for(size_t i=1; ilink->a(); if(a0.dot(a)<1.e-8){ a1 = a; break; } } if(a1.isZero()){ axis[0].set( a0(0), a0(1), a0(2) ); agx::Attachment::createAttachmentBase( axis[0], axis[1], axis[2] ); }else{ axis[0].set( a0(0), a0(1), a0(2) ); axis[1].set( a1(0), a1(1), a1(2) ); axis[2] = axis[0].cross(axis[1]); } agx::OrthoMatrix3x3 R; for(int i=0; i<3; i++) R.setRow(i, axis[i]); frame1->setLocalMatrix( agx::AffineMatrix4x4( R, agx::Vec3(0,0,0) ) ); const Vector3& b = agxLinks.back()->origin - parent->origin; frame2->setLocalMatrix( agx::AffineMatrix4x4( R, agx::Vec3(b(0), b(1), b(2)) ) ); //cout << frame1->getMatrix() << endl; //cout << frame2->getMatrix() << endl; signs.reserve(agxLinks.size()); construct( rb1, frame1, rb2, frame2, createFunc ); } enum AxisType {X, Y, Z, INVALID}; AxisType detectAxis( const agx::Vec3& a, double& sign ){ for(int i=0; i<3; i++){ double d = a*axis[i]; if(fabs(d-1)<1e-8){ sign = 1; return static_cast(i); } if(fabs(d+1)<1e-8){ sign = -1; return static_cast(i); } } return INVALID; } inline AxisType exclusionAxis( AxisType a, AxisType b){ if( a==INVALID || b==INVALID) return INVALID; return static_cast(3-a-b); } inline agx::Attachment::Transformed attachmentType(AxisType axisType){ switch(axisType){ case X: return agx::Attachment::U; case Y: return agx::Attachment::V; case Z: return agx::Attachment::N; default: return agx::Attachment::NUM_ELEMENTS; } } inline void exclusionAttachmentType(AxisType axisType, agx::Attachment::Transformed& at0, agx::Attachment::Transformed& at1){ switch(axisType){ case X: at0 = agx::Attachment::V; at1 = agx::Attachment::N; return; case Y: at0 = agx::Attachment::N; at1 = agx::Attachment::U; return; case Z: at0 = agx::Attachment::U; at1 = agx::Attachment::V; return; default: return; } } inline agx::Angle::Axis angleType(AxisType axisType){ switch(axisType){ case X: return agx::Angle::U; case Y: return agx::Angle::V; case Z: return agx::Angle::N; default: return agx::Angle::U; } } bool create(){ vector rotateJoints; vector slideJoints; for(size_t i=0; ilink->jointType()==Link::ROTATIONAL_JOINT) rotateJoints.push_back(i); else if(agxLinks[i]->link->jointType()==Link::SLIDE_JOINT) slideJoints.push_back(i); else{ return false; } } agx::AttachmentPair* ap = getAttachmentPair(); double sign; switch(rotateJoints.size()){ case 0: addElementaryConstraint( " ", new agx::QuatLock( agx::QuatLockData( ap ) ) ); break; case 1:{ const Vector3& a = agxLinks[rotateJoints[0]]->link->a(); const string& name = agxLinks[rotateJoints[0]]->link->name(); AxisType t = detectAxis( agx::Vec3(a(0), a(1), a(2)) ,sign ); agx::Attachment::Transformed at0, at1, at2; at0 = attachmentType(t); exclusionAttachmentType(t, at1, at2); agx::Angle::Axis angle = angleType(t); signs[rotateJoints[0]] = sign; addElementaryConstraint( "", new agx::Dot1( agx::Dot1Data( ap, at0, at1 ) ) ); addElementaryConstraint( "", new agx::Dot1( agx::Dot1Data( ap, at0, at2 ) ) ); agx::RotationalAngleRef rotAngle = new agx::RotationalAngle( angle ); addSecondaryConstraint( name, new agx::TargetSpeedController( agx::ConstraintAngleBasedData( ap, rotAngle ) ) ); break; } case 2:{ const Vector3& a0 = agxLinks[rotateJoints[0]]->link->a(); const string& name0 = agxLinks[rotateJoints[0]]->link->name(); AxisType t0 = detectAxis( agx::Vec3(a0(0), a0(1), a0(2)) ,sign ); signs[rotateJoints[0]] = sign; const Vector3& a1 = agxLinks[rotateJoints[1]]->link->a(); const string& name1 = agxLinks[rotateJoints[1]]->link->name(); AxisType t1 = detectAxis( agx::Vec3(a1(0), a1(1), a1(2)) ,sign); signs[rotateJoints[1]] = sign; agx::Attachment::Transformed at0 = attachmentType(t0); agx::Attachment::Transformed at1 = attachmentType(t1); agx::Angle::Axis angle0 = angleType(t0); agx::Angle::Axis angle1 = angleType(t1); addElementaryConstraint( "", new agx::Dot1( agx::Dot1Data( ap, at0, at1 ) ) ); agx::RotationalAngleRef rotAngle = new agx::RotationalAngle( angle0 ); addSecondaryConstraint( name0, new agx::TargetSpeedController( agx::ConstraintAngleBasedData( ap, rotAngle ) ) ); rotAngle = new agx::RotationalAngle( angle1 ); addSecondaryConstraint( name1, new agx::TargetSpeedController( agx::ConstraintAngleBasedData( ap, rotAngle ) ) ); break; } case 3: {//free for(int i=0; i<3; i++){ const Vector3& a = agxLinks[rotateJoints[i]]->link->a(); AxisType t = detectAxis( agx::Vec3( a(0), a(1), a(2) ) ,sign); signs[rotateJoints[i]] = sign; const string& name = agxLinks[rotateJoints[i]]->link->name(); agx::Angle::Axis angle = angleType(t); agx::RotationalAngleRef rotAngle = new agx::RotationalAngle( angle ); addSecondaryConstraint( name, new agx::TargetSpeedController( agx::ConstraintAngleBasedData( ap, rotAngle ) ) ); } break; } default : return false; } switch(slideJoints.size()){ case 0: addElementaryConstraint( "SR", new agx::SphericalRel( agx::ElementaryConstraintData( ap ) ) ); break; case 1:{ const Vector3& a = agxLinks[slideJoints[0]]->link->a(); AxisType t = detectAxis( agx::Vec3( a(0), a(1), a(2) ) ,sign); signs[slideJoints[0]] = sign; const string& name = agxLinks[slideJoints[0]]->link->name(); agx::Attachment::Transformed at0, at1; exclusionAttachmentType(t, at0, at1); agx::Angle::Axis angle = angleType(t); addElementaryConstraint( "", new agx::Dot2( agx::Dot2Data( ap, at0 ) ) ); addElementaryConstraint( "", new agx::Dot2( agx::Dot2Data( ap, at1 ) ) ); agx::SeparationAngleRef sepAngle = new agx::SeparationAngle( angle ); addSecondaryConstraint( name, new agx::TargetSpeedController( agx::ConstraintAngleBasedData( ap, sepAngle ) ) ); break; } case 2:{ const Vector3& a0 = agxLinks[slideJoints[0]]->link->a(); const string& name0 = agxLinks[slideJoints[0]]->link->name(); AxisType t0 = detectAxis( agx::Vec3(a0(0), a0(1), a0(2)), sign ); signs[slideJoints[0]] = sign; const Vector3& a1 = agxLinks[slideJoints[1]]->link->a(); const string& name1 = agxLinks[slideJoints[1]]->link->name(); AxisType t1 = detectAxis( agx::Vec3(a1(0), a1(1), a1(2)), sign ); signs[slideJoints[1]] = sign; AxisType t2 = exclusionAxis(t0,t1); agx::Angle::Axis angle0 = angleType(t0); agx::Angle::Axis angle1 = angleType(t1); agx::Attachment::Transformed at0 = attachmentType(t2); addElementaryConstraint( "", new agx::Dot2( agx::Dot2Data( ap, at0 ) ) ); agx::SeparationAngleRef sepAngle = new agx::SeparationAngle( angle0 ); addSecondaryConstraint( name0, new agx::TargetSpeedController( agx::ConstraintAngleBasedData( ap, sepAngle ) ) ); sepAngle = new agx::SeparationAngle( angle1 ); addSecondaryConstraint( name1, new agx::TargetSpeedController( agx::ConstraintAngleBasedData( ap, sepAngle ) ) ); break; } case 3: { //free; for(int i=0; i<3; i++){ const Vector3& a = agxLinks[slideJoints[i]]->link->a(); AxisType t = detectAxis( agx::Vec3( a(0), a(1), a(2) ), sign ); signs[slideJoints[i]] = sign; const string& name = agxLinks[slideJoints[i]]->link->name(); agx::Angle::Axis angle = angleType(t); agx::SeparationAngleRef sepAngle = new agx::SeparationAngle( angle ); addSecondaryConstraint( name, new agx::TargetSpeedController( agx::ConstraintAngleBasedData( ap, sepAngle ) ) ); } break; } default : return false; } controllers.clear(); for(size_t i=0; ilink->name(); agx::TargetSpeedController* controller = dynamic_cast( getSecondaryConstraint( name ) ); if(controller && agxLinks[i]->inputMode!=AgXLink::NON) controller->setEnable(true); controllers.push_back(controller); } angles.reserve(agxLinks.size()); for(size_t i=0; itransform(); return signs[i]*getAttachmentPair()->getAngle(angles[i])->getValue(); } void setSpeed( int i, agx::Real speed ) { if(controllers[i]){ controllers[i]->setSpeed(signs[i]*speed); } } void setForceRange( int i, agx::RangeReal forceRange ) { if(controllers[i]){ controllers[i]->setForceRange(agx::RangeReal(signs[i]*forceRange.upper())); } } int getNumDOF(){ return agxLinks.size(); } private : vector agxLinks; agx::Vec3 axis[3]; vector controllers; vector signs; vector angles; }; bool createFunc( agx::HighLevelConstraintImplementation* implementation ) { return dynamic_cast< CustomConstraintImplementation* >( implementation )->create(); } class CustomConstraint : public agx::Constraint { public: CustomConstraint( AgXLink* parent, vector& agxLinks ){ m_implementation = new CustomConstraintImplementation( parent, agxLinks ); } virtual int getNumDOF() const { return dynamic_cast< CustomConstraintImplementation* >(m_implementation)->getNumDOF(); } virtual void render( agxRender::RenderManager *mgr, float scale=1.0f ) const { } double getAngle(int i) { return dynamic_cast< CustomConstraintImplementation* >(m_implementation)->getAngle(i); } void setSpeed( int i, agx::Real speed ) { dynamic_cast< CustomConstraintImplementation* >(m_implementation)->setSpeed(i, speed); } void setForceRange( int i, agx::RangeReal forceRange ) { dynamic_cast< CustomConstraintImplementation* >(m_implementation)->setForceRange(i, forceRange); } protected: virtual ~CustomConstraint(){ if ( m_implementation != 0L ) { delete m_implementation; m_implementation = 0L; } } }; } namespace cnoid { class AgXSimulatorItemImpl { public: AgXSimulatorItem* self; Selection dynamicsMode; Vector3 gravity; double restitution; double friction; Selection frictionModelType; inline agx::FrictionModel::SolveType solveType( FrictionSolveType type ){ switch(type){ case DIRECT: return agx::FrictionModel::DIRECT; case ITERATIVE: return agx::FrictionModel::ITERATIVE; case SPLIT: return agx::FrictionModel::SPLIT; case DIRECT_AND_ITERATIVE: return agx::FrictionModel::DIRECT_AND_ITERATIVE; default : return agx::FrictionModel::NOT_DEFINED; } }; Selection frictionSolveType; int numThreads; Selection contactReductionMode; int contactReductionBinResolution; int contactReductionThreshold; agx::MaterialRef defaultMaterial; double timeStep; agxSDK::SimulationRef agxSimulation; agxPowerLine::PowerLineRef powerLine; typedef std::map LinkMap; LinkMap orgLinkToInternalLinkMap; typedef std::map ControlModeMap; ControlModeMap controlModeOrgLinkMap; ControlModeMap controlModeMap; double springConstant[3]; double dampingCoefficient[3]; typedef vector Materials; Materials materials; typedef map MaterialMap; MaterialMap materialMap; typedef std::map, ContactMaterialParam> ContactMaterialLinkMap; ContactMaterialLinkMap contactMaterialLinkMap; typedef std::map, ContactMaterialParam> ContactMaterialBodyMap; ContactMaterialBodyMap contactMaterialBodyMap; typedef std::map, ContactMaterialParam*> ContactMaterialMap; ContactMaterialMap contactMaterialMap; AgXSimulatorItemImpl(AgXSimulatorItem* self); AgXSimulatorItemImpl(AgXSimulatorItem* self, const AgXSimulatorItemImpl& org); void initialize(); ~AgXSimulatorItemImpl(); bool initializeSimulation(const std::vector& simBodies); void addBody(AgXBody* agxBody, int i); void clear(); bool stepSimulation(const std::vector& activeSimBodies); void doPutProperties(PutPropertyFunction& putProperty); void store(Archive& archive); void restore(const Archive& archive); void setJointControlMode(Link* joint, AgXSimulatorItem::ControlMode type); void setJointCompliance(Link* joint, double spring, double damping); void setFrictionModelsolveType(agx::ContactMaterial* contactMaterial, FrictionModelType model, FrictionSolveType solve){ switch(model){ case BOX:{ agx::BoxFrictionModelRef boxFriction = new agx::BoxFrictionModel(); boxFriction->setSolveType( solveType(solve) ); contactMaterial->setFrictionModel( boxFriction ); break; } case SCALE_BOX:{ agx::ScaleBoxFrictionModelRef scaleBoxFriction = new agx::ScaleBoxFrictionModel(); scaleBoxFriction->setSolveType( solveType(solve) ); contactMaterial->setFrictionModel( scaleBoxFriction ); break; } case ITERATIVE_PROJECTED:{ agx::IterativeProjectedConeFrictionRef ipcFriction = new agx::IterativeProjectedConeFriction(); ipcFriction->setSolveType( solveType(solve) ); contactMaterial->setFrictionModel( ipcFriction ); break; } default : break; } } }; } AgXLink::AgXLink (AgXSimulatorItemImpl* simImpl, AgXBody* agxBody, AgXLink* parent, const Vector3& parentOrigin, Link* link) : simImpl(simImpl), agxBody(agxBody), link(link), parent(parent), unit(0), numOfTrack(-1), isControlJoint(true) { AgXSimulatorItemImpl::ControlModeMap::iterator it = simImpl->controlModeMap.find(link); if(it!=simImpl->controlModeMap.end()) controlMode = it->second; else controlMode = AgXSimulatorItem::DEFAULT; if(agxBody->body()->name().find("HRP2",0) == string::npos) isHRP2 = false; else isHRP2 = true; agxBody->agxLinks.push_back(this); origin = parentOrigin + link->b(); agxRigidBody = 0; if(!link->m() && link->jointType()==Link::FIXED_JOINT){ //for Hose & Cabinet Box Link* palink = link->parent(); for( ; palink; palink = palink->parent()) if(palink->jointType()!=Link::FIXED_JOINT) break; if(!palink){ link->setMass(1.0); link->setInertia(Matrix3::Identity()); link->setCenterOfMass(Vector3(0,0,0)); } } if(link->m()){ createLinkBody(agxBody->isStatic); // createGeometry(agxBody); simImpl->agxSimulation->add(agxRigidBody); AgXSimulatorItemImpl::MaterialMap::iterator it = simImpl->materialMap.find(link); agx::Material* material=0; if(it!=simImpl->materialMap.end()) material = it->second; string groupName=""; groupName = agxBody->linkGroup(link); const agxCollide::GeometryRefVector& geometries = agxRigidBody->getGeometries(); for(agxCollide::GeometryRefVector::const_iterator it = geometries.begin(); it != geometries.end(); it++){ if(!agxBody->collisionDetectionEnabled){ (*it)->setEnableCollisions(false); continue; } if(material) (*it)->setMaterial( material ); else (*it)->setMaterial( simImpl->defaultMaterial ); if(!agxBody->selfCollisionDetectionEnabled && groupName!=""){ (*it)->addGroup(agxBody->geometryGroupIds[groupName]); }else{ (*it)->addGroup(agxBody->geometryGroupId); } } } if(parent && parent->numOfTrack!=-1){ numOfTrack = parent->numOfTrack; agxBody->tracks[numOfTrack].feet.push_back(this); isControlJoint = false; } for(Link* child = link->child(); child; child = child->sibling()){ new AgXLink(simImpl, agxBody, this, origin, child); } // add Contact Event Listener /* const agxCollide::GeometryRefVector& geometries = agxRigidBody->getGeometries(); for(agxCollide::GeometryRefVector::const_iterator itr = geometries.begin(); itr != geometries.end(); itr++){ agxSDK::ContactEventListenerRef listener = new AgxContactEventListener(this); listener->setFilter( new agxSDK::GeometryFilter( *itr ) ); agxSimulation->addEventListener( listener ); } */ } AgXLink::~AgXLink() { } void AgXLink::createLinkBody(bool isStatic) { constraintLinks.clear(); for( ; parent && !parent->agxRigidBody; parent = parent->parent ){ constraintLinks.push_back(parent); } if(constraintLinks.size()) constraintLinks.push_back(this); agxRigidBody = new agx::RigidBody(); agx::ref_ptr agxLinkC = new AgXLinkContainer(this); agxRigidBody->setCustomData( agxLinkC ); if(isStatic){ agxRigidBody->setMotionControl(agx::RigidBody::STATIC); }else{ agxRigidBody->setMotionControl(agx::RigidBody::DYNAMICS); agxRigidBody->getMassProperties()->setAutoGenerateMask(0); agxRigidBody->getMassProperties()->setMass(link->m(), false); #if 0 Matrix3 I = link->I(); if(constraintLinks.size()){ for(size_t i=0; ilink; if(link_->jointType()==Link::ROTATIONAL_JOINT){ Vector3 axis = link_->a(); I += axis * axis.transpose() * link_->Jm2(); } } } #else const Matrix3& I = link->I(); #endif agx::SPDMatrix3x3 inertia(I(0,0), I(1,0), I(2,0), I(0,1), I(1,1), I(2,1), I(0,2), I(1,2), I(2,2)); agxRigidBody->getMassProperties()->setInertiaTensor(inertia, false); const Vector3& c = link->c(); const agx::Vec3 com(c(0), c(1), c(2)); agxRigidBody->setCmLocalTranslate(com); } agxRigidBody->setPosition(origin(0), origin(1), origin(2)); agxRigidBody->setRotation(agx::Quat(0,0,0,1)); createGeometry(agxBody); if(!constraintLinks.size()) createJoint(); else{ if(isHRP2){ agx::FrameRef attFrame0 = new agx::Frame(); agx::FrameRef attFrame1 = new agx::Frame(); const Vector3& a = constraintLinks[1]->link->b(); attFrame1->setTranslate( a(0), a(1), a(2) ); agx::PrismaticUniversalJointRef prismaticUniversal = new agx::PrismaticUniversalJoint( agxRigidBody, attFrame0, parent->agxRigidBody, attFrame1 ); agx::Real complianceZ = agxUtil::convert::convertSpringConstantToCompliance( simImpl->springConstant[2] ); agx::Real complianceX = agxUtil::convert::convertSpringConstantToCompliance( simImpl->springConstant[0] ); agx::Real complianceY = agxUtil::convert::convertSpringConstantToCompliance( simImpl->springConstant[1] ); agx::Real spookDampingZ = agxUtil::convert::convertDampingCoefficientToSpookDamping( simImpl->dampingCoefficient[2], simImpl->springConstant[2] ); agx::Real spookDampingX = agxUtil::convert::convertDampingCoefficientToSpookDamping( simImpl->dampingCoefficient[0], simImpl->springConstant[0] ); agx::Real spookDampingY = agxUtil::convert::convertDampingCoefficientToSpookDamping( simImpl->dampingCoefficient[1], simImpl->springConstant[1] ); prismaticUniversal->getLock1D(agx::PrismaticUniversalJoint::TRANSLATIONAL_CONTROLLER_1)->setPosition(0.0); prismaticUniversal->getLock1D(agx::PrismaticUniversalJoint::TRANSLATIONAL_CONTROLLER_1)->setCompliance(complianceZ); prismaticUniversal->getLock1D(agx::PrismaticUniversalJoint::TRANSLATIONAL_CONTROLLER_1)->setDamping(spookDampingZ); prismaticUniversal->getLock1D(agx::PrismaticUniversalJoint::TRANSLATIONAL_CONTROLLER_1)->setEnable(true); prismaticUniversal->getLock1D(agx::PrismaticUniversalJoint::ROTATIONAL_CONTROLLER_1)->setPosition(0.0); prismaticUniversal->getLock1D(agx::PrismaticUniversalJoint::ROTATIONAL_CONTROLLER_1)->setCompliance(complianceX); prismaticUniversal->getLock1D(agx::PrismaticUniversalJoint::ROTATIONAL_CONTROLLER_1)->setDamping(spookDampingX); prismaticUniversal->getLock1D(agx::PrismaticUniversalJoint::ROTATIONAL_CONTROLLER_1)->setEnable(true); prismaticUniversal->getLock1D(agx::PrismaticUniversalJoint::ROTATIONAL_CONTROLLER_2)->setPosition(0.0); prismaticUniversal->getLock1D(agx::PrismaticUniversalJoint::ROTATIONAL_CONTROLLER_2)->setCompliance(complianceY); prismaticUniversal->getLock1D(agx::PrismaticUniversalJoint::ROTATIONAL_CONTROLLER_2)->setDamping(spookDampingY); prismaticUniversal->getLock1D(agx::PrismaticUniversalJoint::ROTATIONAL_CONTROLLER_2)->setEnable(true); simImpl->agxSimulation->add( prismaticUniversal ); for(size_t i=0; ijoint = prismaticUniversal; } constraintLinks[0]->customConstraintIndex = agx::PrismaticUniversalJoint::ROTATIONAL_CONTROLLER_1; constraintLinks[1]->customConstraintIndex = agx::PrismaticUniversalJoint::TRANSLATIONAL_CONTROLLER_1; constraintLinks[2]->customConstraintIndex = agx::PrismaticUniversalJoint::ROTATIONAL_CONTROLLER_2; }else{ for(size_t i=0; ilink->jointType(); Vector3 v(0,0,0); if(i!=0) v = constraintLinks[i-1]->origin - constraintLinks[i]->origin; if(!v.isZero() || (type!=Link::ROTATIONAL_JOINT && type!=Link::SLIDE_JOINT)) { cout << "Create Joint Error" << endl; for(size_t j=0; jorigin; Link::JointType type = constraintLinks[j]->link->jointType(); cout << "Link " << constraintLinks[j]->link->name() << " : " << "mass=" << constraintLinks[j]->link->mass() << " jointType=" << (type==Link::ROTATIONAL_JOINT? "Rotational" : type==Link::SLIDE_JOINT? "Slide" : type==Link::FREE_JOINT? "Free" : type==Link::FIXED_JOINT? "Fixed" : type==Link::CRAWLER_JOINT? "Crawler" : "Unknown") << " origin=" << o(0) << " " << o(1) <<" " << o(2) << endl; } return; } switch(constraintLinks[i]->controlMode){ case AgXSimulatorItem::HIGH_GAIN : constraintLinks[i]->inputMode = VEL; break; case AgXSimulatorItem::TORQUE : constraintLinks[i]->inputMode = TOR; break; case AgXSimulatorItem::FREE : constraintLinks[i]->inputMode = NON; break; case AgXSimulatorItem::DEFAULT : if(simImpl->dynamicsMode.is(AgXSimulatorItem::HG_DYNAMICS)) constraintLinks[i]->inputMode = VEL; else constraintLinks[i]->inputMode = TOR; break; default: break; } } agx::ref_ptr< CustomConstraint > customConstraint = new CustomConstraint( parent, constraintLinks ); simImpl->agxSimulation->add( customConstraint ); for(size_t i=0; icustomConstraintIndex = i; constraintLinks[i]->joint = customConstraint; if(constraintLinks[i]->inputMode==VEL){ Vector2 forceRange(-std::numeric_limits::max(), std::numeric_limits::max()); read(*link->info(), "forceRange", forceRange); customConstraint->setForceRange( i, agx::RangeReal( forceRange[0], forceRange[1] ) ); } } } } } void AgXLink::createJoint() { enum { MOTOR, SHAFT, NON }; joint = 0; double rotorInertia = link->Jm2(); if(!rotorInertia) rotorInertia = link->info("rotorInertia", 0.0); switch(link->jointType()){ case Link::ROTATIONAL_JOINT: case Link::SLIDE_JOINT: { int part = MOTOR; switch(controlMode){ case AgXSimulatorItem::HIGH_GAIN : part = MOTOR; inputMode = VEL; break; case AgXSimulatorItem::TORQUE : if(rotorInertia){ part = SHAFT; inputMode = TOR; }else{ part = MOTOR; inputMode = TOR; } break; case AgXSimulatorItem::FREE : part = NON; inputMode = InputMode::NON; break; case AgXSimulatorItem::DEFAULT : if(!rotorInertia || simImpl->dynamicsMode.is(AgXSimulatorItem::HG_DYNAMICS)){ part = MOTOR; if(simImpl->dynamicsMode.is(AgXSimulatorItem::HG_DYNAMICS)) inputMode = VEL; else inputMode = TOR; }else{ part = SHAFT; inputMode = TOR; } break; default: break; } if(link->jointType()==Link::ROTATIONAL_JOINT){ const Vector3& a = link->a(); agx::HingeFrame hingeFrame; hingeFrame.setAxis( agx::Vec3( a(0), a(1), a(2)) ); hingeFrame.setCenter( agx::Vec3( origin(0), origin(1), origin(2)) ); agx::HingeRef hinge = new agx::Hinge( hingeFrame, agxRigidBody, parent->agxRigidBody ); simImpl->agxSimulation->add( hinge ); joint = hinge; HingeJointParam hingeParam; if(getHingeJointParam(hingeParam)){ for(int i=0; i::max()) hinge->setCompliance(hingeParam.complianceParam[i].compliance, hingeParam.complianceParam[i].dof); if(hingeParam.complianceParam[i].damping!=std::numeric_limits::max()) hinge->setDamping(hingeParam.complianceParam[i].damping, hingeParam.complianceParam[i].dof); } if(hingeParam.motorParam.compliance!=std::numeric_limits::max()) hinge->getMotor1D()->setCompliance(hingeParam.motorParam.compliance); if(hingeParam.motorParam.damping!=std::numeric_limits::max()) hinge->getMotor1D()->setDamping(hingeParam.motorParam.damping); } if(part==MOTOR){ hinge->getMotor1D()->setEnable(true); if(inputMode==VEL){ Vector2 forceRange(-std::numeric_limits::max(), std::numeric_limits::max()); read(*link->info(), "forceRange", forceRange); agx::Constraint1DOF::safeCast( hinge )->getMotor1D()->setForceRange( forceRange[0], forceRange[1] ); } }else if(part==SHAFT){ agxPowerLine::RotationalActuatorRef rotationalActuator = new agxPowerLine::RotationalActuator(hinge); agxDriveTrain::GearRef gear = new agxDriveTrain::Gear(); agxDriveTrain::ShaftRef shaft = new agxDriveTrain::Shaft(); shaft->connect(rotationalActuator, gear); shaft->setInertia( rotorInertia ); simImpl->powerLine->add(shaft); unit = shaft; }else if(part==NON) ; }else{ const Vector3& d = link->d(); agx::PrismaticFrame prismaticFrame; prismaticFrame.setAxis( agx::Vec3( d(0), d(1), d(2) )); prismaticFrame.setPoint( agx::Vec3( origin(0), origin(1), origin(2)) ); agx::PrismaticRef prismatic = new agx::Prismatic( prismaticFrame, agxRigidBody, parent->agxRigidBody ); simImpl->agxSimulation->add( prismatic ); joint = prismatic; if(part==MOTOR){ prismatic->getMotor1D()->setEnable(true); if(inputMode==VEL){ Vector2 forceRange(-std::numeric_limits::max(), std::numeric_limits::max()); read(*link->info(), "forceRange", forceRange); agx::Constraint1DOF::safeCast( prismatic )->getMotor1D()->setForceRange( forceRange[0], forceRange[1] ); } }else if(part==SHAFT){ agxPowerLine::TranslationalActuatorRef translationalActuator = new agxPowerLine::TranslationalActuator(prismatic); agxPowerLine::TranslationalConnectorRef connector = new agxPowerLine::TranslationalConnector(); agxPowerLine::TranslationalUnitRef translationalUnit = new agxPowerLine::TranslationalUnit(); translationalUnit->connect(translationalActuator, connector); translationalUnit->setMass( rotorInertia ); simImpl->powerLine->add(translationalUnit); unit = translationalUnit; }else if(part==NON) ; } break; } case Link::FIXED_JOINT: case Link::CRAWLER_JOINT: case Link::PSEUDO_CONTINUOUS_TRACK:{ if(!parent){ agxRigidBody->setMotionControl(agx::RigidBody::STATIC); }else{ agx::LockJointRef lockJoint; lockJoint = new agx::LockJoint(agxRigidBody, parent->agxRigidBody); simImpl->agxSimulation->add( lockJoint ); joint = lockJoint; } break; } case Link::AGX_CRAWLER_JOINT:{ numOfTrack = agxBody->tracks.size(); agxBody->tracks.resize(numOfTrack+1); AgXBody::Track& track = agxBody->tracks[numOfTrack]; track.parent = parent; track.feet.push_back(this); break; } case Link::FREE_JOINT: default : break; } } void AgXLink::createGeometry(AgXBody* agxBody) { if(link->shape()){ MeshExtractor* extractor = new MeshExtractor; if(extractor->extract(link->shape(), boost::bind(&AgXLink::addMesh, this, extractor, agxBody))){ if(!vertices.empty()){ agxCollide::TrimeshRef triangleMesh = new agxCollide::Trimesh( &vertices, &indices, "" ); if(link->jointType() == Link::PSEUDO_CONTINUOUS_TRACK || link->jointType() == Link::CRAWLER_JOINT){ agx::ref_ptr crawlerGeometry = new CrawlerGeometry( link, agxRigidBody.get() ); crawlerGeometry->add( triangleMesh ); crawlerGeometry->setSurfaceVelocity( agx::Vec3f(1,0,0) ); //éİċ½“Ğ設ċš—ĤŠ‹Ş„¨calculateSurfaceVelocityŒċ‘ĵ³ċ‡ş•‚ŒŞ„€‚ agxRigidBody->add( crawlerGeometry ); }else{ agxRigidBody->add( new agxCollide::Geometry( triangleMesh ) ); } } } delete extractor; } } void AgXLink::addMesh(MeshExtractor* extractor, AgXBody* agxBody) { SgMesh* mesh = extractor->currentMesh(); const Affine3& T = extractor->currentTransform(); bool meshAdded = false; if(mesh->primitiveType() != SgMesh::MESH){ bool doAddPrimitive = false; Vector3 scale; boost::optional translation; if(!extractor->isCurrentScaled()){ scale.setOnes(); doAddPrimitive = true; } else { Affine3 S = extractor->currentTransformWithoutScaling().inverse() * extractor->currentTransform(); if(S.linear().isDiagonal()){ if(!S.translation().isZero()){ translation = S.translation(); } scale = S.linear().diagonal(); if(mesh->primitiveType() == SgMesh::BOX){ doAddPrimitive = true; } else if(mesh->primitiveType() == SgMesh::SPHERE){ // check if the sphere is uniformly scaled for all the axes if(scale.x() == scale.y() && scale.x() == scale.z()){ doAddPrimitive = true; } } else if(mesh->primitiveType() == SgMesh::CYLINDER){ // check if the bottom circle face is uniformly scaled if(scale.x() == scale.z()){ doAddPrimitive = true; } } } } if(doAddPrimitive){ bool created = false; agxCollide::GeometryRef agxGeometry; if(link->jointType() == Link::PSEUDO_CONTINUOUS_TRACK || link->jointType() == Link::CRAWLER_JOINT){ agxGeometry = new CrawlerGeometry(link, agxRigidBody.get()); agxGeometry->setSurfaceVelocity( agx::Vec3f(1,0,0) ); }else{ agxGeometry = new agxCollide::Geometry(); } switch(mesh->primitiveType()){ case SgMesh::BOX : { const Vector3& s = mesh->primitive().size / 2.0; agxCollide::BoxRef box = new agxCollide::Box( agx::Vec3( s.x()*scale.x(), s.y()*scale.y(), s.z()*scale.z() ) ); agxGeometry->add(box); agxRigidBody->add( agxGeometry ); created = true; break; } case SgMesh::SPHERE : { SgMesh::Sphere sphere = mesh->primitive(); agxCollide::SphereRef sphere_ = new agxCollide::Sphere( sphere.radius * scale.x() ); agxGeometry->add(sphere_); agxRigidBody->add( agxGeometry ); created = true; break; } case SgMesh::CYLINDER : { SgMesh::Cylinder cylinder = mesh->primitive(); agxCollide::CylinderRef cylinder_ = new agxCollide::Cylinder(cylinder.radius * scale.x(), cylinder.height * scale.y()); agxGeometry->add(cylinder_); agxRigidBody->add( agxGeometry ); created = true; break; } default : break; } if(created){ Affine3 T_ = extractor->currentTransformWithoutScaling(); if(translation){ T_ *= Translation3(*translation); } agxGeometry->setLocalTransform( agx::AffineMatrix4x4( T_(0,0), T_(1,0), T_(2,0), 0.0, T_(0,1), T_(1,1), T_(2,1), 0.0, T_(0,2), T_(1,2), T_(2,2), 0.0, T_(0,3), T_(1,3), T_(2,3), 1.0) ); meshAdded = true; } } } if(!meshAdded){ const size_t vertexIndexTop = vertices.size(); const SgVertexArray& vertices_ = *mesh->vertices(); const int numVertices = vertices_.size(); for(int i=0; i < numVertices; ++i){ const Vector3 v = T * vertices_[i].cast(); vertices.push_back( agx::Vec3(v.x(), v.y(), v.z()) ); } const int numTriangles = mesh->numTriangles(); for(int i=0; i < numTriangles; ++i){ SgMesh::TriangleRef src = mesh->triangle(i); indices.push_back(vertexIndexTop + src[0]); indices.push_back(vertexIndexTop + src[1]); indices.push_back(vertexIndexTop + src[2]); } } } bool AgXLink::getHingeJointParam(HingeJointParam& hingeJointParam) { bool ret = false; const Mapping& hingeParam = *link->info(); if(hingeParam.isValid()){ const Listing& compParams = *hingeParam.findListing("hingeCompliance"); if(compParams.isValid()){ ret = true; for(int j=0; j= agx::Hinge::DOF::ALL_DOF){ double w; complianceParam.compliance = complianceParam.damping = std::numeric_limits::max(); if(compParam.read("compliance", w)) complianceParam.compliance = w; if(compParam.read("damping", w)) complianceParam.damping = w; hingeJointParam.complianceParam.push_back(complianceParam); } } } const Mapping& reguParam = *hingeParam.findMapping("hingeMotor"); if(reguParam.isValid()){ ret = true; hingeJointParam.motorParam.compliance = hingeJointParam.motorParam.damping = std::numeric_limits::max(); double w; if(reguParam.read("compliance", w )) hingeJointParam.motorParam.compliance = w; if(reguParam.read("damping", w )) hingeJointParam.motorParam.damping = w; } } return ret; } void AgXLink::setKinematicStateToAgX() { if(!agxRigidBody) return; const Vector3& p = link->p(); const Matrix3& R = link->R(); agx::Vec3 translation(p(0), p(1), p(2)); agx::OrthoMatrix3x3 rotation(R(0,0), R(1,0), R(2,0), R(0,1), R(1,1), R(2,1), R(0,2), R(1,2), R(2,2)); agxRigidBody->setTransform( agx::AffineMatrix4x4( rotation, translation) ); const Vector3 lc = link->R() * link->c(); const Vector3& w = link->w(); const Vector3 v = link->v() + w.cross(lc); agxRigidBody->setVelocity( agx::Vec3(v(0),v(1),v(2)) ); // the linear velocity of the center of mass agxRigidBody->setAngularVelocity( agx::Vec3(w(0),w(1),w(2)) ); } void AgXLink::getKinematicStateFromAgX() { switch(link->jointType()){ case Link::ROTATIONAL_JOINT: case Link::SLIDE_JOINT:{ agx::Constraint1DOF* joint1DOF = agx::Constraint1DOF::safeCast(joint); if(joint1DOF){ link->q() = joint1DOF->getAngle(); link->dq() = joint1DOF->getCurrentSpeed(); if(inputMode==VEL){ link->u() = joint1DOF->getMotor1D()->getCurrentForce(); //cout << link->name() << " " << link->u() << endl; } break; } CustomConstraint* jointCustom = dynamic_cast(joint); if(jointCustom){ double oldq = link->q(); link->q() = jointCustom->getAngle(customConstraintIndex); link->dq() = ( link->q() - oldq ) / simImpl->timeStep; break; } agx::PrismaticUniversalJoint* pujoint = dynamic_cast(joint); if(pujoint){ link->q() = pujoint->getAngle(customConstraintIndex); link->dq() = pujoint->getCurrentSpeed(customConstraintIndex); break; } } default : break; } if(!agxRigidBody) return; agx::AffineMatrix4x4 t = agxRigidBody->getTransform(); link->p() = Vector3(t(3,0), t(3,1), t(3,2)); link->R() << t(0,0), t(1,0), t(2,0), t(0,1), t(1,1), t(2,1), t(0,2), t(1,2), t(2,2); agx::Vec3 w = agxRigidBody->getAngularVelocity(); link->w() = Vector3(w.x(), w.y(), w.z()); agx::Vec3 v = agxRigidBody->getVelocity(); Vector3 v0(v.x(), v.y(), v.z()); const Vector3 c = link->R() * link->c(); link->v() = v0 - link->w().cross(c); } void AgXLink::setTorqueToAgX() { if(!isControlJoint) return; if(unit){ agxDriveTrain::Shaft* shaft = dynamic_cast(unit); if(shaft){ shaft->getRotationalDimension()->addLoad( link->u() ); return; } agxPowerLine::TranslationalUnit* transUnit = dynamic_cast(unit); if(transUnit){ transUnit->getTranslationalDimension()->addLoad( link->u() ); return; } } if(!joint) return; agx::Constraint1DOF* joint1DOF = agx::Constraint1DOF::safeCast(joint); if(joint1DOF){ if(inputMode==VEL){ joint1DOF->getMotor1D()->setSpeed( link->dq() ); return; }else if(inputMode==TOR){ joint1DOF->getMotor1D()->setSpeed( link->u()<0? -1.0e12 : 1.0e12); joint1DOF->getMotor1D()->setForceRange( agx::RangeReal( link->u() ) ); return; } } CustomConstraint* jointCustom = dynamic_cast(joint); if(jointCustom){ if(inputMode==VEL){ jointCustom->setSpeed( customConstraintIndex, link->dq() ); return; }else if(inputMode==TOR){ jointCustom->setSpeed( customConstraintIndex, link->u()<0? -1.0e12 : 1.0e12 ); jointCustom->setForceRange( customConstraintIndex, agx::RangeReal(link->u()) ); return; } } } void AgXForceField::updateForce(agx::DynamicsSystem* system) { #if 0 agx::RigidBodyRefVector& bodies = system->getRigidBodies(); for(agx::RigidBodyRefVector::iterator it = bodies.begin(); it != bodies.end(); ++it) { agx::RigidBody *body = (*it).get(); AgXLink* agxLink = dynamic_cast( body->getCustomData() )->agxLink; if(agxLink){ if(agxLink->constraintLinks.empty()) agxLink->constraintLinks.push_back(agxLink); for(int i=0; iconstraintLinks.size(); i++){ Link* link = agxLink->constraintLinks[i]->link; if(link->isRotationalJoint()){ const Vector3 u = link->u() * link->a(); agx::Vec3 u_ = body->getFrame()->transformVectorToWorld( u(0), u(1), u(2) ); body->addTorque( u_ ); agxLink->parent->agxRigidBody->addTorque( -u_ ); }else if(link->isSlideJoint()){ const Vector3 u = link->u() * link->d(); agx::Vec3 u_ = body->getFrame()->transformVectorToWorld( u(0), u(1), u(2) ); body->addForceAtLocalPosition( u_, agx::Vec3(0, 0, 0) ); agxLink->parent->agxRigidBody->addForceAtLocalPosition( -u_, agx::Vec3(0, 0, 0) ); } } } } #endif } void AgXBody::setLinkGroup(const LinkGroupPtr& linkGroup) { int n = linkGroup->numElements(); for(int i=0; i < n; ++i){ if(linkGroup->isSubGroup(i)){ setLinkGroup(linkGroup->subGroup(i)); } else if(linkGroup->isLinkIndex(i)){ Link* link = body()->link(linkGroup->linkIndex(i)); if(link){ linkGroups[linkGroup->name()].push_back( link ); } } } } AgXBody::AgXBody(Body& orgBody, AgXSimulatorItemImpl* simImpl) : SimulationBody(new Body(orgBody)), simImpl(simImpl) { Body* body = this->body(); LinkGroupPtr linkGroup = LinkGroup::create(*body); setLinkGroup(linkGroup); linkGroups.erase("Whole Body"); contactMaterialParams.clear(); const Listing& cmParams = *body->info()->findListing("agxContactMaterialParameters"); if(cmParams.isValid()){ for(int i=0; i < cmParams.size(); ++i){ const Mapping& cmParam = *cmParams[i].toMapping(); contactMaterialParams.push_back(ContactMaterialParam()); ContactMaterialParam& contactMaterialParam = contactMaterialParams.back(); string s; if(cmParam.read("frictionModel", s )){ if(s=="BOX") contactMaterialParam.frictionModel = BOX; else if(s=="SCALE_BOX") contactMaterialParam.frictionModel = SCALE_BOX; else if(s=="ITERATIVE_PROJECTED") contactMaterialParam.frictionModel = ITERATIVE_PROJECTED; else contactMaterialParam.frictionModel = MODEL_DEFAULT; } if(cmParam.read("solveType", s )){ if(s=="DIRECT") contactMaterialParam.solveType = DIRECT; else if(s=="ITERATIVE") contactMaterialParam.solveType = ITERATIVE; else if(s=="SPLIT") contactMaterialParam.solveType = SPLIT; else if(s=="DIRECT_AND_ITERATIVE") contactMaterialParam.solveType = DIRECT_AND_ITERATIVE; else contactMaterialParam.solveType = SOLVE_DEFAULT; } cmParam.read("frictionCoefficient", contactMaterialParam.frictionCoefficient ); cmParam.read("restitution", contactMaterialParam.restitution ); cmParam.read("damping", contactMaterialParam.damping ); read(cmParam, "adhesion", contactMaterialParam.adhesion); const Listing& svParams = *cmParam.findListing("surfaceViscosityParameters"); if(svParams.isValid()){ for(int j=0; j::max(); if(svParam.read("direction", s )){ if(s=="PRIMARY_DIRECTION") surfaceViscosityParam.direction = agx::ContactMaterial::PRIMARY_DIRECTION; else if(s=="SECONDARY_DIRECTION") surfaceViscosityParam.direction = agx::ContactMaterial::SECONDARY_DIRECTION; else if(s=="BOTH_PRIMARY_AND_SECONDARY") surfaceViscosityParam.direction = agx::ContactMaterial::BOTH_PRIMARY_AND_SECONDARY; else surfaceViscosityParam.direction = agx::ContactMaterial::BOTH_PRIMARY_AND_SECONDARY; }else surfaceViscosityParam.direction = agx::ContactMaterial::BOTH_PRIMARY_AND_SECONDARY; svParam.read("viscosity", surfaceViscosityParam.viscosity); contactMaterialParam.surfaceViscosityParam.push_back(surfaceViscosityParam); } } const Listing& linkGroupPairs = *cmParam.findListing("linkGroupPairs"); if(linkGroupPairs.isValid()){ for(int j=0; j& links = linkGroups[groupName]; AgXSimulatorItemImpl::MaterialMap::iterator it = simImpl->materialMap.find(links[0]); if(it==simImpl->materialMap.end()){ const string materialName = groupName + "_Material"; agx::MaterialRef material = new agx::Material(materialName); simImpl->materials.push_back(material); for(int k=0; kmaterialMap[links[k]] = material.get(); } material[j] = simImpl->materialMap[links[0]]; } simImpl->contactMaterialMap[ IdPair( material[0], material[1] )] = &contactMaterialParam; } } } } selfCollisionDetectionLinkGroupPairs.clear(); const Mapping& selfCollisionDetection = *body->info()->findMapping("agxSelfCollisionDetection"); if(selfCollisionDetection.isValid()){ const Listing& linkGroupPairs = *selfCollisionDetection.findListing("linkGroupPairs"); if(linkGroupPairs.isValid()){ for(int j=0; j(linkGroupPairList[0].toString(), linkGroupPairList[1].toString()) ); } } } } AgXBody::~AgXBody() { } void AgXBody::createBody() { tracks.clear(); isStatic = body()->isStaticModel(); collisionDetectionEnabled = bodyItem()->isCollisionDetectionEnabled(); selfCollisionDetectionEnabled = bodyItem()->isSelfCollisionDetectionEnabled(); geometryGroupIds.clear(); if(!selfCollisionDetectionEnabled){ for(int i=0; ifirst); if(itr == geometryGroupIds.end()) geometryGroupIds[it->first] = geometryGroupId; } } AgXLink* rootLink = new AgXLink(simImpl, this, 0, Vector3::Zero(), body()->rootLink()); setKinematicStateToAgX(); if(!tracks.empty()){ createCrawlerJoint(); } if(!selfCollisionDetectionEnabled){ simImpl->agxSimulation->getSpace()->setEnablePair(geometryGroupId,geometryGroupId,false); for(GeometryGroupIds::iterator it0=geometryGroupIds.begin(); it0!=geometryGroupIds.end(); it0++){ simImpl->agxSimulation->getSpace()->setEnablePair(geometryGroupId,it0->second,false); for(GeometryGroupIds::iterator it1=geometryGroupIds.begin(); it1!=geometryGroupIds.end(); it1++){ simImpl->agxSimulation->getSpace()->setEnablePair(it0->second,it1->second,false); } } for(int i=0; iagxSimulation->getSpace()-> setEnablePair(geometryGroupIds[linkGroupName0], geometryGroupIds[linkGroupName1],true); } } setExtraJoints(); sensorHelper.initialize(body(), simImpl->timeStep, simImpl->gravity); const DeviceList& forceSensors = sensorHelper.forceSensors(); for(size_t i=0; i < forceSensors.size(); ++i){ AgXLink* agxLink = findLink(forceSensors[i]->link()); agxLink->joint->setEnableComputeForces(true); } } void AgXBody::setKinematicStateToAgX() { for(size_t i=0; i < agxLinks.size(); ++i){ agxLinks[i]->setKinematicStateToAgX(); } } void AgXBody::getKinematicStateFromAgX() { for(size_t i=0; i < agxLinks.size(); ++i){ agxLinks[i]->getKinematicStateFromAgX(); } } AgXLink* AgXBody::findLink(Link* link) { for( vector::iterator itr=agxLinks.begin(); itr!=agxLinks.end(); itr++){ if((*itr)->link == link) return (*itr).get(); } return 0; } void AgXBody::updateForceSensors() { const DeviceList& forceSensors = sensorHelper.forceSensors(); for(size_t i=0; i < forceSensors.size(); ++i){ ForceSensor* sensor = forceSensors[i]; AgXLink* agxLink = findLink(sensor->link()); if(agxLink && agxLink->parent && agxLink->joint){ agx::Vec3 force,torque; agxLink->joint->getLastForce( agxLink->parent->agxRigidBody, force, torque, false); Vector3 f(force[0], force[1], force[2]); Vector3 tau(torque[0], torque[1], torque[2]); const Matrix3 R = sensor->link()->R() * sensor->R_local(); const Vector3 p = sensor->link()->R() * sensor->p_local(); sensor->f() = R.transpose() * f; sensor->tau() = R.transpose() * (tau - p.cross(f)); sensor->notifyStateChange(); } } } void AgXBody::setExtraJoints() { Body* body = this->body(); const int n = body->numExtraJoints(); for(int j=0; j < n; ++j){ Body::ExtraJoint& extraJoint = body->extraJoint(j); AgXLinkPtr agxLinkPair[2]; for(int i=0; i < 2; ++i){ Link* link = extraJoint.link[i]; agxLinkPair[i] = findLink( link ); if(!agxLinkPair[i]) break; } if(agxLinkPair[1]){ Link* link = agxLinkPair[0]->link; Vector3 p = link->attitude() * extraJoint.point[0] + link->p(); Vector3 a = link->attitude() * extraJoint.axis; if(extraJoint.type == Body::EJ_PISTON){ agx::HingeFrame hingeFrame; hingeFrame.setAxis( agx::Vec3( a(0), a(1), a(2)) ); hingeFrame.setCenter( agx::Vec3( p(0), p(1), p(2)) ); agx::HingeRef hinge = new agx::Hinge( hingeFrame, agxLinkPair[0]->agxRigidBody, agxLinkPair[1]->agxRigidBody ); simImpl->agxSimulation->add( hinge ); }else if(extraJoint.type == Body::EJ_BALL){ agx::BallJointFrame ballJointFrame; ballJointFrame.setCenter( agx::Vec3( p(0), p(1), p(2)) ); agx::BallJointRef ballJoint = new agx::BallJoint( ballJointFrame, agxLinkPair[0]->agxRigidBody, agxLinkPair[1]->agxRigidBody ); simImpl->agxSimulation->add( ballJoint ); } } } } void AgXBody::setTorqueToAgX() { // Skip the root link for(size_t i=1; i < agxLinks.size(); ++i){ agxLinks[i]->setTorqueToAgX(); } } void AgXBody::createCrawlerJoint() { for(int i=0; ilink->a(); Vector3 a_ = link0->link->attitude() * a; agx::HingeFrame hingeFrame; hingeFrame.setAxis( agx::Vec3( a_(0), a_(1), a_(2)) ); const Vector3& o = link0->link->p(); hingeFrame.setCenter( agx::Vec3( o(0), o(1), o(2))); agx::HingeRef hinge = new agx::Hinge( hingeFrame, link0->agxRigidBody, link1->agxRigidBody ); simImpl->agxSimulation->add( hinge ); link0->joint = hinge; hinge->getMotor1D()->setEnable(true); Vector2 forceRange(-std::numeric_limits::max(), std::numeric_limits::max()); agx::Constraint1DOF::safeCast( hinge )->getMotor1D()->setForceRange( forceRange[0], forceRange[1] ); HingeJointParam hingeParam; if(link0->getHingeJointParam(hingeParam)){ for(int i=0; i::max()) hinge->setCompliance(hingeParam.complianceParam[i].compliance, hingeParam.complianceParam[i].dof); if(hingeParam.complianceParam[i].damping!=std::numeric_limits::max()) hinge->setDamping(hingeParam.complianceParam[i].damping, hingeParam.complianceParam[i].dof); } if(hingeParam.motorParam.compliance!=std::numeric_limits::max()) hinge->getMotor1D()->setCompliance(hingeParam.motorParam.compliance); if(hingeParam.motorParam.damping!=std::numeric_limits::max()) hinge->getMotor1D()->setDamping(hingeParam.motorParam.damping); } // setting PlaneJoint agx::FrameRef frame1 = new agx::Frame(); agx::Vec3 a0( a(0), a(1), a(2) ); const Vector3& b = link0->link->b(); agx::Vec3 b0( b(0), b(1), b(2) ); agx::Vec3 p = ( b0 * a0 ) * a0; agx::Vec3 nx = agx::Vec3::Z_AXIS().cross(a0); agx::OrthoMatrix3x3 rotation; if(nx.normalize() > 1.0e-6){ nx.normal(); rotation.setColumn(0, nx); agx::Vec3 ny = a0.cross(nx); ny.normal(); rotation.setColumn(1, ny); rotation.setColumn(2, a0); } agx::AffineMatrix4x4 af( rotation, p ); frame1->setMatrix(af); for(int j=0; jagxRigidBody, frame0, track.parent->agxRigidBody, frame1); simImpl->agxSimulation->add( plane ); double w = foot->link->info("planeCompliance", std::numeric_limits::max()); if(w!=std::numeric_limits::max()) plane->setCompliance(w); w = foot->link->info("planeDamping", std::numeric_limits::max()); if(w!=std::numeric_limits::max()) plane->setDamping(w); agx::Constraint1DOF* joint1DOF = agx::Constraint1DOF::safeCast(foot->joint); if(joint1DOF) joint1DOF->getMotor1D()->setSpeed( 0.0 ); } } } void AgXSimulatorItem::initializeClass(ExtensionManager* ext) { ext->itemManager().registerClass("AgXSimulatorItem"); ext->itemManager().addCreationPanel(); } AgXSimulatorItem::AgXSimulatorItem() { impl = new AgXSimulatorItemImpl(this); } AgXSimulatorItemImpl::AgXSimulatorItemImpl(AgXSimulatorItem* self) : self(self), frictionModelType(3, CNOID_GETTEXT_DOMAIN_NAME), frictionSolveType(4, CNOID_GETTEXT_DOMAIN_NAME), contactReductionMode(3, CNOID_GETTEXT_DOMAIN_NAME), dynamicsMode(AgXSimulatorItem::N_DYNAMICS_MODES, CNOID_GETTEXT_DOMAIN_NAME) { initialize(); dynamicsMode.setSymbol(AgXSimulatorItem::FORWARD_DYNAMICS, N_("Forward dynamics")); dynamicsMode.setSymbol(AgXSimulatorItem::HG_DYNAMICS, N_("High-gain dynamics")); gravity << 0.0, 0.0, -DEFAULT_GRAVITY_ACCELERATION; friction = 0.5; restitution = 0.1; numThreads = 1; contactReductionBinResolution = 2; contactReductionThreshold = 4; frictionModelType.setSymbol(BOX, "Box"); frictionModelType.setSymbol(SCALE_BOX, "Scale Box"); frictionModelType.setSymbol(ITERATIVE_PROJECTED, "Iterative Projected"); frictionModelType.select(ITERATIVE_PROJECTED); frictionSolveType.setSymbol(DIRECT, "Direct"); frictionSolveType.setSymbol(ITERATIVE, "Iterative"); frictionSolveType.setSymbol(SPLIT, "Split"); frictionSolveType.setSymbol(DIRECT_AND_ITERATIVE, "Direct and Iterative"); frictionSolveType.select(SPLIT); contactReductionMode.setSymbol(agx::ContactMaterial::REDUCE_NONE, "None"); contactReductionMode.setSymbol(agx::ContactMaterial::REDUCE_GEOMETRY, "Geometry"); contactReductionMode.setSymbol(agx::ContactMaterial::REDUCE_ALL, "All"); contactReductionMode.select(agx::ContactMaterial::REDUCE_GEOMETRY); } AgXSimulatorItem::AgXSimulatorItem(const AgXSimulatorItem& org) : SimulatorItem(org) { impl = new AgXSimulatorItemImpl(this, *org.impl); } AgXSimulatorItemImpl::AgXSimulatorItemImpl(AgXSimulatorItem* self, const AgXSimulatorItemImpl& org) : self(self), dynamicsMode(org.dynamicsMode) { initialize(); gravity = org.gravity; friction = org.friction; restitution = org.restitution; frictionModelType = org.frictionModelType; frictionSolveType = org.frictionSolveType; numThreads = org.numThreads; contactReductionMode = org.contactReductionMode; contactReductionBinResolution = org.contactReductionBinResolution; contactReductionThreshold = org.contactReductionThreshold; } void AgXSimulatorItemImpl::initialize() { } AgXSimulatorItem::~AgXSimulatorItem() { delete impl; } AgXSimulatorItemImpl::~AgXSimulatorItemImpl() { // ““§agxSimulationƒĦ‚½ƒƒƒ‰‚’ċ‘ĵĥ¨çµ‚了ĉ™‚Ğ‚¨ƒİƒĵŒç™şç”Ÿ™‚‹€‚agx::shutdown()ŒċŸèĦŒ•‚ŒŸċŒŸ‚€‚ } Item* AgXSimulatorItem::doDuplicate() const { return new AgXSimulatorItem(*this); } bool AgXSimulatorItem::startSimulation(bool doReset) { impl->orgLinkToInternalLinkMap.clear(); impl->controlModeMap.clear(); impl->controlModeOrgLinkMap.clear(); impl->materialMap.clear(); impl->materials.clear(); impl->contactMaterialLinkMap.clear(); impl->contactMaterialBodyMap.clear(); impl->contactMaterialMap.clear(); return SimulatorItem::startSimulation(doReset); } SimulationBody* AgXSimulatorItem::createSimulationBody(Body* orgBody) { AgXBody* agXBody = new AgXBody(*orgBody, impl); const int n = orgBody->numLinks(); for(size_t i=0; i < n; ++i){ impl->orgLinkToInternalLinkMap[orgBody->link(i)] = agXBody->body()->link(i); AgXSimulatorItemImpl::ControlModeMap::iterator it = impl->controlModeOrgLinkMap.find(orgBody->link(i)); if(it != impl->controlModeOrgLinkMap.end()) impl->controlModeMap[agXBody->body()->link(i)] = it->second; } return agXBody; } bool AgXSimulatorItem::initializeSimulation(const std::vector& simBodies) { return impl->initializeSimulation(simBodies); } bool AgXSimulatorItemImpl::initializeSimulation(const std::vector& simBodies) { clear(); agxSimulation = new agxSDK::Simulation(); agx::setNumThreads( numThreads ); agxSimulation->setContactReductionBinResolution( contactReductionBinResolution ); agxSimulation->setContactReductionThreshold( contactReductionThreshold ); powerLine = new agxPowerLine::PowerLine(); agxSimulation->add(powerLine); agx::UniformGravityField* uniformGravityField = dynamic_cast( agxSimulation->getGravityField() ); if(uniformGravityField) uniformGravityField->setGravity( agx::Vec3( gravity(0), gravity(1), gravity(2) ) ); timeStep = self->worldTimeStep(); agxSimulation->getDynamicsSystem()->getTimeGovernor()->setTimeStep( timeStep ); defaultMaterial = new agx::Material( "Material", restitution, friction ); agxSimulation->add( defaultMaterial ); agx::ContactMaterial* contactMaterial = agxSimulation-> getMaterialManager()->getOrCreateContactMaterial( defaultMaterial, defaultMaterial ); contactMaterial->setContactReductionMode( (agx::ContactMaterial::ContactReductionMode)contactReductionMode.selectedIndex() ); setFrictionModelsolveType(contactMaterial, (FrictionModelType)frictionModelType.selectedIndex(), (FrictionSolveType)frictionSolveType.selectedIndex()); for(ContactMaterialBodyMap::iterator it = contactMaterialBodyMap.begin(); it != contactMaterialBodyMap.end(); it++){ const IdPair& bodyPair = it->first; set materials_[2]; for(int i=0; i<2; i++){ agx::MaterialRef material = 0; Body* body = bodyPair(i); for(int j=0; jnumLinks(); j++){ Link* link = body->link(j); LinkMap::iterator p = orgLinkToInternalLinkMap.find(link); if(p != orgLinkToInternalLinkMap.end()){ Link* iLink = p->second; MaterialMap::iterator it = materialMap.find(iLink); if(it==materialMap.end()){ if(!material){ material = new agx::Material(body->name()+"_Material"); materials.push_back(material); } materialMap[iLink] = material.get(); } materials_[i].insert(materialMap[iLink]); } } } for(set::iterator it0 = materials_[0].begin(); it0 != materials_[0].end(); it0++) for(set::iterator it1 = materials_[1].begin(); it1 != materials_[1].end(); it1++) contactMaterialMap[ IdPair( *it0, *it1 )] = &it->second; } for(ContactMaterialLinkMap::iterator it = contactMaterialLinkMap.begin(); it != contactMaterialLinkMap.end(); it++){ const IdPair& linkPair = it->first; agx::Material* material[2]; for(int k=0; k<2; k++){ string materialName; LinkMap::iterator p = orgLinkToInternalLinkMap.find(linkPair(k)); if(p != orgLinkToInternalLinkMap.end()){ Link* iLink = p->second; MaterialMap::iterator it = materialMap.find(iLink); if(it==materialMap.end()){ string materialName = iLink->name() + "_Material"; agx::MaterialRef material = new agx::Material(materialName); materials.push_back(material); materialMap[iLink] = material.get(); } material[k] = materialMap[iLink]; } } if( material[0] && material[1] ) contactMaterialMap[ IdPair( material[0], material[1] )] = &it->second; } for(Materials::iterator it = materials.begin(); it!=materials.end(); it++) agxSimulation->add( *it ); for(size_t i=0; i < simBodies.size(); ++i){ addBody(static_cast(simBodies[i]),i); } for(ContactMaterialMap::iterator it = contactMaterialMap.begin(); it != contactMaterialMap.end(); it++){ const IdPair& mPair = it->first; agx::ContactMaterial* contactMaterial = agxSimulation->getMaterialManager()-> getOrCreateContactMaterial( mPair(0), mPair(1) ); ContactMaterialParam* cmp = it->second; if( cmp->frictionModel!=MODEL_DEFAULT && cmp->solveType!=SOLVE_DEFAULT) setFrictionModelsolveType(contactMaterial, cmp->frictionModel, cmp->solveType); if(cmp->frictionCoefficient!=std::numeric_limits::max()) contactMaterial->setFrictionCoefficient(cmp->frictionCoefficient); if(cmp->restitution!=std::numeric_limits::max()) contactMaterial->setRestitution(cmp->restitution); if(cmp->damping!=std::numeric_limits::max()) contactMaterial->setDamping(cmp->damping); if(cmp->adhesion[0]!=std::numeric_limits::max() && cmp->adhesion[1]!=std::numeric_limits::max()) contactMaterial->setAdhesion(cmp->adhesion[0], cmp->adhesion[1]); for(int j=0; jsurfaceViscosityParam.size(); j++){ if(cmp->surfaceViscosityParam[j].viscosity!=std::numeric_limits::max()) contactMaterial->setSurfaceViscosity(cmp->surfaceViscosityParam[j].viscosity, cmp->surfaceViscosityParam[j].direction); } if(cmp->youngsModulus!=std::numeric_limits::max()) contactMaterial->setYoungsModulus(cmp->youngsModulus); } // add Force Field //agx::InteractionRef forceField = new AgXForceField; //agxSimulation->getDynamicsSystem()->add( forceField ); // debug file output //agxSimulation->getSerializer()->setEnable(true); //agxSimulation->getSerializer()->setInterval(0.1); // 10hz //agxSimulation->getSerializer()->setFilename("aist.agx"); return true; } void AgXSimulatorItem::initializeSimulationThread() { agx::Thread::registerAsAgxThread(); impl->agxSimulation->setMainWorkThread(agx::Thread::getCurrentThread()); } void AgXSimulatorItem::finalizeSimulationThread() { agx::Thread::unregisterAsAgxThread(); } bool AgXSimulatorItem::stepSimulation(const std::vector& activeSimBodies) { return impl->stepSimulation(activeSimBodies); } bool AgXSimulatorItemImpl::stepSimulation(const std::vector& activeSimBodies) { for(size_t i=0; i < activeSimBodies.size(); ++i){ AgXBody* agxBody = static_cast(activeSimBodies[i]); agxBody->body()->setVirtualJointForces(); agxBody->setTorqueToAgX(); } agxSimulation->stepForward(); for(size_t i=0; i < activeSimBodies.size(); ++i){ AgXBody* agxBody = static_cast(activeSimBodies[i]); agxBody->getKinematicStateFromAgX(); if(!agxBody->sensorHelper.forceSensors().empty()){ agxBody->updateForceSensors(); } if(agxBody->sensorHelper.hasGyroOrAccelerationSensors()){ agxBody->sensorHelper.updateGyroAndAccelerationSensors(); } } return true; } void AgXSimulatorItem::finalizeSimulation() { } void AgXSimulatorItemImpl::clear() { if(agxSimulation) agxSimulation->cleanup( agxSDK::Simulation::CLEANUP_ALL ); } void AgXSimulatorItemImpl::addBody(AgXBody* agxBody, int i) { Body& body = *agxBody->body(); Link* rootLink = body.rootLink(); rootLink->v().setZero(); rootLink->dv().setZero(); rootLink->w().setZero(); rootLink->dw().setZero(); for(int i=0; i < body.numJoints(); ++i){ Link* joint = body.joint(i); joint->u() = 0.0; joint->dq() = 0.0; joint->ddq() = 0.0; } body.clearExternalForces(); body.calcForwardKinematics(true, true); agxBody->geometryGroupId = i; agxBody->createBody(); } CollisionLinkPairListPtr AgXSimulatorItem::getCollisions() { const agxCollide::GeometryContactPtrVector& contacts = impl->agxSimulation->getSpace()->getGeometryContacts(); CollisionLinkPairListPtr collisionPairs = boost::make_shared(); for(agxCollide::GeometryContactPtrVector::const_iterator it=contacts.begin(); it!=contacts.end(); it++){ CollisionLinkPairPtr dest = boost::make_shared(); agxCollide::ContactPointVector& points = (*it)->points(); for(int i=0; icollisions.push_back(Collision()); Collision& col = dest->collisions.back(); agx::Vec3 p = points[i].point(); agx::Vec3f n = points[i].normal(); col.depth = points[i].depth(); for(int j=0; j<3; j++){ col.point[j] = p[j]; col.normal[j] = n[j]; } } for(int j=0; j<2; j++){ agx::RigidBody* body = (*it)->rigidBody(j); AgXLink* agxLink = dynamic_cast( body->getCustomData() )->agxLink; dest->link[j] = agxLink->link; dest->body[j] = agxLink->agxBody->body(); } collisionPairs->push_back(dest); } return collisionPairs; } void AgXSimulatorItem::setJointControlMode(Link* joint, ControlMode type){ impl->setJointControlMode(joint, type); } void AgXSimulatorItemImpl::setJointControlMode(Link* joint, AgXSimulatorItem::ControlMode type){ controlModeOrgLinkMap[joint] = type; } void AgXSimulatorItem::setContactMaterialDamping(Link* link1, Link* link2, double damping) { ContactMaterialParam& cm = impl->contactMaterialLinkMap[IdPair(link1, link2)]; cm.damping = damping; } void AgXSimulatorItem::setContactMaterialYoungsModulus(Link* link1, Link* link2, double youngsmodulus) { ContactMaterialParam& cm = impl->contactMaterialLinkMap[IdPair(link1, link2)]; cm.youngsModulus = youngsmodulus; } void AgXSimulatorItem::setContactMaterialDamping(Body* body1, Body* body2, double damping) { ContactMaterialParam& cm = impl->contactMaterialBodyMap[IdPair(body1, body2)]; cm.damping = damping; } void AgXSimulatorItem::setContactMaterialYoungsModulus(Body* body1, Body* body2, double youngsmodulus) { ContactMaterialParam& cm = impl->contactMaterialBodyMap[IdPair(body1, body2)]; cm.youngsModulus = youngsmodulus; } void AgXSimulatorItem::setJointCompliance(Link* joint, double spring, double damping) { impl->setJointCompliance(joint, spring, damping); } void AgXSimulatorItemImpl::setJointCompliance(Link* joint, double spring, double damping){ if( joint->name()=="RLEG_BUSH_ROLL" || joint->name()=="LLEG_BUSH_ROLL"){ springConstant[0] = spring; dampingCoefficient[0] = damping; }else if( joint->name()=="RLEG_BUSH_PITCH" || joint->name()=="LLEG_BUSH_PITCH"){ springConstant[1] = spring; dampingCoefficient[1] = damping; }else if( joint->name()=="RLEG_BUSH_Z" || joint->name()=="LLEG_BUSH_Z"){ springConstant[2] = spring; dampingCoefficient[2] = damping; } } void AgXSimulatorItem::doPutProperties(PutPropertyFunction& putProperty) { SimulatorItem::doPutProperties(putProperty); impl->doPutProperties(putProperty); } void AgXSimulatorItemImpl::doPutProperties(PutPropertyFunction& putProperty) { putProperty(_("Dynamics mode"), dynamicsMode, boost::bind(&Selection::selectIndex, &dynamicsMode, _1)); putProperty(_("Gravity"), str(gravity), boost::bind(toVector3, _1, boost::ref(gravity))); putProperty.decimals(2).min(0.0) (_("Friction"), friction, changeProperty(friction)); putProperty.decimals(2).min(0.0) (_("Restitution"), restitution, changeProperty(restitution)); putProperty("Friction Model Type", frictionModelType, changeProperty(frictionModelType)); putProperty("Friction Solve Type", frictionSolveType, changeProperty(frictionSolveType)); putProperty.min(-1) ("Number of Threads", numThreads, changeProperty(numThreads)); putProperty("Contact Reduction Mode", contactReductionMode, changeProperty(contactReductionMode)); putProperty.min(0) ("Contact Reduction Bin Resolution", contactReductionBinResolution, changeProperty(contactReductionBinResolution) ); putProperty.min(0) ("Contact Reduction Threshold", contactReductionThreshold, changeProperty(contactReductionThreshold) ); } bool AgXSimulatorItem::store(Archive& archive) { SimulatorItem::store(archive); impl->store(archive); return true; } void AgXSimulatorItemImpl::store(Archive& archive) { archive.write("dynamicsMode", dynamicsMode.selectedSymbol()); write(archive, "gravity", gravity); archive.write("friction", friction); archive.write("restitution", restitution); archive.write("frictionModelType", frictionModelType.selectedSymbol()); archive.write("frictionSolveType", frictionSolveType.selectedSymbol()); archive.write("numThreads", numThreads); archive.write("contactReductionMode", contactReductionMode.selectedSymbol()); archive.write("contactReductionBinResolution", contactReductionBinResolution); archive.write("contactReductionThreshold", contactReductionThreshold); } bool AgXSimulatorItem::restore(const Archive& archive) { SimulatorItem::restore(archive); impl->restore(archive); return true; } void AgXSimulatorItemImpl::restore(const Archive& archive) { string symbol; if(archive.read("dynamicsMode", symbol)){ dynamicsMode.select(symbol); } read(archive, "gravity", gravity); archive.read("friction", friction); archive.read("restitution", restitution); if(archive.read("frictionModelType", symbol)){ frictionModelType.select(symbol); } if(archive.read("frictionSolveType", symbol)){ frictionSolveType.select(symbol); } archive.read("numThreads", numThreads); if(archive.read("contactReductionMode", symbol)){ contactReductionMode.select(symbol); } archive.read("contactReductionBinResolution", contactReductionBinResolution); archive.read("contactReductionThreshold", contactReductionThreshold); } choreonoid-1.5.0/src/AgXPlugin/AgXSimulatorItem.h0000664000000000000000000000360212741425367020356 0ustar rootroot/*! @file @author Shizuko Hattori */ #ifndef CNOID_AGXPLUGIN_AGX_SIMULATOR_ITEM_H #define CNOID_AGXPLUGIN_AGX_SIMULATOR_ITEM_H #include #include "exportdecl.h" namespace cnoid { class AgXSimulatorItemImpl; class CNOID_EXPORT AgXSimulatorItem : public SimulatorItem { public: static void initializeClass(ExtensionManager* ext); AgXSimulatorItem(); AgXSimulatorItem(const AgXSimulatorItem& org); virtual ~AgXSimulatorItem(); enum DynamicsMode { FORWARD_DYNAMICS = 0, HG_DYNAMICS, N_DYNAMICS_MODES }; enum ControlMode { DEFAULT=0, HIGH_GAIN, TORQUE, FREE }; void setJointControlMode(Link* joint, ControlMode type); void setJointCompliance(Link* joint, double spring, double damping); void setContactMaterialDamping(Link* link1, Link* link2, double damping); void setContactMaterialYoungsModulus(Link* link1, Link* link2, double youngsmodulus); void setContactMaterialDamping(Body* body1, Body* body2, double damping); void setContactMaterialYoungsModulus(Body* body1, Body* body2, double youngsmodulus); protected: virtual bool startSimulation(bool doReset = true); virtual SimulationBody* createSimulationBody(Body* orgBody); virtual bool initializeSimulation(const std::vector& simBodies); virtual void initializeSimulationThread(); virtual void finalizeSimulationThread(); virtual bool stepSimulation(const std::vector& activeSimBodies); virtual void finalizeSimulation(); virtual CollisionLinkPairListPtr getCollisions(); virtual Item* doDuplicate() const; virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: AgXSimulatorItemImpl* impl; friend class AgXSimulatorItemImpl; }; typedef ref_ptr AgXSimulatorItemPtr; } #endif choreonoid-1.5.0/src/AgXPlugin/AgXPlugin.cpp0000664000000000000000000000231612741425367017352 0ustar rootroot/*! @file @author Shizuko Hattori */ #include "AgXSimulatorItem.h" #include #include using namespace std; using namespace cnoid; namespace { agx::AutoInit agxInit; class AgXPlugin : public Plugin { public: agx::AutoInit agxInit; AgXPlugin() : Plugin("AgX") { require("Body"); } virtual ~AgXPlugin() { } virtual bool initialize() { // string pathToAgx = "/opt/Algoryx/AgX-2.13.2.2"; // agxIO::Environment::instance()->getFilePath(agxIO::Environment::RESOURCE_PATH).pushbackPath(pathToAgx); // agxIO::Environment::instance()->getFilePath(agxIO::Environment::RESOURCE_PATH).addFilePath(pathToAgx); // agxIO::Environment::instance()->getFilePath(agxIO::Environment::RUNTIME_PATH).addFilePath(pathToAgx+"/bin/plugins"); // agxIO::Environment::instance()->getFilePath(agxIO::Environment::RESOURCE_PATH).addFilePath(pathToAgx+"/data"); AgXSimulatorItem::initializeClass(this); return true; } virtual bool finalize() { return true; } }; } CNOID_IMPLEMENT_PLUGIN_ENTRY(AgXPlugin); choreonoid-1.5.0/src/AgXPlugin/python/0000775000000000000000000000000012741425367016327 5ustar rootrootchoreonoid-1.5.0/src/AgXPlugin/python/PyAgXPlugin.cpp0000664000000000000000000000337112741425367021206 0ustar rootroot/*! @author Shizuko Hattori */ #include "../AgXSimulatorItem.h" #include using namespace boost::python; using namespace cnoid; namespace { void (AgXSimulatorItem::*setContactMaterialDamping1)(Link*, Link*, double) = &AgXSimulatorItem::setContactMaterialDamping; void (AgXSimulatorItem::*setContactMaterialDamping2)(Body*, Body*, double) = &AgXSimulatorItem::setContactMaterialDamping; void (AgXSimulatorItem::*setContactMaterialYoungsModulus1)(Link*, Link*, double) = &AgXSimulatorItem::setContactMaterialYoungsModulus; void (AgXSimulatorItem::*setContactMaterialYoungsModulus2)(Body*, Body*, double) = &AgXSimulatorItem::setContactMaterialYoungsModulus; } namespace cnoid { BOOST_PYTHON_MODULE(AgXPlugin) { { scope agxSimulatorItemScope = class_< AgXSimulatorItem, AgXSimulatorItemPtr, bases >("AgXSimulatorItem") .def("setJointControlMode", &AgXSimulatorItem::setJointControlMode) .def("setJointCompliance", &AgXSimulatorItem::setJointCompliance) .def("setContactMaterialDamping", setContactMaterialDamping1) .def("setContactMaterialDamping", setContactMaterialDamping2) .def("setContactMaterialYoungsModulus", setContactMaterialYoungsModulus1) .def("setContactMaterialYoungsModulus", setContactMaterialYoungsModulus2) ; enum_("ControlMode") .value("HIGH_GAIN", AgXSimulatorItem::HIGH_GAIN) .value("TORQUE", AgXSimulatorItem::TORQUE) .value("FREE", AgXSimulatorItem::FREE); } implicitly_convertible(); PyItemList("AgXSimulatorItemList"); } } choreonoid-1.5.0/src/AgXPlugin/python/CMakeLists.txt0000664000000000000000000000025012741425367021064 0ustar rootroot # @author Shizuko Hattori set(target PyAgXPlugin) add_cnoid_python_module(${target} PyAgXPlugin.cpp ) target_link_libraries(${target} CnoidAgXPlugin CnoidPyBase) choreonoid-1.5.0/src/RokiPlugin/0000775000000000000000000000000012741425367015233 5ustar rootrootchoreonoid-1.5.0/src/RokiPlugin/RokiPlugin.cpp0000664000000000000000000000072012741425367020021 0ustar rootroot/*! @file @author Shizuko Hattori */ #include "RokiSimulatorItem.h" #include using namespace cnoid; namespace { class RokiPlugin : public Plugin { public: RokiPlugin() : Plugin("Roki") { require("Body"); } virtual bool initialize(){ RokiSimulatorItem::initializeClass(this); return true; } virtual bool finalize() { return true; } }; } CNOID_IMPLEMENT_PLUGIN_ENTRY(RokiPlugin); choreonoid-1.5.0/src/RokiPlugin/CMakeLists.txt0000664000000000000000000000147012741425367017775 0ustar rootroot option(BUILD_ROKI_PLUGIN "Building RokiPlugin" OFF) if(NOT BUILD_ROKI_PLUGIN) return() endif() if(NOT UNIX) return() endif() set(ROKI_DIR ${ROKI_DIR} CACHE PATH "set the top directory of Roki libraries") set(ROKI_INCLUDE_DIRS ${ROKI_DIR}/include) set(ROKI_LIBRARY_DIRS ${ROKI_DIR}/lib) include_directories(${ROKI_INCLUDE_DIRS}) link_directories(${ROKI_LIBRARY_DIRS}) set(ROKI_LIBRARIES cure zm zeo roki) set(target CnoidRokiPlugin) set(sources RokiPlugin.cpp RokiSimulatorItem.cpp ) set(headers ) make_gettext_mofiles(${target} mofiles) add_cnoid_plugin(${target} SHARED ${sources} ${headers} ${mofiles}) target_link_libraries(${target} CnoidBodyPlugin ${ROKI_LIBRARIES}) apply_common_setting_for_plugin(${target} "${headers}") install_external_libraries(${ROKI_DIR}/bin ${ROKI_DIR}/lib ${ROKI_LIBRARIES}) choreonoid-1.5.0/src/RokiPlugin/README-ja.txt0000664000000000000000000000767512741425367017340 0ustar rootroot**Roki‚’‚¤ƒ³‚ıƒˆƒĵƒĞ™‚‹€‚** http://www.mi.ams.eng.osaka-u.ac.jp/open-j.html‹‚‰ƒ€‚Ĥƒ³ƒ­ƒĵƒ‰§™€‚ ĉœ€ċˆĞCure‚’ƒ€‚Ĥƒ³ƒ­ƒĵƒ‰—Ĥ€ċħ•é–‹—™€‚ READMEĞċ“£Ĥ‚¤ƒ³‚ıƒˆƒĵƒĞ—™€‚ “¨€‚¤ƒ³‚ıƒˆƒĵƒĞċ…ˆƒ•‚ĦƒĞƒ€ƒĵŻäşˆ‚ä½œĉˆ—€ä¸­Ğbin¨libƒ•‚ĦƒĞƒ€ƒĵ‚‚作ĉˆ—ĤŠ„Ÿğ†Œè‰Ż„‚ˆ†§™€‚ 環ċ˘ƒċ¤‰ĉ•°PATH¨LD_LIBRARY_PATHĞ“ƒ‡‚£ƒĴ‚ŻƒˆƒŞ‚’èż½è¨˜—ĤŠ™€‚ Zm Zeo Rokié †ĞċŒ˜‚ˆ†Ğ‚¤ƒ³‚ıƒˆƒĵƒĞ—™€‚ **CCmakeè¨­ċš** BUILD_ROKI_PLUGIN‚’ONĞ—Ĥ€ROKI_DIRĞ‚¤ƒ³‚ıƒˆƒĵƒĞċ…ˆƒ•‚݃Ѓ€ƒĵ‚’ĉŒ‡ċš—™€‚ ** 関節ƒ€‚¤ƒŠƒŸ‚Ż‚ı‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³‚’™‚‹ĞŻ** choreonoid§€“‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³è¨­ċš‚’èĦŒ†Ÿ‚ĞŻ€yamlƒ•‚Ħ‚¤ƒĞ‚’ä½żç”¨—™€‚ ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ċŻèħĦƒ˘ƒ‡ƒĞ‚’è¨˜èż°—Ÿï½—ｒｌƒ•‚Ħ‚¤ƒĞäğ–Ğyamlƒ•‚Ħ‚¤ƒĞ‚’作ĉˆ—€äğ下‚ˆ†Ğè¨˜èż°—€ yamlƒ•‚Ħ‚¤ƒĞ‚’choreonoid§èŞ­żèĵż™€‚ modelFile: arm_2dof.wrl€€€€€€€€€€ï½—ｒｌƒ•‚Ħ‚¤ƒĞ‚’ĉŒ‡ċš—™€‚ RokiJointParameters:€€€€€€€€€€€€€€€€€€€€€€€€€€Roki用ƒ‘ƒİƒĦƒĵ‚ż§‚‚‹“¨‚’ĉŒ‡ċš—™€‚ - name: Joint1€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€é–˘çŻ€ċ‚’ĉŒ‡ċš—€äğ下Ğé–˘çŻ€ƒ‘ƒİƒĦƒĵ‚ż‚’è¨˜èż°—™€‚ motorconstant: 2.58e-2€€€€€€€€€€€€€€€€€€ƒ˘ƒĵ‚żċšĉ•°ïĵˆƒˆƒĞ‚Żċšĉ•°ïĵ‰ admitance: 0.42373€€€€€€€€€€€€€€€€€€€€€€€€€€çĞŻċ­é–“‚˘ƒ‰ƒŸƒƒ‚żƒ³‚ıïĵˆçĞŻċ­é–“ĉŠµĉŠ—é€†ĉ•°ïĵ‰ minvoltage: -24.0€€€€€€€€€€€€€€€€€€€€€€€€€€€€ĉœ€ċ°ċ…ċŠ›é›ğċœ§ maxvoltage: 24.0€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€ĉœ€ċ¤§ċ…ċŠ›é›ğċœ§ inertia: 1.65e-6€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€ƒ˘ƒĵ‚żċ›žèğ˘ċ­ĉ…£ĉ€§ƒ˘ƒĵƒĦƒ³ƒˆ gearinertia: 5.38e-6€€€€€€€€€€€€€€€€€€€€€€ĉ¸›é€ŸĉİŸĉ…£ĉ€§ƒ˘ƒĵƒĦƒ³ƒˆ ratio: 120.0€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€ĉ¸›é€ŸĉŻ” stiff: 0.0000000000€€€€€€€€€€€€€€€€€€€€€€€€é–˘çŻ€ċ‰›ĉ€§äż‚ĉ•° viscos: 2.2€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€é–˘çŻ€ç²˜ĉ€§äż‚ĉ•° coulomb: 4.32€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€é–˘çŻ€äıĉ€§äż‚ĉ•°ïĵˆċ‹•ĉ‘İĉ“ĤƒˆƒĞ‚Żïĵ‰ staticfriction: 4.92€€€€€€€€€€€€€€€€€€€€€€ĉœ€ċ¤§é™ĉ­˘ĉ‘İĉ“ĤƒˆƒĞ‚Ż - name: Joint2€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€é–˘çŻ€ĉŻŽĞçı°‚Šèż”—設ċš—™€‚ motorconstant: 2.58e-2 admitance: 0.42373 €€€€€€€€............... RokiArm2Dof.cnoidŒ“‚µƒ³ƒ—ƒĞ§™€‚ **ç ´ċ£Š‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³‚’™‚‹ĞŻ** ç ´ĉ–­èµ·“‚‹ç‡ĉ‰€‚’関節¨—Ĥｗｒｌƒ•‚Ħ‚¤ƒĞĞè¨˜èż°—™€‚ 関節‚ż‚¤ƒ—Żfree¨—™€‚ —Ĥ€é–˘çŻ€ƒ€‚¤ƒŠƒŸ‚Ż‚ıċ ´ċˆ¨ċŒĉ§˜Ğyamlƒ•‚Ħ‚¤ƒĞ‚’ä½żç”¨—€äğ下‚ˆ†Ğè¨˜èż°—™€‚ modelFile: breakWall.wrl€€€€€€€€€€ï½—ｒｌƒ•‚Ħ‚¤ƒĞ‚’ĉŒ‡ċš—™€‚ RokiJointParameters:€€€€€€€€€€€€€€€€€€€€€€€€€€Roki用ƒ‘ƒİƒĦƒĵ‚ż§‚‚‹“¨‚’ĉŒ‡ċš—™€‚ - name: link1€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€é–˘çŻ€ċ‚’ĉŒ‡ċš—€äğ下Ğç ´ĉ–­ƒ‘ƒİƒĦƒĵ‚ż‚’è¨˜èż°—™€‚ break: [ 200.0, 200.0 ]€€€€€€€€€€€€€€€€ç ´ĉ–­Œèµ·“‚‹ċŠ›ƒğƒˆƒĞ‚ŻƒŽƒĞƒ é–ċ€¤€€ïĵˆċŠ›€ƒˆƒĞ‚Żé †ïĵ‰€€ - name: link2€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€€é–˘çŻ€ĉŻŽĞçı°‚Šèż”—設ċš—™€‚ break: [ 10.0, 10.0 ] choreonoidĞƒ˘ƒ‡ƒĞ‚’èŞ­żèĵż€ƒ˘ƒ‡ƒĞ‚˘‚¤ƒ†ƒ è‡Şċ·ħċı²ĉ¸‰ĉ¤œċ‡şƒ—ƒ­ƒ‘ƒ†‚£‚’trueĞ—™€‚ ïĵˆtrueĞ—Ş„¨€ç ´ĉ–­—ŸċŒç‰İ体Œ€Šäş’„Ğ™‚ŠĉŠœ‘Ĥ—„™€‚ïĵ‰ RokiSimulationa‚˘‚¤ƒ†ƒ ċ…¨ƒŞƒ³‚Żä½ç½ċ§żċ‹˘ċ‡şċŠ›ƒ—ƒ­ƒ‘ƒ†‚£‚’trueĞ—™€‚ RokiBreakWall.cnoidŒ“‚µƒ³ƒ—ƒĞ§™€‚ choreonoid-1.5.0/src/RokiPlugin/RokiSimulatorItem.h0000664000000000000000000000227212741425367021032 0ustar rootroot/*! @file @author Shizuko Hattori */ #ifndef CNOID_ROKIPLUGIN_ROKI_SIMULATOR_ITEM_H_INCLUDED #define CNOID_ROKIPLUGIN_ROKI_SIMULATOR_ITEM_H_INCLUDED #include #include namespace cnoid { class RokiSimulatorItemImpl; class RokiSimulatorItem : public SimulatorItem { public: static void initializeClass(ExtensionManager* ext); RokiSimulatorItem(); RokiSimulatorItem(const RokiSimulatorItem& org); virtual ~RokiSimulatorItem(); protected: virtual SimulationBody* createSimulationBody(Body* orgBody); virtual bool initializeSimulation(const std::vector& simBodies); virtual bool stepSimulation(const std::vector& activeSimBodies); virtual void finalizeSimulation(); virtual Item* doDuplicate() const; virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); virtual CollisionLinkPairListPtr getCollisions(); private: RokiSimulatorItemImpl* impl; friend class RokiSimulatorItemImpl; }; typedef ref_ptr RokiSimulatorItemPtr; } #endif choreonoid-1.5.0/src/RokiPlugin/RokiSimulatorItem.cpp0000664000000000000000000012567412741425367021401 0ustar rootroot/*! @file @author Shizuko Hattori */ #include "RokiSimulatorItem.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" #include #include using namespace std; using namespace cnoid; extern "C" { rkFDCell* _rkFDCellPush(rkFD* fd, rkFDCell* lc); void _rkFDChainConnectJointState(rkFD *fd, zVec dis, zVec vel, zVec acc); void _rkFDChainExtWrenchDestroy(rkFD *fd); void _rkFDJointCalcFriction(rkFD *fd, bool doUpRef); void _rkFDContactCalcForce(rkFD *fd); void _rkFDContactModForce(rkFD *fd, bool doUpRef); void _rkFDUpdateAcc(rkFD *fd); void _rkFDUpdateRefDrivingTorque(rkFD *fd); ////// Torque motor was redefined for choreonoid typedef struct { /* value */ double t; /* applied torque */ /* properties */ double Jm2; /* rotorInertia */ } rkMotorPrpJm2; static void _rkMotorSetInputJm2(void *prp, double *val); static void _rkMotorInertiaJm2(void *prp, double *val); static void _rkMotorInputTrqJm2(void *prp, double *val); static void _rkMotorRegistanceJm2(void *prp, double *dis, double *vel, double *val); static void _rkMotorDrivingTrqJm2(void *prp, double *dis, double *vel, double *acc, double *val); static void _rkMotorStateCopyJm2(void *src, void *dst); static bool _rkMotorQueryFReadJm2(FILE *fp, char *key, void *prp); static void _rkMotorFWriteJm2(FILE *fp, void *prp); #define _rkc(p) ((rkMotorPrpJm2 *)p) void _rkMotorSetInputJm2(void *prp, double *val){ // _rkc(prp)->t = zLimit( *val, _rkc(prp)->min, _rkc(prp)->max ); _rkc(prp)->t = *val; } void _rkMotorInertiaJm2(void *prp, double *val){ *val = _rkc(prp)->Jm2; } void _rkMotorInputTrqJm2(void *prp, double *val){ *val = _rkc(prp)->t; } void _rkMotorRegistanceJm2(void *prp, double *dis, double *vel, double *val){ *val = 0.0; } void _rkMotorDrivingTrqJm2(void *prp, double *dis, double *vel, double *acc, double *val){ _rkMotorInputTrqJm2( prp, val); } void _rkMotorStateCopyJm2(void *src, void *dst){ memcpy(dst, src, sizeof(rkMotorPrpJm2)); } bool _rkMotorQueryFReadJm2(FILE *fp, char *key, void *prp) { return true; } void _rkMotorFWriteJm2(FILE *fp, void *prp) { } static rkMotorCom rk_motor_Jm2 = { 1, _rkMotorSetInputJm2, _rkMotorInertiaJm2, _rkMotorInputTrqJm2, _rkMotorRegistanceJm2, _rkMotorDrivingTrqJm2, _rkMotorStateCopyJm2, _rkMotorQueryFReadJm2, _rkMotorFWriteJm2, }; void _rkMotorInitPrpJm2(void *prp) { _rkc(prp)->Jm2 = 0; } rkMotor *rkMotorCreateJm2(rkMotor *m) { if( !( m->prp = zAlloc( rkMotorPrpJm2, 1 ) ) ) return NULL; _rkMotorInitPrpJm2( m->prp ); m->com = &rk_motor_Jm2; return m; } #undef _rkc /////////////////////////////////////////// } namespace { struct Triangle { int indices[3]; }; class RokiBody; class RokiLink : public Referenced { public: Link* link; rkLink* rklink; vector shapes; vector vertices; vector triangles; Matrix3 wAtt; // world Matrix3 lAtt; //parent Affine3 wFrame; Affine3 lFrame; RokiLink* parent; bool isCrawler; vector cd_cells; bool breakJoint; RokiLink(RokiSimulatorItemImpl* simImpl, RokiBody* rokiBody, RokiLink* parent, const Vector3& parentOrigin, Link* link, bool stuffisLinkName); ~RokiLink(); void calcFrame(); void createLink(RokiSimulatorItemImpl* simImpl, RokiBody* body, const Vector3& origin, bool stuffisLinkName); void createGeometry(); void addMesh(MeshExtractor* extractor); void getKinematicStateFromRoki(); void setKinematicStateToRoki(zVec dis, int k); void setTorqueToRoki(); }; typedef ref_ptr RokiLinkPtr; typedef map RokiLinkMap; class RokiBreakLinkTraverse; class RokiBody : public SimulationBody { public: vector rokiLinks; rkFDCell* lc; rkChain* chain; BasicSensorSimulationHelper sensorHelper; int geometryId; RokiLinkMap rokiLinkMap; vector linkTraverseList; RokiBody(const Body& orgBody); ~RokiBody(); void createBody(RokiSimulatorItemImpl* simImpl, bool stuffisLinkName); void getKinematicStateFromRoki(); void setKinematicStateToRoki(); void setTorqueToRoki(); void updateForceSensors(); }; class RokiBreakLinkTraverse :public LinkTraverse { public: RokiBreakLinkTraverse(RokiLink* root, RokiBody* body) : rokiBody(body) { clear(); breakLinkTraverse(root->link); } void breakLinkTraverse(Link* link){ links.push_back(link); for(Link* child = link->child(); child; child = child->sibling()){ if(!rokiBody->rokiLinkMap[child]->breakJoint){ breakLinkTraverse(child); } } } private: RokiBody* rokiBody; }; } namespace cnoid { class RokiSimulatorItemImpl { public: RokiSimulatorItem* self; rkFD fd; double timeStep; bool createdFD; vector staticBodyList; Selection fdSolverType; Selection contactType; double staticfriction; double kineticfriction; double compensation; double relaxation; double elasticity; double viscosity; bool useContactFile; string contactFileName; map bodyMap; //bool useWorldCollision; CollisionDetectorPtr collisionDetector; vector geometryIdToLink; double simulationTime; QElapsedTimer timer; RokiSimulatorItemImpl(RokiSimulatorItem* self); RokiSimulatorItemImpl(RokiSimulatorItem* self, const RokiSimulatorItemImpl& org); ~RokiSimulatorItemImpl(); bool initializeSimulation(const std::vector& simBodies); bool stepSimulation(const std::vector& activeSimBodies); void addBody(RokiBody* simBody); CollisionLinkPairListPtr getCollisions(); void doPutProperties(PutPropertyFunction& putProperty); bool store(Archive& archive); bool restore(const Archive& archive); //void collisionCallback(const CollisionPair& collisionPair, rkCD* cd); }; enum{ FD_SOLVER_VERT, FD_SOLVER_VOLUME }; } RokiLink::RokiLink (RokiSimulatorItemImpl* simImpl, RokiBody* rokiBody, RokiLink* parent, const Vector3& parentOrigin, Link* link, bool stuffisLinkName) { isCrawler = false; rokiBody->rokiLinks.push_back(this); rokiBody->rokiLinkMap[link] = this; this->link = link; this->parent = parent; Vector3 o = parentOrigin; if(!link->isRoot()) o += link->b(); else if(link->jointType()==Link::FIXED_JOINT) o = link->p(); rklink = rkChainLink(rokiBody->chain, link->index()); createLink(simImpl, rokiBody, o, stuffisLinkName); rkChainMass(rokiBody->chain) += link->mass(); createGeometry(); for(Link* child = link->child(); child; child = child->sibling()){ new RokiLink(simImpl, rokiBody, this, o, child, stuffisLinkName); } } void RokiLink::calcFrame() { if(link->jointType()==Link::FIXED_JOINT || link->jointType()==Link::FREE_JOINT){ wAtt = Matrix3::Identity(); return; } Vector3 z(0,0,1); Vector3 nx = z.cross(link->a()); if(nx.norm() < 1.0e-6){ wAtt = Matrix3::Identity(); }else{ nx.normalize(); wAtt.col(0) = nx; Vector3 ny = link->a().cross(nx); ny.normalize(); wAtt.col(1) = ny; wAtt.col(2) = link->a(); } } void RokiLink::createLink(RokiSimulatorItemImpl* simImpl, RokiBody* body, const Vector3& origin, bool stuffisLinkName) { rkLinkInit(rklink); zNameSet( rklink, const_cast(link->name().c_str()) ); string stuff = body->body()->name(); if(stuffisLinkName) stuff += "_" + link->name(); rkLinkSetStuff( rklink, const_cast(stuff.c_str()) ); calcFrame(); Matrix3 invwAtt = wAtt.transpose(); rkLinkSetMass( rklink, link->mass() ); zVec3D* v = rkLinkCOM(rklink); Vector3 c = invwAtt * link->c(); zVec3DSetElem(v, 0, c.x()); zVec3DSetElem(v, 1, c.y()); zVec3DSetElem(v, 2, c.z()); zMat3D* m = rkLinkInertia(rklink); const Matrix3 I = invwAtt * link->I() * wAtt; zMat3DSetElem(m, 0, 0, I(0,0)); zMat3DSetElem(m, 0, 1, I(0,1)); zMat3DSetElem(m, 0, 2, I(0,2)); zMat3DSetElem(m, 1, 0, I(1,0)); zMat3DSetElem(m, 1, 1, I(1,1)); zMat3DSetElem(m, 1, 2, I(1,2)); zMat3DSetElem(m, 2, 0, I(2,0)); zMat3DSetElem(m, 2, 1, I(2,1)); zMat3DSetElem(m, 2, 2, I(2,2)); zFrame3D* f = rkLinkOrgFrame(rklink); if(link->jointType()==Link::FIXED_JOINT || (!link->isRoot() && link->jointType()==Link::FREE_JOINT)){ wFrame = link->T(); }else{ wFrame.linear() = wAtt; wFrame.translation() = origin; } if(parent) lFrame = parent->wFrame.inverse() * wFrame; else lFrame = wFrame; zVec3D* p = &f->pos; zVec3DSetElem(p, 0, lFrame(0,3)); zVec3DSetElem(p, 1, lFrame(1,3)); zVec3DSetElem(p, 2, lFrame(2,3)); zMat3D* att = &f->att; zMat3DSetElem(att, 0, 0, lFrame(0,0)); zMat3DSetElem(att, 0, 1, lFrame(0,1)); zMat3DSetElem(att, 0, 2, lFrame(0,2)); zMat3DSetElem(att, 1, 0, lFrame(1,0)); zMat3DSetElem(att, 1, 1, lFrame(1,1)); zMat3DSetElem(att, 1, 2, lFrame(1,2)); zMat3DSetElem(att, 2, 0, lFrame(2,0)); zMat3DSetElem(att, 2, 1, lFrame(2,1)); zMat3DSetElem(att, 2, 2, lFrame(2,2)); bool dc_motor = false; breakJoint = false; double motorconstant, admitance, minvoltage, maxvoltage, inertia, gearinertia, ratio, compk, compl_, stiff, viscos, coulomb, staticfriction; motorconstant = admitance = minvoltage = maxvoltage = inertia = gearinertia = ratio = compk = compl_ = stiff = viscos = coulomb = staticfriction = std::numeric_limits::max(); const Mapping* jointParams = link->info(); if(jointParams->isValid()){ jointParams->read("rotorInertia", inertia); jointParams->read("gearRatio", ratio); dc_motor |= jointParams->read("gearInertia", gearinertia); dc_motor |= jointParams->read("motorAdmittance", admitance); dc_motor |= jointParams->read("motorConstant", motorconstant); dc_motor |= jointParams->read("motorMinVoltage", minvoltage); dc_motor |= jointParams->read("motorMaxVoltage", maxvoltage); dc_motor |= jointParams->read("jointStiffness", stiff); dc_motor |= jointParams->read("jointViscosity", viscos); dc_motor |= jointParams->read("jointFriction", coulomb); dc_motor |= jointParams->read("jointStaticFriction", staticfriction); dc_motor |= jointParams->read("compk", compk); dc_motor |= jointParams->read("compl", compl_); Vector2 breakParam; if(read(*jointParams, "break", breakParam)){ rkLinkBreakPrp(rklink) = zAlloc( rkBreakPrp, 1 ); rkLinkBreakPrp(rklink)->is_broken = false; rkLinkBreakPrp(rklink)->ep_f = breakParam[0]; rkLinkBreakPrp(rklink)->ep_t = breakParam[1]; breakJoint = true; } } rkMotor* rkMotor; rkJoint* joint = rkLinkJoint(rklink); switch(link->jointType()){ case Link::ROTATIONAL_JOINT: rkJointCreate( joint, RK_JOINT_REVOL ); rkJointGetMotor( joint, &rkMotor ); if(!dc_motor && link->Jm2() != 0.0){ rkMotorInit( rkMotor ); rkMotorCreateJm2(rkMotor); ((rkMotorPrpJm2 *)rkMotor->prp)->Jm2 = link->Jm2(); }else if(dc_motor){ rkMotorCreate ( rkMotor, RK_MOTOR_DC ); if(motorconstant!=std::numeric_limits::max()) ((rkMotorPrpDC *)rkMotor->prp)->k = motorconstant; if(admitance!=std::numeric_limits::max()) ((rkMotorPrpDC *)rkMotor->prp)->admit = admitance; if(minvoltage!=std::numeric_limits::max()) ((rkMotorPrpDC *)rkMotor->prp)->minvol = minvoltage; if(maxvoltage!=std::numeric_limits::max()) ((rkMotorPrpDC *)rkMotor->prp)->maxvol = maxvoltage; if(ratio!=std::numeric_limits::max()) ((rkMotorPrpDC *)rkMotor->prp)->decratio = ratio; if(inertia!=std::numeric_limits::max()) ((rkMotorPrpDC *)rkMotor->prp)->inertia = inertia; if(gearinertia!=std::numeric_limits::max()) ((rkMotorPrpDC *)rkMotor->prp)->inertia_gear = gearinertia; if(compk!=std::numeric_limits::max()) ((rkMotorPrpDC *)rkMotor->prp)->_comp_k = compk; if(compl_!=std::numeric_limits::max()) ((rkMotorPrpDC *)rkMotor->prp)->_comp_l = compl_; if(stiff!=std::numeric_limits::max()) ((rkJointPrpRevol *)joint->prp)->stiff = stiff; if(viscos!=std::numeric_limits::max()) ((rkJointPrpRevol *)joint->prp)->viscos = viscos; if(coulomb!=std::numeric_limits::max()) ((rkJointPrpRevol *)joint->prp)->coulomb = coulomb; if(staticfriction!=std::numeric_limits::max()) ((rkJointPrpRevol *)joint->prp)->sf = staticfriction; }else{ rkMotorCreate ( rkMotor, RK_MOTOR_TRQ ); ((rkMotorPrpTRQ *)rkMotor->prp)->max = std::numeric_limits::max(); ((rkMotorPrpTRQ *)rkMotor->prp)->min = -std::numeric_limits::max(); } break; case Link::SLIDE_JOINT: rkJointCreate( joint, RK_JOINT_PRISM ); rkJointGetMotor( joint, &rkMotor ); if(!dc_motor && link->Jm2() != 0.0){ rkMotorInit( rkMotor ); rkMotorCreateJm2(rkMotor); ((rkMotorPrpJm2 *)rkMotor->prp)->Jm2 = link->Jm2(); }else if(dc_motor){ rkMotorCreate ( rkMotor, RK_MOTOR_DC ); if(motorconstant!=std::numeric_limits::max()) ((rkMotorPrpDC *)rkMotor->prp)->k = motorconstant; if(admitance!=std::numeric_limits::max()) ((rkMotorPrpDC *)rkMotor->prp)->admit = admitance; if(minvoltage!=std::numeric_limits::max()) ((rkMotorPrpDC *)rkMotor->prp)->minvol = minvoltage; if(maxvoltage!=std::numeric_limits::max()) ((rkMotorPrpDC *)rkMotor->prp)->maxvol = maxvoltage; if(ratio!=std::numeric_limits::max()) ((rkMotorPrpDC *)rkMotor->prp)->decratio = ratio; if(inertia!=std::numeric_limits::max()) ((rkMotorPrpDC *)rkMotor->prp)->inertia = inertia; if(gearinertia!=std::numeric_limits::max()) ((rkMotorPrpDC *)rkMotor->prp)->inertia_gear = gearinertia; if(compk!=std::numeric_limits::max()) ((rkMotorPrpDC *)rkMotor->prp)->_comp_k = compk; if(compl_!=std::numeric_limits::max()) ((rkMotorPrpDC *)rkMotor->prp)->_comp_l = compl_; if(stiff!=std::numeric_limits::max()) ((rkJointPrpRevol *)joint->prp)->stiff = stiff; if(viscos!=std::numeric_limits::max()) ((rkJointPrpRevol *)joint->prp)->viscos = viscos; if(coulomb!=std::numeric_limits::max()) ((rkJointPrpRevol *)joint->prp)->coulomb = coulomb; if(staticfriction!=std::numeric_limits::max()) ((rkJointPrpRevol *)joint->prp)->sf = staticfriction; }else{ rkMotorCreate ( rkMotor, RK_MOTOR_TRQ ); ((rkMotorPrpTRQ *)rkMotor->prp)->max = std::numeric_limits::max(); ((rkMotorPrpTRQ *)rkMotor->prp)->min = -std::numeric_limits::max(); } break; case Link::CRAWLER_JOINT: case Link::PSEUDO_CONTINUOUS_TRACK: isCrawler = true; case Link::FIXED_JOINT: default : rkJointCreate( joint, RK_JOINT_FIXED ); break; case Link::FREE_JOINT: rkJointCreate( joint, RK_JOINT_FLOAT ); break; } if(parent) rkLinkAddChild( parent->rklink, rklink); } void RokiLink::createGeometry() { if(link->collisionShape()){ MeshExtractor* extractor = new MeshExtractor; if(extractor->extract(link->collisionShape(), boost::bind(&RokiLink::addMesh, this, extractor))){ if(!vertices.empty()){ zShape3D* sp = zAlloc( zShape3D, 1 ); zShape3DInit(sp); zShape3DType(sp) = zShapeTypeByStr((char*)"polyhedron"); zNameSet( sp, const_cast(link->name().c_str()) ); sp->com = &zprim_ph3d_com; zPH3D* ph = (zPH3D*)&sp->body; zPH3DInit( ph ); int vc = vertices.size(); int fc = triangles.size(); zPH3DAlloc( ph, vc, fc ); for(int i=0; icurrentMesh(); const Affine3& T = extractor->currentTransform(); bool meshAdded = false; if(mesh->primitiveType() != SgMesh::MESH){ bool doAddPrimitive = false; Vector3 scale; boost::optional translation; if(!extractor->isCurrentScaled()){ scale.setOnes(); doAddPrimitive = true; } else { Affine3 S = extractor->currentTransformWithoutScaling().inverse() * extractor->currentTransform(); if(S.linear().isDiagonal()){ if(!S.translation().isZero()){ translation = S.translation(); } scale = S.linear().diagonal(); if(mesh->primitiveType() == SgMesh::BOX){ doAddPrimitive = true; } else if(mesh->primitiveType() == SgMesh::SPHERE){ // check if the sphere is uniformly scaled for all the axes if(scale.x() == scale.y() && scale.x() == scale.z()){ doAddPrimitive = true; } } else if(mesh->primitiveType() == SgMesh::CYLINDER){ // check if the bottom circle face is uniformly scaled if(scale.x() == scale.z()){ doAddPrimitive = true; } } else if(mesh->primitiveType() == SgMesh::CONE){ if(scale.x() == scale.z()){ doAddPrimitive = true; } } } } if(doAddPrimitive){ bool created = false; Affine3 T_ = extractor->currentTransformWithoutScaling(); if(translation){ T_ *= Translation3(*translation); } Affine3 invT = Affine3::Identity(); invT.linear() = wAtt.transpose(); const Affine3 T0 = invT * T; Vector3 p = T0.translation(); zShape3D* sp; switch(mesh->primitiveType()){ case SgMesh::BOX : { sp = zAlloc( zShape3D, 1 ); const Vector3& s = mesh->primitive().size; zVec3D zp = { { p.x(), p.y(), p.z() } }; zVec3D ax = { { T0(0,0), T0(1,0), T0(2,0) } }; zVec3D ay = { { T0(0,1), T0(1,1), T0(2,1) } }; zVec3D az = { { T0(0,2), T0(1,2), T0(2,2) } }; zShape3DCreateBox( sp, &zp, &ax, &ay, &az, s.x()* scale.x(), s.y()* scale.y(), s.z()* scale.z()); created = true; break; } case SgMesh::SPHERE : { sp = zAlloc( zShape3D, 1 ); SgMesh::Sphere sphere = mesh->primitive(); zVec3D zp = { { p.x(), p.y(), p.z() } }; zShape3DCreateSphere( sp, &zp, sphere.radius* scale.x(), 0 ); created = true; break; } case SgMesh::CYLINDER : { sp = zAlloc( zShape3D, 1 ); SgMesh::Cylinder cylinder = mesh->primitive(); Vector3 ay(T_(0,1), T_(1,1), T_(2,1)); ay *= cylinder.height/2.0 * scale.y(); Vector3 c1_ = T0 * ay.cast(); Vector3 c2_ = T0 * (-ay).cast(); zVec3D c1 = { { c1_.x(), c1_.y(), c1_.z() } }; zVec3D c2 = { { c2_.x(), c2_.y(), c2_.z() } }; zShape3DCreateCyl( sp, &c1, &c2, cylinder.radius * scale.x(), 0); created = true; break; } case SgMesh::CONE : { sp = zAlloc( zShape3D, 1 ); SgMesh::Cone cone = mesh->primitive(); Vector3 ay(T_(0,1), T_(1,1), T_(2,1)); ay *= cone.height/2.0 * scale.y(); Vector3 c1_ = T0 * ay.cast(); Vector3 c2_ = T0 * (-ay).cast(); zVec3D c1 = { { c1_.x(), c1_.y(), c1_.z() } }; zVec3D c2 = { { c2_.x(), c2_.y(), c2_.z() } }; zShape3DCreateCone( sp, &c1, &c2, cone.radius * scale.x(), 0); created = true; break; } default : break; } if(created){ shapes.push_back(sp); zBox3DInit( zShape3DBB(sp) ); zNameSet( sp, const_cast(link->name().c_str()) ); rkLinkShapePush( rklink, sp ); meshAdded = true; } } } if(!meshAdded){ const int vertexIndexTop = vertices.size(); Affine3 invT = Affine3::Identity(); invT.linear() = wAtt.transpose(); const Affine3 T0 = invT * T; const SgVertexArray& vertices_ = *mesh->vertices(); const int numVertices = vertices_.size(); for(int i=0; i < numVertices; ++i){ const Vector3 v = T0 * vertices_[i].cast(); vertices.push_back(v); } const int numTriangles = mesh->numTriangles(); for(int i=0; i < numTriangles; ++i){ SgMesh::TriangleRef src = mesh->triangle(i); Triangle tri; tri.indices[0] = vertexIndexTop + src[0]; tri.indices[1] = vertexIndexTop + src[1]; tri.indices[2] = vertexIndexTop + src[2]; triangles.push_back(tri); } } } RokiLink::~RokiLink() { for(size_t i=0; ijointType()){ case Link::ROTATIONAL_JOINT: case Link::SLIDE_JOINT: link->q() = dis[0]; link->dq() = v[0]; break; case Link::FREE_JOINT: Vector3 aa(dis[3], dis[4], dis[5]); double angle = aa.norm(); Matrix3 R; if(angle==0){ R.setIdentity(); }else{ R = AngleAxisd(angle, aa/angle); } if(breakJoint){ Affine3 lT,wT; wT = parent->link->T() * lFrame; if(rkLinkBreakPrp(rklink)->is_broken){ lT.translation() = Vector3(dis[0], dis[1], dis[2]); lT.linear() = R; wT = wT * lT; } link->p() = wT.translation(); link->R() = wT.linear(); }else{ link->p() = Vector3(dis[0], dis[1], dis[2]); link->R() = R; link->v() = Vector3(v[0], v[1], v[2]); link->w() = Vector3(v[3], v[4], v[5]); } break; } } void RokiLink::setKinematicStateToRoki(zVec dis, int k) { switch(link->jointType()){ case Link::ROTATIONAL_JOINT: zVecElem(dis,k) = link->q(); break; case Link::SLIDE_JOINT: zVecElem(dis,k) = link->q(); break; case Link::FREE_JOINT:{ if(parent) break; zVecElem(dis,k) = link->p().x(); zVecElem(dis,k+1) = link->p().y(); zVecElem(dis,k+2) = link->p().z(); zMat3D m; const Matrix3& R = link->R(); zMat3DCreate( &m, R(0,0), R(0,1), R(0,2), R(1,0), R(1,1), R(1,2), R(2,0), R(2,1), R(2,2) ); zMat3DToAA( &m, (zVec3D *)&zVecElem(dis,3) ); break; } } } void RokiLink::setTorqueToRoki() { if(isCrawler){ for(int i=0; ijointType() == Link::PSEUDO_CONTINUOUS_TRACK) rkFDCDCellSetSlideVel( cd_cells[i], link->dq() ); else rkFDCDCellSetSlideVel( cd_cells[i], link->u() ); }else{ rkJointMotorSetInput( rkLinkJoint(rklink), &link->u() ); } } RokiBody::RokiBody(const Body& orgBody) : SimulationBody(new Body(orgBody)) { Body* body = this->body(); rokiLinkMap.clear(); linkTraverseList.clear(); } RokiBody::~RokiBody() { rokiLinks.clear(); rokiLinkMap.clear(); linkTraverseList.clear(); rkChainDestroy( chain ); } void RokiBody::createBody(RokiSimulatorItemImpl* simImpl, bool stuffisLinkName) { Body* body = this->body(); #if 0 if(simImpl->useWorldCollision){ geometryId = addBodyToCollisionDetector(*body, *simImpl->collisionDetector, bodyItem()->isSelfCollisionDetectionEnabled()); } #endif lc = zAlloc( rkFDCell, 1 ); chain = &lc->data.chain; rkChainInit( chain ); zNameSet(chain, const_cast(body->name().c_str())); zArrayAlloc( &chain->link, rkLink, body->numLinks() ); RokiLink* rootLink = new RokiLink(simImpl, this, 0, Vector3::Zero(), body->rootLink(), stuffisLinkName); for(int i=0; ilink->isRoot() || rokiLinks[i]->breakJoint){ RokiBreakLinkTraverse linkTraverse(rokiLinks[i].get(), this); linkTraverseList.push_back(linkTraverse); } } rkChainSetOffset( chain ); /* offset value arrangement */ rkChainUpdateFK( chain ); rkChainUpdateID( chain ); int size = rkChainJointSize(chain); if(size){ _rkFDCellPush( &simImpl->fd, lc ); for(int i=0; iisCrawler){ for(int j=0; jshapes.size(); j++){ rkCDCell* cd_cell = rkFDShape3DGetCDCell( &simImpl->fd, rokiLink->shapes[j]); rokiLink->cd_cells.push_back(cd_cell); rkFDCDCellSetSlideMode( cd_cell, true ); zVec3D za = { { 0, 0, 1 } }; rkFDCDCellSetSlideAxis( cd_cell, &za ); } } } setKinematicStateToRoki(); }else{ simImpl->staticBodyList.push_back(this); } //è‡Şċ·ħċı²ĉ¸‰ƒ‚§ƒƒ‚Ż—Ş„ if(!bodyItem()->isSelfCollisionDetectionEnabled()) rkCDPairChainUnreg( &simImpl->fd.cd, &lc->data.chain ); #if 0 if(simImpl->useWorldCollision){ int numLinks = rokiLinks.size(); simImpl->geometryIdToLink.resize(geometryId+numLinks); for(int i=0; i < numLinks; i++){ RokiLink* rokiLink = rokiLinks[i].get(); int index = rokiLink->link->index(); simImpl->geometryIdToLink[geometryId+index] = rokiLink; simImpl->collisionDetector->updatePosition(geometryId+index, rokiLink->link->T()); } } #endif sensorHelper.initialize(body, simImpl->timeStep, Vector3(0,0,-9.80665)); } void RokiBody::getKinematicStateFromRoki() { for(size_t i=0; i < rokiLinks.size(); ++i){ rokiLinks[i]->getKinematicStateFromRoki(); } for(int i=0; ilink->index(); int k=rkChainLinkOffset(chain, j); rokiLinks[i]->setKinematicStateToRoki(dis, k); } rkFDChainSetDis( lc, dis ); zVecFree(dis); } void RokiBody::setTorqueToRoki() { for(size_t i=1; i < rokiLinks.size(); ++i){ rokiLinks[i]->setTorqueToRoki(); } } void RokiBody::updateForceSensors() { const DeviceList& forceSensors = sensorHelper.forceSensors(); for(int i=0; i < forceSensors.size(); ++i){ ForceSensor* sensor = forceSensors[i]; const Link* link = sensor->link(); const RokiLink* rokiLink = rokiLinks[link->index()]; zVec6D* wrnch = rkLinkWrench(rokiLink->rklink); Vector3 f, tau; f[0] = zVec6DElem(wrnch, 0); f[1] = zVec6DElem(wrnch, 1); f[2] = zVec6DElem(wrnch, 2); tau[0] = zVec6DElem(wrnch, 3); tau[1] = zVec6DElem(wrnch, 4); tau[2] = zVec6DElem(wrnch, 5); Vector3 f0 = rokiLink->wAtt * -f; Vector3 tau0 = rokiLink->wAtt * -tau; const Matrix3 R = sensor->R_local(); const Vector3 p = sensor->p_local(); sensor->f() = R.transpose() * f0; sensor->tau() = R.transpose() * (tau0 - p.cross(f0)); sensor->notifyStateChange(); } } void RokiSimulatorItem::initializeClass(ExtensionManager* ext) { ext->itemManager().registerClass(N_("RokiSimulatorItem")); ext->itemManager().addCreationPanel(); } RokiSimulatorItem::RokiSimulatorItem() { impl = new RokiSimulatorItemImpl(this); } RokiSimulatorItemImpl::RokiSimulatorItemImpl(RokiSimulatorItem* self) : self(self) { createdFD = false; contactType.setSymbol( RK_CONTACT_RIGID, N_("contact rigid")); contactType.setSymbol( RK_CONTACT_ELASTIC, N_("contact elastic")); contactType.select(RK_CONTACT_RIGID); fdSolverType.setSymbol( FD_SOLVER_VERT, N_("Vert")); fdSolverType.setSymbol( FD_SOLVER_VOLUME, N_("Volume")); fdSolverType.select(FD_SOLVER_VOLUME); staticfriction = 0.5; kineticfriction = 0.3;; compensation = 1000.0; relaxation = 1.0; elasticity = 0.0; viscosity = 0.0; useContactFile = false; contactFileName.clear(); //useWorldCollision = false; } RokiSimulatorItem::RokiSimulatorItem(const RokiSimulatorItem& org) : SimulatorItem(org), impl(new RokiSimulatorItemImpl(this, *org.impl)) { } RokiSimulatorItemImpl::RokiSimulatorItemImpl(RokiSimulatorItem* self, const RokiSimulatorItemImpl& org) : self(self) { createdFD = false; contactType = org.contactType; fdSolverType = org.fdSolverType; staticfriction = org.staticfriction; kineticfriction = org.kineticfriction; compensation = org.compensation; relaxation = org.relaxation; elasticity = org.elasticity; viscosity = org.viscosity; useContactFile = org.useContactFile; contactFileName = org.contactFileName; //useWorldCollision = org.useWorldCollision; } RokiSimulatorItem::~RokiSimulatorItem() { delete impl; } RokiSimulatorItemImpl::~RokiSimulatorItemImpl() { if(createdFD){ rkFDUpdateDestroy( &fd ); rkFDDestroy( &fd ); } } Item* RokiSimulatorItem::doDuplicate() const { return new RokiSimulatorItem(*this); } SimulationBody* RokiSimulatorItem::createSimulationBody(Body* orgBody) { return new RokiBody(*orgBody); } bool RokiSimulatorItem::initializeSimulation(const std::vector& simBodies) { return impl->initializeSimulation(simBodies); } bool RokiSimulatorItemImpl::initializeSimulation(const std::vector& simBodies) { #if 0 if(useWorldCollision){ collisionDetector = self->collisionDetector(); collisionDetector->clearGeometries(); geometryIdToLink.clear(); } #endif bodyMap.clear(); staticBodyList.clear(); if(createdFD){ rkFDUpdateDestroy( &fd ); rkFDDestroy( &fd ); } rkFDCreate( &fd ); createdFD = true; if(useContactFile){ const char* fileName = getNativePathString(contactFileName).c_str(); rkFDContactInfoReadFile( &fd, const_cast(fileName) ); }else{ int num = simBodies.size(); zArrayAlloc( &fd.ci, rkContactInfo, num*(num+1)/2); for(int i=0, k=0; i__stf[0] = zStrClone(const_cast(simBodies[i]->body()->name().c_str())); info->__stf[1] = zStrClone(const_cast(simBodies[j]->body()->name().c_str())); rkContactInfoSetSF( info, staticfriction ); //静ĉ‘İĉ“Ĥ係ĉ•° rkContactInfoSetKF( info, kineticfriction ); //ċ‹•ĉ‘İĉ“Ĥ係ĉ•° if(contactType.selectedIndex() == RK_CONTACT_ELASTIC){ rkContactInfoSetE( info, elasticity ); //ċĵĉ€§äż‚ĉ•° rkContactInfoSetType( info, RK_CONTACT_ELASTIC ); rkContactInfoSetV( info, viscosity ); //粘ĉ€§äż‚ĉ•° }else{ rkContactInfoSetK( info, compensation ); //補ċ„Ÿäż‚ĉ•° rkContactInfoSetL( info, relaxation ); //ç·İċ’Œäż‚ĉ•° rkContactInfoSetType( info, RK_CONTACT_RIGID ); } } } } for(size_t i=0; i < simBodies.size(); ++i){ addBody(static_cast(simBodies[i])); } for(size_t i=0; i< staticBodyList.size(); i++){ _rkFDCellPush( &fd, staticBodyList[i]->lc ); } rkFDODE2Assign( &fd, Regular ); rkFDODE2AssignRegular( &fd, RKG ); timeStep = self->worldTimeStep(); rkFDSetDT( &fd, timeStep ); if(fdSolverType.selectedIndex() == FD_SOLVER_VOLUME) rkFDSetSolver( &fd, Volume ); else rkFDSetSolver( &fd, Vert ); rkFDUpdateInit( &fd ); #if 0 if(useWorldCollision) collisionDetector->makeReady(); #endif simulationTime = 0; return true; } void RokiSimulatorItemImpl::addBody(RokiBody* rokiBody) { Body& body = *rokiBody->body(); Link* rootLink = body.rootLink(); rootLink->v().setZero(); rootLink->dv().setZero(); rootLink->w().setZero(); rootLink->dw().setZero(); for(int i=0; i < body.numJoints(); ++i){ Link* joint = body.joint(i); joint->u() = 0.0; joint->dq() = 0.0; joint->ddq() = 0.0; } body.clearExternalForces(); body.calcForwardKinematics(true, true); rokiBody->createBody(this, useContactFile); bodyMap[rokiBody->chain] = rokiBody->body(); } bool RokiSimulatorItem::stepSimulation(const std::vector& activeSimBodies) { return impl->stepSimulation(activeSimBodies); } bool RokiSimulatorItemImpl::stepSimulation(const std::vector& activeSimBodies) { for(size_t i=0; i < activeSimBodies.size(); ++i){ RokiBody* rokiBody = static_cast(activeSimBodies[i]); rokiBody->setTorqueToRoki(); } #if 0 if(useWorldCollision){ zODE2Update( &fd._ode, fd.t, fd.dis, fd.vel, fd.dt, &fd ); fd.t += fd.dt; zVecClear( fd.acc ); _rkFDChainConnectJointState( &fd, fd.dis, fd.vel, fd.acc ); _rkFDChainExtWrenchDestroy( &fd ); rkCDReset( &fd.cd ); fd.cd.colnum = 0; for(size_t i=0; i < activeSimBodies.size(); ++i){ RokiBody* rokiBody = static_cast(activeSimBodies[i]); for(size_t j=0; j< rokiBody->rokiLinks.size(); j++){ int k = rokiBody->geometryId + j; collisionDetector->updatePosition( k, geometryIdToLink[k]->link->T()); } } collisionDetector->detectCollisions(boost::bind(&RokiSimulatorItemImpl::collisionCallback, this, _1, &fd.cd)); //rkCDColChkVert( &fd.cd ); _rkFDJointCalcFriction( &fd, true ); if( fd.cd.colnum != 0 ){ /* compute contact force */ _rkFDContactCalcForce( &fd ); /* modify contact force */ _rkFDContactModForce( &fd, true ); } //_rkFDSolveJointContact( &fd, true ); _rkFDUpdateAcc( &fd ); zVecClear( fd.acc ); _rkFDUpdateRefDrivingTorque( &fd ); }else #endif { timer.start(); rkFDUpdate( &fd ); simulationTime += timer.nsecsElapsed(); } for(size_t i=0; i < activeSimBodies.size(); i++){ RokiBody* rokiBody = static_cast(activeSimBodies[i]); rokiBody->getKinematicStateFromRoki(); if(!rokiBody->sensorHelper.forceSensors().empty()){ rokiBody->updateForceSensors(); } if(rokiBody->sensorHelper.hasGyroOrAccelerationSensors()){ rokiBody->sensorHelper.updateGyroAndAccelerationSensors(); } } return true; } void RokiSimulatorItem::finalizeSimulation() { cout << "Roki simulationTime= " << impl->simulationTime *1.0e-9 << "[s]"<< endl; } CollisionLinkPairListPtr RokiSimulatorItem::getCollisions() { return impl->getCollisions(); } CollisionLinkPairListPtr RokiSimulatorItemImpl::getCollisions() { CollisionLinkPairListPtr collisionPairs = boost::make_shared(); rkCDPair *cdp; zListForEach( &fd.cd.plist, cdp ){ if( !cdp->data.is_col ) continue; CollisionLinkPairPtr dest = boost::make_shared(); for(int j=0; j<2; j++){ dest->body[j] = bodyMap[cdp->data.cell[j]->data.chain]; dest->link[j] = dest->body[j]->link(zName(cdp->data.cell[j]->data.shape)); } rkCDVert *v; zListForEach( &cdp->data.vlist, v ){ dest->collisions.push_back(Collision()); Collision& col = dest->collisions.back(); for(int i=0; i<3; i++) col.point[i] = zVec3DElem(v->data.vert, i); for(int i=0; i<3; i++) col.normal[i] = -zVec3DElem(&v->data.norm, i); Vector3 pro; for(int i=0; i<3; i++) pro[i] = (&v->data.pro)->e[i]; col.depth = (col.point - pro).norm(); } collisionPairs->push_back(dest); } return collisionPairs; } #if 0 void RokiSimulatorItemImpl::collisionCallback(const CollisionPair& collisionPair, rkCD* cd) { RokiLink* link1 = geometryIdToLink[collisionPair.geometryId[0]]; RokiLink* link2 = geometryIdToLink[collisionPair.geometryId[1]]; const vector& collisions = collisionPair.collisions; rkCDPair *cp; zListForEach( &cd->plist, cp ) if( ( cp->data.cell[0]->data.link == link1->rklink && cp->data.cell[1]->data.link == link2->rklink ) || ( cp->data.cell[0]->data.link == link2->rklink && cp->data.cell[1]->data.link == link1->rklink ) ) break; cp->data.is_col = true; zListDestroy( rkCDVert, &cp->data.vlist ); cd->colnum++; for(size_t i=0; idata.vert = zAlloc( zVec3D, 1); for(int j=0; j<3; j++) zVec3DSetElem(v->data.vert, j, col.point[j]); for(int j=0; j<3; j++) zVec3DSetElem(&v->data.norm, j, col.normal[j]); zListInsertHead( &cp->data.vlist, v ); } } #endif void RokiSimulatorItem::doPutProperties(PutPropertyFunction& putProperty) { SimulatorItem::doPutProperties(putProperty); impl->doPutProperties(putProperty); } void RokiSimulatorItemImpl::doPutProperties(PutPropertyFunction& putProperty) { putProperty.decimals(2).min(0.0) (_("Static Friction"), staticfriction, changeProperty(staticfriction)); putProperty.decimals(2).min(0.0) (_("Kinetic Friction"), kineticfriction, changeProperty(kineticfriction)); putProperty(_("Contact TYpe"), contactType, changeProperty(contactType)); putProperty(_("Solver TYpe"), fdSolverType, changeProperty(fdSolverType)); putProperty.min(0.0) (_("Compensation"), compensation, changeProperty(compensation)); putProperty.decimals(4).min(0.0) (_("Relaxation"), relaxation, changeProperty(relaxation)); putProperty.decimals(2).min(0.0) (_("Elasticity"), elasticity, changeProperty(elasticity)); putProperty.decimals(2).min(0.0) (_("Viscosity"), viscosity, changeProperty(viscosity)); putProperty(_("Use Contact Configuration file"), useContactFile, changeProperty(useContactFile)); putProperty(_("Contact Configuration file name"), contactFileName, changeProperty(contactFileName)); } bool RokiSimulatorItem::store(Archive& archive) { SimulatorItem::store(archive); return impl->store(archive); } bool RokiSimulatorItemImpl::store(Archive& archive) { archive.write("staticfriction", staticfriction); archive.write("kineticfriction", kineticfriction); archive.write("contactType", contactType.selectedSymbol()); archive.write("solverType", fdSolverType.selectedSymbol()); archive.write("compensation", compensation); archive.write("relaxation", relaxation); archive.write("elasticity", elasticity); archive.write("viscosity", viscosity); archive.write("useContactFile", useContactFile); archive.writeRelocatablePath("contactFileName", contactFileName); return true; } bool RokiSimulatorItem::restore(const Archive& archive) { SimulatorItem::restore(archive); return impl->restore(archive); } bool RokiSimulatorItemImpl::restore(const Archive& archive) { archive.read("staticfriction", staticfriction); archive.read("kineticfriction", kineticfriction); string symbol; if(archive.read("contactType", symbol)){ contactType.select(symbol); } if(archive.read("solverType", symbol)){ fdSolverType.select(symbol); } archive.read("compensation", compensation); archive.read("relaxation", relaxation); archive.read("elasticity", elasticity); archive.read("viscosity", viscosity); archive.read("useContactFile", useContactFile); string value; archive.readRelocatablePath("contactFileName", contactFileName); return true; } choreonoid-1.5.0/src/Util/0000775000000000000000000000000012741425367014065 5ustar rootrootchoreonoid-1.5.0/src/Util/SceneProvider.h0000664000000000000000000000154512741425367017013 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_SCENE_PROVIDER_H #define CNOID_UTIL_SCENE_PROVIDER_H #include "exportdecl.h" namespace cnoid { class SgNode; class SgCloneMap; class CNOID_EXPORT SceneProvider { public: virtual ~SceneProvider(); /** If the scene has some state that affect the rendering, the scene node should be cloned for each call of this function. Otherwise, the same instance can be returned. */ virtual SgNode* getScene() = 0; /** Whether the getScene function returns the shared instance or a cloned instance, this function must always returns a cloned instance. If the getScene function returns a clone instance, this function should be overridden to avoid redundant cloning. */ virtual SgNode* getScene(SgCloneMap& cloneMap); }; } #endif choreonoid-1.5.0/src/Util/ThreadPool.h0000664000000000000000000000267412741425367016310 0ustar rootroot #ifndef CNOID_UTIL_THREAD_POOL_H #define CNOID_UTIL_THREAD_POOL_H #include #include #include namespace cnoid { class ThreadPool { private: std::queue > queue; boost::thread_group group; boost::mutex mutex; boost::condition_variable condition; bool isDestroying; public: ThreadPool(int size = 1) { isDestroying = false; for(int i = 0; i < size; i++){ group.create_thread(boost::bind(&ThreadPool::run, this)); } } ~ThreadPool() { { boost::mutex::scoped_lock lock(mutex); isDestroying = true; condition.notify_all(); } group.join_all(); } void start(boost::function f) { boost::mutex::scoped_lock lock(mutex); queue.push(f); condition.notify_one(); } private: void run() { while(true){ boost::function f; { boost::mutex::scoped_lock lock(mutex); while (queue.empty() && !isDestroying){ condition.wait(lock); } if(!queue.empty()){ f = queue.front(); queue.pop(); } } if(f){ f(); } else { break; } } } }; } #endif choreonoid-1.5.0/src/Util/SceneRenderer.cpp0000664000000000000000000000413212741425367017315 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "SceneRenderer.h" using namespace std; using namespace cnoid; bool SceneRenderer::getSimplifiedCameraPathStrings(int index, std::vector& out_pathStrings) { out_pathStrings.clear(); if(index < numCameras()){ const SgNodePath& path = cameraPath(index); const string& name = path.back()->name(); if(!name.empty()){ size_t n = path.size() - 1; for(size_t i=0; i < n; ++i){ const string& element = path[i]->name(); if(!element.empty()){ out_pathStrings.push_back(element); break; } } out_pathStrings.push_back(name); } } return !out_pathStrings.empty(); } /** @return Camera index, or -1 if the path is not found. */ int SceneRenderer::findCameraPath(const std::vector& simplifiedPathStrings) { int index = -1; if(!simplifiedPathStrings.empty()){ vector candidates; const string& name = simplifiedPathStrings.back(); const int n = numCameras(); for(size_t i=0; i < n; ++i){ const vector& path = cameraPath(i); if(path.back()->name() == name){ candidates.push_back(i); } } if(candidates.size() == 1){ index = candidates.front(); } else if(candidates.size() >= 2 && simplifiedPathStrings.size() >= 2){ const string& owner = simplifiedPathStrings.front(); for(size_t i=0; i < candidates.size(); ++i){ const vector& path = cameraPath(i); if(path.front()->name() == owner){ index = i; break; } } } } return index; } bool SceneRenderer::setCurrentCameraPath(const std::vector& simplifiedPathStrings) { int index = findCameraPath(simplifiedPathStrings); if(index >= 0){ setCurrentCamera(index); return true; } return false; } choreonoid-1.5.0/src/Util/Image.cpp0000664000000000000000000000373312741425367015621 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "Image.h" #include "ImageIO.h" #include "Exception.h" #include using namespace std; using namespace boost; using namespace cnoid; Image::Image() { width_ = 0; height_ = 0; numComponents_ = 3; } Image::Image(const Image& org) : pixels_(org.pixels_) { width_ = org.width_; height_ = org.height_; numComponents_ = org.numComponents_; } Image::~Image() { } Image& Image::operator=(const Image& rhs) { pixels_ = rhs.pixels_; width_ = rhs.width_; height_ = rhs.height_; numComponents_ = rhs.numComponents_; return *this; } void Image::reset() { pixels_.clear(); width_ = 0; height_ = 0; } void Image::setSize(int width, int height, int nComponents) { if(nComponents > 0 && nComponents <= 4){ numComponents_ = nComponents; } else { exception_base exception; exception << error_info_message( str(format("Invalid number (%1%) of image components") % nComponents)); BOOST_THROW_EXCEPTION(exception); } setSize(width, height); } void Image::setSize(int width, int height) { width_ = width; height_ = height; pixels_.resize(numComponents_ * width_ * height_); } void Image::clear() { std::fill(pixels_.begin(), pixels_.end(), 0); } void Image::applyVerticalFlip() { const int heightHalf = height_ / 2; const int lineSize = width_ * numComponents_; unsigned char* upperLine = pixels(); unsigned char* lowerLine = pixels() + lineSize * (height_ - 1); for(int y = 0; y < heightHalf; ++y){ for(int x=0; x < lineSize; ++x){ std::swap(upperLine[x], lowerLine[x]); } upperLine += lineSize; lowerLine -= lineSize; } } void Image::load(const std::string& filename) { ImageIO iio; iio.load(*this, filename); } void Image::save(const std::string& filename) const { ImageIO iio; iio.save(*this, filename); } choreonoid-1.5.0/src/Util/SceneRenderer.h0000664000000000000000000000347012741425367016766 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_SCENE_RENDERER_H #define CNOID_UTIL_SCENE_RENDERER_H #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT SceneRenderer : public SceneVisitor { public: virtual SgGroup* sceneRoot() = 0; virtual SgGroup* scene() = 0; virtual void clearScene() = 0; virtual int numCameras() const = 0; virtual SgCamera* camera(int index) = 0; virtual const SgNodePath& cameraPath(int index) const = 0; virtual SignalProxy sigCamerasChanged() const = 0; virtual SgCamera* currentCamera() const = 0; virtual int currentCameraIndex() const = 0; virtual void setCurrentCamera(int index) = 0; virtual bool setCurrentCamera(SgCamera* camera) = 0; virtual SignalProxy sigCurrentCameraChanged() = 0; bool getSimplifiedCameraPathStrings(int index, std::vector& out_pathStrings); int findCameraPath(const std::vector& simplifiedPathStrings); bool setCurrentCameraPath(const std::vector& simplifiedPathStrings); virtual void setViewport(int x, int y, int width, int height) = 0; virtual Array4i viewport() const = 0; virtual double aspectRatio() const = 0; // width / height; virtual const Affine3& currentModelTransform() const = 0; virtual const Affine3& currentCameraPosition() const = 0; virtual const Matrix4& projectionMatrix() const = 0; virtual void initializeRendering() = 0; virtual SignalProxy sigRenderingRequest() = 0; virtual void beginRendering() = 0; virtual void endRendering() = 0; virtual void render() = 0; virtual void flush() = 0; virtual SgLight* headLight() = 0; virtual void setHeadLight(SgLight* light) = 0; }; } #endif choreonoid-1.5.0/src/Util/DaeNode.h0000664000000000000000000003455612741425367015552 0ustar rootroot/*! * @brief Collada file is read only once like SAX in IrrXML. * It handled temporarily all the information at that time, it then creates and returns an SgObject. * @author Hisashi Ikari * @file */ #ifndef CNOID_UTIL_DAE_NODE_H_INCLUDED #define CNOID_UTIL_DAE_NODE_H_INCLUDED #include "Referenced.h" #include #include namespace cnoid { // Introduction. SceneGraph switches the float and double in SgFloat. And the type of eigen also switched. // But, Link does not receive that type. To that end, I will use the type double(Maximum accuracy) in DaeNode. typedef std::vector DaeVectorXArray; typedef boost::shared_ptr DaeVectorXArrayPtr; typedef std::map DaeVectorMap; /*! * @brief This is the base class of the dae parser. (In order to share a pointer for all bjects) */ class Dae : public Referenced { public: Dae() : id("") {} public: // All nodes must have a "UNIQUE" id always. std::string id; }; /*! * @brief It will hold the information of SgTexture for 3D shape model. */ class DaeTexture : public Dae { public: DaeTexture(std::string targetName) : fileName_(targetName) {} std::string fileName() { return fileName_; } protected: std::string fileName_; }; typedef ref_ptr DaeTexturePtr; typedef std::map DaeTextures; typedef std::vector Vector3s; /*! * @brief It will hold the information of SgTransform for 3D shape model and kinematics model. */ class DaeTransform : public Dae { public: DaeTransform() : translate(Vector3(0.0, 0.0, 0.0)), scale (Vector3(1.0, 1.0, 1.0)), center (Vector3(0.0, 0.0, 0.0)), rotate (AngleAxis(0.0, Vector3(0, 0, 0))), affine (NULL), matrix (NULL) {} ~DaeTransform() { // affine is the value using the rotation matrix from the parent node. if (affine) delete affine; if (matrix) delete matrix; } public: // Not compatible with the SceneGraph to Link. Therefore, I use the double type. Vector3 translate; Vector3s translates; Vector3 scale; Vector3 center; AngleAxis rotate; Affine3* affine; Matrix4* matrix; #ifdef _INVALID_VERSION Affine3d parents; #endif Affine3d* retention; }; typedef ref_ptr DaeTransformPtr; /*! * @brief It will hold the information of SgMaterial for 3D shape model. */ class DaeEffect : public Dae { public: DaeEffect() : refImageId (""), effectId (""), emission (Vector3(0.0, 0.0, 0.0)), ambient (0.0), diffuse (Vector3(1.0, 1.0, 1.0)), specular (Vector3(0.0, 0.0, 0.0)), shininess (0.0), transparency(0.0) {} public: // !!! important !!! // I held in the variable of the prefix ref is the url attribute and the target attribute of all. std::string refImageId; std::string effectId; Vector3 emission; double ambient; Vector3 diffuse; Vector3 specular; double shininess; double transparency; }; typedef ref_ptr DaeEffectPtr; typedef std::map DaeEffects; /*! * @brief It will hold the information of SgMaterial for 3D shape model. */ class DaeMaterial : public Dae { public: DaeMaterial() : materialId (""), refEffectId("") {} public: std::string materialId; std::string refEffectId; }; typedef ref_ptr DaeMaterialPtr; typedef std::map DaeMaterials; typedef std::map DaeMaterialRef; /*! * @brief It will hold the information of SgGeometry for 3D shape model. */ class DaeMesh : public Dae { public: DaeMesh() : refVerticesId (""), refNormalsId (""), refColorId (""), refTexcoordId (""), refMaterialId ("") { // mesh is equivalent to polylist and lines and triangles of collada. // This means that I will have the index and the number of vertices. // I also hold such as vertex coordinates of the source tag further. (For ease of processing) vcount = DaeVectorXArrayPtr(new DaeVectorXArray); vertices = DaeVectorXArrayPtr(new DaeVectorXArray); normals = DaeVectorXArrayPtr(new DaeVectorXArray); colors = DaeVectorXArrayPtr(new DaeVectorXArray); texcoords = DaeVectorXArrayPtr(new DaeVectorXArray); verticesIndexes = DaeVectorXArrayPtr(new DaeVectorXArray); normalsIndexes = DaeVectorXArrayPtr(new DaeVectorXArray); colorsIndexes = DaeVectorXArrayPtr(new DaeVectorXArray); texcoordsIndexes = DaeVectorXArrayPtr(new DaeVectorXArray); } public: std::string refVerticesId; std::string refNormalsId; std::string refColorId; std::string refTexcoordId; std::string refMaterialId; DaeVectorXArrayPtr vcount; DaeVectorXArrayPtr vertices; DaeVectorXArrayPtr normals; DaeVectorXArrayPtr colors; DaeVectorXArrayPtr texcoords; DaeVectorXArrayPtr verticesIndexes; DaeVectorXArrayPtr normalsIndexes; DaeVectorXArrayPtr colorsIndexes; DaeVectorXArrayPtr texcoordsIndexes; }; typedef ref_ptr DaeMeshPtr; typedef std::vector DaeMeshes; /*! * @brief It will hold the information of SgGeometry for 3D shape model. */ class DaeGeometry : public Dae { public: DaeGeometry() : geometryId (""), refMaterialId("") {} public: std::string geometryId; std::string refMaterialId; DaeMeshes meshes; }; typedef ref_ptr DaeGeometryPtr; typedef std::map DaeGeometries; class DaeNode; typedef ref_ptr DaeNodePtr; typedef std::map DaeNodes; typedef std::vector< std::pair > DaeNodeStack; /*! * @brief This is the base class of the dae parser. */ class DaeNode : public Dae { public: DaeNode() : refNodeId(""), refName (""), parent (NULL), type (-1) {} public: std::string name; std::string refNodeId; std::string refName; DaeNodePtr parent; DaeTransform transform; DaeGeometries geometries; DaeNodeStack stack; DaeNodes children; int type; DaeNodePtr clone(); protected: void addChild(DaeNodePtr node); }; /*! * @brief It will hold the information of primitive figure for physics. */ class DaeShape : public DaeNode { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW; DaeShape() { format(); } // If the graphic primitive, if specified in the rigid body, I will use that figure. class Box { public: bool presence; Vector3 halfExtents; }; class Sphere { public: bool presence; double radius; }; class Cylinder { public: bool presence; double height; double radius; }; class Cone { public: bool presence; double height; Vector2 radius1; Vector2 radius2; }; class Polygon { public: bool presence; DaeGeometryPtr geometry; }; bool isPresence() { // Graphic primitive is assumed to be only one. return (box.presence || sphere.presence || cylinder.presence || cone.presence || polygon.presence); } void setBox(Vector3 ext) { format(); box.presence = true; box.halfExtents = ext; } void setSphere(double radius) { format(); sphere.presence = true; sphere.radius = radius; } void setCylinder(double height, double radius) { format(); cylinder.presence = true; cylinder.height = height; cylinder.radius = radius; } void setCone(double height, const Vector2& radius1, const Vector2& radius2) { format(); cone.presence = true; cone.height = height; cone.radius1 = radius1; cone.radius2 = radius2; } void setPolygon(DaeGeometryPtr geometry) { format(); polygon.presence = true; polygon.geometry = geometry; } void format() { box.presence = false; sphere.presence = false; cylinder.presence = false; cone.presence = false; polygon.presence = false; refMaterialId = ""; } public: Box box; Sphere sphere; Cylinder cylinder; Cone cone; Polygon polygon; std::string refMaterialId; }; typedef ref_ptr DaeShapePtr; typedef std::vector DaeShapes; /*! * @brief It will hold the information of primitive figure for physics. */ class DaeMassFrame : public DaeNode { // This is to just keep rottion and angles. }; typedef ref_ptr DaeMassFramePtr; /*! * @brief It will hold the information of primitive figure for physics. */ class DaeRigid : public DaeNode { public: DaeRigid() : mass(0.0), inertia(Vector3(0.0, 0.0, 0.0)) {} public: double mass; Vector3 inertia; DaeShapes shapes; DaeMassFramePtr massFrame; }; typedef ref_ptr DaeRigidPtr; typedef std::map DaeRigids; typedef std::map DaeRigidRelations; /*! * @brief It will hold the information for Kinematics. */ class DaeRevolute : public Dae { // this is just the child of joint-value. public: DaeRevolute() : axis(Vector3(0.0, 0.0, 0.0)), limitMin(0), limitMax(0) {} public: Vector3 axis; double limitMin; double limitMax; }; typedef ref_ptr DaeRevolutePtr; typedef std::map DaeRevolutes; typedef std::vector DaeRevoluteChildren; typedef std::vector DaeLinkChildren; typedef std::vector DaeJointChildren; /*! * @brief It will hold the information for Kinematics. */ class DaeActuator : public DaeNode { public: DaeActuator() : assignedPowerRating(1.0), maxSpeed (0.0), noLoadSpeed (0.0), nominalTorque (0.0), nominalVoltage (0.0), rotorInertia (0.0), speedConstant (0.0), speedTorqueGradient(0.0), startingCurrent (0.0), terminalResistance (0.0), torqueConstant (1.0) {} public: double assignedPowerRating; double maxSpeed; double noLoadSpeed; double nominalTorque; double nominalVoltage; double rotorInertia; double speedConstant; double speedTorqueGradient; double startingCurrent; double terminalResistance; double torqueConstant; }; typedef ref_ptr DaeActuatorPtr; typedef std::map DaeActuators; typedef std::map DaeActuatorRelations; /*! * @brief It will hold the information for Kinematics. */ class DaeSensor : public DaeNode { public: DaeSensor() : type (""), focalLength (0.0), intrinsic (VectorXd::Zero(6)), imageDimensions(VectorXd::Zero(3)), measurementTime(0.0) {} public: std::string type; double focalLength; VectorXd intrinsic; Vector3 imageDimensions; double measurementTime; }; typedef ref_ptr DaeSensorPtr; typedef std::map DaeSensors; typedef std::vector DaeResultSensors; typedef boost::shared_ptr DaeResultSensorsPtr; typedef std::vector< std::pair > DaeSensorRelations; /*! * @brief It will hold the information for Kinematics. */ class DaeAttachActuator : public DaeNode { public: DaeAttachActuator() : instanceActuator(""), bindActuator ("") {} public: std::string instanceActuator; std::string bindActuator; }; typedef ref_ptr DaeAttachActuatorPtr; /*! * @brief It will hold the information for Kinematics. */ class DaeAttachSensor : public DaeNode { public: DaeAttachSensor() : instanceSensor(""), frameOrigin ("") {} public: std::string instanceSensor; std::string frameOrigin; }; typedef ref_ptr DaeAttachSensorPtr; /*! * @brief It will hold the information for Kinematics. */ class DaeLink : public DaeNode // This is a not Dae, this is a NODE value in collada. { public: DaeLink() : name("") {} public: std::string name; // transform different with the "LINK" and "NODE" is given in collada. // To do this, management information as them differently. DaeTransform transform; // This is same as attachment_full-tag. That values are joint-id. DaeJointChildren children; }; typedef ref_ptr DaeLinkPtr; typedef std::map DaeLinks; /*! * @brief It will hold the information for Kinematics. */ class DaeJoint : public DaeNode // This is not a Dae, this is a NODE value in collada. { public: DaeJoint() : name("") { transform = new DaeTransform; } public: // The id value contains the name of the parent model. (ex. kinamaticmodel/thisid) std::string name; // transform different with the "JOINT" and "NODE" is given in collada. // To do this, management information as them differently. DaeTransformPtr transform; DaeRevoluteChildren revolutes; DaeJointChildren children; }; typedef ref_ptr DaeJointPtr; typedef std::map DaeJoints; }; //end of namespace #endif choreonoid-1.5.0/src/Util/YAMLWriter.h0000664000000000000000000000652712741425367016207 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_YAML_WRITER_H_INCLUDED #define CNOID_UTIL_YAML_WRITER_H_INCLUDED #include "ValueTree.h" #include #include #include #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT YAMLWriter { public: YAMLWriter(const std::string filename); YAMLWriter(std::ostream& os); ~YAMLWriter(); void putNode(const ValueNode* node); void setIndentWidth(int n); void setKeyOrderPreservationMode(bool on); void startDocument(); void putComment(const std::string& comment, bool doNewLine = true); void putString(const std::string& value); void putSingleQuotedString(const std::string& value); void putDoubleQuotedString(const std::string& value); void putBlockStyleString(const std::string& value, bool isLiteral); inline void putLiteralString(const std::string& value) { putBlockStyleString(value, true); } inline void putFoldedString(const std::string& value) { putBlockStyleString(value, false); } template inline void putScalar(const DataType& value){ putString(boost::lexical_cast(value)); } void putScalar(const double& value); void setDoubleFormat(const char* format); void startMapping(); void startFlowStyleMapping(); void putKey(const std::string& key, StringStyle style = PLAIN_STRING); template inline void putKeyValue(const std::string& key, const DataType& value){ putKey(key); putScalar(value); } inline void putKeyValue(const std::string& key, const std::string& value){ putKey(key); putDoubleQuotedString(value); } void endMapping(); void startListing(); void startFlowStyleListing(); void endListing(); #ifdef CNOID_BACKWARD_COMPATIBILITY void startSequence() { startListing(); } void startFlowStyleSequence() { startFlowStyleListing(); } void endSequence() { endListing(); } #endif private: std::ofstream ofs; std::ostream& os; int indentWidth; bool isCurrentNewLine; int numDocuments; bool isKeyOrderPreservationMode; bool doInsertLineFeed; const char* doubleFormat; enum { TOP, MAPPING, LISTING }; struct State { int type; bool isFlowStyle; bool isKeyPut; bool hasValuesBeenPut; std::string indentString; }; std::stack states; State* current; bool isTopLevel(); State& pushState(int type, bool isFlowStyle); void popState(); void indent(); void newLine(); bool makeValuePutReady(); bool startValuePut(); void endValuePut(); void putString_(const std::string& value); void putSingleQuotedString_(const std::string& value); void putDoubleQuotedString_(const std::string& value); void putKey_(const std::string& key, StringStyle style); void startMappingSub(bool isFlowStyle); void startListingSub(bool isFlowStyle); void putNodeMain(const ValueNode* node, bool doCheckLF); void putScalarNode(const ScalarNode* scalar); void putMappingNode(const Mapping* mapping); void putListingNode(const Listing* listing); }; #ifdef CNOID_BACKWARD_COMPATIBILITY typedef YAMLWriter YamlWriter; #endif } #endif choreonoid-1.5.0/src/Util/PolymorphicReferencedArray.h0000664000000000000000000001215112741425367021525 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_POLYMORPHIC_REFERENCED_ARRAY_H #define CNOID_UTIL_POLYMORPHIC_REFERENCED_ARRAY_H #include "Referenced.h" #include namespace cnoid { template class PolymorphicReferencedArrayBase { public: virtual ~PolymorphicReferencedArrayBase() { } virtual bool try_push_back(BaseReferencedType* obj) = 0; virtual BaseReferencedType* get_element(size_t i) = 0; virtual const BaseReferencedType* get_element(size_t i) const = 0; virtual size_t get_size() const = 0; virtual void clear_elements() = 0; }; template class PolymorphicReferencedArray : public PolymorphicReferencedArrayBase { typedef std::vector Container; Container elements; public: typedef PolymorphicReferencedArrayBase ArrayBase; typedef typename Container::value_type value_type; typedef typename Container::iterator iterator; typedef typename Container::const_iterator const_iterator; typedef typename Container::reference reference; typedef typename Container::const_reference const_reference; PolymorphicReferencedArray() { } template PolymorphicReferencedArray( const PolymorphicReferencedArray& rhs){ (*this) << rhs; } virtual ~PolymorphicReferencedArray() { } virtual bool try_push_back(BaseReferencedType* obj) { if(ReferencedType* p = dynamic_cast(obj)){ push_back(p); return true; } return false; } bool operator==(const PolymorphicReferencedArray& rhs) const { if(size() == rhs.size()){ return std::equal(begin(), end(), rhs.begin()); } return false; } bool operator!=(const PolymorphicReferencedArray& rhs) const { return !operator==(rhs); } template PolymorphicReferencedArray& operator<<(const PolymorphicReferencedArray& rhs) { for(std::size_t i=0; i < rhs.size(); ++i){ try_push_back(rhs[i]); } return *this; } template bool extractFrom(PolymorphicReferencedArray& another) { size_t orgSize = size(); typedef PolymorphicReferencedArray ArgType; typename ArgType::iterator p = another.begin(); while(p != another.end()){ if(ReferencedType* element = dynamic_cast(p->get())){ push_back(element); p = another.erase(p); } else{ ++p; } } return (size() > orgSize); } template PolymorphicReferencedArray extract() { PolymorphicReferencedArray extracted; iterator p = begin(); while(p != end()){ if(RetReferencedType* element = dynamic_cast(p->get())){ extracted.push_back(element); p = erase(p); } else{ ++p; } } return extracted; } bool empty() const { return elements.empty(); } void reserve(size_t size) { elements.reserve(size); } void resize(size_t size) { elements.resize(size); } std::size_t size() const { return elements.size(); } virtual size_t get_size() const { return size(); } iterator begin() { return elements.begin(); } const_iterator begin() const { return elements.begin(); } iterator end() { return elements.end(); } const_iterator end() const { return elements.end(); } PointerType& back() { return elements.back(); } const PointerType& back() const { return elements.back(); } PointerType& front() { return elements.front(); } const PointerType& front() const { return elements.front(); } PointerType& operator[](std::size_t i) { return elements[i]; } const PointerType& operator[](std::size_t i) const { return elements[i]; } virtual BaseReferencedType* get_element(size_t i) { return elements[i]; } virtual const BaseReferencedType* get_element(size_t i) const { return elements[i]; } void clear(){ elements.clear(); } virtual void clear_elements() { clear(); } void push_back(const PointerType& obj){ elements.push_back(obj); } void pop_back(){ elements.pop_back(); } iterator erase(iterator pos){ return elements.erase(pos); } }; } #endif choreonoid-1.5.0/src/Util/SceneLights.h0000664000000000000000000000625612741425367016457 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_SCENE_LIGHTS_H #define CNOID_UTIL_SCENE_LIGHTS_H #include "SceneGraph.h" #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT SgLight : public SgPreprocessed { protected: SgLight(); SgLight(const SgLight& org); public: virtual SgObject* clone(SgCloneMap& cloneMap) const; virtual void accept(SceneVisitor& visitor); bool on() const { return on_; } void on(bool on) { on_ = on; } const Vector3f& color() const { return color_; } template void setColor(const Eigen::MatrixBase& c) { color_ = c.template cast(); } float intensity() const { return intensity_; } void setIntensity(float intensity) { intensity_ = intensity; } float ambientIntensity() const { return ambientIntensity_; } void setAmbientIntensity(float intensity) { ambientIntensity_ = intensity; } private: Vector3f color_; float intensity_; float ambientIntensity_; bool on_; }; typedef ref_ptr SgLightPtr; class CNOID_EXPORT SgDirectionalLight : public SgLight { public: SgDirectionalLight(); SgDirectionalLight(const SgDirectionalLight& org); virtual SgObject* clone(SgCloneMap& cloneMap) const; virtual void accept(SceneVisitor& visitor); const Vector3& direction() const { return direction_; } template void setDirection(const Eigen::MatrixBase& d) { direction_ = d.template cast(); } private: Vector3 direction_; }; typedef ref_ptr SgDirectionalLightPtr; class CNOID_EXPORT SgPointLight : public SgLight { public: SgPointLight(); SgPointLight(const SgPointLight& org); virtual SgObject* clone(SgCloneMap& cloneMap) const; virtual void accept(SceneVisitor& visitor); float constantAttenuation() const { return constantAttenuation_; } void setConstantAttenuation(float a) { constantAttenuation_ = a; } float linearAttenuation() const { return linearAttenuation_; } void setLinearAttenuation(float a) { linearAttenuation_ = a; } float quadraticAttenuation() const { return quadraticAttenuation_; } void setQuadraticAttenuation(float a) { quadraticAttenuation_ = a; } private: float constantAttenuation_; float linearAttenuation_; float quadraticAttenuation_; }; typedef ref_ptr SgPointLightPtr; class CNOID_EXPORT SgSpotLight : public SgPointLight { public: SgSpotLight(); SgSpotLight(const SgSpotLight& org); virtual SgObject* clone(SgCloneMap& cloneMap) const; virtual void accept(SceneVisitor& visitor); const Vector3& direction() const { return direction_; } template void setDirection(const Eigen::MatrixBase& d) { direction_ = d.template cast(); } float beamWidth() const { return beamWidth_; } void setBeamWidth(float w) { beamWidth_ = w; } float cutOffAngle() const { return cutOffAngle_; } void setCutOffAngle(float a) { cutOffAngle_ = a; } private: Vector3 direction_; float beamWidth_; float cutOffAngle_; }; typedef ref_ptr SgSpotLightPtr; } #endif choreonoid-1.5.0/src/Util/PolygonMeshTriangulator.h0000664000000000000000000000122312741425367021074 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_POLYGON_MESH_TRIANGULATOR_H #define CNOID_UTIL_POLYGON_MESH_TRIANGULATOR_H #include #include "exportdecl.h" namespace cnoid { class SgMesh; class SgPolygonMesh; class PolygonMeshTriangulatorImpl; class CNOID_EXPORT PolygonMeshTriangulator { public: PolygonMeshTriangulator(); PolygonMeshTriangulator(const PolygonMeshTriangulator& org); ~PolygonMeshTriangulator(); void setDeepCopyEnabled(bool on); SgMesh* triangulate(SgPolygonMesh* polygonMesh); const std::string& errorMessage() const; private: PolygonMeshTriangulatorImpl * impl; }; } #endif choreonoid-1.5.0/src/Util/DaeParser.h0000664000000000000000000000251312741425367016105 0ustar rootroot/*! * @brief It define the processing to parse the Collada file. * @author Hisashi Ikari * @file */ #ifndef CNOID_UTIL_EXT_DAE_PARSER_H_INCLUDED #define CNOID_UTIL_EXT_DAE_PARSER_H_INCLUDED #include "Parser.h" #include "DaeNode.h" #include "exportdecl.h" namespace cnoid { class DaeParserImpl; /*! * @brief Perform the processing for each node as sax. */ class CNOID_EXPORT DaeParser : public Parser { public: DaeParser(std::ostream* os); ~DaeParser(); virtual SgGroup* createScene(const std::string& fileName); virtual void parse(const std::string& fileName); virtual DaeNode* findNode (const std::string& nodeName); virtual DaeNode* findLinkByJoint(const std::string& jointName); virtual DaeNode* findJointByLink(const std::string& linkName); virtual DaeNode* findRigidByLink(const std::string& linkName); virtual DaeNode* findActuator (const std::string& jointId); virtual DaeResultSensors* findSensor (const std::string& linkId); virtual DaeNode* findRootLink(); virtual std::string findRootName(); virtual void createNode (DaeNodePtr extNode, SgGroup* sg); virtual void createTransform(DaeNodePtr extNode, SgGroup** sgParent, SgGroup** sgChild); private: DaeParserImpl* daeParserImpl; }; }; #endif choreonoid-1.5.0/src/Util/YAMLReader.cpp0000664000000000000000000003123512741425367016462 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "YAMLReader.h" #include #include #include #include #include using namespace std; using namespace boost; using namespace cnoid; namespace { const bool debugTrace = false; } namespace cnoid { class YAMLReaderImpl { public: YAMLReaderImpl(); ~YAMLReaderImpl(); void setMappingFactory(YAMLReader::MappingFactoryBase* factory); void clearDocuments(); bool load(const std::string& filename); bool parse(const std::string& yamlstring); bool parse(); void popNode(); void addNode(ValueNode* node); void setAnchor(ValueNode* node, yaml_char_t* anchor, const yaml_mark_t& mark); void onDocumentStart(yaml_event_t& event); void onDocumentEnd(yaml_event_t& event); void onMappingStart(yaml_event_t& event); void onMappingEnd(yaml_event_t& event); void onListingStart(yaml_event_t& event); void onListingEnd(yaml_event_t& event); void onScalar(yaml_event_t& event); void onAlias(yaml_event_t& event); static ScalarNode* createScalar(const yaml_event_t& event); yaml_parser_t parser; FILE* file; YAMLReader::MappingFactoryBase* mappingFactory; vector documents; int currentDocumentIndex; enum State { NONE, MAPPING_KEY, MAPPING_VALUE, LISTING }; struct NodeInfo { ValueNodePtr node; string key; }; stack nodeStack; typedef map AnchorMap; AnchorMap anchorMap; bool isRegularMultiListingExpected; vector expectedListingSizes; string errorMessage; }; } YAMLReader::YAMLReader() { impl = new YAMLReaderImpl(); } YAMLReaderImpl::YAMLReaderImpl() { yaml_parser_initialize(&parser); file = 0; mappingFactory = new YAMLReader::MappingFactory(); currentDocumentIndex = 0; isRegularMultiListingExpected = false; } YAMLReader::~YAMLReader() { delete impl; } YAMLReaderImpl::~YAMLReaderImpl() { yaml_parser_delete(&parser); if(file){ fclose(file); file = 0; } delete mappingFactory; } void YAMLReader::setMappingFactory(MappingFactoryBase* factory) { impl->setMappingFactory(factory); } void YAMLReaderImpl::setMappingFactory(YAMLReader::MappingFactoryBase* factory) { delete mappingFactory; mappingFactory = factory; } void YAMLReader::expectRegularMultiListing() { impl->isRegularMultiListingExpected = true; } void YAMLReader::clearDocuments() { impl->clearDocuments(); } void YAMLReaderImpl::clearDocuments() { while(!nodeStack.empty()){ nodeStack.pop(); } anchorMap.clear(); documents.clear(); } bool YAMLReader::load(const std::string& filename) { return impl->load(filename); } bool YAMLReaderImpl::load(const std::string& filename) { clearDocuments(); if(isRegularMultiListingExpected){ expectedListingSizes.clear(); } currentDocumentIndex = 0; bool result = false; FILE* file = fopen(filename.c_str(), "rb"); if(file==NULL){ errorMessage = strerror(errno); } else { yaml_parser_set_input_file(&parser, file); try { result = parse(); } catch(const ValueNode::Exception& ex){ errorMessage = str(format("%1% at line %2%, column %3%") % ex.message() % ex.line() % ex.column()); } fclose(file); } return result; } bool YAMLReader::parse(const std::string& yamlstring) { return impl->parse(yamlstring); } bool YAMLReaderImpl::parse(const std::string& yamlstring) { clearDocuments(); if(isRegularMultiListingExpected){ expectedListingSizes.clear(); } currentDocumentIndex = 0; bool result = false; yaml_parser_set_input_string(&parser, (const unsigned char *)(yamlstring.c_str()), yamlstring.length()); try { result = parse(); } catch(const ValueNode::Exception& ex){ errorMessage = str(format("%1% at line %2%, column %3%") % ex.message() % ex.line() % ex.column()); } return result; } bool YAMLReaderImpl::parse() { yaml_event_t event; bool done = false; while (!done) { if(!yaml_parser_parse(&parser, &event)){ goto error; } switch(event.type){ case YAML_STREAM_START_EVENT: break; case YAML_STREAM_END_EVENT: done = true; break; case YAML_DOCUMENT_START_EVENT: onDocumentStart(event); break; case YAML_DOCUMENT_END_EVENT: onDocumentEnd(event); break; case YAML_MAPPING_START_EVENT: onMappingStart(event); break; case YAML_MAPPING_END_EVENT: onMappingEnd(event); break; case YAML_SEQUENCE_START_EVENT: onListingStart(event); break; case YAML_SEQUENCE_END_EVENT: onListingEnd(event); break; case YAML_SCALAR_EVENT: onScalar(event); break; case YAML_ALIAS_EVENT: onAlias(event); break; default: break; } yaml_event_delete(&event); } return !documents.empty(); error: if(debugTrace){ cout << "error" << endl; } if(parser.error != YAML_NO_ERROR && parser.problem != NULL){ ValueNode::Exception ex; ex.setPosition(parser.problem_mark.line+1, parser.problem_mark.column+1); ex.setMessage(parser.problem); throw ex; } return false; } void YAMLReaderImpl::popNode() { ValueNodePtr current = nodeStack.top().node; nodeStack.pop(); if(nodeStack.empty()){ documents.push_back(current); } else { addNode(current.get()); } } void YAMLReaderImpl::addNode(ValueNode* node) { NodeInfo& info = nodeStack.top(); ValueNode* parent = info.node.get(); if(parent->isMapping()){ Mapping* mapping = static_cast(parent); mapping->insert(info.key, node); info.key.clear(); } else if(parent->isListing()){ Listing* listing = static_cast(parent); listing->append(node); } } void YAMLReaderImpl::setAnchor(ValueNode* node, yaml_char_t* anchor, const yaml_mark_t& mark) { pair inserted = anchorMap.insert(AnchorMap::value_type((char*)anchor, node)); if(!inserted.second){ ValueNode::Exception ex; ex.setMessage(str(format("Anchor \"%1%\" is duplicated") % (char*)anchor)); ex.setPosition(mark.line, mark.column); throw ex; } } void YAMLReaderImpl::onDocumentStart(yaml_event_t& event) { if(debugTrace){ cout << "YAMLReaderImpl::onDocumentStart()" << endl; } } void YAMLReaderImpl::onDocumentEnd(yaml_event_t& event) { if(debugTrace){ cout << "YAMLReaderImpl::onDocumentEnd()" << endl; } } void YAMLReaderImpl::onMappingStart(yaml_event_t& event) { if(debugTrace){ cout << "YAMLReaderImpl::onMappingStart()" << endl; } NodeInfo info; const yaml_mark_t& mark = event.start_mark; Mapping* mapping = mappingFactory->create(mark.line, mark.column); mapping->setFlowStyle(event.data.mapping_start.style == YAML_FLOW_MAPPING_STYLE); info.node = mapping; nodeStack.push(info); if(event.data.mapping_start.anchor){ setAnchor(mapping, event.data.mapping_start.anchor, mark); } } void YAMLReaderImpl::onMappingEnd(yaml_event_t& event) { if(debugTrace){ cout << "YAMLReaderImpl::onMappingEnd()" << endl; } popNode(); } void YAMLReaderImpl::onListingStart(yaml_event_t& event) { if(debugTrace){ cout << "YAMLReaderImpl::onListingStart()" << endl; } NodeInfo info; Listing* listing; const yaml_mark_t& mark = event.start_mark; if(!isRegularMultiListingExpected){ listing = new Listing(mark.line, mark.column); } else { size_t level = nodeStack.size(); if(expectedListingSizes.size() <= level){ expectedListingSizes.resize(level + 1, 0); } const int prevSize = expectedListingSizes[level]; listing = new Listing(mark.line, mark.column, prevSize); } listing->setFlowStyle(event.data.sequence_start.style == YAML_FLOW_SEQUENCE_STYLE); info.node = listing; nodeStack.push(info); if(event.data.sequence_start.anchor){ setAnchor(listing, event.data.sequence_start.anchor, mark); } } void YAMLReaderImpl::onListingEnd(yaml_event_t& event) { if(debugTrace){ cout << "YAMLReaderImpl::onListingEnd()" << endl; } if(isRegularMultiListingExpected){ Listing* listing = static_cast(nodeStack.top().node.get()); const int level = nodeStack.size() - 1; expectedListingSizes[level] = listing->size(); } popNode(); } void YAMLReaderImpl::onScalar(yaml_event_t& event) { if(debugTrace){ cout << "YAMLReaderImpl::onScalar()" << endl; } yaml_char_t* value = event.data.scalar.value; size_t length = event.data.scalar.length; if(nodeStack.empty()){ ValueNode::SyntaxException ex; ex.setMessage("Scalar value cannot be put on the top-level text position"); const yaml_mark_t& start_mark = event.start_mark; ex.setPosition(start_mark.line, start_mark.column); throw ex; } NodeInfo& info = nodeStack.top(); ValueNodePtr& parent = info.node; ScalarNode* scalar = 0; if(parent->isMapping()){ if(info.key.empty()){ info.key = string((char*)value, length); if(info.key.empty()){ ValueNode::SyntaxException ex; ex.setMessage("empty key"); const yaml_mark_t& start_mark = event.start_mark; ex.setPosition(start_mark.line, start_mark.column); throw ex; } } else { scalar = createScalar(event); } } else if(parent->isListing()){ scalar = createScalar(event); } if(scalar){ addNode(scalar); if(event.data.scalar.anchor){ setAnchor(scalar, event.data.scalar.anchor, event.start_mark); } } } ScalarNode* YAMLReaderImpl::createScalar(const yaml_event_t& event) { ScalarNode* scalar = new ScalarNode((char*)event.data.scalar.value, event.data.scalar.length); const yaml_mark_t& start_mark = event.start_mark; scalar->line_ = start_mark.line; scalar->column_ = start_mark.column; switch(event.data.scalar.style){ case YAML_PLAIN_SCALAR_STYLE: scalar->stringStyle = PLAIN_STRING; break; case YAML_SINGLE_QUOTED_SCALAR_STYLE: scalar->stringStyle = SINGLE_QUOTED; break; case YAML_DOUBLE_QUOTED_SCALAR_STYLE: scalar->stringStyle = DOUBLE_QUOTED; break; case YAML_LITERAL_SCALAR_STYLE: scalar->stringStyle = LITERAL_STRING; break; case YAML_FOLDED_SCALAR_STYLE: scalar->stringStyle = FOLDED_STRING; break; default: scalar->stringStyle = DOUBLE_QUOTED; } return scalar; } void YAMLReaderImpl::onAlias(yaml_event_t& event) { if(debugTrace){ cout << "YAMLReaderImpl::onAlias()" << endl; } AnchorMap::iterator p = anchorMap.find((char*)event.data.alias.anchor); if(p == anchorMap.end()){ ValueNode::Exception ex; ex.setMessage(str(format("Anchor \"%1%\" is not defined") % (char*)event.data.alias.anchor)); const yaml_mark_t& mark = event.start_mark; ex.setPosition(mark.line, mark.column); throw ex; } addNode(p->second); } int YAMLReader::numDocuments() { return impl->documents.size(); } ValueNode* YAMLReader::document(int index) { if(index >= static_cast(impl->documents.size())){ ValueNode::DocumentNotFoundException ex; if(index == 0){ ex.setMessage("The yaml file does not contains any documents."); } else { ex.setMessage(str(format("The yaml file does not contains %1%-th document.") % index)); } ex.setPosition(-1, -1); throw ex; } return impl->documents[index].get(); } ValueNode* YAMLReader::loadDocument(const std::string& filename) { if(!load(filename)){ ValueNode::FileException ex; ex.setMessage(errorMessage()); ex.setPosition(-1, -1); throw ex; } return document(); } const std::string& YAMLReader::errorMessage() { return impl->errorMessage; } choreonoid-1.5.0/src/Util/PlainSeqFormatLoader.h0000664000000000000000000000160112741425367020250 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_PLAIN_SEQ_FILE_LOADER_H_INCLUDED #define CNOID_UTIL_PLAIN_SEQ_FILE_LOADER_H_INCLUDED #include #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT PlainSeqFileLoader { public: typedef std::list< std::vector > Seq; typedef Seq::iterator iterator; bool load(const std::string& filename); inline iterator begin() { return seq.begin(); } inline iterator end() { return seq.end(); } inline int numParts() { return numParts_; } inline int numFrames() { return numFrames_; } inline double timeStep() { return timeStep_; } const std::string& errorMessage(); private: Seq seq; int numParts_; int numFrames_; double timeStep_; std::string errorMessage_; }; } #endif choreonoid-1.5.0/src/Util/Deque2D.h0000664000000000000000000004347312741425367015502 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_DEQUE_2D_H #define CNOID_UTIL_DEQUE_2D_H #include #include #include namespace cnoid { template > class Deque2D { typedef Deque2D Deque2DType; public: typedef ElementType Element; class const_iterator : public std::iterator { friend class Deque2D; protected: ElementType* current; ElementType* term; ElementType* buf; const_iterator(const Deque2DType& owner, ElementType* pos) { current = pos; buf = owner.buf; term = buf + owner.capacity_; } public: const_iterator() { } const_iterator(const const_iterator& org) { current = org.current; term = org.term; buf = org.buf; } const Element& operator*() const { return *current; } const_iterator& operator++() { ++current; if(current == term){ current = buf; } return *this; } const_iterator& operator--() { if(current == buf){ current = term - 1; } else { --current; } } const_iterator& operator+=(size_t n){ current += n; if(current >= term){ current = buf + (current - term); } return *this; } const_iterator& operator-=(size_t n){ current -= n; if(current < buf){ current = term - (buf - current); } return *this; } const_iterator operator+(size_t n){ const_iterator iter(*this); iter += n; return iter; } const_iterator operator-(size_t n){ const_iterator iter(*this); iter -= n; return iter; } bool operator==(const const_iterator& rhs) const { return (current == rhs.current); } bool operator!=(const const_iterator& rhs) const { return (current != rhs.current); } }; class iterator : public const_iterator { friend class Deque2D; iterator(Deque2DType& owner, ElementType* pos) : const_iterator(owner, pos) { } public: iterator() { } iterator(const iterator& org) : const_iterator(org) { } Element& operator*() { return *const_iterator::current; } iterator& operator+=(size_t n){ const_iterator::current += n; if(const_iterator::current >= const_iterator::term){ const_iterator::current = const_iterator::buf + (const_iterator::current - const_iterator::term); } return *this; } iterator& operator-=(size_t n){ const_iterator::current -= n; if(const_iterator::current < const_iterator::buf){ const_iterator::current = const_iterator::term - (const_iterator::buf - const_iterator::current); } return *this; } iterator operator+(size_t n){ iterator iter(*this); iter += n; return iter; } iterator operator-(size_t n){ iterator iter(*this); iter -= n; return iter; } }; iterator begin() { return iterator(*this, buf + offset); } const_iterator cbegin() const { return const_iterator(*this, buf + offset); } iterator end() { return end_; } const_iterator cend() const { return end_; } class Row { ElementType* top; int size_; public: Row() { size_ = 0; } Row(const Deque2D& owner, int rowIndex) { size_ = owner.colSize_; top = owner.buf; if(owner.capacity_ > 0){ top += (owner.offset + rowIndex * owner.colSize_) % owner.capacity_; } } bool empty() const { return (size_ == 0); } int size() const { return size_; } Element& operator[](int index){ return top[index]; } const Element& operator[](int index) const { return top[index]; } Element& at(int index) { return top[index]; } Element* begin() { return top; } Element* end() { return top + size_; } }; class Column { public: Column() { colSize = 0; rowSize = 0; } Column(const Deque2D& owner, int column) { top = owner.buf + column; offset = owner.offset; colSize = owner.colSize_; capacity = owner.capacity_; rowSize = owner.rowSize_; end_ = iterator(*this, top + ((owner.capacity_ > 0) ? ((offset + owner.size_) % owner.capacity_) : 0)); } bool empty() const { return (rowSize == 0); } int size() const { return rowSize; } Element& operator[](int rowIndex){ return top[(offset + rowIndex * colSize) % capacity]; } const Element& operator[](int rowIndex) const { return top[(offset + rowIndex * colSize) % capacity]; } Element& at(int index) { return top[index * colSize]; } class iterator : public std::iterator { ElementType* current; ElementType* term; ElementType* top; int colSize; public: iterator() { } iterator(Column& column, Element* pos){ current = pos; top = column.top; term = top + column.capacity; colSize = column.colSize; } Element& operator*() { return *current; } void operator++() { current += colSize; if(current == term){ current = top; } } void operator--() { if(current == top){ current = term - colSize; } else { current -= colSize; } } bool operator==(iterator rhs) const { return (current == rhs.current); } bool operator!=(iterator rhs) const { return (current != rhs.current); } }; iterator begin() { return iterator(*this, top + offset); } iterator end() { return end_; } private: ElementType* top; int offset; int colSize; int capacity; int rowSize; typename Column::iterator end_; }; Deque2D() { buf = 0; offset = 0; rowSize_ = 0; colSize_ = 0; capacity_ = 0; size_ = 0; } Deque2D(int rowSize, int colSize) { buf = 0; offset = 0; rowSize_ = 0; colSize_ = 0; capacity_ = 0; size_ = 0; resizeMain(rowSize, colSize, false); } Deque2D(const Deque2D& org) : allocator(org.allocator) { size_ = org.size_; rowSize_ = org.rowSize_; colSize_ = org.colSize_; capacity_ = size_ + colSize_; buf = 0; if(capacity_){ buf = allocator.allocate(capacity_); offset = 0; ElementType* p = buf; ElementType* pend = buf + size_; ElementType* q = org.buf + org.offset; ElementType* qterm = org.buf + org.capacity_; while(p != pend){ allocator.construct(p++, *q++); if(q == qterm){ q = org.buf; } } } end_ = iterator(*this, buf + ((capacity_ > 0) ? ((offset + size_) % capacity_) : 0)); } Deque2DType& operator=(const Deque2DType& rhs) { if(this != &rhs){ resizeMain(rhs.rowSize_, rhs.colSize_, false); iterator p = begin(); const_iterator q = rhs.cbegin(); const_iterator qend = rhs.cend(); while(q != qend){ *p = *q; ++p; ++q; } } return *this; } virtual ~Deque2D() { if(buf){ ElementType* p = buf + offset; const ElementType* pend = buf + (offset + size_) % capacity_; if(p <= pend){ while(p != pend){ allocator.destroy(p++); } } else { for(ElementType* q = buf; q != pend; ++q){ allocator.destroy(q); } const ElementType* pterm = buf + capacity_; for(ElementType* q = p; q != pterm; ++q){ allocator.destroy(q); } } allocator.deallocate(buf, capacity_); } } bool empty() const { return !rowSize_ || !colSize_; } private: void reallocMemory(int newColSize, int newSize, int newCapacity, bool doCopy) { ElementType* newBuf; if(newCapacity > 0){ newBuf = allocator.allocate(newCapacity); } else { newBuf = 0; } ElementType* p = newBuf; ElementType* pend = newBuf + newSize; if(capacity_ > 0){ ElementType* qend = buf + (offset + size_) % capacity_; // copy the existing elements if(newCapacity > 0 && newColSize == colSize_ && doCopy){ ElementType* q = buf + offset; if(q <= qend){ while(q != qend && p != pend){ allocator.construct(p++, *q++); } } else { for(ElementType* r = buf; r != qend && p != pend; ++r){ allocator.construct(p++, *r); } ElementType* qterm = buf + capacity_; for(ElementType* r = q; r != qterm && p != pend; ++r){ allocator.construct(p++, *r); } } } // destory the old elements ElementType* q = buf + offset; if(q <= qend){ while(q != qend){ allocator.destroy(q++); } } else { for(ElementType* r = buf; r != qend; ++r){ allocator.destroy(r); } ElementType* qterm = buf + capacity_; for(ElementType* r = q; r != qterm; ++r){ allocator.destroy(r); } } } // construct new elements while(p != pend){ allocator.construct(p++, ElementType()); } if(buf){ allocator.deallocate(buf, capacity_); } buf = newBuf; capacity_ = newCapacity; offset = 0; } void resizeMain(int newRowSize, int newColSize, bool doCopy) { const int newSize = newRowSize * newColSize; if(newSize == 0){ reallocMemory(newColSize, newSize, 0, false); } else { // The area for the 'end' iterator should be reserved const int minCapacity = newSize + newColSize; if(capacity_ > 0 && minCapacity <= capacity_){ if(newColSize != colSize_ && (capacity_ % newColSize > 0)){ reallocMemory(newColSize, newSize, capacity_ - (capacity_ % newColSize), doCopy); } else if(newSize > size_){ ElementType* p = buf + (offset + size_) % capacity_; const ElementType* pend = buf + (offset + newSize) % capacity_; if(p <= pend){ while(p != pend){ allocator.construct(p++, ElementType()); } } else { for(ElementType* r = buf; r != pend; ++r){ allocator.construct(r, ElementType()); } const ElementType* pterm = buf + capacity_; for(ElementType* r = p; r != pterm; ++r){ allocator.construct(r, ElementType()); } } } else if(newSize < size_){ ElementType* p = buf + (offset + newSize) % capacity_; ElementType* pend = buf + (offset + size_) % capacity_; if(p <= pend){ while(p != pend){ allocator.destroy(p++); } } else { for(ElementType* r = buf; r != pend; ++r){ allocator.destroy(r); } const ElementType* pterm = buf + capacity_; for(ElementType* r = p; r != pterm; ++r){ allocator.destroy(r); } } } } else { if(!buf){ capacity_ = minCapacity; if(capacity_ > 0){ buf = allocator.allocate(minCapacity); ElementType* p = buf; ElementType* pend = buf + newSize; // construct new elements while(p != pend){ allocator.construct(p++, ElementType()); } } } else { int newCapacity; const int expandedSize = size_ * 3 / 2; if(expandedSize > newSize){ newCapacity = expandedSize - (expandedSize % newColSize) + newColSize; } else { newCapacity = minCapacity; } reallocMemory(newColSize, newSize, newCapacity, doCopy); } } } rowSize_ = newRowSize; colSize_ = newColSize; size_ = newSize; end_ = iterator(*this, buf + ((capacity_ > 0) ? ((offset + size_) % capacity_) : 0)); } public: void resize(int newRowSize, int newColSize) { resizeMain(newRowSize, newColSize, true); } void resizeColumn(int newColSize){ resize(rowSize_, newColSize); } int rowSize() const { return rowSize_; } /** \todo Make the dedicated implementation for changing the row size only */ void resizeRow(int newRowSize){ resize(newRowSize, colSize_); } int colSize() const { return colSize_; } void clear() { resize(0, 0); } const Element& operator()(int rowIndex, int colIndex) const { return buf[(offset + (rowIndex * colSize_)) % capacity_ + colIndex]; } Element& operator()(int rowIndex, int colIndex) { return buf[(offset + (rowIndex * colSize_)) % capacity_ + colIndex]; } const Element& at(int rowIndex, int colIndex) const { return buf[(offset + (rowIndex * colSize_)) % capacity_ + colIndex]; } Element& at(int rowIndex, int colIndex) { return buf[(offset + (rowIndex * colSize_)) % capacity_ + colIndex]; } Row operator[](int rowIndex) { return Row(*this, rowIndex); } const Row operator[](int rowIndex) const { return Row(*this, rowIndex); } Row row(int rowIndex) { return Row(*this, rowIndex); } const Row row(int rowIndex) const { return Row(*this, rowIndex); } Row last() { return Row(*this, rowSize_ - 1); } const Row last() const { return Row(*this, rowSize_ - 1); } Column column(int colIndex) { return Column(*this, colIndex); } const Column column(int colIndex) const { return Column(*this, colIndex); } Row append() { resize(rowSize_ + 1, colSize_); return Row(*this, rowSize_ - 1); } void pop_back() { resize(rowSize_ - 1, colSize_); } void pop_front(int numRows) { if(numRows <= 0){ return; } if(numRows > rowSize_){ numRows = rowSize_; } const size_t popSize = numRows * colSize_; ElementType* p = buf + offset; const ElementType* pend = buf + (offset + popSize) % capacity_; if(p <= pend){ while(p != pend){ allocator.destroy(p++); } } else { for(ElementType* r = buf; r != pend; ++r){ allocator.destroy(r); } const ElementType* pterm = buf + capacity_; for(ElementType* r = p; r != pterm; ++r){ allocator.destroy(r); } } offset = (offset + popSize) % capacity_; rowSize_ -= numRows; size_ -= popSize; } void pop_front() { pop_front(1); } private: Allocator allocator; ElementType* buf; int offset; int rowSize_; int colSize_; int capacity_; int size_; iterator end_; }; } #endif choreonoid-1.5.0/src/Util/Signal.h0000664000000000000000000002412612741425367015460 0ustar rootroot/** @file Implementation of Signal template classes @note The classes are written by using the boost.signals library as a reference. @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_SIGNAL_H #define CNOID_UTIL_SIGNAL_H #include "Referenced.h" #include #define CNOID_SIGNAL_CONCAT( X, Y ) CNOID_SIGNAL_DO_CONCAT( X, Y ) #define CNOID_SIGNAL_DO_CONCAT( X, Y ) CNOID_SIGNAL_DO_CONCAT2(X,Y) #define CNOID_SIGNAL_DO_CONCAT2( X, Y ) X##Y namespace cnoid { class Connection; namespace signal_private { template struct last_value { typedef T result_type; template T operator()(InputIterator first, InputIterator last) const { T value; while (first != last) value = *first++; return value; } }; template<> struct last_value { public: template void operator()(InputIterator first, InputIterator last) const{ while (first != last) *first++; } }; class SlotHolderBase : public Referenced { public: SlotHolderBase() : isBlocked(false) { } virtual ~SlotHolderBase() { } virtual void disconnect() = 0; virtual bool connected() const = 0; virtual void changeOrder(int orderId) = 0; bool isBlocked; }; template class SlotCallIterator { typedef typename SlotType::result_type result_type; SlotType* currentSlot; ArgSetType& args; public: void seekUnblockedSlot(){ while(currentSlot && currentSlot->isBlocked){ currentSlot = currentSlot->next; } } SlotCallIterator(SlotType* firstSlot, ArgSetType& args) : currentSlot(firstSlot), args(args) { seekUnblockedSlot(); } SlotCallIterator(const SlotCallIterator& org) : currentSlot(org.currentSlot), args(org.args) { seekUnblockedSlot(); } bool operator==(const SlotCallIterator& rhs) const { return (currentSlot == rhs.currentSlot); } bool operator!=(const SlotCallIterator& rhs) const { return (currentSlot != rhs.currentSlot); } SlotCallIterator operator++(int) { SlotCallIterator iter(*this); currentSlot = currentSlot->next; seekUnblockedSlot(); return iter; } result_type operator*() const { return args.call(currentSlot); } }; } // namespace signal_private class Connection { ref_ptr slot; public: Connection() { } Connection(signal_private::SlotHolderBase* slot) : slot(slot) { } Connection(const Connection& org) : slot(org.slot) { } Connection& operator=(const Connection& rhs) { slot = rhs.slot; return *this; } void disconnect() { if(slot) { slot->disconnect(); slot = 0; } } bool connected() { return slot && slot->connected(); } void block() { if(slot){ slot->isBlocked = true; } } void unblock() { if(slot){ slot->isBlocked = false; } } enum Order { FIRST = 0, LAST }; Connection& changeOrder(Order order) { if(slot){ slot->changeOrder(order); } return *this; } }; class ScopedConnection : private Connection { public: ScopedConnection() { } ScopedConnection(const Connection& org) : Connection(org) { } ~ScopedConnection() { Connection::disconnect(); } void reset(const Connection& c) { Connection::disconnect(); Connection::operator=(c); } void disconnect() { Connection::disconnect(); } bool connected() { return Connection::connected(); } void block() { Connection::block(); } void unblock() { Connection::unblock(); } ScopedConnection& changeOrder(Order order) { Connection::changeOrder(order); return *this; } private: ScopedConnection(const ScopedConnection& org); ScopedConnection& operator=(const ScopedConnection& rhs); }; } #define CNOID_SIGNAL_NUM_ARGS 0 #define CNOID_SIGNAL_TEMPLATE_PARMS #define CNOID_SIGNAL_TEMPLATE_ARGS #define CNOID_SIGNAL_PARMS #define CNOID_SIGNAL_ARGS #define CNOID_SIGNAL_ARGS_AS_MEMBERS #define CNOID_SIGNAL_COPY_PARMS #define CNOID_SIGNAL_INIT_ARGS #include "SignalTemplate.h" #undef CNOID_SIGNAL_INIT_ARGS #undef CNOID_SIGNAL_COPY_PARMS #undef CNOID_SIGNAL_ARGS_AS_MEMBERS #undef CNOID_SIGNAL_ARGS #undef CNOID_SIGNAL_PARMS #undef CNOID_SIGNAL_TEMPLATE_ARGS #undef CNOID_SIGNAL_TEMPLATE_PARMS #undef CNOID_SIGNAL_NUM_ARGS #define CNOID_SIGNAL_NUM_ARGS 1 #define CNOID_SIGNAL_TEMPLATE_PARMS typename T1 #define CNOID_SIGNAL_TEMPLATE_ARGS T1 #define CNOID_SIGNAL_PARMS T1 a1 #define CNOID_SIGNAL_ARGS a1 #define CNOID_SIGNAL_ARGS_AS_MEMBERS T1 a1; #define CNOID_SIGNAL_COPY_PARMS T1 ia1 #define CNOID_SIGNAL_INIT_ARGS :a1(ia1) #include "SignalTemplate.h" #undef CNOID_SIGNAL_INIT_ARGS #undef CNOID_SIGNAL_COPY_PARMS #undef CNOID_SIGNAL_ARGS_AS_MEMBERS #undef CNOID_SIGNAL_ARGS #undef CNOID_SIGNAL_PARMS #undef CNOID_SIGNAL_TEMPLATE_ARGS #undef CNOID_SIGNAL_TEMPLATE_PARMS #undef CNOID_SIGNAL_NUM_ARGS #define CNOID_SIGNAL_NUM_ARGS 2 #define CNOID_SIGNAL_TEMPLATE_PARMS typename T1, typename T2 #define CNOID_SIGNAL_TEMPLATE_ARGS T1, T2 #define CNOID_SIGNAL_PARMS T1 a1, T2 a2 #define CNOID_SIGNAL_ARGS a1, a2 #define CNOID_SIGNAL_ARGS_AS_MEMBERS T1 a1;T2 a2; #define CNOID_SIGNAL_COPY_PARMS T1 ia1, T2 ia2 #define CNOID_SIGNAL_INIT_ARGS :a1(ia1), a2(ia2) #include "SignalTemplate.h" #undef CNOID_SIGNAL_INIT_ARGS #undef CNOID_SIGNAL_COPY_PARMS #undef CNOID_SIGNAL_ARGS_AS_MEMBERS #undef CNOID_SIGNAL_ARGS #undef CNOID_SIGNAL_PARMS #undef CNOID_SIGNAL_TEMPLATE_ARGS #undef CNOID_SIGNAL_TEMPLATE_PARMS #undef CNOID_SIGNAL_NUM_ARGS #define CNOID_SIGNAL_NUM_ARGS 3 #define CNOID_SIGNAL_TEMPLATE_PARMS typename T1, typename T2, typename T3 #define CNOID_SIGNAL_TEMPLATE_ARGS T1, T2, T3 #define CNOID_SIGNAL_PARMS T1 a1, T2 a2, T3 a3 #define CNOID_SIGNAL_ARGS a1, a2, a3 #define CNOID_SIGNAL_ARGS_AS_MEMBERS T1 a1;T2 a2;T3 a3; #define CNOID_SIGNAL_COPY_PARMS T1 ia1, T2 ia2, T3 ia3 #define CNOID_SIGNAL_INIT_ARGS :a1(ia1), a2(ia2), a3(ia3) #include "SignalTemplate.h" #undef CNOID_SIGNAL_INIT_ARGS #undef CNOID_SIGNAL_COPY_PARMS #undef CNOID_SIGNAL_ARGS_AS_MEMBERS #undef CNOID_SIGNAL_ARGS #undef CNOID_SIGNAL_PARMS #undef CNOID_SIGNAL_TEMPLATE_ARGS #undef CNOID_SIGNAL_TEMPLATE_PARMS #undef CNOID_SIGNAL_NUM_ARGS namespace cnoid { namespace signal_private { template class real_get_signal_impl; template class real_get_signal_impl<0, Signature, Combiner> { typedef boost::function_traits traits; public: typedef Signal0 type; }; template class real_get_signal_impl<1, Signature, Combiner> { typedef boost::function_traits traits; public: typedef Signal1 type; }; template class real_get_signal_impl<2, Signature, Combiner> { typedef boost::function_traits traits; public: typedef Signal2 type; }; template class real_get_signal_impl<3, Signature, Combiner> { typedef boost::function_traits traits; public: typedef Signal3 type; }; template struct get_signal_impl : public real_get_signal_impl< (boost::function_traits::arity), Signature, Combiner> { }; } // namespace signal_private template< typename TSignature, typename Combiner = signal_private::last_value::result_type> > class Signal : public signal_private::get_signal_impl::type { public: typedef TSignature Signature; }; template struct signal_traits { }; template struct signal_traits< Signal > { typedef Connection connection_type; }; // for boost.signals /* template struct signal_traits< boost::signal > { typedef boost::signals::connection connection_type; }; */ class LogicalProduct { public: typedef bool result_type; template bool operator()(InputIterator first, InputIterator last) const { bool result = true; while(first != last){ result &= *first++; } return result; } }; class LogicalSum { public: typedef bool result_type; template bool operator()(InputIterator first, InputIterator last) const { bool result = false; while(first != last){ result |= *first++; } return result; } }; template< typename Signature, typename Combiner = signal_private::last_value::result_type> > class SignalProxy { public: typedef Signal SignalType; SignalProxy() : signal(0) { } SignalProxy(SignalType& signal) : signal(&signal) { } SignalProxy(const SignalProxy& org) : signal(org.signal) { } SignalProxy& operator=(const SignalProxy& rhs) { signal = rhs.signal; } typedef typename signal_traits::connection_type connection_type; connection_type connect(typename SignalType::slot_function_type f){ if(signal){ return signal->connect(f); } else { return connection_type(); } }; private: SignalType* signal; }; } // namespace cnoid; #endif choreonoid-1.5.0/src/Util/exportdecl.h0000664000000000000000000000176012741425367016413 0ustar rootroot#ifndef CNOID_UTIL_EXPORTDECL_H_INCLUDED # define CNOID_UTIL_EXPORTDECL_H_INCLUDED # if defined _WIN32 || defined __CYGWIN__ # define CNOID_UTIL_DLLIMPORT __declspec(dllimport) # define CNOID_UTIL_DLLEXPORT __declspec(dllexport) # define CNOID_UTIL_DLLLOCAL # else # if __GNUC__ >= 4 # define CNOID_UTIL_DLLIMPORT __attribute__ ((visibility("default"))) # define CNOID_UTIL_DLLEXPORT __attribute__ ((visibility("default"))) # define CNOID_UTIL_DLLLOCAL __attribute__ ((visibility("hidden"))) # else # define CNOID_UTIL_DLLIMPORT # define CNOID_UTIL_DLLEXPORT # define CNOID_UTIL_DLLLOCAL # endif # endif # ifdef CNOID_UTIL_STATIC # define CNOID_UTIL_DLLAPI # define CNOID_UTIL_LOCAL # else # ifdef CnoidUtil_EXPORTS # define CNOID_UTIL_DLLAPI CNOID_UTIL_DLLEXPORT # else # define CNOID_UTIL_DLLAPI CNOID_UTIL_DLLIMPORT # endif # define CNOID_UTIL_LOCAL CNOID_UTIL_DLLLOCAL # endif #endif #ifdef CNOID_EXPORT # undef CNOID_EXPORT #endif #define CNOID_EXPORT CNOID_UTIL_DLLAPI choreonoid-1.5.0/src/Util/SceneVisitor.h0000664000000000000000000000253612741425367016661 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_SCENE_VISITOR_H #define CNOID_UTIL_SCENE_VISITOR_H #include "SceneGraph.h" #include "ValueTree.h" #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT SceneVisitor { public: SceneVisitor(); virtual ~SceneVisitor(); virtual void visitNode(SgNode* node); virtual void visitGroup(SgGroup* group); virtual void visitInvariantGroup(SgInvariantGroup* group); virtual void visitTransform(SgTransform* transform); virtual void visitPosTransform(SgPosTransform* transform); virtual void visitScaleTransform(SgScaleTransform* transform); virtual void visitSwitch(SgSwitch* switchNode); virtual void visitUnpickableGroup(SgUnpickableGroup* group); virtual void visitShape(SgShape* shape); virtual void visitPlot(SgPlot* plot); virtual void visitPointSet(SgPointSet* pointSet); virtual void visitLineSet(SgLineSet* lineSet); virtual void visitPreprocessed(SgPreprocessed* preprocessed); virtual void visitLight(SgLight* light); virtual void visitFog(SgFog* fog); virtual void visitCamera(SgCamera* camera); virtual void visitOverlay(SgOverlay* overlay); virtual void visitOutlineGroup(SgOutlineGroup* outline); Mapping* property() { return property_.get(); } private: MappingPtr property_; }; } #endif choreonoid-1.5.0/src/Util/MultiAffine3Seq.cpp0000664000000000000000000001227512741425367017537 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "MultiAffine3Seq.h" #include "PlainSeqFormatLoader.h" #include "ValueTree.h" #include "YAMLWriter.h" #include "EigenUtil.h" #include using namespace std; using namespace cnoid; MultiAffine3Seq::MultiAffine3Seq() : MultiAffine3Seq::BaseSeqType("MultiAffine3Seq") { } MultiAffine3Seq::MultiAffine3Seq(int numFrames, int numParts) : MultiAffine3Seq::BaseSeqType("MultiAffine3Seq", numFrames, numParts) { } MultiAffine3Seq::MultiAffine3Seq(const MultiAffine3Seq& org) : MultiAffine3Seq::BaseSeqType(org) { } MultiAffine3Seq::~MultiAffine3Seq() { } AbstractSeqPtr MultiAffine3Seq::cloneSeq() const { return boost::make_shared(*this); } bool MultiAffine3Seq::loadPlainFormat(const std::string& filename) { clearSeqMessage(); PlainSeqFileLoader loader; if(!loader.load(filename)){ addSeqMessage(loader.errorMessage()); return false; } if(loader.numParts() < 12){ addSeqMessage(filename + "does not have 12-columns " "(3 for position vectors, 9 for attitde matrices)"); return false; } setDimension(loader.numFrames(), 1); setTimeStep(loader.timeStep()); int i = 0; Part base = part(0); for(PlainSeqFileLoader::iterator it = loader.begin(); it != loader.end(); ++it){ vector& data = *it; base[i].translation() << data[1], data[2], data[3]; base[i].linear() << data[ 4], data[ 5], data[ 6], data[ 7], data[ 8], data[ 9], data[10], data[11], data[12]; ++i; } return true; } bool MultiAffine3Seq::saveTopPartAsPlainFormat(const std::string& filename) { clearSeqMessage(); boost::format f("%1$.4f"); const int nFrames = numFrames(); if(nFrames > 0 && numParts() > 0){ ofstream os(filename.c_str()); if(!os){ addSeqMessage(filename + " cannot be opened."); return false; } const double r = frameRate(); Part base = part(0); for(int i=0; i < nFrames; ++i){ os << (f % (i / r)); const Affine3& T = base[i]; for(int j=0; j < 3; ++j){ os << " " << T.translation()[j]; } for(int j=0; j < 3; ++j){ for(int k=0; k < 3; ++k){ double m = T.linear()(j, k); if(fabs(m) < 1.0e-14){ m = 0.0; } os << " " << m; } } os << " 0 0 0 0 0 0"; // velocity elements (dv, omega) os << "\n"; } return true; } return false; } static inline void writeAffine3(YAMLWriter& writer, const Affine3& value) { writer.startFlowStyleListing(); writer.putScalar(value.translation().x()); writer.putScalar(value.translation().y()); writer.putScalar(value.translation().z()); Vector3 rpy(rpyFromRot(value.linear())); writer.putScalar(rpy[0]); writer.putScalar(rpy[1]); writer.putScalar(rpy[2]); writer.endListing(); } bool MultiAffine3Seq::doWriteSeq(YAMLWriter& writer) { if(BaseSeqType::doWriteSeq(writer)){ writer.putKeyValue("format", "XYZRPY"); writer.putKey("frames"); writer.startListing(); const int m = numParts(); const int n = numFrames(); for(int i=0; i < n; ++i){ Frame f = frame(i); writer.startFlowStyleListing(); for(int j=0; j < m; ++j){ writeAffine3(writer, f[j]); } writer.endListing(); } writer.endListing(); return true; } return false; } static void readAffine3(const Listing& node, Affine3& out_value) { if(node.size() == 6){ Affine3::TranslationPart t = out_value.translation(); t[0] = node[0].toDouble(); t[1] = node[1].toDouble(); t[2] = node[2].toDouble(); const double r = node[3].toDouble(); const double p = node[4].toDouble(); const double y = node[5].toDouble(); out_value.linear() = rotFromRpy(r, p, y); } } bool MultiAffine3Seq::doReadSeq(const Mapping& archive) { if(BaseSeqType::doReadSeq(archive)){ const string& type = archive["type"].toString(); if((type == seqType() || type == "MultiSe3Seq") && (archive["format"].toString() == "XYZRPY")){ const Listing& values = *archive.findListing("frames"); if(values.isValid()){ const int nParts = archive["numParts"].toInt(); const int nFrames = values.size(); setDimension(nFrames, nParts); for(int i=0; i < nFrames; ++i){ const Listing& frameNode = *values[i].toListing(); Frame f = frame(i); const int n = std::min(frameNode.size(), nParts); for(int j=0; j < n; ++j){ readAffine3(*frameNode[j].toListing(), f[j]); } } return true; } } } return false; } choreonoid-1.5.0/src/Util/GettextUtil.cpp0000664000000000000000000000133012741425367017050 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "GettextUtil.h" #include #include #include "gettext.h" using namespace boost; using namespace cnoid; void cnoid::bindGettextDomain(const char* domainname) { #if CNOID_ENABLE_GETTEXT filesystem::path localePath = filesystem::path(executableTopDirectory()) / "share" / "locale"; if(filesystem::is_directory(localePath)){ bindtextdomain(domainname, getPathString(localePath).c_str()); } else { localePath = filesystem::path(shareDirectory()) / "locale"; if(filesystem::is_directory(localePath)){ bindtextdomain(domainname, getPathString(localePath).c_str()); } } #endif } choreonoid-1.5.0/src/Util/EasyScanner.h0000664000000000000000000001640412741425367016456 0ustar rootroot /*! @file @brief The header file of a text scanner class @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_EASYSCANNER_H_INCLUDED #define CNOID_UTIL_EASYSCANNER_H_INCLUDED #include #include #include #include #include "exportdecl.h" namespace cnoid { /** @todo introduce a pimpl to hide the use of map, vector */ class CNOID_EXPORT EasyScanner { public: class Endl { //int dummy; }; class CNOID_EXPORT Exception { public: std::string message; std::string filename; int lineNumber; std::string getFullMessage() const; }; enum TokenType { T_NONE = 0, T_SPACE, T_ALPHABET, T_INTEGER, T_DOUBLE, T_WORD, T_STRING, T_SIGLUM, T_LF, T_EOF }; typedef std::map SymbolMap; typedef std::pair SymbolPair; typedef boost::shared_ptr SymbolMapPtr; Endl endl; EasyScanner(); EasyScanner(std::string filename); EasyScanner(const EasyScanner& scanner, bool copy_text = false); virtual ~EasyScanner(); void putSymbols(); inline void registerSymbol(int id, const std::string& symbol) { symbols->insert(SymbolPair(symbol, id)); } inline int getSymbolID(const std::string& symbol) { SymbolMap::iterator p = symbols->find(symbol); return (p != symbols->end()) ? p->second : 0; } /// if 0, comment is disabled void setCommentChar(char cc); void setLineOriented(bool on); void setQuoteChar(char qc); void setWhiteSpaceChar(char ws); void loadFile(const std::string& filename); void setText(const char* text, int len); void setLineNumberOffset(int offset); void setDefaultErrorMessage(const std::string& message){ defaultErrorMessage = message; } void moveToHead(); int readToken(); void toLower(); bool readFloat(); bool readDouble(); bool readInt(); bool readChar(); bool readChar(int chara); int peekChar(); /** In contrast to readString(), this function does not recognize siglums except '_' as a part of a word. */ inline bool readWord() { skipSpace(); return readWord0(); } /** In contrast to readWord(), this function allows a string to include siglums such as !,",#,$,%,&,... */ inline bool readString(const int delimiterChar = ',') { skipSpace(); return readString0(delimiterChar); } bool readString(const char* str); inline bool readString(const std::string& str) { return readString(str.c_str()); } bool readQuotedString(bool allowNoQuotedWord = false); bool readUnquotedTextBlock(); bool readSymbol(); bool readSymbol(int id); inline bool isEOF(){ skipSpace(); return (*text == '\0'); } /// reading a line feed inline bool readLF() { skipSpace(); return readLF0(); } inline bool readLFEOF() { skipSpace(); return readLF0() ? true : (*text == '\0'); } bool checkLF(); bool readLine(); bool skipLine(); bool skipBlankLines(); void skipToLineEnd(); void skipSpace(); void throwException(const char* message); void throwException(const std::string& message); /** The exception version of readInt(). \return Scanned int value. */ inline int readIntEx(const char* message = 0) { if(!readInt()) throwException(message); return intValue; } /** The exception version of readDouble(). \return Scanned double value. */ inline double readDoubleEx(const char* message = 0) { if(!readDouble()) throwException(message); return doubleValue; } /** The exception version of readDouble(). \return Scanned double value. */ inline float readFloatEx(const char* message = 0) { if(!readFloat()) throwException(message); return floatValue; } /** The exception version of readChar(). \return Scanned char value. */ inline int readCharEx(const char* message = 0) { if(!readChar()) throwException(message); return charValue; } /** The exception version of readChar(). */ inline void readCharEx(int chara, const char* message = 0) { if(!readChar(chara)) throwException(message); } /** The exception version of readWord(). \return Scanned word string. */ inline const std::string& readWordEx(const char* message = 0) { if(!readWord()) throwException(message); return stringValue; } inline void checkStringEx(const char* str, const char* message = 0){ if(!readString(str)) throwException(message); } /** The exception version of readString(). \return Scanned word string. */ inline const std::string& readStringEx(const char* message = 0) { if(!readString()) throwException(message); return stringValue; } inline const std::string& readQuotedStringEx(const char* message = 0) { if(!readQuotedString()) throwException(message); return stringValue; } /** The exception version of readSymbol(). \return ID of the scanned symbol. */ inline int readSymbolEx(const char* message = 0) { if(!readSymbol()) throwException(message); return symbolValue; } /** The exception version of readLF(). */ inline void readLFex(const char* message = 0) { if(!readLF()) throwException(message); } inline void readLFEOFex(const char* message = 0) { if(!readLFEOF()) throwException(message); } int intValue; double doubleValue; float floatValue; std::string stringValue; char charValue; int symbolValue; std::string defaultErrorMessage; int lineNumber; char* text; std::string filename; private: void init(); bool extractQuotedString(); bool readLF0(); bool readWord0(); bool readString0(const int delimiterChar); char* textBuf; int size; char* textBufEnd; int lineNumberOffset; int commentChar; int quoteChar; bool isLineOriented; std::vector whiteSpaceChars; SymbolMapPtr symbols; friend CNOID_EXPORT EasyScanner& operator>>(EasyScanner& scanner, double& value); friend CNOID_EXPORT EasyScanner& operator>>(EasyScanner& scanner, int& value); friend CNOID_EXPORT EasyScanner& operator>>(EasyScanner& scanner, const char* matchString); friend CNOID_EXPORT EasyScanner& operator>>(EasyScanner& scanner, char matchChar); friend CNOID_EXPORT EasyScanner& operator>>(EasyScanner& scanner, std::string& str); friend CNOID_EXPORT EasyScanner& operator>>(EasyScanner& scanner, EasyScanner::Endl endl); }; CNOID_EXPORT EasyScanner& operator>>(EasyScanner& scanner, double& value); CNOID_EXPORT EasyScanner& operator>>(EasyScanner& scanner, int& value); CNOID_EXPORT EasyScanner& operator>>(EasyScanner& scanner, const char* matchString); CNOID_EXPORT EasyScanner& operator>>(EasyScanner& scanner, char matchChar); CNOID_EXPORT EasyScanner& operator>>(EasyScanner& scanner, std::string& str); CNOID_EXPORT EasyScanner& operator>>(EasyScanner& scanner, EasyScanner::Endl endl); } #endif choreonoid-1.5.0/src/Util/STLSceneLoader.h0000664000000000000000000000062412741425367017007 0ustar rootroot#ifndef CNOID_UTIL_STL_SCENE_LOADER_H #define CNOID_UTIL_STL_SCENE_LOADER_H #include "AbstractSceneLoader.h" #include "exportdecl.h" namespace cnoid { class STLSceneLoaderImpl; class CNOID_EXPORT STLSceneLoader : public AbstractSceneLoader { public: virtual const char* format() const; virtual SgNode* load(const std::string& fileName); private: STLSceneLoaderImpl* impl; }; }; #endif choreonoid-1.5.0/src/Util/UniformCubicBSpline.h0000664000000000000000000000655412741425367020112 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_UNIFORM_CUBIC_BSPLINE_H_INCLUDED #define CNOID_UTIL_UNIFORM_CUBIC_BSPLINE_H_INCLUDED #include namespace cnoid { template class UniformCubicBSplineBase { int numSamples; double dtinv; protected: Eigen::Matrix M; public: UniformCubicBSplineBase(int numSamples, double dtinv) : numSamples(numSamples), dtinv(dtinv) { M << -1.0, 3.0, -3.0, 1.0, 3.0, -6.0, 3.0, 0.0, -3.0, 0.0, 3.0, 0.0, 1.0, 4.0, 1.0, 0.0; } void findKnotPosition(ElementType t, int* out_knot, Eigen::Matrix& out_u) { out_knot[1] = t * dtinv; out_knot[0] = out_knot[1] - 1; out_knot[2] = out_knot[1] + 1; out_knot[3] = out_knot[1] + 2; if(out_knot[0] < 0){ out_knot[0] = 0; if(out_knot[1] < 0){ out_knot[1] = 0; t = 0.0; } } else if(out_knot[3] >= numSamples){ out_knot[3] = numSamples - 1; if(out_knot[2] >= numSamples){ out_knot[2] = numSamples - 1; if(out_knot[1] >= numSamples){ out_knot[1] = numSamples - 1; t = 1.0; } } } t = fmod(t * dtinv, 1.0); ElementType t2 = t * t; out_u << (t2 * t), t2, t, 1.0; } }; template class UniformCubicBSpline : public UniformCubicBSplineBase { typedef UniformCubicBSplineBase SuperClass; ElementType* x; public: UniformCubicBSpline(ElementType* x, int numSamples, double dtinv) : UniformCubicBSplineBase(numSamples, dtinv) { } double calc(double t) { int knot[4]; Eigen::Matrix u; SuperClass::findKnotPosition(t, knot, u); Eigen::Matrix p; p << x[knot[0]], x[knot[1]], x[knot[2]], x[knot[3]]; return (u.dot(UniformCubicBSplineBase::M * p)) / 6.0; } }; template class UniformCubicBSplineVector : public UniformCubicBSplineBase { typedef UniformCubicBSplineBase SuperClass; const ContainerType& container; int vectorSize; public: typedef Eigen::Matrix SolutionType; UniformCubicBSplineVector(const ContainerType& container, int numSamples, int vectorSize, double dtinv) : UniformCubicBSplineBase(numSamples, dtinv), container(container), vectorSize(vectorSize) { } void calc(double t, SolutionType& out_solution) { int knot[4]; Eigen::Matrix u; SuperClass::findKnotPosition(t, knot, u); typedef Eigen::Matrix ValueMatrix; ValueMatrix P(4, vectorSize); for(int i=0; i < 4; ++i){ VectorType value = container[knot[i]]; typename ValueMatrix::RowXpr p = P.row(i); for(int j=0; j < vectorSize; ++j){ p(j) = value[j]; } } out_solution = u * (UniformCubicBSplineBase::M * P) / 6.0; } }; } #endif choreonoid-1.5.0/src/Util/SceneMarkers.cpp0000664000000000000000000000745112741425367017162 0ustar rootroot/** @author Shizuko Hattori @author Shin'ichiro Nakaoka */ #include "SceneMarkers.h" #include "MeshGenerator.h" using namespace std; using namespace cnoid; CrossMarker::CrossMarker(double size, const Vector3f& color, double lineWidth) { size_ = 0.0; vertices = new SgVertexArray; setSize(size); SgLineSet* lineSet = new SgLineSet; lineSet->setVertices(vertices); lineSet->setNumLines(3); lineSet->setLine(0, 0, 1); lineSet->setLine(1, 2, 3); lineSet->setLine(2, 4, 5); lineSet->setColors(new SgColorArray)->push_back(color); SgIndexArray& iColors = lineSet->colorIndices(); iColors.resize(6, 0); lineSet->setLineWidth(lineWidth); addChild(lineSet); } void CrossMarker::setSize(double size) { if(size != size_){ const float s = size; vertices->resize(6); vertices->at(0) << - s, 0.0f, 0.0f; vertices->at(1) << s, 0.0f, 0.0f; vertices->at(2) << 0.0f, -s, 0.0f; vertices->at(3) << 0.0f, s, 0.0f; vertices->at(4) << 0.0f,0.0f, -s; vertices->at(5) << 0.0f,0.0f, s; size_ = size; vertices->notifyUpdate(); } }; SphereMarker::SphereMarker() { initialize(1.0, Vector3f(0.8, 0.8, 0.8), 0.0); } SphereMarker::SphereMarker(double radius, const Vector3f& color, float transparency) { initialize(radius, color, transparency); } void SphereMarker::initialize(double radius, const Vector3f& color, float transparency) { SgShapePtr shape = new SgShape; MeshGenerator meshGenerator; shape->setMesh(meshGenerator.generateSphere(1.0)); material = shape->setMaterial(new SgMaterial); material->setDiffuseColor(color); material->setEmissiveColor(color); material->setTransparency(transparency); scale = new SgScaleTransform; scale->addChild(shape); scale->setScale(radius); addChild(scale); } void SphereMarker::setRadius(double r) { scale->setScale(r); scale->notifyUpdate(); } void SphereMarker::setColor(const Vector3f& c) { material->setDiffuseColor(c); material->setEmissiveColor(c); material->notifyUpdate(); } BoundingBoxMarker::BoundingBoxMarker(const BoundingBox& bbox, const Vector3f& color, float transparency, double width) { create(bbox, color, transparency, width); } BoundingBoxMarker::BoundingBoxMarker(const BoundingBox& bbox, const Vector3f& color, float transparency) { double h = bbox.max().x() - bbox.min().x(); double w = bbox.max().y() - bbox.min().y(); double d = bbox.max().z() - bbox.min().z(); double width = (h + w + d) / 3.0 / 10.0; create(bbox, color, transparency, width); } void BoundingBoxMarker::create(const BoundingBox& bbox, const Vector3f& color, float transparency, double width) { SgShape* shape = new SgShape; MeshGenerator meshGenerator; shape->setMesh(meshGenerator.generateBox(Vector3(width, width, width))); SgMaterial* material = shape->setMaterial(new SgMaterial); material->setTransparency(transparency); material->setDiffuseColor(color); material->setEmissiveColor(color); const double& x0 = bbox.min().x(); const double& x1 = bbox.max().x(); const double& y0 = bbox.min().y(); const double& y1 = bbox.max().y(); const double& z0 = bbox.min().z(); const double& z1 = bbox.max().z(); addMarker(shape, x0, y0, z0); addMarker(shape, x0, y0, z1); addMarker(shape, x0, y1, z0); addMarker(shape, x0, y1, z1); addMarker(shape, x1, y0, z0); addMarker(shape, x1, y0, z1); addMarker(shape, x1, y1, z0); addMarker(shape, x1, y1, z1); } void BoundingBoxMarker::addMarker(SgShape* shape, double x, double y, double z) { SgPosTransformPtr transform = new SgPosTransform; transform->setTranslation(Vector3(x, y, z)); transform->addChild(shape); addChild(transform); } choreonoid-1.5.0/src/Util/PointSetUtil.cpp0000664000000000000000000001660412741425367017203 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "PointSetUtil.h" #include #include #include #include using namespace std; using namespace boost; using namespace cnoid; namespace { enum Element { E_X, E_Y, E_Z, E_NORMAL_X,E_NORMAL_Y, E_NORMAL_Z, E_RGB }; typedef union { struct { unsigned char blue; unsigned char green; unsigned char red; unsigned char alpha; }; float float_value; } RGBValue; void readPoints(SgPointSet* out_pointSet, EasyScanner& scanner, const std::vector& elements, int numPoints) { SgVertexArrayPtr vertices = new SgVertexArray(); vertices->reserve(numPoints); const int numElements = elements.size(); SgNormalArrayPtr normals; bool hasNormals = false; SgColorArrayPtr colors; bool hasColors = false; for(int i=0; i < numElements; ++i){ Element element = elements[i]; if(element >= E_NORMAL_X && element <= E_NORMAL_Z){ hasNormals = true; normals = new SgNormalArray(); normals->reserve(numPoints); } else if(element == E_RGB){ hasColors = true; colors = new SgColorArray(); } } Vector3f vertex = Vector3f::Zero(); Vector3f normal = Vector3f::Zero(); Vector3f color = Vector3f::Zero(); RGBValue rgb; while(!scanner.isEOF()){ scanner.skipBlankLines(); bool hasIllegalValue = false; for(int i=0; i < numElements; ++i){ //double value = scanner.readDoubleEx("Illeagel point values"); if(!scanner.readDouble()){ // put warning here hasIllegalValue = true; scanner.skipToLineEnd(); break; } else { double value = scanner.doubleValue; switch(elements[i]){ case E_X: vertex.x() = value; break; case E_Y: vertex.y() = value; break; case E_Z: vertex.z() = value; break; case E_NORMAL_X: normal.x() = value; break; case E_NORMAL_Y: normal.y() = value; break; case E_NORMAL_Z: normal.z() = value; break; case E_RGB: rgb.float_value = value; color[0] = rgb.red / 255.0; color[1] = rgb.green / 255.0; color[2] = rgb.blue / 255.0; break; } } } if(!hasIllegalValue){ vertices->push_back(vertex); if(hasNormals){ normals->push_back(normal); } if(hasColors){ colors->push_back(color); } } scanner.readLFEOF(); } if(vertices->empty()){ throw file_read_error() << error_info_message("No valid points"); } else { out_pointSet->setVertices(vertices); out_pointSet->setNormals(normals); out_pointSet->normalIndices().clear(); out_pointSet->setColors(colors); out_pointSet->colorIndices().clear(); } } } void cnoid::loadPCD(SgPointSet* out_pointSet, const std::string& filename) { try { EasyScanner scanner(filename); scanner.setCommentChar('#'); int numPoints = 0; std::vector elements; while(true){ scanner.skipBlankLines(); scanner.readWordEx("Illegal header key"); if(scanner.stringValue == "FIELDS"){ while(scanner.readWord()){ if(scanner.stringValue == "x"){ elements.push_back(E_X); } else if(scanner.stringValue == "y"){ elements.push_back(E_Y); } else if(scanner.stringValue == "z"){ elements.push_back(E_Z); } else if(scanner.stringValue == "normal_x"){ elements.push_back(E_NORMAL_X); } else if(scanner.stringValue == "normal_y"){ elements.push_back(E_NORMAL_Y); } else if(scanner.stringValue == "normal_z"){ elements.push_back(E_NORMAL_Z); } else if(scanner.stringValue == "rgb"){ elements.push_back(E_RGB); } } } else if(scanner.stringValue == "POINTS"){ numPoints = scanner.readIntEx("The 'POINTS' field is not correctly specified."); } else if(scanner.stringValue == "DATA"){ scanner.readWordEx("The 'DATA' field is not correctly specified."); if(scanner.stringValue == "ascii"){ scanner.readLFex(); if(elements.empty()){ scanner.throwException("The specification of field elements is not found."); } readPoints(out_pointSet, scanner, elements, numPoints); break; } else { scanner.throwException("The 'ascii' format is only supported for the point DATA."); } } else { scanner.skipToLineEnd(); } scanner.readLFEOFex("The field value is not correctly specified."); } } catch(EasyScanner::Exception& ex){ throw file_read_error() << error_info_message(ex.getFullMessage()); } } void cnoid::savePCD(SgPointSet* pointSet, const std::string& filename, const Affine3& viewpoint) { if(!pointSet->hasVertices()){ throw empty_data_error() << error_info_message("Empty pointset"); } bool hasColors = pointSet->hasColors() && pointSet->colorIndices().empty(); ofstream ofs; ofs.open(filename.c_str()); ofs << scientific << setprecision(9); ofs << "# .PCD v.7 - Point Cloud Data file format\n"; ofs << "VERSION .7\n"; if(hasColors){ ofs << "FIELDS x y z rgb\n"; ofs << "SIZE 4 4 4 4\n"; ofs << "TYPE F F F F\n"; ofs << "COUNT 1 1 1 1\n"; } else { ofs << "FIELDS x y z\n"; ofs << "SIZE 4 4 4\n"; ofs << "TYPE F F F\n"; ofs << "COUNT 1 1 1\n"; } const SgVertexArray& points = *pointSet->vertices(); const int numPoints = points.size(); ofs << "WIDTH " << numPoints << "\n"; ofs << "HEIGHT 1\n"; ofs << "VIEWPOINT "; Affine3::ConstTranslationPart t = viewpoint.translation(); ofs << t.x() << " " << t.y() << " " << t.z() << " "; const Quaternion q(viewpoint.rotation()); ofs << q.w() << " " << q.x() << " " << q.y() << " " << q.z() << "\n"; ofs << "POINTS " << numPoints << "\n"; ofs << "DATA ascii\n"; if(hasColors){ RGBValue rgb; rgb.alpha = 0.0; const SgColorArray& colors = *pointSet->colors(); for(int i=0; i < numPoints; ++i){ const Vector3f& p = points[i]; const Vector3f& c = colors[i]; rgb.red = (unsigned char)(255.0 * c[0]); rgb.green = (unsigned char)(255.0 * c[1]); rgb.blue = (unsigned char)(255.0 * c[2]); ofs << p.x() << " " << p.y() << " " << p.z() << " " << rgb.float_value << "\n"; } } else { for(int i=0; i < numPoints; ++i){ const Vector3f& p = points[i]; ofs << p.x() << " " << p.y() << " " << p.z() << "\n"; } } ofs.close(); } choreonoid-1.5.0/src/Util/AbstractSeq.cpp0000664000000000000000000001026712741425367017013 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "AbstractSeq.h" #include "YAMLWriter.h" #include using namespace std; using namespace boost; using namespace cnoid; AbstractSeq::AbstractSeq(const char* seqType) : seqType_(seqType) { } AbstractSeq::AbstractSeq(const AbstractSeq& org) : seqType_(org.seqType_), content(org.content) { } AbstractSeq& AbstractSeq::operator=(const AbstractSeq& rhs) { seqType_ = rhs.seqType_; content = rhs.content; return *this; } void AbstractSeq::copySeqProperties(const AbstractSeq& source) { seqType_ = source.seqType_; content = source.content; } AbstractSeq::~AbstractSeq() { } int AbstractSeq::getOffsetTimeFrame() const { return 0; } bool AbstractSeq::readSeq(const Mapping& archive) { try { if(content.empty()){ if(!archive.read("content", content)){ archive.read("purpose", content); // old version } } setFrameRate(archive["frameRate"].toDouble()); return doReadSeq(archive); } catch (ValueNode::Exception& ex) { addSeqMessage(ex.message()); return false; } } bool AbstractSeq::doReadSeq(const Mapping& archive) { return true; } bool AbstractSeq::checkSeqContent(const Mapping& archive, const std::string contentName, bool throwEx) { string content_; if(!archive.read("content", content_)){ archive.read("purpose", content_); // old version } bool result = (content_ == contentName); if(!result){ string message; if(content_.empty()){ message = str(format("Content of %1% should be \"%2%\" but it is not specified.") % seqType() % contentName); } else { message = str(format("Content \"%1%\" of %2% is different from the required content \"%3%\".") % content_ % seqType() % contentName); } if(throwEx){ archive.throwException(message); } else { addSeqMessage(message); } } return result; } bool AbstractSeq::writeSeq(YAMLWriter& writer) { bool result = false; if(seqType().empty()){ addSeqMessage("setType() is empty."); } else { writer.startMapping(); writer.putKeyValue("type", seqType()); writer.putKeyValue("content", seqContentName()); writer.putKeyValue("frameRate", getFrameRate()); writer.putKeyValue("numFrames", getNumFrames()); result = doWriteSeq(writer); writer.endMapping(); } return result; } bool AbstractSeq::doWriteSeq(YAMLWriter& writer) { return true; } AbstractMultiSeq::AbstractMultiSeq(const char* seqType) : AbstractSeq(seqType) { } AbstractMultiSeq::AbstractMultiSeq(const AbstractMultiSeq& org) : AbstractSeq(org) { } AbstractMultiSeq& AbstractMultiSeq::operator=(const AbstractMultiSeq& rhs) { AbstractSeq::operator=(rhs); return *this; } void AbstractMultiSeq::copySeqProperties(const AbstractMultiSeq& source) { AbstractSeq::copySeqProperties(source); } AbstractMultiSeq::~AbstractMultiSeq() { } int AbstractMultiSeq::partIndex(const std::string& partLabel) const { return -1; } const std::string& AbstractMultiSeq::partLabel(int partIndex) const { static const std::string nolabel; return nolabel; } bool AbstractMultiSeq::doWriteSeq(YAMLWriter& writer) { writer.putKeyValue("numParts", getNumParts()); return true; } bool AbstractMultiSeq::readSeqPartLabels(const Mapping& archive, SetPartLabelFunction setPartLabel) { const Listing& labels = *archive.findListing("partLabels"); if(labels.isValid()){ for(int i=0; i < labels.size(); ++i){ setPartLabel(labels[i].toString(), i); } return true; } else { addSeqMessage("\"partLabels\" is not valid."); } return false; } bool AbstractMultiSeq::writeSeqPartLabels(YAMLWriter& writer) { writer.putKey("partLabels"); writer.startFlowStyleListing(); int n = getNumParts(); for(int i=0; i < n; ++i){ writer.putDoubleQuotedString(partLabel(i)); } writer.endListing(); return true; } choreonoid-1.5.0/src/Util/ImageIO.h0000664000000000000000000000103212741425367015504 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_IMAGE_IO_H #define CNOID_UTIL_IMAGE_IO_H #include "Image.h" #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT ImageIO { public: ImageIO(); void setUpsideDown(bool on) { isUpsideDown_ = on; } //! \todo implement this mode. void allocateAlphaComponent(bool on); void load(Image& image, const std::string& filename); void save(const Image& image, const std::string& filename); private: bool isUpsideDown_; }; } #endif choreonoid-1.5.0/src/Util/EigenUtil.cpp0000664000000000000000000000714212741425367016462 0ustar rootroot #include "EigenUtil.h" #include using namespace boost; namespace cnoid { Matrix3 rotFromRpy(double r, double p, double y) { const double cr = cos(r); const double sr = sin(r); const double cp = cos(p); const double sp = sin(p); const double cy = cos(y); const double sy = sin(y); Matrix3 R; R << cp*cy, sr*sp*cy - cr*sy, cr*sp*cy + sr*sy, cp*sy, sr*sp*sy + cr*cy, cr*sp*sy - sr*cy, -sp , sr*cp , cr*cp; return R; } Vector3 rpyFromRot(const Matrix3& R) { double roll, pitch, yaw; if((fabs(R(0,0)) < fabs(R(2,0))) && (fabs(R(1,0)) < fabs(R(2,0)))) { // cos(p) is nearly = 0 double sp = -R(2,0); if (sp < -1.0) { sp = -1.0; } else if (sp > 1.0) { sp = 1.0; } pitch = asin(sp); // -pi/2< p < pi/2 roll = atan2(sp * R(0,1) + R(1,2), // -cp*cp*sr*cy sp * R(0,2) - R(1,1)); // -cp*cp*cr*cy if (R(0,0) > 0.0) { // cy > 0 (roll < 0.0) ? (roll += PI) : (roll -= PI); } const double sr = sin(roll); const double cr = cos(roll); if(sp > 0.0){ yaw = atan2(sr * R(1,1) + cr * R(1,2), //sy*sp sr * R(0,1) + cr * R(0,2));//cy*sp } else { yaw = atan2(-sr * R(1,1) - cr * R(1,2), -sr * R(0,1) - cr * R(0,2)); } } else { yaw = atan2(R(1,0), R(0,0)); const double sa = sin(yaw); const double ca = cos(yaw); pitch = atan2(-R(2,0), ca * R(0,0) + sa * R(1,0)); roll = atan2(sa * R(0,2) - ca * R(1,2), -sa * R(0,1) + ca * R(1,1)); } return Vector3(roll, pitch, yaw); } Vector3 omegaFromRot(const Matrix3& R) { double alpha = (R(0,0) + R(1,1) + R(2,2) - 1.0) / 2.0; if(fabs(alpha - 1.0) < 1.0e-6) { //th=0,2PI; return Vector3::Zero(); } else { double th = acos(alpha); double s = sin(th); if (s < std::numeric_limits::epsilon()) { //th=PI return Vector3( sqrt((R(0,0)+1)*0.5)*th, sqrt((R(1,1)+1)*0.5)*th, sqrt((R(2,2)+1)*0.5)*th ); } double k = -0.5 * th / s; return Vector3((R(1,2) - R(2,1)) * k, (R(2,0) - R(0,2)) * k, (R(0,1) - R(1,0)) * k); } } std::string str(const Vector3& v) { return str(format("%1% %2% %3%") % v[0] % v[1] % v[2]); } bool toVector3(const std::string& s, Vector3& out_v) { const char* nptr = s.c_str(); char* endptr; for(int i=0; i < 3; ++i){ out_v[i] = strtod(nptr, &endptr); if(endptr == nptr){ return false; } nptr = endptr; while(isspace(*nptr)){ nptr++; } if(*nptr == ','){ nptr++; } } return true; } void normalizeRotation(Matrix3& R) { Matrix3::ColXpr x = R.col(0); Matrix3::ColXpr y = R.col(1); Matrix3::ColXpr z = R.col(2); x.normalize(); z = x.cross(y).normalized(); y = z.cross(x); } void normalizeRotation(Position& T) { typedef Position::LinearPart::ColXpr ColXpr; Position::LinearPart R = T.linear(); ColXpr x = R.col(0); ColXpr y = R.col(1); ColXpr z = R.col(2); x.normalize(); z = x.cross(y).normalized(); y = z.cross(x); } void normalizeRotation(Affine3& T) { typedef Affine3::LinearPart::ColXpr ColXpr; Affine3::LinearPart R = T.linear(); ColXpr x = R.col(0); ColXpr y = R.col(1); ColXpr z = R.col(2); x.normalize(); z = x.cross(y).normalized(); y = z.cross(x); } } choreonoid-1.5.0/src/Util/GettextUtil.h0000664000000000000000000000125412741425367016522 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_GETTEXT_UTIL_H #define CNOID_UTIL_GETTEXT_UTIL_H #include "exportdecl.h" namespace cnoid { CNOID_EXPORT void bindGettextDomain(const char* domainname); class GettextDomainBinder { public: GettextDomainBinder(const char* domainname){ bindGettextDomain(domainname); } }; } /** Implement this once in a shared library to bind a gettext domain. The "gettext.h" header must be included before using this macro. */ #define CNOID_BIND_GETTEXT_DOMAN() \ namespace { cnoid::GettextDomainBinder cnoidGettextDomainBinder(CNOID_GETTEXT_DOMAIN_NAME); } #endif choreonoid-1.5.0/src/Util/JoystickLinux.cpp0000664000000000000000000001217712741425367017420 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include "Joystick.h" #include "ExtJoystick.h" #include #include #include #include #include #include #include #include #include #include #include using namespace std; using namespace boost; using namespace cnoid; namespace cnoid { class JoystickImpl { public: Joystick* self; ExtJoystick* extJoystick; int fd; vector axes; dynamic_bitset<> axisEnabled; vector buttons; string errorMessage; Signal sigButton; Signal sigAxis; JoystickImpl(Joystick* self, const char* device); ~JoystickImpl(); bool openDevice(const char* device); void closeDevice(); bool readCurrentState(); bool readEvent(); }; } Joystick::Joystick() { impl = new JoystickImpl(this, "/dev/input/js0"); } Joystick::Joystick(const char* device) { impl = new JoystickImpl(this, device); } JoystickImpl::JoystickImpl(Joystick* self, const char* device) : self(self) { fd = -1; extJoystick = ExtJoystick::findJoystick(device); if(!extJoystick){ if(!openDevice(device)){ extJoystick = ExtJoystick::findJoystick("*"); } } } bool JoystickImpl::openDevice(const char* device) { closeDevice(); fd = open(device, O_RDONLY | O_NONBLOCK); if(fd < 0){ errorMessage = str(format("Device \"%1%\": %2%") % device % strerror(errno)); return false; } errorMessage.clear(); char numAxes; ioctl(fd, JSIOCGAXES, &numAxes); axes.resize(numAxes, 0.0); axisEnabled.resize(numAxes, true); char numButtons; ioctl(fd, JSIOCGBUTTONS, &numButtons); buttons.resize(numButtons, false); // read initial state return readCurrentState(); } Joystick::~Joystick() { delete impl; } JoystickImpl::~JoystickImpl() { closeDevice(); } void JoystickImpl::closeDevice() { if(fd >= 0){ close(fd); fd = -1; } } bool Joystick::isReady() const { return impl->extJoystick ? true : (impl->fd >= 0); } const char* Joystick::errorMessage() const { return impl->errorMessage.c_str(); } int Joystick::fileDescriptor() const { return impl->fd; } int Joystick::numAxes() const { return impl->extJoystick ? impl->extJoystick->numAxes() : impl->axes.size(); } void Joystick::setAxisEnabled(int axis, bool on) { if(!impl->extJoystick){ if(axis < impl->axes.size()){ impl->axes[axis] = 0.0; impl->axisEnabled[axis] = on; } } } int Joystick::numButtons() const { return impl->extJoystick ? impl->extJoystick->numButtons() : impl->buttons.size(); } bool Joystick::readCurrentState() { return impl->extJoystick ? impl->extJoystick->readCurrentState() : impl->readCurrentState(); } bool JoystickImpl::readCurrentState() { while(readEvent()); return (fd >= 0); } bool JoystickImpl::readEvent() { if(fd < 0){ return false; } js_event event; const float MAX_VALUE_16BIT = 32767.0f; // read data of joystick int len = read(fd, &event, sizeof(js_event)); if(len <= 0) { if(errno == EAGAIN){ return false; } else { errorMessage = strerror(errno); closeDevice(); return false; } } if(len < (int)sizeof(js_event)){ return false; } const int id = event.number; double pos = (double)event.value / MAX_VALUE_16BIT; if(event.type & JS_EVENT_BUTTON) { // button bool isPressed = (pos > 0.0); buttons[id] = isPressed; sigButton(id, isPressed); } else if(event.type & JS_EVENT_AXIS){ if(axisEnabled[id]){ // normalize value (-1.0€œ1.0) pos = nearbyint(pos * 10.0) / 10.0; double prevPos = axes[id]; if(pos != prevPos){ axes[id] = pos; sigAxis(id, pos); } } } return true; } double Joystick::getPosition(int axis) const { if(impl->extJoystick){ return impl->extJoystick->getPosition(axis); } if(axis < impl->axes.size()){ return impl->axes[axis]; } return 0.0; } bool Joystick::getButtonState(int button) const { if(impl->extJoystick){ return impl->extJoystick->getButtonState(button); } if(button < impl->buttons.size()){ return impl->buttons[button]; } return false; } bool Joystick::isActive() const { if(impl->extJoystick){ return impl->extJoystick->isActive(); } for(size_t i=0; i < impl->axes.size(); ++i){ if(impl->axes[i] != 0.0){ return true; } } for(size_t i=0; i < impl->buttons.size(); ++i){ if(impl->buttons[i]){ return true; } } return false; } SignalProxy Joystick::sigButton() { return impl->sigButton; } SignalProxy Joystick::sigAxis() { return impl->sigAxis; } choreonoid-1.5.0/src/Util/Task.cpp0000664000000000000000000002022612741425367015475 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "Task.h" #include "AbstractTaskSequencer.h" #include "ValueTree.h" using namespace std; using namespace cnoid; TaskProc::~TaskProc() { } void TaskToggleState::setChecked(bool on) { if(on != isChecked_){ isChecked_ = on; sigToggled_(on); } } TaskCommand::TaskCommand() { initialize(); } TaskCommand::TaskCommand(const std::string& caption) : caption_(caption) { initialize(); } void TaskCommand::initialize() { nextPhaseIndex_ = 0; nextCommandIndex_ = 0; level_ = 0; isNextPhaseRelative_ = true; isNextCommandRelative_ = true; isCommandLinkAutomatic_ = false; isDefault_ = false; } TaskCommand::~TaskCommand() { } TaskCommand* TaskCommand::setCheckable(bool on) { toggleState(); return this; } TaskCommand* TaskCommand::setToggleState(TaskToggleState* state) { toggleState_ = state; return this; } TaskToggleState* TaskCommand::toggleState() { if(!toggleState_){ toggleState_ = new TaskToggleState(); } return toggleState_; } TaskCommand* TaskCommand::setChecked(bool on) { toggleState()->setChecked(on); return this; } bool TaskCommand::isChecked() const { if(toggleState_){ return toggleState_->isChecked(); } return false; } int TaskCommand::nextPhaseIndex(int currentPhaseIndex) const { return isNextPhaseRelative_ ? (currentPhaseIndex + nextPhaseIndex_) : nextPhaseIndex_; } TaskCommand* TaskCommand::setPhaseLink(int phaseIndex) { nextPhaseIndex_ = phaseIndex; isNextPhaseRelative_ = false; return this; } TaskCommand* TaskCommand::setPhaseLinkStep(int phaseIndexStep) { nextPhaseIndex_ = phaseIndexStep; isNextPhaseRelative_ = true; return this; } int TaskCommand::nextCommandIndex(int currentCommandIndex) const { return isNextCommandRelative_ ? (currentCommandIndex + nextCommandIndex_) : nextCommandIndex_; } TaskCommand* TaskCommand::setCommandLink(int commandIndex) { nextCommandIndex_ = commandIndex; isNextCommandRelative_ = false; return this; } TaskCommand* TaskCommand::setCommandLinkStep(int commandIndexStep) { nextCommandIndex_ = commandIndexStep; isNextCommandRelative_ = true; return this; } TaskPhase::TaskPhase(const std::string& caption) : caption_(caption) { isSkipped_ = false; } TaskPhase::TaskPhase(const TaskPhase& org, bool doDeepCopy) : caption_(org.caption_), preCommand_(org.preCommand_), commands(org.commands), isSkipped_(org.isSkipped_) { if(doDeepCopy){ for(size_t i=0; i < commands.size(); ++i){ commands[i] = new TaskCommand(*commands[i]); } } } TaskPhase::~TaskPhase() { } TaskPhase* TaskPhase::clone(bool doDeepCopy) { return new TaskPhase(*this, doDeepCopy); } void TaskPhase::setCaption(const std::string& str) { caption_ = str; } void TaskPhase::setPreCommand(TaskFunc func) { preCommand_ = func; } TaskCommand* TaskPhase::addCommand() { TaskCommand* command = new TaskCommand(); commands.push_back(command); return command; } TaskCommand* TaskPhase::addCommand(const std::string& caption) { TaskCommand* command = new TaskCommand(caption); commands.push_back(command); return command; } TaskCommand* TaskPhase::addToggleCommand() { return addCommand()->setCheckable(); } TaskCommand* TaskPhase::addToggleCommand(const std::string& caption) { return addCommand(caption)->setCheckable(); } TaskCommand* TaskPhase::command(int index) const { TaskCommand* command = 0; if(index >= 0 && index < commands.size()){ command = commands[index]; } return command; } TaskPhaseProxyPtr TaskPhase::commandLevel(int level) { TaskPhaseProxyPtr proxy = new TaskPhaseProxy(this); proxy->setCommandLevel(level); return proxy; } int TaskPhase::maxCommandLevel() const { int maxLevel = -1; for(size_t i=0; i < commands.size(); ++i){ maxLevel = std::max(maxLevel, commands[i]->level()); } return maxLevel; } TaskPhaseProxy::TaskPhaseProxy(TaskPhase* phase) : phase(phase) { commandLevel_ = 0; } void TaskPhaseProxy::setCommandLevel(int level) { commandLevel_ = level; } TaskCommand* TaskPhaseProxy::addCommand() { TaskCommand* command = phase->addCommand(); command->setLevel(commandLevel_); return command; } TaskCommand* TaskPhaseProxy::addCommand(const std::string& caption) { TaskCommand* command = phase->addCommand(caption); command->setLevel(commandLevel_); return command; } TaskCommand* TaskPhaseProxy::addToggleCommand() { return addCommand()->setCheckable(); } TaskCommand* TaskPhaseProxy::addToggleCommand(const std::string& caption) { return addCommand(caption)->setCheckable(); } TaskMenu::~TaskMenu() { } Task::Task() { addPhase(""); addCommand("Start")->linkToNextPhase(); } Task::Task(const std::string& name, const std::string& caption) : name_(name), caption_(caption) { addPhase(caption); addCommand("Start")->linkToNextPhase(); } Task::Task(const Task& org, bool doDeepCopy) : name_(org.name_), caption_(org.caption_), phases_(org.phases_) { if(doDeepCopy){ for(size_t i=0; i < phases_.size(); ++i){ phases_[i] = new TaskPhase(*phases_[i], true); } } } Task::~Task() { } void Task::setName(const std::string& str) { name_ = str; } void Task::setCaption(const std::string& str) { caption_ = str; if(numPhases() > 0){ phase(0)->setCaption(caption_); } } TaskPhase* Task::phase(int index) { if(index >= 0 && index < phases_.size()){ return phases_[index]; } return 0; } TaskPhase* Task::addPhase(TaskPhase* phase) { phases_.push_back(phase); return phase; } TaskPhase* Task::addPhase(const std::string& caption) { TaskPhase* phase = new TaskPhase(caption); addPhase(phase); return phase; } TaskPhase* Task::lastPhase() { if(!phases_.empty()){ return phases_.back(); } return 0; } void Task::setPreCommand(TaskFunc func) { if(TaskPhase* last = lastPhase()){ last->setPreCommand(func); } } TaskCommand* Task::addCommand() { if(TaskPhase* last = lastPhase()){ return last->addCommand(); } return 0; } TaskCommand* Task::addCommand(const std::string& caption) { if(TaskPhase* last = lastPhase()){ return last->addCommand(caption); } return 0; } TaskCommand* Task::addToggleCommand() { if(TaskCommand* command = addCommand()){ return command->setCheckable(); } return 0; } TaskCommand* Task::addToggleCommand(const std::string& caption) { if(TaskCommand* command = addCommand(caption)){ return command->setCheckable(); } return 0; } TaskCommand* Task::lastCommand() { if(TaskPhase* last = lastPhase()){ return last->lastCommand(); } return 0; } int Task::lastCommandIndex() { if(TaskPhase* last = lastPhase()){ return last->lastCommandIndex(); } return -1; } TaskPhaseProxyPtr Task::commandLevel(int level) { if(TaskPhase* last = lastPhase()){ return last->commandLevel(level); } return 0; } int Task::maxCommandLevel() const { if(!phases_.empty()){ return phases_.back()->maxCommandLevel(); } return -1; } namespace { struct FuncToSetCommandLink { int commandIndex; FuncToSetCommandLink(int commandIndex) : commandIndex(commandIndex) { } void operator()(TaskProc* proc) { proc->setNextCommand(commandIndex); } }; } TaskFunc Task::funcToSetCommandLink(int commandIndex) const { return FuncToSetCommandLink(commandIndex); } void Task::onMenuRequest(TaskMenu& menu) { } void Task::onActivated(AbstractTaskSequencer* sequencer) { } void Task::onDeactivated(AbstractTaskSequencer* sequencer) { } void Task::storeState(AbstractTaskSequencer* sequencer, Mapping& archive) { archive.write("phaseIndex", sequencer->currentPhaseIndex()); } void Task::restoreState(AbstractTaskSequencer* sequencer, const Mapping& archive) { sequencer->setCurrentPhase(archive.get("phaseIndex", 0)); } choreonoid-1.5.0/src/Util/ExtJoystick.cpp0000664000000000000000000000226712741425367017060 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include "ExtJoystick.h" #include #include using namespace std; using namespace cnoid; namespace { typedef map JoystickMap; JoystickMap joystickMap; void onExtJoystickDestroyed(JoystickMap::iterator iter, ExtJoystick* joystick) { if(iter->second == joystick){ joystickMap.erase(iter); } } } void ExtJoystick::registerJoystick(const std::string& name, ExtJoystick* joystick) { pair result = joystickMap.insert(JoystickMap::value_type(name, joystick)); if(!result.second){ // overwrite a pre-registered object result.first->second = joystick; } joystick->sigDestroyed().connect(boost::bind(onExtJoystickDestroyed, result.first, joystick)); } ExtJoystick* ExtJoystick::findJoystick(const std::string& name) { if(!joystickMap.empty()){ if(name == "*"){ return joystickMap.begin()->second; } JoystickMap::iterator p = joystickMap.find(name); if(p != joystickMap.end()){ return p->second; } } return 0; } ExtJoystick::~ExtJoystick() { sigDestroyed_(); } choreonoid-1.5.0/src/Util/ValueTree.h0000664000000000000000000004046612741425367016144 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_VALUE_TREE_H #define CNOID_UTIL_VALUE_TREE_H #include "Referenced.h" #include "UTF8.h" #include #include #include "exportdecl.h" namespace cnoid { class YAMLReaderImpl; class YAMLWriter; class ValueNode; class ScalarNode; class Mapping; class Listing; #ifndef CNOID_BACKWARD_COMPATIBILITY enum StringStyle { PLAIN_STRING, SINGLE_QUOTED, DOUBLE_QUOTED, LITERAL_STRING, FOLDED_STRING }; #else enum StringStyle { PLAIN_STRING, YAML_PLAIN_STRING = PLAIN_STRING, SINGLE_QUOTED, YAML_SINGLE_QUOTED = SINGLE_QUOTED, DOUBLE_QUOTED, YAML_DOUBLE_QUOTED = DOUBLE_QUOTED, LITERAL_STRING, YAML_LITERAL = LITERAL_STRING, FOLDED_STRING, YAML_FOLDED = FOLDED_STRING }; #endif class CNOID_EXPORT ValueNode : public Referenced { struct Initializer { Initializer(); }; static Initializer initializer; public: virtual ValueNode* clone() const; #ifndef CNOID_BACKWARD_COMPATIBILITY enum TypeBit { INVALID_NODE = 0, SCALAR = 1, MAPPING = 2, LISTING = 4, INSERT_LF = 8, APPEND_LF = 16 }; #else enum TypeBit { INVALID_NODE = 0, SCALAR = 1, MAPPING = 2, LISTING = 4, SEQUENCE = 4, INSERT_LF = 8, APPEND_LF = 16 }; #endif bool isValid() const { return typeBits; } TypeBit LFType() const { return (TypeBit)(typeBits & (INSERT_LF | APPEND_LF)); } TypeBit nodeType() const { return (TypeBit)(typeBits & 7); } int toInt() const; double toDouble() const; bool toBool() const; bool isScalar() const { return typeBits & SCALAR; } bool isString() const { return typeBits & SCALAR; } #ifdef _WIN32 const std::string toString() const; const std::string toUTF8String() const; operator const std::string () const { return toString(); } #else const std::string& toString() const; const std::string& toUTF8String() const; operator const std::string& () const { return toString(); } #endif //template T to() const { return ""; } template T to() const; bool isMapping() const { return typeBits & MAPPING; } const Mapping* toMapping() const; Mapping* toMapping(); bool isListing() const { return typeBits & LISTING; } const Listing* toListing() const; Listing* toListing(); #ifdef CNOID_BACKWARD_COMPATIBILITY bool isSequence() const { return typeBits & LISTING; } const Listing* toSequence() const { return toListing(); } Listing* toSequence() { return toListing(); } #endif bool read(int &out_value) const; bool read(double &out_value) const; bool read(bool &out_value) const; bool read(std::string &out_value) const; bool readUTF8String(std::string& out_value) const; bool hasLineInfo() const { return (line_ >= 0); } int line() const { return line_ + 1; } int column() const { return column_ + 1; } void throwException(const std::string& message) const; /** \todo integrate the exception classes with the common ones defined in Exception.h */ class CNOID_EXPORT Exception { public: Exception(); virtual ~Exception(); int line() const { return line_; } int column() const { return column_; } std::string message() const; void setPosition(int line, int column) { line_ = line; column_ = column; } void setMessage(const std::string& m){ message_ = m; } private: int line_; int column_; std::string message_; }; class KeyNotFoundException : public Exception { public: const std::string& key() { return key_; } void setKey(const std::string& key) { key_ = key; } private: std::string key_; }; class EmptyKeyException : public Exception { }; class NotScalarException : public Exception { }; class ScalarTypeMismatchException : public Exception { }; class NotMappingException : public Exception { }; class NotListingException : public Exception { }; class SyntaxException : public Exception { }; class DocumentNotFoundException : public Exception { }; class FileException : public Exception { }; class UnknownNodeTypeException : public Exception { }; protected: ValueNode() { } ValueNode(TypeBit type) : typeBits(type), line_(-1), column_(-1) { } virtual ~ValueNode() { } void throwNotScalrException() const; void throwNotMappingException() const; void throwNotListingException() const; int typeBits; private: ValueNode(const ValueNode& org); ValueNode& operator=(const ValueNode&); int line_; int column_; int indexInMapping; // used for YAMLWriter friend class YAMLReaderImpl; friend class YAMLWriter; friend class ScalarNode; friend class Mapping; friend class Listing; }; template<> inline double ValueNode::to() const { return toDouble(); } template<> inline int ValueNode::to() const { return toInt(); } template<> inline std::string ValueNode::to() const { return toString(); } typedef ref_ptr ValueNodePtr; class CNOID_EXPORT ScalarNode : public ValueNode { public: ScalarNode(const std::string& value, StringStyle stringStyle = PLAIN_STRING); ScalarNode(int value); virtual ValueNode* clone() const; private: ScalarNode(const char* text, size_t length); ScalarNode(const char* text, size_t length, StringStyle stringStyle); ScalarNode(const ScalarNode& org); std::string stringValue; StringStyle stringStyle; friend class YAMLReaderImpl; friend class YAMLWriter; friend class ValueNode; friend class Mapping; friend class Listing; }; class CNOID_EXPORT Mapping : public ValueNode { typedef std::map Container; public: typedef Container::iterator iterator; typedef Container::const_iterator const_iterator; Mapping(); Mapping(int line, int column); virtual ~Mapping(); virtual ValueNode* clone() const; bool empty() const { return values.empty(); } int size() const { return values.size(); } void clear(); void setFlowStyle(bool isFlowStyle = true) { isFlowStyle_ = isFlowStyle; } bool isFlowStyle() const { return isFlowStyle_; } void setDoubleFormat(const char* format); const char* doubleFormat() { return doubleFormat_; } void setKeyQuoteStyle(StringStyle style); ValueNode* find(const std::string& key) const; Mapping* findMapping(const std::string& key) const; Listing* findListing(const std::string& key) const; ValueNodePtr extract(const std::string& key); ValueNode& get(const std::string& key) const; ValueNode& operator[](const std::string& key) const { return get(key); } void insert(const std::string& key, ValueNode* node); void insert(const Mapping* other); Mapping* openMapping(const std::string& key) { return openMapping(key, false); } Mapping* openFlowStyleMapping(const std::string& key) { return openFlowStyleMapping(key, false); } Mapping* createMapping(const std::string& key) { return openMapping(key, true); } Mapping* createFlowStyleMapping(const std::string& key) { return openFlowStyleMapping(key, true); } Listing* openListing(const std::string& key) { return openListing(key, false); } Listing* openFlowStyleListing(const std::string& key){ return openFlowStyleListing(key, false); } Listing* createListing(const std::string& key){ return openListing(key, true); } Listing* createFlowStyleListing(const std::string& key){ return openFlowStyleListing(key, true); } bool remove(const std::string& key); bool read(const std::string &key, std::string &out_value) const; bool readUTF8(const std::string &key, std::string &out_value) const; bool read(const std::string &key, bool &out_value) const; bool read(const std::string &key, int &out_value) const; bool read(const std::string &key, double &out_value) const; template T read(const std::string& key) const { T value; if(read(key, value)){ return value; } else { throwKeyNotFoundException(key); } } template T get(const std::string& key, const T& defaultValue) const { T value; if(read(key, value)){ return value; } else { return defaultValue; } } std::string get(const std::string& key, const char* defaultValue) const { std::string value; if(read(key, value)){ return value; } else { return defaultValue; } } void writeUTF8(const std::string &key, const std::string& value, StringStyle stringStyle = PLAIN_STRING); void write(const std::string &key, const std::string& value, StringStyle stringStyle = PLAIN_STRING) { writeUTF8(key, toUTF8(value), stringStyle); } void writeUTF8(const std::string &key, const char* value, StringStyle stringStyle = PLAIN_STRING){ writeUTF8(key, std::string(value), stringStyle); } void write(const std::string &key, const char* value, StringStyle stringStyle = PLAIN_STRING){ write(key, std::string(value), stringStyle); } void write(const std::string &key, bool value); void write(const std::string &key, int value); void write(const std::string &key, double value); void writePath(const std::string &key, const std::string& value); typedef enum { READ_MODE, WRITE_MODE } AssignMode; void setAssignMode(AssignMode mode) { this->mode = mode; } template void assign(const std::string& key, T& io_value, const T& defaultValue){ switch(mode){ case READ_MODE: if(!read(key, io_value)){ io_value = defaultValue; } break; case WRITE_MODE: write(key, io_value); break; } } iterator begin() { return values.begin(); } iterator end() { return values.end(); } const_iterator begin() const { return values.begin(); } const_iterator end() const { return values.end(); } void throwKeyNotFoundException(const std::string& key) const; #ifdef CNOID_BACKWARD_COMPATIBILITY Listing* findSequence(const std::string& key) const { return findListing(key); } Listing* openSequence(const std::string& key) { return openListing(key); } Listing* openFlowStyleSequence(const std::string& key){ return openFlowStyleListing(key); } Listing* createSequence(const std::string& key){ return createListing(key); } Listing* createFlowStyleSequence(const std::string& key){ return createFlowStyleListing(key); } #endif private: Mapping(const Mapping& org); Mapping& operator=(const Mapping&); Mapping* openMapping(const std::string& key, bool doOverwrite); Mapping* openFlowStyleMapping(const std::string& key, bool doOverwrite); Listing* openListing(const std::string& key, bool doOverwrite); Listing* openFlowStyleListing(const std::string& key, bool doOverwrite); inline void insertSub(const std::string& key, ValueNode* node); void writeSub(const std::string &key, const char* text, size_t length, StringStyle stringStyle); static bool compareIters(const Mapping::const_iterator& it1, const Mapping::const_iterator& it2); Container values; AssignMode mode; int indexCounter; const char* doubleFormat_; bool isFlowStyle_; StringStyle keyQuoteStyle; friend class Listing; friend class YAMLReaderImpl; friend class YAMLWriter; }; typedef ref_ptr MappingPtr; /** @todo add 'openMapping' and 'openListing' methods @note The name "Sequence" should not be used for this class because it confilcts with the name defined in the boost's concept check library. */ class CNOID_EXPORT Listing : public ValueNode { typedef std::vector Container; public: Listing(); Listing(int size); ~Listing(); virtual ValueNode* clone() const; typedef Container::iterator iterator; typedef Container::const_iterator const_iterator; bool empty() const { return values.empty(); } int size() const { return values.size(); } void clear(); void reserve(int size); void setFlowStyle(bool isFlowStyle = true) { isFlowStyle_ = isFlowStyle; } bool isFlowStyle() const { return isFlowStyle_; } void setDoubleFormat(const char* format); const char* doubleFormat() { return doubleFormat_; } ValueNode* front() const { return values.front(); } ValueNode* back() const { return values.back(); } ValueNode* at(int i) const { return values[i]; } /** deprecated */ ValueNode& get(int i) const { return *values[i]; } void write(int i, int value); void write(int i, const std::string& value, StringStyle stringStyle = PLAIN_STRING); /** \todo This operator should return ValueNode*. */ ValueNode& operator[](int i) const { return *values[i]; } /// \todo implement the following funcion (ticket #35) //MappingPtr extractMapping(const std::string& key) const; Mapping* newMapping(); void append(ValueNode* node) { values.push_back(node); } void insert(int index, ValueNode* node); void append(int value); /** @param maxColumns LF is automatically inserted when the column pos is over maxColumsn @param numValues If numValues is not greater than maxColumns, the initial LF is skipped. This feature is disabled if numValues = 0. */ void append(int value, int maxColumns, int numValues = 0) { insertLF(maxColumns, numValues); append(value); } void append(size_t value); /** @param maxColumns LF is automatically inserted when the column pos is over maxColumsn @param numValues If numValues is not greater than maxColumns, the initial LF is skipped. This feature is disabled if numValues = 0. */ /* void append(size_t value, int maxColumns, int numValues = 0){ insertLF(maxColumns, numValues); append(value); } */ void append(double value); /** @param maxColumns LF is automatically inserted when the column pos is over maxColumsn @param numValues If numValues is not greater than maxColumns, the initial LF is skipped. This feature is disabled if numValues = 0. */ void append(double value, int maxColumns, int numValues = 0) { insertLF(maxColumns, numValues); append(value); } void append(const std::string& value, StringStyle stringStyle = PLAIN_STRING); /** @param maxColumns LF is automatically inserted when the column pos is over maxColumsn @param numValues If numValues is not greater than maxColumns, the initial LF is skipped. This feature is disabled if numValues = 0. */ void append(const std::string& value, int maxColumns, int numValues = 0, StringStyle stringStyle = PLAIN_STRING){ insertLF(maxColumns, numValues); append(value, stringStyle); } void appendLF(); iterator begin() { return values.begin(); } iterator end() { return values.end(); } const_iterator begin() const { return values.begin(); } const_iterator end() const { return values.end(); }; private: Listing(int line, int column); Listing(int line, int column, int reservedSize); Listing(const Listing& org); Listing& operator=(const Listing&); void insertLF(int maxColumns, int numValues); Container values; const char* doubleFormat_; bool isFlowStyle_; bool doInsertLFBeforeNextElement; friend class Mapping; friend class YAMLReaderImpl; friend class YAMLWriter; }; typedef ref_ptr

ListingPtr; #ifdef CNOID_BACKWARD_COMPATIBILITY typedef ValueNode YamlNode; typedef ValueNodePtr YamlNodePtr; typedef ScalarNode YamlScalar; typedef Mapping YamlMapping; typedef MappingPtr YamlMappingPtr; typedef Listing YamlSequence; typedef ListingPtr YamlSequencePtr; typedef Listing Sequence; typedef ListingPtr SequencePtr; #endif } #endif choreonoid-1.5.0/src/Util/VRMLParser.cpp0000664000000000000000000024145312741425367016537 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka @author K.Fukuda @author Takafumi.Tawara */ #include "VRMLParser.h" #include "EasyScanner.h" #include "UTF8.h" #include "FileUtil.h" #include #include #include #include #include #include using namespace std; using namespace cnoid; namespace filesystem = boost::filesystem; using boost::get; using boost::dynamic_pointer_cast; namespace { /*! @if jp @brief URL‚ı‚­ƒĵƒ (file:)ĉ–‡ċ­—ċˆ—‚’ċ‰Šé™¤ @param[in] url ĉ¤œç´˘ƒğç½ĉ›ċŻèħĦ¨Ş‚‹URL @return string URL‚ı‚­ƒĵƒ ĉ–‡ċ­—ċˆ—‚’ċ–‚Šé™¤„Ÿĉ–‡ċ­—ċˆ— @endif */ string deleteURLScheme(string url) { static const string fileProtocolHeader1("file://"); static const string fileProtocolHeader2("file:"); size_t pos = url.find( fileProtocolHeader1 ); if( 0 == pos ) { url.erase( 0, fileProtocolHeader1.size() ); } else { size_t pos = url.find( fileProtocolHeader2 ); if( 0 == pos ) { url.erase( 0, fileProtocolHeader2.size() ); } } // Windows ƒ‰ƒİ‚¤ƒ–ĉ–‡ċ­—ċˆ—ĉ™‚Żƒ‡‚£ƒĴ‚ŻƒˆƒŞċŒşċˆ‡‚Šĉ–‡ċ­—ċˆ†‚’•‚‰Ğċ‰Šé™¤// if ( url.find(":") == 2 && url.find("/") ==0 ) url.erase ( 0, 1 ); return url; } /*! @if jp @brief URLŒƒ•‚Ħ‚¤ƒĞ‹İ†‹ċˆ¤ċš @param[in] ref ċˆ¤ċšċŻèħĦURL @return boolean true:ƒ­ƒĵ‚ЃЃ•‚Ħ‚¤ƒĞ§‚‚‹ @endif */ bool isFileProtocol(const string& ref) { bool ret = false; string::size_type pos = ref.find(":"); if ( pos == string::npos || pos == 1 ) { // Directly local path || Windows drive letter separator ret = true; } else { if( ref.find("file:") == 0 ) ret = true; } return ret; } /*! @if jp @brief URL‚ı‚­ƒĵƒ ĉ–‡ċ­—ċˆ—‚’ċ–‚Šé™¤„Ÿĉ–‡ċ­—ċˆ—‚’生ĉˆ™‚‹ @param[out] refUrl URL‚ı‚­ƒĵƒ ĉ–‡ċ­—ċˆ—‚’ċ–‚Šé™¤„Ÿĉ–‡ċ­—ċˆ—‚’ĉ ĵ納 @param[in] rootDir èĤރ‡‚£ƒĴ‚ŻƒˆƒŞ @param[in] srcPath ċ…ƒ¨Ş‚‹URL @return URL‚ı‚­ƒĵƒ ĉ–‡ċ­—ċˆ—‚’ċ–‚Šé™¤„Ÿĉ–‡ċ­—ċˆ— @endif */ void getPathFromUrl(string& refUrl, const string& rootDir, string srcUrl) { if ( isFileProtocol(srcUrl) ){ // ƒ­ƒĵ‚ЃЃ•‚Ħ‚¤ƒĞ // filesystem::path filepath(deleteURLScheme(srcUrl)); if(filesystem::exists(filepath)){ // ċ…ƒŒçµĥċŻƒ‘‚ı // refUrl = filesystem::system_complete(filepath).string(); }else{ // ċ…ƒŒç›¸ċŻƒ‘‚ı // filesystem::path filepath(rootDir + deleteURLScheme(srcUrl)); if(filesystem::exists(filepath)){ refUrl = filesystem::system_complete(filepath).string(); } } } else { // ƒ•‚Ħ‚¤ƒĞ‚ı‚­ƒĵƒ äğċ¤–ċ‡Ĥ理 // } } /** The definition of the reserved word IDs */ enum { NO_SYMBOL = 0, // values V_TRUE, V_FALSE, V_NULL, // types T_SFINT32, T_MFINT32, T_SFFLOAT, T_MFFLOAT, T_SFVEC2F, T_MFVEC2F, T_SFVEC3F, T_MFVEC3F, T_SFSTRING, T_MFSTRING, T_SFROTATION, T_MFROTATION, T_SFTIME, T_MFTIME, T_SFCOLOR, T_MFCOLOR, T_SFNODE, T_MFNODE, T_SFBOOL, T_SFIMAGE, // Nodes N_PROTO, N_INLINE, N_BACKGROUND, N_NAVIGATION_INFO, N_VIEWPOINT, N_GROUP, N_TRANSFORM, N_APPEARANCE, N_MATERIAL, N_IMAGE_TEXTURE, N_TEXTURE_TRANSFORM, N_SHAPE, N_BOX, N_CONE, N_CYLINDER, N_SPHERE, N_TEXT, N_FONT_STYLE, N_INDEXED_LINE_SET, N_INDEXED_FACE_SET, N_COLOR, N_COORDINATE, N_TEXTURE_COORDINATE, N_NORMAL, N_CYLINDER_SENSOR, N_POINTSET, N_PIXEL_TEXTURE, N_MOVIE_TEXTURE, N_ELEVATION_GRID, N_EXTRUSION, N_SWITCH, N_LOD, N_COLLISION, N_ANCHOR, N_FOG, N_BILLBOARD, N_WORLD_INFO, N_POINT_LIGHT, N_DIRECTIONAL_LIGHT, N_SPOT_LIGHT, N_AUDIO_CLIP, N_SOUND, N_COLOR_INTERPOLATOR, N_COORDINATE_INTERPOLATOR, N_ORIENTATION_INTERPOLATOR, N_NORMAL_INTERPOLATOR, N_POSITION_INTERPOLATOR, N_SCALAR_INTERPOLATOR, N_PLANE_SENSOR, N_PROXIMITY_SENSOR, N_SPHERE_SENSOR, N_TIME_SENSOR, N_TOUCH_SENSOR, N_VISIBILITY_SENSOR, // Fields F_IS, F_URL, F_GROUND_ANGLE, F_GROUND_COLOR, F_SKY_ANGLE, F_SKY_COLOR, F_BACK_URL, F_BOTTOM_URL, F_FRONT_URL, F_LEFT_URL, F_RIGHT_URL, F_TOP_URL, F_AVATAR_SIZE, F_HEADLIGHT, F_SPEED, F_TYPE, F_VISIBILITY_LIMIT, F_FIELD_OF_VIEW, F_JUMP, F_ORIENTATION, F_POSITION, F_DESCRIPTION, F_CHILDREN, F_ADD_CHILDREN, F_REMOVE_CHILDREN, F_BBOX_CENTER, F_BBOX_SIZE, F_CENTER, F_ROTATION, F_SCALE, F_SCALE_ORIENTATION, F_TRANSLATION, F_APPEARANCE, F_GEOMETRY, F_MATERIAL, F_TEXTURE, F_TEXTURE_TRANSFORM, F_AMBIENT_INTENSITY, F_DIFFUSE_COLOR, F_EMISSIVE_COLOR, F_SHININESS, F_SPECULAR_COLOR, F_TRANSPARANCY, F_REPEAT_S, F_REPEAT_T, F_SIZE, F_BOTTOM, F_BOTTOM_RADIUS, F_HEIGHT, F_SIDE, F_RADIUS, F_TOP, F_STRING, F_FONT_STYLE, F_LENGTH, F_MAX_EXTENT, F_FAMILY, F_HORIZONTAL, F_JUSTIFY, F_LANGUAGE, F_LEFT_TO_RIGHT, F_SPACING, F_STYLE, F_TOP_TO_BOTTOM, F_COLOR, F_COORD, F_COLOR_INDEX, F_COLOR_PER_VERTEX, F_COORD_INDEX, F_CCW, F_CONVEX, F_SOLID, F_CREASE_ANGLE, F_NORMAL, F_NORMAL_INDEX, F_NORMAL_PER_VERTEX, F_TEX_COORD_INDEX, F_TEX_COORD, F_POINT, F_VECTOR, F_BBOXCENTER, F_BBOXSIZE, F_AUTO_OFFSET, F_DISK_ANGLE, F_ENABLED, F_MAX_ANGLE, F_MIN_ANGLE, F_OFFSET, F_IMAGE, F_X_DIMENSION, F_Z_DIMENSION, F_X_SPACING, F_Z_SPACING, F_LOOP, F_START_TIME, F_STOP_TIME, F_CROSS_SECTION, F_SPINE, F_BEGIN_CAP, F_END_CAP, F_CHOICE, F_WHICH_CHOICE, F_RANGE, F_LEVEL, F_COLLIDE, F_PROXY, F_PARAMETER, F_VISIBILITY_RANGE, F_FOG_TYPE, F_AXIS_OF_ROTATION, F_TITLE, F_INFO, F_LOCATION, F_ON, F_INTENSITY, F_ATTENUATION, F_DIRECTION, F_BEAM_WIDTH, F_CUT_OFF_ANGLE, // event type E_FIELD, E_EXPOSED_FIELD, E_EVENTIN, E_EVENTOUT, // def & route D_DEF, D_USE, D_ROUTE, // unsupported keywords U_SCRIPT, U_EXTERNPROTO }; } namespace cnoid { class VRMLParserImpl { public: VRMLParserImpl(VRMLParser* self); VRMLParser* self; boost::shared_ptr topScanner; EasyScanner* scanner; // current one VRMLProtoInstancePtr currentProtoInstance; bool protoInstanceActualNodeExtractionMode; typedef map > ProtoToEntityScannerMap; ProtoToEntityScannerMap protoToEntityScannerMap; typedef map TDefNodeMap; typedef pair TDefNodePair; typedef map TProtoMap; typedef pair TProtoPair; TProtoMap protoMap; TDefNodeMap defNodeMap; void load(const string& filename); VRMLNodePtr readSpecificNode(VRMLNodeCategory nodeCategory, int symbol, const std::string& symbolString); VRMLNodePtr readInlineNode(VRMLNodeCategory nodeCategory); VRMLAnotherFormatFilePtr createAnotherFormatFileNode(std::string& io_filename); VRMLNodePtr newInlineSource(string& io_filename); VRMLProtoPtr defineProto(); void checkEOF(); VRMLNodePtr readNode(VRMLNodeCategory nodeCategory); VRMLProtoInstancePtr readProtoInstanceNode(const std::string& proto_name, VRMLNodeCategory nodeCategory, const string& defName); VRMLNodePtr evalProtoInstance(VRMLProtoInstancePtr proto, VRMLNodeCategory nodeCategory, const string& defName); VRMLUnsupportedNodePtr skipUnsupportedNode(const std::string& nodeTypeName); VRMLUnsupportedNodePtr skipScriptNode(); VRMLUnsupportedNodePtr skipExternProto(); VRMLViewpointPtr readViewpointNode(); VRMLNavigationInfoPtr readNavigationInfoNode(); VRMLBackgroundPtr readBackgroundNode(); VRMLGroupPtr readGroupNode(); VRMLTransformPtr readTransformNode(); VRMLShapePtr readShapeNode(); VRMLCylinderSensorPtr readCylinderSensorNode(); VRMLBoxPtr readBoxNode(); VRMLConePtr readConeNode(); VRMLCylinderPtr readCylinderNode(); VRMLPointSetPtr readPointSetNode(); VRMLPixelTexturePtr readPixelTextureNode(); VRMLMovieTexturePtr readMovieTextureNode(); VRMLElevationGridPtr readElevationGridNode(); VRMLExtrusionPtr readExtrusionNode(); VRMLSwitchPtr readSwitchNode(); VRMLLODPtr readLODNode(); VRMLCollisionPtr readCollisionNode(); VRMLAnchorPtr readAnchorNode(); VRMLFogPtr readFogNode(); VRMLBillboardPtr readBillboardNode(); VRMLWorldInfoPtr readWorldInfoNode(); VRMLPointLightPtr readPointLightNode(); VRMLDirectionalLightPtr readDirectionalLightNode(); VRMLSpotLightPtr readSpotLightNode(); VRMLSpherePtr readSphereNode(); VRMLTextPtr readTextNode(); VRMLFontStylePtr readFontStyleNode(); VRMLIndexedLineSetPtr readIndexedLineSetNode(); VRMLIndexedFaceSetPtr readIndexedFaceSetNode(); void checkIndexedFaceSet(VRMLIndexedFaceSetPtr node); VRMLCoordinatePtr readCoordNode(); VRMLTextureCoordinatePtr readTextureCoordinateNode(); VRMLColorPtr readColorNode(); VRMLAppearancePtr readAppearanceNode(); VRMLMaterialPtr readMaterialNode(); VRMLImageTexturePtr readImageTextureNode(); VRMLTextureTransformPtr readTextureTransformNode(); VRMLNormalPtr readNormalNode(); VRMLVariantField& readProtoField(VRMLFieldTypeId fieldTypeId); void readSFInt32(SFInt32& out_value); void readMFInt32(MFInt32& out_value); void readSFFloat(SFFloat& out_value); void readMFFloat(MFFloat& out_value); void readSFColor(SFColor& out_value); void readMFColor(MFColor& out_value); void readSFString(SFString& out_value); void readMFString(MFString& out_value); inline void readSFVec2f(SFVec2f& out_value); void readMFVec2f(MFVec2f& out_value); inline void readSFVec2s(SFVec2s& out_value); void readMFVec2s(MFVec2s& out_value); inline void readSFVec3f(SFVec3f& out_value); void readMFVec3f(MFVec3f& out_value); inline void readSFVec3s(SFVec3s& out_value); void readMFVec3s(MFVec3s& out_value); void readSFRotation(SFRotation& out_value); void readMFRotation(MFRotation& out_value); void readSFBool(SFBool& out_value); void readSFTime(SFTime& out_value); void readMFTime(MFTime& out_value); void readSFNode(SFNode& out_node, VRMLNodeCategory nodeCategory); SFNode readSFNode(VRMLNodeCategory nodeCategory); void readMFNode(MFNode& out_nodes, VRMLNodeCategory nodeCategory); void readSFImage( SFImage& out_image ); private: VRMLParserImpl(const VRMLParserImpl& self, const list< string >& ref); const list< string >* getAncestorPathsList() const {return &ancestorPathsList;} void setSymbols(); void init(); void convertUrl(MFString& url); list ancestorPathsList; string getRealPath(string); }; } VRMLParser::VRMLParser() { init(); } VRMLParser::VRMLParser(const string& filename) { init(); load(filename); } void VRMLParser::init() { impl = new VRMLParserImpl(this); } VRMLParserImpl::VRMLParserImpl(VRMLParser* self) : self(self) { init(); } VRMLParserImpl::VRMLParserImpl(const VRMLParserImpl& refThis, const list< string >& refSet) : self(refThis.self), ancestorPathsList(refSet) { init(); } VRMLParser::~VRMLParser() { delete impl; } void VRMLParser::setProtoInstanceActualNodeExtractionMode(bool isOn) { impl->protoInstanceActualNodeExtractionMode = isOn; } /** This function throws EasyScanner::Exception when an error occurs. */ void VRMLParser::load(const string& filename) { impl->load(filename); } void VRMLParserImpl::load(const string& filename) { currentProtoInstance = 0; protoToEntityScannerMap.clear(); protoMap.clear(); defNodeMap.clear(); filesystem::path path(filename); path.normalize(); string pathString(path.string()); ancestorPathsList.push_back(pathString); scanner->loadFile(pathString); // header check scanner->setCommentChar(0); bool ok = scanner->readString("#VRML V2.0"); if(ok){ scanner->skipLine(); } scanner->setCommentChar('#'); scanner->setQuoteChar('"'); scanner->setWhiteSpaceChar(','); scanner->setLineOriented(false); } void VRMLParserImpl::checkEOF() { if(!scanner->isEOF()){ const int c = scanner->peekChar(); if(c == ']'){ scanner->throwException("Extra closing bracket exists in the end of file"); } else if(c == '}'){ scanner->throwException("Extra closing brace exists in the end of file"); } else { scanner->throwException("The file is not correctly ended"); } } } void VRMLParser::checkEOF() { impl->checkEOF(); } VRMLNodePtr VRMLParser::readNode() { return impl->readNode(TOP_NODE); } VRMLNodePtr VRMLParserImpl::readNode(VRMLNodeCategory nodeCategory) { VRMLNodePtr node; /* comment out this to allow empty proto instance node if(scanner->isEOF()){ if(currentProtoInstance){ scanner->throwException("Illegal proto instance node"); } } */ if(!scanner->readWord()){ return 0; } string def_name; string nodeTypeName(scanner->stringValue); int symbol = scanner->getSymbolID(scanner->stringValue); if(symbol){ if(symbol==N_INLINE){ return readInlineNode(nodeCategory); } if(symbol==N_PROTO){ if(nodeCategory == TOP_NODE){ return defineProto(); } else { scanner->throwException("PROTO node cannot be defined here"); } } if(symbol==D_USE){ scanner->readString(); const string& label = scanner->stringValue; TDefNodeMap::iterator p = defNodeMap.find(label); if(p != defNodeMap.end()){ return p->second; } else { scanner->throwException (string("A node \"") + label + "\" specified by the USE directive does not exist"); } } // ROUTE has 3 parameters to skip // return as VRMLUnsupportedNode if(symbol == D_ROUTE){ scanner->readString(); // eventOut or exposedField if(!scanner->readString("TO")){ // "TO" scanner->throwException("Illegal ROUTE (without TO)"); } scanner->readString(); // eventIn or exposedField // recursive call to continue reading without node construction return readNode( nodeCategory ); } // unsupported keywords if(symbol == U_SCRIPT){ cerr << "Script is not supported. " << endl; skipScriptNode(); return readNode( nodeCategory ); } if(symbol == U_EXTERNPROTO){ cerr << "ExternProto is not supported." << endl; skipExternProto(); return readNode( nodeCategory ); } if(symbol == D_DEF){ def_name = scanner->readStringEx("Illegal DEF name"); scanner->readWord(); symbol = scanner->getSymbolID(scanner->stringValue); nodeTypeName = scanner->stringValue; } } if(!scanner->readChar('{')){ scanner->throwException (string("The entity of a ") + nodeTypeName + " node does not correctly begin with '{'"); } if(symbol){ node = readSpecificNode(nodeCategory, symbol, nodeTypeName); } else { node = readProtoInstanceNode(scanner->stringValue, nodeCategory, def_name); } if(!scanner->readChar('}')){ scanner->throwException (string("A ") + nodeTypeName + " node is not correctly closed with '}'"); } if(def_name.size() > 0) { defNodeMap.insert(TDefNodePair(def_name, node)); node->defName = def_name; } return node; } VRMLNodePtr VRMLParserImpl::readSpecificNode(VRMLNodeCategory nodeCategory, int symbol, const string& nodeTypeName) { VRMLNodePtr node; switch(symbol){ case N_BACKGROUND: node = readBackgroundNode(); break; case N_NAVIGATION_INFO: node = readNavigationInfoNode(); break; case N_VIEWPOINT: node = readViewpointNode(); break; case N_GROUP: node = readGroupNode(); break; case N_TRANSFORM: node = readTransformNode(); break; case N_SHAPE: node = readShapeNode(); break; case N_CYLINDER_SENSOR: node = readCylinderSensorNode(); break; case N_POINTSET: node = readPointSetNode(); break; case N_PIXEL_TEXTURE: node = readPixelTextureNode(); break; case N_MOVIE_TEXTURE: node = readMovieTextureNode(); break; case N_ELEVATION_GRID: node = readElevationGridNode(); break; case N_EXTRUSION: node = readExtrusionNode(); break; case N_SWITCH: node = readSwitchNode(); break; case N_LOD: node = readLODNode(); break; case N_COLLISION: node = readCollisionNode(); break; case N_ANCHOR: node = readAnchorNode(); break; case N_FOG: node = readFogNode(); break; case N_BILLBOARD: node = readBillboardNode(); break; case N_WORLD_INFO: node = readWorldInfoNode(); break; case N_POINT_LIGHT: node = readPointLightNode(); break; case N_DIRECTIONAL_LIGHT: node = readDirectionalLightNode(); break; case N_SPOT_LIGHT: node = readSpotLightNode(); break; case N_MATERIAL: node = readMaterialNode(); break; case N_APPEARANCE: node = readAppearanceNode(); break; case N_IMAGE_TEXTURE: node = readImageTextureNode(); break; case N_TEXTURE_TRANSFORM: node = readTextureTransformNode(); break; case N_BOX: node = readBoxNode(); break; case N_CONE: node = readConeNode(); break; case N_CYLINDER: node = readCylinderNode(); break; case N_SPHERE: node = readSphereNode(); break; case N_TEXT: node = readTextNode(); break; case N_INDEXED_FACE_SET: node = readIndexedFaceSetNode(); break; case N_INDEXED_LINE_SET: node = readIndexedLineSetNode(); break; case N_COORDINATE: node = readCoordNode(); break; case N_TEXTURE_COORDINATE: node = readTextureCoordinateNode(); break; case N_COLOR: node = readColorNode(); break; case N_NORMAL: node = readNormalNode(); break; case N_FONT_STYLE: node = readFontStyleNode(); break; // unsupported nodes case N_AUDIO_CLIP: node = skipUnsupportedNode("AudioClip"); break; case N_SOUND: node = skipUnsupportedNode("Sound"); break; case N_COLOR_INTERPOLATOR: node = skipUnsupportedNode("ColorInterpolator"); break; case N_COORDINATE_INTERPOLATOR: node = skipUnsupportedNode("CoordinateInterpolator"); break; case N_ORIENTATION_INTERPOLATOR: node = skipUnsupportedNode("OrientationInterpolator"); break; case N_NORMAL_INTERPOLATOR: node = skipUnsupportedNode("NormalInterpolator"); break; case N_POSITION_INTERPOLATOR: node = skipUnsupportedNode("PositionInterpolator"); break; case N_SCALAR_INTERPOLATOR: node = skipUnsupportedNode("ScalarInterpolator"); break; case N_PLANE_SENSOR: node = skipUnsupportedNode("PlaneSensor"); break; case N_PROXIMITY_SENSOR: node = skipUnsupportedNode("ProximitySensor"); break; case N_SPHERE_SENSOR: node = skipUnsupportedNode("SphereSensor"); break; case N_TIME_SENSOR: node = skipUnsupportedNode("TimeSensor"); break; case N_TOUCH_SENSOR: node = skipUnsupportedNode("TouchSensor"); break; case N_VISIBILITY_SENSOR: node = skipUnsupportedNode("VisibilitySensor"); break; default: scanner->throwException (string("Node type \"") + nodeTypeName + "\" is not supported"); } if(!node->isCategoryOf(nodeCategory)){ scanner->throwException (string("A ") + nodeTypeName + " node is put in illegal place"); } return node; } VRMLUnsupportedNodePtr VRMLParserImpl::skipUnsupportedNode(const std::string& nodeTypeName) { while(true){ if(!scanner->readQuotedString()){ if(scanner->peekChar() == '}'){ break; } if(!scanner->readChar()){ scanner->throwException( "Node is not closed." ); } } } return new VRMLUnsupportedNode( nodeTypeName ); } VRMLUnsupportedNodePtr VRMLParserImpl::skipScriptNode() { // '}' appears twice in "Script" node for(int i=0; i<1; i++){ while(true){ if(!scanner->readQuotedString()){ if(scanner->peekChar() == '}'){ scanner->readChar(); break; } if(!scanner->readChar()){ scanner->throwException( "Script is not closed." ); } } } } // return new VRMLUnsupportedNode( "Script" ); return NULL; } VRMLUnsupportedNodePtr VRMLParserImpl::skipExternProto() { // read untill ']' appears while(true){ if(!scanner->readQuotedString()){ if( scanner->peekChar() == ']' ){ // read found ']' and break this loop scanner->readChar(); break; } if(!scanner->readChar()){ scanner->throwException( "EXTERNPROTO is not closed." ); } } } // read URL after ']' SFString url; readSFString( url ); // return new VRMLUnsupportedNode( "EXTERNPROTO" ); return NULL; } VRMLNodePtr VRMLParserImpl::readInlineNode(VRMLNodeCategory nodeCategory) { scanner->readChar('{'); if(scanner->readSymbol() && scanner->symbolValue == F_URL){ MFString inlineUrls; readMFString(inlineUrls); scanner->readCharEx('}', "syntax error 2"); VRMLInlinePtr inlineNode = new VRMLInline(); for(size_t i=0; i < inlineUrls.size(); ++i){ string url(fromUTF8(inlineUrls[i])); if(boost::algorithm::iends_with(url, "wrl")){ inlineNode->children.push_back(newInlineSource(url)); } else { inlineNode->children.push_back(createAnotherFormatFileNode(url)); } inlineNode->urls.push_back(url); } return inlineNode; } return 0; } VRMLAnotherFormatFilePtr VRMLParserImpl::createAnotherFormatFileNode(string& io_filename) { // If the file extension is not wrl, It will read the corresponding file in VRMLToSGConverter. VRMLAnotherFormatFilePtr fileNode = new VRMLAnotherFormatFile(); fileNode->url = getRealPath(io_filename); return fileNode; } string VRMLParserImpl::getRealPath(string io_filename) { filesystem::path path; string chkFile(""); if(isFileProtocol(io_filename)){ path = filesystem::path(deleteURLScheme(io_filename)); path.normalize(); if(!checkAbsolute(path)){ filesystem::path parentPath(scanner->filename); path = parentPath.parent_path() / path; path.normalize(); chkFile = getAbsolutePathString(path); } } else { // Not file protocol implements chkFile = io_filename; } return chkFile; } VRMLNodePtr VRMLParserImpl::newInlineSource(string& io_filename) { string chkFile = getRealPath(io_filename); for(list::const_iterator p = ancestorPathsList.begin(); p != ancestorPathsList.end(); ++p){ if(*p == chkFile){ scanner->throwException("Infinity loop ! " + chkFile + " is included ancestor list"); } } VRMLParserImpl inlineParser(*this, ancestorPathsList); inlineParser.load(chkFile); io_filename = chkFile; VRMLGroupPtr group = new VRMLGroup(); while(VRMLNodePtr node = inlineParser.readNode(TOP_NODE)){ if(node->isCategoryOf(CHILD_NODE)){ group->children.push_back(node); } } inlineParser.checkEOF(); if(group->children.size() == 1){ return group->children.front(); } else { return group; } } VRMLProtoPtr VRMLParserImpl::defineProto() { string proto_name = scanner->readWordEx("illegal PROTO name"); scanner->readCharEx('[', "syntax error 3"); VRMLProtoPtr proto = new VRMLProto(proto_name); while(!scanner->readChar(']')){ int event_type = scanner->readSymbolEx("illegal field event type"); int field_symbol = scanner->readSymbolEx("illegal field type"); string field_name = scanner->readWordEx("syntax error 4"); // insert a new empty field and get it, contents of which will be set below VRMLVariantField& field = proto->fields.insert( VRMLProtoFieldPair(field_name, VRMLVariantField())).first->second; switch(event_type){ case E_FIELD: case E_EXPOSED_FIELD: switch(field_symbol){ case T_SFINT32: field = SFInt32(); readSFInt32(get(field)); break; case T_SFFLOAT: field = SFFloat(); readSFFloat(get(field)); break; case T_MFINT32: field = MFInt32(); readMFInt32(get(field)); break; case T_MFFLOAT: field = MFFloat(); readMFFloat(get(field)); break; case T_SFVEC3F: field = SFVec3f(); readSFVec3f(get(field)); break; case T_MFVEC3F: field = MFVec3f(); readMFVec3f(get(field)); break; case T_SFCOLOR: field = SFColor(); readSFColor(get(field)); break; case T_MFCOLOR: field = MFColor(); readMFColor(get(field)); break; case T_SFSTRING: field = SFString(); readSFString(get(field)); break; case T_MFSTRING: field = MFString(); readMFString(get(field)); break; case T_SFROTATION: field = SFRotation(); readSFRotation(get(field)); break; case T_MFROTATION: field = MFRotation(); readMFRotation(get(field)); break; case T_SFBOOL: field = SFBool(); readSFBool(get(field)); break; case T_SFNODE: field = SFNode(); readSFNode(get(field), ANY_NODE); break; case T_MFNODE: field = MFNode(); readMFNode(get(field), ANY_NODE); break; case T_SFIMAGE: field = SFImage(); readSFImage(get(field)); break; default: scanner->throwException("illegal field type"); } break; case E_EVENTIN: case E_EVENTOUT: switch(field_symbol){ case T_SFINT32: field = SFInt32(); break; case T_MFINT32: field = MFInt32(); break; case T_SFFLOAT: field = SFFloat(); break; case T_MFFLOAT: field = MFFloat(); break; case T_SFVEC3F: field = SFVec3f(); break; case T_MFVEC3F: field = MFVec3f(); break; case T_SFCOLOR: field = SFColor(); break; case T_MFCOLOR: field = MFColor(); break; case T_SFSTRING: field = SFString(); break; case T_MFSTRING: field = MFString(); break; case T_SFROTATION: field = SFRotation(); break; case T_MFROTATION: field = MFRotation(); break; case T_SFBOOL: field = SFBool(); break; case T_SFNODE: field = SFNode(); break; case T_MFNODE: field = MFNode(); break; case T_SFIMAGE: field = SFImage(); break; } break; default: scanner->throwException("illegal field event type"); } } scanner->readCharEx('{', "A PROTO definition has no entity"); char* begin = scanner->text; int brace_level = 1; while(true){ int token = scanner->readToken(); if(token == EasyScanner::T_NONE){ scanner->throwException("syntax error 5"); } else if(token == EasyScanner::T_SIGLUM){ if(scanner->charValue == '{') { brace_level++; } else if(scanner->charValue == '}') { brace_level--; if(brace_level==0) break; } } } boost::shared_ptr entityScanner = boost::make_shared(*scanner, false); entityScanner->setText(begin, scanner->text - begin - 1); entityScanner->setLineNumberOffset(scanner->lineNumber); protoToEntityScannerMap[proto.get()] = entityScanner; protoMap.insert(TProtoPair(proto_name, proto)); return proto; } VRMLProtoInstancePtr VRMLParserImpl::readProtoInstanceNode(const string& proto_name, VRMLNodeCategory nodeCategory, const string& defName) { TProtoMap::iterator p = protoMap.find(proto_name); if(p == protoMap.end()){ scanner->throwException("undefined node"); } VRMLProtoPtr proto = p->second; VRMLProtoInstancePtr protoInstance(new VRMLProtoInstance(proto)); while(scanner->readWord()){ VRMLProtoFieldMap::iterator p = protoInstance->fields.find(scanner->stringValue); if(p == protoInstance->fields.end()) scanner->throwException("undefined field"); VRMLVariantField& field = p->second; switch(field.which()){ case SFINT32: readSFInt32(get(field)); break; case MFINT32: readMFInt32(get(field)); break; case SFFLOAT: readSFFloat(get(field)); break; case MFFLOAT: readMFFloat(get(field)); break; case SFVEC2F: readSFVec2f(get(field)); break; case MFVEC2F: readMFVec2f(get(field)); break; case SFVEC3F: readSFVec3f(get(field)); break; case MFVEC3F: readMFVec3f(get(field)); break; case SFCOLOR: readSFColor(get(field)); break; case MFCOLOR: readMFColor(get(field)); break; case SFSTRING: readSFString(get(field)); break; case MFSTRING: readMFString(get(field)); break; case SFROTATION: readSFRotation(get(field)); break; case MFROTATION: readMFRotation(get(field)); break; case SFBOOL: readSFBool(get(field)); break; case SFNODE: readSFNode(get(field), ANY_NODE); break; case MFNODE: readMFNode(get(field), ANY_NODE); break; case SFIMAGE: readSFImage(get(field)); break; default: break; } } if(protoInstanceActualNodeExtractionMode){ protoInstance->actualNode = evalProtoInstance(protoInstance, nodeCategory, defName); } return protoInstance; } VRMLNodePtr VRMLParserImpl::evalProtoInstance(VRMLProtoInstancePtr protoInstance, VRMLNodeCategory nodeCategory, const string& defName) { EasyScanner* orgScanner = scanner; ProtoToEntityScannerMap::iterator p; p = protoToEntityScannerMap.find(protoInstance->proto.get()); if(p == protoToEntityScannerMap.end()){ scanner->throwException("Undefined proto node instance"); } scanner = p->second.get(); scanner->moveToHead(); VRMLProtoInstancePtr orgProtoInstance = currentProtoInstance; currentProtoInstance = protoInstance; VRMLNodePtr node = readNode(nodeCategory); if(node){ node->defName = defName; } scanner = orgScanner; currentProtoInstance = orgProtoInstance; return node; } VRMLViewpointPtr VRMLParserImpl::readViewpointNode() { VRMLViewpointPtr node(new VRMLViewpoint); while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_FIELD_OF_VIEW: readSFFloat(node->fieldOfView); break; case F_JUMP: readSFBool(node->jump); break; case F_ORIENTATION: readSFRotation(node->orientation); break; case F_POSITION: readSFVec3f(node->position); break; case F_DESCRIPTION: readSFString(node->description); break; default: scanner->throwException("Undefined field"); } } return node; } VRMLNavigationInfoPtr VRMLParserImpl::readNavigationInfoNode() { VRMLNavigationInfoPtr node(new VRMLNavigationInfo); while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_AVATAR_SIZE: readMFFloat(node->avatarSize); break; case F_HEADLIGHT: readSFBool(node->headlight); break; case F_SPEED: readSFFloat(node->speed); break; case F_TYPE: readMFString(node->type); break; case F_VISIBILITY_LIMIT: readSFFloat(node->visibilityLimit); break; default: scanner->throwException("Undefined field"); } } return node; } VRMLBackgroundPtr VRMLParserImpl::readBackgroundNode() { VRMLBackgroundPtr node(new VRMLBackground); while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_GROUND_ANGLE: readMFFloat(node->groundAngle); break; case F_GROUND_COLOR: readMFColor(node->groundColor); break; case F_SKY_ANGLE: readMFFloat(node->skyAngle); break; case F_SKY_COLOR: readMFColor(node->skyColor); break; case F_BACK_URL: readMFString(node->backUrl); break; case F_BOTTOM_URL: readMFString(node->bottomUrl); break; case F_FRONT_URL: readMFString(node->frontUrl); break; case F_LEFT_URL: readMFString(node->leftUrl); break; case F_RIGHT_URL: readMFString(node->rightUrl); break; case F_TOP_URL: readMFString(node->topUrl); break; default: scanner->throwException("Undefined field"); } } return node; } VRMLGroupPtr VRMLParserImpl::readGroupNode() { VRMLGroupPtr node(new VRMLGroup); while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_BBOX_CENTER: readSFVec3f(node->bboxCenter); break; case F_BBOX_SIZE: readSFVec3f(node->bboxSize); break; case F_CHILDREN: readMFNode(node->children, CHILD_NODE); break; case F_ADD_CHILDREN: case F_REMOVE_CHILDREN: { MFNode dummy; readMFNode(dummy, CHILD_NODE); } break; default: scanner->throwException("Undefined field"); } } return node; } VRMLTransformPtr VRMLParserImpl::readTransformNode() { VRMLTransformPtr node(new VRMLTransform); while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_CENTER: readSFVec3f(node->center); break; case F_ROTATION: readSFRotation(node->rotation); break; case F_SCALE: readSFVec3f(node->scale); break; case F_SCALE_ORIENTATION: readSFRotation(node->scaleOrientation); break; case F_TRANSLATION: readSFVec3f(node->translation); break; case F_BBOX_CENTER: readSFVec3f(node->bboxCenter); break; case F_BBOX_SIZE: readSFVec3f(node->bboxSize); break; case F_CHILDREN: readMFNode(node->children, CHILD_NODE); break; default: scanner->throwException("Undefined field"); } } return node; } VRMLShapePtr VRMLParserImpl::readShapeNode() { VRMLShapePtr node(new VRMLShape); while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_APPEARANCE: node->appearance = dynamic_pointer_cast(readSFNode(APPEARANCE_NODE)); break; case F_GEOMETRY: node->geometry = readSFNode(GEOMETRY_NODE); break; default: scanner->throwException("Undefined field"); } } return node; } VRMLCylinderSensorPtr VRMLParserImpl::readCylinderSensorNode() { VRMLCylinderSensorPtr node(new VRMLCylinderSensor); while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_AUTO_OFFSET: readSFBool(node->autoOffset); break; case F_DISK_ANGLE: readSFFloat(node->diskAngle); break; case F_ENABLED: readSFBool(node->enabled); break; case F_MAX_ANGLE: readSFFloat(node->maxAngle); break; case F_MIN_ANGLE: readSFFloat(node->minAngle); break; case F_OFFSET: readSFFloat(node->offset); break; default: scanner->throwException("Undefined field"); } } return node; } VRMLPointSetPtr VRMLParserImpl::readPointSetNode() { VRMLPointSetPtr node(new VRMLPointSet); while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_COORD: node->coord = dynamic_pointer_cast(readSFNode(COORDINATE_NODE)); break; case F_COLOR: node->color = dynamic_pointer_cast(readSFNode(COLOR_NODE)); break; default: scanner->throwException("Undefined field"); } } return node; } VRMLPixelTexturePtr VRMLParserImpl::readPixelTextureNode() { VRMLPixelTexturePtr node(new VRMLPixelTexture); while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_IMAGE: readSFImage(node->image); break; case F_REPEAT_S: readSFBool(node->repeatS); break; case F_REPEAT_T: readSFBool(node->repeatT); break; default: scanner->throwException("Undefined field"); } } return node; } VRMLMovieTexturePtr VRMLParserImpl::readMovieTextureNode() { VRMLMovieTexturePtr node(new VRMLMovieTexture); while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_URL: readMFString(node->url); break; case F_LOOP: readSFBool(node->loop); break; case F_SPEED: readSFFloat(node->speed); break; case F_START_TIME: readSFTime(node->startTime); break; case F_STOP_TIME: readSFTime(node->stopTime); break; case F_REPEAT_S: readSFBool(node->repeatS); break; case F_REPEAT_T: readSFBool(node->repeatT); break; default: scanner->throwException("Undefined field"); } } convertUrl(node->url); return node; } VRMLElevationGridPtr VRMLParserImpl::readElevationGridNode() { VRMLElevationGridPtr node(new VRMLElevationGrid); while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_X_DIMENSION: readSFInt32(node->xDimension); break; case F_Z_DIMENSION: readSFInt32(node->zDimension); break; case F_X_SPACING: readSFFloat(node->xSpacing); break; case F_Z_SPACING: readSFFloat(node->zSpacing); break; case F_HEIGHT: readMFFloat(node->height); break; case F_CCW: readSFBool(node->ccw); break; case F_COLOR_PER_VERTEX: readSFBool(node->colorPerVertex); break; case F_CREASE_ANGLE: readSFFloat(node->creaseAngle); break; case F_NORMAL_PER_VERTEX: readSFBool(node->normalPerVertex); break; case F_SOLID: readSFBool(node->solid); break; case F_COLOR: node->color = dynamic_pointer_cast(readSFNode(COLOR_NODE)); break; case F_NORMAL: node->normal = dynamic_pointer_cast(readSFNode(NORMAL_NODE)); break; case F_TEX_COORD: node->texCoord = dynamic_pointer_cast(readSFNode(TEXTURE_COORDINATE_NODE)); break; default: scanner->throwException("Undefined field"); } } return node; } VRMLExtrusionPtr VRMLParserImpl::readExtrusionNode() { VRMLExtrusionPtr node(new VRMLExtrusion); while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_CROSS_SECTION: readMFVec2f(node->crossSection); break; case F_SPINE: readMFVec3f(node->spine); break; case F_SCALE: readMFVec2f(node->scale); break; case F_ORIENTATION: readMFRotation(node->orientation); break; case F_BEGIN_CAP: readSFBool(node->beginCap); break; case F_END_CAP: readSFBool( node->endCap ); break; case F_SOLID: readSFBool( node->solid ); break; case F_CCW: readSFBool( node->ccw ); break; case F_CONVEX: readSFBool( node->convex ); break; case F_CREASE_ANGLE: readSFFloat( node->creaseAngle ); break; default: scanner->throwException( "Undefined field" ); } } return node; } VRMLSwitchPtr VRMLParserImpl::readSwitchNode() { VRMLSwitchPtr node( new VRMLSwitch ); while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_CHOICE: readMFNode(node->choice, CHILD_NODE); break; case F_WHICH_CHOICE: readSFInt32(node->whichChoice); break; default: scanner->throwException( "Undefined field" ); } } return node; } VRMLLODPtr VRMLParserImpl::readLODNode() { VRMLLODPtr node( new VRMLLOD ); while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_RANGE: readMFFloat(node->range); break; case F_CENTER: readSFVec3f(node->center); break; case F_LEVEL: readMFNode(node->level, ANY_NODE); break; default: scanner->throwException("Undefined field"); } } return node; } VRMLCollisionPtr VRMLParserImpl::readCollisionNode() { VRMLCollisionPtr node(new VRMLCollision); while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_COLLIDE: readSFBool(node->collide); break; case F_CHILDREN: readMFNode(node->children, CHILD_NODE); break; case F_PROXY: readSFNode(node->proxy, SHAPE_NODE); break; case F_BBOX_CENTER: readSFVec3f(node->bboxCenter); break; case F_BBOX_SIZE: readSFVec3f(node->bboxSize); break; default: scanner->throwException( "Undefined field" ); } } return node; } VRMLAnchorPtr VRMLParserImpl::readAnchorNode() { VRMLAnchorPtr node(new VRMLAnchor); while(scanner->readSymbol()){ switch( scanner->symbolValue){ case F_CHILDREN: readMFNode(node->children, CHILD_NODE); break; case F_DESCRIPTION: readSFString(node->description); break; case F_PARAMETER: readMFString(node->parameter); break; case F_URL: readMFString(node->url); break; case F_BBOX_CENTER: readSFVec3f(node->bboxCenter); break; case F_BBOX_SIZE: readSFVec3f(node->bboxSize); break; default: scanner->throwException( "Undefined field" ); } } return node; } VRMLFogPtr VRMLParserImpl::readFogNode() { VRMLFogPtr node(new VRMLFog); while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_COLOR: readSFColor(node->color); break; case F_VISIBILITY_RANGE: readSFFloat(node->visibilityRange); break; case F_FOG_TYPE: readSFString(node->fogType); break; default: scanner->throwException( "Undefined field" ); } } return node; } VRMLBillboardPtr VRMLParserImpl::readBillboardNode() { VRMLBillboardPtr node( new VRMLBillboard ); while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_AXIS_OF_ROTATION: readSFVec3f(node->axisOfRotation); break; case F_CHILDREN: readMFNode(node->children, CHILD_NODE); break; case F_BBOX_CENTER: readSFVec3f(node->bboxCenter); break; case F_BBOX_SIZE: readSFVec3f(node->bboxSize); break; default: scanner->throwException( "Undefined field" ); } } return node; } VRMLWorldInfoPtr VRMLParserImpl::readWorldInfoNode() { VRMLWorldInfoPtr node(new VRMLWorldInfo); while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_TITLE: readSFString(node->title); break; case F_INFO: readMFString(node->info); break; default: scanner->throwException("Undefined field"); } } return node; } VRMLPointLightPtr VRMLParserImpl::readPointLightNode() { VRMLPointLightPtr node( new VRMLPointLight ); while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_LOCATION: readSFVec3f(node->location); break; case F_ON: readSFBool(node->on); break; case F_INTENSITY: readSFFloat(node->intensity); break; case F_COLOR: readSFColor(node->color); break; case F_RADIUS: readSFFloat(node->radius); break; case F_AMBIENT_INTENSITY: readSFFloat(node->ambientIntensity); break; case F_ATTENUATION: readSFVec3f(node->attenuation); break; default: scanner->throwException( "Undefined field" ); } } return node; } VRMLDirectionalLightPtr VRMLParserImpl::readDirectionalLightNode() { VRMLDirectionalLightPtr node(new VRMLDirectionalLight); while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_DIRECTION: readSFVec3f(node->direction); break; case F_ON: readSFBool(node->on); break; case F_INTENSITY: readSFFloat(node->intensity); break; case F_COLOR: readSFColor(node->color); break; case F_AMBIENT_INTENSITY: readSFFloat(node->ambientIntensity); break; default: scanner->throwException("Undefined field"); } } return node; } VRMLSpotLightPtr VRMLParserImpl::readSpotLightNode() { VRMLSpotLightPtr node(new VRMLSpotLight); while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_LOCATION: readSFVec3f(node->location); break; case F_DIRECTION: readSFVec3f(node->direction); break; case F_ON: readSFBool(node->on); break; case F_COLOR: readSFColor(node->color); break; case F_INTENSITY: readSFFloat(node->intensity); break; case F_RADIUS: readSFFloat(node->radius); break; case F_AMBIENT_INTENSITY: readSFFloat(node->ambientIntensity); break; case F_ATTENUATION: readSFVec3f(node->attenuation); break; case F_BEAM_WIDTH: readSFFloat(node->beamWidth); break; case F_CUT_OFF_ANGLE: readSFFloat(node->cutOffAngle); break; default: scanner->throwException( "Undefined field" ); } } return node; } VRMLBoxPtr VRMLParserImpl::readBoxNode() { VRMLBoxPtr node(new VRMLBox); if(scanner->readSymbol()){ if(scanner->symbolValue != F_SIZE) scanner->throwException("Undefined field"); readSFVec3f(node->size); } return node; } VRMLConePtr VRMLParserImpl::readConeNode() { VRMLConePtr node(new VRMLCone); while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_BOTTOM: readSFBool(node->bottom); break; case F_BOTTOM_RADIUS: readSFFloat(node->bottomRadius); break; case F_HEIGHT: readSFFloat(node->height); break; case F_SIDE: readSFBool(node->side); break; default: scanner->throwException("Undefined field"); } } return node; } VRMLCylinderPtr VRMLParserImpl::readCylinderNode() { VRMLCylinderPtr node(new VRMLCylinder); while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_BOTTOM: readSFBool(node->bottom); break; case F_HEIGHT: readSFFloat(node->height); break; case F_RADIUS: readSFFloat(node->radius); break; case F_SIDE: readSFBool(node->side); break; case F_TOP: readSFBool(node->top); break; default: scanner->throwException("Undefined field"); } } return node; } VRMLSpherePtr VRMLParserImpl::readSphereNode() { VRMLSpherePtr node(new VRMLSphere); if(scanner->readSymbol()){ if(scanner->symbolValue != F_RADIUS) scanner->throwException("Undefined field"); readSFFloat(node->radius); } return node; } VRMLTextPtr VRMLParserImpl::readTextNode() { VRMLTextPtr node(new VRMLText); while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_STRING: readMFString(node->fstring); break; case F_LENGTH: readMFFloat(node->length); break; case F_MAX_EXTENT: readSFFloat(node->maxExtent); break; case F_FONT_STYLE: node->fontStyle = dynamic_pointer_cast(readSFNode(FONT_STYLE_NODE)); break; default: scanner->throwException("Undefined field"); } } return node; } VRMLFontStylePtr VRMLParserImpl::readFontStyleNode() { VRMLFontStylePtr node(new VRMLFontStyle); while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_FAMILY: readMFString(node->family); break; case F_HORIZONTAL: readSFBool(node->horizontal); break; case F_JUSTIFY: readMFString(node->justify); break; case F_LANGUAGE: readSFString(node->language); break; case F_LEFT_TO_RIGHT: readSFBool(node->leftToRight); break; case F_SIZE: readSFFloat(node->size); break; case F_SPACING: readSFFloat(node->spacing); break; case F_STYLE: readSFString(node->style); break; case F_TOP_TO_BOTTOM: readSFBool(node->topToBottom); break; default: scanner->throwException("Undefined field"); } } return node; } VRMLIndexedLineSetPtr VRMLParserImpl::readIndexedLineSetNode() { VRMLIndexedLineSetPtr node(new VRMLIndexedLineSet); while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_COLOR: node->color = dynamic_pointer_cast(readSFNode(COLOR_NODE)); break; case F_COORD: node->coord = dynamic_pointer_cast(readSFNode(COORDINATE_NODE)); break; case F_COLOR_INDEX: readMFInt32(node->colorIndex); break; case F_COLOR_PER_VERTEX: readSFBool(node->colorPerVertex); break; case F_COORD_INDEX: readMFInt32(node->coordIndex); break; default: scanner->throwException("Undefined field"); } } return node; } VRMLIndexedFaceSetPtr VRMLParserImpl::readIndexedFaceSetNode() { VRMLIndexedFaceSetPtr node(new VRMLIndexedFaceSet); while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_COLOR: node->color = dynamic_pointer_cast(readSFNode(COLOR_NODE)); break; case F_COORD: node->coord = dynamic_pointer_cast(readSFNode(COORDINATE_NODE)); break; case F_COLOR_INDEX: readMFInt32(node->colorIndex); break; case F_COLOR_PER_VERTEX: readSFBool(node->colorPerVertex); break; case F_COORD_INDEX: readMFInt32(node->coordIndex); break; case F_CCW: readSFBool(node->ccw); break; case F_CONVEX: readSFBool(node->convex); break; case F_SOLID: readSFBool(node->solid); break; case F_CREASE_ANGLE: readSFFloat(node->creaseAngle); break; case F_NORMAL_INDEX: readMFInt32(node->normalIndex); break; case F_NORMAL_PER_VERTEX: readSFBool(node->normalPerVertex); break; case F_TEX_COORD_INDEX: readMFInt32(node->texCoordIndex); break; case F_TEX_COORD: node->texCoord = dynamic_pointer_cast(readSFNode(TEXTURE_COORDINATE_NODE)); break; case F_NORMAL: node->normal = dynamic_pointer_cast(readSFNode(NORMAL_NODE)); break; default: scanner->throwException("Undefined field"); } } //checkIndexedFaceSet(node); return node; } void VRMLParserImpl::checkIndexedFaceSet(VRMLIndexedFaceSetPtr node) { MFInt32& index = node->coordIndex; MFVec3s& coord = node->coord->point; int numUsedVertices = 0; vector usedVertices(coord.size(), false); int n = index.size(); int i = 0; vector polygon; while(i < n){ polygon.resize(0); bool isSeparated = false; while(i < n){ if(index[i] < 0){ isSeparated = true; i++; break; } polygon.push_back(index[i]); if(!usedVertices[index[i]]){ usedVertices[index[i]] = true; numUsedVertices++; } i++; } const int numVertices = polygon.size(); if(numVertices < 3){ cerr << "Number of vertices is less than 3 !" << endl; } if(numVertices > 3){ cerr << "Polygon is not a triangle in "; cerr << scanner->filename << endl; for(int j=0; j < numVertices; j++){ cerr << polygon[j] << ","; } cerr << endl; } if(!isSeparated){ cerr << "Vertex index is not correctly separated by '-1'" << endl; } int n = coord.size(); for(int j=0; j < numVertices; j++){ if(polygon[j] >= n){ cerr << "index " << polygon[j] << " is over the number of vertices" << endl; } } bool isIndexOverlapped = false; bool isVertexOverlapped = false; for(int j = 0; j < numVertices - 1; j++){ for(int k = j+1; k < numVertices; k++){ if(polygon[j] == polygon[k]){ isIndexOverlapped = true; } SFVec3s& v1 = coord[polygon[j]]; SFVec3s& v2 = coord[polygon[k]]; if(v1 == v2){ isVertexOverlapped = true; } } } if(isIndexOverlapped){ cerr << "overlapped vertex index in one polygon: "; for(int l = 0; l < numVertices; l++){ cerr << polygon[l] << ","; } cerr << endl; } if(isVertexOverlapped){ cerr << "In " << scanner->filename << ":"; cerr << "two vertices in one polygon have the same position\n"; for(int l = 0; l < numVertices; l++){ SFVec3s& v = coord[polygon[l]]; cerr << polygon[l] << " = (" << v[0] << "," << v[1] << "," << v[2] << ") "; } cerr << endl; } } if(numUsedVertices < static_cast(coord.size())){ cerr << "There are vertices which are not used in" << scanner->filename << ".\n"; cerr << "Number of vertices is " << coord.size(); cerr << ", Number of used ones is " << numUsedVertices << endl; } } VRMLCoordinatePtr VRMLParserImpl::readCoordNode() { VRMLCoordinatePtr node(new VRMLCoordinate); if(scanner->readSymbol()){ if(scanner->symbolValue != F_POINT){ scanner->throwException("Undefined field"); } readMFVec3s(node->point); } return node; } VRMLTextureCoordinatePtr VRMLParserImpl::readTextureCoordinateNode() { VRMLTextureCoordinatePtr node(new VRMLTextureCoordinate); if(scanner->readSymbol()){ if(scanner->symbolValue != F_POINT){ scanner->throwException("Undefined field"); } readMFVec2s(node->point); } return node; } VRMLColorPtr VRMLParserImpl::readColorNode() { VRMLColorPtr node(new VRMLColor); if(scanner->readSymbol()){ if(scanner->symbolValue != F_COLOR){ scanner->throwException("Undefined field"); } readMFColor(node->color); } return node; } VRMLNormalPtr VRMLParserImpl::readNormalNode() { VRMLNormalPtr node(new VRMLNormal); if(scanner->readSymbol()){ if(scanner->symbolValue != F_VECTOR){ scanner->throwException("Undefined field"); } readMFVec3s(node->vector); } return node; } VRMLAppearancePtr VRMLParserImpl::readAppearanceNode() { VRMLAppearancePtr node(new VRMLAppearance); while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_MATERIAL: node->material = dynamic_pointer_cast(readSFNode(MATERIAL_NODE)); break; case F_TEXTURE: node->texture = dynamic_pointer_cast(readSFNode(TEXTURE_NODE)); break; case F_TEXTURE_TRANSFORM: node->textureTransform = dynamic_pointer_cast(readSFNode(TEXTURE_TRANSFORM_NODE)); break; default: scanner->throwException("Undefined field"); } } return node; } VRMLMaterialPtr VRMLParserImpl::readMaterialNode() { VRMLMaterialPtr node(new VRMLMaterial); while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_AMBIENT_INTENSITY: readSFFloat(node->ambientIntensity); break; case F_DIFFUSE_COLOR: readSFColor(node->diffuseColor); break; case F_EMISSIVE_COLOR: readSFColor(node->emissiveColor); break; case F_SHININESS: readSFFloat(node->shininess); break; case F_SPECULAR_COLOR: readSFColor(node->specularColor); break; case F_TRANSPARANCY: readSFFloat(node->transparency); break; default: scanner->throwException("Undefined field"); } } return node; } VRMLImageTexturePtr VRMLParserImpl::readImageTextureNode() { VRMLImageTexturePtr node = new VRMLImageTexture; while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_URL: readMFString(node->url); break; case F_REPEAT_S: readSFBool(node->repeatS); break; case F_REPEAT_T: readSFBool(node->repeatT); break; default: scanner->throwException("Undefined field"); } } convertUrl(node->url); return node; } VRMLTextureTransformPtr VRMLParserImpl::readTextureTransformNode() { VRMLTextureTransformPtr node(new VRMLTextureTransform); while(scanner->readSymbol()){ switch(scanner->symbolValue){ case F_CENTER: readSFVec2f(node->center); break; case F_ROTATION: readSFFloat(node->rotation); break; case F_SCALE: readSFVec2f(node->scale); break; case F_TRANSLATION: readSFVec2f(node->translation); break; default: scanner->throwException("Undefined field"); } } return node; } VRMLVariantField& VRMLParserImpl::readProtoField(VRMLFieldTypeId fieldTypeId) { if(!currentProtoInstance){ scanner->throwException("cannot use proto field value here"); } scanner->readWordEx("illegal field"); VRMLProtoFieldMap::iterator p = currentProtoInstance->fields.find(scanner->stringValue); if(p == currentProtoInstance->fields.end()){ string msg = "This field("; msg += scanner->stringValue +") does not exist in proto node"; scanner->throwException(msg); } if(p->second.which() != fieldTypeId){ scanner->throwException("Unmatched field type"); } return p->second; } void VRMLParserImpl::readSFInt32(SFInt32& out_value) { if(scanner->readSymbol(F_IS)){ out_value = get(readProtoField(SFINT32)); } else { out_value = scanner->readIntEx("illegal int value"); } } void VRMLParserImpl::readMFInt32(MFInt32& out_value) { if(scanner->readSymbol(F_IS)){ out_value = get(readProtoField(MFINT32)); } else { out_value.clear(); if(!scanner->readChar('[')){ out_value.push_back(scanner->readIntEx("illegal int value")); } else { while(!scanner->readChar(']')){ out_value.push_back(scanner->readIntEx("illegal int value")); } } } } void VRMLParserImpl::readSFFloat(SFFloat& out_value) { if(scanner->readSymbol(F_IS)){ out_value = get(readProtoField(SFFLOAT)); } else { out_value = scanner->readDoubleEx("illegal float value"); } } void VRMLParserImpl::readMFFloat(MFFloat& out_value) { if(scanner->readSymbol(F_IS)){ out_value = get(readProtoField(MFFLOAT)); } else { out_value.clear(); if(!scanner->readChar('[')){ out_value.push_back(scanner->readDoubleEx("illegal float value")); } else { while(!scanner->readChar(']')){ out_value.push_back(scanner->readDoubleEx("illegal float value")); } } } } static inline SFColor readSFColor(EasyScanner* scanner) { SFColor c; for(int i=0; i < 3; ++i){ c[i] = static_cast(scanner->readDoubleEx("illegal color element")); } return c; } void VRMLParserImpl::readSFColor(SFColor& out_value) { if(scanner->readSymbol(F_IS)){ out_value = get(readProtoField(SFCOLOR)); } else { out_value = ::readSFColor(scanner); } } void VRMLParserImpl::readMFColor(MFColor& out_value) { if(scanner->readSymbol(F_IS)){ out_value = get(readProtoField(MFCOLOR)); } else { out_value.clear(); if(!scanner->readChar('[')){ out_value.push_back(::readSFColor(scanner)); } else { while(!scanner->readChar(']')){ out_value.push_back(::readSFColor(scanner)); } } } } void VRMLParserImpl::readSFString(SFString& out_value) { if(scanner->readSymbol(F_IS)){ out_value = get(readProtoField(SFSTRING)); } else { out_value = scanner->readQuotedStringEx("illegal string"); } } void VRMLParserImpl::readMFString(MFString& out_value) { if(scanner->readSymbol(F_IS)){ out_value = get(readProtoField(MFSTRING)); } else { out_value.clear(); if(!scanner->readChar('[')){ out_value.push_back(scanner->readQuotedStringEx("illegal string")); } else { while(!scanner->readChar(']')){ out_value.push_back(scanner->readQuotedStringEx("illegal string")); } } } } static inline SFVec2f readSFVec2f(EasyScanner* scanner) { SFVec2f v; for(int i=0; i < 2; ++i){ v[i] = scanner->readDoubleEx("illegal vector element"); } return v; } inline void VRMLParserImpl::readSFVec2f(SFVec2f& out_value) { if(scanner->readSymbol(F_IS)){ out_value = get(readProtoField(SFVEC2F)); } else { out_value = ::readSFVec2f(scanner); } } void VRMLParserImpl::readMFVec2f(MFVec2f& out_value) { if(scanner->readSymbol(F_IS)){ out_value = get(readProtoField(MFVEC2F)); } else { out_value.clear(); if(!scanner->readChar('[')){ out_value.push_back(::readSFVec2f(scanner)); } else { while(!scanner->readChar(']')){ out_value.push_back(::readSFVec2f(scanner)); } } } } static inline SFVec2s readSFVec2s(EasyScanner* scanner) { SFVec2s v; for(int i=0; i < 2; ++i){ v[i] = scanner->readFloatEx("illegal vector element"); } return v; } inline void VRMLParserImpl::readSFVec2s(SFVec2s& out_value) { if(scanner->readSymbol(F_IS)){ out_value = get(readProtoField(SFVEC2F)).cast(); } else { out_value = ::readSFVec2s(scanner); } } void VRMLParserImpl::readMFVec2s(MFVec2s& out_value) { if(scanner->readSymbol(F_IS)){ const MFVec2f& value = get(readProtoField(MFVEC2F)); const size_t n = value.size(); out_value.resize(n); for(size_t i=0; i < n; ++i){ out_value[i] = value[i].cast(); } } else { out_value.clear(); if(!scanner->readChar('[')){ out_value.push_back(::readSFVec2s(scanner)); } else { while(!scanner->readChar(']')){ out_value.push_back(::readSFVec2s(scanner)); } } } } static inline SFVec3f readSFVec3f(EasyScanner* scanner) { SFVec3f v; for(int i=0; i < 3; ++i){ v[i] = scanner->readDoubleEx("illegal vector element"); } return v; } inline void VRMLParserImpl::readSFVec3f(SFVec3f& out_value) { if(scanner->readSymbol(F_IS)){ out_value = get(readProtoField(SFVEC3F)); } else { out_value = ::readSFVec3f(scanner); } } void VRMLParserImpl::readMFVec3f(MFVec3f& out_value) { if(scanner->readSymbol(F_IS)){ out_value = get(readProtoField(MFVEC3F)); } else { out_value.clear(); if(!scanner->readChar('[')){ out_value.push_back(::readSFVec3f(scanner)); } else { while(!scanner->readChar(']')){ out_value.push_back(::readSFVec3f(scanner)); } } } } static inline SFVec3s readSFVec3s(EasyScanner* scanner) { SFVec3s v; for(int i=0; i < 3; ++i){ v[i] = scanner->readFloatEx("illegal vector element"); } return v; } inline void VRMLParserImpl::readSFVec3s(SFVec3s& out_value) { if(scanner->readSymbol(F_IS)){ out_value = get(readProtoField(SFVEC3F)).cast(); } else { out_value = ::readSFVec3s(scanner); } } void VRMLParserImpl::readMFVec3s(MFVec3s& out_value) { if(scanner->readSymbol(F_IS)){ const MFVec3f& value = get(readProtoField(MFVEC3F)); const size_t n = value.size(); out_value.resize(n); for(size_t i=0; i < n; ++i){ out_value[i] = value[i].cast(); } } else { out_value.clear(); if(!scanner->readChar('[')){ out_value.push_back(::readSFVec3s(scanner)); } else { while(!scanner->readChar(']')){ out_value.push_back(::readSFVec3s(scanner)); } } } } static inline SFRotation readSFRotation(EasyScanner* scanner) { SFRotation rotation; SFRotation::Vector3& axis = rotation.axis(); for(int i=0; i < 3; ++i){ axis[i] = scanner->readDoubleEx("illegal rotaion axis element"); } rotation.angle() = scanner->readDoubleEx("illegal rotaion angle value"); double size = axis.norm(); if(size < 1.0e-6){ scanner->throwException("Rotation axis is the zero vector"); } axis /= size; // normalize return rotation; } void VRMLParserImpl::readSFRotation(SFRotation& out_value) { if(scanner->readSymbol(F_IS)){ out_value = get(readProtoField(SFROTATION)); } else { out_value = ::readSFRotation(scanner); } } void VRMLParserImpl::readMFRotation(MFRotation& out_value) { if(scanner->readSymbol(F_IS)){ out_value = get(readProtoField(MFROTATION)); } else { out_value.clear(); if(!scanner->readChar('[')){ out_value.push_back(::readSFRotation(scanner)); } else { while(!scanner->readChar(']')){ out_value.push_back(::readSFRotation(scanner)); } } } } void VRMLParserImpl::readSFBool(SFBool& out_value) { if(scanner->readSymbol(F_IS)){ out_value = get(readProtoField(SFBOOL)); } else { switch(scanner->readSymbolEx("no bool value")){ case V_TRUE: out_value = true; break; case V_FALSE: out_value = false; break; default: scanner->throwException("no bool value"); } } } void VRMLParserImpl::readSFImage(SFImage& out_image) { if(scanner->readSymbol(F_IS)){ out_image = get(readProtoField(SFIMAGE)); } else { readSFInt32(out_image.width); readSFInt32(out_image.height); readSFInt32(out_image.numComponents); //! start reading pixel values per component. //! numComponents means: //! 1:grayscale, 2:grayscale with transparency //! 3:RGB components, 4:RGB components with transparency SFInt32 pixelValue; unsigned char componentValue; const SFInt32 comps = out_image.numComponents; for(int h=0; h < out_image.height; ++h){ for(int w=0; w < out_image.width; ++w){ readSFInt32(pixelValue); for(int i=0, shift=8*(comps - 1); i < comps; ++i, shift-=8){ // get each component values from left 8 bytes componentValue = (unsigned char)((pixelValue >> shift) & 0x000000FF); out_image.pixels.push_back(componentValue); } } } } } void VRMLParserImpl::readSFTime(SFTime& out_value) { if(scanner->readSymbol( F_IS )){ out_value = get(readProtoField(SFTIME)); } else { out_value = scanner->readDoubleEx("illegal time value"); } } void VRMLParserImpl::readMFTime(MFTime& out_value) { if(scanner->readSymbol(F_IS)){ out_value = get(readProtoField(MFTIME)); } else { out_value.clear(); if(!scanner->readChar('[' )){ out_value.push_back(SFTime(scanner->readDoubleEx("illegal time value"))); } else { while(!scanner->readChar(']')){ out_value.push_back(SFTime(scanner->readDoubleEx("illegal time value"))); } } } } // This API should be obsolete void VRMLParserImpl::readSFNode(SFNode& out_node, VRMLNodeCategory nodeCategory) { if(scanner->readSymbol(F_IS)){ out_node = get(readProtoField(SFNODE)); } else if(scanner->readSymbol(V_NULL)){ out_node = 0; } else { out_node = readNode(nodeCategory); } } SFNode VRMLParserImpl::readSFNode(VRMLNodeCategory nodeCategory) { if(scanner->readSymbol(F_IS)){ return get(readProtoField(SFNODE)); } else if(scanner->readSymbol(V_NULL)){ return 0; } else { return readNode(nodeCategory); } } void VRMLParserImpl::readMFNode(MFNode& out_nodes, VRMLNodeCategory nodeCategory) { if(scanner->readSymbol(F_IS)){ out_nodes = get(readProtoField(MFNODE)); } else { SFNode sfnode; out_nodes.clear(); if(!scanner->readChar('[')){ readSFNode(sfnode, nodeCategory); out_nodes.push_back(sfnode); } else { while(true) { readSFNode(sfnode, nodeCategory); if(sfnode){ out_nodes.push_back(sfnode); } bool closed = scanner->readChar(']'); if(closed){ break; } if(!sfnode && !closed){ scanner->throwException("syntax error"); } } } } } void VRMLParserImpl::init() { currentProtoInstance = 0; protoInstanceActualNodeExtractionMode = true; topScanner = boost::make_shared(); scanner = topScanner.get(); setSymbols(); } void VRMLParserImpl::setSymbols() { struct TSymbol { int id; const char* symbol; }; static TSymbol symbols[] = { // values { V_TRUE, "TRUE" }, { V_FALSE, "FALSE" }, { V_NULL, "NULL" }, // types { T_SFINT32, "SFInt32" }, { T_MFINT32, "MFInt32" }, { T_SFFLOAT, "SFFloat" }, { T_MFFLOAT, "MFFloat" }, { T_SFVEC2F, "SFVec2f" }, { T_MFVEC2F, "MFVec2f" }, { T_SFVEC3F, "SFVec3f" }, { T_MFVEC3F, "MFVec3f" }, { T_SFROTATION, "SFRotation" }, { T_MFROTATION, "MFRotation" }, { T_SFTIME, "SFTime" }, { T_MFTIME, "MFTime" }, { T_SFCOLOR, "SFColor" }, { T_MFCOLOR, "MFColor" }, { T_SFSTRING, "SFString" }, { T_MFSTRING, "MFString" }, { T_SFNODE, "SFNode" }, { T_MFNODE, "MFNode" }, { T_SFBOOL, "SFBool" }, { T_SFIMAGE, "SFImage" }, // Nodes { N_PROTO, "PROTO" }, { N_INLINE, "Inline" }, { N_BACKGROUND, "Background" }, { N_NAVIGATION_INFO, "NavigationInfo" }, { N_VIEWPOINT, "Viewpoint" }, { N_GROUP, "Group" }, { N_TRANSFORM, "Transform" }, { N_SHAPE, "Shape" }, { N_APPEARANCE, "Appearance" }, { N_MATERIAL, "Material" }, { N_IMAGE_TEXTURE, "ImageTexture" }, { N_TEXTURE_TRANSFORM, "TextureTransform" }, { N_BOX, "Box" }, { N_CONE, "Cone" }, { N_CYLINDER, "Cylinder" }, { N_SPHERE, "Sphere" }, { N_TEXT, "Text" }, { N_FONT_STYLE, "FontStyle" }, { N_INDEXED_LINE_SET, "IndexedLineSet" }, { N_INDEXED_FACE_SET, "IndexedFaceSet" }, { N_COLOR, "Color" }, { N_COORDINATE, "Coordinate" }, { N_TEXTURE_COORDINATE, "TextureCoordinate" }, { N_NORMAL, "Normal" }, { N_CYLINDER_SENSOR, "CylinderSensor" }, { N_POINTSET, "PointSet" }, { N_PIXEL_TEXTURE,"PixelTexture" }, { N_MOVIE_TEXTURE, "MovieTexture" }, { N_ELEVATION_GRID, "ElevationGrid" }, { N_EXTRUSION, "Extrusion" }, { N_SWITCH, "Switch" }, { N_LOD,"LOD" }, { N_COLLISION, "Collision" }, { N_ANCHOR, "Anchor" }, { N_FOG, "Fog" }, { N_BILLBOARD, "Billboard" }, { N_WORLD_INFO, "WorldInfo" }, { N_POINT_LIGHT, "PointLight" }, { N_DIRECTIONAL_LIGHT, "DirectionalLight" }, { N_SPOT_LIGHT, "SpotLight" }, // unsupported nodes { N_AUDIO_CLIP, "AudioClip" }, { N_SOUND, "Sound" }, { N_COLOR_INTERPOLATOR, "ColorInterpolator" }, { N_COORDINATE_INTERPOLATOR, "CoordinateInterpolator" }, { N_ORIENTATION_INTERPOLATOR, "OrientationInterpolator" }, { N_NORMAL_INTERPOLATOR, "NormalInterpolator" }, { N_POSITION_INTERPOLATOR, "PositionInterpolator" }, { N_SCALAR_INTERPOLATOR, "ScalarInterpolator" }, { N_PLANE_SENSOR, "PlaneSensor" }, { N_PROXIMITY_SENSOR, "ProximitySensor" }, { N_SPHERE_SENSOR, "SphereSensor" }, { N_TIME_SENSOR, "TimeSensor" }, { N_TOUCH_SENSOR, "TouchSensor" }, { N_VISIBILITY_SENSOR, "VisibilitySensor" }, // Fields { F_IS, "IS" }, { F_URL, "url" }, { F_GROUND_ANGLE, "groundAngle" }, { F_GROUND_COLOR, "groundColor" }, { F_SKY_ANGLE, "skyAngle" }, { F_SKY_COLOR, "skyColor" }, { F_BACK_URL, "backUrl" }, { F_BOTTOM_URL, "bottomUrl" }, { F_FRONT_URL, "frontUrl" }, { F_LEFT_URL, "leftUrl" }, { F_RIGHT_URL, "rightUrl" }, { F_TOP_URL, "topUrl" }, { F_AVATAR_SIZE, "avatarSize" }, { F_HEADLIGHT, "headlight" }, { F_SPEED, "speed" }, { F_TYPE, "type" }, { F_VISIBILITY_LIMIT, "visibilityLimit" }, { F_FIELD_OF_VIEW, "fieldOfView" }, { F_JUMP, "jump" }, { F_ORIENTATION, "orientation" }, { F_POSITION, "position" }, { F_DESCRIPTION, "description" }, { F_CHILDREN, "children" }, { F_ADD_CHILDREN, "addChildren" }, { F_REMOVE_CHILDREN, "removeChildren" }, { F_BBOX_CENTER, "bboxCenter" }, { F_BBOX_SIZE, "bboxSize" }, { F_CENTER, "center" }, { F_ROTATION, "rotation" }, { F_SCALE, "scale" }, { F_SCALE_ORIENTATION, "scaleOrientation" }, { F_TRANSLATION, "translation" }, { F_APPEARANCE, "appearance" }, { F_GEOMETRY, "geometry" }, { F_MATERIAL, "material" }, { F_TEXTURE, "texture" }, { F_TEXTURE_TRANSFORM, "textureTransform" }, { F_AMBIENT_INTENSITY, "ambientIntensity" }, { F_DIFFUSE_COLOR, "diffuseColor" }, { F_EMISSIVE_COLOR, "emissiveColor" }, { F_SHININESS, "shininess" }, { F_SPECULAR_COLOR, "specularColor" }, { F_TRANSPARANCY, "transparency" }, { F_DIRECTION, "direction" }, { F_REPEAT_S, "repeatS" }, { F_REPEAT_T, "repeatT" }, { F_SIZE, "size" }, { F_BOTTOM, "bottom" }, { F_BOTTOM_RADIUS, "bottomRadius" }, { F_HEIGHT, "height" }, { F_SIDE, "side" }, { F_RADIUS, "radius" }, { F_TOP, "top" }, { F_STRING, "string" }, { F_FONT_STYLE, "fontStyle" }, { F_LENGTH, "length" }, { F_MAX_EXTENT, "maxExtent" }, { F_FAMILY, "family" }, { F_HORIZONTAL, "horizontal" }, { F_JUSTIFY, "justify" }, { F_LANGUAGE, "language" }, { F_LEFT_TO_RIGHT, "leftToRight" }, { F_SPACING, "spacing" }, { F_STYLE, "style" }, { F_TOP_TO_BOTTOM, "topToBottom" }, { F_COLOR, "color" }, { F_COORD, "coord" }, { F_COLOR_INDEX, "colorIndex" }, { F_COLOR_PER_VERTEX, "colorPerVertex" }, { F_COORD_INDEX, "coordIndex" }, { F_CCW, "ccw" }, { F_CONVEX, "convex" }, { F_SOLID, "solid" }, { F_CREASE_ANGLE, "creaseAngle" }, { F_NORMAL_INDEX, "normalIndex" }, { F_NORMAL, "normal" }, { F_NORMAL_PER_VERTEX, "normalPerVertex" }, { F_TEX_COORD_INDEX, "texCoordIndex" }, { F_TEX_COORD, "texCoord" }, { F_POINT, "point" }, { F_VECTOR, "vector" }, { F_AUTO_OFFSET, "autoOffset" }, { F_DISK_ANGLE, "diskAngle" }, { F_ENABLED, "enabled" }, { F_MAX_ANGLE, "maxAngle" }, { F_MIN_ANGLE, "minAngle" }, { F_OFFSET, "offset" }, { F_IMAGE, "image" }, { F_X_DIMENSION, "xDimension" }, { F_Z_DIMENSION, "zDimension" }, { F_X_SPACING, "xSpacing" }, { F_Z_SPACING, "zSpacing" }, { F_CROSS_SECTION, "crossSection" }, { F_SPINE, "spine" }, { F_BEGIN_CAP, "beginCap" }, { F_END_CAP, "endCap" }, { F_CHOICE, "choice" }, { F_WHICH_CHOICE, "whichChoice" }, { F_COLLIDE, "collide" }, { F_PROXY, "proxy" }, { F_PARAMETER, "parameter" }, { F_VISIBILITY_RANGE, "visibilityRange" }, { F_FOG_TYPE, "fogType" }, { F_AXIS_OF_ROTATION, "axisOfRotation" }, { F_TITLE, "title" }, { F_INFO, "info" }, { F_LOCATION, "location" }, { F_ON, "on" }, { F_INTENSITY, "intensity" }, { F_ATTENUATION, "attenuation" }, { F_BEAM_WIDTH, "beamWidth" }, { F_CUT_OFF_ANGLE, "cutOffAngle" }, // event type { E_FIELD, "field" }, { E_EXPOSED_FIELD, "exposedField" }, { E_EVENTIN, "eventIn" }, { E_EVENTOUT, "eventOut" }, // def & route { D_DEF, "DEF" }, { D_USE, "USE" }, { D_ROUTE, "ROUTE" }, // unsupported keywords { U_SCRIPT, "Script" }, { U_EXTERNPROTO, "EXTERNPROTO" }, { 0, "" } }; for(int i=0; symbols[i].id != 0; i++){ scanner->registerSymbol(symbols[i].id, symbols[i].symbol); } } void VRMLParserImpl::convertUrl(MFString& urls) { for(MFString::iterator it=urls.begin(); it!=urls.end(); it++){ filesystem::path path; string chkFile(""); if(isFileProtocol(*it)){ path = filesystem::path(deleteURLScheme(*it)); path.normalize(); // Relative path check & translate to absolute path if(!exists(path)){ filesystem::path parentPath(scanner->filename); path = parentPath.parent_path() / path; path.normalize(); } chkFile = getAbsolutePathString(path); } else { // Not file protocol implements scanner->throwException("Not file protocol is unsupported"); } *it = chkFile; } } choreonoid-1.5.0/src/Util/CollisionDetector.cpp0000664000000000000000000000613412741425367020222 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "CollisionDetector.h" #include #include using namespace std; using namespace cnoid; namespace { struct FactoryInfo { string name; boost::function factory; FactoryInfo(const string& name, const boost::function& factory) : name(name), factory(factory) { } }; vector factories; typedef map FactoryMap; FactoryMap factoryMap; /** The collision detector which does nothing. This detector is registered as the first (zero indexed) detector. */ class NullCollisionDetector : public CollisionDetector { int numGeometries_; public: NullCollisionDetector() { numGeometries_ = 0; } virtual const char* name() const { return "NullCollisionDetector"; } virtual CollisionDetectorPtr clone() const { return boost::make_shared(); } virtual bool enableGeometryCache(bool on) { return true; } virtual void clearGeometryCache(SgNodePtr geometry) { } virtual void clearAllGeometryCaches() { } virtual void clearGeometries() { numGeometries_ = 0; } virtual int numGeometries() const { return numGeometries_; } virtual int addGeometry(SgNodePtr geometry) { const int id = numGeometries_++; return id; } virtual void setGeometryStatic(int geometryId, bool isStatic = true) { } virtual void setNonInterfarenceGeometyrPair(int geometryId1, int geometryId2) { } virtual bool makeReady() { return true; } virtual void updatePosition(int geometryId, const Position& position) { } virtual void detectCollisions(boost::function callback) { } }; CollisionDetectorPtr factory() { return boost::make_shared(); } struct FactoryRegistration { FactoryRegistration(){ CollisionDetector::registerFactory("NullCollisionDetector", factory); } } factoryRegistration; } bool CollisionDetector::registerFactory(const std::string& name, boost::function factory) { if(!name.empty()){ int index = factories.size(); pair result = factoryMap.insert(make_pair(name, index)); if(result.second){ factories.push_back(FactoryInfo(name, factory)); return true; } } return false; } int CollisionDetector::numFactories() { return factories.size(); } std::string CollisionDetector::factoryName(int factoryIndex) { if(factoryIndex >= 0 && factoryIndex < factories.size()){ return factories[factoryIndex].name; } return string(); } int CollisionDetector::factoryIndex(const std::string& name) { FactoryMap::iterator p = factoryMap.find(name); if(p != factoryMap.end()){ return p->second; } return -1; } CollisionDetectorPtr CollisionDetector::create(int factoryIndex) { if(factoryIndex >= 0 && factoryIndex < factories.size()){ return factories[factoryIndex].factory(); } return CollisionDetectorPtr(); } CollisionDetector::~CollisionDetector() { } choreonoid-1.5.0/src/Util/Seq.h0000664000000000000000000000612112741425367014766 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_SEQ_H #define CNOID_UTIL_SEQ_H #include "AbstractSeq.h" #include #include #include "exportdecl.h" namespace cnoid { template class Seq : public AbstractSeq { typedef Seq SeqType; public: typedef boost::shared_ptr Ptr; Seq(const char* seqType, int nFrames = 0.0) : AbstractSeq(seqType), container(nFrames) { frameRate_ = defaultFrameRate(); } Seq(const SeqType& org) : AbstractSeq(org), container(org.container) { frameRate_ = org.frameRate_; } SeqType& operator=(const SeqType& rhs) { if(this != &rhs){ AbstractSeq::operator=(rhs); container = rhs.container; frameRate_ = rhs.frameRate_; } return *this; } virtual AbstractSeq& operator=(const AbstractSeq& rhs) { const SeqType* rhsSeq = dynamic_cast(&rhs); if(rhsSeq){ return operator=(*rhsSeq); } else { return AbstractSeq::operator=(rhs); } } virtual AbstractSeqPtr cloneSeq() const { return boost::make_shared(*this); } virtual ~Seq() { } virtual double getFrameRate() const { return frameRate_; } inline double frameRate() const { return frameRate_; } virtual void setFrameRate(double frameRate) { frameRate_ = frameRate; } virtual int getNumFrames() const { return container.size(); } inline int numFrames() const { return container.size(); } virtual void setNumFrames(int n, bool clearNewElements = false) { if(clearNewElements){ container.resize(n, defaultValue()); } else { container.resize(n); } } inline bool empty() const { return container.empty(); } inline int frameOfTime(double time) const { return (int)(time * frameRate_); } inline double timeOfFrame(int frame) const { return (frame / frameRate_); } inline ElementType& operator[](int frameIndex) { return container[frameIndex]; } inline const ElementType& operator[](int frameIndex) const { return container[frameIndex]; } inline ElementType& at(int frameIndex) { return container[frameIndex]; } inline const ElementType& at(int frameIndex) const { return container[frameIndex]; } int clampFrameIndex(int frameIndex, bool& out_isValidRange){ if(frameIndex < 0){ frameIndex = 0; out_isValidRange = false; } else if(frameIndex >= numFrames()){ frameIndex = numFrames() - 1; out_isValidRange = false; } else { out_isValidRange = true; } return frameIndex; } protected: std::vector container; double frameRate_; virtual ElementType defaultValue() const { return ElementType(); } }; } #endif choreonoid-1.5.0/src/Util/Selection.h0000664000000000000000000000263312741425367016167 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_SELECTION_H #define CNOID_UTIL_SELECTION_H #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT Selection { public: explicit Selection(const char* domainname = 0); explicit Selection(size_t size, const char* domainname = 0); int size() const { return symbols_.size(); } operator bool() const { return selectedIndex_ >= 0; } void resize(int s); void clear(); void setSymbol(int index, const std::string& symbol); Selection& operator<<(const std::string& symbol); std::string& symbol(int index) { return symbols_[index]; } const std::string& symbol(int index) const { return symbols_[index]; } int index(const std::string& symbol) const; const char* label(int index) const; bool select(int index); bool selectIndex(int index); bool select(const std::string& symbol); int selectedIndex() const { return selectedIndex_; } int which() const { return selectedIndex_; } bool is(int index) const { return (index == selectedIndex_); } const char* selectedSymbol() const; const char* selectedLabel() const; private: std::vector symbols_; int selectedIndex_; const char* domainname_; }; } #endif choreonoid-1.5.0/src/Util/Collision.h0000664000000000000000000000056312741425367016175 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_COLLISION_H #define CNOID_UTIL_COLLISION_H #include "EigenTypes.h" #include namespace cnoid { struct Collision { Vector3 point; Vector3 normal; double depth; }; typedef std::vector CollisionArray; //! obsolete typedef std::vector CollisionList; } #endif choreonoid-1.5.0/src/Util/SceneDrawables.h0000664000000000000000000004643012741425367017127 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_SCENE_DRAWABLES_H #define CNOID_UTIL_SCENE_DRAWABLES_H #include "SceneGraph.h" #include "Image.h" #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT SgMaterial : public SgObject { public: SgMaterial(); SgMaterial(const SgMaterial& org); virtual SgObject* clone(SgCloneMap& cloneMap) const; float ambientIntensity() const { return ambientIntensity_; } void setAmbientIntensity(float intensity) { ambientIntensity_ = intensity; } const Vector3f& diffuseColor() const { return diffuseColor_; } template void setDiffuseColor(const Eigen::MatrixBase& c) { diffuseColor_ = c.template cast(); } const Vector3f& emissiveColor() const { return emissiveColor_; } template void setEmissiveColor(const Eigen::MatrixBase& c) { emissiveColor_ = c.template cast(); } float shininess() const { return shininess_; } void setShininess(float s) { shininess_ = s; } const Vector3f& specularColor() const { return specularColor_; } template void setSpecularColor(const Eigen::MatrixBase& c) { specularColor_ = c.template cast(); } float transparency() const { return transparency_; } void setTransparency(float t) { transparency_ = t; } private: Vector3f diffuseColor_; Vector3f emissiveColor_; Vector3f specularColor_; float ambientIntensity_; float transparency_; float shininess_; }; typedef ref_ptr SgMaterialPtr; class CNOID_EXPORT SgImage : public SgObject { public: SgImage(); SgImage(const Image& image); SgImage(boost::shared_ptr sharedImage); SgImage(const SgImage& org); virtual SgObject* clone(SgCloneMap& cloneMap) const; Image& image(); const Image& image() const { return *image_; } const Image& constImage() const { return *image_; } bool empty() const { return image_->empty(); } unsigned char* pixels(); const unsigned char* pixels() const { return image_->pixels(); } const unsigned char* constPixels() const { return image_->pixels(); } int width() const { return image_->width(); } int height() const { return image_->height(); } int numComponents() const { return image_->numComponents(); } void setSize(int width, int height, int nComponents); void setSize(int width, int height); private: boost::shared_ptr image_; }; typedef ref_ptr SgImagePtr; class CNOID_EXPORT SgTextureTransform : public SgObject { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW; SgTextureTransform(); SgTextureTransform(const SgTextureTransform& org); virtual SgObject* clone(SgCloneMap& cloneMap) const; const Vector2& center() const { return center_; } template void setCenter(const Eigen::MatrixBase& c) { center_ = c.template cast(); } double rotation() const { return rotation_; } void setRotation(double rotation) { rotation_ = rotation; } const Vector2& scale() const { return scale_; } template void setScale(const Eigen::MatrixBase& c) { scale_ = c.template cast(); } const Vector2& translation() const { return translation_; } template void setTranslation(const Eigen::MatrixBase& c) { translation_ = c.template cast(); } private: Vector2 center_; Vector2 scale_; Vector2 translation_; double rotation_; }; typedef ref_ptr SgTextureTransformPtr; class CNOID_EXPORT SgTexture : public SgObject { public: SgTexture(); SgTexture(const SgTexture& org, SgCloneMap& cloneMap); virtual SgObject* clone(SgCloneMap& cloneMap) const; virtual int numChildObjects() const; virtual SgObject* childObject(int index); SgImage* image() { return image_; } const SgImage* image() const { return image_; } SgImage* setImage(SgImage* image); SgImage* getOrCreateImage(); bool repeatS() const { return repeatS_; } bool repeatT() const { return repeatT_; } void setRepeat(bool s, bool t) { repeatS_ = s; repeatT_ = t; } SgTextureTransform* textureTransform() { return textureTransform_; } const SgTextureTransform* textureTransform() const { return textureTransform_; } SgTextureTransform* setTextureTransform(SgTextureTransform* textureTransform); private: SgImagePtr image_; SgTextureTransformPtr textureTransform_; bool repeatS_; bool repeatT_; }; typedef ref_ptr SgTexturePtr; template > class SgVectorArray : public SgObject { typedef std::vector Container; public: typedef typename Container::iterator iterator; typedef typename Container::const_iterator const_iterator; typedef typename Container::size_type size_type; typedef typename Container::value_type value_type; typedef typename Container::reference reference; typedef typename Container::const_reference const_reference; typedef typename Container::pointer pointer; typedef typename Container::const_pointer const_pointer; typedef typename T::Scalar Scalar; SgVectorArray() { } SgVectorArray(size_t size) : values(size) { } SgVectorArray(const std::vector& org) : values(org) { } template SgVectorArray(const std::vector& org) { values.reserve(org.size()); for(typename std::vector::const_iterator p = org.begin(); p != org.end(); ++p){ values.push_back(p->template cast()); } } SgVectorArray(const SgVectorArray& org) : SgObject(org), values(org.values) { } virtual SgObject* clone(SgCloneMap& cloneMap) const { return new SgVectorArray(*this); } SgVectorArray& operator=(const SgVectorArray& rhs) { values = rhs.values; return *this; } iterator begin() { return values.begin(); } const_iterator begin() const { return values.begin(); } iterator end() { return values.end(); } const_iterator end() const { return values.end(); } size_type size() const { return values.size(); } void resize(size_type s) { values.resize(s); } void resize(size_type s, const T& v) { values.resize(s, v); } bool empty() const { return values.empty(); } void reserve(size_type s) { values.reserve(s); } T& operator[](size_type i) { return values[i]; } const T& operator[](size_type i) const { return values[i]; } T& at(size_type i) { return values[i]; } const T& at(size_type i) const { return values[i]; } T& front() { return values.front(); } const T& front() const { return values.front(); } T& back() { return values.back(); } const T& back() const { return values.back(); } Scalar* data() { return values.front().data(); } const Scalar* data() const { return values.front().data(); } void push_back(const T& v) { values.push_back(v); } void pop_back() { values.pop_back(); } iterator erase(iterator p) { return values.erase(p); } iterator erase(iterator first, iterator last) { return values.erase(first, last); } void clear() { values.clear(); } private: Container values; }; typedef SgVectorArray SgVertexArray; typedef ref_ptr SgVertexArrayPtr; typedef SgVectorArray SgNormalArray; typedef ref_ptr SgNormalArrayPtr; typedef SgVectorArray SgColorArray; typedef ref_ptr SgColorArrayPtr; typedef SgVectorArray > SgTexCoordArray; typedef ref_ptr SgTexCoordArrayPtr; typedef std::vector SgIndexArray; class CNOID_EXPORT SgMeshBase : public SgObject { protected: SgMeshBase(); SgMeshBase(const SgMeshBase& org, SgCloneMap& cloneMap); public: virtual int numChildObjects() const; virtual SgObject* childObject(int index); virtual const BoundingBox& boundingBox() const; virtual void updateBoundingBox(); bool hasVertices() const { return (vertices_ && !vertices_->empty()); } SgVertexArray* vertices() { return vertices_; } const SgVertexArray* vertices() const { return vertices_; } SgVertexArray* setVertices(SgVertexArray* vertices); SgVertexArray* getOrCreateVertices(); bool hasNormals() const { return (normals_ && !normals_->empty()); } SgNormalArray* normals() { return normals_; } const SgNormalArray* normals() const { return normals_; } SgNormalArray* setNormals(SgNormalArray* normals); SgNormalArray* getOrCreateNormals(); bool hasColors() const { return (colors_ && !colors_->empty()); } SgColorArray* colors() { return colors_; } const SgColorArray* colors() const { return colors_; } SgColorArray* setColors(SgColorArray* colors); SgColorArray* getOrCreateColors(); bool hasTexCoords() const { return (texCoords_ && !texCoords_->empty()); } SgTexCoordArray* texCoords() { return texCoords_; } const SgTexCoordArray* texCoords() const { return texCoords_; } SgTexCoordArray* setTexCoords(SgTexCoordArray* texCoords); /** Normals are assinged for vertices in triangles. */ const SgIndexArray& normalIndices() const { return normalIndices_; } SgIndexArray& normalIndices() { return normalIndices_; } const SgIndexArray& colorIndices() const { return colorIndices_; } SgIndexArray& colorIndices() { return colorIndices_; } const SgIndexArray& texCoordIndices() const { return texCoordIndices_; } SgIndexArray& texCoordIndices() { return texCoordIndices_; } bool isSolid() const { return isSolid_; } void setSolid(bool on) { isSolid_ = on; } protected: BoundingBox bbox; private: SgVertexArrayPtr vertices_; SgNormalArrayPtr normals_; SgIndexArray normalIndices_; SgColorArrayPtr colors_; SgIndexArray colorIndices_; SgTexCoordArrayPtr texCoords_; SgIndexArray texCoordIndices_; bool isSolid_; }; typedef ref_ptr SgMeshBasePtr; class CNOID_EXPORT SgMesh : public SgMeshBase { public: SgMesh(); virtual SgObject* clone(SgCloneMap& cloneMap) const; virtual void updateBoundingBox(); /** Triangle indices (triangles variable) should be CCW. */ const SgIndexArray& triangleVertices() const { return triangleVertices_; } SgIndexArray& triangleVertices() { return triangleVertices_; } int numTriangles() const { return triangleVertices_.size() / 3; } void setNumTriangles(int n) { triangleVertices_.resize(n * 3); } void reserveNumTriangles(int n) { triangleVertices_.reserve(n * 3); } typedef Eigen::Map TriangleRef; TriangleRef triangle(int index){ return TriangleRef(&triangleVertices_[index * 3]); } typedef Eigen::Map ConstTriangleRef; ConstTriangleRef triangle(int index) const { return ConstTriangleRef(&triangleVertices_[index * 3]); } void setTriangle(int index, int v0, int v1, int v2){ const int i = index * 3; triangleVertices_[i+0] = v0; triangleVertices_[i+1] = v1; triangleVertices_[i+2] = v2; } TriangleRef addTriangle(){ const int s = triangleVertices_.size(); triangleVertices_.resize(s + 3); return TriangleRef(&triangleVertices_[s]); } void addTriangle(int v0, int v1, int v2){ triangleVertices_.push_back(v0); triangleVertices_.push_back(v1); triangleVertices_.push_back(v2); } enum PrimitiveType { MESH = 0, BOX, SPHERE, CYLINDER, CONE }; class Mesh { }; // defined for no primitive information class Box { public: Box() { } Box(Vector3 size) : size(size) { } Vector3 size; }; class Sphere { public: Sphere() { } Sphere(double radius) : radius(radius) { } double radius; }; class Cylinder { public: Cylinder() { } Cylinder(double radius, double height) : radius(radius), height(height), bottom(true), side(true), top(true) { } double radius; double height; bool bottom; bool side; bool top; }; class Cone { public: Cone() { } Cone(double radius, double height) : radius(radius), height(height), bottom(true), side(true) { } double radius; double height; bool bottom; bool side; }; typedef boost::variant Primitive; const int primitiveType() const { return primitive_.which(); } template const TPrimitive& primitive() const { return boost::get(primitive_); } template void setPrimitive(const TPrimitive& prim) { primitive_ = prim; } protected: SgMesh(const SgMesh& org, SgCloneMap& cloneMap); private: SgIndexArray triangleVertices_; Primitive primitive_; }; typedef ref_ptr SgMeshPtr; class CNOID_EXPORT SgPolygonMesh : public SgMeshBase { public: SgPolygonMesh(); virtual SgObject* clone(SgCloneMap& cloneMap) const; virtual void updateBoundingBox(); /** The array of vertex indices corresponding to polygons. Indices are delimited by index value '-1'. When the actual instance type is SgPolygonMesh, the other index arrays defined in the SgMesh class also have to contain indices in the same way. */ SgIndexArray& polygonVertices() { return polygonVertices_; } const SgIndexArray& polygonVertices() const { return polygonVertices_; } protected: SgPolygonMesh(const SgPolygonMesh& org, SgCloneMap& cloneMap); private: SgIndexArray polygonVertices_; }; typedef ref_ptr SgPolygonMeshPtr; class CNOID_EXPORT SgShape : public SgNode { public: SgShape(); virtual SgObject* clone(SgCloneMap& cloneMap) const; virtual int numChildObjects() const; virtual SgObject* childObject(int index); virtual void accept(SceneVisitor& visitor); virtual const BoundingBox& boundingBox() const; SgMesh* mesh() { return mesh_; } const SgMesh* mesh() const { return mesh_; } SgMesh* setMesh(SgMesh* mesh); SgMesh* getOrCreateMesh(); SgMaterial* material() { return material_; } const SgMaterial* material() const { return material_; } SgMaterial* setMaterial(SgMaterial* material); SgMaterial* getOrCreateMaterial(); SgTexture* texture() { return texture_; } const SgTexture* texture() const { return texture_; } SgTexture* setTexture(SgTexture* texture); SgTexture* getOrCreateTexture(); protected: SgShape(const SgShape& org, SgCloneMap& cloneMap); private: SgMeshPtr mesh_; SgMaterialPtr material_; SgTexturePtr texture_; }; typedef ref_ptr SgShapePtr; class CNOID_EXPORT SgPlot : public SgNode { public: SgPlot(); virtual int numChildObjects() const; virtual SgObject* childObject(int index); virtual const BoundingBox& boundingBox() const; void updateBoundingBox(); bool hasVertices() const { return (vertices_ && !vertices_->empty()); } SgVertexArray* vertices() { return vertices_; } const SgVertexArray* vertices() const { return vertices_; } SgVertexArray* setVertices(SgVertexArray* vertices); SgVertexArray* getOrCreateVertices(); SgMaterial* material() { return material_; } const SgMaterial* material() const { return material_; } SgMaterial* setMaterial(SgMaterial* material); bool hasNormals() const { return (normals_ && !normals_->empty()); } SgNormalArray* normals() { return normals_; } const SgNormalArray* normals() const { return normals_; } SgNormalArray* setNormals(SgNormalArray* normals); SgVertexArray* getOrCreateNormals(); const SgIndexArray& normalIndices() const { return normalIndices_; } SgIndexArray& normalIndices() { return normalIndices_; } bool hasColors() const { return (colors_ && !colors_->empty()); } SgColorArray* colors() { return colors_; } const SgColorArray* colors() const { return colors_; } SgColorArray* setColors(SgColorArray* colors); SgColorArray* getOrCreateColors(); const SgIndexArray& colorIndices() const { return colorIndices_; } SgIndexArray& colorIndices() { return colorIndices_; } protected: SgPlot(const SgPlot& org, SgCloneMap& cloneMap); private: BoundingBox bbox; SgVertexArrayPtr vertices_; SgNormalArrayPtr normals_; SgIndexArray normalIndices_; SgColorArrayPtr colors_; SgIndexArray colorIndices_; SgMaterialPtr material_; }; typedef ref_ptr SgPlotPtr; class CNOID_EXPORT SgPointSet : public SgPlot { public: SgPointSet(); virtual SgObject* clone(SgCloneMap& cloneMap) const; virtual void accept(SceneVisitor& visitor); void setPointSize(double size) { pointSize_ = size; } /** The default value of this is zero and the current system value is used then. */ double pointSize() const { return pointSize_; } protected: SgPointSet(const SgPointSet& org, SgCloneMap& cloneMap); private: double pointSize_; }; typedef ref_ptr SgPointSetPtr; class CNOID_EXPORT SgLineSet : public SgPlot { public: SgLineSet(); virtual SgObject* clone(SgCloneMap& cloneMap) const; virtual void accept(SceneVisitor& visitor); const SgIndexArray& lineVertices() const { return lineVertices_; } SgIndexArray& lineVertices() { return lineVertices_; } int numLines() const { return lineVertices_.size() / 2; } void setNumLines(int n) { lineVertices_.resize(n * 2); } void reserveNumLines(int n) { lineVertices_.reserve(n * 2); } typedef Eigen::Map LineRef; LineRef line(int index){ return LineRef(&lineVertices_[index * 2]); } typedef Eigen::Map ConstLineRef; ConstLineRef line(int index) const { return ConstLineRef(&lineVertices_[index * 2]); } void setLine(int index, int v0, int v1){ const int i = index * 2; lineVertices_[i+0] = v0; lineVertices_[i+1] = v1; } LineRef addLine(){ const int s = lineVertices_.size(); lineVertices_.resize(s + 2); return LineRef(&lineVertices_[s]); } void addLine(int v0, int v1){ lineVertices_.push_back(v0); lineVertices_.push_back(v1); } void setLineWidth(float width) { lineWidth_ = width; } /** The default value of this is zero and the current system value is used then. */ float lineWidth() const { return lineWidth_; } protected: SgLineSet(const SgLineSet& org, SgCloneMap& cloneMap); private: SgIndexArray lineVertices_; float lineWidth_; }; typedef ref_ptr SgLineSetPtr; class CNOID_EXPORT SgOverlay : public SgGroup { public: SgOverlay(); ~SgOverlay(); virtual SgObject* clone(SgCloneMap& cloneMap) const; virtual void accept(SceneVisitor& visitor); struct ViewVolume { double left; double right; double bottom; double top; double zNear; double zFar; }; virtual void calcViewVolume(double viewportWidth, double viewportHeight, ViewVolume& io_volume); protected: SgOverlay(const SgOverlay& org, SgCloneMap& cloneMap); }; } #endif choreonoid-1.5.0/src/Util/ValueTree.cpp0000664000000000000000000005177312741425367016502 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "ValueTree.h" #include #include #include #include #include #include #include "gettext.h" #ifdef _WIN32 #define snprintf _snprintf_s #endif using namespace std; using namespace boost; using namespace cnoid; namespace { const bool debugTrace = false; const char* getTypeName(int typeBits){ if(typeBits & ValueNode::SCALAR){ return "scalar"; } else if(typeBits & ValueNode::MAPPING){ return "mapping"; } else if(typeBits & ValueNode::LISTING){ return "listing"; } else { return "unknown type node"; } } map booleanSymbols; const char* defaultDoubleFormat = "%.6g"; ValueNodePtr invalidNode; MappingPtr invalidMapping; ListingPtr invalidListing; } ValueNode::Initializer ValueNode::initializer; ValueNode::Initializer::Initializer() { invalidNode = new ValueNode(INVALID_NODE); invalidMapping = new Mapping(); invalidMapping->typeBits = INVALID_NODE; invalidListing = new Listing(); invalidListing->typeBits = INVALID_NODE; booleanSymbols["true"] = true; booleanSymbols["yes"] = true; booleanSymbols["on"] = true; booleanSymbols["false"] = false; booleanSymbols["no"] = false; booleanSymbols["off"] = false; } ValueNode::Exception::Exception() { line_ = -1; column_ = -1; } ValueNode::Exception::~Exception() { } std::string ValueNode::Exception::message() const { if(!message_.empty()){ if(line_ >= 0){ return str(format(_("%1% at line %2%, column %3%.")) % message_ % line_ % column_); } else { return str(format(_("%1%.")) % message_); } } else { if(line_ >= 0){ return str(format(_("Error at line %2%, column %3%.")) % line_ % column_); } else { return string(); } } } ValueNode::ValueNode(const ValueNode& org) : typeBits(org.typeBits), line_(org.line_), column_(org.column_), indexInMapping(org.indexInMapping) { } ValueNode* ValueNode::clone() const { return new ValueNode(*this); } // disabled ValueNode& ValueNode::operator=(const ValueNode&) { // throw an exception here ? return *this; } /* void ValueNode::initialize() { static bool initialized = false; if(!initialized){ invalidNode = new ValueNode(INVALID_NODE); invalidMapping = new Mapping(); invalidMapping->typeBits = INVALID_NODE; invalidListing = new Listing(); invalidListing->typeBits = INVALID_NODE; booleanSymbols["true"] = true; booleanSymbols["yes"] = true; booleanSymbols["on"] = true; booleanSymbols["false"] = false; booleanSymbols["no"] = false; booleanSymbols["off"] = false; initialized = true; } } */ bool ValueNode::read(int &out_value) const { if(isScalar()){ const char* nptr = &(static_cast(this)->stringValue[0]); char* endptr; out_value = strtol(nptr, &endptr, 10); if(endptr > nptr){ return true; } } return false; } int ValueNode::toInt() const { if(!isScalar()){ throwNotScalrException(); } const ScalarNode* const scalar = static_cast(this); const char* nptr = &(scalar->stringValue[0]); char* endptr; const int value = strtol(nptr, &endptr, 10); if(endptr == nptr){ ScalarTypeMismatchException ex; ex.setPosition(line(), column()); ex.setMessage(str(format(_("The value \"%1%\" must be an integer value")) % scalar->stringValue)); throw ex; } return value; } bool ValueNode::read(double& out_value) const { if(isScalar()){ const char* nptr = &(static_cast(this)->stringValue[0]); char* endptr; out_value = strtod(nptr, &endptr); if(endptr > nptr){ return true; } } return false; } double ValueNode::toDouble() const { if(!isScalar()){ throwNotScalrException(); } const ScalarNode* const scalar = static_cast(this); const char* nptr = &(scalar->stringValue[0]); char* endptr; const double value = strtod(nptr, &endptr); if(endptr == nptr){ ScalarTypeMismatchException ex; ex.setPosition(line(), column()); ex.setMessage(str(format(_("The value \"%1%\" must be a double value")) % scalar->stringValue)); throw ex; } return value; } bool ValueNode::read(bool& out_value) const { if(isScalar()){ const ScalarNode* const scalar = static_cast(this); map::iterator p = booleanSymbols.find(scalar->stringValue); if(p != booleanSymbols.end()){ out_value = p->second; return true; } } return false; } bool ValueNode::toBool() const { if(!isScalar()){ throwNotScalrException(); } const ScalarNode* const scalar = static_cast(this); map::iterator p = booleanSymbols.find(scalar->stringValue); if(p != booleanSymbols.end()){ return p->second; } ScalarTypeMismatchException ex; ex.setPosition(line(), column()); ex.setMessage(str(format(_("The value \"%1%\" must be a boolean value")) % scalar->stringValue)); throw ex; } #ifdef _WIN32 bool ValueNode::read(std::string& out_value) const { if(isScalar()){ out_value = fromUTF8(static_cast(this)->stringValue); return !out_value.empty(); } return false; } const std::string ValueNode::toString() const { if(!isScalar()){ throwNotScalrException(); } return fromUTF8(static_cast(this)->stringValue); } const std::string ValueNode::toUTF8String() const { if(!isScalar()){ throwNotScalrException(); } return static_cast(this)->stringValue; } #else bool ValueNode::read(std::string& out_value) const { if(isScalar()){ out_value = static_cast(this)->stringValue; return !out_value.empty(); } return false; } const std::string& ValueNode::toString() const { if(!isScalar()){ throwNotScalrException(); } return static_cast(this)->stringValue; } const std::string& ValueNode::toUTF8String() const { return toString(); } #endif bool ValueNode::readUTF8String(std::string& out_value) const { if(isScalar()){ out_value = static_cast(this)->stringValue; return !out_value.empty(); } return false; } ScalarNode::ScalarNode(const std::string& value, StringStyle stringStyle) : stringValue(value), stringStyle(stringStyle) { typeBits = SCALAR; line_ = -1; column_ = -1; } ScalarNode::ScalarNode(const char* text, size_t length) : stringValue(text, length) { typeBits = SCALAR; stringStyle = PLAIN_STRING; } ScalarNode::ScalarNode(const char* text, size_t length, StringStyle stringStyle) : stringValue(text, length), stringStyle(stringStyle) { typeBits = SCALAR; line_ = -1; column_ = -1; } ScalarNode::ScalarNode(int value) : stringValue(lexical_cast(value)) { typeBits = SCALAR; line_ = -1; column_ = -1; stringStyle = PLAIN_STRING; } ScalarNode::ScalarNode(const ScalarNode& org) : ValueNode(org), stringValue(org.stringValue), stringStyle(org.stringStyle) { } ValueNode* ScalarNode::clone() const { return new ScalarNode(*this); } const Mapping* ValueNode::toMapping() const { if(!isMapping()){ throwNotMappingException(); } return static_cast(this); } Mapping* ValueNode::toMapping() { if(!isMapping()){ throwNotMappingException(); } return static_cast(this); } const Listing* ValueNode::toListing() const { if(!isListing()){ throwNotListingException(); } return static_cast(this); } Listing* ValueNode::toListing() { if(!isListing()){ throwNotListingException(); } return static_cast(this); } void ValueNode::throwException(const std::string& message) const { Exception ex; ex.setPosition(line(), column()); ex.setMessage(message); throw ex; } void ValueNode::throwNotScalrException() const { NotScalarException ex; ex.setPosition(line(), column()); ex.setMessage(str(format(_("A %1% value must be a scalar value")) % getTypeName(typeBits))); throw ex; } void ValueNode::throwNotMappingException() const { NotMappingException ex; ex.setPosition(line(), column()); ex.setMessage(_("The value is not a mapping")); throw ex; } void ValueNode::throwNotListingException() const { NotListingException ex; ex.setPosition(line(), column()); throw ex; } Mapping::Mapping() { typeBits = MAPPING; line_ = -1; column_ = -1; mode = READ_MODE; indexCounter = 0; keyQuoteStyle = PLAIN_STRING; isFlowStyle_ = false; doubleFormat_ = defaultDoubleFormat; } Mapping::Mapping(int line, int column) { typeBits = MAPPING; line_ = line; column_ = column; mode = READ_MODE; indexCounter = 0; isFlowStyle_ = false; doubleFormat_ = defaultDoubleFormat; } Mapping::Mapping(const Mapping& org) : ValueNode(org), values(org.values), mode(org.mode), doubleFormat_(org.doubleFormat_), isFlowStyle_(org.isFlowStyle_), keyQuoteStyle(org.keyQuoteStyle) { } ValueNode* Mapping::clone() const { return new Mapping(*this); } Mapping::~Mapping() { clear(); } void Mapping::clear() { values.clear(); indexCounter = 0; } void Mapping::setDoubleFormat(const char* format) { doubleFormat_ = format; } void Mapping::setKeyQuoteStyle(StringStyle style) { keyQuoteStyle = style; } ValueNode* Mapping::find(const std::string& key) const { if(!isValid()){ throwNotMappingException(); } const_iterator p = values.find(toUTF8(key)); if(p != values.end()){ return p->second.get(); } else { return invalidNode.get(); } } Mapping* Mapping::findMapping(const std::string& key) const { if(!isValid()){ throwNotMappingException(); } const_iterator p = values.find(toUTF8(key)); if(p != values.end()){ ValueNode* node = p->second.get(); if(node->isMapping()){ return static_cast(node); } } return invalidMapping.get(); } Listing* Mapping::findListing(const std::string& key) const { if(!isValid()){ throwNotMappingException(); } const_iterator p = values.find(toUTF8(key)); if(p != values.end()){ ValueNode* node = p->second.get(); if(node->isListing()){ return static_cast(node); } } return invalidListing.get(); } ValueNodePtr Mapping::extract(const std::string& key) { if(!isValid()){ throwNotMappingException(); } iterator p = values.find(toUTF8(key)); if(p != values.end()){ ValueNodePtr value = p->second; values.erase(p); return value; } return 0; } ValueNode& Mapping::get(const std::string& key) const { if(!isValid()){ throwNotMappingException(); } const_iterator p = values.find(toUTF8(key)); if(p == values.end()){ throwKeyNotFoundException(key); } return *p->second; } void Mapping::throwKeyNotFoundException(const std::string& key) const { KeyNotFoundException ex; ex.setPosition(line(), column()); ex.setKey(key); ex.setMessage(str(format(_("Key \"%1%\" is not found in the mapping")) % key)); throw ex; } inline void Mapping::insertSub(const std::string& key, ValueNode* node) { if(key.empty()){ EmptyKeyException ex; throw ex; } //values.insert(make_pair(key, node)); values[key] = node; node->indexInMapping = indexCounter++; } void Mapping::insert(const std::string& key, ValueNode* node) { if(!isValid()){ throwNotMappingException(); } const string uKey(toUTF8(key)); insertSub(uKey, node); } void Mapping::insert(const Mapping* other) { if(!isValid()){ throwNotMappingException(); } values.insert(other->values.begin(), other->values.end()); } Mapping* Mapping::openMapping(const std::string& key, bool doOverwrite) { if(!isValid()){ throwNotMappingException(); } Mapping* mapping = 0; const string uKey(toUTF8(key)); iterator p = values.find(uKey); if(p != values.end()){ ValueNode* node = p->second.get(); if(!node->isMapping()){ values.erase(p); } else { mapping = static_cast(node); if(doOverwrite){ mapping->clear(); } mapping->indexInMapping = indexCounter++; } } if(!mapping){ mapping = new Mapping(); mapping->doubleFormat_ = doubleFormat_; insertSub(uKey, mapping); } return mapping; } Mapping* Mapping::openFlowStyleMapping(const std::string& key, bool doOverwrite) { Mapping* m = openMapping(key, doOverwrite); m->setFlowStyle(true); return m; } Listing* Mapping::openListing(const std::string& key, bool doOverwrite) { if(!isValid()){ throwNotMappingException(); } Listing* sequence = 0; const string uKey(toUTF8(key)); iterator p = values.find(uKey); if(p != values.end()){ ValueNode* node = p->second.get(); if(!node->isListing()){ values.erase(p); } else { sequence = static_cast(node); if(doOverwrite){ sequence->clear(); } sequence->indexInMapping = indexCounter++; } } if(!sequence){ sequence = new Listing(); sequence->doubleFormat_ = doubleFormat_; insertSub(uKey, sequence); } return sequence; } Listing* Mapping::openFlowStyleListing(const std::string& key, bool doOverwrite) { Listing* s = openListing(key, doOverwrite); s->setFlowStyle(true); return s; } bool Mapping::remove(const std::string& key) { return (values.erase(key) > 0); } bool Mapping::read(const std::string &key, std::string &out_value) const { ValueNode* node = find(toUTF8(key)); if(node->isValid()){ return node->read(out_value); } return false; } bool Mapping::readUTF8(const std::string &key, std::string &out_value) const { ValueNode* node = find(toUTF8(key)); if(node->isValid()){ return node->readUTF8String(out_value); } return false; } bool Mapping::read(const std::string &key, bool &out_value) const { ValueNode* node = find(toUTF8(key)); if(node->isValid()){ return node->read(out_value); } return false; } bool Mapping::read(const std::string &key, int &out_value) const { ValueNode* node = find(toUTF8(key)); if(node->isValid()){ return node->read(out_value); } return false; } bool Mapping::read(const std::string &key, double &out_value) const { ValueNode* node = find(toUTF8(key)); if(node->isValid()){ return node->read(out_value); } return false; } void Mapping::writeUTF8(const std::string &key, const std::string& value, StringStyle stringStyle) { string uKey(toUTF8(key)); iterator p = values.find(uKey); if(p == values.end()){ insertSub(uKey, new ScalarNode(value, stringStyle)); } else { ValueNode* node = p->second.get(); if(node->isScalar()){ ScalarNode* scalar = static_cast(node); scalar->stringValue = value; scalar->stringStyle = stringStyle; scalar->indexInMapping = indexCounter++; } else { throwNotScalrException(); } } } /** This is for internal use. Text are not converted to UTF-8. */ void Mapping::writeSub(const std::string &key, const char* text, size_t length, StringStyle stringStyle) { const string uKey(toUTF8(key)); iterator p = values.find(uKey); if(p == values.end()){ insertSub(uKey, new ScalarNode(text, length, stringStyle)); } else { ValueNode* node = p->second.get(); if(node->isScalar()){ ScalarNode* scalar = static_cast(node); scalar->stringValue = string(text, length); scalar->stringStyle = stringStyle; scalar->indexInMapping = indexCounter++; } else { throwNotScalrException(); } } } void Mapping::write(const std::string &key, bool value) { if(value){ writeSub(key, "true", 4, PLAIN_STRING); } else { writeSub(key, "false", 5, PLAIN_STRING); } } void Mapping::write(const std::string &key, int value) { char buf[32]; int n = snprintf(buf, 32, "%d", value); writeSub(key, buf, n, PLAIN_STRING); } void Mapping::write(const std::string &key, double value) { char buf[32]; int n = snprintf(buf, 32, doubleFormat_, value); writeSub(key, buf, n, PLAIN_STRING); } void Mapping::writePath(const std::string &key, const std::string& value) { write(key, filesystem::path(value).string(), DOUBLE_QUOTED); } bool Mapping::compareIters(const Mapping::const_iterator& it1, const Mapping::const_iterator& it2) { return (it1->second->indexInMapping < it2->second->indexInMapping); } Listing::Listing() { typeBits = LISTING; line_ = -1; column_ = -1; doubleFormat_ = defaultDoubleFormat; isFlowStyle_ = false; doInsertLFBeforeNextElement = false; } Listing::Listing(int size) : values(size) { typeBits = LISTING; line_ = -1; column_ = -1; doubleFormat_ = defaultDoubleFormat; isFlowStyle_ = false; doInsertLFBeforeNextElement = false; } Listing::Listing(int line, int column) { typeBits = LISTING; line_ = line; column_ = column; doubleFormat_ = defaultDoubleFormat; isFlowStyle_ = false; doInsertLFBeforeNextElement = false; } Listing::Listing(int line, int column, int reservedSize) : values(reservedSize) { typeBits = LISTING; line_ = line; column_ = column; values.resize(0); doubleFormat_ = defaultDoubleFormat; isFlowStyle_ = false; doInsertLFBeforeNextElement = false; } Listing::Listing(const Listing& org) : ValueNode(org), values(org.values), doubleFormat_(org.doubleFormat_), isFlowStyle_(org.isFlowStyle_), doInsertLFBeforeNextElement(org.doInsertLFBeforeNextElement) { } ValueNode* Listing::clone() const { return new Listing(*this); } Listing::~Listing() { clear(); } void Listing::clear() { values.clear(); } void Listing::reserve(int size) { values.reserve(size); } void Listing::setDoubleFormat(const char* format) { doubleFormat_ = format; } void Listing::insertLF(int maxColumns, int numValues) { if(values.empty()){ if(numValues > 0 && numValues > maxColumns){ doInsertLFBeforeNextElement = true; } } else if((values.size() % maxColumns) == 0){ values.back()->typeBits |= (TypeBit)APPEND_LF; } } void Listing::appendLF() { if(values.empty()){ doInsertLFBeforeNextElement = true; } else { values.back()->typeBits |= APPEND_LF; } } Mapping* Listing::newMapping() { Mapping* mapping = new Mapping(); mapping->doubleFormat_ = doubleFormat_; append(mapping); return mapping; } void Listing::append(int value) { char buf[32]; int n = snprintf(buf, 32, "%d", value); ScalarNode* node = new ScalarNode(buf, n, PLAIN_STRING); if(doInsertLFBeforeNextElement){ node->typeBits |= INSERT_LF; doInsertLFBeforeNextElement = false; } values.push_back(node); } void Listing::write(int i, int value) { char buf[32]; int n = snprintf(buf, 32, "%d", value); values[i] = new ScalarNode(buf, n, PLAIN_STRING); } /* void Listing::append(size_t value) { char buf[32]; int n = snprintf(buf, 32, "%zd", value); values.push_back(new ScalarNode(buf, n, PLAIN_STRING)); } */ void Listing::append(double value) { char buf[32]; int n = snprintf(buf, 32, doubleFormat_, value); ScalarNode* node = new ScalarNode(buf, n, PLAIN_STRING); if(doInsertLFBeforeNextElement){ node->typeBits |= INSERT_LF; doInsertLFBeforeNextElement = false; } values.push_back(node); } void Listing::append(const std::string& value, StringStyle stringStyle) { ScalarNode* node = new ScalarNode(toUTF8(value), stringStyle); if(doInsertLFBeforeNextElement){ node->typeBits |= INSERT_LF; doInsertLFBeforeNextElement = false; } values.push_back(node); } void Listing::insert(int index, ValueNode* node) { if(index >= 0){ if(index > values.size()){ index = values.size(); } values.insert(values.begin() + index, node); } } void Listing::write(int i, const std::string& value, StringStyle stringStyle) { values[i] = new ScalarNode(toUTF8(value), stringStyle); } choreonoid-1.5.0/src/Util/GaussianFilter.h0000664000000000000000000000430212741425367017155 0ustar rootroot/*! @file @brief Header file of gaussian filter functions @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_GAUSSIAN_FILTER_H_INCLUDED #define CNOID_UTIL_GAUSSIAN_FILTER_H_INCLUDED #include #include namespace cnoid { template void setGaussWindow(T sigma, int range, std::vector& out_window) { const double mu = 0.0; out_window.resize(range * 2 + 1); T x = 0.0; for(int i = 0; i <= range; ++i){ out_window[i + range] = exp(- (x - mu) * (x - mu) / (2.0 * sigma * sigma)); } // normalization T area_half = out_window[range] / 2.0; for(int i=1; i <= range; ++i){ area_half += out_window[i + range]; } const T area = area_half * 2.0; out_window[range] /= area; for(int i=1; i <= range; ++i){ T& v = out_window[i + range]; v /= area; out_window[range - i] = v; } } template void applyGaussianFilter(RESULTVECTOR& result, const SRCVECTOR& src, std::vector& gwin, ELEMENT zero) { const int range = (gwin.size() - 1) / 2; const int size = src.size(); // head for(int i=0; i < range; i++){ ELEMENT v = zero; T ave = 0.0; for(int j = - i; j <= +range; j++){ v += src[i+j] * gwin[j+range]; ave += gwin[j+range]; } result[i] = v / ave; } // body for(int i=range; i < size - range; i++){ ELEMENT v = zero; for(int j=-range; j <= +range; j++){ v += src[i+j] * gwin[j+range]; } result[i] = v; } // tail for(int i = size - range; i < size; i++){ ELEMENT v = zero; T ave = 0.0; for(int j=-range; j < size - i; j++){ v += src[i+j] * gwin[j+range]; ave += gwin[j+range]; } result[i] = v / ave; } } template void applyGaussianFilter(RESULTVECTOR& result, const SRCVECTOR& src, T sigma, int range, ELEMENT zero) { std::vector gwin; setGaussWindow(sigma, range, gwin); applyGaussianFilter(result, src, gwin, zero); } } #endif choreonoid-1.5.0/src/Util/EasyScanner.cpp0000664000000000000000000003673412741425367017021 0ustar rootroot/*! @file @brief Implementation of text scanner class @author Shin'ichiro Nakaoka */ #include "EasyScanner.h" #include #include #include #include #include #include #include #include using namespace std; using namespace boost; using namespace cnoid; namespace { // Replacement for 'strtod()' function in Visual C++ // This is neccessary because the implementation of VC++6.0 uses 'strlen()' in the function, // so that it becomes too slow for a string buffer which has long length. #ifdef _MSC_VER template T mystrtofloat(const char* nptr, char** endptr) { const char* org = nptr; bool valid = false; T value = 0.0; T sign = +1.0; if(*nptr == '+'){ nptr++; } else if(*nptr == '-'){ sign = -1.0; nptr++; } if(isdigit((unsigned char)*nptr)){ valid = true; do { value = value * 10.0 + (*nptr - '0'); nptr++; } while(isdigit((unsigned char)*nptr)); } if(*nptr == '.'){ //valid = false; // allow values which end with '.'. For example, "0." nptr++; if(isdigit((unsigned char)*nptr)){ T small = 0.1; valid = true; do { value += small * (*nptr - '0'); small *= 0.1; nptr++; } while(isdigit((unsigned char)*nptr)); } } if(valid && (*nptr == 'e' || *nptr == 'E')){ nptr++; valid = false; T psign = +1.0; if(*nptr == '+'){ nptr++; } else if(*nptr == '-'){ psign = -1.0; nptr++; } if(isdigit((unsigned char)*nptr)){ valid = true; T p = 0.0; do { p = p * 10.0 + (*nptr - '0'); nptr++; } while(isdigit((unsigned char)*nptr)); value *= pow(10.0, (double)(psign * p)); } } if(valid){ *endptr = (char*)nptr; } else { *endptr = (char*)org; } return sign * value; } inline float mystrtof(const char* nptr, char** endptr) { return mystrtofloat(nptr, endptr); } inline double mystrtod(const char* nptr, char** endptr) { return mystrtofloat(nptr, endptr); } #else inline float mystrtof(const char* nptr, char** endptr) { return strtof(nptr, endptr); } inline double mystrtod(const char* nptr, char** endptr) { return strtod(nptr, endptr); } #endif } std::string EasyScanner::Exception::getFullMessage() const { string m(message); if(lineNumber > 0){ m += str(format(" at line %1%") % lineNumber); } if(!filename.empty()){ m += str(format(" of %1%") % filename); } return m; } EasyScanner::EasyScanner() { init(); } /** @param filename file to read. */ EasyScanner::EasyScanner(string filename) { init(); loadFile(filename); } void EasyScanner::init() { textBuf = 0; size = 0; textBufEnd = 0; lineNumberOffset = 1; commentChar = '#'; quoteChar = 0xffff; isLineOriented = true; defaultErrorMessage = "unknown error of the lexical scanner"; whiteSpaceChars.push_back(' '); whiteSpaceChars.push_back('\t'); symbols.reset(new SymbolMap()); } /*! Copy Constructor. New object inherits another's propety and symbols. @param scanner original object @param copy_text If true, new object has same text as original */ EasyScanner::EasyScanner(const EasyScanner& org, bool copyText) : whiteSpaceChars(org.whiteSpaceChars) { commentChar = org.commentChar; quoteChar = org.quoteChar; isLineOriented = org.isLineOriented; filename = org.filename; defaultErrorMessage = org.defaultErrorMessage; lineNumber = org.lineNumber; lineNumberOffset = org.lineNumberOffset; symbols = org.symbols; if(copyText && org.textBuf){ size = org.size; textBuf = new char[size+1]; memcpy(textBuf, org.textBuf, size+1); text = textBuf; textBufEnd = textBuf + size; } else { textBuf = 0; size = 0; textBufEnd = 0; } } /*! This function directly sets a text in the main memory */ void EasyScanner::setText(const char* text, int len) { if(textBuf) delete[] textBuf; size = len; textBuf = new char[size+1]; memcpy(textBuf, text, len); textBuf[size] = 0; this->text = textBuf; textBufEnd = textBuf + size; lineNumber = lineNumberOffset; filename = ""; } EasyScanner::~EasyScanner() { if(textBuf) delete[] textBuf; } void EasyScanner::setLineNumberOffset(int offset) { lineNumberOffset = offset; } void EasyScanner::moveToHead() { text = textBuf; lineNumber = lineNumberOffset; } void EasyScanner::putSymbols() { SymbolMap::iterator p = symbols->begin(); while(p != symbols->end()){ cout << p->first << " = " << p->second << std::endl; p++; } } void EasyScanner::throwException(const char* message) { Exception ex; ex.message = message ? message : defaultErrorMessage; ex.filename = filename; ex.lineNumber = lineNumber; throw ex; } void EasyScanner::throwException(const std::string& message) { throwException(message.c_str()); } /*! This function sets the identifier character of comment beginning. @param cc Identifier character. Default is '#'. If you want no comment, set 0. */ void EasyScanner::setCommentChar(char cc) { commentChar = cc ? cc : 0xffff; } void EasyScanner::setLineOriented(bool on) { isLineOriented = on; } /*! If there is a character to ignore, you can set it by this function */ void EasyScanner::setWhiteSpaceChar(char ws) { whiteSpaceChars.push_back(ws); } /*! If you want to read quoted string, set quote character by this function. In default, this is unset. */ void EasyScanner::setQuoteChar(char qs) { quoteChar = qs; } /** This function loads a text from a given file. The function thorws EasyScanner::Exception when the file cannot be loaded. */ void EasyScanner::loadFile(const string& filename) { this->filename.clear(); FILE* file = fopen(filename.c_str(), "rb"); if(!file){ string message; switch(errno){ case ENOENT: message = filename + " cannot be found."; break; default: message = string("I/O error in accessing ") + filename; break; } throwException(message.c_str()); } this->filename = filename; fseek(file, 0, SEEK_END); size = ftell(file); rewind(file); if(textBuf) delete[] textBuf; textBuf = new char[size+1]; size = fread(textBuf, sizeof(char), size, file); textBuf[size] = 0; fclose(file); text = textBuf; textBufEnd = textBuf + size; lineNumber = lineNumberOffset; } /** move the current position to just before the end (LF or EOF) of a line */ void EasyScanner::skipToLineEnd() { while(*text != '\r' && *text != '\n' && *text != '\0') text++; } void EasyScanner::skipSpace() { int n = whiteSpaceChars.size(); while(true){ int i=0; while(i < n){ if(*text == whiteSpaceChars[i]){ text++; i = 0; } else { i++; } } if(*text == commentChar){ text++; skipToLineEnd(); } if(isLineOriented){ break; } if(*text == '\n'){ text++; } else if(*text == '\r'){ text++; if(*text == '\n'){ text++; } } else { break; } lineNumber++; } } /** This function does not call 'skipSpace()'. On the other hand, 'readLF()' calls 'skipSpace()' before calling 'readLF0()' */ bool EasyScanner::readLF0() { if(*text == '\n'){ text++; lineNumber++; return true; } else if(*text == '\r'){ text++; if(*text == '\n'){ text++; } lineNumber++; return true; } return false; } bool EasyScanner::checkLF() { skipSpace(); if(*text == '\n' || *text == '\r'){ return true; } return false; } int EasyScanner::readToken() { skipSpace(); if(isdigit((unsigned char)*text) || *text == '+' || *text == '-'){ char* tail; intValue = strtol(text, &tail, 0); if(tail != text){ text = tail; return T_INTEGER; } doubleValue = mystrtod(text, &tail); if(tail != text){ text = tail; return T_DOUBLE; } charValue = *text; text++; return T_SIGLUM; } else if(isalpha((unsigned char)*text)){ char* org = text; text++; while(isalnum((unsigned char)*text) || *text == '_') text++; stringValue.assign(org, text - org); if(stringValue.size() == 1){ charValue = *org; return T_ALPHABET; } else { return T_WORD; } } else if(*text == quoteChar) { return extractQuotedString() ? T_STRING : T_SIGLUM; } else if(ispunct((unsigned char)*text)){ charValue = *text; text++; return T_SIGLUM; } else if(readLF0()){ return T_LF; } else if(*text == '\0'){ return T_EOF; } return T_NONE; } /*! This function makes all the characters in stringValue lower case */ void EasyScanner::toLower() { for(size_t i=0; i < stringValue.size(); ++i){ stringValue[i] = tolower(stringValue[i]); } } bool EasyScanner::extractQuotedString() { text++; char* org = text; if(isLineOriented){ while(true){ if(*text == '\r' || *text == '\n' || *text == '\0'){ text = org; return false; } if(*text == quoteChar) break; text++; } } else { while(true){ if(*text == '\0'){ text = org; return false; } readLF0(); if(*text == quoteChar) break; text++; } } stringValue.assign(org, text - org); text++; return true; } bool EasyScanner::readFloat() { char* tail; if(checkLF()) return false; floatValue = mystrtof(text, &tail); if(tail != text){ text = tail; return true; } return false; } bool EasyScanner::readDouble() { char* tail; if(checkLF()) return false; doubleValue = mystrtod(text, &tail); if(tail != text){ text = tail; return true; } return false; } bool EasyScanner::readInt() { char* tail; if(checkLF()) return false; intValue = strtol(text, &tail, 0); if(tail != text){ text = tail; return true; } return false; } bool EasyScanner::readChar() { skipSpace(); if(isgraph((unsigned char)*text)){ charValue = *text; text++; return true; } return false; } bool EasyScanner::readChar(int chara) { skipSpace(); if(*text == chara){ text++; return true; } return false; } int EasyScanner::peekChar() { skipSpace(); return *text; } bool EasyScanner::readWord0() { char* org = text; while(true){ int c = (unsigned char)*text; if(!isalnum(c) && isascii(c) && c != '_'){ break; } text++; } if(text - org > 0){ stringValue.assign(org, text - org); return true; } return false; } bool EasyScanner::readString0(const int delimiterChar) { char* org = text; while(true){ int c = (unsigned char)*text; if(isspace(c) || iscntrl(c) || c == delimiterChar){ break; } text++; } if(text - org > 0){ stringValue.assign(org, text - org); return true; } return false; } bool EasyScanner::readString(const char* str) { skipSpace(); char* org = text; while(*str != '\0'){ if(*str++ != *text++){ text = org; return false; } } return true; } /** read a quoted string. If 'allowNoQuotedWord' is true, the function read a word without quotations. */ bool EasyScanner::readQuotedString(bool allowNoQuotedWord) { skipSpace(); if(*text == quoteChar){ return extractQuotedString(); } else if(allowNoQuotedWord){ return readString0(' '); } return false; } bool EasyScanner::readUnquotedTextBlock() { skipSpace(); char* org = text; while(true){ if(*text == '\r' || *text == '\n' || *text == commentChar || *text == '\0'){ break; } text++; } if(text != org){ stringValue.assign(org, text - org); return true; } return false; } bool EasyScanner::readSymbol() { if(readWord()){ symbolValue = getSymbolID(stringValue); if(symbolValue){ return true; } } return false; } bool EasyScanner::readSymbol(int id) { char* org = text; int orglineNumber = lineNumber; if(readWord()){ symbolValue = getSymbolID(stringValue); if(symbolValue == id){ return true; } else { text = org; lineNumber = orglineNumber; } } return false; } bool EasyScanner::skipLine() { while(true){ if(readLF0()){ return true; } if(*text == '\0'){ return false; } text++; } } bool EasyScanner::readLine() { char* org = text; if(skipLine()){ // eliminate newline code char* end = text - 1; if(*end == '\n'){ end--; if(*end == '\r'){ end--; } } end++; stringValue.assign(org, end - org); return true; } return false; } bool EasyScanner::skipBlankLines() { do { if(*text == '\0'){ return false; } } while(readLF()); return true; } // operators EasyScanner& cnoid::operator>>(EasyScanner& scanner, double& value) { if(!scanner.readDouble()){ scanner.throwException("scan error: can't read double value"); } value = scanner.doubleValue; return scanner; } EasyScanner& cnoid::operator>>(EasyScanner& scanner, int& value) { if(!scanner.readInt()){ scanner.throwException("scan error: can't read int value"); throw scanner; } value = scanner.intValue; return scanner; } EasyScanner& cnoid::operator>>(EasyScanner& scanner, const char* matchString) { scanner.skipSpace(); while(*matchString != '\0'){ if(*scanner.text++ != *matchString++){ scanner.throwException("scan error: unmatched string"); } } return scanner; } EasyScanner& cnoid::operator>>(EasyScanner& scanner, char matchChar) { scanner.skipSpace(); if(*scanner.text++ != matchChar){ scanner.throwException("scan error: unmatched cahracter"); } return scanner; } EasyScanner& cnoid::operator>>(EasyScanner& scanner, string& str) { scanner.skipSpace(); if(!scanner.readQuotedString(true)){ scanner.throwException("scan error: can't read string"); } str = scanner.stringValue; return scanner; } EasyScanner& cnoid::operator>>(EasyScanner& scanner, EasyScanner::Endl endl) { if(!scanner.readLF()){ scanner.throwException("scan error: end of line unmatched"); } return scanner; } choreonoid-1.5.0/src/Util/Referenced.h0000664000000000000000000002033612741425367016304 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_REFERENCED_H #define CNOID_UTIL_REFERENCED_H #include #ifdef WIN32 #include #endif #if (BOOST_VERSION >= 105300) && !defined(NOT_USE_BOOST_ATOMIC) #include #define CNOID_REFERENCED_USE_ATOMIC_COUNTER #endif #include #include namespace cnoid { class Referenced; /** \todo Make this thread safe */ class WeakCounter { public: WeakCounter(){ isObjectAlive_ = true; weakCount = 0; } void add() { ++weakCount; } void release() { if(--weakCount == 0){ if(!isObjectAlive_){ delete this; } } } void setDestructed() { isObjectAlive_ = false; if(weakCount == 0){ delete this; } } bool isObjectAlive(){ return isObjectAlive_; } private: bool isObjectAlive_; int weakCount; }; /** \todo Make this thread safe */ class Referenced { friend class WeakCounter; template friend class weak_ref_ptr; template friend class ref_ptr; protected: Referenced() : refCount_(0), weakCounter_(0) { } Referenced(const Referenced& org) : refCount_(0), weakCounter_(0) { } public: virtual ~Referenced() { if(weakCounter_){ weakCounter_->setDestructed(); } } #ifdef CNOID_REFERENCED_USE_ATOMIC_COUNTER void addRef() const { refCount_.fetch_add(1, boost::memory_order_relaxed); } void releaseRef() const { if(refCount_.fetch_sub(1, boost::memory_order_release) == 1) { boost::atomic_thread_fence(boost::memory_order_acquire); delete this; } } private: mutable boost::atomic refCount_; protected: int refCount() const { return refCount_.load(boost::memory_order_relaxed); } #else void addRef() { ++refCount_; } void releaseRef() { if(--refCount_ == 0){ delete this; } } private: int refCount_; protected: int refCount() const { return refCount_; } #endif private: WeakCounter* weakCounter_; WeakCounter* weakCounter(){ if(!weakCounter_){ weakCounter_ = new WeakCounter(); } return weakCounter_; } }; template class ref_ptr { public: typedef T element_type; ref_ptr() : px(0) { } ref_ptr(T* p) : px(p){ if(px != 0){ px->addRef(); } } template ref_ptr(ref_ptr const & rhs) : px(rhs.get()){ if(px != 0){ px->addRef(); } } ref_ptr(ref_ptr const & rhs) : px(rhs.px){ if(px != 0){ px->addRef(); } } ~ref_ptr(){ if(px != 0){ px->releaseRef(); } } template ref_ptr& operator=(ref_ptr const & rhs){ ref_ptr(rhs).swap(*this); return *this; } #if defined( BOOST_HAS_RVALUE_REFS ) ref_ptr(ref_ptr&& rhs) : px(rhs.px){ rhs.px = 0; } ref_ptr & operator=(ref_ptr&& rhs){ ref_ptr(static_cast(rhs)).swap(*this); return *this; } #endif ref_ptr& operator=(ref_ptr const & rhs){ ref_ptr(rhs).swap(*this); return *this; } ref_ptr& operator=(T* rhs){ ref_ptr(rhs).swap(*this); return *this; } void reset(){ ref_ptr().swap(*this); } void reset(T* rhs){ ref_ptr(rhs).swap(*this); } // explicit conversion to the raw pointer T* get() const{ return px; } // implict conversion to the raw pointer operator T*() const { return px; } T& operator*() const { assert(px != 0); return *px; } T* operator->() const { assert(px != 0); return px; } void swap(ref_ptr& rhs){ T* tmp = px; px = rhs.px; rhs.px = tmp; } private: template friend class weak_ref_ptr; template friend class ref_ptr; T* px; }; template inline bool operator==(ref_ptr const & a, ref_ptr const & b) { return a.get() == b.get(); } template inline bool operator!=(ref_ptr const & a, ref_ptr const & b) { return a.get() != b.get(); } template inline bool operator==(ref_ptr const & a, U * b) { return a.get() == b; } template inline bool operator!=(ref_ptr const & a, U * b) { return a.get() != b; } template inline bool operator==(T * a, ref_ptr const & b) { return a == b.get(); } template inline bool operator!=(T * a, ref_ptr const & b) { return a != b.get(); } template inline bool operator<(ref_ptr const & a, ref_ptr const & b) { return a.get() < b.get(); } template void swap(ref_ptr & lhs, ref_ptr & rhs) { lhs.swap(rhs); } template ref_ptr static_pointer_cast(ref_ptr const & p) { return static_cast(p.get()); } template ref_ptr const_pointer_cast(ref_ptr const & p) { return const_cast(p.get()); } template ref_ptr dynamic_pointer_cast(ref_ptr const & p) { return dynamic_cast(p.get()); } template std::ostream & operator<< (std::ostream & os, ref_ptr const & p) { os << p.get(); return os; } typedef ref_ptr ReferencedPtr; template class weak_ref_ptr { typedef void (weak_ref_ptr::*bool_type)() const; void bool_type_func() const { } void setCounter(){ if(px){ counter = px->weakCounter(); counter->add(); } else { counter = 0; } } public: typedef T element_type; weak_ref_ptr() : px(0), counter(0) { } template weak_ref_ptr(weak_ref_ptr const & rhs) : px(rhs.lock().get()){ setCounter(); } template weak_ref_ptr& operator=(weak_ref_ptr const & rhs){ px = rhs.lock().get(); setCounter(); return *this; } #if defined( BOOST_HAS_RVALUE_REFS ) template weak_ref_ptr(weak_ref_ptr&& rhs) : px(rhs.lock().get()), counter(rhs.counter){ rhs.px = 0; rhs.counter = 0; } weak_ref_ptr(weak_ref_ptr&& rhs) : px(rhs.px), counter(rhs.counter){ rhs.px = 0; rhs.counter = 0; } weak_ref_ptr& operator=(weak_ref_ptr&& rhs){ weak_ref_ptr(static_cast(rhs)).swap(*this); rhs.px = 0; rhs.counter = 0; return rhs; } #endif template weak_ref_ptr(ref_ptr const & rhs) : px(rhs.px){ setCounter(); } template weak_ref_ptr(Y* const & rhs) : px(rhs){ setCounter(); } template weak_ref_ptr& operator=(ref_ptr const & rhs){ px = rhs.px; setCounter(); return *this; } operator bool_type() const { return px ? &weak_ref_ptr::bool_type_func : 0; } ref_ptr lock() const { if(counter && counter->isObjectAlive()){ return ref_ptr(px); } else { return ref_ptr(); } } bool expired() const { return !counter || !counter->isObjectAlive(); } void reset(){ weak_ref_ptr().swap(*this); } void swap(weak_ref_ptr& other){ T* px_ = px; px = other.px; other.px = px_; WeakCounter* counter_ = counter; counter = other.counter; other.counter = counter_; } template bool _internal_less(weak_ref_ptr const & rhs) const { return counter < rhs.counter; } private: template friend class weak_ref_ptr; template friend class ref_ptr; T* px; WeakCounter* counter; }; template inline bool operator<(weak_ref_ptr const & a, weak_ref_ptr const & b) { return a._internal_less(b); } template void swap(weak_ref_ptr & a, weak_ref_ptr & b) { a.swap(b); } } #endif choreonoid-1.5.0/src/Util/YAMLWriter.cpp0000664000000000000000000002620412741425367016534 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "YAMLWriter.h" #include "UTF8.h" #include #include #include using namespace std; using namespace boost; using namespace cnoid; YAMLWriter::YAMLWriter(const std::string filename) : os(ofs) { indentWidth = 2; isCurrentNewLine = true; current = 0; numDocuments = 0; isKeyOrderPreservationMode = false; doubleFormat = "%.7g"; ofs.open(filename.c_str()); pushState(TOP, false); } YAMLWriter::YAMLWriter(std::ostream& os) : os(os) { indentWidth = 2; isCurrentNewLine = true; current = 0; numDocuments = 0; isKeyOrderPreservationMode = false; doubleFormat = "%.7g"; pushState(TOP, false); } YAMLWriter::~YAMLWriter() { os.flush(); ofs.close(); } void YAMLWriter::setIndentWidth(int n) { if(isTopLevel()){ indentWidth = n; } } void YAMLWriter::setKeyOrderPreservationMode(bool on) { isKeyOrderPreservationMode = true; } bool YAMLWriter::isTopLevel() { return (states.size() <= 1); } YAMLWriter::State& YAMLWriter::pushState(int type, bool isFlowStyle) { bool parentFlowStyle = current ? current->isFlowStyle : isFlowStyle; const int level = std::max(static_cast(states.size() - 1), 0); states.push(State()); State& state = states.top(); state.type = type; state.isFlowStyle = parentFlowStyle ? true : isFlowStyle; state.isKeyPut = false; state.hasValuesBeenPut = false; state.indentString = string(level * indentWidth, ' '); current = &state; return state; } void YAMLWriter::popState() { states.pop(); current = &states.top(); } void YAMLWriter::newLine() { if(!isCurrentNewLine){ os << "\n"; isCurrentNewLine = true; } } void YAMLWriter::indent() { if(!isCurrentNewLine){ newLine(); } os << current->indentString; } void YAMLWriter::startDocument() { newLine(); if(numDocuments > 0){ os << "\n"; } os << "---\n"; ++numDocuments; } void YAMLWriter::putComment(const std::string& comment, bool doNewLine) { if(doNewLine){ indent(); } os << "# " << toUTF8(comment); isCurrentNewLine = false; newLine(); } bool YAMLWriter::makeValuePutReady() { switch(current->type){ case MAPPING: return current->isKeyPut; case LISTING: if(!current->isFlowStyle){ indent(); os << "- "; } isCurrentNewLine = false; return true; default: return true; } } bool YAMLWriter::startValuePut() { if(makeValuePutReady()){ if(current->type == LISTING && current->isFlowStyle){ if(current->hasValuesBeenPut){ os << ", "; } if(doInsertLineFeed){ newLine(); indent(); doInsertLineFeed = false; isCurrentNewLine = false; } } return true; } return false; } void YAMLWriter::endValuePut() { current->hasValuesBeenPut = true; if(current->type == MAPPING){ current->isKeyPut = false; } if(!current->isFlowStyle){ newLine(); } } void YAMLWriter::putString_(const std::string& value) { if(startValuePut()){ os << value; endValuePut(); } } void YAMLWriter::putString(const std::string& value) { putString_(toUTF8(value)); } void YAMLWriter::putSingleQuotedString_(const std::string& value) { if(startValuePut()){ os << "'" << value << "'"; endValuePut(); } } void YAMLWriter::putSingleQuotedString(const std::string& value) { putSingleQuotedString_(toUTF8(value)); } void YAMLWriter::putDoubleQuotedString_(const std::string& value) { if(startValuePut()){ os << "\"" << value << "\""; endValuePut(); } } void YAMLWriter::putDoubleQuotedString(const std::string& value) { putDoubleQuotedString_(toUTF8(value)); } void YAMLWriter::putBlockStyleString(const std::string& value, bool isLiteral) { if(current->isFlowStyle){ ValueNode::SyntaxException ex; ex.setMessage("A block-style string cannot be inserted into a flow-style container"); throw ex; } if(startValuePut()){ static char_separator sep("\r", "\n"); typedef tokenizer > Tokenizer; Tokenizer tokens(value, sep); if(isLiteral){ os << "|\n"; } else { os << ">\n"; } const int level = std::max(static_cast(states.size() - 1), 0); string indentString(level * indentWidth, ' '); os << indentString; bool afterLF = false; Tokenizer::iterator it = tokens.begin(); while(it != tokens.end()){ if(afterLF){ os << indentString; afterLF = false; } if(*it == "\n"){ if(++it == tokens.end()){ break; } os << "\n"; afterLF = true; } else { os << toUTF8(*it++); } } endValuePut(); } } void YAMLWriter::putScalar(const double& value) { char buf[20]; #ifdef _WIN32 _snprintf(buf, 20, doubleFormat, value); #else snprintf(buf, 20, doubleFormat, value); #endif putString_(buf); } void YAMLWriter::setDoubleFormat(const char* format) { doubleFormat = format; } void YAMLWriter::startMapping() { startMappingSub(false); } void YAMLWriter::startFlowStyleMapping() { startMappingSub(true); } void YAMLWriter::startMappingSub(bool isFlowStyle) { if(startValuePut()){ int parentType = current->type; State& state = pushState(MAPPING, isFlowStyle); if(!state.isFlowStyle){ if(parentType == MAPPING){ newLine(); } } else { os << "{ "; isCurrentNewLine = false; } } } void YAMLWriter::putKey_(const std::string& key, StringStyle style) { if(current->type == MAPPING && !current->isKeyPut){ if(current->isFlowStyle){ if(current->hasValuesBeenPut){ os << ", "; } } else { indent(); } switch(style){ case SINGLE_QUOTED: os << "'" << key << "': "; break; case DOUBLE_QUOTED: os << "\"" << key << "\": "; break; default: os << key << ": "; break; } current->isKeyPut = true; isCurrentNewLine = false; } } void YAMLWriter::putKey(const std::string& key, StringStyle style) { putKey_(toUTF8(key), style); } void YAMLWriter::endMapping() { if(current->type == MAPPING){ if(current->isFlowStyle){ os << " }"; } popState(); endValuePut(); } } void YAMLWriter::startListing() { startListingSub(false); } void YAMLWriter::startFlowStyleListing() { startListingSub(true); } void YAMLWriter::startListingSub(bool isFlowStyle) { if(startValuePut()){ State& state = pushState(LISTING, isFlowStyle); if(!state.isFlowStyle){ if(!isTopLevel()){ newLine(); } } else { os << "[ "; isCurrentNewLine = false; doInsertLineFeed = false; } } } void YAMLWriter::endListing() { if(current->type == LISTING){ if(current->isFlowStyle){ os << " ]"; } popState(); endValuePut(); } } void YAMLWriter::putNode(const ValueNode* node) { putNodeMain(node, false); } void YAMLWriter::putNodeMain(const ValueNode* node, bool doCheckLF) { switch(node->nodeType()){ case ValueNode::SCALAR: { const ScalarNode* scalar = static_cast(node); if(!doCheckLF){ putScalarNode(scalar); } else { ValueNode::TypeBit LFType = scalar->LFType(); if(!LFType){ putScalarNode(scalar); } else if(LFType & ValueNode::INSERT_LF){ doInsertLineFeed = true; putScalarNode(scalar); } else if(LFType & ValueNode::APPEND_LF){ putScalarNode(scalar); doInsertLineFeed = true; } } break; } case ValueNode::MAPPING: putMappingNode(static_cast(node)); break; case ValueNode::LISTING: putListingNode(static_cast(node)); break; default: ValueNode::UnknownNodeTypeException ex; ex.setMessage("Unknown node type"); throw ex; } } void YAMLWriter::putScalarNode(const ScalarNode* scalar) { if(scalar->stringStyle == PLAIN_STRING){ putString_(scalar->stringValue); } else if(scalar->stringStyle == SINGLE_QUOTED){ putSingleQuotedString_(scalar->stringValue); } else if(scalar->stringStyle == DOUBLE_QUOTED){ putDoubleQuotedString_(scalar->stringValue); } else if(scalar->stringStyle == LITERAL_STRING){ putLiteralString(scalar->stringValue); } else if(scalar->stringStyle == FOLDED_STRING){ putFoldedString(scalar->stringValue); } else { putDoubleQuotedString_(scalar->stringValue); } } void YAMLWriter::putMappingNode(const Mapping* mapping) { if(mapping->isFlowStyle()){ startFlowStyleMapping(); } else { startMapping(); } if(isKeyOrderPreservationMode){ const int n(mapping->size()); vector iters(n); int index = 0; for(Mapping::const_iterator it = mapping->begin(); it != mapping->end(); ++it){ iters[index++] = it; } struct KeyOrderCmpFunc { bool operator()(const Mapping::const_iterator& it1, const Mapping::const_iterator& it2) const { return (it1->second->indexInMapping < it2->second->indexInMapping); } }; std::sort(iters.begin(), iters.end(), &Mapping::compareIters); for(int i=0; i < n; ++i){ Mapping::const_iterator& it = iters[i]; const string& key = it->first; if(!key.empty()){ putKey_(key, mapping->keyQuoteStyle); const ValueNodePtr& node = it->second; putNodeMain(node, false); } } } else { for(Mapping::const_iterator it = mapping->begin(); it != mapping->end(); ++it){ const string& key = it->first; if(!key.empty()){ putKey_(key, mapping->keyQuoteStyle); const ValueNodePtr& node = it->second; putNodeMain(node, false); } } } endMapping(); } void YAMLWriter::putListingNode(const Listing* listing) { bool doCheckLF; if(listing->isFlowStyle()){ startFlowStyleListing(); doCheckLF = true; } else { startListing(); doCheckLF = false; } const int n = listing->size(); for(int i=0; i < n; ++i){ putNodeMain(listing->values[i], doCheckLF); } endListing(); } choreonoid-1.5.0/src/Util/FileUtil.cpp0000664000000000000000000001742612741425367016320 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "FileUtil.h" //#ifdef _WIN32 #if 0 #include #include #include #define CNOID_FILE_UTIL_SUPPORT_WINDOWS_FILESYSTEM bool comparePathIterator(boost::filesystem::path::const_iterator& iter1, boost::filesystem::path::const_iterator& iter2) { return to_lower_copy(iter1->string()) == to_lower_copy(iter2->string()); } #else bool comparePathIterator(boost::filesystem::path::const_iterator& iter1, boost::filesystem::path::const_iterator& iter2) { return *iter1 == *iter2; } #endif using namespace std; using namespace boost; namespace cnoid { void makePathCompact(const filesystem::path& path, filesystem::path& out_compact) { out_compact.clear(); for(filesystem::path::const_iterator p = path.begin(); p != path.end(); ++p){ if(*p == ".."){ out_compact = out_compact.parent_path(); } else if(*p != "."){ out_compact /= *p; } } } int findSubDirectory(const filesystem::path& directory, const filesystem::path& path, filesystem::path& out_subdirectory) { int numMatchedDepth = 0; if(directory.is_absolute() && path.is_absolute()){ filesystem::path compactPath; makePathCompact(path, compactPath); filesystem::path::const_iterator p = directory.begin(); filesystem::path::const_iterator q = compactPath.begin(); while(p != directory.end() && q != compactPath.end()){ if(!comparePathIterator(p, q)){ break; } ++numMatchedDepth; ++p; ++q; } if(p == directory.end()){ out_subdirectory.clear(); while(q != compactPath.end()){ out_subdirectory /= *q++; } return numMatchedDepth; } } return 0; } bool findRelativePath(const filesystem::path& from_, const filesystem::path& to, filesystem::path& out_relativePath) { if(from_.is_complete() && to.is_complete()){ filesystem::path from; makePathCompact(from_, from); filesystem::path::const_iterator p = from.begin(); filesystem::path::const_iterator q = to.begin(); while(p != from.end() && q != to.end()){ if(!comparePathIterator(p, q)){ break; } ++p; ++q; } out_relativePath.clear(); while(p != from.end()){ out_relativePath /= ".."; ++p; } while(q != to.end()){ out_relativePath /= *q++; } return true; } return false; } #ifndef CNOID_FILE_UTIL_SUPPORT_WINDOWS_FILESYSTEM std::string toActualPathName(const std::string& path) { return path; } #else /** \note This implementation cannot be used because the extension is omitted when the exploer hides the extension of registered file types. \todo Support the case where the exploer hides the extension of registered file types. */ std::string toActualPathName(const std::string& path) { int codepage = _getmbcp(); size_t length = ::MultiByteToWideChar(codepage, 0, path.c_str(), path.size(), NULL, 0); if(length >= 0){ wchar_t wpath[MAX_PATH]; ::MultiByteToWideChar(codepage, 0, path.c_str(), path.size(), wpath, MAX_PATH); // The following code was based on the code posted at // http://stackoverflow.com/questions/74451/getting-actual-file-name-with-proper-casing-on-windowsis // Thank you. const wchar_t kSeparator = L'\\'; size_t i = 0; std::wstring result; // for network paths (\\server\share\RestOfPath), getting the display // name mangles it into unusable form (e.g. "\\server\share" turns // into "share on server (server)"). So detect this case and just skip // up to two path components if( length >= 2 && wpath[0] == kSeparator && wpath[1] == kSeparator ) { int skippedCount = 0; i = 2; // start after '\\' while( i < length && skippedCount < 2 ) { if( wpath[i] == kSeparator ){ ++skippedCount; } ++i; } result.append( wpath, i ); } // for drive names, just add it uppercased else if( length >= 2 && wpath[1] == L':' ) { result += towupper(wpath[0]); result += L':'; if( length >= 3 && wpath[2] == kSeparator ){ result += kSeparator; i = 3; // start after drive, colon and separator } else { i = 2; // start after drive and colon } } size_t lastComponentStart = i; bool addSeparator = false; while( i < length ) { // skip until path separator while( i < length && wpath[i] != kSeparator ) { ++i; } if( addSeparator ) { result += kSeparator; } // if we found path separator, get real filename of this // last path name component bool foundSeparator = (i < length); wpath[i] = 0; SHFILEINFOW info; // nuke the path separator so that we get real name of current path component info.szDisplayName[0] = 0; if( SHGetFileInfoW( wpath, 0, &info, sizeof(info), SHGFI_DISPLAYNAME ) ) { result += info.szDisplayName; } else { // most likely file does not exist. // So just append original path name component. result.append( wpath + lastComponentStart, i - lastComponentStart ); } // restore path separator that we might have nuked before if( foundSeparator ){ wpath[i] = kSeparator; } ++i; lastComponentStart = i; addSeparator = true; } length = ::WideCharToMultiByte(codepage, 0, &result[0], result.size(), NULL, 0, NULL, NULL); if(length >= 0){ std::vector converted(length + 1); ::WideCharToMultiByte(codepage, 0, &result[0], result.size(), &converted[0], length + 1, NULL, NULL); return std::string(&converted[0], length); } } return path; // failed } #endif std::string getExtension(const boost::filesystem::path& path) { string ext = filesystem::extension(path); if(!ext.empty()){ if(ext[0] = '.'){ ext = ext.substr(1); } else { ext.clear(); } } return ext; } std::string getGenericPathString(const boost::filesystem::path& path) { return path.generic_string(); } bool checkAbsolute(const boost::filesystem::path& path) { return path.is_absolute(); } boost::filesystem::path getAbsolutePath(const boost::filesystem::path& path) { return boost::filesystem::absolute(path); } std::string getAbsolutePathString(const boost::filesystem::path& path) { return boost::filesystem::absolute(path).string(); } std::string getFilename(const boost::filesystem::path& path) { return path.filename().string(); } std::string getFilename(const std::string& pathString) { boost::filesystem::path path(pathString); return path.filename().string(); } std::string getBasename(const boost::filesystem::path& path) { return path.stem().string(); } std::string getPathString(const boost::filesystem::path& path) { return path.string(); } std::string getNativePathString(const boost::filesystem::path& path) { boost::filesystem::path p(path); return p.make_preferred().string(); } } choreonoid-1.5.0/src/Util/CnoidUtil.cpp0000664000000000000000000000046212741425367016465 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka @note This file must be linked lastly because the constructors of the static class instances define in this file must be executed after all the other static instances are constructed. */ #include "GettextUtil.h" #include "gettext.h" CNOID_BIND_GETTEXT_DOMAN() choreonoid-1.5.0/src/Util/SceneLights.cpp0000664000000000000000000000403212741425367017000 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "SceneLights.h" #include "SceneVisitor.h" using namespace std; using namespace cnoid; SgLight::SgLight() { on_ = true; color_.setOnes(); intensity_ = 1.0f; ambientIntensity_ = 0.0f; } SgLight::SgLight(const SgLight& org) : SgPreprocessed(org) { on_ = org.on_; color_ = org.color_; intensity_ = org.intensity_; ambientIntensity_ = org.ambientIntensity_; } SgObject* SgLight::clone(SgCloneMap& cloneMap) const { return new SgLight(*this); } void SgLight::accept(SceneVisitor& visitor) { visitor.visitLight(this); } SgDirectionalLight::SgDirectionalLight() { direction_ << 0.0, 0.0, -1.0; } SgDirectionalLight::SgDirectionalLight(const SgDirectionalLight& org) : SgLight(org) { direction_ = org.direction_; } SgObject* SgDirectionalLight::clone(SgCloneMap& cloneMap) const { return new SgDirectionalLight(*this); } void SgDirectionalLight::accept(SceneVisitor& visitor) { visitor.visitLight(this); } SgPointLight::SgPointLight() { constantAttenuation_ = 1.0f; linearAttenuation_ = 0.0f; quadraticAttenuation_ = 0.0f; } SgPointLight::SgPointLight(const SgPointLight& org) : SgLight(org) { constantAttenuation_ = org.constantAttenuation_; linearAttenuation_ = org.linearAttenuation_; quadraticAttenuation_ = org.quadraticAttenuation_; } SgObject* SgPointLight::clone(SgCloneMap& cloneMap) const { return new SgPointLight(*this); } void SgPointLight::accept(SceneVisitor& visitor) { visitor.visitLight(this); } SgSpotLight::SgSpotLight() { direction_ << 0.0, 0.0, -1.0; beamWidth_ = 1.570796f; cutOffAngle_ = 0.785398f; } SgSpotLight::SgSpotLight(const SgSpotLight& org) : SgPointLight(org) { direction_ = org.direction_; beamWidth_ = org.beamWidth_; cutOffAngle_ = org.cutOffAngle_; } SgObject* SgSpotLight::clone(SgCloneMap& cloneMap) const { return new SgSpotLight(*this); } void SgSpotLight::accept(SceneVisitor& visitor) { visitor.visitLight(this); } choreonoid-1.5.0/src/Util/DataMap.cpp0000664000000000000000000000223012741425367016075 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "DataMap.h" using namespace std; using namespace cnoid; DataMapBase::~DataMapBase() { } std::map& DataMapBase::nameToIdMap() { static std::map nameToIdMap_; return nameToIdMap_; } std::map& DataMapBase::idToNameMap() { static std::map idToNameMap_; return idToNameMap_; } int DataMapBase::nextDynamicId() { static int dynamicIdCounter = MIN_DYNAMIC_ID; return dynamicIdCounter++; } int DataMapBase::getDynamicID(const std::string& name) { std::map nameToIdMap_ = nameToIdMap(); std::map::iterator p = nameToIdMap_.find(name); if(p != nameToIdMap_.end()){ return p->second; } int id = nextDynamicId(); nameToIdMap_[name] = id; return id; } const std::string& DataMapBase::getDynamicIDname(int id) { static std::string emptyString; std::map idToNameMap_ = idToNameMap(); std::map::iterator p = idToNameMap_.find(id); if(p != idToNameMap_.end()){ return p->second; } return emptyString; } choreonoid-1.5.0/src/Util/Timeval.h0000664000000000000000000000477212741425367015651 0ustar rootroot #ifndef CNOID_UTIL_TIMEVAL_H #define CNOID_UTIL_TIMEVAL_H namespace cnoid { /** A class like the timeval struct used with the gettimeofday function. The following definition is based on the xtime class, which is an example presented by the documentation of the boost.chrono library. */ class Timeval { long sec; long usec; void fixup() { if (usec < 0) { usec += 1000000; --sec; } } public: Timeval() { sec = 0; usec = 0; } explicit Timeval(long sec, long usec) { sec = sec; usec = usec; if (usec < 0 || usec >= 1000000) { sec += usec / 1000000; usec %= 1000000; fixup(); } } explicit Timeval(long long usec) { usec = static_cast(usec % 1000000); sec = static_cast(usec / 1000000); fixup(); } // explicit operator long long() const { return static_cast(sec) * 1000000 + usec; } Timeval& operator += (Timeval rhs) { sec += rhs.sec; usec += rhs.usec; if (usec >= 1000000) { usec -= 1000000; ++sec; } return *this; } Timeval& operator -= (Timeval rhs) { sec -= rhs.sec; usec -= rhs.usec; fixup(); return *this; } Timeval& operator %= (Timeval rhs) { long long t = sec * 1000000 + usec; long long r = rhs.sec * 1000000 + rhs.usec; t %= r; sec = static_cast(t / 1000000); usec = static_cast(t % 1000000); fixup(); return *this; } friend Timeval operator+(Timeval x, Timeval y) {return x += y;} friend Timeval operator-(Timeval x, Timeval y) {return x -= y;} friend Timeval operator%(Timeval x, Timeval y) {return x %= y;} friend bool operator==(Timeval x, Timeval y) { return (x.sec == y.sec && x.usec == y.usec); } friend bool operator<(Timeval x, Timeval y) { if (x.sec == y.sec) return (x.usec < y.usec); return (x.sec < y.sec); } friend bool operator!=(Timeval x, Timeval y) { return !(x == y); } friend bool operator> (Timeval x, Timeval y) { return y < x; } friend bool operator<=(Timeval x, Timeval y) { return !(y < x); } friend bool operator>=(Timeval x, Timeval y) { return !(x < y); } friend std::ostream& operator<<(std::ostream& os, Timeval x) { return os << '{' << x.sec << ',' << x.usec << '}'; } }; } #endif choreonoid-1.5.0/src/Util/UTF8.h0000664000000000000000000000157312741425367014772 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_UTF8_H_INCLUDED #define CNOID_UTIL_UTF8_H_INCLUDED #include #include "exportdecl.h" namespace cnoid { #ifdef _WIN32 CNOID_EXPORT const std::string toUTF8(const std::string& text); CNOID_EXPORT const std::string fromUTF8(const std::string& text); CNOID_EXPORT const std::string toUTF8(const char* text); CNOID_EXPORT const std::string fromUTF8(const char* text); #else inline const std::string& toUTF8(const std::string& text) { return text; } inline const std::string& fromUTF8(const std::string& text) { return text; } inline const std::string toUTF8(const char* text) { return text; } inline const std::string fromUTF8(const char* text) { return text; } //inline std::string toUTF8(const std::string& text) { return text; } //inline std::string fromUTF8(const std::string& text) { return text; } #endif } #endif choreonoid-1.5.0/src/Util/MeshNormalGenerator.h0000664000000000000000000000117612741425367020157 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_MESH_NORMAL_GENERATOR_H #define CNOID_UTIL_MESH_NORMAL_GENERATOR_H #include "exportdecl.h" namespace cnoid { class SgMesh; class MeshNormalGeneratorImpl; class CNOID_EXPORT MeshNormalGenerator { public: MeshNormalGenerator(); MeshNormalGenerator(const MeshNormalGenerator& org); ~MeshNormalGenerator(); void setOverwritingEnabled(bool on); void setMinCreaseAngle(float angle); void setMaxCreaseAngle(float angle); bool generateNormals(SgMesh* mesh, float creaseAngle = 3.14159f); private: MeshNormalGeneratorImpl* impl; }; } #endif choreonoid-1.5.0/src/Util/VRMLWriter.cpp0000664000000000000000000002175612741425367016561 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "VRMLWriter.h" #include #include #include using namespace std; using namespace boost; using namespace cnoid; namespace { typedef std::map TNodeMethodMap; typedef std::pair TNodeMethodPair; TNodeMethodMap nodeMethodMap; } void VRMLWriter::writeMFInt32SeparatedByMinusValue(MFInt32& values) { out << ++indent << "[\n"; ++indent; out << indent; int n = values.size(); for(int i=0; i < n; i++){ out << values[i] << " "; if(values[i] < 0){ out << "\n"; if(i < n-1){ out << indent; } } } out << --indent << "]\n"; --indent; } VRMLWriter::VRMLWriter(std::ostream& out) : out(out), ofname() { if(nodeMethodMap.empty()){ registerNodeMethodMap(); } } void VRMLWriter::registerNodeMethod(const std::type_info& t, VRMLWriterNodeMethod method) { nodeMethodMap.insert(TNodeMethodPair(t.name(), method)); } VRMLWriterNodeMethod VRMLWriter::getNodeMethod(VRMLNodePtr node) { TNodeMethodMap::iterator p = nodeMethodMap.find(typeid(*node).name()); return (p != nodeMethodMap.end()) ? p->second : 0; } void VRMLWriter::registerNodeMethodMap() { registerNodeMethod(typeid(VRMLGroup), &VRMLWriter::writeGroupNode); registerNodeMethod(typeid(VRMLTransform), &VRMLWriter::writeTransformNode); registerNodeMethod(typeid(VRMLInline), &VRMLWriter::writeInlineNode); registerNodeMethod(typeid(VRMLShape), &VRMLWriter::writeShapeNode); registerNodeMethod(typeid(VRMLIndexedFaceSet), &VRMLWriter::writeIndexedFaceSetNode); registerNodeMethod(typeid(VRMLBox), &VRMLWriter::writeBoxNode); registerNodeMethod(typeid(VRMLCone), &VRMLWriter::writeConeNode); registerNodeMethod(typeid(VRMLCylinder), &VRMLWriter::writeCylinderNode); registerNodeMethod(typeid(VRMLSphere), &VRMLWriter::writeSphereNode); } void VRMLWriter::writeHeader() { out << "#VRML V2.0 utf8\n"; } bool VRMLWriter::writeNode(VRMLNodePtr node) { indent.clear(); out << "\n"; writeNodeIter(node); return true; } void VRMLWriter::writeNodeIter(VRMLNodePtr node) { VRMLWriterNodeMethod method = getNodeMethod(node); if(method){ (this->*method)(node); } else { cout << "cannot find writer for " << typeid(*node).name() << " node." << endl; } } void VRMLWriter::beginNode(const char* nodename, VRMLNodePtr node) { out << indent; if(node->defName.empty()){ out << nodename << " {\n"; } else { out << "DEF " << node->defName << " " << nodename << " {\n"; } ++indent; } void VRMLWriter::endNode() { out << --indent << "}\n"; } void VRMLWriter::writeGroupNode(VRMLNodePtr node) { VRMLGroupPtr group = static_pointer_cast(node); beginNode("Group", group); writeGroupFields(group); endNode(); } void VRMLWriter::writeGroupFields(VRMLGroupPtr group) { if(group->bboxSize[0] >= 0){ out << indent << "bboxCenter " << group->bboxCenter << "\n"; out << indent << "bboxSize " << group->bboxSize << "\n"; } if(!group->children.empty()){ out << indent << "children [\n"; ++indent; for(size_t i=0; i < group->children.size(); i++){ writeNodeIter(group->children[i]); } out << --indent << "]\n"; } } void VRMLWriter::writeTransformNode(VRMLNodePtr node) { VRMLTransformPtr trans = static_pointer_cast(node); beginNode("Transform", trans); out << indent << "center " << trans->center << "\n"; out << indent << "rotation " << trans->rotation << "\n"; out << indent << "scale " << trans->scale << "\n"; out << indent << "scaleOrientation " << trans->scaleOrientation << "\n"; out << indent << "translation " << trans->translation << "\n"; writeGroupFields(trans); endNode(); } /** * create relative path from absolute path * http://stackoverflow.com/questions/10167382/boostfilesystem-get-relative-path **/ std::string VRMLWriter::abstorel(std::string& fname) { filesystem::path from(ofname); filesystem::path to(fname); filesystem::path::const_iterator fromIter = from.begin(); filesystem::path::const_iterator toIter = to.begin(); while(fromIter != from.end() && toIter != to.end() && (*toIter) == (*fromIter)) { ++toIter; ++fromIter; } if (fromIter != from.end()) ++fromIter; filesystem::path finalPath; while(fromIter != from.end()) { finalPath /= ".."; ++fromIter; } while(toIter != to.end()) { finalPath /= *toIter; ++toIter; } return finalPath.string(); } void VRMLWriter::writeInlineNode(VRMLNodePtr node) { VRMLInlinePtr vinline = static_pointer_cast(node); beginNode("Inline", vinline); int n = vinline->urls.size(); if (n == 1) { out << indent << "url \"" << abstorel(vinline->urls[0]) << "\"\n"; } else { out << indent << "urls [\n"; for(int i=0; i < n; i++){ out << indent << " \"" << abstorel(vinline->urls[i]) << "\"\n"; } out << indent << "]\n"; } endNode(); } void VRMLWriter::writeShapeNode(VRMLNodePtr node) { VRMLShapePtr shape = static_pointer_cast(node); beginNode("Shape", shape); if(shape->appearance){ out << indent << "appearance\n"; ++indent; writeAppearanceNode(shape->appearance); --indent; } if(shape->geometry){ out << indent << "geometry\n"; VRMLWriterNodeMethod method = getNodeMethod(shape->geometry); if(method){ ++indent; (this->*method)(shape->geometry); --indent; } } endNode(); } void VRMLWriter::writeAppearanceNode(VRMLAppearancePtr appearance) { beginNode("Appearance", appearance); if(appearance->material){ out << indent << "material\n"; ++indent; writeMaterialNode(appearance->material); --indent; } endNode(); } void VRMLWriter::writeMaterialNode(VRMLMaterialPtr material) { beginNode("Material", material); out << indent << "ambientIntensity " << material->ambientIntensity << "\n"; out << indent << "diffuseColor " << material->diffuseColor << "\n"; out << indent << "emissiveColor " << material->emissiveColor << "\n"; out << indent << "shininess " << material->shininess << "\n"; out << indent << "specularColor " << material->specularColor << "\n"; out << indent << "transparency " << material->transparency << "\n"; endNode(); } void VRMLWriter::writeBoxNode(VRMLNodePtr node) { VRMLBoxPtr box = static_pointer_cast(node); beginNode("Box", box); out << indent << "size " << box->size << "\n"; endNode(); } void VRMLWriter::writeConeNode(VRMLNodePtr node) { VRMLConePtr cone = static_pointer_cast(node); beginNode("Cone", cone); out << indent << "bottomRadius " << cone->bottomRadius << "\n"; out << indent << "height " << cone->height << "\n"; out << indent << "bottom " << boolstr(cone->bottom) << "\n"; out << indent << "side " << boolstr(cone->side) << "\n"; endNode(); } void VRMLWriter::writeCylinderNode(VRMLNodePtr node) { VRMLCylinderPtr cylinder = static_pointer_cast(node); beginNode("Cylinder", cylinder); out << indent << "radius " << cylinder->radius << "\n"; out << indent << "height " << cylinder->height << "\n"; out << indent << "top " << boolstr(cylinder->top) << "\n"; out << indent << "bottom " << boolstr(cylinder->bottom) << "\n"; out << indent << "side " << boolstr(cylinder->side) << "\n"; endNode(); } void VRMLWriter::writeSphereNode(VRMLNodePtr node) { VRMLSpherePtr sphere = static_pointer_cast(node); beginNode("Sphere", sphere); out << indent << "radius " << sphere->radius << "\n"; endNode(); } void VRMLWriter::writeIndexedFaceSetNode(VRMLNodePtr node) { VRMLIndexedFaceSetPtr faceset = static_pointer_cast(node); beginNode("IndexedFaceSet", faceset); if(faceset->coord){ out << indent << "coord\n"; ++indent; writeCoordinateNode(faceset->coord); --indent; } if(!faceset->coordIndex.empty()){ out << indent << "coordIndex\n"; writeMFInt32SeparatedByMinusValue(faceset->coordIndex); } out << indent << "ccw " << boolstr(faceset->ccw) << "\n"; out << indent << "convex " << boolstr(faceset->convex) << "\n"; out << indent << "creaseAngle " << faceset->creaseAngle << "\n"; out << indent << "solid " << boolstr(faceset->solid) << "\n"; endNode(); } void VRMLWriter::writeCoordinateNode(VRMLCoordinatePtr coord) { beginNode("Coordinate", coord); if(!coord->point.empty()){ out << indent << "point\n"; writeMFValues(coord->point, 1); } endNode(); } choreonoid-1.5.0/src/Util/MultiSE3Seq.h0000664000000000000000000000252612741425367016321 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_MULTI_SE3_SEQ_H #define CNOID_UTIL_MULTI_SE3_SEQ_H #include "MultiSeq.h" #include "EigenTypes.h" #include "exportdecl.h" namespace cnoid { class Mapping; class Listing; class YAMLWriter; class CNOID_EXPORT MultiSE3Seq : public MultiSeq > { typedef MultiSeq > BaseSeqType; public: typedef boost::shared_ptr Ptr; MultiSE3Seq(); MultiSE3Seq(int numFrames, int numParts = 1); MultiSE3Seq(const MultiSE3Seq& org); virtual ~MultiSE3Seq(); virtual AbstractSeqPtr cloneSeq() const; //virtual bool loadPlainFormat(const std::string& filename); bool loadPlainMatrixFormat(const std::string& filename); bool loadPlainRpyFormat(const std::string& filename); bool saveTopPartAsPlainMatrixFormat(const std::string& filename); protected: virtual SE3 defaultValue() const { return SE3(Vector3::Zero(), Quat::Identity()); } virtual bool doWriteSeq(YAMLWriter& writer); virtual bool doReadSeq(const Mapping& archive); private: void readPosQuatSeq(int nParts, int nFrames, const Listing& values, bool isWfirst); void readPosRpySeq(int nParts, int nFrames, const Listing& values); }; typedef MultiSE3Seq::Ptr MultiSE3SeqPtr; } #endif choreonoid-1.5.0/src/Util/SceneCameras.h0000664000000000000000000000555512741425367016601 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_SCENE_CAMERAS_H #define CNOID_UTIL_SCENE_CAMERAS_H #include "SceneGraph.h" #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT SgCamera : public SgPreprocessed { protected: SgCamera(); SgCamera(const SgCamera& org); public: virtual void accept(SceneVisitor& visitor); static Affine3 positionLookingFor(const Vector3& eye, const Vector3& direction, const Vector3& up); static Affine3 positionLookingAt(const Vector3& eye, const Vector3& center, const Vector3& up); template static Eigen::Matrix right(const Eigen::Transform& T){ return T.linear().col(0); } template static Eigen::Matrix direction(const Eigen::Transform& T){ return -T.linear().col(2); } template static Eigen::Matrix up(const Eigen::Transform& T){ return T.linear().col(1); } double nearClipDistance() const { return nearClipDistance_; } void setNearClipDistance(double d) { nearClipDistance_ = d; } double farClipDistance() const { return farClipDistance_; } void setFarClipDistance(double d) { farClipDistance_ = d; } #ifdef CNOID_BACKWARD_COMPATIBILITY double nearDistance() const { return nearDistance_; } void setNearDistance(double d) { nearDistance_ = d; } double farDistance() const { return farDistance_; } void setFarDistance(double d) { farDistance_ = d; } #endif private: double nearClipDistance_; double farClipDistance_; }; typedef ref_ptr SgCameraPtr; class CNOID_EXPORT SgPerspectiveCamera : public SgCamera { public: SgPerspectiveCamera(); SgPerspectiveCamera(const SgPerspectiveCamera& org); virtual SgObject* clone(SgCloneMap& cloneMap) const; virtual void accept(SceneVisitor& visitor); double fieldOfView() const { return fieldOfView_; } void setFieldOfView(double fov) { fieldOfView_ = fov; } static double fovy(double aspectRatio, double fieldOfView); double fovy(double aspectRatio) const { return SgPerspectiveCamera::fovy(aspectRatio, fieldOfView_); } private: double fieldOfView_; }; typedef ref_ptr SgPerspectiveCameraPtr; class CNOID_EXPORT SgOrthographicCamera : public SgCamera { public: SgOrthographicCamera(); SgOrthographicCamera(const SgOrthographicCamera& org); virtual SgObject* clone(SgCloneMap& cloneMap) const; virtual void accept(SceneVisitor& visitor); double height() const { return height_; } void setHeight(double h) { height_ = h; } private: double height_; }; typedef ref_ptr SgOrthographicCameraPtr; } #endif choreonoid-1.5.0/src/Util/MultiSeq.h0000664000000000000000000001237412741425367016010 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_MULTI_SEQ_H #define CNOID_UTIL_MULTI_SEQ_H #include "AbstractSeq.h" #include "Deque2D.h" #include #include #include namespace cnoid { template > class MultiSeq : public Deque2D, public AbstractMultiSeq { typedef MultiSeq MultiSeqType; public: typedef Deque2D Container; typedef typename Container::Element Element; typedef boost::shared_ptr< MultiSeqType > Ptr; typedef typename Container::Row Frame; typedef typename Container::Column Part; MultiSeq(const char* seqType) : AbstractMultiSeq(seqType), Container(0, 1) { frameRate_ = defaultFrameRate(); offsetTimeFrame_ = 0; } MultiSeq(const char* seqType, int numFrames, int numParts) : AbstractMultiSeq(seqType), Container(numFrames, numParts) { frameRate_ = defaultFrameRate(); offsetTimeFrame_ = 0; } MultiSeq(const MultiSeqType& org) : AbstractMultiSeq(org), Container(org) { frameRate_ = org.frameRate_; offsetTimeFrame_ = org.offsetTimeFrame_; } virtual ~MultiSeq() { } MultiSeqType& operator=(const MultiSeqType& rhs) { if(this != &rhs){ AbstractMultiSeq::operator=(rhs); Container::operator=(rhs); frameRate_ = rhs.frameRate_; } return *this; } virtual AbstractSeq& operator=(const AbstractSeq& rhs) { const MultiSeqType* rhsSeq = dynamic_cast(&rhs); if(rhsSeq){ return operator=(*rhsSeq); } else { return AbstractSeq::operator=(rhs); } } virtual AbstractSeqPtr cloneSeq() const { return boost::make_shared(*this); } void copySeqProperties(const MultiSeqType& source) { AbstractMultiSeq::copySeqProperties(source); frameRate_ = source.frameRate_; setNumParts(source.numParts()); } virtual void setDimension(int newNumFrames, int newNumParts, bool clearNewElements = false) { const int prevNumParts = numParts(); const int prevNumFrames = numFrames(); Container::resize(newNumFrames, newNumParts); if(clearNewElements){ if(newNumParts == prevNumParts){ if(newNumFrames > prevNumFrames){ std::fill(Container::begin() + prevNumFrames * newNumParts, Container::end(), defaultValue()); } } else { std::fill(Container::begin(), Container::end(), defaultValue()); } } offsetTimeFrame_ = 0; } virtual double getFrameRate() const { return frameRate_; } double frameRate() const { return frameRate_; } virtual void setFrameRate(double frameRate) { frameRate_ = frameRate; } const double timeStep() const { return 1.0 / frameRate_; } virtual void setNumParts(int newNumParts, bool clearNewElements = false) { setDimension(numFrames(), newNumParts, clearNewElements); } virtual int getNumFrames() const { return Container::rowSize(); } int numFrames() const { return Container::rowSize(); } virtual void setNumFrames(int newNumFrames, bool clearNewElements = false) { setDimension(newNumFrames, numParts(), clearNewElements); } void clearFrames(){ setNumFrames(0); offsetTimeFrame_ = 0; } virtual int getNumParts() const { return Container::colSize(); } int numParts() const { return Container::colSize(); } double timeLength() const { return numFrames() / frameRate(); } void setOffsetTimeFrame(int frameOffset) { offsetTimeFrame_ = frameOffset; } int offsetTimeFrame() const { return offsetTimeFrame_; } virtual int getOffsetTimeFrame() const { return offsetTimeFrame_; } int frameOfTime(double time) const { return (int)(time * frameRate_) - offsetTimeFrame_; } double timeOfFrame(int frame) const { return ((frame + offsetTimeFrame_) / frameRate_); } const Part part(int index) const { return Container::column(index); } Part part(int index) { return Container::column(index); } Frame frame(int index) { return Container::row(index); } const Frame frame(int index) const { return Container::row(index); } void popFrontFrame() { Container::pop_front(); offsetTimeFrame_ += 1; } Frame appendFrame() { return Container::append(); } int clampFrameIndex(int frameIndex){ if(frameIndex < 0){ return 0; } else if(frameIndex >= numFrames()){ return numFrames() - 1; } return frameIndex; } protected: double frameRate_; int offsetTimeFrame_; virtual ElementType defaultValue() const { return ElementType(); } }; } #endif choreonoid-1.5.0/src/Util/SceneEffects.h0000664000000000000000000000250112741425367016571 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_SCENE_EFFECTS_H #define CNOID_UTIL_SCENE_EFFECTS_H #include "SceneGraph.h" #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT SgFog : public SgPreprocessed { public: SgFog(); SgFog(const SgFog& org); virtual SgObject* clone(SgCloneMap& cloneMap) const; virtual void accept(SceneVisitor& visitor); const Vector3f& color() const { return color_; } template void setColor(const Eigen::MatrixBase& c) { color_ = c.template cast(); } void setVisibilityRange(float r) { visibilityRange_ = r; } float visibilityRange() const { return visibilityRange_; } private: Vector3f color_; float visibilityRange_; //int fogType; }; typedef ref_ptr SgFogPtr; class CNOID_EXPORT SgOutlineGroup : public SgGroup { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW; SgOutlineGroup(); virtual void accept(SceneVisitor& visitor); const Vector4f& color() const { return color_; } void setColor(const Vector4f& color) { color_ = color; } void setLineWidth(float width) { lineWidth_ = width; } float lineWidth() const { return lineWidth_; } private: Vector4f color_; float lineWidth_; }; typedef ref_ptr SgOutlineGroupPtr; } #endif choreonoid-1.5.0/src/Util/YAMLReader.h0000664000000000000000000000301112741425367016116 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_YAML_READER_H_INCLUDED #define CNOID_UTIL_YAML_READER_H_INCLUDED #include "ValueTree.h" #include "exportdecl.h" namespace cnoid { class YAMLReaderImpl; class CNOID_EXPORT YAMLReader { class MappingFactoryBase { public: virtual Mapping* create(int line, int column) = 0; virtual ~MappingFactoryBase() { } }; template class MappingFactory : public MappingFactoryBase { public: virtual Mapping* create(int line, int column) { return new MappingType(line, column); } }; public: YAMLReader(); ~YAMLReader(); template inline void setMappingClass() { setMappingFactory(new MappingFactory()); } void expectRegularMultiListing(); #ifdef CNOID_BACKWARD_COMPATIBILITY void expectRegularMultiSequence() { expectRegularMultiListing(); } bool load_string(const std::string& yamlstring) { return parse(yamlstring); } #endif bool load(const std::string& filename); bool parse(const std::string& yamlstring); ValueNode* loadDocument(const std::string& filename); int numDocuments(); ValueNode* document(int index = 0); void clearDocuments(); const std::string& errorMessage(); private: friend class YAMLReaderImpl; YAMLReaderImpl* impl; void setMappingFactory(MappingFactoryBase* factory); }; #ifdef CNOID_BACKWARD_COMPATIBILITY typedef YAMLReader YamlReader; #endif } #endif choreonoid-1.5.0/src/Util/CMakeLists.txt0000664000000000000000000001040112741425367016621 0ustar rootroot #set(CMAKE_BUILD_TYPE Debug) #set_source_files_properties(ImageIO.cpp PROPERTIES COMPILE_FLAGS "-O0 -g") #set_source_files_properties(Image.cpp PROPERTIES COMPILE_FLAGS "-O0 -g") configure_file(Config.h.in ${CMAKE_CURRENT_SOURCE_DIR}/Config.h) set(sources ConnectionSet.cpp Selection.cpp DataMap.cpp EigenUtil.cpp ValueTree.cpp YAMLReader.cpp YAMLWriter.cpp UTF8.cpp EasyScanner.cpp NullOut.cpp FileUtil.cpp ExecutablePath.cpp AbstractSeq.cpp Vector3Seq.cpp MultiSE3Seq.cpp MultiAffine3Seq.cpp MultiValueSeq.cpp MultiVector3Seq.cpp PlainSeqFormatLoader.cpp Task.cpp AbstractTaskSequencer.cpp CollisionDetector.cpp RangeLimiter.cpp BoundingBox.cpp SceneGraph.cpp SceneDrawables.cpp SceneCameras.cpp SceneLights.cpp SceneEffects.cpp SceneVisitor.cpp SceneRenderer.cpp SceneProvider.cpp SceneUtil.cpp MeshGenerator.cpp MeshNormalGenerator.cpp MeshExtractor.cpp SceneMarkers.cpp PolygonMeshTriangulator.cpp Image.cpp ImageIO.cpp ImageConverter.cpp PointSetUtil.cpp VRML.cpp VRMLParser.cpp VRMLWriter.cpp VRMLToSGConverter.cpp DaeParser.cpp STLSceneLoader.cpp GettextWrapper.cpp GettextUtil.cpp CnoidUtil.cpp # This file must be placed at the last position ExtJoystick.cpp ) if(CMAKE_SYSTEM_NAME STREQUAL Linux) set(sources ${sources} JoystickLinux.cpp) elseif(WIN32) set(sources ${sources} JoystickWindows.cpp) elseif(APPLE) set(sources ${sources} JoystickOSX.cpp ysjoyreader-objc.m) endif() set(headers EasyScanner.h GaussianFilter.h UniformCubicBSpline.h IdPair.h Array2D.h Deque2D.h PolymorphicReferencedArray.h PolymorphicPointerArray.h MultiSE3Seq.h MultiAffine3Seq.h MultiSeq.h MultiValueSeq.h MultiVector3Seq.h NullOut.h PlainSeqFormatLoader.h RangeLimiter.h Referenced.h Seq.h AbstractSeq.h Timeval.h TimeMeasure.h Sleep.h Vector3Seq.h FileUtil.h ExecutablePath.h UTF8.h BoundingBox.h SceneGraph.h SceneDrawables.h SceneCameras.h SceneLights.h SceneEffects.h SceneVisitor.h SceneRenderer.h SceneUtil.h MeshGenerator.h MeshNormalGenerator.h MeshExtractor.h SceneMarkers.h SceneProvider.h Collision.h CollisionDetector.h Triangulator.h PolygonMeshTriangulator.h PolyhedralRegion.h Image.h ImageIO.h ImageConverter.h PointSetUtil.h VRML.h VRMLParser.h VRMLWriter.h VRMLToSGConverter.h Parser.h DaeNode.h DaeParser.h AbstractSceneLoader.h STLSceneLoader.h ValueTree.h ValueTreeUtil.h YAMLReader.h YAMLWriter.h EigenTypes.h EigenUtil.h EigenArchive.h Signal.h SignalTemplate.h ConnectionSet.h GettextUtil.h Selection.h DataMap.h Joystick.h ExtJoystick.h Task.h AbstractTaskSequencer.h Exception.h exportdecl.h Config.h ) include_directories(${IRRXML_INCLUDE_DIRS}) set(target CnoidUtil) make_gettext_mofiles(${target} mofiles) add_cnoid_library(${target} SHARED ${sources} ${headers} ${mofiles}) if(UNIX) set(libraries yaml irrXML ${PNG_LIBRARY} ${JPEG_LIBRARY} ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY} ${Boost_THREAD_LIBRARY} ${GETTEXT_LIBRARIES} m) if(APPLE) target_link_libraries(${target} ${libraries} "-framework IOKit -framework Foundation") else() target_link_libraries(${target} ${libraries}) endif() elseif(MSVC) set_target_properties(${target} PROPERTIES COMPILE_DEFINITIONS "YAML_DECLARE_STATIC") set(libraries libpng jpeg zlib irrXML winmm ${GETTEXT_LIBRARIES} ${IRRXML_LIBRARY}) if(USE_EXTERNAL_YAML) set(libraries ${libraries} optimized yaml debug yamld) else() set(libraries ${libraries} yaml) endif() target_link_libraries(${target} ${libraries}) endif() apply_common_setting_for_library(${target} "${headers}") # Adding some headers with old filenames for the backward compatibility if(CNOID_ENABLE_BACKWARD_COMPATIBILITY) if(UNIX AND NOT APPLE) make_header_public(VRML.h VRMLNodes) make_header_public(VRML.h VrmlNodes) make_header_public(VRMLParser.h VrmlParser) make_header_public(VRMLWriter.h VrmlWriter) make_header_public(YAMLReader.h YamlReader) make_header_public(YAMLWriter.h YamlWriter) endif() make_header_public(ValueTree.h YamlNodes) make_header_public(EigenArchive.h EigenYaml) endif() if(ENABLE_PYTHON) add_subdirectory(python) endif() choreonoid-1.5.0/src/Util/PolygonMeshTriangulator.cpp0000664000000000000000000002073012741425367021433 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "PolygonMeshTriangulator.h" #include "Triangulator.h" #include "SceneDrawables.h" #include using namespace std; using namespace boost; using namespace cnoid; namespace cnoid { class PolygonMeshTriangulatorImpl { public: bool isDeepCopyEnabled; Triangulator triangulator; std::vector polygon; std::vector newIndexPositionToOrgPositionWithDelimitersMap; std::vector newIndexPositionToOrgPositionMap; std::string errorMessage; void addErrorMessage(const std::string& message){ if(!errorMessage.empty()){ errorMessage += "\n"; } errorMessage += message; } void addErrorMessage(const char* message){ if(!errorMessage.empty()){ errorMessage += "\n"; } errorMessage += message; } PolygonMeshTriangulatorImpl(); SgMesh* triangulate(SgPolygonMesh* polygonMesh); bool setIndices( SgIndexArray& indices, int numElements, const SgIndexArray& orgIndices, const SgIndexArray& orgPolygonVertices, int elementTypeId); }; } PolygonMeshTriangulator::PolygonMeshTriangulator() { impl = new PolygonMeshTriangulatorImpl(); } PolygonMeshTriangulator::PolygonMeshTriangulator(const PolygonMeshTriangulator& org) { impl = new PolygonMeshTriangulatorImpl(*org.impl); } PolygonMeshTriangulator::~PolygonMeshTriangulator() { delete impl; } PolygonMeshTriangulatorImpl::PolygonMeshTriangulatorImpl() { isDeepCopyEnabled = false; } void PolygonMeshTriangulator::setDeepCopyEnabled(bool on) { impl->isDeepCopyEnabled = on; } const std::string& PolygonMeshTriangulator::errorMessage() const { return impl->errorMessage; } SgMesh* PolygonMeshTriangulator::triangulate(SgPolygonMesh* polygonMesh) { return impl->triangulate(polygonMesh); } SgMesh* PolygonMeshTriangulatorImpl::triangulate(SgPolygonMesh* orgMesh) { errorMessage.clear(); const SgIndexArray& polygonVertices = orgMesh->polygonVertices(); if(!orgMesh->vertices() || polygonVertices.empty()){ return SgMeshPtr(); } SgMesh* mesh = new SgMesh(); if(isDeepCopyEnabled){ mesh->setVertices(new SgVertexArray(*orgMesh->vertices())); } else { mesh->setVertices(orgMesh->vertices()); } const SgVertexArray& vertices = *mesh->vertices(); const int numVertices = vertices.size(); triangulator.setVertices(vertices); SgIndexArray& triangleVertices = mesh->triangleVertices(); polygon.clear(); newIndexPositionToOrgPositionWithDelimitersMap.clear(); newIndexPositionToOrgPositionMap.clear(); int polygonTopIndexPosition = 0; int polygonTopIndexPositionWithoutDelimiters = 0; int numInvalidIndices = 0; for(size_t i=0; i < polygonVertices.size(); ++i){ const int index = polygonVertices[i]; if(index >= numVertices){ if(numInvalidIndices == 0){ addErrorMessage(str(format("Vertex index %1% is over the number of vertices (%2%).") % index % numVertices)); } ++numInvalidIndices; } else if(index >= 0){ polygon.push_back(index); } else { if(polygon.size() == 3){ for(int j=0; j < 3; ++j){ triangleVertices.push_back(polygon[j]); newIndexPositionToOrgPositionWithDelimitersMap.push_back(polygonTopIndexPosition + j); newIndexPositionToOrgPositionMap.push_back(polygonTopIndexPositionWithoutDelimiters + j); } } else { const int numTriangles = triangulator.apply(polygon); const vector& triangles = triangulator.triangles(); for(int j=0; j < numTriangles; ++j){ for(int k=0; k < 3; ++k){ int localIndex = triangles[j * 3 + k]; triangleVertices.push_back(polygon[localIndex]); newIndexPositionToOrgPositionWithDelimitersMap.push_back(polygonTopIndexPosition + localIndex); newIndexPositionToOrgPositionMap.push_back(polygonTopIndexPositionWithoutDelimiters + localIndex); } } } polygonTopIndexPosition = i + 1; polygonTopIndexPositionWithoutDelimiters += polygon.size(); polygon.clear(); } } if(numInvalidIndices > 1){ addErrorMessage(str(format("There are %1% invalied vertex indices that are over the number of vertices (%2%).") % numInvalidIndices % numVertices)); } if(mesh->numTriangles() == 0){ addErrorMessage("There is no valid polygons to triangulete."); delete mesh; return 0; } SgNormalArray* normals = orgMesh->normals(); if(normals && !normals->empty()){ if(setIndices(mesh->normalIndices(), normals->size(), orgMesh->normalIndices(), polygonVertices, 0)){ if(isDeepCopyEnabled){ mesh->setNormals(new SgNormalArray(*normals)); } else { mesh->setNormals(normals); } } } SgColorArray* colors = orgMesh->colors(); if(colors && !colors->empty()){ if(setIndices(mesh->colorIndices(), colors->size(), orgMesh->colorIndices(), polygonVertices, 1)){ if(isDeepCopyEnabled){ mesh->setColors(new SgColorArray(*colors)); } else { mesh->setColors(colors); } } } SgTexCoordArray* texCoords = orgMesh->texCoords(); if(texCoords && !texCoords->empty()){ if(setIndices(mesh->texCoordIndices(), texCoords->size(), orgMesh->texCoordIndices(), polygonVertices, 2)){ if(isDeepCopyEnabled){ mesh->setTexCoords(new SgTexCoordArray(*texCoords)); } else { mesh->setTexCoords(texCoords); } } } mesh->setSolid(orgMesh->isSolid()); mesh->updateBoundingBox(); return mesh; } namespace { const char* message1(int elementTypeId){ switch(elementTypeId){ case 0: return "The number of normals is less than the number of vertices."; case 1: return "The number of colors is less than the number of vertices."; case 2: return "The number of texCoords is less than the number of vertices."; default: return 0; } } const char* message2(int elementTypeId){ switch(elementTypeId){ case 0: return "The number of normal indices is less than the number of polygon vertices."; case 1: return "The number of color indices is less than the number of polygon vertices."; case 2: return "The number of texCoord indices is less than the number of polygon vertices."; default: return 0; } } const char* message3(int elementTypeId){ switch(elementTypeId){ case 0: return "Normal index %1% is over the range of given normals."; case 1: return "Color index %1% is over the range of given colors."; case 2: return "TexCoord index %1% is over the range of given texCoords."; default: return 0; } } } bool PolygonMeshTriangulatorImpl::setIndices (SgIndexArray& indices, int numElements, const SgIndexArray& orgIndices, const SgIndexArray& orgPolygonVertices, int elementTypeId) { bool result = true; const int numNewIndices = newIndexPositionToOrgPositionMap.size(); indices.resize(numNewIndices); if(orgIndices.empty()){ for(int i=0; i < numNewIndices; ++i){ const int index = orgPolygonVertices[newIndexPositionToOrgPositionWithDelimitersMap[i]]; if(index >= numElements){ addErrorMessage(message1(elementTypeId)); result = false; break; } indices[i] = index; } } else { const int numOrgIndices = orgIndices.size(); for(int i=0; i < numNewIndices; ++i){ const int orgPos = newIndexPositionToOrgPositionWithDelimitersMap[i]; if(orgPos >= numOrgIndices){ addErrorMessage(message2(elementTypeId)); result = false; break; } const int index = orgIndices[orgPos]; if(index < 0 || index >= numElements){ addErrorMessage(str(format(message3(elementTypeId)) % index)); result = false; break; } indices[i] = index; } } if(!result){ indices.clear(); } return result; } choreonoid-1.5.0/src/Util/MeshExtractor.h0000664000000000000000000000242712741425367017033 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_MESH_EXTRACTOR_H #define CNOID_UTIL_MESH_EXTRACTOR_H #include "SceneVisitor.h" #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT MeshExtractor : public SceneVisitor { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW; bool extract(SgNode* node, boost::function callback); SgMesh* integrate(SgNode* node); SgMesh* currentMesh() const { return currentMesh_; } const Affine3& currentTransform() const { return currentTransform_; } const Affine3& currentTransformWithoutScaling() const { return currentTransformWithoutScaling_; } bool isCurrentScaled() const { return isCurrentScaled_; } protected: virtual void visitPosTransform(SgPosTransform* transform); virtual void visitScaleTransform(SgScaleTransform* transform); virtual void visitShape(SgShape* shape); virtual void visitPointSet(SgPointSet* pointSet); virtual void visitLineSet(SgLineSet* lineSet); virtual void visitLight(SgLight* light); virtual void visitCamera(SgCamera* camera); private: boost::function callback; SgMesh* currentMesh_; Affine3 currentTransform_; Affine3 currentTransformWithoutScaling_; bool isCurrentScaled_; bool meshFound; }; } #endif choreonoid-1.5.0/src/Util/Joystick.h0000664000000000000000000000150412741425367016035 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_JOYSTICK_H #define CNOID_UTIL_JOYSTICK_H #include "Signal.h" #include "exportdecl.h" namespace cnoid { class JoystickImpl; class CNOID_EXPORT Joystick { public: Joystick(); Joystick(const char* device); virtual ~Joystick(); int fileDescriptor() const; bool isReady() const; const char* errorMessage() const; int numAxes() const; void setAxisEnabled(int axis, bool on); int numButtons() const; bool readCurrentState(); double getPosition(int axis) const; bool getButtonState(int button) const; bool isActive() const; SignalProxy sigButton(); SignalProxy sigAxis(); private: JoystickImpl* impl; friend class JoystickImpl; }; } #endif choreonoid-1.5.0/src/Util/MultiVector3Seq.cpp0000664000000000000000000000531412741425367017605 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "MultiVector3Seq.h" #include "ValueTree.h" #include "YAMLWriter.h" #include "gettext.h" using namespace std; using namespace cnoid; MultiVector3Seq::MultiVector3Seq() : BaseSeqType("MultiVector3Seq") { } MultiVector3Seq::MultiVector3Seq(int numFrames, int numParts) : BaseSeqType("MultiVector3Seq", numFrames, numParts) { } MultiVector3Seq::MultiVector3Seq(const MultiVector3Seq& org) : BaseSeqType(org) { } AbstractSeqPtr MultiVector3Seq::cloneSeq() const { return boost::make_shared(*this); } void MultiVector3Seq::copySeqProperties(const MultiVector3Seq& source) { BaseSeqType::copySeqProperties(source); } MultiVector3Seq::~MultiVector3Seq() { } bool MultiVector3Seq::doWriteSeq(YAMLWriter& writer) { if(BaseSeqType::doWriteSeq(writer)){ writer.putKey("frames"); writer.startListing(); const int m = numParts(); const int n = numFrames(); for(int i=0; i < n; ++i){ Frame f = frame(i); writer.startFlowStyleListing(); for(int j=0; j < m; ++j){ writer.startFlowStyleListing(); const Vector3& p = f[j]; writer.putScalar(p.x()); writer.putScalar(p.y()); writer.putScalar(p.z()); writer.endListing(); } writer.endListing(); } writer.endListing(); return true; } return false; } bool MultiVector3Seq::doReadSeq(const Mapping& archive) { if(BaseSeqType::doReadSeq(archive)){ const string& type = archive["type"].toString(); if(type == seqType()){ const Listing& values = *archive.findListing("frames"); if(values.isValid()){ const int nParts = archive["numParts"].toInt(); const int nFrames = values.size(); setDimension(nFrames, nParts); for(int i=0; i < nFrames; ++i){ const Listing& frameNode = *values[i].toListing(); Frame f = frame(i); const int n = std::min(frameNode.size(), nParts); for(int j=0; j < n; ++j){ const Listing& node = *frameNode[j].toListing(); if(node.size() == 3){ f[j] << node[0].toDouble(), node[1].toDouble(), node[2].toDouble(); } else { node.throwException("Element is not a three dimension vector"); } } } } } return true; } return false; } choreonoid-1.5.0/src/Util/ConnectionSet.cpp0000664000000000000000000000550612741425367017352 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "ConnectionSet.h" using namespace cnoid; ConnectionSet::ConnectionSet() { } ConnectionSet::ConnectionSet(const ConnectionSet& org) { add(org); } /** This operator disconnects existing connections. */ ConnectionSet& ConnectionSet::operator=(const ConnectionSet& org) { disconnect(); add(org); return *this; } /** Destructor. Note that the connections are *not* disconnected by the destructor. This design is employed to allow a use of the copy constructor and copy operator. */ ConnectionSet::~ConnectionSet() { } void ConnectionSet::disconnect() { for(size_t i=0; i < connections.size(); ++i){ #ifdef CNOID_USE_BOOST_SIGNALS GeneralConnection& c = connections[i]; if(c.which() == 0){ boost::get(c).disconnect(); } else { boost::get(c).disconnect(); } #else connections[i].disconnect(); #endif } connections.clear(); } void ConnectionSet::add(const Connection& connection) { connections.push_back(connection); } #ifdef CNOID_USE_BOOST_SIGNALS void ConnectionSet::add(const boost::signals::connection& connection) { connections.push_back(connection); } #endif void ConnectionSet::add(const ConnectionSet& other) { for(size_t i=0; i < other.connections.size(); ++i){ connections.push_back(other.connections[i]); } } void ConnectionSet::block() { for(size_t i=0; i < connections.size(); ++i){ #ifdef CNOID_USE_BOOST_SIGNALS GeneralConnection& c = connections[i]; if(c.which() == 0){ boost::get(c).block(); } else { boost::get(c).block(); } #else connections[i].block(); #endif } } void ConnectionSet::unblock() { for(size_t i=0; i < connections.size(); ++i){ #ifdef CNOID_USE_BOOST_SIGNALS GeneralConnection& c = connections[i]; if(c.which() == 0){ boost::get(c).unblock(); } else { boost::get(c).unblock(); } #else connections[i].unblock(); } #endif } void ConnectionSet::block(int index) { #ifdef CNOID_USE_BOOST_SIGNALS GeneralConnection& c = connections[index]; if(c.which() == 0){ boost::get(c).block(); } else { boost::get(c).block(); } #else connections[index].block(); #endif } void ConnectionSet::unblock(int index) { #ifdef CNOID_USE_BOOST_SIGNALS GeneralConnection& c = connections[index]; if(c.which() == 0){ boost::get(c).unblock(); } else { boost::get(c).unblock(); } #else connections[index].unblock(); #endif } choreonoid-1.5.0/src/Util/AbstractSeq.h0000664000000000000000000000750312741425367016457 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_ABSTRACT_SEQ_H #define CNOID_UTIL_ABSTRACT_SEQ_H #include #include #include #include "exportdecl.h" namespace cnoid { class Mapping; class YAMLWriter; class AbstractSeq; typedef boost::shared_ptr AbstractSeqPtr; class CNOID_EXPORT AbstractSeq { protected: AbstractSeq(const char* seqType); AbstractSeq(const AbstractSeq& org); public: virtual ~AbstractSeq(); virtual AbstractSeqPtr cloneSeq() const = 0; virtual AbstractSeq& operator=(const AbstractSeq& rhs); void copySeqProperties(const AbstractSeq& source); const std::string& seqType() const { return seqType_; } virtual double getFrameRate() const = 0; virtual void setFrameRate(double frameRate) = 0; double getTimeStep() const { return 1.0 / getFrameRate(); } void setTimeStep(double timeStep){ return setFrameRate(1.0 / timeStep); } double getTimeOfFrame(int frame){ return frame / getFrameRate(); } virtual int getOffsetTimeFrame() const; double getOffsetTime() const { return getOffsetTimeFrame() / getFrameRate(); } virtual int getNumFrames() const = 0; virtual void setNumFrames(int n, bool clearNewElements = false) = 0; void setTimeLength(double length, bool clearNewElements = false){ return setNumFrames(static_cast(length * getFrameRate()), clearNewElements); } /** @if jp ‚·ƒĵ‚ħƒ³‚ıĉ™‚é–“é•·‚’èż”™€‚ @note “ĉ™‚é–“ *ĉœŞĉş€* ĉ™‚é–“Ğ¤„ĤŻĉœ‰ċŠıŞƒ‡ƒĵ‚żŒċ­˜ċœ¨™‚‹€‚ “ĉ™‚é–“ƒ‡ƒĵ‚żŻċ­˜ċœ¨—Ş„§€‚ˆ†Ş‚˘‚Ż‚ğ‚ı—ĤŻ„‘Ş„€‚ @endif */ inline double getTimeLength() const { return getNumFrames() / getFrameRate(); } inline const std::string& seqContentName() { return content; } virtual void setSeqContentName(const std::string& content) { this->content = content; } bool readSeq(const Mapping& archive); bool writeSeq(YAMLWriter& writer); inline const std::string& seqMessage() const { return message; } static const double defaultFrameRate() { return 100.0; } protected: virtual bool doReadSeq(const Mapping& archive); virtual bool doWriteSeq(YAMLWriter& writer); bool checkSeqContent(const Mapping& archive, const std::string contentName, bool throwEx = false); void clearSeqMessage() { message.clear(); } void addSeqMessage(const std::string& message) { this->message += message; } private: std::string seqType_; std::string content; std::string message; }; class CNOID_EXPORT AbstractMultiSeq : public AbstractSeq { public: AbstractMultiSeq(const char* seqType); AbstractMultiSeq(const AbstractMultiSeq& org); virtual ~AbstractMultiSeq(); virtual AbstractSeqPtr cloneSeq() const = 0; AbstractMultiSeq& operator=(const AbstractMultiSeq& rhs); void copySeqProperties(const AbstractMultiSeq& source); virtual void setDimension(int numFrames, int numParts, bool clearNewElements = false) = 0; virtual void setNumParts(int numParts, bool clearNewElements = false) = 0; virtual int getNumParts() const = 0; virtual int partIndex(const std::string& partLabel) const; virtual const std::string& partLabel(int partIndex) const; protected: virtual bool doWriteSeq(YAMLWriter& writer); typedef boost::function SetPartLabelFunction; bool readSeqPartLabels(const Mapping& archive, SetPartLabelFunction setPartLabel); bool writeSeqPartLabels(YAMLWriter& writer); }; typedef boost::shared_ptr AbstractMultiSeqPtr; } #endif choreonoid-1.5.0/src/Util/SceneGraph.h0000664000000000000000000002773212741425367016270 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_SCENE_GRAPH_H #define CNOID_UTIL_SCENE_GRAPH_H #include #include #include #include #include #include #include "exportdecl.h" namespace cnoid { class SgObject; typedef ref_ptr SgObjectPtr; class SceneVisitor; class CNOID_EXPORT SgUpdate { public: enum Action { NONE = 0, ADDED = 1 << 0, REMOVED = 1 << 1, BBOX_UPDATED = 1 << 2, MODIFIED = 1 << 3 }; typedef std::vector Path; SgUpdate() : action_(MODIFIED) { path_.reserve(16); } SgUpdate(int action) : action_(action) { path_.reserve(16); } virtual ~SgUpdate(); int action() const { return action_; } bool isModified() const { return (action_ & MODIFIED); } void setAction(int act) { action_ = act; } const Path& path() const { return path_; } void push(SgObject* node) { path_.push_back(node); } void pop() { path_.pop_back(); } void clear() { path_.clear(); } private: Path path_; int action_; }; class SgCloneMapImpl; class CNOID_EXPORT SgCloneMap { public: SgCloneMap(); SgCloneMap(const SgCloneMap& org); ~SgCloneMap(); void setNonNodeCloning(bool on) { isNonNodeCloningEnabled_ = on; } bool isNonNodeCloningEnabled() const { return isNonNodeCloningEnabled_; } void clear(); template ObjType* getClone(const ObjType* org){ return static_cast(findOrCreateClone(org)); } private: SgObject* findOrCreateClone(const SgObject* org); SgCloneMapImpl* cloneMap; bool isNonNodeCloningEnabled_; }; class CNOID_EXPORT SgObject : public Referenced { public: typedef std::set ParentContainer; typedef ParentContainer::iterator parentIter; typedef ParentContainer::const_iterator const_parentIter; virtual SgObject* clone(SgCloneMap& cloneMap) const; const std::string& name() const { return name_; } void setName(const std::string& name) { name_ = name; } virtual int numChildObjects() const; virtual SgObject* childObject(int index); SignalProxy sigUpdated() { return sigUpdated_; } void notifyUpdate(SgUpdate& update) { update.clear(); onUpdated(update); } void notifyUpdate(int action = SgUpdate::MODIFIED) { SgUpdate update(action); onUpdated(update); } void addParent(SgObject* parent, bool doNotify = false); void removeParent(SgObject* parent); int numParents() const { return parents.size(); } bool hasParents() const { return !parents.empty(); } public: const_parentIter parentBegin() const { return parents.begin(); } const_parentIter parentEnd() const { return parents.end(); } /** This signal is emitted when the object is first attached to an upper node or the object is detached from all the upper node. */ SignalProxy sigGraphConnection() { return sigGraphConnection_; } protected: SgObject(); SgObject(const SgObject& org); virtual void onUpdated(SgUpdate& update); private: std::string name_; ParentContainer parents; Signal sigUpdated_; Signal sigGraphConnection_; }; class SgNode; typedef ref_ptr SgNodePtr; typedef std::vector SgNodePath; class CNOID_EXPORT SgNode : public SgObject { public: SgNode(); SgNode(const SgNode& org); ~SgNode(); virtual SgObject* clone(SgCloneMap& cloneMap) const; virtual void accept(SceneVisitor& visitor); virtual const BoundingBox& boundingBox() const; SgNode* cloneNode(SgCloneMap& cloneMap) const { return static_cast(this->clone(cloneMap)); } virtual bool isGroup() const; }; class CNOID_EXPORT SgGroup : public SgNode { typedef std::vector Container; public: typedef Container::iterator iterator; typedef Container::reverse_iterator reverse_iterator; typedef Container::const_iterator const_iterator; typedef Container::const_reverse_iterator const_reverse_iterator; SgGroup(); //! shallow copy SgGroup(const SgGroup& org); //! deep copy SgGroup(const SgGroup& org, SgCloneMap& cloneMap); ~SgGroup(); virtual SgObject* clone(SgCloneMap& cloneMap) const; virtual int numChildObjects() const; virtual SgObject* childObject(int index); virtual void accept(SceneVisitor& visitor); virtual void onUpdated(SgUpdate& update); virtual const BoundingBox& boundingBox() const; virtual bool isGroup() const; void invalidateBoundingBox() { isBboxCacheValid = false; } iterator begin() { return children.begin(); } iterator end() { return children.end(); } reverse_iterator rbegin() { return children.rbegin(); } reverse_iterator rend() { return children.rend(); } const_iterator begin() const { return children.begin(); } const_iterator end() const { return children.end(); } const_reverse_iterator rbegin() const { return children.rbegin(); } const_reverse_iterator rend() const { return children.rend(); } iterator erase(iterator pos) { return children.erase(pos); } bool contains(SgNode* node) const; bool empty() const { return children.empty(); } int numChildren() const { return children.size(); } SgNode* child(int index) { return children[index]; } //! This throws an exeption when the index is invalid or the type is not matched. template NodeType* getChild(int index) { NodeType* node = dynamic_cast(children.at(index).get()); if(!node) throwTypeMismatchError(); return node; } void clearChildren(bool doNotify = false); void addChild(SgNode* node, bool doNotify = false); bool addChildOnce(SgNode* node, bool doNotify = false); void insertChild(SgNode* node, int index = 0, bool doNotify = false); bool removeChild(SgNode* node, bool doNotify = false); void removeChildAt(int index, bool doNotify = false); void copyChildrenTo(SgGroup* group, bool doNotify = false); void moveChildrenTo(SgGroup* group, bool doNotify = false); template NodeType* findNodeOfType() { for(size_t i=0; i < numChildren(); ++i){ if(NodeType* node = dynamic_cast(child(i))) return node; } for(size_t i=0; i < numChildren(); ++i){ if(child(i)->isGroup()){ if(NodeType* node = static_cast(child(i))->findNodeOfType()) return node; } } return 0; } protected: mutable BoundingBox bboxCache; mutable bool isBboxCacheValid; private: Container children; static void throwTypeMismatchError(); iterator removeChild(iterator childIter, bool doNotify); }; typedef ref_ptr SgGroupPtr; class CNOID_EXPORT SgInvariantGroup : public SgGroup { public: SgInvariantGroup(); SgInvariantGroup(const SgInvariantGroup& org); SgInvariantGroup(const SgInvariantGroup& org, SgCloneMap& cloneMap); virtual SgObject* clone(SgCloneMap& cloneMap) const; virtual void accept(SceneVisitor& visitor); }; typedef ref_ptr SgInvariantGroupPtr; class CNOID_EXPORT SgTransform : public SgGroup { public: SgTransform(); SgTransform(const SgTransform& org); SgTransform(const SgTransform& org, SgCloneMap& cloneMap); const BoundingBox& untransformedBoundingBox() const; virtual void getTransform(Affine3& out_T) const = 0; protected: mutable BoundingBox untransformedBboxCache; }; typedef ref_ptr SgTransformPtr; class CNOID_EXPORT SgPosTransform : public SgTransform { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW; SgPosTransform(); SgPosTransform(const Affine3& T); SgPosTransform(const SgPosTransform& org); SgPosTransform(const SgPosTransform& org, SgCloneMap& cloneMap); virtual SgObject* clone(SgCloneMap& cloneMap) const; virtual void accept(SceneVisitor& visitor); virtual const BoundingBox& boundingBox() const; virtual void getTransform(Affine3& out_T) const; Affine3& T() { return T_; } const Affine3& T() const { return T_; } Affine3& position() { return T_; } const Affine3& position() const { return T_; } Affine3::TranslationPart translation() { return T_.translation(); } Affine3::ConstTranslationPart translation() const { return T_.translation(); } Affine3::LinearPart rotation() { return T_.linear(); } Affine3::ConstLinearPart rotation() const { return T_.linear(); } template void setPosition(const Eigen::Transform& T) { T_ = T.template cast(); } template void setTransform(const Eigen::Transform& T) { T_ = T.template cast(); } template void setRotation(const Eigen::MatrixBase& R) { T_.linear() = R.template cast(); } template void setRotation(const Eigen::AngleAxis& a) { T_.linear() = a.template cast().toRotationMatrix(); } template void setTranslation(const Eigen::MatrixBase& p) { T_.translation() = p.template cast(); } private: Affine3 T_; }; typedef ref_ptr SgPosTransformPtr; class CNOID_EXPORT SgScaleTransform : public SgTransform { public: SgScaleTransform(); SgScaleTransform(const SgScaleTransform& org); SgScaleTransform(const SgScaleTransform& org, SgCloneMap& cloneMap); virtual SgObject* clone(SgCloneMap& cloneMap) const; virtual void accept(SceneVisitor& visitor); virtual const BoundingBox& boundingBox() const; virtual void getTransform(Affine3& out_T) const; const Vector3& scale() const { return scale_; } Vector3& scale() { return scale_; } template void setScale(const Eigen::MatrixBase& s) { scale_ = s.template cast(); } void setScale(double s){ scale_.setConstant(s); } Eigen::DiagonalWrapper T() const { return scale_.asDiagonal(); } private: Vector3 scale_; }; typedef ref_ptr SgScaleTransformPtr; class CNOID_EXPORT SgSwitch : public SgGroup { public: SgSwitch(); SgSwitch(const SgSwitch& org); SgSwitch(const SgSwitch& org, SgCloneMap& cloneMap); virtual SgObject* clone(SgCloneMap& cloneMap) const; virtual void accept(SceneVisitor& visitor); void turnOn() { isTurnedOn_ = true; } void turnOff() { isTurnedOn_ = false; } void setTurnedOn(bool on) { isTurnedOn_ = on; } bool isTurnedOn() const { return isTurnedOn_; } private: bool isTurnedOn_; }; typedef ref_ptr SgSwitchPtr; class CNOID_EXPORT SgUnpickableGroup : public SgGroup { public: SgUnpickableGroup(); SgUnpickableGroup(const SgUnpickableGroup& org); SgUnpickableGroup(const SgUnpickableGroup& org, SgCloneMap& cloneMap); virtual SgObject* clone(SgCloneMap& cloneMap) const; virtual void accept(SceneVisitor& visitor); }; typedef ref_ptr SgUnpickableGroupPtr; class CNOID_EXPORT SgPreprocessed : public SgNode { protected: SgPreprocessed(); SgPreprocessed(const SgPreprocessed& org); public: virtual SgObject* clone(SgCloneMap& cloneMap) const; virtual void accept(SceneVisitor& visitor); }; class SgMaterial; class SgImage; class SgTextureTransform; class SgTexture; class SgMesh; class SgPolygonMesh; class SgShape; class SgPlot; class SgPointSet; class SgLineSet; class SgOverlay; class SgLight; class SgDirectionalLight; class SgPointLight; class SgSpotLight; class SgCamera; class SgPerspectiveCamera; class SgOrthographicCamera; class SgFog; class SgOutlineGroup; } #endif choreonoid-1.5.0/src/Util/SceneUtil.cpp0000664000000000000000000000556012741425367016472 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "SceneUtil.h" #include "SceneDrawables.h" #include "SceneVisitor.h" using namespace std; using namespace cnoid; namespace { void calcTotalTransform (SgNodePath::const_iterator begin, SgNodePath::const_iterator end, const SgNode* targetNode, Affine3& out_T) { out_T = Affine3::Identity(); for(SgNodePath::const_iterator p = begin; p != end; ++p){ SgNode* node = *p; SgTransform* transform = dynamic_cast(node); if(transform){ Affine3 T; transform->getTransform(T); out_T = out_T * T; } if(node == targetNode){ break; } } } } Affine3 cnoid::calcTotalTransform(const SgNodePath& path) { Affine3 T; ::calcTotalTransform(path.begin(), path.end(), 0, T); return T; } Affine3 cnoid::calcTotalTransform(const SgNodePath& path, const SgNode* targetNode) { Affine3 T; ::calcTotalTransform(path.begin(), path.end(), targetNode, T); return T; } Affine3 cnoid::calcTotalTransform(SgNodePath::const_iterator begin, SgNodePath::const_iterator end) { Affine3 T; ::calcTotalTransform(begin, end, 0, T); return T; } namespace { class Transparenter : SceneVisitor { public: SgCloneMap& cloneMap; bool doKeepOrgTransparency; float transparency; int numModified; Transparenter(SgCloneMap& cloneMap, bool doKeepOrgTransparency) : cloneMap(cloneMap), doKeepOrgTransparency(doKeepOrgTransparency) { } SgMaterial* getTransparentMaterial(SgMaterial* material) { SgMaterial* modified = cloneMap.getClone(material); if(doKeepOrgTransparency){ modified->setTransparency(std::max(transparency, material->transparency())); } else { modified->setTransparency(transparency); } return modified; } virtual void visitShape(SgShape* shape) { if(shape->material()){ shape->setMaterial(getTransparentMaterial(shape->material())); ++numModified; } } virtual void visitPlot(SgPlot* plot) { if(plot->material()){ plot->setMaterial(getTransparentMaterial(plot->material())); ++numModified; } } int apply(SgNode* topNode, float transparency) { this->transparency = transparency; numModified = 0; topNode->accept(*this); return numModified; } }; } int cnoid::makeTransparent(SgNode* topNode, float transparency, SgCloneMap& cloneMap, bool doKeepOrgTransparency) { if(topNode){ Transparenter transparenter(cloneMap, doKeepOrgTransparency); return transparenter.apply(topNode, transparency); } return 0; } choreonoid-1.5.0/src/Util/ConnectionSet.h0000664000000000000000000000377212741425367017022 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_CONNECTION_SET_H #define CNOID_BASE_CONNECTION_SET_H //#define CNOID_USE_BOOST_SIGNALS #include "Signal.h" #include #include #ifdef CNOID_USE_BOOST_SIGNALS #include #endif #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT ConnectionSet { public: ConnectionSet(); ConnectionSet(const ConnectionSet& org); ConnectionSet& operator=(const ConnectionSet& org); ~ConnectionSet(); bool empty() const { return connections.empty(); } size_t numConnections() const { return connections.size(); } #ifdef CNOID_USE_BOOST_SIGNALS void add(const boost::signals::connection& connection); #endif void add(const Connection& connection); void add(const ConnectionSet& connections); void block(); void block(int index); void unblock(); void unblock(int index); void disconnect(); private: #ifdef CNOID_USE_BOOST_SIGNALS typedef boost::variant GeneralConnection; std::vector connections; #else std::vector connections; #endif }; class CNOID_EXPORT ScopedConnectionSet : private ConnectionSet { public: ScopedConnectionSet() { } ~ScopedConnectionSet() { ConnectionSet::disconnect(); } bool empty() const { return ConnectionSet::empty(); } size_t numConnections() const { return ConnectionSet::numConnections(); } void add(const Connection& connection) { ConnectionSet::add(connection); } void block() { ConnectionSet::block(); } void block(int index) { ConnectionSet::block(index); } void unblock() { ConnectionSet::unblock(); } void unblock(int index) { ConnectionSet::unblock(index); } void disconnect() { ConnectionSet::disconnect(); } private: ScopedConnectionSet(const ScopedConnection& org) { } ScopedConnectionSet& operator=(const ScopedConnection& rhs) { return *this; } }; } #endif choreonoid-1.5.0/src/Util/Triangulator.h0000664000000000000000000001264012741425367016714 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_TRIANGULATOR_H_INCLUDED #define CNOID_UTIL_TRIANGULATOR_H_INCLUDED #include namespace cnoid { template class Triangulator { typedef typename TVector3Array::value_type TVector3; enum Convexity { FLAT, CONVEX, CONCAVE }; const TVector3Array* vertices; const std::vector* orgPolygon; std::vector triangles_; std::vector workPolygon; TVector3 ccs; // cyclic cross sum boost::dynamic_bitset<> earMask; const TVector3& vertex(int localIndex) { return (*vertices)[(*orgPolygon)[localIndex]]; } const TVector3& workVertex(int workPolygonIndex) { return (*vertices)[(*orgPolygon)[workPolygon[workPolygonIndex]]]; } Convexity calcConvexity(int ear) { int n = workPolygon.size(); const TVector3& p0 = workVertex((ear + n - 1) % n); TVector3 a = workVertex(ear) - p0; TVector3 b = workVertex((ear + 1) % n) - p0; TVector3 ccs = a.cross(b); Convexity convexity; if((ccs.norm() / (a.norm() + b.norm())) < 1.0e-4f){ convexity = FLAT; } else { convexity = (this->ccs.dot(ccs) > 0.0f) ? CONVEX : CONCAVE; } return convexity; } bool checkIfEarContainsOtherVertices(int ear) { bool contains = false; const int n = workPolygon.size(); if(n > 3){ const int prev = (ear + n -1) % n; const int next = (ear+1) % n; const TVector3& a = workVertex(prev); const TVector3& b = workVertex(ear); const TVector3& c = workVertex(next); earMask[prev] = earMask[ear] = earMask[next] = 1; for(size_t i=0; i < workPolygon.size(); ++i){ if(!earMask[i]){ const TVector3& p = workVertex(i); if(((a - p).cross(b - p)).dot(ccs) <= 0.0f){ continue; } if(((b - p).cross(c - p)).dot(ccs) <= 0.0f){ continue; } if(((c - p).cross(a - p)).dot(ccs) <= 0.0f){ continue; } contains = true; break; } } earMask[prev] = earMask[ear] = earMask[next] = 0; } return contains; } public: void setVertices(const TVector3Array& vertices) { this->vertices = &vertices; } /** @return The number of triangles */ int apply(const std::vector& polygon) { triangles_.clear(); size_t numOrgVertices = polygon.size(); if(numOrgVertices > earMask.size()){ earMask.resize(numOrgVertices); } if(numOrgVertices < 3){ return 0; } else if(numOrgVertices == 3){ triangles_.push_back(0); triangles_.push_back(1); triangles_.push_back(2); return 1; } orgPolygon = &polygon; workPolygon.resize(numOrgVertices); for(size_t i=0; i < numOrgVertices; ++i){ workPolygon[i] = i; } ccs.setZero(); const TVector3& o = vertex(0); for(size_t i=1; i < numOrgVertices - 1; ++i){ ccs += (vertex(i) - o).cross(vertex((i+1) % numOrgVertices) - o); } int numTriangles = 0; while(true) { int n = workPolygon.size(); if(n < 3){ break; } int target = -1; for(int i=0; i < n; ++i){ Convexity convexity = calcConvexity(i); if(convexity == FLAT){ target = i; break; } else if(convexity == CONVEX){ if(!checkIfEarContainsOtherVertices(i)){ triangles_.push_back(workPolygon[(i + n - 1) % n]); triangles_.push_back(workPolygon[i]); triangles_.push_back(workPolygon[(i + 1) % n]); target = i; numTriangles++; break; } } } if(target < 0){ break; } for(int i = target + 1; i < n; ++i){ workPolygon[target++] = workPolygon[i]; } workPolygon.pop_back(); } return numTriangles; } /** Triangulated indices. This value is available after calling the 'apply' method. The indices are local ones in the polygon index vector given to the apply method. */ inline const std::vector& triangles() { return triangles_; } }; } #endif choreonoid-1.5.0/src/Util/NullOut.h0000664000000000000000000000034612741425367015643 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_NULL_OUT_H_INCLUDED #define CNOID_UTIL_NULL_OUT_H_INCLUDED #include #include "exportdecl.h" namespace cnoid { CNOID_EXPORT std::ostream& nullout(); } #endif choreonoid-1.5.0/src/Util/PolyhedralRegion.h0000664000000000000000000000234512741425367017511 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_POLYHEDRAL_REGION_H #define CNOID_UTIL_POLYHEDRAL_REGION_H #include "EigenTypes.h" #include namespace cnoid { class PolyhedralRegion { public: PolyhedralRegion() { } PolyhedralRegion(const PolyhedralRegion& org) : planes(org.planes) { } PolyhedralRegion& operator=(const PolyhedralRegion& org) { planes = org.planes; } struct Plane { Vector3 normal; Vector3 point; double d; Plane(const Vector3& normal, const Vector3& point) : normal(normal), point(point) { d = normal.dot(point); } }; int numBoundingPlanes() const { return planes.size(); } void clear() { planes.clear(); } void addBoundingPlane(const Vector3& normal, const Vector3& point){ planes.push_back(Plane(normal, point)); } const Plane& plane(int index) const { return planes[index]; } bool checkInside(const Vector3& point) const { for(size_t i=0; i < planes.size(); ++i){ const Plane& p = planes[i]; if(point.dot(p.normal) - p.d < 0.0){ return false; } } return true; } private: std::vector planes; }; } #endif choreonoid-1.5.0/src/Util/ImageIO.cpp0000664000000000000000000002060612741425367016047 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka @author Hisashi Ikari */ #include "ImageIO.h" #include "Exception.h" #include #include #include extern "C" { #define XMD_H #include } using namespace std; using namespace boost; using namespace cnoid; namespace { void throwLoadException(const string& filename, const std::string& description) { exception_base exception; exception << error_info_message( str(format("Image file \"%1%\" cannot be loaded. %2%") % filename % description)); BOOST_THROW_EXCEPTION(exception); } void throwSaveException(const string& filename, const std::string& description) { exception_base exception; exception << error_info_message( str(format("Image cannot be save to \"%1%\". %2%") % filename % description)); BOOST_THROW_EXCEPTION(exception); } void loadPNG(Image& image, const std::string& filename, bool isUpsideDown) { FILE* fp = 0; fp = fopen(filename.c_str(), "rb"); if(!fp){ throwLoadException(filename, strerror(errno)); } png_size_t number = 8; png_byte header[8]; int is_png; size_t n = fread(header, 1, number, fp); if(n != number){ if(fp){ fclose(fp); } throwLoadException(filename, "The file is not the PNG format."); } is_png = !png_sig_cmp(header, 0, number); if(!is_png){ if(fp){ fclose(fp); } throwLoadException(filename, "The file is not the PNG format."); } png_structp pPng; pPng = png_create_read_struct(PNG_LIBPNG_VER_STRING, NULL, NULL, NULL); if(!pPng){ if(fp){ fclose(fp); } throwLoadException(filename, "Failed to create png_struct."); } png_infop pInfo; pInfo = png_create_info_struct(pPng); if(!pInfo){ png_destroy_read_struct( &pPng, NULL, NULL ); if(fp){ fclose(fp); } throwLoadException(filename, "Failed to create png_info"); } png_init_io(pPng, fp); png_set_sig_bytes(pPng, (int)number); png_read_info(pPng, pInfo); png_uint_32 width = png_get_image_width (pPng, pInfo); png_uint_32 height = png_get_image_height(pPng, pInfo); png_byte color_type = png_get_color_type (pPng, pInfo); png_byte depth = png_get_bit_depth (pPng, pInfo); if(png_get_valid( pPng, pInfo, PNG_INFO_tRNS)){ png_set_tRNS_to_alpha(pPng); } if(depth < 8){ png_set_packing(pPng); } switch (color_type) { case PNG_COLOR_TYPE_GRAY: image.setSize(width, height, 1); if(depth < 8){ png_set_expand_gray_1_2_4_to_8(pPng); } break; case PNG_COLOR_TYPE_GRAY_ALPHA: image.setSize(width, height, 2); if(depth == 16){ png_set_strip_16(pPng); } break; case PNG_COLOR_TYPE_RGB: image.setSize(width, height, 3); if(depth == 16){ png_set_strip_16(pPng); } break; case PNG_COLOR_TYPE_RGB_ALPHA: image.setSize(width, height, 4); if(depth == 16){ png_set_strip_16(pPng); } break; case PNG_COLOR_TYPE_PALETTE: png_set_palette_to_rgb(pPng); image.setSize(width, height, 3); break; default: image.reset(); throwLoadException(filename, "Unsupported color type."); } png_read_update_info(pPng, pInfo); unsigned char** row_pointers; row_pointers = (png_bytepp)malloc(height * sizeof(png_bytep)); png_uint_32 rowbytes = png_get_rowbytes(pPng, pInfo); unsigned char* pixels = image.pixels(); if(isUpsideDown){ for(png_uint_32 i = 0; i < height; ++i) { row_pointers[i] = &(pixels[(height - i - 1) * rowbytes]); } } else { for(png_uint_32 i = 0; i < height; ++i) { row_pointers[i] = &(pixels[i * rowbytes]); } } png_read_image(pPng, row_pointers); free(row_pointers); png_destroy_read_struct(&pPng, &pInfo, NULL); fclose(fp); } void savePNG(const Image& image, const std::string& filename, bool isUpsideDown) { png_structp png_ptr = png_create_write_struct(PNG_LIBPNG_VER_STRING, NULL, NULL, NULL); if(!png_ptr){ throwSaveException(filename, "Internal error."); } png_infop info_ptr = png_create_info_struct(png_ptr); if(!info_ptr){ png_destroy_write_struct(&png_ptr, (png_infopp)NULL); throwSaveException(filename, "Internal error."); } FILE* fp = fopen(filename.c_str(), "wb"); if(!fp){ png_destroy_write_struct(&png_ptr, (png_infopp)NULL); throwSaveException(filename, strerror(errno)); } if(setjmp(png_jmpbuf(png_ptr))){ png_destroy_write_struct(&png_ptr, (png_infopp)NULL); fclose(fp); throwSaveException(filename, "Internal error."); } png_init_io(png_ptr, fp); int color_type; if(image.numComponents() >= 3){ if(image.hasAlphaComponent()){ color_type = PNG_COLOR_TYPE_RGB_ALPHA; } else { color_type = PNG_COLOR_TYPE_RGB; } } else { if(image.hasAlphaComponent()){ color_type = PNG_COLOR_TYPE_GRAY_ALPHA; } else { color_type = PNG_COLOR_TYPE_GRAY; } } const int height = image.height(); const int width = image.width(); png_set_IHDR(png_ptr, info_ptr, width, height, 8, color_type, PNG_INTERLACE_NONE, PNG_COMPRESSION_TYPE_DEFAULT, PNG_FILTER_TYPE_DEFAULT); png_write_info(png_ptr, info_ptr); #if defined(_MSC_VER) && _MSC_VER < 2000 png_bytep* row_pointers; row_pointers = (png_bytep*)malloc(sizeof(png_bytep) * height); #else png_bytep row_pointers[height]; #endif for(int i=0; i < height; ++i){ row_pointers[i] = const_cast(image.pixels()) + width * image.numComponents() * i; } png_write_image(png_ptr, row_pointers); png_write_end(png_ptr, info_ptr); png_destroy_write_struct(&png_ptr, (png_infopp)NULL); fclose(fp); #if defined(_MSC_VER) && _MSC_VER < 2000 free(row_pointers); #endif } void loadJPEG(Image& image, const std::string& filename, bool isUpsideDown) { FILE* fp = 0; fp = fopen(filename.c_str(), "rb"); if(!fp){ throwLoadException(filename, strerror(errno)); } struct jpeg_decompress_struct cinfo; struct jpeg_error_mgr jerr; cinfo.err = jpeg_std_error(&jerr); jpeg_create_decompress(&cinfo); jpeg_stdio_src(&cinfo, fp); (void)jpeg_read_header(&cinfo, TRUE); (void)jpeg_start_decompress(&cinfo); image.setSize(cinfo.output_width, cinfo.output_height, cinfo.output_components); unsigned char* pixels = image.pixels(); const int h = image.height(); const int w = image.width(); JSAMPARRAY row_pointers = (JSAMPARRAY)malloc(sizeof(JSAMPROW) * image.height()); if(isUpsideDown){ for(int i = 0; i < h; ++i) { row_pointers[i] = &(pixels[(h - i - 1) * cinfo.output_components * w]); } } else { for(int i = 0; i < h; ++i) { row_pointers[i] = &(pixels[i * cinfo.output_components * w]); } } while(cinfo.output_scanline < cinfo.output_height){ jpeg_read_scanlines(&cinfo, row_pointers + cinfo.output_scanline, cinfo.output_height - cinfo.output_scanline); } free(row_pointers); (void)jpeg_finish_decompress(&cinfo); jpeg_destroy_decompress(&cinfo); fclose(fp); } } ImageIO::ImageIO() { isUpsideDown_ = false; } void ImageIO::load(Image& image, const std::string& filename) { if(iends_with(filename, "png")){ loadPNG(image, filename, isUpsideDown_); } else if(iends_with(filename, "jpg") || iends_with(filename, "jpeg")) { loadJPEG(image, filename, isUpsideDown_); } else { throwLoadException(filename, "The image format type is not supported."); } } void ImageIO::save(const Image& image, const std::string& filename) { if(iends_with(filename, "png")){ savePNG(image, filename, isUpsideDown_); } else { throwSaveException(filename, "unsupported image format."); } } choreonoid-1.5.0/src/Util/UTF8.cpp0000664000000000000000000000545312741425367015326 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "UTF8.h" #include #ifdef _WIN32 #include #include #endif namespace cnoid { #ifdef _MSC_VER const std::string fromUTF8(const std::string& text) { int size = ::MultiByteToWideChar(CP_UTF8, 0, text.c_str(), text.size(), NULL, 0); if(size >= 0){ std::vector wtext(size + 1); ::MultiByteToWideChar(CP_UTF8, 0, text.c_str(), text.size(), &wtext[0], size + 1); int codepage = _getmbcp(); size = ::WideCharToMultiByte(codepage, 0, &wtext[0], size, NULL, 0, NULL, NULL); if(size >= 0){ std::vector converted(size + 1); ::WideCharToMultiByte(codepage, 0, &wtext[0], size, &converted[0], size + 1, NULL, NULL); return std::string(&converted[0], size); } } return text; } const std::string fromUTF8(const char* text) { int size = ::MultiByteToWideChar(CP_UTF8, 0, text, -1, NULL, 0); if(size >= 0){ std::vector wtext(size + 1); ::MultiByteToWideChar(CP_UTF8, 0, text, -1, &wtext[0], size + 1); int codepage = _getmbcp(); size = ::WideCharToMultiByte(codepage, 0, &wtext[0], size, NULL, 0, NULL, NULL); if(size >= 0){ std::vector converted(size + 1); ::WideCharToMultiByte(codepage, 0, &wtext[0], size, &converted[0], size + 1, NULL, NULL); return std::string(&converted[0], size); } } return text; } const std::string toUTF8(const std::string& text) { int codepage = _getmbcp(); int size = ::MultiByteToWideChar(codepage, 0, text.c_str(), text.size(), NULL, 0); if(size >= 0){ std::vector wtext(size + 1); ::MultiByteToWideChar(codepage, 0, text.c_str(), text.size(), &wtext[0], size + 1); size = ::WideCharToMultiByte(CP_UTF8, 0, &wtext[0], size, NULL, 0, NULL, NULL); if(size >= 0){ std::vector converted(size + 1); ::WideCharToMultiByte(CP_UTF8, 0, &wtext[0], size, &converted[0], size + 1, NULL, NULL); return std::string(&converted[0], size); } } return text; } const std::string toUTF8(const char* text) { int codepage = _getmbcp(); int size = ::MultiByteToWideChar(codepage, 0, text, -1, NULL, 0); if(size >= 0){ std::vector wtext(size + 1); ::MultiByteToWideChar(codepage, 0, text, -1, &wtext[0], size + 1); size = ::WideCharToMultiByte(CP_UTF8, 0, &wtext[0], size, NULL, 0, NULL, NULL); if(size >= 0){ std::vector converted(size + 1); ::WideCharToMultiByte(CP_UTF8, 0, &wtext[0], size, &converted[0], size + 1, NULL, NULL); return std::string(&converted[0], size); } } return text; } #endif } choreonoid-1.5.0/src/Util/ysjoyreader-objc.m0000664000000000000000000000123012741425367017512 0ustar rootroot#include #import #import /* -framework Foundation */ FILE *YsJoyReaderOpenJoystickCalibrationFileC(const char mode[]) { FILE *fp; NSAutoreleasePool *pool=[[NSAutoreleasePool alloc] init]; NSString *homeDir; NSString *cwd; homeDir=NSHomeDirectory(); // Do I release the string? cwd=[[NSFileManager defaultManager] currentDirectoryPath]; [[NSFileManager defaultManager] changeCurrentDirectoryPath:homeDir]; fp=fopen(".ysjoycalib",mode); [[NSFileManager defaultManager] changeCurrentDirectoryPath:cwd]; [pool release]; return fp; } choreonoid-1.5.0/src/Util/FileUtil.h0000664000000000000000000000342012741425367015752 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_FILE_UTIL_H #define CNOID_UTIL_FILE_UTIL_H #include #include #include "exportdecl.h" namespace cnoid { CNOID_EXPORT void makePathCompact( const boost::filesystem::path& path, boost::filesystem::path& out_compact); CNOID_EXPORT int findSubDirectory( const boost::filesystem::path& directory, const boost::filesystem::path& path, boost::filesystem::path& out_subdirectory); CNOID_EXPORT bool findRelativePath( const boost::filesystem::path& from, const boost::filesystem::path& to, boost::filesystem::path& out_relativePath); CNOID_EXPORT std::string getExtension(const boost::filesystem::path& path); /* The following functions were originally defined to support both the version 2 and 3 of the boost.filesystem library. However, supporting the version 2 was stopped, and the use of these functions should be replaced with the original functions of the version 3. */ CNOID_EXPORT std::string getGenericPathString(const boost::filesystem::path& path); CNOID_EXPORT bool checkAbsolute(const boost::filesystem::path& path); CNOID_EXPORT boost::filesystem::path getAbsolutePath(const boost::filesystem::path& path); CNOID_EXPORT std::string getAbsolutePathString(const boost::filesystem::path& path); CNOID_EXPORT std::string getFilename(const boost::filesystem::path& path); CNOID_EXPORT std::string getFilename(const std::string& pathString); CNOID_EXPORT std::string getBasename(const boost::filesystem::path& path); CNOID_EXPORT std::string getPathString(const boost::filesystem::path& path); CNOID_EXPORT std::string getNativePathString(const boost::filesystem::path& path); CNOID_EXPORT std::string toActualPathName(const std::string& pathName); } #endif choreonoid-1.5.0/src/Util/MeshExtractor.cpp0000664000000000000000000000762012741425367017366 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "MeshExtractor.h" #include "SceneDrawables.h" #include using namespace cnoid; void MeshExtractor::visitPosTransform(SgPosTransform* transform) { const Affine3 T0(currentTransform_); const Affine3 P0(currentTransformWithoutScaling_); currentTransform_ = T0 * transform->T(); currentTransformWithoutScaling_ = P0 * transform->T(); visitGroup(transform); currentTransform_ = T0; currentTransformWithoutScaling_ = P0; } void MeshExtractor::visitScaleTransform(SgScaleTransform* transform) { bool isParentScaled = isCurrentScaled_; isCurrentScaled_ = true; Affine3 T0 = currentTransform_; currentTransform_ = T0 * transform->T(); visitGroup(transform); currentTransform_ = T0; isCurrentScaled_ = isParentScaled; } void MeshExtractor::visitShape(SgShape* shape) { SgMesh* mesh = shape->mesh(); if(mesh && mesh->vertices() && !mesh->vertices()->empty() && !mesh->triangleVertices().empty()){ meshFound = true; currentMesh_ = mesh; callback(); currentMesh_ = 0; } } void MeshExtractor::visitPointSet(SgPointSet* pointSet) { } void MeshExtractor::visitLineSet(SgLineSet* lineSet) { } void MeshExtractor::visitLight(SgLight* light) { } void MeshExtractor::visitCamera(SgCamera* camera) { } bool MeshExtractor::extract(SgNode* node, boost::function callback) { this->callback = callback; currentMesh_ = 0; currentTransform_.setIdentity(); currentTransformWithoutScaling_.setIdentity(); isCurrentScaled_ = false; meshFound = false; node->accept(*this); return meshFound; } static void integrateMesh(MeshExtractor* extractor, SgMesh* mesh) { SgMesh* srcMesh = extractor->currentMesh(); const Affine3f T = extractor->currentTransform().cast(); if(srcMesh->hasVertices()){ SgVertexArray& vertices = *mesh->getOrCreateVertices(); const int numVertices = vertices.size(); SgVertexArray& srcVertices = *srcMesh->vertices(); const int numSrcVertices = srcVertices.size(); vertices.reserve(numVertices + numSrcVertices); for(int i=0; i < numSrcVertices; ++i){ vertices.push_back(T * srcVertices[i]); } SgIndexArray& indices = mesh->triangleVertices(); const int numIndices = indices.size(); SgIndexArray& srcIndices = srcMesh->triangleVertices(); const int numSrcIndices = srcIndices.size(); indices.reserve(numIndices + numSrcIndices); for(int i=0; i < numSrcIndices; ++i){ indices.push_back(srcIndices[i] + numVertices); } if(srcMesh->hasNormals()){ SgNormalArray& normals = *mesh->getOrCreateNormals(); const int numNormals = normals.size(); SgNormalArray& srcNormals = *srcMesh->normals(); const int numSrcNormals = srcNormals.size(); normals.reserve(numNormals + numSrcNormals); const Affine3f U = extractor->currentTransformWithoutScaling().cast(); for(int i=0; i < numSrcNormals; ++i){ normals.push_back(U * srcNormals[i]); } SgIndexArray& indices = mesh->normalIndices(); const int numIndices = indices.size(); SgIndexArray& srcIndices = srcMesh->normalIndices(); const int numSrcIndices = srcIndices.size(); indices.reserve(numIndices + numSrcIndices); for(int i=0; i < numSrcIndices; ++i){ indices.push_back(srcIndices[i] + numNormals); } } } } /** \todo take into acount the case where some meshes have normals or colors and others don't have them. */ SgMesh* MeshExtractor::integrate(SgNode* node) { SgMesh* mesh = new SgMesh; extract(node, boost::bind(integrateMesh, this, mesh)); return mesh; } choreonoid-1.5.0/src/Util/AbstractSceneLoader.h0000664000000000000000000000056112741425367020110 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_ABSTRACT_SCENE_LOADER_H #define CNOID_UTIL_ABSTRACT_SCENE_LOADER_H #include namespace cnoid { class SgNode; class AbstractSceneLoader { public: virtual ~AbstractSceneLoader() { } virtual const char* format() const = 0; virtual SgNode* load(const std::string& fileName) = 0; }; }; #endif choreonoid-1.5.0/src/Util/BoundingBox.h0000664000000000000000000000374212741425367016462 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_BOUNDING_BOX_H #define CNOID_UTIL_BOUNDING_BOX_H #include "EigenTypes.h" #include #include "exportdecl.h" namespace cnoid { class BoundingBoxf; class CNOID_EXPORT BoundingBox { public: BoundingBox(); BoundingBox(const Vector3& min, const Vector3& max); BoundingBox(const BoundingBox& org); BoundingBox(const BoundingBoxf& org); void set(const Vector3& min, const Vector3& max); void clear(); bool empty() const { return empty_; } const Vector3& min() const { return min_; } const Vector3& max() const { return max_; } Vector3 center() const; Vector3 size() const; double boundingSphereRadius() const; void expandBy(const BoundingBox& bbox); void expandBy(double x, double y, double z); void expandBy(const Vector3& v){ expandBy(v.x(), v.y(), v.z()); } void transform(const Affine3& T); private: Vector3 min_; Vector3 max_; bool empty_; }; CNOID_EXPORT std::ostream& operator<<(std::ostream& os, const BoundingBox& bb); /** float type version of the BoundingBox class */ class CNOID_EXPORT BoundingBoxf { public: BoundingBoxf(); BoundingBoxf(const Vector3f& min, const Vector3f& max); BoundingBoxf(const BoundingBoxf& org); BoundingBoxf(const BoundingBox& org); void set(const Vector3f& min, const Vector3f& max); void clear(); bool empty() const { return empty_; } const Vector3f& min() const { return min_; } const Vector3f& max() const { return max_; } Vector3f center() const; float boundingSphereRadius() const; void expandBy(const BoundingBoxf& bbox); void expandBy(float x, float y, float z); void expandBy(const Vector3f& v){ expandBy(v.x(), v.y(), v.z()); } void transform(const Affine3f& T); private: bool empty_; Vector3f min_; Vector3f max_; }; CNOID_EXPORT std::ostream& operator<<(std::ostream& os, const BoundingBoxf& bb); } #endif choreonoid-1.5.0/src/Util/BoundingBox.cpp0000664000000000000000000001444712741425367017021 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "BoundingBox.h" using namespace cnoid; BoundingBox::BoundingBox() { clear(); } BoundingBox::BoundingBox(const Vector3& min, const Vector3& max) { set(min, max); } BoundingBox::BoundingBox(const BoundingBox& org) { min_ = org.min_; max_ = org.max_; empty_ = org.empty_; } BoundingBox::BoundingBox(const BoundingBoxf& org) { min_ = org.min().cast(); max_ = org.max().cast(); empty_ = org.empty(); } void BoundingBox::set(const Vector3& min, const Vector3& max) { min_ = min; max_ = max; empty_ = (min.x() >= max.x()) && (min.y() >= max.y()) && (min.z() >= max.z()); } void BoundingBox::clear() { empty_ = true; min_.setConstant(std::numeric_limits::max()); max_.setConstant(-std::numeric_limits::max()); } Vector3 BoundingBox::center() const { return (min_ + max_) / 2.0; } Vector3 BoundingBox::size() const { if(empty_){ return Vector3::Zero(); } else { return (max_ - min_); } } double BoundingBox::boundingSphereRadius() const { if(empty_){ return 0.0; } else { return (max_ - center()).norm(); } } void BoundingBox::expandBy(double x, double y, double z) { if(x < min_.x()){ min_.x() = x; } if(x > max_.x()){ max_.x() = x; } if(y < min_.y()){ min_.y() = y; } if(y > max_.y()){ max_.y() = y; } if(z < min_.z()){ min_.z() = z; } if(z > max_.z()){ max_.z() = z; } if(empty_){ empty_ = (min_.x() >= max_.x()) && (min_.y() >= max_.y()) && (min_.z() >= max_.z()); } } void BoundingBox::expandBy(const BoundingBox& bbox) { if(!bbox.empty()){ if(bbox.min().x() < min_.x()){ min_.x() = bbox.min().x(); } if(bbox.max().x() > max_.x()){ max_.x() = bbox.max().x(); } if(bbox.min().y() < min_.y()){ min_.y() = bbox.min().y(); } if(bbox.max().y() > max_.y()){ max_.y() = bbox.max().y(); } if(bbox.min().z() < min_.z()){ min_.z() = bbox.min().z(); } if(bbox.max().z() > max_.z()){ max_.z() = bbox.max().z(); } if(empty_){ empty_ = (min_.x() >= max_.x()) && (min_.y() >= max_.y()) && (min_.z() >= max_.z()); } } } void BoundingBox::transform(const Affine3& T) { if(!empty()){ const Vector3 p1 = min_; const Vector3 p2 = max_; clear(); expandBy(T * Vector3(p1.x(), p1.y(), p1.z())); expandBy(T * Vector3(p1.x(), p2.y(), p1.z())); expandBy(T * Vector3(p2.x(), p1.y(), p1.z())); expandBy(T * Vector3(p2.x(), p2.y(), p1.z())); expandBy(T * Vector3(p1.x(), p1.y(), p2.z())); expandBy(T * Vector3(p1.x(), p2.y(), p2.z())); expandBy(T * Vector3(p2.x(), p1.y(), p2.z())); expandBy(T * Vector3(p2.x(), p2.y(), p2.z())); } } std::ostream& cnoid::operator<<(std::ostream& os, const BoundingBox& bb) { os << "(" << bb.min().x() << ", " << bb.min().y() << ", " << bb.min().z() << ") - ("; os << bb.max().x() << ", " << bb.max().y() << ", " << bb.max().z() << ")"; return os; } BoundingBoxf::BoundingBoxf() { clear(); } BoundingBoxf::BoundingBoxf(const Vector3f& min, const Vector3f& max) { set(min, max); } BoundingBoxf::BoundingBoxf(const BoundingBoxf& org) { min_ = org.min_; max_ = org.max_; empty_ = org.empty_; } BoundingBoxf::BoundingBoxf(const BoundingBox& org) { min_ = org.min().cast(); max_ = org.max().cast(); empty_ = org.empty(); } void BoundingBoxf::set(const Vector3f& min, const Vector3f& max) { min_ = min; max_ = max; empty_ = (min.x() >= max.x()) && (min.y() >= max.y()) && (min.z() >= max.z()); } void BoundingBoxf::clear() { empty_ = true; min_.setConstant(std::numeric_limits::max()); max_.setConstant(-std::numeric_limits::max()); } Vector3f BoundingBoxf::center() const { return (min_ + max_) / 2.0; } float BoundingBoxf::boundingSphereRadius() const { return (max_ - center()).norm(); } void BoundingBoxf::expandBy(float x, float y, float z) { if(x < min_.x()){ min_.x() = x; } if(x > max_.x()){ max_.x() = x; } if(y < min_.y()){ min_.y() = y; } if(y > max_.y()){ max_.y() = y; } if(z < min_.z()){ min_.z() = z; } if(z > max_.z()){ max_.z() = z; } if(empty_){ empty_ = (min_.x() >= max_.x()) && (min_.y() >= max_.y()) && (min_.z() >= max_.z()); } } void BoundingBoxf::expandBy(const BoundingBoxf& bbox) { if(!bbox.empty()){ if(bbox.min().x() < min_.x()){ min_.x() = bbox.min().x(); } if(bbox.max().x() > max_.x()){ max_.x() = bbox.max().x(); } if(bbox.min().y() < min_.y()){ min_.y() = bbox.min().y(); } if(bbox.max().y() > max_.y()){ max_.y() = bbox.max().y(); } if(bbox.min().z() < min_.z()){ min_.z() = bbox.min().z(); } if(bbox.max().z() > max_.z()){ max_.z() = bbox.max().z(); } if(empty_){ empty_ = (min_.x() >= max_.x()) && (min_.y() >= max_.y()) && (min_.z() >= max_.z()); } } } void BoundingBoxf::transform(const Affine3f& T) { if(!empty()){ const Vector3f p1 = min_; const Vector3f p2 = max_; clear(); expandBy(T * Vector3f(p1.x(), p1.y(), p1.z())); expandBy(T * Vector3f(p1.x(), p2.y(), p1.z())); expandBy(T * Vector3f(p2.x(), p1.y(), p1.z())); expandBy(T * Vector3f(p2.x(), p2.y(), p1.z())); expandBy(T * Vector3f(p1.x(), p1.y(), p2.z())); expandBy(T * Vector3f(p1.x(), p2.y(), p2.z())); expandBy(T * Vector3f(p2.x(), p1.y(), p2.z())); expandBy(T * Vector3f(p2.x(), p2.y(), p2.z())); } } std::ostream& cnoid::operator<<(std::ostream& os, const BoundingBoxf& bb) { os << "(" << bb.min().x() << ", " << bb.min().y() << ", " << bb.min().z() << ") - ("; os << bb.max().x() << ", " << bb.max().y() << ", " << bb.max().z() << ")"; return os; } choreonoid-1.5.0/src/Util/SceneVisitor.cpp0000664000000000000000000000370512741425367017213 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "SceneVisitor.h" #include "SceneGraph.h" #include "SceneDrawables.h" #include "SceneCameras.h" #include "SceneLights.h" #include "SceneEffects.h" using namespace cnoid; SceneVisitor::SceneVisitor() { property_ = new Mapping(); } SceneVisitor::~SceneVisitor() { } void SceneVisitor::visitNode(SgNode* node) { } void SceneVisitor::visitGroup(SgGroup* group) { visitNode(group); for(SgGroup::const_iterator p = group->begin(); p != group->end(); ++p){ (*p)->accept(*this); } } void SceneVisitor::visitTransform(SgTransform* transform) { visitGroup(transform); } void SceneVisitor::visitPosTransform(SgPosTransform* transform) { visitTransform(transform); } void SceneVisitor::visitScaleTransform(SgScaleTransform* transform) { visitTransform(transform); } void SceneVisitor::visitInvariantGroup(SgInvariantGroup* group) { visitGroup(group); } void SceneVisitor::visitSwitch(SgSwitch* switchNode) { if(switchNode->isTurnedOn()){ visitGroup(switchNode); } } void SceneVisitor::visitUnpickableGroup(SgUnpickableGroup* group) { visitGroup(group); } void SceneVisitor::visitShape(SgShape* shape) { visitNode(shape); } void SceneVisitor::visitPlot(SgPlot* plot) { visitNode(plot); } void SceneVisitor::visitPointSet(SgPointSet* pointSet) { visitNode(pointSet); } void SceneVisitor::visitLineSet(SgLineSet* lineSet) { visitNode(lineSet); } void SceneVisitor::visitPreprocessed(SgPreprocessed* preprocessed) { visitNode(preprocessed); } void SceneVisitor::visitLight(SgLight* light) { visitPreprocessed(light); } void SceneVisitor::visitFog(SgFog* fog) { visitPreprocessed(fog); } void SceneVisitor::visitCamera(SgCamera* camera) { visitPreprocessed(camera); } void SceneVisitor::visitOverlay(SgOverlay* overlay) { } void SceneVisitor::visitOutlineGroup(SgOutlineGroup* outline) { visitGroup(outline); } choreonoid-1.5.0/src/Util/EigenTypes.h0000664000000000000000000000506712741425367016322 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_EIGEN_TYPES_H #define CNOID_UTIL_EIGEN_TYPES_H #include #include //#include namespace cnoid { using Eigen::Vector2i; using Eigen::Matrix2f; using Eigen::Vector2f; using Eigen::Matrix2d; using Eigen::Vector2d; using Eigen::Array2i; using Eigen::Array2f; using Eigen::Array2d; using Eigen::Vector3i; using Eigen::Matrix3f; using Eigen::Vector3f; using Eigen::Matrix3d; using Eigen::Vector3d; using Eigen::Array3i; using Eigen::Array3f; using Eigen::Array3d; using Eigen::Matrix4f; using Eigen::Vector4f; using Eigen::Matrix4d; using Eigen::Vector4d; using Eigen::Array4i; using Eigen::Array4f; using Eigen::Array4d; using Eigen::MatrixXf; using Eigen::VectorXf; using Eigen::AngleAxisf; using Eigen::Quaternionf; using Eigen::MatrixXd; using Eigen::VectorXd; using Eigen::AngleAxisd; using Eigen::Quaterniond; using Eigen::Affine3f; using Eigen::Affine3d; using Eigen::Translation3f; using Eigen::Translation3d; typedef Eigen::Matrix2d Matrix2; typedef Eigen::Vector2d Vector2; typedef Eigen::Matrix3d Matrix3; typedef Eigen::Vector3d Vector3; //typedef Eigen::AlignedVector3 Vector3; typedef Eigen::Matrix4d Matrix4; typedef Eigen::Vector4d Vector4; typedef Eigen::VectorXd VectorX; typedef Eigen::Matrix Vector6; typedef Eigen::Affine3d Affine3; typedef Eigen::Translation3d Translation3; typedef Eigen::AngleAxisd AngleAxis; //! \deprecated typedef Eigen::Quaterniond Quat; typedef Eigen::Quaterniond Quaternion; typedef Eigen::Transform Position; // The followings should be removed later using Eigen::Isometry3f; using Eigen::Isometry3d; typedef Eigen::Isometry3d Isometry3; class SE3 { Vector3 p; Quat q; public: SE3() { } SE3(const Vector3& translation, const Quat& rotation) : p(translation), q(rotation) { } SE3(const Vector3& translation, const Matrix3& rotation) : p(translation), q(rotation) { } void set(const Vector3& translation, const Quat& rotation) { this->p = translation; this->q = rotation; } void set(const Vector3& translation, const Matrix3& R) { this->p = translation; this->q = R; } void set(const Position& T){ p = T.translation(); q = T.linear(); } Vector3& translation() { return p; } const Vector3& translation() const { return p; } Quat& rotation() { return q; } const Quat& rotation() const { return q; } EIGEN_MAKE_ALIGNED_OPERATOR_NEW }; } #endif choreonoid-1.5.0/src/Util/JoystickOSX.cpp0000664000000000000000000005634412741425367016776 0ustar rootroot/** Joystick class implementation for Mac OS X. This implementation is based on the joystick reader program distributed by developed by ysflight.com. */ #include "Joystick.h" #include #include #include #include #include #include #include #include #include #include using namespace std; using namespace cnoid; namespace { const int MaxNumJoysticks = 4; const int YsJoyReaderMaxNumAxis = 6; const int YsJoyReaderMaxNumButton = 32; const int YsJoyReaderMaxNumHatSwitch = 4; class YsJoyReaderElement { public: int exist; IOHIDElementRef elem; int value; YsJoyReaderElement() { exist = 0; elem = NULL; value = 0; } }; class YsJoyReaderAxis : public YsJoyReaderElement { public: int min,max; int scaledMin,scaledMax; int calibCenter,calibMin,calibMax; YsJoyReaderAxis() { min = 0; max = 0; scaledMin = 0; scaledMax = 0; calibCenter = 0; calibMin = 0; calibMax = 0; } double GetCalibratedValue(void) const { double calib; if(calibCenter < value && calibMax != calibCenter){ calib = (double)(value - calibCenter)/(double)(calibMax - calibCenter); } else if(value1.0){ calib = 1.0; } if(calib<-1.0){ calib = -1.0; } return calib; } void CaptureCenter(void) { calibCenter = value; } void BeginCaptureMinMax(void) { calibMin = calibCenter + 1000; calibMax = calibCenter - 1000; } void CaptureMinMax(void) { if(value < calibMin) { calibMin = value; } if(value > calibMax) { calibMax = value; } } void CenterFromMinMax(void){ calibCenter = (calibMin + calibMax) / 2; } }; class YsJoyReaderButton : public YsJoyReaderElement { public: YsJoyReaderButton() { } }; class YsJoyReaderHatSwitch : public YsJoyReaderElement { public: int valueNeutral; int value0Deg; int value90Deg; int value180Deg; int value270Deg; YsJoyReaderHatSwitch() { valueNeutral = 0; value0Deg = 1; value90Deg = 3; value180Deg = 5; value270Deg = 7; } int GetDiscreteValue(void) const { if(value == valueNeutral){ return 0; } else if(value==value0Deg){ return 1; } else if(value==value90Deg){ return 3; } else if(value==value180Deg) { return 5; } else if(value270Deg==value) { return 7; } else if(value0DegjoyId = joyId; if(hidDev != NULL) { CFArrayRef elemAry = IOHIDDeviceCopyMatchingElements(hidDev, NULL, 0); int nElem = (int)CFArrayGetCount(elemAry); int isMouse = 0; int isJoystick = 0; int isKeyboard = 0; int isGamePad = 0; printf("This HID Device has %d elements.\n", nElem); for(int j=0; j < nElem; j++){ IOHIDElementRef elem = (IOHIDElementRef)CFArrayGetValueAtIndex(elemAry, j); IOHIDElementType elemType = IOHIDElementGetType(elem); unsigned int usage = IOHIDElementGetUsage(elem); unsigned int usagePage = IOHIDElementGetUsagePage(elem); printf("Element %3d",j); switch(elemType){ case kIOHIDElementTypeInput_ScanCodes: printf(" ScanCode "); break; case kIOHIDElementTypeInput_Misc: printf(" Misc "); break; case kIOHIDElementTypeInput_Button: printf(" Button "); break; case kIOHIDElementTypeInput_Axis: printf(" Axis "); break; case kIOHIDElementTypeOutput: printf(" Output "); break; case kIOHIDElementTypeFeature: printf(" Feature "); break; case kIOHIDElementTypeCollection: printf(" Collection"); break; } printf(" Usage %3d UsagePage %3d\n", usage, usagePage); if(kHIDPage_GenericDesktop == usagePage){ switch(usage){ case kHIDUsage_GD_Mouse: printf(" Can function as mouse\n"); isMouse=1; break; case kHIDUsage_GD_Keyboard: printf(" Can function as Keyboard\n"); isKeyboard=1; break; case kHIDUsage_GD_Joystick: printf(" Can function as Joystick\n"); isJoystick=1; break; case kHIDUsage_GD_GamePad: printf(" Can function as GamePad\n"); isGamePad=1; break; } } } if(0!=isJoystick){ int nAxis=0; int nHat=0; for(int j=0; j%d) Scaled(%d->%d)\n",min,max,scaledMin,scaledMax); AddAxis(nAxis++,elem,min,max,scaledMin,scaledMax); break; case kHIDUsage_GD_Y: printf(" This element is for Y-Axis (%d->%d) Scaled(%d->%d)\n",min,max,scaledMin,scaledMax); AddAxis(nAxis++,elem,min,max,scaledMin,scaledMax); break; case kHIDUsage_GD_Z: printf(" This element is for Z-Axis (%d->%d) Scaled(%d->%d)\n",min,max,scaledMin,scaledMax); AddAxis(nAxis++,elem,min,max,scaledMin,scaledMax); break; case kHIDUsage_GD_Rx: printf(" This element is for Rx-Axis (%d->%d) Scaled(%d->%d)\n",min,max,scaledMin,scaledMax); AddAxis(nAxis++,elem,min,max,scaledMin,scaledMax); break; case kHIDUsage_GD_Ry: printf(" This element is for Ry-Axis (%d->%d) Scaled(%d->%d)\n",min,max,scaledMin,scaledMax); AddAxis(nAxis++,elem,min,max,scaledMin,scaledMax); break; case kHIDUsage_GD_Rz: printf(" This element is for Rz-Axis (%d->%d) Scaled(%d->%d)\n",min,max,scaledMin,scaledMax); AddAxis(nAxis++,elem,min,max,scaledMin,scaledMax); break; case kHIDUsage_GD_Slider: printf(" This element is for Slider (%d->%d) Scaled(%d->%d)\n",min,max,scaledMin,scaledMax); AddAxis(nAxis++,elem,min,max,scaledMin,scaledMax); break; case kHIDUsage_GD_Wheel: printf(" This element is for Wheel (%d->%d) Scaled(%d->%d)\n",min,max,scaledMin,scaledMax); break; case kHIDUsage_GD_Hatswitch: printf(" This element is for Hatswitch (%d->%d) Scaled(%d->%d)\n",min,max,scaledMin,scaledMax); if(nHathidDev=hidDev; return 1; } CFRelease(elemAry); } return 0; } void Read(void) { int i; IOHIDValueRef valueRef; for(i=0; i < YsJoyReaderMaxNumAxis; i++){ if(axis[i].exist!=0){ IOHIDDeviceGetValue(hidDev,axis[i].elem,&valueRef); axis[i].value=IOHIDValueGetIntegerValue(valueRef); } } for(i=0; i axes; vector buttons; string errorMessage; Signal sigButton; Signal sigAxis; JoystickImpl(const char* device); bool readCurrentState(); }; } Joystick::Joystick() { impl = new JoystickImpl("0"); } Joystick::Joystick(const char* dev) { impl = new JoystickImpl(dev); } JoystickImpl::JoystickImpl(const char *dev) { fd = atoi(dev); int numJoystick; YsJoyReaderSetUpJoystick(numJoystick, m_dev, MaxNumJoysticks); std::cout << "numJoystick:" << numJoystick << std::endl; if(fd >= numJoystick) { fd = -1; return; } YsJoyReaderLoadJoystickCalibrationInfo(numJoystick, m_dev); int nbuttons = 0; int naxes = 0; for(int j=0; j < YsJoyReaderMaxNumAxis; j++){ if(m_dev[fd].axis[j].exist != 0){ naxes++; } } for(int j=0; j < YsJoyReaderMaxNumButton; j++){ if(m_dev[fd].button[j].exist != 0){ nbuttons++; } } std::cout << "axes:" << naxes << ", buttons:" << nbuttons << std::endl; axes.resize(naxes, 0.0); buttons.resize(nbuttons, false); readCurrentState(); } Joystick::~Joystick() { delete impl; } bool Joystick::isReady() const { return (impl->fd >= 0); } const char* Joystick::errorMessage() const { return impl->errorMessage.c_str(); } int Joystick::numAxes() const { return impl->axes.size(); } int Joystick::numButtons() const { return impl->buttons.size(); } bool Joystick::readCurrentState() { return impl->readCurrentState(); } bool JoystickImpl::readCurrentState() { if(fd < 0){ return false; } m_dev[fd].Read(); for(int j=0; j < YsJoyReaderMaxNumAxis; j++){ if(m_dev[fd].axis[j].exist != 0){ axes[j] = m_dev[fd].axis[j].GetCalibratedValue(); } } for(int j=0; j < YsJoyReaderMaxNumButton; j++){ if(m_dev[fd].button[j].exist != 0){ buttons[j] = m_dev[fd].button[j].value; } } return false; } double Joystick::getPosition(int axis) const { if(axis < impl->axes.size()){ return impl->axes[axis]; } return 0.0; } bool Joystick::getButtonState(int button) const { if(button < impl->buttons.size()){ return impl->buttons[button]; } return false; } SignalProxy Joystick::sigButton() { return impl->sigButton; } SignalProxy Joystick::sigAxis() { return impl->sigAxis; } choreonoid-1.5.0/src/Util/ExtJoystick.h0000664000000000000000000000162612741425367016523 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_EXT_JOYSTICK_H #define CNOID_UTIL_EXT_JOYSTICK_H #include "Signal.h" #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT ExtJoystick { Signal sigDestroyed_; public: static void registerJoystick(const std::string& name, ExtJoystick* joystick); static ExtJoystick* findJoystick(const std::string& name); SignalProxy sigDestroyed() { return sigDestroyed_; } virtual ~ExtJoystick(); virtual int numAxes() const = 0; virtual int numButtons() const = 0; virtual bool readCurrentState() = 0; virtual double getPosition(int axis) const = 0; virtual bool getButtonState(int button) const = 0; virtual bool isActive() const = 0; virtual SignalProxy sigButton() = 0; virtual SignalProxy sigAxis() = 0; }; } #endif choreonoid-1.5.0/src/Util/ValueTreeUtil.h0000664000000000000000000000206112741425367016767 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_VALUE_TREE_UTIL_H_INCLUDED #define CNOID_UTIL_VALUE_TREE_UTIL_H_INCLUDED #include "ValueTree.h" namespace cnoid { template bool writeElements(Mapping& mapping, const std::string& key, const Container& elements, bool isFlowStyle = false) { ListingPtr listing = new Listing(); if(isFlowStyle){ listing->setFlowStyle(true); } for(typename Container::const_iterator p = elements.begin(); p != elements.end(); ++p){ listing->append(*p); } if(!listing->empty()){ mapping.insert(key, listing); return true; } return false; } template bool readElements(const Mapping& mapping, const std::string& key, Container& elements) { bool completed = false; const Listing& listing = *mapping.findListing(key); if(listing.isValid()){ for(int i=0; i < listing.size(); ++i){ elements.push_back(listing[i].to()); } } return !elements.empty(); } } #endif choreonoid-1.5.0/src/Util/Exception.h0000664000000000000000000000124112741425367016172 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_EXCEPTION_H #define CNOID_UTIL_EXCEPTION_H #include #include namespace cnoid { struct exception_base : virtual std::exception, virtual boost::exception { }; typedef boost::error_info error_info_message; struct nonexistent_key_error : virtual exception_base { }; typedef boost::error_info error_info_key; struct type_mismatch_error : virtual exception_base { }; struct file_read_error : virtual exception_base { }; struct empty_data_error : virtual exception_base { }; }; #endif choreonoid-1.5.0/src/Util/Vector3Seq.cpp0000664000000000000000000000576112741425367016600 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "Vector3Seq.h" #include "PlainSeqFormatLoader.h" #include "ValueTree.h" #include "YAMLWriter.h" #include using namespace std; using namespace cnoid; Vector3Seq::Vector3Seq(int nFrames) : BaseSeqType("Vector3Seq", nFrames) { } Vector3Seq::Vector3Seq(const Vector3Seq& org) : BaseSeqType(org) { } AbstractSeqPtr Vector3Seq::cloneSeq() const { return boost::make_shared(*this); } Vector3Seq::~Vector3Seq() { } bool Vector3Seq::loadPlainFormat(const std::string& filename) { clearSeqMessage(); PlainSeqFileLoader loader; if(!loader.load(filename)){ addSeqMessage(loader.errorMessage()); return false; } if(loader.numParts() < 3){ addSeqMessage(filename + "does not have 3 columns for 3d vector elements"); return false; } setNumFrames(loader.numFrames()); setFrameRate(1.0 / loader.timeStep()); int frame = 0; for(PlainSeqFileLoader::iterator it = loader.begin(); it != loader.end(); ++it){ vector& data = *it; (*this)[frame++] << data[1], data[2], data[3]; } return true; } bool Vector3Seq::saveAsPlainFormat(const std::string& filename) { clearSeqMessage(); ofstream os(filename.c_str()); os.setf(ios::fixed); if(!os){ addSeqMessage(filename + " cannot be opened."); return false; } static boost::format f("%1$.4f %2$.6f %3$.6f %4$.6f\n"); const int n = numFrames(); const double r = frameRate(); for(int i=0; i < n; ++i){ const Vector3& v = (*this)[i]; os << (f % (i / r) % v.x() % v.y() % v.z()); } return true; } bool Vector3Seq::doWriteSeq(YAMLWriter& writer) { if(BaseSeqType::doWriteSeq(writer)){ writer.putKey("frames"); writer.startListing(); const int n = numFrames(); for(int i=0; i < n; ++i){ writer.startFlowStyleListing(); const Vector3& v = (*this)[i]; for(int j=0; j < 3; ++j){ writer.putScalar(v[j]); } writer.endListing(); } writer.endListing(); return true; } return false; } bool Vector3Seq::doReadSeq(const Mapping& archive) { if(BaseSeqType::doReadSeq(archive)){ if(archive["type"].toString() == seqType()){ const Listing& frames = *archive.findListing("frames"); if(!frames.isValid()){ addSeqMessage("Valid \"frames\" field of Vector3Seq is not found."); } else { const int n = frames.size(); setNumFrames(n); for(int i=0; i < n; ++i){ const Listing& frame = *frames[i].toListing(); Vector3& v = (*this)[i]; for(int j=0; j < 3; ++j){ v[j] = frame[j].toDouble(); } } return true; } } } return false; } choreonoid-1.5.0/src/Util/Sleep.h0000664000000000000000000000062012741425367015304 0ustar rootroot #ifndef CNOID_UTIL_SLEEP_H #define CNOID_UTIL_SLEEP_H #ifdef WIN32 #include namespace cnoid { inline void msleep(int msec){ ::Sleep(msec); } inline void usleep(int usec){ ::Sleep(usec / 1000); } } #else #include namespace cnoid { inline void msleep(int msec){ ::usleep(msec * 1000); } inline void usleep(int usec){ ::usleep(usec); } } #endif #endif choreonoid-1.5.0/src/Util/SceneCameras.cpp0000664000000000000000000000375712741425367017136 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "SceneCameras.h" #include "SceneVisitor.h" using namespace std; using namespace cnoid; SgCamera::SgCamera() { nearClipDistance_ = 0.01; farClipDistance_ = 100.0; } SgCamera::SgCamera(const SgCamera& org) : SgPreprocessed(org) { nearClipDistance_ = org.nearClipDistance_; farClipDistance_ = org.farClipDistance_; } void SgCamera::accept(SceneVisitor& visitor) { visitor.visitCamera(this); } Affine3 SgCamera::positionLookingFor(const Vector3& eye, const Vector3& direction, const Vector3& up) { Vector3 d = direction.normalized(); Vector3 c = d.cross(up).normalized(); Vector3 u = c.cross(d); Affine3 C; C.linear() << c, u, -d; C.translation() = eye; return C; } Affine3 SgCamera::positionLookingAt(const Vector3& eye, const Vector3& center, const Vector3& up) { return positionLookingFor(eye, (center - eye), up); } SgPerspectiveCamera::SgPerspectiveCamera() { fieldOfView_ = 0.785398; } SgPerspectiveCamera::SgPerspectiveCamera(const SgPerspectiveCamera& org) : SgCamera(org) { fieldOfView_ = org.fieldOfView_; } SgObject* SgPerspectiveCamera::clone(SgCloneMap& cloneMap) const { return new SgPerspectiveCamera(*this); } void SgPerspectiveCamera::accept(SceneVisitor& visitor) { visitor.visitCamera(this); } /** @param aspectRatio width / height */ double SgPerspectiveCamera::fovy(double aspectRatio, double fieldOfView) { if(aspectRatio >= 1.0){ return fieldOfView; } else { return 2.0 * atan(tan(fieldOfView / 2.0) / aspectRatio); } } SgOrthographicCamera::SgOrthographicCamera() { height_ = 2.0; } SgOrthographicCamera::SgOrthographicCamera(const SgOrthographicCamera& org) : SgCamera(org) { height_ = org.height_; } SgObject* SgOrthographicCamera::clone(SgCloneMap& cloneMap) const { return new SgOrthographicCamera(*this); } void SgOrthographicCamera::accept(SceneVisitor& visitor) { visitor.visitCamera(this); } choreonoid-1.5.0/src/Util/MultiSE3Seq.cpp0000664000000000000000000001757112741425367016662 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "MultiSE3Seq.h" #include "PlainSeqFormatLoader.h" #include "ValueTree.h" #include "YAMLWriter.h" #include "EigenUtil.h" #include #include "gettext.h" using namespace std; using namespace cnoid; using boost::format; MultiSE3Seq::MultiSE3Seq() : MultiSE3Seq::BaseSeqType("MultiSE3Seq") { } MultiSE3Seq::MultiSE3Seq(int numFrames, int numParts) : MultiSE3Seq::BaseSeqType("MultiSE3Seq", numFrames, numParts) { } MultiSE3Seq::MultiSE3Seq(const MultiSE3Seq& org) : MultiSE3Seq::BaseSeqType(org) { } AbstractSeqPtr MultiSE3Seq::cloneSeq() const { return boost::make_shared(*this); } MultiSE3Seq::~MultiSE3Seq() { } bool MultiSE3Seq::loadPlainMatrixFormat(const std::string& filename) { clearSeqMessage(); PlainSeqFileLoader loader; if(!loader.load(filename)){ addSeqMessage(loader.errorMessage()); return false; } int n = loader.numParts(); if(n < 12 || (n % 12) != 0){ addSeqMessage(filename + "does not have elements in multiple of twelve " "(each 3 for position vectors, 9 for attitde matrices)"); return false; } int m = n / 12; setDimension(loader.numFrames(), m); setTimeStep(loader.timeStep()); int f = 0; Part base = part(0); for(PlainSeqFileLoader::iterator it = loader.begin(); it != loader.end(); ++it){ vector& data = *it; int i = 0; Frame frame = MultiSE3Seq::frame(f++); for(int j=0; j < m; ++j){ SE3& x = frame[j]; x.translation() << data[i++], data[i++], data[i++]; Matrix3 R; R << data[i++], data[i++], data[i++], data[i++], data[i++], data[i++], data[i++], data[i++], data[i++]; x.rotation() = R; } } return true; } bool MultiSE3Seq::loadPlainRpyFormat(const std::string& filename) { clearSeqMessage(); PlainSeqFileLoader loader; if(!loader.load(filename)){ addSeqMessage(loader.errorMessage()); return false; } int n = loader.numParts(); if(n != 3){ addSeqMessage(filename + "does not have a multiple of 3 elements (R,P,Y)"); return false; } setDimension(loader.numFrames(), 1); setTimeStep(loader.timeStep()); int f = 0; Part base = part(0); for(PlainSeqFileLoader::iterator it = loader.begin(); it != loader.end(); ++it){ vector& data = *it; Frame frame = MultiSE3Seq::frame(f++); SE3& x = frame[0]; x.translation() << 0, 0, 0; double r, p, y; //First element is time r = data[1]; p = data[2]; y = data[3]; Matrix3 R = rotFromRpy(r, p, y); x.rotation() = R; } return true; } bool MultiSE3Seq::saveTopPartAsPlainMatrixFormat(const std::string& filename) { clearSeqMessage(); boost::format f("%1$.4f"); const int nFrames = numFrames(); if(nFrames > 0 && numParts() > 0){ ofstream os(filename.c_str()); if(!os){ addSeqMessage(filename + " cannot be opened."); return false; } const double r = frameRate(); Part base = part(0); for(int i=0; i < nFrames; ++i){ os << (f % (i / r)); const SE3& x = base[i]; for(int j=0; j < 3; ++j){ os << " " << x.translation()[j]; } Matrix3 R(x.rotation()); for(int j=0; j < 3; ++j){ for(int k=0; k < 3; ++k){ double m = R(j, k); if(fabs(m) < 1.0e-14){ m = 0.0; } os << " " << m; } } os << " 0 0 0 0 0 0"; // velocity elements (dv, omega) os << "\n"; } return true; } return false; } static inline void writeSE3(YAMLWriter& writer, const SE3& value) { writer.startFlowStyleListing(); const Vector3& p = value.translation(); writer.putScalar(p.x()); writer.putScalar(p.y()); writer.putScalar(p.z()); const Quat& q = value.rotation(); writer.putScalar(q.w()); writer.putScalar(q.x()); writer.putScalar(q.y()); writer.putScalar(q.z()); writer.endListing(); } bool MultiSE3Seq::doWriteSeq(YAMLWriter& writer) { if(BaseSeqType::doWriteSeq(writer)){ writer.putKeyValue("format", "XYZQWQXQYQZ"); writer.putKey("frames"); writer.startListing(); const int m = numParts(); const int n = numFrames(); for(int i=0; i < n; ++i){ Frame f = frame(i); writer.startFlowStyleListing(); for(int j=0; j < m; ++j){ writeSE3(writer, f[j]); } writer.endListing(); } writer.endListing(); return true; } return false; } bool MultiSE3Seq::doReadSeq(const Mapping& archive) { if(BaseSeqType::doReadSeq(archive)){ const string& type = archive["type"].toString(); if(type == seqType() || type == "MultiSe3Seq" || type == "MultiAffine3Seq"){ string formatString = archive["format"].toString(); const Listing& values = *archive.findListing("frames"); if(values.isValid()){ const int nParts = archive["numParts"].toInt(); const int nFrames = values.size(); setDimension(nFrames, nParts); if(formatString == "XYZQWQXQYQZ"){ readPosQuatSeq(nParts, nFrames, values, true); } else if(formatString == "XYZQXQYQZQW"){ readPosQuatSeq(nParts, nFrames, values, false); } else if(formatString == "XYZRPY"){ readPosRpySeq(nParts, nFrames, values); } else { addSeqMessage( str(format(("Unknown format \"%1%\" cannot be loaded into MultiSE3Seq.")) % formatString)); return false; } } } return true; } return false; } void MultiSE3Seq::readPosQuatSeq(int nParts, int nFrames, const Listing& values, bool isWfirst) { for(int i=0; i < nFrames; ++i){ const Listing& frameNode = *values[i].toListing(); Frame f = frame(i); const int n = std::min(frameNode.size(), nParts); for(int j=0; j < n; ++j){ const Listing& node = *frameNode[j].toListing(); SE3& x = f[j]; if(node.size() == 7){ x.translation() << node[0].toDouble(), node[1].toDouble(), node[2].toDouble(); if(isWfirst){ x.rotation() = Quat(node[3].toDouble(), node[4].toDouble(), node[5].toDouble(), node[6].toDouble()); } else { x.rotation() = Quat(node[6].toDouble(), node[3].toDouble(), node[4].toDouble(), node[5].toDouble()); } } } } } void MultiSE3Seq::readPosRpySeq(int nParts, int nFrames, const Listing& values) { for(int i=0; i < nFrames; ++i){ const Listing& frameNode = *values[i].toListing(); Frame f = frame(i); const int n = std::min(frameNode.size(), nParts); for(int j=0; j < n; ++j){ const Listing& node = *frameNode[j].toListing(); if(node.size() == 6){ SE3& x = f[j]; x.translation() << node[0].toDouble(), node[1].toDouble(), node[2].toDouble(); const double r = node[3].toDouble(); const double p = node[4].toDouble(); const double y = node[5].toDouble(); x.rotation() = rotFromRpy(r, p, y); } } } } choreonoid-1.5.0/src/Util/TimeMeasure.h0000664000000000000000000000471012741425367016460 0ustar rootroot #ifndef CNOID_UTIL_TIME_MEASURE_H #define CNOID_UTIL_TIME_MEASURE_H #ifndef _WIN32 #include #ifdef _POSIX_C_SOURCE #if _POSIX_C_SOURCE >= 199309L #define USE_GETTIME #endif #endif namespace cnoid { class TimeMeasure { #ifdef USE_GETTIME struct timespec tp; #else struct timeval tv; #endif double time_; double totalTime_; int numCalls; public: inline TimeMeasure() { totalTime_ = 0.0; numCalls = 0; } inline void begin() { #ifdef USE_GETTIME clock_gettime(CLOCK_MONOTONIC, &tp) ; #else gettimeofday(&tv, 0); #endif } inline void end(){ #ifdef USE_GETTIME double beginTime = tp.tv_sec + (double)tp.tv_nsec * 1.0e-9; clock_gettime(CLOCK_MONOTONIC, &tp); double endTime = tp.tv_sec + (double)tp.tv_nsec * 1.0e-9; #else double beginTime = tv.tv_sec + (double)tv.tv_usec * 1.0e-6; gettimeofday(&tv, 0); double endTime = tv.tv_sec + (double)tv.tv_usec * 1.0e-6; #endif time_ = endTime - beginTime; totalTime_ += time_; numCalls++; } inline double measure() { end(); return time_; } inline double time() { return time_; } inline double totalTime() { return totalTime_; } inline double avarageTime() { return totalTime_ / numCalls; } }; } #else #include namespace cnoid { typedef unsigned __int64 ulonglong; class TimeMeasure { ulonglong iTimerScale; ulonglong beginTime; ulonglong endTime; double time_; double totalTime_; int numCalls; public: inline TimeMeasure() { totalTime_ = 0.0; numCalls = 0; BOOL iDummyBool = QueryPerformanceFrequency ((LARGE_INTEGER *) &iTimerScale); if(!iDummyBool) iTimerScale=1; } inline void begin() { BOOL iDummyBool = QueryPerformanceCounter ((LARGE_INTEGER *) &beginTime); if(!iDummyBool) beginTime=1; } inline void end(){ BOOL iDummyBool = QueryPerformanceCounter ((LARGE_INTEGER *) &endTime); if(!iDummyBool) endTime=0; time_ = (double)(endTime - beginTime) / iTimerScale; totalTime_ += time_; numCalls++; } inline double measure() { end(); return time_; } inline double time() { return time_; } inline double totalTime() { return totalTime_; } inline double avarageTime() { return totalTime_ / numCalls; } }; } #endif #endif choreonoid-1.5.0/src/Util/MultiValueSeq.h0000664000000000000000000000155312741425367017002 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_MULTI_VALUE_SEQ_H #define CNOID_UTIL_MULTI_VALUE_SEQ_H #include "MultiSeq.h" #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT MultiValueSeq : public MultiSeq { typedef MultiSeq BaseSeqType; public: typedef boost::shared_ptr Ptr; MultiValueSeq(); MultiValueSeq(int numFrames, int numParts = 1); MultiValueSeq(const MultiValueSeq& org); virtual ~MultiValueSeq(); virtual AbstractSeqPtr cloneSeq() const; virtual bool loadPlainFormat(const std::string& filename); virtual bool saveAsPlainFormat(const std::string& filename); protected: virtual bool doWriteSeq(YAMLWriter& writer); virtual bool doReadSeq(const Mapping& archive); }; typedef MultiValueSeq::Ptr MultiValueSeqPtr; } #endif choreonoid-1.5.0/src/Util/MultiValueSeq.cpp0000664000000000000000000000636512741425367017343 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "MultiValueSeq.h" #include "PlainSeqFormatLoader.h" #include "ValueTree.h" #include "YAMLWriter.h" using namespace std; using namespace cnoid; MultiValueSeq::MultiValueSeq() : BaseSeqType("MultiValueSeq") { } MultiValueSeq::MultiValueSeq(int numFrames, int numParts) : BaseSeqType("MultiValueSeq", numFrames, numParts) { } MultiValueSeq::MultiValueSeq(const MultiValueSeq& org) : BaseSeqType(org) { } AbstractSeqPtr MultiValueSeq::cloneSeq() const { return boost::make_shared(*this); } MultiValueSeq::~MultiValueSeq() { } bool MultiValueSeq::loadPlainFormat(const std::string& filename) { clearSeqMessage(); PlainSeqFileLoader loader; if(!loader.load(filename)){ addSeqMessage(loader.errorMessage()); return false; } setDimension(loader.numFrames(), loader.numParts()); setFrameRate(1.0 / loader.timeStep()); int i = 0; for(PlainSeqFileLoader::iterator it = loader.begin(); it != loader.end(); ++it){ copy((it->begin() + 1), it->end(), frame(i++).begin()); } return true; } bool MultiValueSeq::saveAsPlainFormat(const std::string& filename) { clearSeqMessage(); ofstream os(filename.c_str()); os.setf(ios::fixed); if(!os){ addSeqMessage(filename + " cannot be opened."); return false; } const int n = numFrames(); const int m = numParts(); const double r = frameRate(); for(int i=0; i < n; ++i){ os << (i / r); Frame v = frame(i); for(int j=0; j < m; ++j){ os << " " << v[j]; } os << "\n"; } return true; } bool MultiValueSeq::doWriteSeq(YAMLWriter& writer) { if(BaseSeqType::doWriteSeq(writer)){ writer.putKey("frames"); writer.startListing(); const int n = numFrames(); const int m = numParts(); for(int i=0; i < n; ++i){ writer.startFlowStyleListing(); Frame v = frame(i); for(int j=0; j < m; ++j){ writer.putScalar(v[j]); } writer.endListing(); } writer.endListing(); return true; } return false; } bool MultiValueSeq::doReadSeq(const Mapping& archive) { if(BaseSeqType::doReadSeq(archive) && (archive["type"].toString() == seqType())){ const int nParts = archive["numParts"].toInt(); int nFrames; if(archive.read("numFrames", nFrames)){ if(nFrames == 0){ setDimension(0, nParts); return true; } } const Listing& values = *archive.findListing("frames"); if(!values.isValid()){ addSeqMessage("Actual frame data is missing."); } else { const int nFrames = values.size(); setDimension(nFrames, nParts); for(int i=0; i < nFrames; ++i){ const Listing& frameNode = *values[i].toListing(); const int n = std::min(frameNode.size(), nParts); Frame v = frame(i); for(int j=0; j < n; ++j){ v[j] = frameNode[j].toDouble(); } } return true; } } return false; } choreonoid-1.5.0/src/Util/FloatingNumberString.h0000664000000000000000000000417712741425367020352 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_FLOATING_NUMBER_STRING_H_INCLUDED #define CNOID_UTIL_FLOATING_NUMBER_STRING_H_INCLUDED #include #include #ifdef _MSC_VER #define INFINITY (DBL_MAX+DBL_MAX) #define NAN (INFINITY-INFINITY) #else #include #endif namespace cnoid { class FloatingNumberString { double v; std::string s; public: FloatingNumberString() { v = 0.0; s = "0"; } FloatingNumberString(const std::string& value) : s(value) { char* p; double nv = strtod(value.c_str(), &p); if(p != value.c_str()){ v = nv; s = value; } } FloatingNumberString(double value) { operator=(value); } bool set(const std::string& value){ char* p; double nv = strtod(value.c_str(), &p); if(p != value.c_str()){ v = nv; s = value; return true; } return false; } FloatingNumberString& operator=(const FloatingNumberString& rhs){ s = rhs.s; v = rhs.v; return *this; } FloatingNumberString& operator=(const std::string& rhs){ set(rhs); return *this; } FloatingNumberString& operator=(double rhs){ v = rhs; s = str(boost::format("%g") % rhs); return *this; } bool setPositiveValue(const std::string& value){ char* p; double nv = strtod(value.c_str(), &p); if(p != value.c_str() && nv > 0.0){ v = nv; s = value; return true; } return false; } bool setNonNegativeValue(const std::string& value){ char* p; double nv = strtod(value.c_str(), &p); if(p != value.c_str() && nv >= 0.0){ v = nv; s = value; return true; } return false; } operator std::string() const { return s; } const std::string& string() const { return s; } double value() const { return v; } }; } #endif choreonoid-1.5.0/src/Util/SceneProvider.cpp0000664000000000000000000000041012741425367017334 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "SceneProvider.h" #include "SceneGraph.h" using namespace cnoid; SceneProvider::~SceneProvider() { } SgNode* SceneProvider::getScene(SgCloneMap& cloneMap) { return getScene()->cloneNode(cloneMap); } choreonoid-1.5.0/src/Util/ImageConverter.cpp0000664000000000000000000002006412741425367017505 0ustar rootroot/** @file ImageConverter.cpp @brief Implementation of Image Converter class @author K.FUKUDA @author Shin'ichiro Nakaoka */ #include "ImageConverter.h" #include #include extern "C" { #define XMD_H #include } #include using namespace std; using namespace cnoid; ImageConverter::ImageConverter(void) { image = new SFImage; }; ImageConverter::~ImageConverter(void) { delete image; }; /** @brief initialize "SFImage" @note use before using "SFImage" structure @return bool true : succeeded / false : failed */ bool ImageConverter::initializeSFImage( ) { image->width = 0; image->height = 0; image->numComponents = 0; image->pixels.clear(); return true; } /** @brief convert ImageTexture node to PixelTexture node @note read image data from VrmlImageTexture::url and store pixel data to VrmlPixelTexture::image. *.png and *.jpg are supported. Currentry, multi url is not supported. @return bool true : succeeded / false : failed */ SFImage* ImageConverter::convert(const std::string& url) { message.clear(); string ext = url.substr( url.rfind( '.' ) ); // convert the ext name into lower letters transform( ext.begin(), ext.end(), ext.begin(), (int(*)(int))tolower ); if( !ext.compare( ".png" ) ) { if(loadPNG( url )) return image; } else if( !ext.compare( ".jpg" ) ) { if(loadJPEG( url )) return image; } else { message += "ImageTexture read error: \"" + ext + "\" is unsupported format."; // cerr << "ImageTexture read error: unsupported format." << '\n'; } image->height = 0; image->width = 0; image->numComponents = 0; image->pixels.resize(0); return image; } /** @brief load PNG file @note load and fill VrmlPixelTexture::image from PNG. @return bool true : succeeded / false : failed */ bool ImageConverter::loadPNG(const std::string& filePath) { initializeSFImage( ); FILE* fp = 0; try { fp = fopen(filePath.c_str(), "rb"); if(!fp){ throw "File open error."; } png_size_t number = 8; png_byte header[8]; int is_png; size_t n = fread(header, 1, number, fp); if(n != number){ throw "File is not png."; } is_png = !png_sig_cmp(header, 0, number); if(!is_png){ throw "File is not png."; } png_structp pPng; pPng = png_create_read_struct(PNG_LIBPNG_VER_STRING, NULL, NULL, NULL); if(!pPng){ throw "Failed to create png_struct"; } png_infop pInfo; pInfo = png_create_info_struct(pPng); if(!pInfo){ png_destroy_read_struct( &pPng, NULL, NULL ); throw "Failed to create png_info"; } png_init_io(pPng, fp); png_set_sig_bytes( pPng, (int)number ); png_read_info(pPng, pInfo); png_uint_32 width = png_get_image_width( pPng, pInfo ); png_uint_32 height = png_get_image_height( pPng, pInfo ); png_byte color_type = png_get_color_type( pPng, pInfo ); png_byte depth = png_get_bit_depth( pPng, pInfo ); if (png_get_valid( pPng, pInfo, PNG_INFO_tRNS)) png_set_tRNS_to_alpha(pPng); if (depth < 8) png_set_packing(pPng); int numComponents; switch( color_type ) { case PNG_COLOR_TYPE_GRAY: numComponents = 1; if(depth < 8) png_set_expand_gray_1_2_4_to_8(pPng); break; case PNG_COLOR_TYPE_GRAY_ALPHA: numComponents = 2; if (depth == 16) png_set_strip_16(pPng); break; case PNG_COLOR_TYPE_RGB: numComponents = 3; if (depth == 16) png_set_strip_16(pPng); break; case PNG_COLOR_TYPE_RGB_ALPHA: numComponents = 4; if (depth == 16) png_set_strip_16(pPng); break; case PNG_COLOR_TYPE_PALETTE: png_set_palette_to_rgb(pPng); numComponents = 3; break; default: numComponents = 1; // throw "Unsupported color type."; } png_read_update_info( pPng, pInfo ); unsigned char** row_pointers; row_pointers = (png_bytepp)malloc(height * sizeof(png_bytep)); png_uint_32 rowbytes = png_get_rowbytes(pPng, pInfo); image->pixels.resize(rowbytes*height); for(png_uint_32 i=0; i < height; i++){ row_pointers[i] = &(image->pixels[i*rowbytes]); } png_read_image(pPng, row_pointers); image->width = width; image->height = height; image->numComponents = numComponents; free(row_pointers); png_destroy_read_struct( &pPng, &pInfo, NULL ); fclose(fp); } catch( char * str ) { message += "PNG read error: " + string(str) + '\n'; if(fp) fclose(fp); return false; } return true; } /** @brief load JPEG file @note load and fill VrmlPixelTexture::image from JPEG. @return bool true : succeeded / false : failed */ bool ImageConverter::loadJPEG(const std::string& filePath) { initializeSFImage( ); FILE* fp = 0; try { // File open fp = fopen(filePath.c_str(), "rb"); if( !fp ) throw "File open error."; struct jpeg_decompress_struct cinfo; struct jpeg_error_mgr jerr; // Step 1: allocate and initialize JPEG decompression object cinfo.err = jpeg_std_error( &jerr ); jpeg_create_decompress( &cinfo ); // Step 2: specify data source (eg, a file) jpeg_stdio_src( &cinfo, fp ); // Step 3: read file parameters with jpeg_read_header() (void)jpeg_read_header( &cinfo, TRUE ); // Step 4: set parameters for decompression // Step 5: Start decompression (void)jpeg_start_decompress( &cinfo ); // get image attribute image->width = cinfo.output_width; image->height = cinfo.output_height; image->numComponents = cinfo.out_color_components; JSAMPARRAY row_pointers; row_pointers = (JSAMPARRAY)malloc( sizeof( JSAMPROW ) * image->height ); image->pixels.resize(cinfo.output_components * image->width * image->height); for (int i = 0; i < image->height; i++ ) row_pointers[i] = &(image->pixels[i * cinfo.output_components * image->width]); while( cinfo.output_scanline < cinfo.output_height ) { jpeg_read_scanlines( &cinfo, row_pointers + cinfo.output_scanline, cinfo.output_height - cinfo.output_scanline ); } free(row_pointers); // Step 7: Finish decompression (void)jpeg_finish_decompress( &cinfo ); // Step 8: Release JPEG decompression object jpeg_destroy_decompress( &cinfo ); fclose( fp ); } catch( char * str ) { message += "JPEG read error: " + string(str) + '\n'; if( fp ) fclose( fp ); return false; } return true; } choreonoid-1.5.0/src/Util/TruncatedSVD.h0000664000000000000000000000473212741425367016552 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_TRUNCATED_SVD_SOLVER_H_INCLUDED #define CNOID_UTIL_TRUNCATED_SVD_SOLVER_H_INCLUDED #include namespace cnoid { template class TruncatedSVD { typedef typename MatrixType::Scalar Scalar; Eigen::JacobiSVD svd; Eigen::DiagonalMatrix sinv; Scalar truncateRatio; int numTruncated; public: static double defaultTruncateRatio() { return 2.0e2; } TruncatedSVD() { truncateRatio = defaultTruncateRatio(); numTruncated = 0; } void setTruncateRatio(Scalar r){ if(r <= 0.0){ truncateRatio = std::numeric_limits::infinity(); } else { truncateRatio = r; } } TruncatedSVD& compute(const MatrixType& matrix){ numTruncated = 0; svd.compute(matrix, Eigen::ComputeThinU | Eigen::ComputeThinV); sinv.diagonal() = svd.singularValues(); int lastNonZeroSingularValues = svd.nonzeroSingularValues() - 1; if(lastNonZeroSingularValues > 0){ Scalar& s0 = sinv.diagonal()(0); Scalar& s_last = sinv.diagonal()(lastNonZeroSingularValues); if((s0 / s_last) > truncateRatio){ s_last = Scalar(0.0); ++numTruncated; int j; for(j = lastNonZeroSingularValues - 1; j > 0; --j){ Scalar& s = sinv.diagonal()(j); if((s0 / s) > truncateRatio){ s = Scalar(0.0); ++numTruncated; } else { break; } } while(j >= 0){ Scalar& s = sinv.diagonal()(j); s = Scalar(1.0) / s; --j; } } } return *this; } int numTruncatedSingularValues() const { return numTruncated; } const typename Eigen::JacobiSVD::SingularValuesType& singularValues() const { return svd.singularValues(); } template void solve(const Eigen::MatrixBase& b, Eigen::MatrixBase& out_x) const { if(numTruncated > 0){ out_x = svd.matrixV() * sinv * svd.matrixU().transpose() * b; } else { out_x = svd.solve(b); } } }; } #endif choreonoid-1.5.0/src/Util/VRMLWriter.h0000664000000000000000000000636312741425367016223 0ustar rootroot /*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_VRML_WRITER_H #define CNOID_UTIL_VRML_WRITER_H #include "VRML.h" #include #include #include "exportdecl.h" namespace cnoid { class VRMLWriter; struct TIndent { void clear() { n = 0; spaces.resize(n); } inline TIndent& operator++() { n += 2; spaces.resize(n, ' '); return *this; } inline TIndent& operator--() { n -= 2; if(n < 0) { n = 0; } spaces.resize(n, ' '); return *this; } std::string spaces; int n; }; inline std::ostream& operator<<(std::ostream& out, TIndent& indent) { return out << indent.spaces; } inline const char* boolstr(bool v) { if(v){ return "TRUE"; } else { return "FALSE"; } } inline std::ostream& operator<<(std::ostream& out, const SFVec2f& v) { return out << v[0] << " " << v[1]; } inline std::ostream& operator<<(std::ostream& out, const SFVec3f& v) { return out << v[0] << " " << v[1] << " " << v[2]; } inline std::ostream& operator<<(std::ostream& out, const SFColor& v) { return out << v[0] << " " << v[1] << " " << v[2]; } inline std::ostream& operator<<(std::ostream& out, const SFRotation& v) { const SFRotation::Vector3& a = v.axis(); return out << a[0] << " " << a[1] << " " << a[2] << " " << v.angle(); } typedef void (VRMLWriter::*VRMLWriterNodeMethod)(VRMLNodePtr node); class CNOID_EXPORT VRMLWriter { public: VRMLWriter(std::ostream& out); void setOutFileName(const std::string& ofname) { this->ofname = ofname; }; void writeHeader(); bool writeNode(VRMLNodePtr node); protected: std::ostream& out; std::string ofname; TIndent indent; void registerNodeMethodMap(); void registerNodeMethod(const std::type_info& t, VRMLWriterNodeMethod method); VRMLWriterNodeMethod getNodeMethod(VRMLNodePtr node); template void writeMFValues(MFValues values, int numColumn) { out << ++indent << "[\n"; ++indent; out << indent; int col = 0; int n = values.size(); for(int i=0; i < n; i++){ out << values[i] << " "; col++; if(col == numColumn){ col = 0; out << "\n"; if(i < n-1){ out << indent; } } } out << --indent << "]\n"; --indent; }; 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); private: std::string abstorel(std::string& fname); void writeInlineNode(VRMLNodePtr node); void writeShapeNode(VRMLNodePtr node); void writeAppearanceNode(VRMLAppearancePtr appearance); void writeMaterialNode(VRMLMaterialPtr material); void writeBoxNode(VRMLNodePtr node); void writeConeNode(VRMLNodePtr node); void writeCylinderNode(VRMLNodePtr node); void writeSphereNode(VRMLNodePtr node); void writeIndexedFaceSetNode(VRMLNodePtr node); void writeCoordinateNode(VRMLCoordinatePtr coord); }; }; #endif choreonoid-1.5.0/src/Util/PointSetUtil.h0000664000000000000000000000064212741425367016643 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_POINT_SET_UTIL_H #define CNOID_UTIL_POINT_SET_UTIL_H #include #include "exportdecl.h" namespace cnoid { CNOID_EXPORT void loadPCD(SgPointSet* out_pointSet, const std::string& filename); CNOID_EXPORT void savePCD(SgPointSet* pointSet, const std::string& filename, const Affine3d& viewpoint = Affine3d::Identity()); } #endif choreonoid-1.5.0/src/Util/VRML.cpp0000664000000000000000000002373212741425367015360 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "VRML.h" #include using namespace cnoid; using namespace boost::assign; const char* cnoid::labelOfVRMLfieldTypeId(const std::type_info& fieldType) { if(fieldType == typeid(SFInt32)){ return "SFInt32"; } else if(fieldType == typeid(MFInt32)){ return "MFInt32"; } else if(fieldType == typeid(SFFloat)){ return "SFFloat"; } else if(fieldType == typeid(MFFloat)){ return "MFFloat"; } else if(fieldType == typeid(SFVec2f)){ return "SFVec3f"; } else if(fieldType == typeid(MFVec2f)){ return "MFVec2f"; } else if(fieldType == typeid(SFVec3f)){ return "SFVec3f"; } else if(fieldType == typeid(MFVec3f)){ return "MFVec3f"; } else if(fieldType == typeid(SFRotation)){ return "SFRotation"; } else if(fieldType == typeid(MFRotation)){ return "MFRotation"; } else if(fieldType == typeid(SFTime)){ return "SFTime"; } else if(fieldType == typeid(MFTime)){ return "MFTime"; } else if(fieldType == typeid(SFColor)){ return "SFColor"; } else if(fieldType == typeid(MFColor)){ return "MFColor"; } else if(fieldType == typeid(SFString)){ return "SFString"; } else if(fieldType == typeid(MFString)){ return "MFString"; } else if(fieldType == typeid(SFNode)){ return "SFNode"; } else if(fieldType == typeid(MFNode)){ return "MFNode"; } else if(fieldType == typeid(SFBool)){ return "SFBool"; } else if(fieldType == typeid(SFImage)){ return "SFImage"; } else { return "Unknown Field Type"; } } VRMLNode::VRMLNode() { refCounter = 0; } VRMLNode::~VRMLNode() { } bool VRMLNode::isCategoryOf(VRMLNodeCategory category) { return (category == ANY_NODE) ? true : categorySet.test(category); } VRMLUnsupportedNode::VRMLUnsupportedNode(const std::string& nodeTypeName) : nodeTypeName(nodeTypeName) { categorySet.set(TOP_NODE); categorySet.set(CHILD_NODE); } VRMLViewpoint::VRMLViewpoint() { categorySet.set(TOP_NODE); categorySet.set(BINDABLE_NODE); categorySet.set(CHILD_NODE); fieldOfView = 0.785398; jump = true; orientation.axis() = SFVec3f::UnitZ(); orientation.angle() = 0.0; position << 0.0, 0.0, 10.0; } VRMLNavigationInfo::VRMLNavigationInfo() : avatarSize(3) { categorySet.set(TOP_NODE); categorySet.set(BINDABLE_NODE); categorySet.set(CHILD_NODE); avatarSize[0] = 0.25; avatarSize[1] = 1.6; avatarSize[2] = 0.75; headlight = true; speed = 1.0; visibilityLimit = 0.0; type.push_back("WALK"); } VRMLBackground::VRMLBackground() { categorySet.set(TOP_NODE); categorySet.set(BINDABLE_NODE); categorySet.set(CHILD_NODE); } AbstractVRMLGroup::AbstractVRMLGroup() { categorySet.set(TOP_NODE); categorySet.set(GROUPING_NODE); categorySet.set(CHILD_NODE); } void AbstractVRMLGroup::removeChild(int childIndex) { replaceChild(childIndex, 0); } VRMLGroup::VRMLGroup() { bboxCenter.setZero(); bboxSize.fill(-1.0); } MFNode& VRMLGroup::getChildren() { return children; } int VRMLGroup::countChildren() { return children.size(); } VRMLNode* VRMLGroup::getChild(int index) { return children[index].get(); } void VRMLGroup::replaceChild(int childIndex, VRMLNode* childNode) { if(!childNode){ children.erase(children.begin() + childIndex); } else { children[childIndex] = childNode; } } VRMLTransform::VRMLTransform() { center.setZero(); rotation.axis() = SFVec3f::UnitZ(); rotation.angle() = 0.0; scale.setOnes(); scaleOrientation.axis() = SFVec3f::UnitZ(); scaleOrientation.angle() = 0.0; translation.setZero(); } Eigen::Affine3d VRMLTransform::toAffine3d() { const Eigen::Translation3d C(center); const SFRotation& SR = scaleOrientation; const Eigen::AlignedScaling3d S(scale); const SFRotation& R = rotation; const Eigen::Translation3d T(translation); return T * C * R * SR * S * SR.inverse() * C.inverse(); } VRMLInline::VRMLInline() { categorySet.set(INLINE_NODE); } VRMLAnotherFormatFile::VRMLAnotherFormatFile() { categorySet.set(TOP_NODE); categorySet.set(CHILD_NODE); } VRMLShape::VRMLShape() { categorySet.set(TOP_NODE); categorySet.set(CHILD_NODE); categorySet.set(SHAPE_NODE); } VRMLAppearance::VRMLAppearance() { categorySet.set(APPEARANCE_NODE); } VRMLMaterial::VRMLMaterial() { categorySet.set(MATERIAL_NODE); diffuseColor << 0.8f, 0.8f, 0.8f; emissiveColor.setZero(); specularColor.setZero(); ambientIntensity = 0.2; shininess = 0.2; transparency = 0.0; } VRMLTexture::VRMLTexture() { categorySet.set(TEXTURE_NODE); } VRMLImageTexture::VRMLImageTexture() { repeatS = true; repeatT = true; } VRMLTextureTransform::VRMLTextureTransform() { categorySet.set(TEXTURE_TRANSFORM_NODE); center.setZero(); scale.setOnes(); translation.setZero(); rotation = 0.0; } VRMLGeometry::VRMLGeometry() { categorySet.set(GEOMETRY_NODE); } VRMLBox::VRMLBox() { size.fill(2.0); } VRMLCone::VRMLCone() { bottom = true; bottomRadius = 1.0; height = 2.0; side = true; } VRMLCylinder::VRMLCylinder() { height = 2.0; radius = 1.0; bottom = true; side = true; top = true; } VRMLSphere::VRMLSphere() { radius = 1.0; } VRMLFontStyle::VRMLFontStyle() { categorySet.set(FONT_STYLE_NODE); family.push_back("SERIF"); horizontal = true; justify.push_back("BEGIN"); leftToRight = true; size = 1.0; spacing = 1.0; style = "PLAIN"; topToBottom = true; } VRMLText::VRMLText() { maxExtent = 0.0; } VRMLIndexedLineSet::VRMLIndexedLineSet() { colorPerVertex = true; } VRMLIndexedFaceSet::VRMLIndexedFaceSet() { ccw = true; convex = true; creaseAngle = 0.0; normalPerVertex = true; solid = true; } VRMLColor::VRMLColor() { categorySet.set(COLOR_NODE); } VRMLCoordinate::VRMLCoordinate() { categorySet.set(COORDINATE_NODE); } VRMLTextureCoordinate::VRMLTextureCoordinate() { categorySet.set(TEXTURE_COORDINATE_NODE); } VRMLNormal::VRMLNormal() { categorySet.set(NORMAL_NODE); } VRMLCylinderSensor::VRMLCylinderSensor() { categorySet.set(CHILD_NODE); categorySet.set(SENSOR_NODE); autoOffset = true; diskAngle = 0.262; enabled = true; maxAngle = -1; minAngle = 0; offset = 0; } VRMLPointSet::VRMLPointSet() { coord = NULL; color = NULL; } VRMLPixelTexture::VRMLPixelTexture() { image.width = 0; image.height = 0; image.numComponents = 0; image.pixels.clear(); repeatS = true; repeatT = true; } VRMLMovieTexture::VRMLMovieTexture() { // url loop = false; speed = 0; startTime = 0.0; stopTime = 0.0; repeatS = true; repeatT = true; } VRMLElevationGrid::VRMLElevationGrid() { xDimension = 0; zDimension = 0; xSpacing = 0.0; zSpacing = 0.0; // height // MFFloat ccw = true; colorPerVertex = true; creaseAngle = 0.0; normalPerVertex = true; solid = true; color = NULL; normal = NULL; texCoord = NULL; } VRMLExtrusion::VRMLExtrusion() { // crossSection // spine beginCap = true; endCap = true; solid = true; ccw = true; convex = true; creaseAngle = 0; orientation.push_back(SFRotation(0.0, SFVec3f::UnitZ())); scale.push_back(SFVec2f(1.0, 1.0)); } VRMLSwitch::VRMLSwitch() { whichChoice = -1; } MFNode& VRMLSwitch::getChildren() { return choice; } int VRMLSwitch::countChildren() { return choice.size(); } VRMLNode* VRMLSwitch::getChild(int index) { return choice[index].get(); } void VRMLSwitch::replaceChild(int childIndex, VRMLNode* childNode) { if(!childNode){ choice.erase(choice.begin() + childIndex); if(whichChoice == childIndex){ whichChoice = -1; } else if(whichChoice > childIndex){ whichChoice -= 1; } } else { choice[childIndex] = childNode; } } VRMLLOD::VRMLLOD() { center.setZero(); } MFNode& VRMLLOD::getChildren() { return level; } int VRMLLOD::countChildren() { return level.size(); } VRMLNode* VRMLLOD::getChild(int index) { return level[index].get(); } void VRMLLOD::replaceChild(int childIndex, VRMLNode* childNode) { if(!childNode){ level.erase(level.begin() + childIndex); if(!level.empty()){ int rangeIndexToRemove = (childIndex > 0) ? (childIndex - 1) : 0; range.erase(range.begin() + rangeIndexToRemove); } } else { level[childIndex] = childNode; } } VRMLCollision::VRMLCollision() { collide = true; } VRMLAnchor::VRMLAnchor() { } VRMLBillboard::VRMLBillboard() { axisOfRotation.setZero(); } VRMLFog::VRMLFog() { categorySet.set(TOP_NODE); categorySet.set(CHILD_NODE); color.setZero(); visibilityRange = 0.0; fogType = "LINEAR"; } VRMLWorldInfo::VRMLWorldInfo() { categorySet.set(TOP_NODE); categorySet.set(CHILD_NODE); } VRMLLight::VRMLLight() { categorySet.set(TOP_NODE); categorySet.set(CHILD_NODE); categorySet.set(LIGHT_NODE); on = true; color.setOnes(); intensity = 1.0; ambientIntensity = 0.0; } VRMLPointLight::VRMLPointLight() { location.setZero(); radius = 100.0; attenuation << 1.0, 0.0, 0.0; } VRMLDirectionalLight::VRMLDirectionalLight() { direction << 0.0, 0.0, -1.0; } VRMLSpotLight::VRMLSpotLight() { direction << 0.0, 0.0, -1.0; beamWidth = 1.570796; cutOffAngle = 0.785398; } VRMLProto::VRMLProto(const std::string& n) : protoName(n) { categorySet.set(TOP_NODE); categorySet.set(PROTO_DEF_NODE); } VRMLProtoInstance::VRMLProtoInstance(VRMLProtoPtr proto0) : proto(proto0), fields(proto0->fields) { categorySet.set(TOP_NODE); categorySet.set(PROTO_INSTANCE_NODE);; categorySet.set(CHILD_NODE); } choreonoid-1.5.0/src/Util/MeshGenerator.h0000664000000000000000000000427212741425367017006 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_MESH_GENERATOR_H #define CNOID_UTIL_MESH_GENERATOR_H #include "EigenTypes.h" #include #include "exportdecl.h" namespace cnoid { class SgMesh; class SgLineSet; class MeshNormalGenerator; class CNOID_EXPORT MeshGenerator { public: MeshGenerator(); MeshGenerator(const MeshGenerator& org); ~MeshGenerator(); void setDivisionNumber(int n); int divisionNumber() const; void enableNormalGeneration(bool on); bool isNormalGenerationEnabled() const; SgMesh* generateBox(Vector3 size); SgMesh* generateSphere(double radius); SgMesh* generateCylinder(double radius, double height, bool bottom = true, bool top = true, bool side = true); SgMesh* generateCone(double radius, double height, bool bottom = true, bool side = true); SgMesh* generateDisc(double radius, double innerRadius); SgMesh* generateArrow(double length, double width, double coneLengthRatio = 0.1, double coneWidthRatio = 2.5); //SgMesh* generateArrow(double length, double width, double conePosRatio = 0.5, double coneLengthRatio = 0.1, double coneWidthRatio = 2.5); SgMesh* generateTorus(double radius, double crossSectionRadius); typedef std::vector > Vector2Array; typedef std::vector > Vector3Array; typedef std::vector > AngleAxisArray; struct Extrusion { Vector2Array crossSection; Vector3Array spine; AngleAxisArray orientation; Vector2Array scale; double creaseAngle; bool beginCap; bool endCap; Extrusion() { creaseAngle = 0.0; beginCap = true; endCap = true; } }; SgMesh* generateExtrusion(const Extrusion& extrusion); SgLineSet* generateExtrusionLineSet(const Extrusion& extrusion, SgMesh* mesh); private: int divisionNumber_; bool isNormalGenerationEnabled_; MeshNormalGenerator* normalGenerator; void generateNormals(SgMesh* mesh, double creaseAngle); }; } #endif choreonoid-1.5.0/src/Util/VRMLToSGConverter.cpp0000664000000000000000000020442712741425367020007 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "VRMLToSGConverter.h" #include "SceneDrawables.h" #include "SceneLights.h" #include "SceneEffects.h" #include "Triangulator.h" #include "PolygonMeshTriangulator.h" #include "MeshNormalGenerator.h" #include "MeshGenerator.h" #include "ImageIO.h" #include "Exception.h" #include "DaeParser.h" #include "STLSceneLoader.h" #include "NullOut.h" #include #include #include using namespace std; using namespace cnoid; using boost::format; namespace { const double PI = 3.14159265358979323846; } namespace cnoid { class VRMLToSGConverterImpl { public: VRMLToSGConverter* self; ostream* os_; ostream& os() { return *os_; } bool isTriangulationEnabled; bool isNormalGenerationEnabled; vector removedFaceIndices; vector removedFaceVertexIndices; PolygonMeshTriangulator polygonMeshTriangulator; Triangulator triangulator; vector polygon; vector newColorPosToOrgColorPosMap; MeshNormalGenerator normalGenerator; MeshGenerator meshGenerator; ImageIO imageIO; VRMLMaterialPtr defaultMaterial; typedef map VRMLNodeToSgNodeMap; VRMLNodeToSgNodeMap vrmlNodeToSgNodeMap; typedef map VRMLGeometryToSgMeshMap; VRMLGeometryToSgMeshMap vrmlGeometryToSgMeshMap; typedef map VRMLGeometryToSgPlotMap; VRMLGeometryToSgPlotMap vrmlGeometryToSgPlotMap; typedef map VRMLMaterialToSgMaterialMap; VRMLMaterialToSgMaterialMap vrmlMaterialToSgMaterialMap; typedef map VRMLTextureToSgTextureMap; VRMLTextureToSgTextureMap vrmlTextureToSgTextureMap; typedef map VRMLTextureTransformToSgTextureTransformMap; VRMLTextureTransformToSgTextureTransformMap vrmlTextureTransformToSgTextureTransformMap; typedef map ImagePathToSgImageMap; ImagePathToSgImageMap imagePathToSgImageMap; enum BoxFaceID { NO_FACE, LEFT_FACE, TOP_FACE, FRONT_FACE, BOTTOM_FACE, RIGHT_FACE, BACK_FACE }; VRMLToSGConverterImpl(VRMLToSGConverter* self); void putMessage(const std::string& message); SgNode* convertNode(VRMLNode* vnode); SgNode* convertGroupNode(AbstractVRMLGroup* vgroup); pair createTransformNodeSet(VRMLTransform* vt); SgNode* convertShapeNode(VRMLShape* vshape); SgMeshPtr createMeshFromIndexedFaceSet(VRMLIndexedFaceSet* vface); bool setIndicesForPerTriangleData(SgIndexArray& indices, int dataSize); bool convertIndicesForTriangles(SgIndexArray& indices, const MFInt32& orgIndices, const bool perVertex, const bool ccw); SgPolygonMeshPtr createPolygonMeshFromIndexedFaceSet(VRMLIndexedFaceSet* vface); void setIndicesForPerPolygonData(SgIndexArray& indices, int dataSize, const MFInt32& orgCoordIndices); void convertIndicesForPolygons( SgIndexArray& indices, const MFInt32& orgIndices, const MFInt32& orgCoordIndices, const bool perVertex, const bool ccw); void setDefaultTextureCoordinateForIndexedFaceSet(const SgMeshPtr& mesh); BoxFaceID faceOfBoxTriangle(const Vector3f& v0, const Vector3f& v1, const Vector3f& v2); void setDefaultTextureCoordinateForBox(const SgMeshPtr& mesh); double calcPolarAngle(const Vector3f& point); int findTexCoordPoint(const SgTexCoordArray& texCoord, const Vector2f& point); void setDefaultTextureCoordinateForSphere(const SgMeshPtr& mesh); void setDefaultTextureCoordinateForCylinder(const SgMeshPtr& mesh); void setDefaultTextureCoordinateForCone(const SgMeshPtr& mesh); SgMeshPtr createMeshFromElevationGrid(VRMLElevationGrid* grid); void setDefaultTextureCoordinateForElevationGrid(const SgMeshPtr& mesh, const VRMLElevationGrid* grid); SgMeshPtr createMeshFromExtrusion(VRMLExtrusion* extrusion); void setDefaultTextureCoordinateForExtrusion(const SgMeshPtr& mesh, const VRMLExtrusion* extrusion); SgMaterial* createMaterial(VRMLMaterial* vm); SgTexture* createTexture(VRMLTexture* vt); SgNode* convertLineSet(VRMLIndexedLineSet* vLineSet); SgTextureTransform* createTextureTransform(VRMLTextureTransform* tt); SgNode* convertLightNode(VRMLLight* vnode); void setLightCommonProperties(SgLight* light, VRMLLight* vlight); SgNode* createPointLight(VRMLPointLight* vlight); SgSpotLight* createSpotLight(VRMLSpotLight* vlight); SgDirectionalLight* createDirectionalLight(VRMLDirectionalLight* vlight); SgNode* convertFogNode(VRMLFog* vfog); SgNode* readAnotherFormatFile(VRMLAnotherFormatFile* anotherFormat); }; } VRMLToSGConverter::VRMLToSGConverter() { impl = new VRMLToSGConverterImpl(this); } VRMLToSGConverterImpl::VRMLToSGConverterImpl(VRMLToSGConverter* self) : self(self) { os_ = &nullout(); isTriangulationEnabled = true; isNormalGenerationEnabled = true; imageIO.setUpsideDown(true); defaultMaterial = new VRMLMaterial(); } VRMLToSGConverter::~VRMLToSGConverter() { delete impl; } void VRMLToSGConverter::setMessageSink(std::ostream& os) { impl->os_ = &os; } void VRMLToSGConverter::setTriangulationEnabled(bool on) { impl->isTriangulationEnabled = on; } void VRMLToSGConverter::setDivisionNumber(int divisionNumber) { impl->meshGenerator.setDivisionNumber(divisionNumber); } int VRMLToSGConverter::divisionNumber() const { return impl->meshGenerator.divisionNumber(); } void VRMLToSGConverter::setNormalGenerationEnabled(bool on, bool doOverwrite) { impl->isNormalGenerationEnabled = on; impl->normalGenerator.setOverwritingEnabled(doOverwrite); } void VRMLToSGConverter::setMinCreaseAngle(double angle) { impl->normalGenerator.setMinCreaseAngle(angle); } void VRMLToSGConverter::setMaxCreaseAngle(double angle) { impl->normalGenerator.setMaxCreaseAngle(angle); } void VRMLToSGConverter::clearConvertedNodeMap() { impl->vrmlNodeToSgNodeMap.clear(); impl->vrmlGeometryToSgMeshMap.clear(); impl->vrmlGeometryToSgPlotMap.clear(); impl->vrmlMaterialToSgMaterialMap.clear(); impl->vrmlTextureToSgTextureMap.clear(); impl->vrmlTextureTransformToSgTextureTransformMap.clear(); impl->imagePathToSgImageMap.clear(); } SgNodePtr VRMLToSGConverter::convert(VRMLNodePtr vrmlNode) { if(vrmlNode){ return impl->convertNode(vrmlNode.get()); } return 0; } void VRMLToSGConverterImpl::putMessage(const std::string& message) { os() << message << endl; /* if(!self->sigMessage.empty()){ self->sigMessage(message + "\n" ); } */ } SgNode* VRMLToSGConverterImpl::convertNode(VRMLNode* vnode) { SgNode* node = 0; VRMLNodeToSgNodeMap::iterator p = vrmlNodeToSgNodeMap.find(vnode); if(p != vrmlNodeToSgNodeMap.end()){ node = p->second.get(); } else { if(VRMLProtoInstance* protoInstance = dynamic_cast(vnode)){ vnode = protoInstance->actualNode.get(); } if(vnode){ if(AbstractVRMLGroup* group = dynamic_cast(vnode)){ node = convertGroupNode(group); } else if(VRMLShape* shape = dynamic_cast(vnode)){ node = convertShapeNode(shape); } else if(VRMLLight* light = dynamic_cast(vnode)){ node = convertLightNode(light); } else if(VRMLFog* fog = dynamic_cast(vnode)){ node = convertFogNode(fog); } else if(VRMLAnotherFormatFile* anotherFormat = dynamic_cast(vnode)){ node = readAnotherFormatFile(anotherFormat); } if(node){ node->setName(vnode->defName); vrmlNodeToSgNodeMap[vnode] = node; } } } return node; } SgNode* VRMLToSGConverterImpl::convertGroupNode(AbstractVRMLGroup* vgroup) { SgNode* top; SgGroup* group; if(VRMLTransform* transform = dynamic_cast(vgroup)){ boost::tuples::tie(top, group) = createTransformNodeSet(transform); } else { group = new SgGroup; top = group; } int num = vgroup->countChildren(); for(int i=0; i < num; i++){ SgNode* child = convertNode(vgroup->getChild(i)); if(child){ group->addChild(child); } } if(group->numChildren() == 0){ delete top; top = 0; } return top; } pair VRMLToSGConverterImpl::createTransformNodeSet(VRMLTransform* vt) { const Translation3d C(vt->center); const AngleAxisd& R = vt->rotation; const Translation3d T(vt->translation); SgPosTransform* transform = new SgPosTransform; if(vt->scale.isOnes()){ // no scaling transform->setTransform(T * C * R * C.inverse()); return make_pair(transform, transform); } else { SgScaleTransform* scale = new SgScaleTransform; scale->setScale(vt->scale); transform->addChild(scale); if(vt->center.isZero() && !vt->scaleOrientation.angle()){ transform->setTransform(T * R); return make_pair(transform, scale); } else { SgPosTransform* transform2 = new SgPosTransform; const AngleAxisd& SR = vt->scaleOrientation; Affine3d S; S.linear() = vt->scale.asDiagonal(); S.translation().setZero(); transform->setTransform(T * C * R * SR); transform2->setTransform(SR.inverse() * C.inverse()); scale->addChild(transform2); return make_pair(transform, transform2); } } } SgNode* VRMLToSGConverterImpl::convertShapeNode(VRMLShape* vshape) { SgNode* converted = 0; VRMLGeometry* vrmlGeometry = dynamic_node_cast(vshape->geometry).get(); if(vrmlGeometry){ SgMeshPtr mesh; VRMLGeometryToSgMeshMap::iterator p = vrmlGeometryToSgMeshMap.find(vrmlGeometry); if(p != vrmlGeometryToSgMeshMap.end()){ mesh = p->second; } else { if(VRMLIndexedFaceSet* faceSet = dynamic_cast(vrmlGeometry)){ if(!isTriangulationEnabled){ mesh = createMeshFromIndexedFaceSet(faceSet); } else { SgPolygonMeshPtr polygonMesh = createPolygonMeshFromIndexedFaceSet(faceSet); if(polygonMesh){ mesh = polygonMeshTriangulator.triangulate(polygonMesh); const string& errorMessage = polygonMeshTriangulator.errorMessage(); if(!errorMessage.empty()){ string message; if(faceSet->defName.empty()){ message = "Error of an IndexedFaceSet node: \n"; } else { message = str(format("Error of IndexedFaceSet node \"%1%\": \n") % faceSet->defName); } putMessage(message + errorMessage); } } } if(mesh && isNormalGenerationEnabled){ normalGenerator.generateNormals(mesh, faceSet->creaseAngle); } } else if(VRMLBox* box = dynamic_cast(vrmlGeometry)){ mesh = meshGenerator.generateBox( Vector3(box->size[0], box->size[1], box->size[2])); } else if(VRMLSphere* sphere = dynamic_cast(vrmlGeometry)){ mesh = meshGenerator.generateSphere(sphere->radius); } else if(VRMLCylinder* cylinder = dynamic_cast(vrmlGeometry)){ mesh = meshGenerator.generateCylinder( cylinder->radius, cylinder->height, cylinder->bottom, cylinder->side, cylinder->top); } else if(VRMLCone* cone = dynamic_cast(vrmlGeometry)){ mesh = meshGenerator.generateCone( cone->bottomRadius, cone->height, cone->bottom, cone->side); } else if(VRMLElevationGrid* elevationGrid = dynamic_cast(vrmlGeometry)){ mesh = createMeshFromElevationGrid(elevationGrid); } else if(VRMLExtrusion* extrusion = dynamic_cast(vrmlGeometry)){ mesh = createMeshFromExtrusion(extrusion); } else if(VRMLIndexedLineSet* lineSet = dynamic_cast(vrmlGeometry)){ converted = convertLineSet(lineSet); } else { putMessage("Unsupported VRML node type is used."); } if(mesh){ vrmlGeometryToSgMeshMap[vrmlGeometry] = mesh; } } if(mesh){ SgShape* shape = new SgShape; converted = shape; shape->setMesh(mesh); VRMLMaterial* vm; if(vshape->appearance && vshape->appearance->material){ vm = vshape->appearance->material.get(); } else { vm = defaultMaterial.get(); } VRMLMaterialToSgMaterialMap::iterator p = vrmlMaterialToSgMaterialMap.find(vm); if(p != vrmlMaterialToSgMaterialMap.end()){ shape->setMaterial(p->second); } else { shape->setMaterial(createMaterial(vm)); vrmlMaterialToSgMaterialMap[vm] = shape->material(); } if(vshape->appearance && vshape->appearance->texture){ SgTextureTransformPtr textureTransform; if(vshape->appearance->textureTransform){ VRMLTextureTransform* vtt = vshape->appearance->textureTransform.get(); VRMLTextureTransformToSgTextureTransformMap::iterator pp = vrmlTextureTransformToSgTextureTransformMap.find(vtt); if(pp != vrmlTextureTransformToSgTextureTransformMap.end()){ textureTransform = pp->second; } else { textureTransform = createTextureTransform(vtt); vrmlTextureTransformToSgTextureTransformMap[vtt] = textureTransform; } } SgTexturePtr texture; VRMLTexture* vt = vshape->appearance->texture.get(); VRMLTextureToSgTextureMap::iterator p = vrmlTextureToSgTextureMap.find(vt); if(p != vrmlTextureToSgTextureMap.end()){ if(p->second->textureTransform() == textureTransform){ texture = p->second; } } if(!texture){ texture = createTexture(vt); vrmlTextureToSgTextureMap[vt] = texture; } if(texture){ texture->setTextureTransform(textureTransform); shape->setTexture(texture); if(!mesh->texCoords()){ if(VRMLIndexedFaceSet* faceSet = dynamic_cast(vrmlGeometry)){ setDefaultTextureCoordinateForIndexedFaceSet(mesh); } else if(VRMLBox* box = dynamic_cast(vrmlGeometry)){ setDefaultTextureCoordinateForBox(mesh); } else if(VRMLSphere* sphere = dynamic_cast(vrmlGeometry)){ setDefaultTextureCoordinateForSphere(mesh); } else if(VRMLCylinder* cylinder = dynamic_cast(vrmlGeometry)){ setDefaultTextureCoordinateForCylinder(mesh); } else if(VRMLCone* cone = dynamic_cast(vrmlGeometry)){ setDefaultTextureCoordinateForCone(mesh); } else if(VRMLElevationGrid* elevationGrid = dynamic_cast(vrmlGeometry)){ setDefaultTextureCoordinateForElevationGrid(mesh, elevationGrid); } else if(VRMLExtrusion* extrusion = dynamic_cast(vrmlGeometry)){ setDefaultTextureCoordinateForExtrusion(mesh, extrusion); } } } } } } return converted; } SgMeshPtr VRMLToSGConverterImpl::createMeshFromIndexedFaceSet(VRMLIndexedFaceSet* vface) { if(!vface->coord || vface->coord->point.empty() || vface->coordIndex.empty()){ return SgMeshPtr(); // null } SgMeshPtr mesh = new SgMesh; mesh->setSolid(vface->solid); mesh->setVertices(new SgVertexArray(vface->coord->point)); removedFaceIndices.clear(); removedFaceVertexIndices.clear(); const MFInt32& orgCoordIndices = vface->coordIndex; const bool ccw = vface->ccw; const int orgCoordIndicesSize = orgCoordIndices.size(); SgIndexArray& triangleVertices = mesh->triangleVertices(); triangleVertices.reserve((orgCoordIndicesSize + 1) * 3 / 4); int faceIndex = 0; int faceVertexIndex = 0; int firstVertexIndex = 0; int numFaceVertices = 0; for(int i=0; i < orgCoordIndicesSize; ++i){ int index = orgCoordIndices[i]; if(index >= 0){ ++numFaceVertices; } else { if(numFaceVertices == 3) { // Triangle ? if(ccw){ triangleVertices.push_back(orgCoordIndices[firstVertexIndex]); triangleVertices.push_back(orgCoordIndices[firstVertexIndex + 1]); triangleVertices.push_back(orgCoordIndices[firstVertexIndex + 2]); } else { // flip triangleVertices.push_back(orgCoordIndices[firstVertexIndex + 2]); triangleVertices.push_back(orgCoordIndices[firstVertexIndex + 1]); triangleVertices.push_back(orgCoordIndices[firstVertexIndex]); } faceVertexIndex += 3; } else { removedFaceIndices.push_back(faceIndex); for(int j=0; j < numFaceVertices; ++j){ removedFaceVertexIndices.push_back(faceVertexIndex++); } } firstVertexIndex = i + 1; // next position numFaceVertices = 0; ++faceVertexIndex; ++faceIndex; } } if(!removedFaceIndices.empty()){ if(vface->defName.empty()){ putMessage(str(format("An IndexedFaceSet node contains %1% non-triangle polygon(s).") % removedFaceIndices.size())); } else { putMessage(str(format("IndexedFaceSet node \"%1%\" contains %2% non-triangle polygon(s).") % vface->defName % removedFaceIndices.size())); } } if(vface->normal && !vface->normal->vector.empty()){ bool converted; if(vface->normalIndex.empty() && !vface->normalPerVertex){ converted = setIndicesForPerTriangleData(mesh->normalIndices(), vface->normal->vector.size()); } else { converted = convertIndicesForTriangles(mesh->normalIndices(), vface->normalIndex, vface->normalPerVertex, ccw); } if(converted){ mesh->setNormals(new SgNormalArray(vface->normal->vector)); } else { putMessage("The normalIndex field of an IndexedFaceSet node contains illegal data."); } } if(vface->color && !vface->color->color.empty()){ bool converted; if(vface->colorIndex.empty() && !vface->colorPerVertex){ converted = setIndicesForPerTriangleData(mesh->colorIndices(), vface->color->color.size()); } else { converted = convertIndicesForTriangles(mesh->colorIndices(), vface->colorIndex, vface->colorPerVertex, ccw); } if(converted){ mesh->setColors(new SgColorArray(vface->color->color)); } else { putMessage("The colorIndex field of an IndexedFaceSet node contains illegal data."); } } if(vface->texCoord && !vface->texCoord->point.empty()){ if(convertIndicesForTriangles(mesh->texCoordIndices(), vface->texCoordIndex, true, ccw)){ mesh->setTexCoords(new SgTexCoordArray(vface->texCoord->point)); } else { putMessage("The texCoordIndex field of an IndexedFaceSet node contains illegal data."); } } mesh->updateBoundingBox(); return mesh; } bool VRMLToSGConverterImpl::setIndicesForPerTriangleData(SgIndexArray& indices, int dataSize) { const int numIndices = (dataSize - removedFaceIndices.size()) * 3; if(numIndices > 0){ indices.reserve(numIndices); } int indexToSkip = removedFaceIndices.empty() ? std::numeric_limits::min() : removedFaceIndices.front(); size_t nextIndexToSkipIndex = 1; size_t indexInOrgCoordIndices = 0; for(int i=0; i < dataSize; ++i){ if(i == indexToSkip){ if(nextIndexToSkipIndex < removedFaceIndices.size()){ indexToSkip = removedFaceIndices[nextIndexToSkipIndex++]; } } else { indices.push_back(i); indices.push_back(i); indices.push_back(i); } } return true; } bool VRMLToSGConverterImpl::convertIndicesForTriangles (SgIndexArray& indices, const MFInt32& orgIndices, const bool perVertex, const bool ccw) { bool converted = true; if(!orgIndices.empty()){ vector* indicesToSkip; if(perVertex){ indicesToSkip = &removedFaceVertexIndices; indices.reserve((orgIndices.size() + 1) * 3 / 4); } else { indicesToSkip = &removedFaceIndices; indices.reserve(orgIndices.size() * 3); } int indexToSkip = indicesToSkip->empty() ? std::numeric_limits::min() : indicesToSkip->front(); size_t nextIndexToSkipIndex = 1; int numFaceVertices = 0; int firstVertexIndex = 0; for(int i=0; i < orgIndices.size(); ++i){ if(i == indexToSkip){ if(nextIndexToSkipIndex < indicesToSkip->size()){ indexToSkip = (*indicesToSkip)[nextIndexToSkipIndex++]; } } else { const int index = orgIndices[i]; if(perVertex){ if(index >= 0){ ++numFaceVertices; } else { if(numFaceVertices != 3){ converted = false; break; } if(ccw){ indices.push_back(orgIndices[firstVertexIndex]); indices.push_back(orgIndices[firstVertexIndex + 1]); indices.push_back(orgIndices[firstVertexIndex + 2]); } else { indices.push_back(orgIndices[firstVertexIndex + 2]); indices.push_back(orgIndices[firstVertexIndex + 1]); indices.push_back(orgIndices[firstVertexIndex]); } firstVertexIndex = i + 1; numFaceVertices = 0; } } else { // not perVertex if(index < 0){ converted = false; break; } indices.push_back(index); indices.push_back(index); indices.push_back(index); } } } if(!converted){ indices.clear(); } } return converted; } SgPolygonMeshPtr VRMLToSGConverterImpl::createPolygonMeshFromIndexedFaceSet(VRMLIndexedFaceSet* vface) { //if(!vface->coord || vface->coord->point.empty() || vface->coordIndex.empty()){ if(!vface->coord){ putMessage("VRMLIndexedFaceSet: The coord field is not defined." ); return SgPolygonMeshPtr(); // null } if(vface->coord->point.empty()){ putMessage("VRMLIndexedFaceSet: The point field is empty." ); return SgPolygonMeshPtr(); // null } if(vface->coordIndex.empty()){ putMessage("VRMLIndexedFaceSet: The coordIndex field is empty." ); return SgPolygonMeshPtr(); // null } SgPolygonMeshPtr mesh = new SgPolygonMesh; mesh->setSolid(vface->solid); mesh->setVertices(new SgVertexArray(vface->coord->point)); const MFInt32& orgCoordIndices = vface->coordIndex; const bool ccw = vface->ccw; { SgIndexArray& polygonVertices = mesh->polygonVertices(); if(ccw){ polygonVertices = orgCoordIndices; } else { polygonVertices.reserve(orgCoordIndices.size()); int firstVertexIndex = 0; int numFaceVertices = 0; for(size_t i=0; i < orgCoordIndices.size(); ++i){ int index = orgCoordIndices[i]; if(index >= 0){ ++numFaceVertices; } else { while(--numFaceVertices >= 0){ polygonVertices.push_back(orgCoordIndices[firstVertexIndex + numFaceVertices]); } polygonVertices.push_back(-1); firstVertexIndex = i + 1; numFaceVertices = 0; } } } } if(vface->normal && !vface->normal->vector.empty()){ mesh->setNormals(new SgNormalArray(vface->normal->vector)); if(vface->normalIndex.empty()){ if(!vface->normalPerVertex){ setIndicesForPerPolygonData(mesh->normalIndices(), mesh->normals()->size(), orgCoordIndices); } } else { convertIndicesForPolygons(mesh->normalIndices(), vface->normalIndex, orgCoordIndices, vface->normalPerVertex, ccw); } } if(vface->color && !vface->color->color.empty()){ mesh->setColors(new SgColorArray(vface->color->color)); if(vface->colorIndex.empty()){ if(!vface->colorPerVertex){ setIndicesForPerPolygonData(mesh->colorIndices(), mesh->colors()->size(), orgCoordIndices); } } else { convertIndicesForPolygons(mesh->colorIndices(), vface->colorIndex, orgCoordIndices, vface->colorPerVertex, ccw); } } if(vface->texCoord && !vface->texCoord->point.empty()){ mesh->setTexCoords(new SgTexCoordArray(vface->texCoord->point)); if(!vface->texCoordIndex.empty()){ convertIndicesForPolygons(mesh->texCoordIndices(), vface->texCoordIndex, orgCoordIndices, true, ccw); } } // The bounding box doesn't have to be updated because this polygon mesh is immediately converted into the triagnle mesh return mesh; } void VRMLToSGConverterImpl::setIndicesForPerPolygonData(SgIndexArray& indices, int dataSize, const MFInt32& orgCoordIndices) { indices.reserve(orgCoordIndices.size()); size_t indexInOrgCoordIndices = 0; for(int i=0; i < dataSize; ++i){ while(indexInOrgCoordIndices < orgCoordIndices.size()){ const int orgCoordIndex = orgCoordIndices[indexInOrgCoordIndices++]; if(orgCoordIndex < 0){ break; } indices.push_back(i); } indices.push_back(-1); } } void VRMLToSGConverterImpl::convertIndicesForPolygons (SgIndexArray& indices, const MFInt32& orgIndices, const MFInt32& orgCoordIndices, const bool perVertex, const bool ccw) { if(perVertex){ if(ccw){ indices = orgIndices; return; } indices.reserve(orgIndices.size()); int firstVertexIndex = 0; int numFaceVertices = 0; for(size_t i=0; i < orgIndices.size(); ++i){ if(orgIndices[i] >= 0){ ++numFaceVertices; } else { while(--numFaceVertices >= 0){ indices.push_back(orgIndices[firstVertexIndex + numFaceVertices]); } indices.push_back(-1); firstVertexIndex = i + 1; numFaceVertices = 0; } } } else { indices.reserve(orgCoordIndices.size()); size_t indexInOrgCoordIndices = 0; for(size_t i=0; i < orgIndices.size(); ++i){ const int index = orgIndices[i]; if(index >= 0){ while(indexInOrgCoordIndices < orgCoordIndices.size()){ const int orgCoordIndex = orgCoordIndices[indexInOrgCoordIndices++]; if(orgCoordIndex < 0){ break; } indices.push_back(index); } indices.push_back(-1); } } } } void VRMLToSGConverterImpl::setDefaultTextureCoordinateForIndexedFaceSet(const SgMeshPtr& mesh) { const SgVertexArray& vertices = *mesh->vertices(); const Vector3f& v0 = vertices[0]; Vector3f max = v0; Vector3f min = v0; const int n = vertices.size(); for(int i=1; i < n; ++i){ const Vector3f& vi = vertices[i]; for(int j=0; j < 3; ++j){ float vij = vi[j]; if(vij > max[j]){ max[j] = vij; } else if(vij < min[j]){ min[j] = vij; } } } int s,t; const Vector3f size = max - min; if(size.x() >= size.y()){ if(size.x() >= size.z()){ s = 0; t = (size.y() >= size.z()) ? 1 : 2; } else { s = 2; t = 0; } } else { if(size.y() >= size.z()){ s = 1; t = (size.x() >= size.z()) ? 0 : 2; } else { s = 2; t = 1; } } const float ratio = size[t] / size[s]; mesh->setTexCoords(new SgTexCoordArray()); SgTexCoordArray& texCoords = *mesh->texCoords(); texCoords.resize(n); for(int i=0; i < n; ++i){ texCoords[i] << (vertices[i][s] - min[s]) / size[s], (vertices[i][t] - min[t]) / size[t] * ratio; } // Is this really necessary for rendering? mesh->texCoordIndices() = mesh->triangleVertices(); } /** \todo The face correcpondence relationship obtained from the primitive mesh creation (SgMesh::setBox function) should be used to obtain which face the given one is. */ VRMLToSGConverterImpl::BoxFaceID VRMLToSGConverterImpl::faceOfBoxTriangle (const Vector3f& v0, const Vector3f& v1, const Vector3f& v2) { if(v0.x() <= 0.0 && v1.x() <= 0.0 && v2.x() <= 0.0 ) return LEFT_FACE; if(v0.x() > 0.0 && v1.x() > 0.0 && v2.x() > 0.0 ) return RIGHT_FACE; if(v0.y() <= 0.0 && v1.y() <= 0.0 && v2.y() <= 0.0 ) return BOTTOM_FACE; if(v0.y() > 0.0 && v1.y() > 0.0 && v2.y() > 0.0 ) return TOP_FACE; if(v0.z() <= 0.0 && v1.z() <= 0.0 && v2.z() <= 0.0 ) return BACK_FACE; if(v0.z() > 0.0 && v1.z() > 0.0 && v2.z() > 0.0 ) return FRONT_FACE; return NO_FACE; /** \todo use the algorithm like the following code to support arbitrary box meshs whose number of vertices is more than eight. */ /* int faceNormalAxis = 0; SgFloat minNorm = std::numeric_limits::max(); for(int i=0; i < 3; ++i){ const SgFloat d1 = (v0[i] - v1[i]); const SgFloat d2 = (v0[i] - v2[i]); const SgFloat n = d1 * d1 + d2 * d2; if(n < minNorm){ minNorm = n; faceNormalAxis = i; } } bool isFront = (v0[faceNormalAxis] > 0.0); return (faceNormalAxis, isFront); */ } void VRMLToSGConverterImpl::setDefaultTextureCoordinateForBox(const SgMeshPtr& mesh) { mesh->setTexCoords(new SgTexCoordArray()); SgTexCoordArray& texCoords = *mesh->texCoords(); texCoords.resize(4); texCoords[0] << 0.0, 0.0; texCoords[1] << 1.0, 0.0; texCoords[2] << 0.0, 1.0; texCoords[3] << 1.0, 1.0; SgIndexArray& texCoordIndices = mesh->texCoordIndices(); texCoordIndices.clear(); texCoordIndices.reserve(36); const SgVertexArray& vertices = *mesh->vertices(); const SgIndexArray& triangles = mesh->triangleVertices(); for(int i=0; i < 12; ++i){ const Vector3f* v[3] = { &vertices[triangles[i*3]], &vertices[triangles[i*3+1]], &vertices[triangles[i*3+2]] }; switch(faceOfBoxTriangle(*v[0], *v[1], *v[2])){ case LEFT_FACE: for(int j=0; j < 3; ++j){ if(v[j]->y() > 0.0 && v[j]->z() > 0.0) texCoordIndices.push_back(3); else if(v[j]->y() > 0.0 && v[j]->z() <= 0.0) texCoordIndices.push_back(2); else if(v[j]->y() <= 0.0 && v[j]->z() > 0.0) texCoordIndices.push_back(1); else if(v[j]->y() <= 0.0 && v[j]->z() <= 0.0) texCoordIndices.push_back(0); } break; case RIGHT_FACE: for(int j=0; j < 3; ++j){ if(v[j]->y() > 0.0 && v[j]->z() > 0.0) texCoordIndices.push_back(2); else if(v[j]->y() > 0.0 && v[j]->z() <= 0.0) texCoordIndices.push_back(3); else if(v[j]->y() <= 0.0 && v[j]->z() > 0.0) texCoordIndices.push_back(0); else if(v[j]->y() <= 0.0 && v[j]->z() <= 0.0) texCoordIndices.push_back(1); } break; case BOTTOM_FACE: for(int j=0; j < 3; ++j){ if(v[j]->z() > 0.0 && v[j]->x() > 0.0) texCoordIndices.push_back(3); else if(v[j]->z() > 0.0 && v[j]->x() <= 0.0) texCoordIndices.push_back(2); else if(v[j]->z() <= 0.0 && v[j]->x() > 0.0) texCoordIndices.push_back(1); else if(v[j]->z() <= 0.0 && v[j]->x() <= 0.0) texCoordIndices.push_back(0); } break; case TOP_FACE: for(int j=0; j < 3; ++j){ if(v[j]->z() > 0.0 && v[j]->x() > 0.0) texCoordIndices.push_back(1); else if(v[j]->z() > 0.0 && v[j]->x() <= 0.0) texCoordIndices.push_back(0); else if(v[j]->z() <= 0.0 && v[j]->x() > 0.0) texCoordIndices.push_back(3); else if(v[j]->z() <= 0.0 && v[j]->x() <= 0.0) texCoordIndices.push_back(2); } break; case BACK_FACE: for(int j=0; j < 3; ++j){ if(v[j]->y() > 0.0 && v[j]->x() > 0.0) texCoordIndices.push_back(2); else if(v[j]->y() > 0.0 && v[j]->x() <= 0.0) texCoordIndices.push_back(3); else if(v[j]->y() <= 0.0 && v[j]->x() > 0.0) texCoordIndices.push_back(0); else if(v[j]->y() <= 0.0 && v[j]->x() <= 0.0) texCoordIndices.push_back(1); } break; case FRONT_FACE: for(int j=0; j < 3; ++j){ if(v[j]->y() > 0.0 && v[j]->x() > 0.0) texCoordIndices.push_back(3); else if(v[j]->y() > 0.0 && v[j]->x() <= 0.0) texCoordIndices.push_back(2); else if(v[j]->y() <= 0.0 && v[j]->x() > 0.0) texCoordIndices.push_back(1); else if(v[j]->y() <= 0.0 && v[j]->x() <= 0.0) texCoordIndices.push_back(0); } break; default: break; } } } double VRMLToSGConverterImpl::calcPolarAngle(const Vector3f& point) { double angle = atan2(point[2], point[0]); if(angle>=0){ angle = 1.5 * PI - angle; } else if(-0.5 * PI < angle){ angle = -angle + 1.5 * PI; } else { angle = -angle - 0.5 * PI; } return angle; } /** \todo Check if the use of this inefficient function is rellay necessary. */ int VRMLToSGConverterImpl::findTexCoordPoint(const SgTexCoordArray& texCoords, const Vector2f& point) { for(size_t i=0; i < texCoords.size(); ++i){ if(texCoords[i].isApprox(point)){ return i; } } return -1; } void VRMLToSGConverterImpl::setDefaultTextureCoordinateForSphere(const SgMeshPtr& mesh) { const SgMesh::Sphere& sphere = mesh->primitive(); const SgVertexArray& vertices = *mesh->vertices(); const SgIndexArray& triangles = mesh->triangleVertices(); mesh->setTexCoords(new SgTexCoordArray()); SgTexCoordArray& texCoords = *mesh->texCoords(); SgIndexArray& texCoordIndices = mesh->texCoordIndices(); texCoordIndices.clear(); Vector2f texPoint; int texIndex = 0; const int numTriangles = mesh->numTriangles(); for(size_t i=0; i < numTriangles; ++i){ const Vector3f* point[3]; bool over = false; double s[3] = { 0.0, 0.0, 0.0 }; const SgMesh::TriangleRef triangle = mesh->triangle(i); for(int j=0; j < 3; ++j){ point[j] = &vertices[triangle[j]]; s[j] = calcPolarAngle(*point[j]) / 2.0 / PI; if(s[j] > 0.5){ over = true; } } for(int j=0; j < 3; ++j){ if(over && s[j] < 1.0e-6){ s[j] = 1.0; } texPoint << s[j], 1.0 - acos(point[j]->y() / sphere.radius) / PI; int k = findTexCoordPoint(texCoords, texPoint); if(k >= 0){ texCoordIndices.push_back(k); } else { texCoords.push_back(texPoint); texCoordIndices.push_back(texIndex++); } } } } void VRMLToSGConverterImpl::setDefaultTextureCoordinateForCylinder(const SgMeshPtr& mesh) { const SgVertexArray& vertices = *mesh->vertices(); const SgIndexArray& triangles = mesh->triangleVertices(); mesh->setTexCoords(new SgTexCoordArray()); SgTexCoordArray& texCoords = *mesh->texCoords(); SgIndexArray& texCoordIndices = mesh->texCoordIndices(); texCoordIndices.clear(); Vector2f texPoint(0.5f, 0.5f); // center of top(bottom) index=0 texCoords.push_back(texPoint); int texIndex = 1; const int numTriangles = mesh->numTriangles(); for(int i=0; i < numTriangles; ++i){ Vector3f point[3]; bool notside = true; int center = -1; SgMesh::TriangleRef triangle = mesh->triangle(i); for(int j=0; j < 3; ++j){ point[j] = vertices[triangle[j]]; if(j > 0){ if(point[0][1] != point[j][1]){ notside = false; } } if(point[j][0] == 0.0 && point[j][2] == 0.0){ center = j; } } if(!notside){ //side bool over=false; Vector3f s(0.0, 0.0, 0.0); for(int j=0; j < 3; ++j){ s[j] = calcPolarAngle(point[j]) / 2.0 / PI; if(s[j] > 0.5){ over = true; } } for(int j=0; j < 3; ++j){ if(over && s[j] < 1.0e-6){ s[j] = 1.0; } texPoint[0] = s[j]; if(point[j][1] > 0.0){ texPoint[1] = 1.0; } else { texPoint[1] = 0.0; } const int k = findTexCoordPoint(texCoords, texPoint); if(k >= 0){ texCoordIndices.push_back(k); }else{ texCoords.push_back(texPoint); texCoordIndices.push_back(texIndex++); } } } else { // top / bottom for(int j=0; j < 3; ++j){ if(j!=center){ const double angle = atan2(point[j][2], point[j][0]); texPoint[0] = 0.5 + 0.5 * cos(angle); if(point[0][1] > 0.0){ //top texPoint[1] = 0.5 - 0.5 * sin(angle); } else { //bottom texPoint[1] = 0.5 + 0.5 * sin(angle); } const int k = findTexCoordPoint(texCoords, texPoint); if(k != -1){ texCoordIndices.push_back(k); }else{ texCoords.push_back(texPoint); texCoordIndices.push_back(texIndex++); } }else{ texCoordIndices.push_back(0); } } } } } void VRMLToSGConverterImpl::setDefaultTextureCoordinateForCone(const SgMeshPtr& mesh) { mesh->setTexCoords(new SgTexCoordArray()); SgTexCoordArray& texCoords = *mesh->texCoords(); SgIndexArray& texCoordIndices = mesh->texCoordIndices(); texCoordIndices.clear(); Vector2f texPoint(0.5, 0.5); //center of bottom index=0 texCoords.push_back(texPoint); const SgVertexArray& vertices = *mesh->vertices(); int texIndex = 1; const int numTriangles = mesh->numTriangles(); for(size_t i=0; i < numTriangles; ++i){ Vector3f point[3]; int top = -1; int center = -1; SgMesh::TriangleRef triangle = mesh->triangle(i); for(int j=0; j < 3; ++j){ point[j] = vertices[triangle[j]]; if(point[j][1] > 0.0){ top = j; } if(point[j][0] == 0.0 && point[j][2] == 0.0){ center = j; } } if(top >= 0){ //side Vector3f s(0.0f, 0.0f, 0.0f); int pre = -1; for(int j=0; j < 3; ++j){ if(j != top){ s[j] = calcPolarAngle(point[j]) / 2.0 / PI; if(pre != -1){ if(s[pre] > 0.5 && s[j] < 1.0e-6){ s[j] = 1.0; } } pre = j; } } for(int j=0; j < 3; ++j){ if(j != top){ texPoint << s[j], 0.0; } else { texPoint << (s[0] + s[1] + s[2]) / 2.0, 1.0; } const int k = findTexCoordPoint(texCoords, texPoint); if(k != -1){ texCoordIndices.push_back(k); } else { texCoords.push_back(texPoint); texCoordIndices.push_back(texIndex++); } } } else { // bottom for(int j=0; j < 3; ++j){ if(j != center){ const double angle = atan2(point[j][2], point[j][0]); texPoint << 0.5 + 0.5 * cos(angle), 0.5 + 0.5 * sin(angle); const int k = findTexCoordPoint(texCoords, texPoint); if(k != -1){ texCoordIndices.push_back(k); } else { texCoords.push_back(texPoint); texCoordIndices.push_back(texIndex++); } } else { texCoordIndices.push_back(0); } } } } } SgMeshPtr VRMLToSGConverterImpl::createMeshFromElevationGrid(VRMLElevationGrid* grid) { if(grid->xDimension * grid->zDimension != static_cast(grid->height.size())){ putMessage("A VRML ElevationGrid node has illegal parameters."); return SgMeshPtr(); } SgMeshPtr mesh = new SgMesh; mesh->setVertices(new SgVertexArray()); SgVertexArray& vertices = *mesh->vertices(); vertices.reserve(grid->zDimension * grid->xDimension); for(int z=0; z < grid->zDimension; z++){ for(int x=0; x < grid->xDimension; x++){ vertices.push_back(Vector3f(x * grid->xSpacing, grid->height[z * grid->xDimension + x], z * grid->zSpacing)); } } mesh->reserveNumTriangles((grid->zDimension - 1) * (grid->xDimension - 1) * 2); for(int z=0; z < grid->zDimension - 1; ++z){ const int current = z * grid->xDimension; const int next = (z + 1) * grid->xDimension; for(int x=0; x < grid->xDimension - 1; ++x){ if(grid->ccw){ mesh->addTriangle( x + current, x + next, (x + 1) + next); mesh->addTriangle( x + current, (x + 1) + next, (x + 1) + current); }else{ mesh->addTriangle( x + current, (x + 1) + next, x + next); mesh->addTriangle( x + current, (x + 1) + current, (x + 1) + next); } } } mesh->setSolid(grid->solid); if(isNormalGenerationEnabled){ normalGenerator.generateNormals(mesh, grid->creaseAngle); } if(grid->color){ const MFColor& orgColors = grid->color->color; if(!orgColors.empty()){ if(!grid->colorPerVertex){ mesh->setColors(new SgColorArray()); SgColorArray& colors = *mesh->colors(); const int n = orgColors.size(); colors.reserve(n * 2); for(int i=0; i < n; ++i){ const SFColor& c = orgColors[i]; for(int j=0; j < 6; ++j){ colors.push_back(c); } } } } } if(grid->texCoord){ const MFVec2s& point = grid->texCoord->point; const int n = point.size(); mesh->setTexCoords(new SgTexCoordArray()); SgTexCoordArray& texCoords = *mesh->texCoords(); texCoords.resize(n); for(int i=0; i < n; ++i){ texCoords[i] = point[i]; } mesh->texCoordIndices() = mesh->triangleVertices(); } mesh->updateBoundingBox(); return mesh; } void VRMLToSGConverterImpl::setDefaultTextureCoordinateForElevationGrid(const SgMeshPtr& mesh, const VRMLElevationGrid* grid) { float xmax = grid->xSpacing * (grid->xDimension - 1); float zmax = grid->zSpacing * (grid->zDimension - 1); mesh->setTexCoords(new SgTexCoordArray()); SgTexCoordArray& texCoords = *mesh->texCoords(); const SgVertexArray& vertices = *mesh->vertices(); const int numTriangles = mesh->numTriangles(); for(size_t i=0; i < vertices.size(); ++i){ const Vector3f& v = vertices[i]; texCoords.push_back(Vector2f(v.x() / xmax, v.z() / zmax)); } mesh->texCoordIndices() = mesh->triangleVertices(); } SgMeshPtr VRMLToSGConverterImpl::createMeshFromExtrusion(VRMLExtrusion* extrusion) { bool isClosed = false; const int numSpine = extrusion->spine.size(); const int numcross = extrusion->crossSection.size(); if(extrusion->spine[0][0] == extrusion->spine[numSpine - 1][0] && extrusion->spine[0][1] == extrusion->spine[numSpine - 1][1] && extrusion->spine[0][2] == extrusion->spine[numSpine - 1][2] ){ isClosed = true; } bool crossSectionisClosed = false; if(extrusion->crossSection[0][0] == extrusion->crossSection[numcross - 1][0] && extrusion->crossSection[0][1] == extrusion->crossSection[numcross - 1][1] ){ crossSectionisClosed = true; } SgMeshPtr mesh = new SgMesh; mesh->setVertices(new SgVertexArray()); SgVertexArray& vertices = *mesh->vertices(); vertices.reserve(numSpine*numcross); SFVec3f preZaxis(SFVec3f::Zero()); int definedZaxis = -1; std::vector Yaxisarray; std::vector Zaxisarray; if(numSpine > 2){ for(int i=0; i < numSpine; ++i){ SFVec3f Yaxis, Zaxis; if(i == 0){ if(isClosed){ const SFVec3f& spine1 = extrusion->spine[numSpine - 2]; const SFVec3f& spine2 = extrusion->spine[0]; const SFVec3f& spine3 = extrusion->spine[1]; Yaxis = spine3 - spine1; Zaxis = (spine3 - spine2).cross(spine1 - spine2); } else { const SFVec3f& spine1 = extrusion->spine[0]; const SFVec3f& spine2 = extrusion->spine[1]; const SFVec3f& spine3 = extrusion->spine[2]; Yaxis = spine2 - spine1; Zaxis = (spine3 - spine2).cross(spine1 - spine2); } } else if(i == numSpine - 1){ if(isClosed){ const SFVec3f& spine1 = extrusion->spine[numSpine - 2]; const SFVec3f& spine2 = extrusion->spine[0]; const SFVec3f& spine3 = extrusion->spine[1]; Yaxis = spine3 - spine1; Zaxis = (spine3 - spine2).cross(spine1 - spine2); } else { const SFVec3f& spine1 = extrusion->spine[numSpine - 3]; const SFVec3f& spine2 = extrusion->spine[numSpine - 2]; const SFVec3f& spine3 = extrusion->spine[numSpine - 1]; Yaxis = spine3 - spine2; Zaxis = (spine3 - spine2).cross(spine1 - spine2); } } else { const SFVec3f& spine1 = extrusion->spine[i - 1]; const SFVec3f& spine2 = extrusion->spine[i]; const SFVec3f& spine3 = extrusion->spine[i + 1]; Yaxis = spine3 - spine1; Zaxis = (spine3-spine2).cross(spine1-spine2); } if(!Zaxis.norm()){ if(definedZaxis != -1) Zaxis = preZaxis; } else { if(definedZaxis == -1){ definedZaxis = i; } preZaxis = Zaxis; } Yaxisarray.push_back(Yaxis); Zaxisarray.push_back(Zaxis); } } else { const SFVec3f Yaxis(extrusion->spine[1] - extrusion->spine[0]); Yaxisarray.push_back(Yaxis); Yaxisarray.push_back(Yaxis); } for(int i=0; i < numSpine; ++i){ Eigen::Matrix3d Scp; SFVec3f y = Yaxisarray[i].normalized(); if(definedZaxis == -1){ SFRotation R(acos(y[1]), SFRotation::Vector3(y[2], 0.0, -y[0])); Scp = R.toRotationMatrix(); } else { if(i < definedZaxis){ Zaxisarray[i] = Zaxisarray[definedZaxis]; } if(i && (Zaxisarray[i].dot(Zaxisarray[i - 1]) < 0.0)){ Zaxisarray[i] *= -1.0; } SFVec3f z = Zaxisarray[i].normalized(); SFVec3f x = y.cross(z); Scp << x, y, z; } const SFVec3f& spine = extrusion->spine[i]; SFVec3f scale; if(extrusion->scale.size() == 1){ scale << extrusion->scale[0][0], 0.0, extrusion->scale[0][1]; } else { scale << extrusion->scale[i][0], 0.0, extrusion->scale[i][1]; } SFRotation o; if(extrusion->orientation.size() == 1){ o = extrusion->orientation[0]; } else { o = extrusion->orientation[i]; } for(int j=0; j < numcross; ++j){ const SFVec3f crossSection(extrusion->crossSection[j][0], 0.0, extrusion->crossSection[j][1]); const SFVec3f v1(crossSection[0] * scale[0], 0.0, crossSection[2] * scale[2]); vertices.push_back((Scp * o.toRotationMatrix() * v1 + spine).cast()); } } for(int i=0; i < numSpine - 1 ; ++i){ const int upper = i * numcross; const int lower = (i + 1) * numcross; for(int j=0; j < numcross - 1; ++j) { if(extrusion->ccw){ mesh->addTriangle(j + upper, j + lower, (j + 1) + lower); mesh->addTriangle(j + upper, (j + 1) + lower, j + 1 + upper); } else { // upward convex triangle mesh->addTriangle(j + upper, (j + 1) + lower, j + lower); // downward convex triangle mesh->addTriangle(j + upper, (j + 1) + upper, j + 1 + lower); } } } int j = 0; if(crossSectionisClosed){ j = 1; } if(extrusion->beginCap && !isClosed){ triangulator.setVertices(vertices); polygon.clear(); for(int i=0; i < numcross - j; ++i){ polygon.push_back(i); } triangulator.apply(polygon); const vector& triangles = triangulator.triangles(); for(size_t i=0; i < triangles.size(); i += 3){ if(extrusion->ccw){ mesh->addTriangle(polygon[triangles[i]], polygon[triangles[i+1]], polygon[triangles[i+2]]); } else { mesh->addTriangle(polygon[triangles[i]], polygon[triangles[i+2]], polygon[triangles[i+1]]); } } } if(extrusion->endCap && !isClosed){ triangulator.setVertices(vertices); polygon.clear(); for(int i=0; i < numcross - j; ++i){ polygon.push_back(numcross * (numSpine - 1) + i); } triangulator.apply(polygon); const vector& triangles = triangulator.triangles(); for(size_t i=0; i < triangles.size(); i +=3){ if(extrusion->ccw){ mesh->addTriangle(polygon[triangles[i]], polygon[triangles[i+2]], polygon[triangles[i+1]]); } else { mesh->addTriangle(polygon[triangles[i]], polygon[triangles[i+1]], polygon[triangles[i+2]]); } } } mesh->setSolid(extrusion->solid); if(isNormalGenerationEnabled){ normalGenerator.generateNormals(mesh, extrusion->creaseAngle); } mesh->updateBoundingBox(); return mesh; } void VRMLToSGConverterImpl::setDefaultTextureCoordinateForExtrusion(const SgMeshPtr& mesh, const VRMLExtrusion* extrusion) { const int numSpine = extrusion->spine.size(); const int numcross = extrusion->crossSection.size(); mesh->setTexCoords(new SgTexCoordArray()); SgTexCoordArray& texCoords = *mesh->texCoords(); vector s; vector t; double slen = 0.0; s.push_back(0.0); for(size_t i=1; i < extrusion->crossSection.size(); ++i){ double x = extrusion->crossSection[i][0] - extrusion->crossSection[i-1][0]; double z = extrusion->crossSection[i][1] - extrusion->crossSection[i-1][1]; slen += sqrt(x*x + z*z); s.push_back(slen); } double tlen = 0.0; t.push_back(0.0); for(size_t i=1; i < extrusion->spine.size(); ++i){ double x = extrusion->spine[i][0] - extrusion->spine[i-1][0]; double y = extrusion->spine[i][1] - extrusion->spine[i-1][1]; double z = extrusion->spine[i][2] - extrusion->spine[i-1][2]; tlen += sqrt(x*x + y*y + z*z); t.push_back(tlen); } for(size_t i=0; i < extrusion->spine.size(); ++i){ Vector2f point; point[1] = t[i] / tlen; for(size_t j=0; j < extrusion->crossSection.size(); ++j){ point[0] = s[j] / slen; texCoords.push_back(point); } } SgIndexArray& texCoordIndices = mesh->texCoordIndices(); texCoordIndices.clear(); const int endOfSpineVertices = (numSpine - 1) * (numcross - 1) * 2 * 3; texCoordIndices.resize(endOfSpineVertices); const SgIndexArray& triangleVertices = mesh->triangleVertices(); copy(triangleVertices.begin(), triangleVertices.begin() + endOfSpineVertices, texCoordIndices.begin()); int endOfBeginCapVertices = endOfSpineVertices; const int endOfSpineTexCoords = texCoords.size(); if(extrusion->beginCap){ if(extrusion->endCap){ endOfBeginCapVertices += (triangleVertices.size() - endOfSpineVertices) / 2; } else { endOfBeginCapVertices = triangleVertices.size(); } double xmin, xmax; double zmin, zmax; xmin = xmax = extrusion->crossSection[0][0]; zmin = zmax = extrusion->crossSection[0][1]; for(size_t i=1; i < extrusion->crossSection.size(); ++i){ xmax = std::max(xmax, extrusion->crossSection[i][0]); xmin = std::min(xmin, extrusion->crossSection[i][0]); zmax = std::max(zmax, extrusion->crossSection[i][1]); zmin = std::min(xmin, extrusion->crossSection[i][1]); } float xsize = xmax - xmin; float zsize = zmax - zmin; for(int i=0; i < numcross; ++i){ Vector2f point; point[0] = (extrusion->crossSection[i][0] - xmin) / xsize; point[1] = (extrusion->crossSection[i][1] - zmin) / zsize; texCoords.push_back(point); } for(int i = endOfSpineVertices; i < endOfBeginCapVertices; ++i){ texCoordIndices.push_back(triangleVertices[i] + endOfSpineTexCoords); } } if(extrusion->endCap){ double xmax, xmin; double zmax, zmin; xmin = xmax = extrusion->crossSection[0][0]; zmin = zmax = extrusion->crossSection[0][1]; for(size_t i=1; i < extrusion->crossSection.size(); ++i){ xmax = std::max(xmax, extrusion->crossSection[i][0]); xmin = std::min(xmin, extrusion->crossSection[i][0]); zmax = std::max(zmax, extrusion->crossSection[i][1]); zmin = std::min(xmin, extrusion->crossSection[i][1]); } double xsize = xmax - xmin; double zsize = zmax - zmin; for(size_t i=0; i < extrusion->crossSection.size(); ++i){ Vector2f point; point[0] = (extrusion->crossSection[i][0] - xmin) / xsize; point[1] = (extrusion->crossSection[i][1] - zmin) / zsize; texCoords.push_back(point); } const int offset = texCoords.size() - endOfSpineTexCoords; for(size_t i = endOfBeginCapVertices; i < triangleVertices.size(); ++i){ texCoordIndices.push_back(triangleVertices[i] + offset); } } } SgMaterial* VRMLToSGConverterImpl::createMaterial(VRMLMaterial* vm) { SgMaterial* material = new SgMaterial; material->setDiffuseColor(vm->diffuseColor); material->setAmbientIntensity(vm->ambientIntensity); material->setEmissiveColor(vm->emissiveColor); material->setSpecularColor(vm->specularColor); material->setShininess(vm->shininess); material->setTransparency(vm->transparency); return material; } SgTextureTransform* VRMLToSGConverterImpl::createTextureTransform(VRMLTextureTransform* tt) { SgTextureTransform* textureTransform = new SgTextureTransform; textureTransform->setCenter(tt->center); textureTransform->setRotation(tt->rotation * 180.0 / PI); textureTransform->setScale(tt->scale); textureTransform->setTranslation(tt->translation); return textureTransform; } SgTexture* VRMLToSGConverterImpl::createTexture(VRMLTexture* vt) { SgTexture* texture = 0; VRMLImageTexturePtr imageTextureNode = dynamic_node_cast(vt); if(imageTextureNode){ SgImagePtr image; SgImagePtr imageForLoading; const MFString& urls = imageTextureNode->url; for(size_t i=0; i < urls.size(); ++i){ const string& url = urls[i]; if(!url.empty()){ ImagePathToSgImageMap::iterator p = imagePathToSgImageMap.find(url); if(p != imagePathToSgImageMap.end()){ image = p->second; break; } else { try { if(!imageForLoading){ imageForLoading = new SgImage; } imageIO.load(imageForLoading->image(), url); image = imageForLoading; imagePathToSgImageMap[url] = image; break; } catch(const exception_base& ex){ putMessage(*boost::get_error_info(ex)); } } } } if(image){ texture = new SgTexture; texture->setImage(image); texture->setRepeat(imageTextureNode->repeatS, imageTextureNode->repeatT); } } else if(VRMLPixelTexturePtr pixelTextureNode = dynamic_node_cast(vt)){ const int width = pixelTextureNode->image.width; const int height = pixelTextureNode->image.height; const int nc = pixelTextureNode->image.numComponents; if(width > 0 && height > 0 && nc > 0){ texture = new SgTexture; SgImage* image = new SgImage; image->setSize(width, height, nc); // copy the pixels in the upside-down way std::vector& src = pixelTextureNode->image.pixels; unsigned char* dest = image->pixels(); for(int i=0; isetImage(image); texture->setRepeat(pixelTextureNode->repeatS, pixelTextureNode->repeatT); } } else { putMessage("MovieTextureNode is not supported"); } return texture; } SgNode* VRMLToSGConverterImpl::convertLineSet(VRMLIndexedLineSet* vLineSet) { VRMLGeometryToSgPlotMap::iterator p = vrmlGeometryToSgPlotMap.find(vLineSet); if(p != vrmlGeometryToSgPlotMap.end()){ return p->second.get(); } if(!vLineSet->coord || vLineSet->coord->point.empty() || vLineSet->coordIndex.empty()){ return 0; } SgLineSet* lineSet = new SgLineSet; lineSet->setVertices(new SgVertexArray(vLineSet->coord->point)); const bool hasColors = (vLineSet->color && !vLineSet->color->color.empty()); if(hasColors){ newColorPosToOrgColorPosMap.clear(); } const bool colorPerVertex = vLineSet->colorPerVertex; const MFInt32& coordIndex = vLineSet->coordIndex; int topPosition = 0; int polylineIndex = 0; for(size_t i=0; i < coordIndex.size(); ++i){ const int index = coordIndex[i]; if(index < 0){ int n = i - topPosition; if(n >= 2){ --n; for(int j=0; j < n; ++j){ const int v1 = topPosition + j; const int v2 = topPosition + j + 1; lineSet->addLine(coordIndex[v1], coordIndex[v2]); if(hasColors){ if(colorPerVertex){ newColorPosToOrgColorPosMap.push_back(v1); newColorPosToOrgColorPosMap.push_back(v2); } else { newColorPosToOrgColorPosMap.push_back(polylineIndex); newColorPosToOrgColorPosMap.push_back(polylineIndex); } } } } topPosition = i + 1; ++polylineIndex; } } if(hasColors){ lineSet->setColors(new SgColorArray(vLineSet->color->color)); const int numColors = lineSet->colors()->size(); const MFInt32& orgColorIndices = vLineSet->colorIndex; const int numOrgColorIndices = orgColorIndices.size(); bool doWarning = false; SgIndexArray& colorIndices = lineSet->colorIndices(); const SgIndexArray& lineVertices = lineSet->lineVertices(); for(size_t i=0; i < lineVertices.size(); ++i){ int orgPos = newColorPosToOrgColorPosMap[i]; if(orgPos >= numOrgColorIndices){ orgPos = numOrgColorIndices - 1; doWarning = true; } int index = orgColorIndices[orgPos]; if(index < 0){ index = 0; doWarning = true; } else if(index >= numColors){ index = numColors - 1; doWarning = true; } colorIndices.push_back(index); } if(doWarning){ putMessage("Warning: The colorIndex elements do not correspond to the colors or the coordIndex elements in an IndexedLineSet node."); } } vrmlGeometryToSgPlotMap[vLineSet] = lineSet; return lineSet; } SgNode* VRMLToSGConverterImpl::convertLightNode(VRMLLight* vlight) { if(VRMLPointLight* vPointLight = dynamic_cast(vlight)){ return createPointLight(vPointLight); } else if(VRMLDirectionalLight* vDirectionalLight = dynamic_cast(vlight)){ return createDirectionalLight(vDirectionalLight); } } void VRMLToSGConverterImpl::setLightCommonProperties(SgLight* light, VRMLLight* vlight) { light->on(vlight->on); light->setColor(vlight->color); light->setIntensity(vlight->intensity); light->setAmbientIntensity(vlight->ambientIntensity); } SgNode* VRMLToSGConverterImpl::createPointLight(VRMLPointLight* vlight) { SgPointLight* light; if(VRMLSpotLight* vSpotLight = dynamic_cast(vlight)){ light = createSpotLight(vSpotLight); } else { light = new SgPointLight(); } light->setConstantAttenuation(vlight->attenuation[0]); light->setLinearAttenuation(vlight->attenuation[1]); light->setQuadraticAttenuation(vlight->attenuation[2]); setLightCommonProperties(light, vlight); if(vlight->location == SFVec3f::Zero()){ return light; } else { SgPosTransform* transform = new SgPosTransform; transform->setTranslation(vlight->location); transform->addChild(light); return transform; } } SgSpotLight* VRMLToSGConverterImpl::createSpotLight(VRMLSpotLight* vlight) { SgSpotLight* light = new SgSpotLight(); light->setDirection(vlight->direction); light->setBeamWidth(vlight->beamWidth); light->setCutOffAngle(vlight->cutOffAngle); return light; } SgDirectionalLight* VRMLToSGConverterImpl::createDirectionalLight(VRMLDirectionalLight* vlight) { SgDirectionalLight* light = new SgDirectionalLight(); light->setDirection(vlight->direction); setLightCommonProperties(light, vlight); return light; } SgNode* VRMLToSGConverterImpl::convertFogNode(VRMLFog* vfog) { SgFog* fog = new SgFog; fog->setColor(vfog->color); fog->setVisibilityRange(vfog->visibilityRange); return fog; } SgNode* VRMLToSGConverterImpl::readAnotherFormatFile(VRMLAnotherFormatFile* anotherFormat) { BOOST_ASSERT(!anotherFormat->url.empty()); if (boost::algorithm::iends_with(anotherFormat->url, "dae")) { // In the case of dae, we have to create a Sg-object directly from dae-file by using the dae-parser. DaeParser parser(&os()); return parser.createScene(anotherFormat->url); } else if (boost::algorithm::iends_with(anotherFormat->url, "stl")) { // In the case of stl, we have to create a Sg-object directly from stl-file by using the stl-parser. STLSceneLoader loader; return loader.load(anotherFormat->url); } else { // File format of the other is an error. BOOST_ASSERT(0); return 0; } } choreonoid-1.5.0/src/Util/gettext.h.in0000664000000000000000000000335712741425367016337 0ustar rootroot/* This header should not be included in other header files, but included in the most bottom position of the inclusion part in the implementation (.cpp) files where the message internationalization (texts with _("...") form) is required. */ #ifdef CNOID_GETTEXT_DOMAIN_NAME #undef CNOID_GETTEXT_DOMAIN_NAME #endif #define CNOID_GETTEXT_DOMAIN_NAME "@target@-@CNOID_VERSION@" #ifdef _ #undef _ #endif #include namespace cnoid { inline boost::format fmt(const char* f_string) { boost::format f(f_string); f.exceptions(boost::io::no_error_bits); return f; } inline boost::format fmt(const std::string& f_string) { boost::format f(f_string); f.exceptions(boost::io::no_error_bits); return f; } // wrapper #if defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__) # ifdef CnoidUtil_EXPORTS __declspec(dllexport) const char* getText(const char* domainname, const char* msgid); # else __declspec(dllimport) const char* getText(const char* domainname, const char* msgid); # endif #else const char* getText(const char* domainname, const char* msgid); #endif } #cmakedefine01 CNOID_ENABLE_GETTEXT #if CNOID_ENABLE_GETTEXT #include #ifdef CNOID_USE_GETTEXT_WRAPPER #define _(text) cnoid::getText(CNOID_GETTEXT_DOMAIN_NAME, text) #else #define _(text) dgettext(CNOID_GETTEXT_DOMAIN_NAME, text) #endif #define N_(string) string #else namespace cnoid { inline const char* bindtextdomain(const char* domainname, const char* dirname) { return dirname; } inline const char* dgettext(const char* domainname, const char* msgid){ return msgid; } } #define _(string) string #define N_(string) string #endif choreonoid-1.5.0/src/Util/JoystickWindows.cpp0000664000000000000000000001173312741425367017750 0ustar rootroot/** @author Shizuko Hattori @author Shin'ichiro Nakaoka */ #include "Joystick.h" #include "ExtJoystick.h" #include #include #include #include #include using namespace std; using namespace cnoid; namespace cnoid { class JoystickImpl { public: Joystick* self; ExtJoystick* extJoystick; int id; int numAvailableAxes; vector axes; boost::dynamic_bitset<> axisEnabled; vector buttons; string errorMessage; Signal sigButton; Signal sigAxis; JoystickImpl(); bool openDevice(); bool readCurrentState(); }; } Joystick::Joystick() { impl = new JoystickImpl(); } Joystick::Joystick(const char* device) { impl = new JoystickImpl(); } JoystickImpl::JoystickImpl() { id = -1; extJoystick = 0; if (!openDevice()){ extJoystick = ExtJoystick::findJoystick("*"); } } bool JoystickImpl::openDevice() { numAvailableAxes = 0; std::vector devIds; JOYINFOEX info; info.dwSize = sizeof(JOYINFOEX); info.dwFlags = JOY_RETURNALL; int i = 0; while(true){ MMRESULT result = joyGetPosEx(i, &info); if(result == JOYERR_PARMS){ break; } if(result == JOYERR_NOERROR){ devIds.push_back(i); } ++i; } if(!devIds.empty()){ // Pick up the first device id = devIds.front(); JOYCAPS caps; joyGetDevCaps(id, &caps, sizeof(caps)); numAvailableAxes = caps.wNumAxes; axes.resize(numAvailableAxes, 0.0); axisEnabled.resize(numAvailableAxes, true); buttons.resize(caps.wNumButtons, false); return readCurrentState(); } return false; } Joystick::~Joystick() { delete impl; } bool Joystick::isReady() const { return impl->extJoystick ? true : (impl->id >= 0); } const char* Joystick::errorMessage() const { return impl->errorMessage.c_str(); } int Joystick::fileDescriptor() const { return impl->id; } int Joystick::numAxes() const { return impl->extJoystick ? impl->extJoystick->numAxes() : impl->numAvailableAxes; } void Joystick::setAxisEnabled(int axis, bool on) { if (!impl->extJoystick){ if (axis < impl->axes.size()){ impl->axes[axis] = 0.0; impl->axisEnabled[axis] = on; } } } int Joystick::numButtons() const { return impl->extJoystick ? impl->extJoystick->numButtons() : impl->buttons.size(); } bool Joystick::readCurrentState() { return impl->extJoystick ? impl->extJoystick->readCurrentState() : impl->readCurrentState(); } bool JoystickImpl::readCurrentState() { if(id < 0){ return false; } JOYINFOEX info; info.dwSize = sizeof(info); info.dwFlags = JOY_RETURNBUTTONS | JOY_RETURNX | JOY_RETURNY | JOY_RETURNZ; if(joyGetPosEx(id, &info) != JOYERR_NOERROR) { return false; } else { // buttons for(size_t i=0; i < buttons.size(); ++i){ if(info.dwButtons & JOY_BUTTON1){ buttons[i] = true; } else { buttons[i] = false; } info.dwButtons >>= 1; } // axes. normalize value (-1.0€œ1.0) if (axisEnabled[0]) axes[0] = ((double)info.dwXpos - 32767.0) / 32768.0; if (axisEnabled[1]) axes[1] = ((double)info.dwYpos - 32767.0) / 32768.0; if (axisEnabled[2]) axes[2] = ((double)info.dwZpos - 32767.0) / 32768.0; // axis 3 and 4 are exchanged to be the same as Linux if (axisEnabled[4]) axes[4] = ((double)info.dwRpos - 32767.0) / 32768.0; if (axisEnabled[3]) axes[3] = ((double)info.dwUpos - 32767.0) / 32768.0; if (axisEnabled[5]) axes[5] = ((double)info.dwVpos - 32767.0) / 32768.0; return true; } return false; } double Joystick::getPosition(int axis) const { if (impl->extJoystick){ return impl->extJoystick->getPosition(axis); } if(axis < impl->axes.size()){ return impl->axes[axis]; } return 0.0; } bool Joystick::getButtonState(int button) const { if (impl->extJoystick){ return impl->extJoystick->getButtonState(button); } if(button < impl->buttons.size()){ return impl->buttons[button]; } return false; } bool Joystick::isActive() const { if (impl->extJoystick){ return impl->extJoystick->isActive(); } for(size_t i=0; i < impl->axes.size(); ++i){ if(impl->axes[i] != 0.0){ return true; } } for(size_t i=0; i < impl->buttons.size(); ++i){ if(impl->buttons[i]){ return true; } } return false; } SignalProxy Joystick::sigButton() { return impl->sigButton; } SignalProxy Joystick::sigAxis() { return impl->sigAxis; } choreonoid-1.5.0/src/Util/Task.h0000664000000000000000000001735212741425367015150 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_TASK_H #define CNOID_UTIL_TASK_H #include #include #include #include #include #include "exportdecl.h" namespace cnoid { class Mapping; class AbstractTaskSequencer; class CNOID_EXPORT TaskProc { public: virtual ~TaskProc(); virtual int currentPhaseIndex() const = 0; virtual bool isAutoMode() const = 0; virtual void breakSequence() = 0; virtual void setNextCommand(int commandIndex) = 0; virtual void setNextPhase(int phaseIndex) = 0; virtual void setCommandLinkAutomatic() = 0; virtual bool executeCommand(int index) = 0; virtual bool wait(double sec) = 0; virtual bool waitForCommandToFinish(double timeout = 0.0) = 0; virtual bool waitForCommandToFinish(Connection connectionToDisconnect, double timeout) = 0; template bool waitForSignal(SignalProxy signalProxy, double timeout = 0.0){ return waitForCommandToFinish(signalProxy.connect(boost::bind(&TaskProc::notifyCommandFinish, this, true)), timeout); } template bool waitForBooleanSignal(SignalProxy signalProxy, double timeout = 0.0){ return waitForCommandToFinish(signalProxy.connect(boost::bind(&TaskProc::notifyCommandFinish, this, _1)), timeout); } virtual void notifyCommandFinish(bool isCompleted = true) = 0; }; typedef boost::function TaskFunc; class CNOID_EXPORT TaskToggleState : public Referenced { public: bool isChecked() const { return isChecked_; } void setChecked(bool on); SignalProxy sigToggled() { return sigToggled_; } private: bool isChecked_; Signal sigToggled_; }; typedef ref_ptr TaskToggleStatePtr; class CNOID_EXPORT TaskCommand : public Referenced { public: TaskCommand(); TaskCommand(const std::string& caption); ~TaskCommand(); const std::string& caption() const { return caption_; } TaskCommand* setCaption(const std::string& caption){ caption_ = caption; return this; } const std::string& description() const { return description_; } TaskCommand* setDescription(const std::string& description) { description_ = description; return this; } TaskFunc function() const { return function_; } TaskCommand* setFunction(TaskFunc func) { function_ = func; return this; } TaskCommand* setDefault(bool on = true) { isDefault_ = on; return this; } bool isDefault() const { return isDefault_; } TaskCommand* setCheckable(bool on = true); TaskCommand* setToggleState(TaskToggleState* state); TaskToggleState* toggleState(); TaskCommand* setChecked(bool on); bool isChecked() const; int nextPhaseIndex(int currentPhaseIndex) const; TaskCommand* setPhaseLink(int phaseIndex); TaskCommand* setPhaseLinkStep(int phaseIndexStep); TaskCommand* linkToNextPhase() { setPhaseLinkStep(1); return this; } int nextCommandIndex(int currentCommandIndex) const; TaskCommand* setCommandLink(int commandIndex); TaskCommand* setCommandLinkStep(int commandIndexStep); TaskCommand* linkToNextCommand() { setCommandLinkStep(1); return this; } bool isCommandLinkAutomatic() const { return isCommandLinkAutomatic_; } TaskCommand* setCommandLinkAutomatic(bool on = true) { isCommandLinkAutomatic_ = on; return this; } TaskCommand* setLevel(int level) { level_ = level; return this; } int level() const { return level_; } private: std::string caption_; std::string description_; TaskFunc function_; int nextPhaseIndex_; int nextCommandIndex_; int level_; TaskToggleStatePtr toggleState_; bool isNextPhaseRelative_; bool isNextCommandRelative_; bool isCommandLinkAutomatic_; bool isDefault_; void initialize(); }; typedef ref_ptr TaskCommandPtr; class TaskPhaseProxy; typedef ref_ptr TaskPhaseProxyPtr; class CNOID_EXPORT TaskPhase : public Referenced { public: TaskPhase(const std::string& caption); TaskPhase(const TaskPhase& org, bool doDeepCopy = true); ~TaskPhase(); virtual TaskPhase* clone(bool doDeepCopy = true); const std::string& caption() const { return caption_; } void setCaption(const std::string& str); bool isSkipped() const { return isSkipped_; } void setSkipped(bool on) { isSkipped_ = on; } void setPreCommand(TaskFunc func); TaskFunc preCommand() const { return preCommand_; } TaskCommand* addCommand(); TaskCommand* addCommand(const std::string& caption); TaskCommand* addToggleCommand(); TaskCommand* addToggleCommand(const std::string& caption); int numCommands() const { return commands.size(); } TaskCommand* command(int index) const; int lastCommandIndex() const { return commands.size() - 1; } TaskCommand* lastCommand() const { return command(commands.size() - 1); } TaskPhaseProxyPtr commandLevel(int level); int maxCommandLevel() const; private: std::string caption_; TaskFunc preCommand_; std::vector commands; bool isSkipped_; }; typedef ref_ptr TaskPhasePtr; class CNOID_EXPORT TaskPhaseProxy : public Referenced { public: TaskPhaseProxy(TaskPhase* phase); void setCommandLevel(int level); int commandLevel() const { return commandLevel_; } TaskCommand* addCommand(); TaskCommand* addCommand(const std::string& caption); TaskCommand* addToggleCommand(); TaskCommand* addToggleCommand(const std::string& caption); private: TaskPhasePtr phase; int commandLevel_; }; /** \todo The menu API should be moved to the actual implementation class of AbstractTaskSequencer */ class CNOID_EXPORT TaskMenu { public: virtual ~TaskMenu(); virtual void addMenuItem(const std::string& caption, boost::function func) = 0; virtual void addCheckMenuItem(const std::string& caption, bool isChecked, boost::function func) = 0; virtual void addMenuSeparator() = 0; }; class CNOID_EXPORT Task : public Referenced { public: Task(); Task(const std::string& name, const std::string& caption); Task(const Task& org, bool doDeepCopy = true); ~Task(); const std::string& name() const { return name_; } void setName(const std::string& str); const std::string& caption() const { return caption_; } void setCaption(const std::string& str); int numPhases() const { return phases_.size(); } TaskPhase* phase(int index); TaskPhase* addPhase(TaskPhase* phase); TaskPhase* addPhase(const std::string& caption); TaskPhase* lastPhase(); // The following functions do operations to the last added phase void setPreCommand(TaskFunc func); TaskCommand* addCommand(); TaskCommand* addCommand(const std::string& caption); TaskCommand* addToggleCommand(); TaskCommand* addToggleCommand(const std::string& caption); TaskCommand* lastCommand(); int lastCommandIndex(); TaskPhaseProxyPtr commandLevel(int level); int maxCommandLevel() const; TaskFunc funcToSetCommandLink(int commandIndex) const; virtual void onActivated(AbstractTaskSequencer* sequencer); virtual void onDeactivated(AbstractTaskSequencer* sequencer); virtual void storeState(AbstractTaskSequencer* sequencer, Mapping& archive); virtual void restoreState(AbstractTaskSequencer* sequencer, const Mapping& archive); //! \todo The menu API should be moved to the actual implementation class of AbstractTaskSequencer virtual void onMenuRequest(TaskMenu& menu); private: std::string name_; std::string caption_; std::vector phases_; }; typedef ref_ptr TaskPtr; } #endif choreonoid-1.5.0/src/Util/VRML.h0000664000000000000000000005334212741425367015025 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_VRML_H #define CNOID_UTIL_VRML_H #include #include #include #include #include #include #include #include #include "exportdecl.h" namespace cnoid { typedef bool SFBool; typedef int SFInt32; typedef double SFFloat; typedef std::string SFString; // Define SFTime as struct to clearly distinguish its type from SFFloat struct SFTime { double value; inline SFTime() { value = 0.0; } inline SFTime(double time) { value = time; } inline double operator=(double time) { return (value = time); } }; typedef Eigen::Vector2d SFVec2f; typedef Eigen::Vector2f SFVec2s; // single-precision type used for texture coordinates typedef Eigen::Vector3d SFVec3f; typedef Eigen::Vector3f SFVec3s; // single-precision type used for vertices and normals typedef Eigen::Vector3f SFColor; typedef Eigen::AngleAxisd SFRotation; typedef struct { int width; int height; int numComponents; std::vector pixels; } SFImage; typedef std::vector MFInt32; typedef std::vector MFFloat; typedef std::vector > MFVec2f; typedef std::vector MFVec2s; // single-precision type used for texture coordinates typedef std::vector MFVec3f; typedef std::vector MFVec3s; // single-precision type used for vertices and normals typedef std::vector MFRotation; typedef std::vector MFTime; typedef std::vector MFColor; typedef std::vector MFString; // see 4.6.3 - 4.6.10 of the VRML97 specification enum VRMLNodeCategory { ANY_NODE = -1, PROTO_DEF_NODE = 0, PROTO_INSTANCE_NODE, TOP_NODE, BINDABLE_NODE, GROUPING_NODE, CHILD_NODE, APPEARANCE_NODE, MATERIAL_NODE, TEXTURE_NODE, TEXTURE_TRANSFORM_NODE, SHAPE_NODE, GEOMETRY_NODE, COORDINATE_NODE, COLOR_NODE, NORMAL_NODE, TEXTURE_COORDINATE_NODE, LIGHT_NODE, FONT_STYLE_NODE, SENSOR_NODE, INLINE_NODE, NUM_VRML_NODE_CATEGORIES }; class VRMLNode; inline void intrusive_ptr_add_ref(VRMLNode* obj); inline void intrusive_ptr_release(VRMLNode* obj); //! Abstract base class of all vrml nodes. class CNOID_EXPORT VRMLNode { public: VRMLNode(); virtual ~VRMLNode(); std::string defName; bool isCategoryOf(VRMLNodeCategory category); protected: std::bitset categorySet; private: int refCounter; friend void intrusive_ptr_add_ref(VRMLNode* obj); friend void intrusive_ptr_release(VRMLNode* obj); }; inline void intrusive_ptr_add_ref(VRMLNode* obj){ obj->refCounter++; } inline void intrusive_ptr_release(VRMLNode* obj){ obj->refCounter--; if(obj->refCounter <= 0){ delete obj; } } typedef boost::intrusive_ptr VRMLNodePtr; typedef VRMLNodePtr SFNode; typedef std::vector MFNode; class CNOID_EXPORT VRMLUnsupportedNode : public VRMLNode { public: VRMLUnsupportedNode(const std::string& nodeTypeName); std::string nodeTypeName; }; typedef boost::intrusive_ptr VRMLUnsupportedNodePtr; //! VRML Viewpoint node class CNOID_EXPORT VRMLViewpoint : public VRMLNode { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW; VRMLViewpoint(); SFRotation orientation; SFFloat fieldOfView; SFBool jump; SFVec3f position; SFString description; }; typedef boost::intrusive_ptr VRMLViewpointPtr; //! VRML NavigationInfo node class CNOID_EXPORT VRMLNavigationInfo : public VRMLNode { public: VRMLNavigationInfo(); MFFloat avatarSize; SFBool headlight; SFFloat speed; MFString type; SFFloat visibilityLimit; }; typedef boost::intrusive_ptr VRMLNavigationInfoPtr; //! VRML Background node class CNOID_EXPORT VRMLBackground : public VRMLNode { public: VRMLBackground(); MFFloat groundAngle; MFColor groundColor; MFFloat skyAngle; MFColor skyColor; MFString backUrl; MFString bottomUrl; MFString frontUrl; MFString leftUrl; MFString rightUrl; MFString topUrl; }; typedef boost::intrusive_ptr VRMLBackgroundPtr; class CNOID_EXPORT AbstractVRMLGroup : public VRMLNode { public: AbstractVRMLGroup(); virtual MFNode& getChildren() = 0; virtual int countChildren() = 0; virtual VRMLNode* getChild(int index) = 0; virtual void replaceChild(int childIndex, VRMLNode* childNode) = 0; void removeChild(int childIndex); }; typedef boost::intrusive_ptr AbstractVRMLGroupPtr; //! VRML Group node class CNOID_EXPORT VRMLGroup : public AbstractVRMLGroup { public: VRMLGroup(); virtual MFNode& getChildren(); virtual int countChildren(); virtual VRMLNode* getChild(int index); virtual void replaceChild(int childIndex, VRMLNode* childNode); SFVec3f bboxCenter; SFVec3f bboxSize; MFNode children; }; typedef boost::intrusive_ptr VRMLGroupPtr; //! VRML Transform node class CNOID_EXPORT VRMLTransform : public VRMLGroup { public: VRMLTransform(); Eigen::Affine3d toAffine3d(); SFVec3f center; SFRotation rotation; SFVec3f scale; SFRotation scaleOrientation; SFVec3f translation; }; typedef boost::intrusive_ptr VRMLTransformPtr; //! VRML Inline node class CNOID_EXPORT VRMLInline : public VRMLGroup { public: VRMLInline(); MFString urls; }; typedef boost::intrusive_ptr VRMLInlinePtr; class CNOID_EXPORT VRMLAnotherFormatFile : public VRMLNode { public: VRMLAnotherFormatFile(); SFString url; //SFString extension; }; typedef boost::intrusive_ptr VRMLAnotherFormatFilePtr; class VRMLAppearance; typedef boost::intrusive_ptr VRMLAppearancePtr; class VRMLGeometry; typedef boost::intrusive_ptr VRMLGeometryPtr; //! VRML Shape node class CNOID_EXPORT VRMLShape : public VRMLNode { public: VRMLShape(); VRMLAppearancePtr appearance; SFNode geometry; }; typedef boost::intrusive_ptr VRMLShapePtr; class VRMLMaterial; typedef boost::intrusive_ptr VRMLMaterialPtr; class VRMLTexture; typedef boost::intrusive_ptr VRMLTexturePtr; class VRMLTextureTransform; typedef boost::intrusive_ptr VRMLTextureTransformPtr; //! VRML Appearance node class CNOID_EXPORT VRMLAppearance : public VRMLNode { public: VRMLAppearance(); VRMLMaterialPtr material; VRMLTexturePtr texture; VRMLTextureTransformPtr textureTransform; }; //! VRML Material node class CNOID_EXPORT VRMLMaterial : public VRMLNode { public: VRMLMaterial(); SFFloat ambientIntensity; SFColor diffuseColor; SFColor emissiveColor; SFFloat shininess; SFColor specularColor; SFFloat transparency; }; //! Base class of VRML Texture nodes class CNOID_EXPORT VRMLTexture : public VRMLNode { public: VRMLTexture(); }; //! VRML ImageTexture node class CNOID_EXPORT VRMLImageTexture : public VRMLTexture { public: VRMLImageTexture(); MFString url; SFBool repeatS; SFBool repeatT; }; typedef boost::intrusive_ptr VRMLImageTexturePtr; //! VRML TextureTransform node class CNOID_EXPORT VRMLTextureTransform : public VRMLNode { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW; VRMLTextureTransform(); SFVec2f center; SFFloat rotation; SFVec2f scale; SFVec2f translation; }; //! Base class of VRML geometry nodes class CNOID_EXPORT VRMLGeometry : public VRMLNode { public: VRMLGeometry(); }; //! VRML Box node class CNOID_EXPORT VRMLBox : public VRMLGeometry { public: VRMLBox(); SFVec3f size; }; typedef boost::intrusive_ptr VRMLBoxPtr; //! VRML Cone node class CNOID_EXPORT VRMLCone : public VRMLGeometry { public: VRMLCone(); SFBool bottom; SFFloat bottomRadius; SFFloat height; SFBool side; }; typedef boost::intrusive_ptr VRMLConePtr; //! VRML Cylinder node class CNOID_EXPORT VRMLCylinder : public VRMLGeometry { public: VRMLCylinder(); SFBool bottom; SFFloat height; SFFloat radius; SFBool side; SFBool top; }; typedef boost::intrusive_ptr VRMLCylinderPtr; //! VRML Sphere node class CNOID_EXPORT VRMLSphere : public VRMLGeometry { public: VRMLSphere(); SFFloat radius; }; typedef boost::intrusive_ptr VRMLSpherePtr; //! VRML FontStyle node class CNOID_EXPORT VRMLFontStyle : public VRMLNode { public: VRMLFontStyle(); MFString family; SFBool horizontal; MFString justify; SFString language; SFBool leftToRight; SFFloat size; SFFloat spacing; SFString style; SFBool topToBottom; }; typedef boost::intrusive_ptr VRMLFontStylePtr; //! VRML Text node class CNOID_EXPORT VRMLText : public VRMLGeometry { public: VRMLText(); MFString fstring; VRMLFontStylePtr fontStyle; MFFloat length; SFFloat maxExtent; }; typedef boost::intrusive_ptr VRMLTextPtr; class VRMLColor; typedef boost::intrusive_ptr VRMLColorPtr; class VRMLCoordinate; typedef boost::intrusive_ptr VRMLCoordinatePtr; //! VRML IndexedLineSet node class CNOID_EXPORT VRMLIndexedLineSet : public VRMLGeometry { public: VRMLIndexedLineSet(); VRMLColorPtr color; VRMLCoordinatePtr coord; MFInt32 colorIndex; SFBool colorPerVertex; MFInt32 coordIndex; }; typedef boost::intrusive_ptr VRMLIndexedLineSetPtr; class VRMLNormal; typedef boost::intrusive_ptr VRMLNormalPtr; class VRMLTextureCoordinate; typedef boost::intrusive_ptr VRMLTextureCoordinatePtr; //! VRML IndexedFaseSet node class CNOID_EXPORT VRMLIndexedFaceSet : public VRMLIndexedLineSet { public: VRMLIndexedFaceSet(); VRMLNormalPtr normal; VRMLTextureCoordinatePtr texCoord; SFBool ccw; SFBool convex; SFFloat creaseAngle; MFInt32 normalIndex; SFBool normalPerVertex; SFBool solid; MFInt32 texCoordIndex; }; typedef boost::intrusive_ptr VRMLIndexedFaceSetPtr; //! VRML Color node class CNOID_EXPORT VRMLColor : public VRMLNode { public: VRMLColor(); MFColor color; }; //! VRML Coordinate node class CNOID_EXPORT VRMLCoordinate : public VRMLNode { public: VRMLCoordinate(); MFVec3s point; }; //! VRML TextureCoordinate node class CNOID_EXPORT VRMLTextureCoordinate : public VRMLNode { public: VRMLTextureCoordinate(); MFVec2s point; }; //! VRML Normal node class CNOID_EXPORT VRMLNormal : public VRMLNode { public: VRMLNormal(); MFVec3s vector; }; //! VRML CylinderSensor node class CNOID_EXPORT VRMLCylinderSensor : public VRMLNode { public: VRMLCylinderSensor(); SFBool autoOffset; SFFloat diskAngle; SFBool enabled; SFFloat maxAngle; SFFloat minAngle; SFFloat offset; }; typedef boost::intrusive_ptr VRMLCylinderSensorPtr; //! VRML PointSet node class CNOID_EXPORT VRMLPointSet : public VRMLGeometry { public: VRMLPointSet(); VRMLCoordinatePtr coord; VRMLColorPtr color; }; typedef boost::intrusive_ptr VRMLPointSetPtr; //! VRML PixelTexture node class CNOID_EXPORT VRMLPixelTexture : public VRMLTexture { public: VRMLPixelTexture(); SFImage image; SFBool repeatS; SFBool repeatT; }; typedef boost::intrusive_ptr VRMLPixelTexturePtr; //! VRML MovieTexture node class CNOID_EXPORT VRMLMovieTexture : public VRMLTexture { public: VRMLMovieTexture(); MFString url; SFBool loop; SFFloat speed; SFTime startTime; SFTime stopTime; SFBool repeatS; SFBool repeatT; }; typedef boost::intrusive_ptr VRMLMovieTexturePtr; //! VRML ElevationGrid node class CNOID_EXPORT VRMLElevationGrid : public VRMLGeometry { public: VRMLElevationGrid(); SFInt32 xDimension; SFInt32 zDimension; SFFloat xSpacing; SFFloat zSpacing; MFFloat height; SFBool ccw; SFBool colorPerVertex; SFFloat creaseAngle; SFBool normalPerVertex; SFBool solid; VRMLColorPtr color; VRMLNormalPtr normal; VRMLTextureCoordinatePtr texCoord; }; typedef boost::intrusive_ptr VRMLElevationGridPtr; //! VRML Extrusion node class CNOID_EXPORT VRMLExtrusion : public VRMLGeometry { public: VRMLExtrusion(); MFVec2f crossSection; MFVec3f spine; MFVec2f scale; MFRotation orientation; SFBool beginCap; SFBool endCap; SFBool solid; SFBool ccw; SFBool convex; SFFloat creaseAngle; }; typedef boost::intrusive_ptr VRMLExtrusionPtr; class CNOID_EXPORT VRMLSwitch : public AbstractVRMLGroup { public: VRMLSwitch(); virtual MFNode& getChildren(); virtual int countChildren(); virtual VRMLNode* getChild(int index); virtual void replaceChild(int childIndex, VRMLNode* childNode); MFNode choice; SFInt32 whichChoice; }; typedef boost::intrusive_ptr VRMLSwitchPtr; class CNOID_EXPORT VRMLLOD : public AbstractVRMLGroup { public: VRMLLOD(); virtual MFNode& getChildren(); virtual int countChildren(); virtual VRMLNode* getChild(int index); virtual void replaceChild(int childIndex, VRMLNode* childNode); MFFloat range; SFVec3f center; MFNode level; }; typedef boost::intrusive_ptr VRMLLODPtr; class CNOID_EXPORT VRMLCollision : public VRMLGroup { public: VRMLCollision(); SFBool collide; SFNode proxy; }; typedef boost::intrusive_ptr VRMLCollisionPtr; class CNOID_EXPORT VRMLAnchor : public VRMLGroup { public: VRMLAnchor(); SFString description; MFString parameter; MFString url; }; typedef boost::intrusive_ptr VRMLAnchorPtr; class CNOID_EXPORT VRMLBillboard : public VRMLGroup { public: VRMLBillboard(); SFVec3f axisOfRotation; }; typedef boost::intrusive_ptr VRMLBillboardPtr; class CNOID_EXPORT VRMLFog : public VRMLNode { public: VRMLFog(); SFColor color; SFFloat visibilityRange; SFString fogType; }; typedef boost::intrusive_ptr VRMLFogPtr; class CNOID_EXPORT VRMLWorldInfo : public VRMLNode { public: VRMLWorldInfo(); SFString title; MFString info; }; typedef boost::intrusive_ptr VRMLWorldInfoPtr; class CNOID_EXPORT VRMLLight : public VRMLNode { public: VRMLLight(); SFBool on; SFColor color; SFFloat intensity; SFFloat ambientIntensity; }; typedef boost::intrusive_ptr VRMLLightPtr; class CNOID_EXPORT VRMLPointLight : public VRMLLight { public: VRMLPointLight(); SFVec3f location; SFFloat radius; SFVec3f attenuation; }; typedef boost::intrusive_ptr VRMLPointLightPtr; class CNOID_EXPORT VRMLDirectionalLight : public VRMLLight { public: VRMLDirectionalLight(); SFVec3f direction; }; typedef boost::intrusive_ptr VRMLDirectionalLightPtr; class CNOID_EXPORT VRMLSpotLight : public VRMLPointLight { public: VRMLSpotLight(); SFVec3f direction; SFFloat beamWidth; SFFloat cutOffAngle; }; typedef boost::intrusive_ptr VRMLSpotLightPtr; typedef boost::variant VRMLVariantField; enum VRMLFieldTypeId { SFBOOL, SFINT32, SFFLOAT, SFVEC2F, SFVEC3F, SFROTATION, SFCOLOR, SFTIME, SFSTRING, SFNODE, SFIMAGE, MFINT32, MFFLOAT, MFVEC2F, MFVEC3F, MFROTATION, MFCOLOR, MFTIME, MFSTRING, MFNODE, UNKNOWN_VRML_FIELD_TYPE }; typedef std::map VRMLProtoFieldMap; typedef std::pair VRMLProtoFieldPair; CNOID_EXPORT const char* labelOfVRMLfieldTypeId(const std::type_info& fieldType); template inline const char* labelOfVRMLfieldType() { return labelOfVRMLfieldTypeId(typeid(TValue)); } //! VRML Proto definition class CNOID_EXPORT VRMLProto : public VRMLNode { public: std::string protoName; VRMLProtoFieldMap fields; VRMLProto(const std::string& n); inline VRMLVariantField* findField(const std::string& fieldName) { VRMLProtoFieldMap::iterator p = fields.find(fieldName); return (p != fields.end()) ? &p->second : 0; } inline VRMLVariantField& field(const std::string& fieldName){ return fields[fieldName]; } /* inline VRMLVariantField& addField(const std::string& fieldName, VRMLFieldTypeId typeId){ VRMLVariantField* field = &(fields[fieldName]); field->setType(typeId); return field; } */ }; typedef boost::intrusive_ptr VRMLProtoPtr; //! VRML node which is instance of VRML Prototype class CNOID_EXPORT VRMLProtoInstance : public VRMLNode { public: VRMLProtoPtr proto; VRMLProtoFieldMap fields; VRMLNodePtr actualNode; VRMLProtoInstance(VRMLProtoPtr proto0); inline VRMLVariantField* findField(const std::string& fieldName) { VRMLProtoFieldMap::iterator p = fields.find(fieldName); return (p != fields.end()) ? &p->second : 0; } }; typedef boost::intrusive_ptr VRMLProtoInstancePtr; /** The upper cast operation that supports the situation where the original pointer is VRMLProtoInstance and you want to get the actual node, the node replaced with the pre-defined node type written in the PROTO definition. */ template inline boost::intrusive_ptr dynamic_node_cast(VRMLNodePtr node) { VRMLProtoInstancePtr protoInstance = boost::dynamic_pointer_cast(node); if(protoInstance){ return boost::dynamic_pointer_cast(protoInstance->actualNode); } else { return boost::dynamic_pointer_cast(node); } } #ifdef CNOID_BACKWARD_COMPATIBILITY typedef VRMLNodeCategory VrmlNodeCategory; typedef VRMLNode VrmlNode; typedef VRMLNodePtr VrmlNodePtr; typedef VRMLUnsupportedNode VrmlUnsupportedNode; typedef VRMLUnsupportedNodePtr VrmlUnsupportedNodePtr; typedef VRMLViewpoint VrmlViewpoint; typedef VRMLViewpointPtr VrmlViewpointPtr; typedef VRMLNavigationInfo VrmlNavigationInfo; typedef VRMLNavigationInfoPtr VrmlNavigationInfoPtr; typedef VRMLBackground VrmlBackground; typedef VRMLBackgroundPtr VrmlBackgroundPtr; typedef AbstractVRMLGroup AbstractVrmlGroup; typedef AbstractVRMLGroupPtr AbstractVrmlGroupPtr; typedef VRMLGroup VrmlGroup; typedef VRMLGroupPtr VrmlGroupPtr; typedef VRMLTransform VrmlTransform; typedef VRMLTransformPtr VrmlTransformPtr; typedef VRMLInline VrmlInline; typedef VRMLInlinePtr VrmlInlinePtr; typedef VRMLShape VrmlShape; typedef VRMLShapePtr VrmlShapePtr; typedef VRMLAppearance VrmlAppearance; typedef VRMLAppearancePtr VrmlAppearancePtr; typedef VRMLMaterial VrmlMaterial; typedef VRMLMaterialPtr VrmlMaterialPtr; typedef VRMLTexture VrmlTexture; typedef VRMLTexturePtr VrmlTexturePtr; typedef VRMLImageTexture VrmlImageTexture; typedef VRMLImageTexturePtr VrmlImageTexturePtr; typedef VRMLTextureTransform VrmlTextureTransform; typedef VRMLTextureTransformPtr VrmlTextureTransformPtr; typedef VRMLGeometry VrmlGeometry; typedef VRMLGeometryPtr VrmlGeometryPtr; typedef VRMLBox VrmlBox; typedef VRMLBoxPtr VrmlBoxPtr; typedef VRMLCone VrmlCone; typedef VRMLConePtr VrmlConePtr; typedef VRMLCylinder VrmlCylinder; typedef VRMLCylinderPtr VrmlCylinderPtr; typedef VRMLSphere VrmlSphere; typedef VRMLSpherePtr VrmlSpherePtr; typedef VRMLFontStyle VrmlFontStyle; typedef VRMLFontStylePtr VrmlFontStylePtr; typedef VRMLText VrmlText; typedef VRMLTextPtr VrmlTextPtr; typedef VRMLIndexedLineSet VrmlIndexedLineSet; typedef VRMLIndexedLineSetPtr VrmlIndexedLineSetPtr; typedef VRMLIndexedFaceSet VrmlIndexedFaceSet; typedef VRMLIndexedFaceSetPtr VrmlIndexedFaceSetPtr; typedef VRMLColor VrmlColor; typedef VRMLColorPtr VrmlColorPtr; typedef VRMLCoordinate VrmlCoordinate; typedef VRMLCoordinatePtr VrmlCoordinatePtr; typedef VRMLTextureCoordinate VrmlTextureCoordinate; typedef VRMLTextureCoordinatePtr VrmlTextureCoordinatePtr; typedef VRMLNormal VrmlNormal; typedef VRMLNormalPtr VrmlNormalPtr; typedef VRMLCylinderSensor VrmlCylinderSensor; typedef VRMLCylinderSensorPtr VrmlCylinderSensorPtr; typedef VRMLPointSet VrmlPointSet; typedef VRMLPointSetPtr VrmlPointSetPtr; typedef VRMLPixelTexture VrmlPixelTexture; typedef VRMLPixelTexturePtr VrmlPixelTexturePtr; typedef VRMLMovieTexture VrmlMovieTexture; typedef VRMLMovieTexturePtr VrmlMovieTexturePtr; typedef VRMLElevationGrid VrmlElevationGrid; typedef VRMLElevationGridPtr VrmlElevationGridPtr; typedef VRMLExtrusion VrmlExtrusion; typedef VRMLExtrusionPtr VrmlExtrusionPtr; typedef VRMLSwitch VrmlSwitch; typedef VRMLSwitchPtr VrmlSwitchPtr; typedef VRMLLOD VrmlLOD; typedef VRMLLODPtr VrmlLODPtr; typedef VRMLCollision VrmlCollision; typedef VRMLCollisionPtr VrmlCollisionPtr; typedef VRMLAnchor VrmlAnchor; typedef VRMLAnchorPtr VrmlAnchorPtr; typedef VRMLBillboard VrmlBillboard; typedef VRMLBillboardPtr VrmlBillboardPtr; typedef VRMLFog VrmlFog; typedef VRMLFogPtr VrmlFogPtr; typedef VRMLWorldInfo VrmlWorldInfo; typedef VRMLWorldInfoPtr VrmlWorldInfoPtr; typedef VRMLPointLight VrmlPointLight; typedef VRMLPointLightPtr VrmlPointLightPtr; typedef VRMLDirectionalLight VrmlDirectionalLight; typedef VRMLDirectionalLightPtr VrmlDirectionalLightPtr; typedef VRMLSpotLight VrmlSpotLight; typedef VRMLSpotLightPtr VrmlSpotLightPtr; typedef VRMLProto VrmlProto; typedef VRMLProtoPtr VrmlProtoPtr; typedef VRMLProtoInstance VrmlProtoInstance; typedef VRMLProtoInstancePtr VrmlProtoInstancePtr; typedef VRMLVariantField VrmlVariantField; #endif }; #endif choreonoid-1.5.0/src/Util/PolymorphicFunctionSet.h0000664000000000000000000000215712741425367020732 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_POLYMORPHIC_FUNCTION_SET_H #define CNOID_UTIL_POLYMORPHIC_FUNCTION_SET_H #include namespace cnoid { template class PolymorphicFunctionSet { typedef boost::function Function; struct compare { bool operator ()(const std::type_info* a, const std::type_info* b) const { return a->before(*b); } }; typedef std::map FunctionMap; FunctionMap functions; bool callFuntions(const std::type_info& type, Object* object, Parameter& param){ FunctionMap::iterator p = functions.find(&type); if(p != functions.end()){ return p->second(param); } return true; } public: template void setFunction(FunctionType f) { functions[&typeid(Type)] = f; } bool operator()(Object* object, Paramter& param) { object->forEachActualType(boost::bind(&callFunctions, this, _1, object, boost::ref(param))); } }; } #endif choreonoid-1.5.0/src/Util/Parser.h0000664000000000000000000000101012741425367015462 0ustar rootroot/*! * @brief Defines the minimum processing for performing pasing file. * @author Hisashi Ikari * @file */ #ifndef CNOID_UTIL_EXTPARSER_H_INCLUDED #define CNOID_UTIL_EXTPARSER_H_INCLUDED namespace cnoid { /*! * @brief It define a base class to parse the 3D model file. * This will return SceneGraph in a single file that is specified. * And this is the process of "Inline" for VRML. */ class Parser { public: virtual SgGroup* createScene(const std::string& fileName) = 0; }; }; #endif choreonoid-1.5.0/src/Util/MultiAffine3Seq.h0000664000000000000000000000212412741425367017174 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_MULTI_AFFINE3_SEQ_H_INCLUDED #define CNOID_UTIL_MULTI_AFFINE3_SEQ_H_INCLUDED #include "MultiSeq.h" #include "EigenTypes.h" #include "exportdecl.h" namespace cnoid { class Mapping; class YAMLWriter; class CNOID_EXPORT MultiAffine3Seq : public MultiSeq > { typedef MultiSeq > BaseSeqType; public: typedef boost::shared_ptr Ptr; MultiAffine3Seq(); MultiAffine3Seq(int numFrames, int numParts = 1); MultiAffine3Seq(const MultiAffine3Seq& org); virtual ~MultiAffine3Seq(); virtual AbstractSeqPtr cloneSeq() const; virtual bool loadPlainFormat(const std::string& filename); bool saveTopPartAsPlainFormat(const std::string& filename); protected: virtual Affine3 defaultValue() const { return Affine3::Identity(); } virtual bool doWriteSeq(YAMLWriter& writer); virtual bool doReadSeq(const Mapping& archive); }; typedef MultiAffine3Seq::Ptr MultiAffine3SeqPtr; } #endif choreonoid-1.5.0/src/Util/EigenUtil.h0000664000000000000000000000601712741425367016127 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_EIGEN_UTIL_H #define CNOID_UTIL_EIGEN_UTIL_H #include "EigenTypes.h" #if defined(WIN32) && !defined(BOOST_NO_CXX11_ALLOCATOR) #include #if (BOOST_VERSION >= 105900) #define BOOST_NO_CXX11_ALLOCATOR #endif #endif #include #include "exportdecl.h" namespace cnoid { const double PI = 3.14159265358979323846; const double PI_2 = 1.57079632679489661923; const double TO_DEGREE = 180.0 / PI; const double TO_RADIAN = PI / 180.0; inline double degree(double rad) { return TO_DEGREE * rad; } inline double radian(double deg) { return TO_RADIAN * deg; } inline float degree(float rad) { return (float)TO_DEGREE * rad; } inline float radian(float deg) { return (float)TO_RADIAN * deg; } inline double radian(int deg) { return TO_RADIAN * deg; } /* Since version 3.2, the behavior of Eigen's eulerAngles function was slightly modified; The returned angles are in the ranges [0:pi]x[0:pi]x[-pi:pi]. This is not good for using the returned angles to interpolate attitdues. Now our own implementation is used for getting R-P-Y angles. */ /* template inline Eigen::Matrix::Scalar, 3, 1> rpyFromRot(const Eigen::MatrixBase& R) { Vector3 ea = R.eulerAngles(2, 1, 0); return Vector3(ea[2], ea[1], ea[0]); // exchange element order to be our conventional one ! } */ CNOID_EXPORT Vector3 rpyFromRot(const Matrix3& R); CNOID_EXPORT Matrix3 rotFromRpy(double r, double p, double y); inline Matrix3 rotFromRpy(const Vector3& rpy) { return rotFromRpy(rpy[0], rpy[1], rpy[2]); } CNOID_EXPORT Vector3 omegaFromRot(const Matrix3& R); inline Matrix3 hat(const Vector3& x) { Matrix3 M; M << 0.0, -x(2), x(1), x(2), 0.0, -x(0), -x(1), x(0), 0.0; return M; } CNOID_EXPORT std::string str(const Vector3& v); CNOID_EXPORT bool toVector3(const std::string& s, Vector3& out_v); CNOID_EXPORT void normalizeRotation(Matrix3& R); CNOID_EXPORT void normalizeRotation(Position& T); CNOID_EXPORT void normalizeRotation(Affine3& T); template boost::shared_ptr make_shared_aligned() { return boost::allocate_shared(Eigen::aligned_allocator()); } template boost::shared_ptr make_shared_aligned(const P1& p1) { return boost::allocate_shared(Eigen::aligned_allocator(), p1); } template boost::shared_ptr make_shared_aligned(const P1& p1, const P2& p2) { return boost::allocate_shared(Eigen::aligned_allocator(), p1, p2); } template boost::shared_ptr make_shared_aligned(const P1& p1, const P2& p2, const P3& p3) { return boost::allocate_shared(Eigen::aligned_allocator(), p1, p2, p3); } template boost::shared_ptr make_shared_aligned(const P1& p1, const P2& p2, const P3& p3, const P4& p4) { return boost::allocate_shared(Eigen::aligned_allocator(), p1, p2, p3, p4); } } #endif choreonoid-1.5.0/src/Util/Config.h.in0000664000000000000000000000100012741425367016037 0ustar rootroot #ifndef CNOID_CONFIG_H_INCLUDED #define CNOID_CONFIG_H_INCLUDED #define CNOID_MAJOR_VERSION @CNOID_MAJOR_VERSION@ #define CNOID_MINOR_VERSION @CNOID_MINOR_VERSION@ #define CNOID_PATCH_VERSION @CNOID_PATCH_VERSION@ #define CNOID_VERSION_STRING "@CNOID_VERSION@" #define CNOID_FULL_VERSION_STRING "@CNOID_FULL_VERSION@" //#define CNOID_DIR "@CNOID_DIR@" #define CNOID_PLUGIN_SUBDIR "@CNOID_PLUGIN_SUBDIR@" //#define CNOID_SHARE_DIR "@CNOID_SHARE_DIR@" #define CNOID_SHARE_SUBDIR "@CNOID_SHARE_SUBDIR@" #endif choreonoid-1.5.0/src/Util/SignalTemplate.h0000664000000000000000000001414712741425367017156 0ustar rootroot/** @file Implementation of Signal template classes @note The classes are written by using the boost.signals library as a reference. @author Shin'ichiro Nakaoka */ #define CNOID_SIGNAL_FUNCTION_N_HEADER CNOID_SIGNAL_CONCAT() #include CNOID_SIGNAL_FUNCTION_N_HEADER #if CNOID_SIGNAL_NUM_ARGS == 0 # define CNOID_SIGNAL_COMMA_IF_NONZERO_ARGS #else # define CNOID_SIGNAL_COMMA_IF_NONZERO_ARGS , #endif #define CNOID_SIGNAL_SIGNAL CNOID_SIGNAL_CONCAT(Signal,CNOID_SIGNAL_NUM_ARGS) #define CNOID_SIGNAL_FUNCTION CNOID_SIGNAL_CONCAT(boost::function,CNOID_SIGNAL_NUM_ARGS) #define CNOID_SIGNAL_SLOT_HOLDER CNOID_SIGNAL_CONCAT(SlotHolder,CNOID_SIGNAL_NUM_ARGS) #define CNOID_SIGNAL_ARGSET CNOID_SIGNAL_CONCAT(ArgSet,CNOID_SIGNAL_NUM_ARGS) namespace cnoid { template< typename R, CNOID_SIGNAL_TEMPLATE_PARMS CNOID_SIGNAL_COMMA_IF_NONZERO_ARGS typename Combiner = signal_private::last_value > class CNOID_SIGNAL_SIGNAL; namespace signal_private { template< typename R, CNOID_SIGNAL_TEMPLATE_PARMS CNOID_SIGNAL_COMMA_IF_NONZERO_ARGS typename Combiner > struct CNOID_SIGNAL_SLOT_HOLDER : public SlotHolderBase { typedef CNOID_SIGNAL_FUNCTION FuncType; FuncType func; typedef CNOID_SIGNAL_SLOT_HOLDER SlotHolder; typedef ref_ptr SlotHolderPtr; SlotHolderPtr next; SlotHolder* prev; typedef CNOID_SIGNAL_SIGNAL SignalType; SignalType* owner; public: typedef R result_type; CNOID_SIGNAL_SLOT_HOLDER(const FuncType& func) : func(func), prev(0), owner(0) { } virtual void disconnect() { if(owner) owner->remove(this); } virtual bool connected() const { return owner != 0; } virtual void changeOrder(int orderId) { if(owner) owner->changeOrder(this, orderId); } }; } // namespace signal_private template< typename R, CNOID_SIGNAL_TEMPLATE_PARMS CNOID_SIGNAL_COMMA_IF_NONZERO_ARGS typename Combiner > struct CNOID_SIGNAL_ARGSET { CNOID_SIGNAL_ARGS_AS_MEMBERS CNOID_SIGNAL_ARGSET(CNOID_SIGNAL_COPY_PARMS) CNOID_SIGNAL_INIT_ARGS { } template R call(SlotHolderType* slot) { return slot->func(CNOID_SIGNAL_ARGS); } }; template< typename R, CNOID_SIGNAL_TEMPLATE_PARMS CNOID_SIGNAL_COMMA_IF_NONZERO_ARGS typename Combiner > class CNOID_SIGNAL_SIGNAL { public: typedef R result_type; typedef CNOID_SIGNAL_FUNCTION slot_function_type; typedef slot_function_type slot_type; typedef slot_function_type Slot; typedef Combiner combiner_type; typedef struct { } group_type; typedef struct { } group_compare_type; private: typedef signal_private::CNOID_SIGNAL_SLOT_HOLDER SlotHolderType; typedef ref_ptr SlotHolderPtr; typedef CNOID_SIGNAL_ARGSET ArgSetType; typedef signal_private::SlotCallIterator IteratorType; SlotHolderPtr firstSlot; SlotHolderType* lastSlot; CNOID_SIGNAL_SIGNAL(const CNOID_SIGNAL_SIGNAL& org); CNOID_SIGNAL_SIGNAL& operator=(const CNOID_SIGNAL_SIGNAL& rhs); public: CNOID_SIGNAL_SIGNAL() : lastSlot(0) { } ~CNOID_SIGNAL_SIGNAL() { disconnect_all_slots(); } Connection connect(const slot_function_type& func){ SlotHolderType* slot = new SlotHolderType(func); if(!firstSlot){ firstSlot = slot; lastSlot = slot; } else { lastSlot->next = slot; slot->prev = lastSlot; lastSlot = slot; } slot->owner = this; return Connection(slot); } void remove(SlotHolderPtr slot){ if(slot->owner == this){ SlotHolderType* next = slot->next; SlotHolderType* prev = slot->prev; if(next){ next->prev = prev; } else { lastSlot = prev; } if(prev){ prev->next = next; } else { firstSlot = next; } slot->prev = 0; slot->next = 0; slot->owner = 0; } } void changeOrder(SlotHolderPtr slot, int orderId){ if(slot->owner == this){ if(orderId == Connection::FIRST){ if(firstSlot != slot){ remove(slot); slot->owner = this; if(firstSlot){ slot->next = firstSlot; slot->next->prev = slot; } firstSlot = slot; } } else if(orderId == Connection::LAST){ if(lastSlot != slot){ remove(slot); slot->owner = this; if(lastSlot){ lastSlot->next = slot; slot->prev = lastSlot; } else { firstSlot = slot; } lastSlot = slot; } } } } void disconnect_all_slots() { while(firstSlot){ remove(firstSlot); } } bool empty() const { return (firstSlot == 0); } result_type operator()(CNOID_SIGNAL_PARMS) { #if CNOID_SIGNAL_NUM_ARGS == 0 ArgSetType args; #else ArgSetType args(CNOID_SIGNAL_ARGS); #endif Combiner combiner; return combiner(IteratorType(firstSlot, args), IteratorType(0, args)); } }; } // namespace cnoid #undef CNOID_SIGNAL_FUNCTION_N_HEADER #undef CNOID_SIGNAL_COMMA_IF_NONZERO_ARGS #undef CNOID_SIGNAL_SIGNAL #undef CNOID_SIGNAL_FUNCTION #undef CNOID_SIGNAL_SLOT_HOLDER #undef CNOID_SIGNAL_ARGSET choreonoid-1.5.0/src/Util/PolyhedralRegion.cpp0000664000000000000000000000017512741425367020043 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "PolyhedralRegion.h" using namespace std; using namespace cnoid; choreonoid-1.5.0/src/Util/IdPair.h0000664000000000000000000000161112741425367015405 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_ID_PAIR_H #define CNOID_UTIL_ID_PAIR_H namespace cnoid { template class IdPair { T id[2]; public: IdPair(T id0, T id1){ if(id0 <= id1){ id[0] = id0; id[1] = id1; } else { id[0] = id1; id[1] = id0; } } IdPair(const T* src){ if(src[0] <= src[1]){ id[0] = src[0]; id[1] = src[1]; } else { id[0] = src[1]; id[1] = src[0]; } } T operator()(int which) const { return id[which]; } bool operator<(const IdPair& pair2) const { if(id[0] < pair2.id[0]){ return true; } else if(id[0] == pair2.id[0]){ return (id[1] < pair2.id[1]); } else { return false; } } }; } #endif choreonoid-1.5.0/src/Util/DataMap.h0000664000000000000000000000503512741425367015550 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_DATA_MAP_H_INCLUDED #define CNOID_UTIL_DATA_MAP_H_INCLUDED #include #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT DataMapBase { public: static const int MIN_DYNAMIC_ID = 10000; virtual ~DataMapBase(); int getDynamicID(const std::string& name); const std::string& getDynamicIDname(int id); protected: virtual std::map& nameToIdMap(); virtual std::map& idToNameMap(); virtual int nextDynamicId(); }; template > class DataMap : public DataMapBase, protected std::map > { typedef std::map > MapType; static const std::vector emptyData; public: typedef std::vector Data; #ifndef _MSC_VER using typename MapType::iterator; using MapType::size; using MapType::empty; using MapType::clear; using MapType::begin; using MapType::end; using MapType::find; #else // In VC++, the above declarations produce C2487 error in compiling a class // which inherits this class. So we use the following code instead of the above one. typedef typename MapType::iterator iterator; size_t size() const { return MapType::size(); } bool empty() const { return MapType::empty(); } void clear() { MapType::clear(); } typename MapType::iterator begin() { return MapType::begin(); } typename MapType::const_iterator begin() const { return MapType::begin(); } typename MapType::iterator end() { return MapType::end(); } typename MapType::const_iterator end() const { return MapType::end(); } typename MapType::iterator find(const typename MapType::key_type& x) { return MapType::find(x); } typename MapType::const_iterator find(const typename MapType::key_type& x) const { return MapType::find(x); } #endif Data& data(int id) { return (*this)[id]; } const Data& data(int id) const { typename MapType::const_iterator p = find(id); if(p != end()){ return p->second; } return emptyData; } bool operator==(const DataMap& rhs) const { return *this == rhs; } }; template const std::vector DataMap::emptyData; } #endif choreonoid-1.5.0/src/Util/.gitignore0000664000000000000000000000001112741425367016045 0ustar rootrootConfig.h choreonoid-1.5.0/src/Util/SceneEffects.cpp0000664000000000000000000000126612741425367017133 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "SceneEffects.h" #include "SceneVisitor.h" using namespace std; using namespace cnoid; SgFog::SgFog() { color_.setOnes(); visibilityRange_ = 0.0f; } SgFog::SgFog(const SgFog& org) : SgPreprocessed(org) { color_ = org.color_; visibilityRange_ = org.visibilityRange_; } SgObject* SgFog::clone(SgCloneMap& cloneMap) const { return new SgFog(*this); } void SgFog::accept(SceneVisitor& visitor) { visitor.visitFog(this); } SgOutlineGroup::SgOutlineGroup() { lineWidth_ = 1.0; color_ << 1.0, 0.0, 0.0; } void SgOutlineGroup::accept(SceneVisitor& visitor) { visitor.visitOutlineGroup(this); } choreonoid-1.5.0/src/Util/CollisionDetector.h0000664000000000000000000000420312741425367017662 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_COLLISION_DETECTOR_H #define CNOID_UTIL_COLLISION_DETECTOR_H #include "Collision.h" #include "SceneGraph.h" #include "EigenTypes.h" #include #include "exportdecl.h" namespace cnoid { struct CollisionPair { int geometryId[2]; CollisionArray collisions; }; typedef boost::shared_ptr CollisionPairPtr; class CollisionDetector; typedef boost::shared_ptr CollisionDetectorPtr; class CNOID_EXPORT CollisionDetector { public: static bool registerFactory(const std::string& name, boost::function factory); static int numFactories(); static std::string factoryName(int factoryIndex); static int factoryIndex(const std::string& name); static CollisionDetectorPtr create(int factoryIndex); virtual ~CollisionDetector(); virtual const char* name() const = 0; /** \note The geometries and the non interfarence pairs of them are not copied to the clone object. That is same as the state after calling clearGeometries(); */ virtual CollisionDetectorPtr clone() const = 0; virtual bool enableGeometryCache(bool on) = 0; virtual void clearGeometryCache(SgNodePtr geometry) = 0; virtual void clearAllGeometryCaches() = 0; virtual void clearGeometries() = 0; /** \return id of the geometry */ virtual int numGeometries() const = 0; virtual int addGeometry(SgNodePtr geometry) = 0; virtual void setGeometryStatic(int geometryId, bool isStatic = true) = 0; virtual void setNonInterfarenceGeometyrPair(int geometryId1, int geometryId2) = 0; virtual bool makeReady() = 0; virtual void updatePosition(int geometryId, const Position& position) = 0; // Is this faster than the above function? //virtual void updatePositions(int begin, int end, const std::vector& positions) = 0; virtual void detectCollisions(boost::function callback) = 0; // or // virtual void detectCollisions(std::vector& out_collisionPairs) = 0; }; } #endif choreonoid-1.5.0/src/Util/VRMLParser.h0000664000000000000000000000164412741425367016200 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_VRML_PARSER_H #define CNOID_UTIL_VRML_PARSER_H #include "VRML.h" #include "exportdecl.h" namespace cnoid { class VRMLParserImpl; /** \brief Parser for VRML97 format The VRMLParser class reads a VRML97 file and extract its nodes. */ class CNOID_EXPORT VRMLParser { public: /** Constructor. This version of constructor do 'load' mehtod after constructing the object. \param filename file name of a target VRML97 file. */ VRMLParser(const std::string& filename); VRMLParser(); ~VRMLParser(); void setProtoInstanceActualNodeExtractionMode(bool isOn); void load(const std::string& filename); /** This method returns the top node of the next node tree written in the file. */ VRMLNodePtr readNode(); void checkEOF(); private: VRMLParserImpl* impl; void init(); }; }; #endif choreonoid-1.5.0/src/Util/Selection.cpp0000664000000000000000000000444112741425367016521 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "Selection.h" #include "gettext.h" using namespace std; using namespace cnoid; Selection::Selection(const char* domainname) : domainname_(domainname) { selectedIndex_ = -1; } Selection::Selection(size_t size, const char* domainname) : domainname_(domainname) { symbols_.reserve(size); selectedIndex_ = -1; } void Selection::resize(int s) { symbols_.resize(s); if(selectedIndex_ >= s){ if(s >= 0){ selectedIndex_ = 0; } else { selectedIndex_ = -1; } } } void Selection::clear() { symbols_.clear(); selectedIndex_ = -1; } void Selection::setSymbol(int index, const std::string& symbol) { if(index >= symbols_.size()){ symbols_.resize(index + 1); } symbols_[index] = symbol; if(selectedIndex_ < 0 && index == 0){ selectedIndex_ = 0; } } Selection& Selection::operator<<(const std::string& symbol) { if(symbols_.empty()){ selectedIndex_ = 0; } symbols_.push_back(symbol); return *this; } int Selection::index(const std::string& symbol) const { for(int i=0; i < symbols_.size(); ++i){ if(symbols_[i] == symbol){ return i; } } return -1; } const char* Selection::label(int index) const { return domainname_ ? dgettext(domainname_, symbols_[index].c_str()) : symbols_[index].c_str(); } bool Selection::select(int index) { if(index >= 0 && index < symbols_.size()){ selectedIndex_ = index; return true; } return false; } bool Selection::selectIndex(int index) { return select(index); } bool Selection::select(const std::string& symbol) { for(int i=0; i < symbols_.size(); ++i){ if(symbols_[i] == symbol){ selectedIndex_ = i; return true; } } return false; } const char* Selection::selectedSymbol() const { if(selectedIndex_ >= 0){ return symbols_[selectedIndex_].c_str(); } return 0; } const char* Selection::selectedLabel() const { if(selectedIndex_ >= 0){ if(domainname_){ return dgettext(domainname_, symbols_[selectedIndex_].c_str()); } else { return symbols_[selectedIndex_].c_str(); } } return 0; } choreonoid-1.5.0/src/Util/MeshNormalGenerator.cpp0000664000000000000000000001535112741425367020512 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "MeshNormalGenerator.h" #include "SceneDrawables.h" using namespace std; using namespace cnoid; namespace { const float PI = 3.14159265358979323846f; } namespace cnoid { class MeshNormalGeneratorImpl { public: float minCreaseAngle; float maxCreaseAngle; SgNormalArrayPtr faceNormals; vector< vector > vertexIndexToTriangleIndicesMap; vector< vector > vertexIndexToNormalIndicesMap; bool isOverwritingEnabled; MeshNormalGeneratorImpl(); MeshNormalGeneratorImpl(const MeshNormalGeneratorImpl& org); void calculateFaceNormals(SgMesh* mesh); void setVertexNormals(SgMesh* mesh, float creaseAngle); }; } MeshNormalGenerator::MeshNormalGenerator() { impl = new MeshNormalGeneratorImpl(); } MeshNormalGeneratorImpl::MeshNormalGeneratorImpl() { isOverwritingEnabled = false; minCreaseAngle = 0.0f; maxCreaseAngle = PI; } MeshNormalGenerator::MeshNormalGenerator(const MeshNormalGenerator& org) { impl = new MeshNormalGeneratorImpl(*org.impl); } MeshNormalGeneratorImpl::MeshNormalGeneratorImpl(const MeshNormalGeneratorImpl& org) { isOverwritingEnabled = org.isOverwritingEnabled; minCreaseAngle = org.minCreaseAngle; maxCreaseAngle = org.maxCreaseAngle; } MeshNormalGenerator::~MeshNormalGenerator() { delete impl; } void MeshNormalGenerator::setOverwritingEnabled(bool on) { impl->isOverwritingEnabled = on; } void MeshNormalGenerator::setMinCreaseAngle(float angle) { impl->minCreaseAngle = angle; } void MeshNormalGenerator::setMaxCreaseAngle(float angle) { impl->maxCreaseAngle = angle; } bool MeshNormalGenerator::generateNormals(SgMesh* mesh, float creaseAngle) { if(!mesh->vertices() || mesh->triangleVertices().empty()){ return false; } if(!impl->isOverwritingEnabled && mesh->normals() && !mesh->normals()->empty()){ return false; } if(!impl->faceNormals){ impl->faceNormals = new SgNormalArray; } impl->calculateFaceNormals(mesh); impl->setVertexNormals(mesh, creaseAngle); return true; } void MeshNormalGeneratorImpl::calculateFaceNormals(SgMesh* mesh) { const SgVertexArray& vertices = *mesh->vertices(); const int numVertices = vertices.size(); const int numTriangles = mesh->numTriangles(); faceNormals->clear(); faceNormals->reserve(numTriangles); vertexIndexToTriangleIndicesMap.clear(); vertexIndexToTriangleIndicesMap.resize(numVertices); for(int i=0; i < numTriangles; ++i){ SgMesh::TriangleRef triangle = mesh->triangle(i); const Vector3f& v0 = vertices[triangle[0]]; const Vector3f& v1 = vertices[triangle[1]]; const Vector3f& v2 = vertices[triangle[2]]; Vector3f normal((v1 - v0).cross(v2 - v0)); // prevent NaN if (normal.norm() == 0){ normal = Vector3f::UnitZ(); // Is this OK? }else{ normal.normalize(); } faceNormals->push_back(normal); for(int j=0; j < 3; ++j){ vector& trianglesOfVertex = vertexIndexToTriangleIndicesMap[triangle[j]]; /** \todo Angle between adjacent edges should be taken into account to generate natural normals */ bool isSameNormalFaceFound = false; for(size_t k=0; k < trianglesOfVertex.size(); ++k){ const Vector3f& otherNormal = (*faceNormals)[trianglesOfVertex[k]]; // the same face is not appended if(otherNormal.isApprox(normal, 5.0e-4)){ isSameNormalFaceFound = true; break; } } if(!isSameNormalFaceFound){ trianglesOfVertex.push_back(i); } } } } void MeshNormalGeneratorImpl::setVertexNormals(SgMesh* mesh, float givenCreaseAngle) { const float creaseAngle = std::max(minCreaseAngle, std::min(maxCreaseAngle, givenCreaseAngle)); const SgVertexArray& vertices = *mesh->vertices(); const int numVertices = vertices.size(); const int numTriangles = mesh->numTriangles(); mesh->setNormals(new SgNormalArray()); SgNormalArray& normals = *mesh->normals(); SgIndexArray& normalIndices = mesh->normalIndices(); normalIndices.clear(); normalIndices.reserve(mesh->triangleVertices().size()); vertexIndexToNormalIndicesMap.clear(); vertexIndexToNormalIndicesMap.resize(numVertices); for(int faceIndex=0; faceIndex < numTriangles; ++faceIndex){ SgMesh::TriangleRef triangle = mesh->triangle(faceIndex); for(int i=0; i < 3; ++i){ const int vertexIndex = triangle[i]; const vector& trianglesOfVertex = vertexIndexToTriangleIndicesMap[vertexIndex]; const Vector3f& currentFaceNormal = (*faceNormals)[faceIndex]; Vector3f normal = currentFaceNormal; bool normalIsFaceNormal = true; // avarage normals of the faces whose crease angle is below the 'creaseAngle' variable for(size_t j=0; j < trianglesOfVertex.size(); ++j){ const int adjacentFaceIndex = trianglesOfVertex[j]; const Vector3f& adjacentFaceNormal = (*faceNormals)[adjacentFaceIndex]; float cosAngle = currentFaceNormal.dot(adjacentFaceNormal) / (currentFaceNormal.norm() * adjacentFaceNormal.norm()); //prevent NaN if (cosAngle > 1.0) cosAngle = 1.0; if (cosAngle < -1.0) cosAngle = -1.0; const float angle = acosf(cosAngle); if(angle > 0.0f && angle < creaseAngle){ normal += adjacentFaceNormal; normalIsFaceNormal = false; } } if(!normalIsFaceNormal){ normal.normalize(); } int normalIndex = -1; for(int j=0; j < 3; ++j){ const int vertexIndex2 = triangle[j]; const vector& normalIndicesOfVertex = vertexIndexToNormalIndicesMap[vertexIndex2]; for(size_t k=0; k < normalIndicesOfVertex.size(); ++k){ int index = normalIndicesOfVertex[k]; if(normals[index].isApprox(normal)){ normalIndex = index; goto normalIndexFound; } } } if(normalIndex < 0){ normalIndex = normals.size(); normals.push_back(normal); vertexIndexToNormalIndicesMap[vertexIndex].push_back(normalIndex); } normalIndexFound: normalIndices.push_back(normalIndex); } } } choreonoid-1.5.0/src/Util/PolymorphicPointerArray.h0000664000000000000000000000570212741425367021107 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_POLYMORPHIC_POINTER_ARRAY_H #define CNOID_UTIL_POLYMORPHIC_POINTER_ARRAY_H #include #include namespace cnoid { class PolymorphicPointerArrayBase { public: virtual ~PolymorphicPointerArrayBase() { } }; template class PolymorphicPointerArray : public PolymorphicPointerArrayBase { typedef std::vector Container; Container elements; public: typedef PolymorphicPointerArrayBase Base; typedef typename Container::iterator iterator; typedef typename Container::const_iterator const_iterator; typedef typename Container::reference reference; typedef typename Container::const_reference const_reference; PolymorphicPointerArray() { } template PolymorphicPointerArray(const PolymorphicPointerArray& rhs){ (*this) << rhs; } virtual ~PolymorphicPointerArray() { } template PolymorphicPointerArray& operator<<(const PolymorphicPointerArray& rhs){ for(std::size_t i=0; i < rhs.size(); ++i){ PointerType p = dynamic_pointer_cast(rhs[i]); if(p){ push_back(p); } } return *this; } bool operator==(const PolymorphicPointerArray& rhs) const { return elements == rhs.elements; } bool operator!=(const PolymorphicPointerArray& rhs) const { return elements != rhs.elements; } bool empty() const { return elements.empty(); } void reserve(size_t size) { elements.reserve(size); } void resize(size_t size) { elements.resize(size); } std::size_t size() const { return elements.size(); } iterator begin() { return elements.begin(); } const_iterator begin() const { return elements.begin(); } iterator end() { return elements.end(); } const_iterator end() const { return elements.end(); } PointerType& back() { return elements.back(); } const PointerType& back() const { return elements.back(); } PointerType& front() { return elements.front(); } const PointerType& front() const { return elements.front(); } PointerType& operator[](std::size_t i) { return elements[i]; } const PointerType& operator[](std::size_t i) const { return elements[i]; } void clear(){ elements.clear(); } void push_back(const PointerType& pointer){ elements.push_back(pointer); } void pop_back(){ elements.pop_back(); } iterator erase(iterator pos){ return elements.erase(pos); } }; } #endif choreonoid-1.5.0/src/Util/Array2D.h0000664000000000000000000001411412741425367015503 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_ARRAY_2D_H #define CNOID_UTIL_ARRAY_2D_H #include #include namespace cnoid { template > class Array2D { typedef Array2D Array2DType; public: typedef ElementType Element; typedef typename std::vector Container; typedef typename Container::iterator iterator; //! \todo make const version of this class class Row { typename Container::iterator top; typename Container::iterator end_; int size_; public: typedef typename Container::iterator iterator; Row() { size_ = 0; } Row(const Array2D& owner, int frame) { size_ = owner.colSize_; top = (const_cast&>(owner)).container.begin() + frame * size_; end_ = top + size_; } Row& operator=(const Row& rhs) { top = rhs.top; end_ = rhs.end_; size_ = rhs.size_; return *this; } bool empty() const { return (size_ == 0); } int size() const { return size_; } ElementType& operator[](int index){ return top[index]; } const ElementType& operator[](int index) const { return top[index]; } ElementType& at(int index) { return top[index]; } iterator begin() { return top; } iterator end() { return end_; } }; //! \todo make const version of this class class Column { public: class iterator : public std::iterator { typename Container::iterator current; int colSize; public: iterator() { } iterator(typename Container::iterator current, int colSize) : current(current), colSize(colSize) { } ElementType& operator*() { return *current; } void operator++() { current += colSize; } void operator--() { current -= colSize; } bool operator==(iterator other) const { return (current == other.current); } bool operator!=(iterator other) const { return (current != other.current); } }; private: typename Container::iterator top; iterator end_; int part; int colSize; int size_; public: Column(const Array2D& owner, int part) { top = (const_cast&>(owner)).container.begin() + part; this->part = part; colSize = owner.colSize_; size_ = owner.rowSize_; end_ = iterator(top + colSize * size_, colSize); } bool empty() const { return (size_ == 0); } int size() const { return size_; } ElementType& operator[](int index){ return top[index * colSize]; } const ElementType& operator[](int index) const { return top[index * colSize]; } ElementType& at(int index) { return top[index * colSize]; } iterator begin() { return iterator(top, colSize); } iterator end() { return end_; } }; Array2D() { rowSize_ = 0; colSize_ = 0; } Array2D(int rowSize, int colSize) : container(rowSize * colSize) { rowSize_ = rowSize; colSize_ = colSize; } Array2D(const Array2DType& org) : container(org.container) { rowSize_ = org.rowSize_; colSize_ = org.colSize_; } Array2DType& operator=(const Array2DType& rhs) { if(this != &rhs){ container = rhs.container; rowSize_ = rhs.rowSize_; colSize_ = rhs.colSize_; } return *this; } virtual ~Array2D() { } bool empty() const { return container.empty(); } void resize(int newRowSize, int newColSize) { container.resize(newRowSize * newColSize); rowSize_ = newRowSize; colSize_ = newColSize; } void clear(){ resize(0, 0); } void resizeColumn(int newColSize){ resize(rowSize_, newColSize); } int rowSize() const { return rowSize_; } void resizeRow(int newRowSize){ resize(newRowSize, colSize_); } int colSize() const { return colSize_; } const ElementType& operator()(int rowIndex, int colIndex) const { return container[rowIndex * colSize_ + colIndex]; } ElementType& operator()(int rowIndex, int colIndex) { return container[rowIndex * colSize_ + colIndex]; } const ElementType& at(int rowIndex, int colIndex) const { return container[rowIndex * colSize_ + colIndex]; } ElementType& at(int rowIndex, int colIndex) { return container[rowIndex * colSize_ + colIndex]; } Row operator[](int rowIndex) { return Row(*this, rowIndex); } const Row operator[](int rowIndex) const { return Row(*this, rowIndex); } Row row(int rowIndex) { return Row(*this, rowIndex); } const Row row(int rowIndex) const { return Row(*this, rowIndex); } Column column(int colIndex) { return Column(*this, colIndex); } const Column column(int colIndex) const { return Column(*this, colIndex); } iterator begin() { return container.begin(); } iterator end() { return container.end(); } private: Container container; int rowSize_; int colSize_; }; } #endif choreonoid-1.5.0/src/Util/RangeLimiter.h0000664000000000000000000001234212741425367016622 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_RANGE_LIMITER_H_INCLUDED #define CNOID_UTIL_RANGE_LIMITER_H_INCLUDED #include #include #include "exportdecl.h" namespace cnoid { class RangeLimiter { public: template bool apply(TArray& valueSeq, double upperLimit, double lowerLimit, double limitGrad, double edgeGradRatio = 0.5); private: double uL; double lL; double r; struct TSegment { int begin; int end; double upper; double lower; double uc; double lc; bool isOver; }; std::vector segments; CNOID_EXPORT void calcCrossPoint(TSegment* seg); CNOID_EXPORT TSegment* mergeSegment(TSegment* seg, TSegment* prevSeg); template TSegment* finalizeSegment(TSegment* seg, int endFrame, TArray& valueSeq); }; template RangeLimiter::TSegment* RangeLimiter::finalizeSegment (RangeLimiter::TSegment* seg, int endFrame, TArray& valueSeq) { seg->end = endFrame; int backFrame = seg->begin - 1; TSegment* prevSeg = &segments[segments.size() - 2]; while(backFrame >= 0){ if(backFrame < prevSeg->end){ return mergeSegment(seg, prevSeg); } double v = valueSeq[backFrame]; backFrame--; if((v < seg->uc) && (v > seg->lc)){ break; } } backFrame++; seg->begin = backFrame; return seg; } template bool RangeLimiter::apply (TArray& valueSeq, double upperLimit, double lowerLimit, double limitGrad, double edgeGradRatio) { r = limitGrad; uL = upperLimit; lL = lowerLimit; segments.clear(); TSegment dummy; dummy.isOver = false; dummy.end = -1; segments.push_back(dummy); segments.push_back(TSegment()); TSegment* seg = &segments.back(); seg->begin = 0; seg->upper = uL; seg->lower = lL; seg->isOver = false; calcCrossPoint(seg); int frame = 0; int n = valueSeq.size(); while(frame < n){ double v = valueSeq[frame]; bool isOver = false; if(v > seg->upper){ isOver = true; seg->upper = v; } else if(v < seg->lower){ isOver = true; seg->lower = v; } if(isOver){ calcCrossPoint(seg); if(!seg->isOver){ seg->isOver = true; seg->begin = frame; } } else if(seg->isOver) { if((v < seg->uc) && (v > seg->lc)){ TSegment* finalized = finalizeSegment(seg, frame, valueSeq); if(finalized != seg){ seg = finalized; continue; } else { TSegment nextSeg; nextSeg.begin = finalized->end; nextSeg.upper = uL; nextSeg.lower = lL; nextSeg.isOver = false; calcCrossPoint(&nextSeg); segments.push_back(nextSeg); seg = &segments.back(); } } } frame++; } if(seg->isOver){ while(true) { TSegment* finalized = finalizeSegment(seg, frame, valueSeq); if(finalized == seg){ break; } seg = finalized; } } else { segments.pop_back(); } for(std::size_t i=1; i < segments.size(); i++){ TSegment& seg = segments[i]; if(seg.isOver){ double ua, ub; if(seg.upper == uL){ ua = 0.0; ub = 0.0; } else { double k = ((uL - seg.uc) / (seg.upper - seg.uc)) * edgeGradRatio; double u = seg.upper - seg.uc; double l = uL - seg.uc; ub = ((1.0 - k) * u - 3.0 * (u - l)) / (u * u); ua = (-2.0 * u * ub - 1.0 + k) / (3.0 * u * u); } double la, lb; if(seg.lower == lL){ la = 0.0; lb = 0.0; } else { double k = ((lL - seg.lc) / (seg.lower - seg.lc)) * edgeGradRatio; double u = seg.lower - seg.lc; double l = lL - seg.lc; lb = ((1.0 - k) * u - 3.0 * (u - l)) / (u * u); la = (-2.0 * u * lb - 1.0 + k) / (3.0 * u * u); } for(int frame=seg.begin; frame < seg.end; frame++){ double v = valueSeq[frame]; if(v >= seg.uc){ double x = v - seg.uc; valueSeq[frame] = ua * x*x*x + ub * x*x + x + seg.uc; } else if(v <= seg.lc){ double x = v - seg.lc; valueSeq[frame] = la * x*x*x + lb * x*x + x + seg.lc; } } } } return true; } } #endif choreonoid-1.5.0/src/Util/po/0000775000000000000000000000000012741425367014503 5ustar rootrootchoreonoid-1.5.0/src/Util/po/ja.po0000664000000000000000000000237512741425367015444 0ustar rootroot# Japanese translations for PACKAGE package. # Copyright (C) 2012 THE PACKAGE'S COPYRIGHT HOLDER # This file is distributed under the same license as the PACKAGE package. # nakaoka , 2012. # msgid "" msgstr "" "Project-Id-Version: PACKAGE VERSION\n" "Report-Msgid-Bugs-To: \n" "POT-Creation-Date: 2016-07-05 00:36+0900\n" "PO-Revision-Date: 2012-07-16 14:30+0100\n" "Last-Translator: nakaoka \n" "Language-Team: Japanese\n" "Language: ja\n" "MIME-Version: 1.0\n" "Content-Type: text/plain; charset=UTF-8\n" "Content-Transfer-Encoding: 8bit\n" "Plural-Forms: nplurals=1; plural=0;\n" #: ValueTree.cpp:84 msgid "%1% at line %2%, column %3%." msgstr "" #: ValueTree.cpp:86 msgid "%1%." msgstr "" #: ValueTree.cpp:90 msgid "Error at line %2%, column %3%." msgstr "" #: ValueTree.cpp:178 msgid "The value \"%1%\" must be an integer value" msgstr "" #: ValueTree.cpp:215 msgid "The value \"%1%\" must be a double value" msgstr "" #: ValueTree.cpp:251 msgid "The value \"%1%\" must be a boolean value" msgstr "" #: ValueTree.cpp:425 msgid "A %1% value must be a scalar value" msgstr "" #: ValueTree.cpp:434 msgid "The value is not a mapping" msgstr "" #: ValueTree.cpp:595 msgid "Key \"%1%\" is not found in the mapping" msgstr "" choreonoid-1.5.0/src/Util/SceneGraph.cpp0000664000000000000000000002522512741425367016616 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "SceneGraph.h" #include "SceneVisitor.h" #include "Exception.h" #include using namespace std; using namespace cnoid; SgUpdate::~SgUpdate() { } namespace { typedef boost::unordered_map CloneMap; } namespace cnoid { class SgCloneMapImpl : public CloneMap { }; } SgCloneMap::SgCloneMap() { cloneMap = new SgCloneMapImpl; isNonNodeCloningEnabled_ = true; } SgCloneMap::SgCloneMap(const SgCloneMap& org) { cloneMap = new SgCloneMapImpl(*org.cloneMap); isNonNodeCloningEnabled_ = org.isNonNodeCloningEnabled_; } void SgCloneMap::clear() { cloneMap->clear(); } SgObject* SgCloneMap::findOrCreateClone(const SgObject* org) { CloneMap::iterator p = cloneMap->find(org); if(p == cloneMap->end()){ SgObject* clone = org->clone(*this); (*cloneMap)[org] = clone; return clone; } else { return p->second.get(); } } SgCloneMap::~SgCloneMap() { delete cloneMap; } SgObject::SgObject() { } SgObject::SgObject(const SgObject& org) : name_(org.name_) { } SgObject* SgObject::clone(SgCloneMap& cloneMap) const { return new SgObject(*this); } int SgObject::numChildObjects() const { return 0; } SgObject* SgObject::childObject(int index) { return 0; } void SgObject::onUpdated(SgUpdate& update) { update.push(this); sigUpdated_(update); for(const_parentIter p = parents.begin(); p != parents.end(); ++p){ (*p)->onUpdated(update); } update.pop(); } void SgObject::addParent(SgObject* parent, bool doNotify) { parents.insert(parent); if(doNotify){ SgUpdate update(SgUpdate::ADDED); update.push(this); parent->onUpdated(update); } if(parents.size() == 1){ sigGraphConnection_(true); } } void SgObject::removeParent(SgObject* parent) { parents.erase(parent); if(parents.empty()){ sigGraphConnection_(false); } } SgNode::SgNode() { } SgNode::SgNode(const SgNode& org) : SgObject(org) { } SgNode::~SgNode() { } SgObject* SgNode::clone(SgCloneMap& cloneMap) const { return new SgNode(*this); } void SgNode::accept(SceneVisitor& visitor) { visitor.visitNode(this); } const BoundingBox& SgNode::boundingBox() const { static const BoundingBox bbox; // empty one return bbox; } bool SgNode::isGroup() const { return false; } SgGroup::SgGroup() { isBboxCacheValid = false; } SgGroup::SgGroup(const SgGroup& org) : SgNode(org) { children.reserve(org.numChildren()); // shallow copy for(const_iterator p = org.begin(); p != org.end(); ++p){ addChild(*p, false); } isBboxCacheValid = true; bboxCache = org.bboxCache; } SgGroup::SgGroup(const SgGroup& org, SgCloneMap& cloneMap) : SgNode(org) { children.reserve(org.numChildren()); for(const_iterator p = org.begin(); p != org.end(); ++p){ addChild(cloneMap.getClone(p->get()), false); } isBboxCacheValid = true; bboxCache = org.bboxCache; } SgGroup::~SgGroup() { for(const_iterator p = begin(); p != end(); ++p){ (*p)->removeParent(this); } } SgObject* SgGroup::clone(SgCloneMap& cloneMap) const { return new SgGroup(*this, cloneMap); } int SgGroup::numChildObjects() const { return children.size(); } SgObject* SgGroup::childObject(int index) { return children[index].get(); } void SgGroup::accept(SceneVisitor& visitor) { visitor.visitGroup(this); } void SgGroup::onUpdated(SgUpdate& update) { //if(update.action() & SgUpdate::BBOX_UPDATED){ invalidateBoundingBox(); SgNode::onUpdated(update); //} } const BoundingBox& SgGroup::boundingBox() const { if(isBboxCacheValid){ return bboxCache; } bboxCache.clear(); for(const_iterator p = begin(); p != end(); ++p){ bboxCache.expandBy((*p)->boundingBox()); } isBboxCacheValid = true; return bboxCache; } bool SgGroup::isGroup() const { return true; } bool SgGroup::contains(SgNode* node) const { for(const_iterator p = begin(); p != end(); ++p){ if((*p) == node){ return true; } } return false; } void SgGroup::addChild(SgNode* node, bool doNotify) { if(node){ children.push_back(node); node->addParent(this, doNotify); } } bool SgGroup::addChildOnce(SgNode* node, bool doNotify) { if(!contains(node)){ addChild(node, doNotify); return true; } return false; } void SgGroup::insertChild(SgNode* node, int index, bool doNotify) { if(node){ if(index > children.size()){ index = children.size(); } children.insert(children.begin() + index, node); node->addParent(this, doNotify); } } SgGroup::iterator SgGroup::removeChild(iterator childIter, bool doNotify) { iterator next; SgNode* child = *childIter; child->removeParent(this); if(!doNotify){ next = children.erase(childIter); } else { SgNodePtr childHolder = child; next = children.erase(childIter); SgUpdate update(SgUpdate::REMOVED); update.push(child); onUpdated(update); } return next; } bool SgGroup::removeChild(SgNode* node, bool doNotify) { bool removed = false; iterator p = children.begin(); while(p != children.end()){ if((*p) == node){ p = removeChild(p, doNotify); removed = true; } else { ++p; } } return removed; } void SgGroup::removeChildAt(int index, bool doNotify) { removeChild(children.begin() + index, doNotify); } void SgGroup::clearChildren(bool doNotify) { iterator p = children.begin(); while(p != children.end()){ p = removeChild(p, doNotify); } } void SgGroup::copyChildrenTo(SgGroup* group, bool doNotify) { for(int i=0; i < children.size(); ++i){ group->addChild(child(i), doNotify); } } void SgGroup::moveChildrenTo(SgGroup* group, bool doNotify) { const int destTop = group->children.size(); for(int i=0; i < children.size(); ++i){ group->addChild(child(i)); } clearChildren(doNotify); if(doNotify){ SgUpdate update(SgUpdate::ADDED); for(int i=destTop; i < group->numChildren(); ++i){ group->child(i)->notifyUpdate(update); } } } void SgGroup::throwTypeMismatchError() { throw type_mismatch_error(); } SgInvariantGroup::SgInvariantGroup() { } SgInvariantGroup::SgInvariantGroup(const SgInvariantGroup& org) : SgGroup(org) { } SgInvariantGroup::SgInvariantGroup(const SgInvariantGroup& org, SgCloneMap& cloneMap) : SgGroup(org, cloneMap) { } SgObject* SgInvariantGroup::clone(SgCloneMap& cloneMap) const { return new SgInvariantGroup(*this, cloneMap); } void SgInvariantGroup::accept(SceneVisitor& visitor) { visitor.visitInvariantGroup(this); } SgTransform::SgTransform() { } SgTransform::SgTransform(const SgTransform& org) : SgGroup(org) { untransformedBboxCache = org.untransformedBboxCache; } SgTransform::SgTransform(const SgTransform& org, SgCloneMap& cloneMap) : SgGroup(org, cloneMap) { untransformedBboxCache = org.untransformedBboxCache; } const BoundingBox& SgTransform::untransformedBoundingBox() const { if(!isBboxCacheValid){ boundingBox(); } return untransformedBboxCache; } SgPosTransform::SgPosTransform() : T_(Affine3::Identity()) { } SgPosTransform::SgPosTransform(const Affine3& T) : T_(T) { } SgPosTransform::SgPosTransform(const SgPosTransform& org) : SgTransform(org), T_(org.T_) { } SgPosTransform::SgPosTransform(const SgPosTransform& org, SgCloneMap& cloneMap) : SgTransform(org, cloneMap), T_(org.T_) { } SgObject* SgPosTransform::clone(SgCloneMap& cloneMap) const { return new SgPosTransform(*this, cloneMap); } void SgPosTransform::accept(SceneVisitor& visitor) { visitor.visitPosTransform(this); } const BoundingBox& SgPosTransform::boundingBox() const { if(isBboxCacheValid){ return bboxCache; } bboxCache.clear(); for(const_iterator p = begin(); p != end(); ++p){ bboxCache.expandBy((*p)->boundingBox()); } untransformedBboxCache = bboxCache; bboxCache.transform(T_); isBboxCacheValid = true; return bboxCache; } void SgPosTransform::getTransform(Affine3& out_T) const { out_T = T_; } SgScaleTransform::SgScaleTransform() { scale_.setOnes(); } SgScaleTransform::SgScaleTransform(const SgScaleTransform& org) : SgTransform(org), scale_(org.scale_) { } SgScaleTransform::SgScaleTransform(const SgScaleTransform& org, SgCloneMap& cloneMap) : SgTransform(org, cloneMap), scale_(org.scale_) { } SgObject* SgScaleTransform::clone(SgCloneMap& cloneMap) const { return new SgScaleTransform(*this, cloneMap); } void SgScaleTransform::accept(SceneVisitor& visitor) { visitor.visitScaleTransform(this); } const BoundingBox& SgScaleTransform::boundingBox() const { if(isBboxCacheValid){ return bboxCache; } bboxCache.clear(); for(const_iterator p = begin(); p != end(); ++p){ bboxCache.expandBy((*p)->boundingBox()); } untransformedBboxCache = bboxCache; bboxCache.transform(Affine3(scale_.asDiagonal())); isBboxCacheValid = true; return bboxCache; } void SgScaleTransform::getTransform(Affine3& out_T) const { out_T = scale_.asDiagonal(); } SgSwitch::SgSwitch() { isTurnedOn_ = true; } SgSwitch::SgSwitch(const SgSwitch& org) : SgGroup(org) { isTurnedOn_ = org.isTurnedOn_; } SgSwitch::SgSwitch(const SgSwitch& org, SgCloneMap& cloneMap) : SgGroup(org, cloneMap) { isTurnedOn_ = org.isTurnedOn_; } SgObject* SgSwitch::clone(SgCloneMap& cloneMap) const { return new SgSwitch(*this, cloneMap); } void SgSwitch::accept(SceneVisitor& visitor) { visitor.visitSwitch(this); } SgUnpickableGroup::SgUnpickableGroup() { } SgUnpickableGroup::SgUnpickableGroup(const SgUnpickableGroup& org) : SgGroup(org) { } SgUnpickableGroup::SgUnpickableGroup(const SgUnpickableGroup& org, SgCloneMap& cloneMap) : SgGroup(org, cloneMap) { } SgObject* SgUnpickableGroup::clone(SgCloneMap& cloneMap) const { return new SgUnpickableGroup(*this, cloneMap); } void SgUnpickableGroup::accept(SceneVisitor& visitor) { visitor.visitUnpickableGroup(this); } SgPreprocessed::SgPreprocessed() { } SgPreprocessed::SgPreprocessed(const SgPreprocessed& org) : SgNode(org) { } SgObject* SgPreprocessed::clone(SgCloneMap& cloneMap) const { return new SgPreprocessed(*this); } void SgPreprocessed::accept(SceneVisitor& visitor) { visitor.visitPreprocessed(this); } choreonoid-1.5.0/src/Util/AbstractTaskSequencer.cpp0000664000000000000000000000023712741425367021034 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "AbstractTaskSequencer.h" using namespace cnoid; AbstractTaskSequencer::~AbstractTaskSequencer() { } choreonoid-1.5.0/src/Util/ImageConverter.h0000664000000000000000000000111712741425367017150 0ustar rootroot/*! @file ImageConverter.h @brief Header file of Image Converter class @author K.FUKUDA */ #ifndef CNOID_UTIL_IMAGECONVERTER_H_INCLUDED #define CNOID_UTIL_IMAGECONVERTER_H_INCLUDED #include "VRML.h" #include "exportdecl.h" namespace cnoid { class ImageConverter { private: bool initializeSFImage(); bool loadPNG(const std::string & filePath); bool loadJPEG(const std::string & filePath); public: SFImage* image; ImageConverter(void); ~ImageConverter(void); std::string message; CNOID_EXPORT SFImage* convert(const std::string& url); }; }; #endif choreonoid-1.5.0/src/Util/RangeLimiter.cpp0000664000000000000000000000141312741425367017152 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "RangeLimiter.h" using namespace cnoid; void RangeLimiter::calcCrossPoint(RangeLimiter::TSegment* seg) { seg->uc = (uL - r * seg->upper) / (1.0 - r); seg->lc = (lL - r * seg->lower) / (1.0 - r); if(seg->lc > seg->uc){ seg->uc = seg->lc = (seg->upper * lL - seg->lower * uL) / (seg->upper + lL - uL - seg->lower); } } RangeLimiter::TSegment* RangeLimiter::mergeSegment(RangeLimiter::TSegment* seg, RangeLimiter::TSegment* prevSeg) { if(seg->upper > prevSeg->upper){ prevSeg->upper = seg->upper; } if(seg->lower < prevSeg->lower){ prevSeg->lower = seg->lower; } calcCrossPoint(prevSeg); segments.pop_back(); return &segments.back(); } choreonoid-1.5.0/src/Util/SceneDrawables.cpp0000664000000000000000000003623212741425367017461 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "SceneDrawables.h" #include "SceneVisitor.h" #include using namespace std; using namespace cnoid; namespace { const bool USE_FACES_FOR_BOUNDING_BOX_CALCULATION = true; } SgMaterial::SgMaterial() { ambientIntensity_ = 0.0f; diffuseColor_.setZero(); emissiveColor_.setZero(); specularColor_.setZero(); shininess_ = 0.0f; transparency_ = 0.0f; } SgMaterial::SgMaterial(const SgMaterial& org) : SgObject(org) { ambientIntensity_ = org.ambientIntensity_; diffuseColor_ = org.diffuseColor_; emissiveColor_ = org.emissiveColor_; specularColor_ = org.specularColor_; shininess_ = org.shininess_; transparency_ = org.transparency_; } SgObject* SgMaterial::clone(SgCloneMap& cloneMap) const { return new SgMaterial(*this); } SgImage::SgImage() : image_(boost::make_shared()) { } SgImage::SgImage(const Image& image) : image_(boost::make_shared(image)) { } SgImage::SgImage(boost::shared_ptr sharedImage) : image_(sharedImage) { } SgImage::SgImage(const SgImage& org) : SgObject(org), image_(org.image_) { } SgObject* SgImage::clone(SgCloneMap& cloneMap) const { return new SgImage(*this); } Image& SgImage::image() { if(image_.use_count() > 1){ image_ = boost::make_shared(*image_); } return *image_; } unsigned char* SgImage::pixels() { if(image_.use_count() > 1){ image_ = boost::make_shared(*image_); } return image_->pixels(); } void SgImage::setSize(int width, int height, int nComponents) { image().setSize(width, height, nComponents); } void SgImage::setSize(int width, int height) { image().setSize(width, height); } SgTextureTransform::SgTextureTransform() { center_ << 0.0, 0.0; rotation_ = 0; scale_ << 1.0, 1.0; translation_ << 0.0, 0.0; } SgTextureTransform::SgTextureTransform(const SgTextureTransform& org) : SgObject(org) { center_ = org.center_; rotation_ = org.rotation_; scale_ = org.scale_; translation_ = org.translation_; } SgObject* SgTextureTransform::clone(SgCloneMap& cloneMap) const { return new SgTextureTransform(*this); } SgTexture::SgTexture() { repeatS_ = true; repeatT_ = true; } SgTexture::SgTexture(const SgTexture& org, SgCloneMap& cloneMap) : SgObject(org) { if(cloneMap.isNonNodeCloningEnabled()){ if(org.image()){ setImage(cloneMap.getClone(org.image())); } if(org.textureTransform()){ setTextureTransform(cloneMap.getClone(org.textureTransform())); } } else { setImage(const_cast(org.image())); setTextureTransform(const_cast(org.textureTransform())); } repeatS_ = org.repeatS_; repeatT_ = org.repeatT_; } SgObject* SgTexture::clone(SgCloneMap& cloneMap) const { return new SgTexture(*this, cloneMap); } int SgTexture::numChildObjects() const { int n = 0; if(image_) ++n; if(textureTransform_) ++n; return n; } SgObject* SgTexture::childObject(int index) { SgObject* objects[2] = { 0, 0 }; int i = 0; if(image_) objects[i++] = image_; if(textureTransform_) objects[i++] = textureTransform_; return objects[index]; } SgImage* SgTexture::setImage(SgImage* image) { if(image_){ image_->removeParent(this); } image_ = image; if(image){ image->addParent(this); } return image; } SgImage* SgTexture::getOrCreateImage() { if(!image_){ setImage(new SgImage); } return image_; } SgTextureTransform* SgTexture::setTextureTransform(SgTextureTransform* textureTransform) { if(textureTransform_){ textureTransform_->removeParent(this); } textureTransform_ = textureTransform; if(textureTransform){ textureTransform->addParent(this); } return textureTransform; } SgMeshBase::SgMeshBase() { isSolid_ = false; } SgMeshBase::SgMeshBase(const SgMeshBase& org, SgCloneMap& cloneMap) : SgObject(org), normalIndices_(org.normalIndices_), colorIndices_(org.colorIndices_), texCoordIndices_(org.texCoordIndices_) { if(cloneMap.isNonNodeCloningEnabled()){ if(org.vertices_){ setVertices(cloneMap.getClone(org.vertices())); } if(org.normals_){ setNormals(cloneMap.getClone(org.normals())); } if(org.colors_){ setColors(cloneMap.getClone(org.colors())); } if(org.texCoords_){ setTexCoords(cloneMap.getClone(org.texCoords())); } } else { setVertices(const_cast(org.vertices())); setNormals(const_cast(org.normals())); setColors(const_cast(org.colors())); setTexCoords(const_cast(org.texCoords())); } isSolid_ = org.isSolid_; bbox = org.bbox; } int SgMeshBase::numChildObjects() const { int n = 0; if(vertices_) ++n; if(normals_) ++n; if(colors_) ++n; return n; } SgObject* SgMeshBase::childObject(int index) { SgObject* objects[3] = { 0, 0, 0 }; int i = 0; if(vertices_) objects[i++] = vertices_.get(); if(normals_) objects[i++] = normals_.get(); if(colors_) objects[i++] = colors_.get(); return objects[index]; } const BoundingBox& SgMeshBase::boundingBox() const { return bbox; } void SgMeshBase::updateBoundingBox() { if(!vertices_){ bbox.clear(); } else { BoundingBoxf bboxf; for(SgVertexArray::const_iterator p = vertices_->begin(); p != vertices_->end(); ++p){ bboxf.expandBy(*p); } bbox = bboxf; } } SgVertexArray* SgMeshBase::setVertices(SgVertexArray* vertices) { if(vertices_){ vertices_->removeParent(this); } vertices_ = vertices; if(vertices){ vertices->addParent(this); } return vertices; } SgVertexArray* SgMeshBase::getOrCreateVertices() { if(!vertices_){ setVertices(new SgVertexArray); } return vertices_; } SgNormalArray* SgMeshBase::setNormals(SgNormalArray* normals) { if(normals_){ normals_->removeParent(this); } normals_ = normals; if(normals){ normals->addParent(this); } return normals; } SgNormalArray* SgMeshBase::getOrCreateNormals() { if(!normals_){ setNormals(new SgNormalArray); } return normals_; } SgColorArray* SgMeshBase::setColors(SgColorArray* colors) { if(colors_){ colors_->removeParent(this); } colors_ = colors; if(colors){ colors->addParent(this); } return colors; } SgColorArray* SgMeshBase::getOrCreateColors() { if(!colors_){ setColors(new SgColorArray); } return colors_; } SgTexCoordArray* SgMeshBase::setTexCoords(SgTexCoordArray* texCoords) { if(texCoords_){ texCoords_->removeParent(this); } texCoords_ = texCoords; if(texCoords){ texCoords->addParent(this); } return texCoords; } SgMesh::SgMesh() { } SgMesh::SgMesh(const SgMesh& org, SgCloneMap& cloneMap) : SgMeshBase(org, cloneMap), triangleVertices_(org.triangleVertices_), primitive_(org.primitive_) { } SgObject* SgMesh::clone(SgCloneMap& cloneMap) const { return new SgMesh(*this, cloneMap); } void SgMesh::updateBoundingBox() { if(!USE_FACES_FOR_BOUNDING_BOX_CALCULATION){ SgMeshBase::updateBoundingBox(); } else { if(!hasVertices()){ bbox.clear(); } else { BoundingBoxf bboxf; const SgVertexArray& v = *vertices(); for(SgIndexArray::const_iterator iter = triangleVertices_.begin(); iter != triangleVertices_.end(); ++iter){ const Vector3f& p = v[*iter]; bboxf.expandBy(p); } bbox = bboxf; } } } SgPolygonMesh::SgPolygonMesh() { } SgPolygonMesh::SgPolygonMesh(const SgPolygonMesh& org, SgCloneMap& cloneMap) : SgMeshBase(org, cloneMap), polygonVertices_(org.polygonVertices_) { } SgObject* SgPolygonMesh::clone(SgCloneMap& cloneMap) const { return new SgPolygonMesh(*this, cloneMap); } void SgPolygonMesh::updateBoundingBox() { if(!USE_FACES_FOR_BOUNDING_BOX_CALCULATION){ SgMeshBase::updateBoundingBox(); } else { if(!hasVertices()){ bbox.clear(); } else { BoundingBoxf bboxf; const SgVertexArray& v = *vertices(); for(SgIndexArray::const_iterator iter = polygonVertices_.begin(); iter != polygonVertices_.end(); ++iter){ const int index = *iter; if(index >= 0){ const Vector3f& p = v[index]; bboxf.expandBy(p); } } bbox = bboxf; } } } SgShape::SgShape() { } SgShape::SgShape(const SgShape& org, SgCloneMap& cloneMap) : SgNode(org) { if(cloneMap.isNonNodeCloningEnabled()){ if(org.mesh()){ setMesh(cloneMap.getClone(org.mesh())); } if(org.material()){ setMaterial(cloneMap.getClone(org.material())); } if(org.texture()){ setTexture(cloneMap.getClone(org.texture())); } } else { setMesh(const_cast(org.mesh())); setMaterial(const_cast(org.material())); setTexture(const_cast(org.texture())); } } SgObject* SgShape::clone(SgCloneMap& cloneMap) const { return new SgShape(*this, cloneMap); } int SgShape::numChildObjects() const { int n = 0; if(mesh_) ++n; if(material_) ++n; if(texture_) ++n; return n; } SgObject* SgShape::childObject(int index) { SgObject* objects[3] = { 0, 0, 0 }; int i = 0; if(mesh_) objects[i++] = mesh_.get(); if(material_) objects[i++] = material_.get(); if(texture_) objects[i++] = texture_.get(); return objects[index]; } void SgShape::accept(SceneVisitor& visitor) { visitor.visitShape(this); } const BoundingBox& SgShape::boundingBox() const { if(mesh()){ return mesh()->boundingBox(); } return SgNode::boundingBox(); } SgMesh* SgShape::setMesh(SgMesh* mesh) { if(mesh_){ mesh_->removeParent(this); } mesh_ = mesh; if(mesh){ mesh->addParent(this); } return mesh; } SgMesh* SgShape::getOrCreateMesh() { if(!mesh_){ setMesh(new SgMesh); } return mesh_; } SgMaterial* SgShape::setMaterial(SgMaterial* material) { if(material_){ material_->removeParent(this); } material_ = material; if(material){ material->addParent(this); } return material; } SgMaterial* SgShape::getOrCreateMaterial() { if(!material_){ setMaterial(new SgMaterial); } return material_; } SgTexture* SgShape::setTexture(SgTexture* texture) { if(texture_){ texture_->removeParent(this); } texture_ = texture; if(texture){ texture->addParent(this); } return texture; } SgTexture* SgShape::getOrCreateTexture() { if(!texture_){ setTexture(new SgTexture); } return texture_; } SgPlot::SgPlot() { } SgPlot::SgPlot(const SgPlot& org, SgCloneMap& cloneMap) : SgNode(org) { if(cloneMap.isNonNodeCloningEnabled()){ if(org.vertices()){ setVertices(cloneMap.getClone(org.vertices())); } if(org.colors()){ setColors(cloneMap.getClone(org.colors())); } if(org.material()){ setMaterial(cloneMap.getClone(org.material())); } } else { setVertices(const_cast(org.vertices())); setColors(const_cast(org.colors())); setMaterial(const_cast(org.material())); } normalIndices_ = org.normalIndices_; colorIndices_ = org.colorIndices_; bbox = org.bbox; } int SgPlot::numChildObjects() const { int n = 0; if(vertices_) ++n; if(colors_) ++n; return n; } SgObject* SgPlot::childObject(int index) { SgObject* objects[2] = { 0, 0 }; int i = 0; if(vertices_) objects[i++] = vertices_.get(); if(colors_) objects[i++] = colors_.get(); return objects[index]; } const BoundingBox& SgPlot::boundingBox() const { return bbox; } void SgPlot::updateBoundingBox() { if(!vertices_){ bbox.clear(); } else { BoundingBoxf bboxf; for(SgVertexArray::const_iterator p = vertices_->begin(); p != vertices_->end(); ++p){ bboxf.expandBy(*p); } bbox = bboxf; } } SgVertexArray* SgPlot::setVertices(SgVertexArray* vertices) { if(vertices_){ vertices_->removeParent(this); } vertices_ = vertices; if(vertices){ vertices->addParent(this); } return vertices; } SgVertexArray* SgPlot::getOrCreateVertices() { if(!vertices_){ setVertices(new SgVertexArray); } return vertices_; } SgNormalArray* SgPlot::setNormals(SgNormalArray* normals) { if(normals_){ normals_->removeParent(this); } normals_ = normals; if(normals){ normals->addParent(this); } return normals; } SgNormalArray* SgPlot::getOrCreateNormals() { if(!normals_){ setNormals(new SgNormalArray); } return normals_; } SgMaterial* SgPlot::setMaterial(SgMaterial* material) { if(material_){ material_->removeParent(this); } material_ = material; if(material){ material->addParent(this); } return material; } SgColorArray* SgPlot::setColors(SgColorArray* colors) { if(colors_){ colors_->removeParent(this); } colors_ = colors; if(colors){ colors->addParent(this); } return colors; } SgColorArray* SgPlot::getOrCreateColors() { if(!colors_){ setColors(new SgColorArray); } return colors_; } SgPointSet::SgPointSet() { pointSize_ = 0.0; } SgPointSet::SgPointSet(const SgPointSet& org, SgCloneMap& cloneMap) : SgPlot(org, cloneMap) { pointSize_ = org.pointSize_; } SgObject* SgPointSet::clone(SgCloneMap& cloneMap) const { return new SgPointSet(*this, cloneMap); } void SgPointSet::accept(SceneVisitor& visitor) { visitor.visitPointSet(this); } SgLineSet::SgLineSet() { lineWidth_ = 0.0; } SgLineSet::SgLineSet(const SgLineSet& org, SgCloneMap& cloneMap) : SgPlot(org, cloneMap) { lineWidth_ = org.lineWidth_; } SgObject* SgLineSet::clone(SgCloneMap& cloneMap) const { return new SgLineSet(*this, cloneMap); } void SgLineSet::accept(SceneVisitor& visitor) { visitor.visitLineSet(this); } SgOverlay::SgOverlay() { } SgOverlay::SgOverlay(const SgOverlay& org, SgCloneMap& cloneMap) : SgGroup(org, cloneMap) { } SgOverlay::~SgOverlay() { } SgObject* SgOverlay::clone(SgCloneMap& cloneMap) const { return new SgOverlay(*this, cloneMap); } void SgOverlay::accept(SceneVisitor& visitor) { visitor.visitOverlay(this); } void SgOverlay::calcViewVolume(double viewportWidth, double viewportHeight, ViewVolume& io_volume) { } choreonoid-1.5.0/src/Util/VRMLToSGConverter.h0000664000000000000000000000145512741425367017450 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_VRML_TO_SG_CONVERTER_H #define CNOID_UTIL_VRML_TO_SG_CONVERTER_H #include "VRML.h" #include "SceneGraph.h" #include "exportdecl.h" namespace cnoid { class VRMLToSGConverterImpl; class CNOID_EXPORT VRMLToSGConverter { public: VRMLToSGConverter(); ~VRMLToSGConverter(); int divisionNumber() const; void setMessageSink(std::ostream& os); void setTriangulationEnabled(bool on); void setDivisionNumber(int divisionNumber); void setNormalGenerationEnabled(bool on, bool doOverwrite = false); void setMinCreaseAngle(double angle); void setMaxCreaseAngle(double angle); void clearConvertedNodeMap(); SgNodePtr convert(VRMLNodePtr vrmlNode); private: VRMLToSGConverterImpl* impl; }; }; #endif choreonoid-1.5.0/src/Util/Vector3Seq.h0000664000000000000000000000151312741425367016234 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_VECTOR3_SEQ_H #define CNOID_UTIL_VECTOR3_SEQ_H #include "Seq.h" #include "EigenUtil.h" #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT Vector3Seq : public Seq { public: typedef Seq BaseSeqType; Vector3Seq(int nFrames = 0); Vector3Seq(const Vector3Seq& org); virtual ~Vector3Seq(); virtual AbstractSeqPtr cloneSeq() const; virtual bool loadPlainFormat(const std::string& filename); virtual bool saveAsPlainFormat(const std::string& filename); protected: virtual Vector3 defaultValue() const { return Vector3::Zero(); } virtual bool doWriteSeq(YAMLWriter& writer); virtual bool doReadSeq(const Mapping& archive); }; typedef boost::shared_ptr Vector3SeqPtr; } #endif choreonoid-1.5.0/src/Util/SceneMarkers.h0000664000000000000000000000263012741425367016621 0ustar rootroot/** @author Shizuko Hattori @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_SCENE_MARKERS_H #define CNOID_UTIL_SCENE_MARKERS_H #include "SceneDrawables.h" #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT CrossMarker : public SgPosTransform { public: CrossMarker(double size, const Vector3f& color, double lineWidth = 1.0); void setSize(double size); private: SgVertexArrayPtr vertices; double size_; }; typedef ref_ptr CrossMarkerPtr; class CNOID_EXPORT SphereMarker : public SgPosTransform { public: SphereMarker(); SphereMarker(double radius, const Vector3f& color, float transparency = 0.0); void setRadius(double r); void setColor(const Vector3f& c); private: void initialize(double radius, const Vector3f& color, float transparency); SgScaleTransformPtr scale; SgMaterialPtr material; }; typedef ref_ptr SphereMarkerPtr; class CNOID_EXPORT BoundingBoxMarker : public SgGroup { public: BoundingBoxMarker(const BoundingBox& bbox, const Vector3f& color, float transparency, double width); BoundingBoxMarker(const BoundingBox& bbox, const Vector3f& color, float transparency); private: void create(const BoundingBox& bbox, const Vector3f& color, float transparency, double width); void addMarker(SgShape* shape, double x, double y, double z); }; typedef ref_ptr BoundingBoxMarkerPtr; } #endif choreonoid-1.5.0/src/Util/PlainSeqFormatLoader.cpp0000664000000000000000000000364012741425367020610 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "PlainSeqFormatLoader.h" #include #include #include using namespace std; using namespace boost; using namespace cnoid; bool PlainSeqFileLoader::load(const std::string& filename) { ifstream is(filename.c_str()); string errorMessageBase("\""); errorMessageBase += filename + "\""; if(!is){ errorMessage_ = errorMessageBase + " cannot be opened."; return false; } size_t nColumns = 0; size_t nLines = 0; typedef char_separator Separator; typedef tokenizer Tokenizer; Separator sep(" \t\r\n"); seq.clear(); string line; while(getline(is, line)){ nLines++; seq.push_back(vector(nColumns)); vector& v = seq.back(); v.clear(); Tokenizer tokens(line, sep); for(Tokenizer::iterator it = tokens.begin(); it != tokens.end(); ++it){ v.push_back(lexical_cast(*it)); } if(nColumns == 0){ nColumns = v.size(); } else if(v.size() != nColumns){ errorMessage_ = errorMessageBase + " contains different size columns"; return false; } } if(nColumns < 2 || nLines < 1){ errorMessage_ = errorMessageBase + ": Empty sequence."; return false; } numParts_ = nColumns - 1; numFrames_ = nLines; if(numFrames_ >= 2){ iterator it = seq.begin(); double time0 = (*it)[0]; double time1 = (*(++it))[0]; timeStep_ = time1 - time0; if(timeStep_ <= 0.0){ errorMessage_ = errorMessageBase + ": Time values are not arranged."; return false; } } else { timeStep_ = 0.01; } return true; } const std::string& PlainSeqFileLoader::errorMessage() { return errorMessage_; } choreonoid-1.5.0/src/Util/MeshGenerator.cpp0000664000000000000000000004366112741425367017346 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "MeshGenerator.h" #include "MeshNormalGenerator.h" #include "MeshExtractor.h" #include "Triangulator.h" #include "SceneDrawables.h" using namespace std; using namespace cnoid; namespace { const double PI = 3.14159265358979323846; } MeshGenerator::MeshGenerator() { isNormalGenerationEnabled_ = true; normalGenerator = 0; divisionNumber_ = 20; } MeshGenerator::~MeshGenerator() { if(normalGenerator){ delete normalGenerator; } } void MeshGenerator::setDivisionNumber(int n) { divisionNumber_ = n; } int MeshGenerator::divisionNumber() const { return divisionNumber_; } void MeshGenerator::enableNormalGeneration(bool on) { isNormalGenerationEnabled_ = on; } bool MeshGenerator::isNormalGenerationEnabled() const { return isNormalGenerationEnabled_; } void MeshGenerator::generateNormals(SgMesh* mesh, double creaseAngle) { if(isNormalGenerationEnabled_){ if(!normalGenerator){ normalGenerator = new MeshNormalGenerator; } normalGenerator->generateNormals(mesh, creaseAngle); } } SgMesh* MeshGenerator::generateBox(Vector3 size) { if(size.x() < 0.0 || size.y() < 0.0 || size.z() < 0.0){ return 0; } const float x = size.x() * 0.5; const float y = size.y() * 0.5; const float z = size.z() * 0.5; SgMesh* mesh = new SgMesh; SgVertexArray& vertices = *mesh->setVertices(new SgVertexArray()); vertices.reserve(8); vertices.push_back(Vector3f( x, y, z)); vertices.push_back(Vector3f(-x, y, z)); vertices.push_back(Vector3f(-x,-y, z)); vertices.push_back(Vector3f( x,-y, z)); vertices.push_back(Vector3f( x, y,-z)); vertices.push_back(Vector3f(-x, y,-z)); vertices.push_back(Vector3f(-x,-y,-z)); vertices.push_back(Vector3f( x,-y,-z)); mesh->reserveNumTriangles(12); mesh->addTriangle(0,1,2); mesh->addTriangle(2,3,0); mesh->addTriangle(0,5,1); mesh->addTriangle(0,4,5); mesh->addTriangle(1,5,6); mesh->addTriangle(1,6,2); mesh->addTriangle(2,6,7); mesh->addTriangle(2,7,3); mesh->addTriangle(3,7,4); mesh->addTriangle(3,4,0); mesh->addTriangle(4,6,5); mesh->addTriangle(4,7,6); mesh->setPrimitive(SgMesh::Box(size)); mesh->updateBoundingBox(); generateNormals(mesh, 0.0); return mesh; } SgMesh* MeshGenerator::generateSphere(double radius) { if(radius < 0.0 || divisionNumber_ < 4){ return 0; } SgMesh* mesh = new SgMesh(); const int vdn = divisionNumber_ / 2; // latitudinal division number const int hdn = divisionNumber_; // longitudinal division number SgVertexArray& vertices = *mesh->setVertices(new SgVertexArray()); vertices.reserve((vdn - 1) * hdn + 2); for(int i=1; i < vdn; i++){ // latitudinal direction const double tv = i * PI / vdn; for(int j=0; j < hdn; j++){ // longitudinal direction const double th = j * 2.0 * PI / hdn; vertices.push_back(Vector3f(radius * sin(tv) * cos(th), radius * cos(tv), radius * sin(tv) * sin(th))); } } const int topIndex = vertices.size(); vertices.push_back(Vector3f(0.0f, radius, 0.0f)); const int bottomIndex = vertices.size(); vertices.push_back(Vector3f(0.0f, -radius, 0.0f)); mesh->reserveNumTriangles(vdn * hdn * 2); // top faces for(int i=0; i < hdn; ++i){ mesh->addTriangle(topIndex, (i+1) % hdn, i); } // side faces for(int i=0; i < vdn - 2; ++i){ const int upper = i * hdn; const int lower = (i + 1) * hdn; for(int j=0; j < hdn; ++j) { // upward convex triangle mesh->addTriangle(j + upper, ((j + 1) % hdn) + lower, j + lower); // downward convex triangle mesh->addTriangle(j + upper, ((j + 1) % hdn) + upper, ((j + 1) % hdn) + lower); } } // bottom faces const int offset = (vdn - 2) * hdn; for(int i=0; i < hdn; ++i){ mesh->addTriangle(bottomIndex, (i % hdn) + offset, ((i+1) % hdn) + offset); } mesh->setPrimitive(SgMesh::Sphere(radius)); mesh->updateBoundingBox(); //! \todo set normals directly without using the following function generateNormals(mesh, PI); return mesh; } SgMesh* MeshGenerator::generateCylinder(double radius, double height, bool bottom, bool top, bool side) { if(height < 0.0 || radius < 0.0){ return 0; } SgMesh* mesh = new SgMesh(); SgVertexArray& vertices = *mesh->setVertices(new SgVertexArray()); vertices.resize(divisionNumber_ * 2); const double y = height / 2.0; for(int i=0 ; i < divisionNumber_ ; i++ ){ const double angle = i * 2.0 * PI / divisionNumber_; Vector3f& vtop = vertices[i]; Vector3f& vbottom = vertices[i + divisionNumber_]; vtop[0] = vbottom[0] = radius * cos(angle); vtop[2] = vbottom[2] = radius * sin(angle); vtop[1] = y; vbottom[1] = -y; } const int topCenterIndex = vertices.size(); vertices.push_back(Vector3f(0.0f, y, 0.0f)); const int bottomCenterIndex = vertices.size(); vertices.push_back(Vector3f(0.0f, -y, 0.0f)); mesh->reserveNumTriangles(divisionNumber_ * 4); for(int i=0; i < divisionNumber_; ++i){ // top face if(top){ mesh->addTriangle(topCenterIndex, (i+1) % divisionNumber_, i); } // side face (upward convex triangle) if(side){ mesh->addTriangle(i, ((i+1) % divisionNumber_) + divisionNumber_, i + divisionNumber_); // side face (downward convex triangle) mesh->addTriangle(i, (i+1) % divisionNumber_, ((i + 1) % divisionNumber_) + divisionNumber_); } // bottom face if(bottom){ mesh->addTriangle(bottomCenterIndex, i + divisionNumber_, ((i+1) % divisionNumber_) + divisionNumber_); } } mesh->setPrimitive(SgMesh::Cylinder(radius, height)); mesh->updateBoundingBox(); generateNormals(mesh, PI / 2.0); return mesh; } SgMesh* MeshGenerator::generateCone(double radius, double height, bool bottom, bool side) { if(radius < 0.0 || height < 0.0){ return 0; } SgMesh* mesh = new SgMesh(); SgVertexArray& vertices = *mesh->setVertices(new SgVertexArray()); vertices.reserve(divisionNumber_ + 2); for(int i=0; i < divisionNumber_; ++i){ const double angle = i * 2.0 * PI / divisionNumber_; vertices.push_back(Vector3f(radius * cos(angle), -height / 2.0, radius * sin(angle))); } const int topIndex = vertices.size(); vertices.push_back(Vector3f(0.0f, height / 2.0, 0.0f)); const int bottomCenterIndex = vertices.size(); vertices.push_back(Vector3f(0.0f, -height / 2.0, 0.0f)); mesh->reserveNumTriangles(divisionNumber_ * 2); for(int i=0; i < divisionNumber_; ++i){ // side faces if(side){ mesh->addTriangle(topIndex, (i + 1) % divisionNumber_, i); } // bottom faces if(bottom){ mesh->addTriangle(bottomCenterIndex, i, (i + 1) % divisionNumber_); } } mesh->setPrimitive(SgMesh::Cone(radius, height)); mesh->updateBoundingBox(); generateNormals(mesh, PI / 2.0); return mesh; } SgMesh* MeshGenerator::generateDisc(double radius, double innerRadius) { if(innerRadius <= 0.0 || radius <= innerRadius){ return 0; } SgMesh* mesh = new SgMesh(); SgVertexArray& vertices = *mesh->getOrCreateVertices(); vertices.reserve(divisionNumber_ * 2); for(int i=0; i < divisionNumber_; ++i){ const double angle = i * 2.0 * PI / divisionNumber_; const double x = cos(angle); const double y = sin(angle); vertices.push_back(Vector3f(innerRadius * x, innerRadius * y, 0.0f)); vertices.push_back(Vector3f(radius * x, radius * y, 0.0f)); } mesh->reserveNumTriangles(divisionNumber_ * 2); mesh->getOrCreateNormals()->push_back(Vector3f::UnitZ()); SgIndexArray& normalIndices = mesh->normalIndices(); normalIndices.reserve(divisionNumber_ * 2 * 3); for(int i=0; i < divisionNumber_; ++i){ const int j = (i + 1) % divisionNumber_; const int current = i * 2; const int next = j * 2; mesh->addTriangle(current, current + 1, next + 1); mesh->addTriangle(current, next + 1, next); for(int j=0; j < 6; ++j){ normalIndices.push_back(0); } } mesh->updateBoundingBox(); return mesh; } SgMesh* MeshGenerator::generateArrow(double length, double width, double coneLengthRatio, double coneWidthRatio) { double r = width / 2.0; double h = length * coneLengthRatio; SgShapePtr cone = new SgShape; //setDivisionNumber(20); cone->setMesh(generateCone(r * coneWidthRatio, h)); SgPosTransform* conePos = new SgPosTransform; conePos->setTranslation(Vector3(0.0, length / 2.0 + h / 2.0, 0.0)); conePos->addChild(cone); SgShapePtr cylinder = new SgShape; //setDivisionNumber(12); cylinder->setMesh(generateCylinder(r, length, true, false)); //cylinder->setMesh(generateCylinder(r, length - h, true, false)); //SgPosTransform* cylinderPos = new SgPosTransform; //cylinderPos->setTranslation(Vector3(0.0, -h, 0.0)); //cylinderPos->addChild(cylinder); MeshExtractor meshExtractor; SgGroupPtr group = new SgGroup; group->addChild(conePos); //group->addChild(cylinderPos); group->addChild(cylinder); return meshExtractor.integrate(group); } SgMesh* MeshGenerator::generateTorus(double radius, double crossSectionRadius) { int divisionNumber2 = divisionNumber_ / 4; SgMesh* mesh = new SgMesh(); SgVertexArray& vertices = *mesh->getOrCreateVertices(); vertices.reserve(divisionNumber_ * divisionNumber2); for(int i=0; i < divisionNumber_; ++i){ double phi = i * 2.0 * PI / divisionNumber_; for(int j=0; j < divisionNumber2; ++j){ double theta = j * 2.0 * PI / divisionNumber2; Vector3f v; double r = crossSectionRadius * cos(theta) + radius; v.x() = cos(phi) * r; v.y() = crossSectionRadius * sin(theta); v.z() = sin(phi) * r; vertices.push_back(v); } } mesh->reserveNumTriangles(2 * divisionNumber_ * divisionNumber2); for(int i=0; i < divisionNumber_; ++i){ int current = i * divisionNumber2; int next = ((i + 1) % divisionNumber_) * divisionNumber2; for(int j=0; j < divisionNumber2; ++j){ int j_next = (j + 1) % divisionNumber2; mesh->addTriangle(current + j, next + j_next, next + j); mesh->addTriangle(current + j, current + j_next, next + j_next); } } mesh->updateBoundingBox(); generateNormals(mesh, PI); return mesh; } SgMesh* MeshGenerator::generateExtrusion(const Extrusion& extrusion) { const int numSpines = extrusion.spine.size(); const int numCrosses = extrusion.crossSection.size(); bool isClosed = false; if(extrusion.spine[0][0] == extrusion.spine[numSpines - 1][0] && extrusion.spine[0][1] == extrusion.spine[numSpines - 1][1] && extrusion.spine[0][2] == extrusion.spine[numSpines - 1][2] ){ isClosed = true; } bool isCrossSectionClosed = (extrusion.crossSection[0] == extrusion.crossSection[numCrosses - 1]); SgMesh* mesh = new SgMesh; SgVertexArray& vertices = *mesh->setVertices(new SgVertexArray()); vertices.reserve(numSpines * numCrosses); Vector3 preZaxis(Vector3::Zero()); int definedZaxis = -1; vector Yaxisarray; vector Zaxisarray; if(numSpines > 2){ for(int i=0; i < numSpines; ++i){ Vector3 Yaxis, Zaxis; if(i == 0){ if(isClosed){ const Vector3& spine1 = extrusion.spine[numSpines - 2]; const Vector3& spine2 = extrusion.spine[0]; const Vector3& spine3 = extrusion.spine[1]; Yaxis = spine3 - spine1; Zaxis = (spine3 - spine2).cross(spine1 - spine2); } else { const Vector3& spine1 = extrusion.spine[0]; const Vector3& spine2 = extrusion.spine[1]; const Vector3& spine3 = extrusion.spine[2]; Yaxis = spine2 - spine1; Zaxis = (spine3 - spine2).cross(spine1 - spine2); } } else if(i == numSpines - 1){ if(isClosed){ const Vector3& spine1 = extrusion.spine[numSpines - 2]; const Vector3& spine2 = extrusion.spine[0]; const Vector3& spine3 = extrusion.spine[1]; Yaxis = spine3 - spine1; Zaxis = (spine3 - spine2).cross(spine1 - spine2); } else { const Vector3& spine1 = extrusion.spine[numSpines - 3]; const Vector3& spine2 = extrusion.spine[numSpines - 2]; const Vector3& spine3 = extrusion.spine[numSpines - 1]; Yaxis = spine3 - spine2; Zaxis = (spine3 - spine2).cross(spine1 - spine2); } } else { const Vector3& spine1 = extrusion.spine[i - 1]; const Vector3& spine2 = extrusion.spine[i]; const Vector3& spine3 = extrusion.spine[i + 1]; Yaxis = spine3 - spine1; Zaxis = (spine3-spine2).cross(spine1-spine2); } if(!Zaxis.norm()){ if(definedZaxis != -1) Zaxis = preZaxis; } else { if(definedZaxis == -1){ definedZaxis = i; } preZaxis = Zaxis; } Yaxisarray.push_back(Yaxis); Zaxisarray.push_back(Zaxis); } } else { const Vector3 Yaxis(extrusion.spine[1] - extrusion.spine[0]); Yaxisarray.push_back(Yaxis); Yaxisarray.push_back(Yaxis); } const int numScales = extrusion.scale.size(); const int numOrientations = extrusion.orientation.size(); Vector3 scale(1.0, 0.0, 1.0); AngleAxis orientation(0.0, Vector3::UnitZ()); for(int i=0; i < numSpines; ++i){ Matrix3 Scp; Vector3 y = Yaxisarray[i].normalized(); if(definedZaxis == -1){ AngleAxis R(acos(y[1]), Vector3(y[2], 0.0, -y[0])); Scp = R.toRotationMatrix(); } else { if(i < definedZaxis){ Zaxisarray[i] = Zaxisarray[definedZaxis]; } if(i && (Zaxisarray[i].dot(Zaxisarray[i - 1]) < 0.0)){ Zaxisarray[i] *= -1.0; } Vector3 z = Zaxisarray[i].normalized(); Vector3 x = y.cross(z); Scp << x, y, z; } const Vector3& spine = extrusion.spine[i]; if(numScales == 1){ scale << extrusion.scale[0][0], 0.0, extrusion.scale[0][1]; } else if(numScales > 1){ scale << extrusion.scale[i][0], 0.0, extrusion.scale[i][1]; } if(numOrientations == 1){ orientation = extrusion.orientation[0]; } else if(numOrientations > 1){ orientation = extrusion.orientation[i]; } for(int j=0; j < numCrosses; ++j){ const Vector3 crossSection(extrusion.crossSection[j][0], 0.0, extrusion.crossSection[j][1]); const Vector3 v1(crossSection[0] * scale[0], 0.0, crossSection[2] * scale[2]); const Vector3 v = Scp * orientation.toRotationMatrix() * v1 + spine; vertices.push_back(v.cast()); } } for(int i=0; i < numSpines - 1 ; ++i){ const int upper = i * numCrosses; const int lower = (i + 1) * numCrosses; for(int j=0; j < numCrosses - 1; ++j) { mesh->addTriangle(j + upper, j + lower, (j + 1) + lower); mesh->addTriangle(j + upper, (j + 1) + lower, j + 1 + upper); } } int j = 0; if(isCrossSectionClosed){ j = 1; } Triangulator triangulator; vector polygon; if(extrusion.beginCap && !isClosed){ triangulator.setVertices(vertices); polygon.clear(); for(int i=0; i < numCrosses - j; ++i){ polygon.push_back(i); } triangulator.apply(polygon); const vector& triangles = triangulator.triangles(); for(size_t i=0; i < triangles.size(); i += 3){ mesh->addTriangle(polygon[triangles[i]], polygon[triangles[i+1]], polygon[triangles[i+2]]); } } if(extrusion.endCap && !isClosed){ triangulator.setVertices(vertices); polygon.clear(); for(int i=0; i < numCrosses - j; ++i){ polygon.push_back(numCrosses * (numSpines - 1) + i); } triangulator.apply(polygon); const vector& triangles = triangulator.triangles(); for(size_t i=0; i < triangles.size(); i +=3){ mesh->addTriangle(polygon[triangles[i]], polygon[triangles[i+2]], polygon[triangles[i+1]]); } } mesh->updateBoundingBox(); generateNormals(mesh, extrusion.creaseAngle); return mesh; } SgLineSet* MeshGenerator::generateExtrusionLineSet(const Extrusion& extrusion, SgMesh* mesh) { const int nc = extrusion.crossSection.size(); const int ns = extrusion.spine.size(); if(nc < 4 || ns < 2){ return 0; } SgLineSet* lineSet = new SgLineSet; lineSet->setVertices(mesh->vertices()); const int n = ns - 1; bool isCrossSectionClosed = (extrusion.crossSection[0] == extrusion.crossSection[nc - 1]); const int m = isCrossSectionClosed ? nc - 1 : nc; int o = 0; for(int i=0; i < n; ++i){ for(int j=0; j < m; ++j){ lineSet->addLine(o + j, o + (j + 1) % nc); lineSet->addLine(o + j, o + j + nc); } o += nc; } for(int j=0; j < m; ++j){ lineSet->addLine(o + j, o + (j + 1) % nc); } return lineSet; } choreonoid-1.5.0/src/Util/NullOut.cpp0000664000000000000000000000106212741425367016172 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "NullOut.h" #include #include using namespace std; using namespace boost; namespace { class NullSink : public iostreams::sink { public: streamsize write(const char* s, streamsize n) { return n; } }; } namespace cnoid { //! \todo check if this is thread safe ? std::ostream& nullout() { static NullSink nullSink; static iostreams::stream_buffer sbuf(nullSink); static ostream os(&sbuf); return os; } } choreonoid-1.5.0/src/Util/GettextWrapper.cpp0000664000000000000000000000062712741425367017563 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "gettext.h" #include "exportdecl.h" #if CNOID_ENABLE_GETTEXT #include namespace cnoid { CNOID_EXPORT const char* getText(const char* domainname, const char* msgid) { return dgettext(domainname, msgid); } } #else namespace cnoid { CNOID_EXPORT const char* getText(const char* domainname, const char* msgid) { return msgid; } } #endif choreonoid-1.5.0/src/Util/AbstractTaskSequencer.h0000664000000000000000000000330012741425367020473 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_ABSTRACT_TASK_SEQUENCER_H #define CNOID_UTIL_ABSTRACT_TASK_SEQUENCER_H #include "Task.h" #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT AbstractTaskSequencer { public: virtual ~AbstractTaskSequencer(); virtual void activate(bool on = true) = 0; virtual bool isActive() = 0; virtual void addTask(Task* task) = 0; virtual bool updateTask(Task* task) = 0; virtual bool removeTask(Task* task) = 0; virtual void clearTasks() = 0; virtual SignalProxy sigTaskAdded() = 0; virtual SignalProxy sigTaskRemoved() = 0; virtual int numTasks() const = 0; virtual Task* task(int index) = 0; virtual int currentTaskIndex() const = 0; virtual bool setCurrentTask(int taskIndex) = 0; virtual SignalProxy sigCurrentTaskChanged() = 0; virtual int currentPhaseIndex() const = 0; virtual void setCurrentPhase(int phaseIndex) = 0; virtual SignalProxy sigCurrentPhaseChanged() = 0; /* @return The -1 value is returned when the current command is an implicit pre-processing command. */ virtual int currentCommandIndex() const = 0; virtual void executeCommand(int commandIndex) = 0; virtual SignalProxy sigCurrentCommandChanged() = 0; virtual bool isBusy() const = 0; virtual SignalProxy sigBusyStateChanged() = 0; virtual void cancelCurrentCommand() = 0; virtual SignalProxy sigCurrentCommandCanceled() = 0; virtual bool isAutoMode() const = 0; virtual void setAutoMode(bool on) = 0; virtual SignalProxy sigAutoModeToggled() =0; }; } #endif choreonoid-1.5.0/src/Util/ExecutablePath.h0000664000000000000000000000076212741425367017141 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_EXECUTABLE_PATH_H_INCLUDED #define CNOID_UTIL_EXECUTABLE_PATH_H_INCLUDED #include #include "Config.h" #include "exportdecl.h" namespace cnoid { CNOID_EXPORT const std::string& executablePath(); CNOID_EXPORT const std::string& executableDirectory(); CNOID_EXPORT const std::string& executableTopDirectory(); CNOID_EXPORT const std::string& shareDirectory(); CNOID_EXPORT const std::string& executableBasename(); } #endif choreonoid-1.5.0/src/Util/EigenArchive.h0000664000000000000000000000714612741425367016577 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_EIGEN_ARCHIVE_H #define CNOID_UTIL_EIGEN_ARCHIVE_H #include "ValueTree.h" #include "EigenUtil.h" //#include "YAMLWriter.h" #include #include namespace cnoid { template void read(const Listing& listing, Eigen::MatrixBase& x) { const int nr = x.rows(); const int nc = x.cols(); if(listing.size() != nr * nc){ listing.throwException( str(boost::format("A %1% x %2% matrix / vector value is expected") % nr % nc)); } int index = 0; for(int i=0; i < nr; ++i){ for(int j=0; j < nc; ++j){ x(i, j) = listing[index++].toDouble(); } } } template bool read(const Mapping& mapping, const std::string& key, Eigen::MatrixBase& x) { const Listing& s = *mapping.findListing(key); if(!s.isValid()){ return false; } read(s, x); return true; } template bool read(const Mapping& mapping, const std::string& key, Eigen::Transform& T) { return read(mapping, key, T.matrix()); } template void readEx(const Mapping& mapping, const std::string& key, Eigen::MatrixBase& x) { if(!read(mapping, key, x)){ mapping.throwKeyNotFoundException(key); } } template Listing& write(Mapping& mapping, const std::string& key, const Eigen::MatrixBase& x) { Listing& s = *mapping.createFlowStyleListing(key); s.setDoubleFormat("%.9g"); const int nr = x.rows(); const int nc = x.cols(); if(nc == 1){ for(int i=0; i < nr; ++i){ s.append(x(i)); } } else { for(int i=0; i < nr; ++i){ s.appendLF(); for(int j=0; j < nc; ++j){ s.append(x(i, j)); } } } return s; } template Listing& write(Mapping& mapping, const std::string& key, const Eigen::Transform& T) { return write(mapping, key, T.matrix()); } /** This should be defined in another file */ /* template void write(YAMLWriter& writer, const std::string& key, const Eigen::MatrixBase& x) { writer.putKey(key); writer.startFlowStyleMapping(); const int nr = x.rows(); const int nc = x.cols(); if(nc == 1){ for(int i=0; i < nr; ++i){ writer.putScalar(x(i)); } } else { for(int i=0; i < nr; ++i){ //writer.putLF(); for(int j=0; j < nc; ++j){ writer.putScalar(x(i, j)); } } } writer.endListing(); } */ template bool read(const Mapping& mapping, const std::string& key, Eigen::AngleAxis& r) { const Listing& s = *mapping.findListing(key); if(s.isValid() && s.size() == 4){ r.axis() << s[0].toDouble(), s[1].toDouble(), s[2].toDouble(); r.angle() = s[3].toDouble(); return true; } return false; } template Listing& write(Mapping& mapping, const std::string& key, const Eigen::AngleAxis& r) { Listing& s = *mapping.createFlowStyleListing(key); s.setDoubleFormat("%.9g"); s.append(r.axis()[0]); s.append(r.axis()[1]); s.append(r.axis()[2]); s.append(r.angle()); return s; } inline bool read(const Mapping& mapping, const std::string& key, boost::function setterFunc) { Vector3 x; if(read(mapping, key, x)){ setterFunc(x); return true; } return false; } } #endif choreonoid-1.5.0/src/Util/SceneUtil.h0000664000000000000000000000107712741425367016136 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_SCENE_UTIL_H #define CNOID_UTIL_SCENE_UTIL_H #include "SceneGraph.h" #include "exportdecl.h" namespace cnoid { CNOID_EXPORT Affine3 calcTotalTransform(const SgNodePath& path); CNOID_EXPORT Affine3 calcTotalTransform(const SgNodePath& path, const SgNode* targetNode); CNOID_EXPORT Affine3 calcTotalTransform(SgNodePath::const_iterator begin, SgNodePath::const_iterator end); CNOID_EXPORT int makeTransparent(SgNode* topNode, float transparency, SgCloneMap& cloneMap, bool doKeepOrgTransparency = true); } #endif choreonoid-1.5.0/src/Util/STLSceneLoader.cpp0000664000000000000000000000610112741425367017336 0ustar rootroot #include "STLSceneLoader.h" #include "SceneDrawables.h" #include #include #include using namespace std; using namespace boost::algorithm; using namespace cnoid; const char* STLSceneLoader::format() const { return "STL"; } static void readVector3(string text, SgVectorArray* array) { trim(text); Vector3f value; int i = 0; split_iterator iter = make_split_iterator(text, token_finder(is_space(), token_compress_on)); while(iter != split_iterator()){ value[i++] = boost::lexical_cast(*iter++); if(i == 3){ array->push_back(value); break; } } } SgNode* STLSceneLoader::load(const std::string& fileName) { std::ifstream ifs(fileName.c_str(), std::ios::in | std::ios::binary); SgVertexArrayPtr vertices = new SgVertexArray; SgNormalArrayPtr normals = new SgNormalArray; uint8_t header[80]; ifs.read((char *)header, 80); if(strncmp((char *)header, "solid", 5) != 0){ // stl file is in binary format uint32_t ntriangle; ifs.read((char *)&ntriangle, 4); for(size_t i = 0; i < ntriangle; i++){ Vector3f value; for(size_t j = 0; j < 3; j++){ float v; ifs.read((char *)&v, 4); value[j] = v; } normals->push_back(value); for(size_t k = 0; k < 3; k++){ Vector3f value; for(size_t j = 0; j < 3; j++){ float v; ifs.read((char *)&v, 4); value[j] = v; } vertices->push_back(value); } uint16_t attrib; ifs.read((char *)&attrib, 2); } } else { // stl file is in text format std::ifstream ifs(fileName.c_str(), std::ios::in); std::string line; while(!ifs.eof() && getline(ifs, line)){ trim(line); if(boost::istarts_with(line, "vertex")){ readVector3(line.substr(6), vertices); } else if(boost::istarts_with(line, "facet normal")){ readVector3(line.substr(12), normals); } } } SgShape* shape = 0; if(!vertices->empty()){ shape = new SgShape; SgMesh* mesh = shape->getOrCreateMesh(); mesh->setVertices(vertices); const int numTriangles = vertices->size() / 3; mesh->reserveNumTriangles(numTriangles); for(int i = 0; i < numTriangles; ++i){ const int j = i * 3; mesh->addTriangle(j, j + 1, j + 2); } if(!normals->empty()){ mesh->setNormals(normals); SgIndexArray& indices = mesh->normalIndices(); indices.reserve(normals->size() * 3); for(int i = 0; i < normals->size(); ++i) { indices.push_back(i); indices.push_back(i); indices.push_back(i); } } } return shape; } choreonoid-1.5.0/src/Util/DaeParser.cpp0000664000000000000000000035070112741425367016445 0ustar rootroot/*! * @brief Collada file is read only once like SAX in IrrXML. It handled temporarily all the information at that time, it then creates and returns an SgObject. * @author Hisashi Ikari * @file */ #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "SceneDrawables.h" #include "PolygonMeshTriangulator.h" #include "Exception.h" #include "DaeParser.h" #include "DaeNode.h" #include "FileUtil.h" using namespace std; using boost::lexical_cast; using boost::format; using namespace boost::algorithm; using namespace boost::uuids; using namespace irr::io; namespace cnoid { typedef pair GEOMETRY_PAIR; typedef pair NODES_PAIR; typedef std::vector DaeOrder; typedef std::map DaeStrides; typedef std::map DaeVerticesRef; /*! * @brief Enumeration type of "TAG" used in Collada. */ enum { EXT_NODE, EXT_UNIT, EXT_TRANSLATE, EXT_ROTATE, EXT_SCALE, EXT_MATRIX, EXT_INSTANCE_NODE, EXT_INSTANCE_GEOMETRY, EXT_INSTANCE_MATERIAL, EXT_INSTANCE_EFFECT, EXT_GEOMETRY, EXT_VERTICES, EXT_SOURCE, EXT_FLOAT_ARRAY, EXT_ACCESSOR, EXT_INPUT, EXT_TRIANGLES, EXT_LINES, EXT_P, EXT_MATERIAL, EXT_EFFECT, EXT_EMISSION, EXT_AMBIENT, EXT_DIFFUSE, EXT_SPECULAR, EXT_SHININESS, EXT_TRANSPARENCY, EXT_INIT_FORM, EXT_IMAGE, EXT_POLYLIST, EXT_VCOUNT, EXT_BOX, EXT_SPHERE, EXT_CYLINDER, EXT_TAPERED_CYLINDER, EXT_KINEMATICS_MODEL, EXT_LINK, EXT_ATTACHMENT_FULL, EXT_JOINT, EXT_REVOLUTE, EXT_PRISMATIC, EXT_AXIS, EXT_MIN, EXT_MAX, EXT_RIGID_BODY, EXT_SHAPE, EXT_INSTANCE_RIGID_BODY, EXT_INSTANCE_PHYSICS_MODEL, EXT_MASS, EXT_MASS_FRAME, EXT_INERTIA, EXT_ACTUATOR, EXT_ASSIGNED_POWER_RATING, EXT_MAX_SPEED, EXT_NO_LOAD_SPEED, EXT_NOMINAL_TORQUE, EXT_NOMINAL_VOLTAGE, EXT_ROTOR_INERTIA, EXT_SPEED_CONSTANT, EXT_SPEED_TORQUE_GRADIENT, EXT_STARTING_CURRENT, EXT_TERMINAL_RESISTANCE, EXT_TORQUE_CONSTANT, EXT_INSTANCE_ACTUATOR, EXT_BIND_ACTUATOR, EXT_INSTANCE_SENSOR, EXT_FRAME_ORIGIN, EXT_SENSOR, EXT_FOCAL_LENGTH, EXT_INTRINSIC, EXT_IMAGE_DIMENSIONS, EXT_MEASUREMENT_TIME, EXT_EXTRA, }; /*! * @brief These indexes are defined in polylist tag and triangles. */ enum { EXT_POSITION, EXT_VERTEX, EXT_NORMAL, EXT_COLOR, EXT_TEXCOORD, }; /*! * @brief An enumeration type of the "BASE" node in the Collada. * Information("CONCRETE or LIBRARY") of the entity has been stored in these nodes. */ enum { EXT_VISUAL_SCENES, EXT_GEOMETRIES, EXT_MATERIALS, EXT_EFFECTS, EXT_NODES, EXT_IMAGES, EXT_PHYSICS_MODELS, EXT_KINEMATICS_MODELS, EXT_PHYSICS_SCENES, }; /*! * @brief There are two types of joint and node to node of Collada. * It will remain at that type when reading the node tags. */ enum { EXT_NODE_NODE, EXT_NODE_JOINT }; /*! * @brief Perform the processing for each node as sax. */ class DaeParserImpl : public Dae { friend class DaeParser; friend class BodyLoaderImpl; public: DaeParserImpl(ostream* os) : rootLinkName (""), refMaterialId (""), refEffectId (""), refGeometryId (""), refVerticesId (""), refNormalsId (""), refPositionId (""), refSourceId (""), refImageId (""), refKinematicsId (""), refRevoluteId (""), refRigidBodyId (""), offsetVertex (-1), offsetNormal (-1), offsetColor (-1), offsetTexcoord (-1), offsetMaximum (-1), accessible (-1), figure (-1), unit ( 1.0), inlineParse (false), path (""), befFile (""), library (new DaeNode), instance (new DaeNode), rootNodePresence(false), rootLinkPresence(false), reader (NULL), os (os) {} public: /*! * @brief Create SceneGraph from file. This is the process of Inline only. */ SgGroup* createScene(const string& fileName); /*! * @brief I will parse the file of Collada. And I get a node in the following methods. */ void parse(const string& fileName, const bool inlineParse); DaeNode* findNode (const string& nodeName); DaeNode* findLinkByJoint(const string& jointName); DaeNode* findJointByLink(const string& linkName); DaeNode* findRigidByLink(const string& linkName); DaeNode* findActuator (const string& jointId); DaeResultSensors* findSensor (const string& linkId); protected: int symbolNode (const string& elementName); int symbolSemantic(const string& elementName); void split (string& value, double* point, int max, double init); void rotate(string& value, DaeTransform& transform); void array (string& value, DaeVectorXArrayPtr array); void index (string& value, DaeVectorXArrayPtr index, int offset, int offsetMaximum); void matrix(string& value, Matrix4d &matrix); void file (const string& value); long line (); bool checkConcreteNode (DaeNodePtr node); bool checkNodeStack (DaeNodePtr node); bool checkOrder (DaeOrder& order, int type); bool checkAccessibleNode(string& name); bool checkSafetyNode (); void createNodeStack (DaeNodePtr node, DaeNodeStack& stack, bool omit); void createStructure (); SgGroup* convert(); void createEmptyMaterial (DaeGeometryPtr geometry); void createLists (DaeNodePtr node, bool omit); void createVertexAndNormal (int type, string& source, int offset); int createStride (string& verticesId); bool createVcount (DaeVectorXArrayPtr vcount); void createMesh (int line); void createActuatorRelation(DaeAttachActuatorPtr attach); void createSensorRelation (DaeAttachSensorPtr attach); DaeEffectPtr findOrCreateEffect(string& refEffectId); DaeEffectPtr moveToColor (string& refEffectId); DaeEffectPtr moveToFloat (string& refEffectId); DaeEffectPtr findEffect (string& refMaerialId); DaeRigidPtr findRigidBody (string& refNodeId); DaeNodePtr readNode (DaeNodePtr node); DaeNodePtr readUnit (DaeNodePtr node); DaeNodePtr readTranslate (DaeNodePtr node); DaeNodePtr readRotate (DaeNodePtr node); DaeNodePtr readScale (DaeNodePtr node); DaeNodePtr readMatrix (DaeNodePtr node); DaeNodePtr readInstanceNode (DaeNodePtr node); DaeNodePtr readInstanceMaterial (DaeNodePtr node); DaeNodePtr readInstanceGeometry (DaeNodePtr node); DaeNodePtr readInstanceGeometryForPhysics(DaeNodePtr node); DaeNodePtr readInstanceGeometryForNodes (DaeNodePtr node); DaeNodePtr readInstanceEffect (DaeNodePtr node); DaeNodePtr readGeometry (DaeNodePtr node); DaeNodePtr readVertices (DaeNodePtr node); DaeNodePtr readSource (DaeNodePtr node); DaeNodePtr readFloatArray (DaeNodePtr node); DaeNodePtr readAccessor (DaeNodePtr node); DaeNodePtr readInput (DaeNodePtr node); DaeNodePtr readTriangles (DaeNodePtr node); DaeNodePtr readLines (DaeNodePtr node); DaeNodePtr readP (DaeNodePtr node); DaeNodePtr readMaterial (DaeNodePtr node); DaeNodePtr readEffect (DaeNodePtr node); DaeNodePtr readEmission (DaeNodePtr node); DaeNodePtr readAmbient (DaeNodePtr node); DaeNodePtr readDiffuse (DaeNodePtr node); DaeNodePtr readSpecular (DaeNodePtr node); DaeNodePtr readShininess (DaeNodePtr node); DaeNodePtr readTransparency (DaeNodePtr node); DaeNodePtr readInitFrom (DaeNodePtr node); DaeNodePtr readImage (DaeNodePtr node); DaeNodePtr readPolylist (DaeNodePtr node); DaeNodePtr readVcount (DaeNodePtr node); DaeNodePtr readBox (DaeNodePtr node); DaeNodePtr readSphere (DaeNodePtr node); DaeNodePtr readCylinder (DaeNodePtr node); DaeNodePtr readTaperedCylinder (DaeNodePtr node); DaeNodePtr readKinematicsModel (DaeNodePtr node); DaeNodePtr readLink (DaeNodePtr node); DaeNodePtr readAttachmentFull (DaeNodePtr node); DaeNodePtr readJoint (DaeNodePtr node); DaeNodePtr readRevolute (DaeNodePtr node); DaeNodePtr readPrismatic (DaeNodePtr node); DaeNodePtr readAxis (DaeNodePtr node); DaeNodePtr readMin (DaeNodePtr node); DaeNodePtr readMax (DaeNodePtr node); DaeNodePtr readRigidBody (DaeNodePtr node); DaeNodePtr readShape (DaeNodePtr node); DaeNodePtr readInstanceRigidBody (DaeNodePtr node); DaeNodePtr readInstancePhysicsModel (DaeNodePtr node); DaeNodePtr readMass (DaeNodePtr node); DaeNodePtr readMassFrame (DaeNodePtr node); DaeNodePtr readInertia (DaeNodePtr node); DaeNodePtr readActuator (DaeNodePtr node); DaeNodePtr readAssignedPowerRating (DaeNodePtr node); DaeNodePtr readMaxSpeeed (DaeNodePtr node); DaeNodePtr readNoLoadSpeed (DaeNodePtr node); DaeNodePtr readNominalTorque (DaeNodePtr node); DaeNodePtr readNominalVoltage (DaeNodePtr node); DaeNodePtr readRotorInertia (DaeNodePtr node); DaeNodePtr readSpeedConstant (DaeNodePtr node); DaeNodePtr readSpeedTorqueGradient (DaeNodePtr node); DaeNodePtr readStartingCurrent (DaeNodePtr node); DaeNodePtr readTerminalResistance (DaeNodePtr node); DaeNodePtr readTorqueConstant (DaeNodePtr node); DaeNodePtr readInstanceActuator (DaeNodePtr node); DaeNodePtr readBindActuator (DaeNodePtr node); DaeNodePtr readInstanceSensor (DaeNodePtr node); DaeNodePtr readFrameOrigin (DaeNodePtr node); DaeNodePtr readSensor (DaeNodePtr node); DaeNodePtr readFocalLength (DaeNodePtr node); DaeNodePtr readIntrinsic (DaeNodePtr node); DaeNodePtr readImageDimensions (DaeNodePtr node); DaeNodePtr readMeasurementTime (DaeNodePtr node); DaeNodePtr readExtra (DaeNodePtr node); DaeNodePtr endNode (DaeNodePtr node); void setNode (DaeNodePtr extNode, SgGroup* sg, bool createTransform); void setGeometry (DaeGeometryPtr extGeometry, DaeNodePtr extNode, SgGroup* sg); void setMesh (DaeGeometryPtr ext, DaeMeshPtr extMesh, SgMeshBase* sg, bool polygon); void setVertices (DaeGeometryPtr ext, DaeMeshPtr extMesh, SgMeshBase* sg); void setNormals (DaeGeometryPtr ext, DaeMeshPtr extMesh, SgMeshBase* sg); void setTexcoord (DaeGeometryPtr ext, DaeMeshPtr extMesh, SgMeshBase* sg); void setColors (DaeGeometryPtr ext, DaeMeshPtr extMesh, SgMeshBase* sg); void setVIndexes (DaeGeometryPtr ext, DaeMeshPtr extMesh, SgMeshBase* sg, bool polygon); void setXIndexes (DaeGeometryPtr ext, DaeMeshPtr extMesh, string id, string text, int stride, DaeVectorXArrayPtr extArray, SgIndexArray& sgArray, bool polygon); void setRigid (DaeNodePtr extNode, SgGroup* sgGroup, SgGroup* sgTransParent); void setTexture (string meshImageId, SgTexture* sg); void setMaterial (DaeEffectPtr extEffect, SgMaterial* sg); void setTransform(DaeNodePtr ext, SgGroup** sgParent, SgGroup** sgChild); void setActuator (DaeNodePtr node, double& value, string message); protected: void throwException(int line, const std::string& messsage); void readTaperedCylinderConcrete(std::string& name, std::string& value, double& height, double radius1[2], double radius2[2]); protected: string rootLinkName; string refMaterialId; // Keep the processing id at now. string refEffectId; string refGeometryId; string refVerticesId; string refNormalsId; string refColorId; string refTexcoordId; string refPositionId; string refSourceId; string refImageId; string refKinematicsId; string refRevoluteId; string refRigidBodyId; int offsetVertex; int offsetNormal; int offsetColor; int offsetTexcoord; int offsetMaximum; int accessible; int figure; // ex. triangles, polylist double unit; // It will determine the coefficients of the coordinates. int nodeType; // ex. NODE, JOINT. bool inlineParse; // string path; string befFile; DaeMeshPtr refMesh; DaeNodePtr library; DaeNodePtr instance; DaeNodePtr rootNode; DaeLinkPtr rootLink; bool rootNodePresence; bool rootLinkPresence; irr::io::IrrXMLReader* reader; ostream* os; // for message view DaeNodeStack stack; // It will keep the node up to the node DaeNodeStack lists; // It will keep the connection of "ALL" nodes. DaeJointPtr befJoint; DaeRevolutePtr befRevolute; DaeRigidPtr befRigid; // Container of the parser are managed by entities of "ALL INFORMATION" // Their value(entity...Ext*) has only the pointer information DaeNodes nodes; DaeNodes nodeNames; DaeGeometries geometries; DaeStrides strides; DaeVerticesRef verticesRef; DaeMaterialRef materialRef; DaeLinks links; DaeLinks linkNames; DaeJoints joints; DaeMaterials materials; DaeEffects effects; DaeVectorMap sources; DaeVectorMap indexes; DaeTextures textures; DaeOrder meshes; DaeRigids rigids; DaeRigids rigidNames; DaeRigidRelations rrelations; DaeActuators actuators; DaeActuatorRelations arelations; DaeSensors sensors; DaeResultSensorsPtr sensorResults; DaeSensorRelations srelations; MeshGenerator meshGenerator; }; int DaeParserImpl::symbolSemantic(const string& elementName) { // For the small number, and does not utilize the map and hash. static const int EXT_ELEMENT_MAX = 5; static const string EXT_ELEMENT_VALUE[EXT_ELEMENT_MAX] = { "POSITION", "VERTEX", "NORMAL", "COLOR", "TEXCOORD", }; for (int i = 0; i < EXT_ELEMENT_MAX; i++) { if (iequals(EXT_ELEMENT_VALUE[i], elementName)) { return i; } } return -1; } int DaeParserImpl::symbolNode(const string& elementName) { static const int EXT_ELEMENT_MAX = 73; static const string EXT_ELEMENT_VALUE[EXT_ELEMENT_MAX] = { "node", "unit", "translate", "rotate", "scale", "matrix", "instance_node", "instance_geometry", "instance_material", "instance_effect", "geometry", "vertices", "source", "float_array", "accessor", "input", "triangles", "lines", "p", "material", "effect", "emission", "ambient", "diffuse", "specular", "shininess", "transparency", "init_from", "image", "polylist", "vcount", "box", "sphere", "cylinder", "tapered_cylinder", "kinematics_model", "link", "attachment_full", "joint", "revolute", "prismatic", "axis", "min", "max", "rigid_body", "shape", "instance_rigid_body", "instance_physics_model", "mass", "mass_frame", "inertia", "actuator", "assigned_power_rating", "max_speed", "no_load_speed", "nominal_torque", "nominal_voltage", "rotor_inertia", "speed_constant", "speed_torque_gradient", "starting_current", "terminal_resistance", "torque_constant", "instance_actuator", "bind_actuator", "instance_sensor", "frame_origin", "sensor", "focal_length", "intrinsic", "image_dimensions", "measurement_time", "extra", }; // For the small number of, and does not utilize the map and hash. for (int i = 0; i < EXT_ELEMENT_MAX; i++) { if (iequals(EXT_ELEMENT_VALUE[i], elementName)) { return i; } } return -1; } long DaeParserImpl::line() { return (reader ? reader->getLineNumber() : -1); } DaeParser::DaeParser(ostream* os) { daeParserImpl = new DaeParserImpl(os); } DaeParser::~DaeParser() { delete daeParserImpl; } SgGroup* DaeParser::createScene(const string& fileName) { daeParserImpl->parse(fileName, true); SgGroup* group = daeParserImpl->convert(); return group; } void DaeParser::parse(const string& fileName) { daeParserImpl->parse(fileName, false); } DaeNode* DaeParser::findNode(const string& nodeName) { return daeParserImpl->findNode(nodeName); } DaeNode* DaeParser::findJointByLink(const string& linkName) { return daeParserImpl->findJointByLink(linkName); } DaeNode* DaeParser::findLinkByJoint(const string& jointName) { return daeParserImpl->findLinkByJoint(jointName); } DaeNode* DaeParser::findRigidByLink(const string& linkName) { return daeParserImpl->findRigidByLink(linkName); } DaeNode* DaeParser::findActuator(const string& jointId) { return daeParserImpl->findActuator(jointId); } DaeResultSensors* DaeParser::findSensor(const string& linkId) { return daeParserImpl->findSensor(linkId); } DaeNode* DaeParser::findRootLink() { return daeParserImpl->rootLink.get(); } string DaeParser::findRootName() { return daeParserImpl->rootLinkName; } void DaeParser::createNode(DaeNodePtr extNode, SgGroup* group) { daeParserImpl->setNode(extNode, group, false); } void DaeParser::createTransform(DaeNodePtr extNode, SgGroup** sgParent, SgGroup** sgChild) { daeParserImpl->setTransform(extNode, sgParent, sgChild); } void DaeParserImpl::throwException(int line, const string& message) { if (0 < message.size()) { *os << message << endl; } ValueNode::SyntaxException error; error.setMessage(message); error.setPosition(line, -1); throw error; } void DaeNode::addChild(DaeNodePtr node) { children.insert(pair(node->id, node)); } DaeNodePtr DaeNode::clone() { // It will create a clone for instance_node. DaeNodePtr node = new DaeNode; // Node of children also clone all, I want to address a different address. for (DaeNodes::iterator iter = children.begin(); iter != children.end(); iter++) { DaeNodePtr renode = iter->second->clone(); node->children.insert(pair(renode->id, renode)); } node->geometries.insert(geometries.begin(), geometries.end()); node->stack = stack; node->id = id; node->transform.translate = transform.translate; node->transform.translates = transform.translates; node->transform.scale = transform.scale; node->transform.rotate = transform.rotate; node->transform.affine = transform.affine; node->transform.center = transform.center; node->transform.matrix = transform.matrix; return node; } void DaeParserImpl::file(const string& fileName) { vector pathes; path = ""; string abpath = boost::algorithm::replace_all_copy(fileName, "\\", "/"); boost::algorithm::split(pathes, abpath, boost::is_any_of("/")); for (unsigned int i = 0; i < pathes.size() - 1; i++) { path += "/" + pathes[i]; } } void DaeParserImpl::parse(const string& fileName, const bool inlineParse) { if (iequals(befFile, fileName)) { return; // use created data. } file(fileName); this->inlineParse = inlineParse; DaeNodePtr node = NULL; reader = createIrrXMLReader(fileName.c_str()); while (reader && reader->read()) { switch (reader->getNodeType()) { case EXN_ELEMENT: { string element = reader->getNodeName(); // It get only in the "library_ *". if (checkAccessibleNode(element)) { switch (symbolNode(element)) { case EXT_NODE: node = readNode (node); break; case EXT_TRANSLATE: node = readTranslate (node); break; case EXT_ROTATE: node = readRotate (node); break; case EXT_SCALE: node = readScale (node); break; case EXT_MATRIX: node = readMatrix (node); break; case EXT_INSTANCE_NODE: node = readInstanceNode (node); break; case EXT_INSTANCE_GEOMETRY: node = readInstanceGeometry (node); break; case EXT_INSTANCE_MATERIAL: node = readInstanceMaterial (node); break; case EXT_INSTANCE_EFFECT: node = readInstanceEffect (node); break; case EXT_GEOMETRY: node = readGeometry (node); break; case EXT_VERTICES: node = readVertices (node); break; case EXT_SOURCE: node = readSource (node); break; case EXT_FLOAT_ARRAY: node = readFloatArray (node); break; case EXT_ACCESSOR: node = readAccessor (node); break; case EXT_INPUT: node = readInput (node); break; case EXT_TRIANGLES: node = readTriangles (node); break; case EXT_LINES: node = readLines (node); break; case EXT_P: node = readP (node); break; case EXT_MATERIAL: node = readMaterial (node); break; case EXT_EFFECT: node = readEffect (node); break; case EXT_EMISSION: node = readEmission (node); break; case EXT_AMBIENT: node = readAmbient (node); break; case EXT_DIFFUSE: node = readDiffuse (node); break; case EXT_SPECULAR: node = readSpecular (node); break; case EXT_SHININESS: node = readShininess (node); break; case EXT_TRANSPARENCY: node = readTransparency (node); break; case EXT_INIT_FORM: node = readInitFrom (node); break; case EXT_IMAGE: node = readImage (node); break; case EXT_POLYLIST: node = readPolylist (node); break; case EXT_VCOUNT: node = readVcount (node); break; case EXT_BOX: node = readBox (node); break; case EXT_SPHERE: node = readSphere (node); break; case EXT_CYLINDER: node = readCylinder (node); break; case EXT_TAPERED_CYLINDER: node = readTaperedCylinder (node); break; case EXT_KINEMATICS_MODEL: node = readKinematicsModel (node); break; case EXT_LINK: node = readLink (node); break; case EXT_ATTACHMENT_FULL: node = readAttachmentFull (node); break; case EXT_JOINT: node = readJoint (node); break; case EXT_REVOLUTE: node = readRevolute (node); break; case EXT_PRISMATIC: node = readPrismatic (node); break; case EXT_AXIS: node = readAxis (node); break; case EXT_MIN: node = readMin (node); break; case EXT_MAX: node = readMax (node); break; case EXT_RIGID_BODY: node = readRigidBody (node); break; case EXT_SHAPE: node = readShape (node); break; case EXT_INSTANCE_RIGID_BODY: node = readInstanceRigidBody (node); break; case EXT_INSTANCE_PHYSICS_MODEL: node = readInstancePhysicsModel(node); break; case EXT_MASS: node = readMass (node); break; case EXT_MASS_FRAME: node = readMassFrame (node); break; case EXT_INERTIA: node = readInertia (node); break; case EXT_ACTUATOR: node = readActuator (node); break; case EXT_ASSIGNED_POWER_RATING: node = readAssignedPowerRating (node); break; case EXT_MAX_SPEED: node = readMaxSpeeed (node); break; case EXT_NO_LOAD_SPEED: node = readNoLoadSpeed (node); break; case EXT_NOMINAL_TORQUE: node = readNominalTorque (node); break; case EXT_NOMINAL_VOLTAGE: node = readNominalVoltage (node); break; case EXT_ROTOR_INERTIA: node = readRotorInertia (node); break; case EXT_SPEED_CONSTANT: node = readSpeedConstant (node); break; case EXT_SPEED_TORQUE_GRADIENT: node = readSpeedTorqueGradient (node); break; case EXT_STARTING_CURRENT: node = readStartingCurrent (node); break; case EXT_TERMINAL_RESISTANCE: node = readTerminalResistance (node); break; case EXT_TORQUE_CONSTANT: node = readTorqueConstant (node); break; case EXT_SENSOR: node = readSensor (node); break; case EXT_FOCAL_LENGTH: node = readFocalLength (node); break; case EXT_INTRINSIC: node = readIntrinsic (node); break; case EXT_IMAGE_DIMENSIONS: node = readImageDimensions (node); break; case EXT_MEASUREMENT_TIME: node = readMeasurementTime (node); break; } if (reader->isEmptyElement()) { // If the empty tag(), It will pop the stack of nodes. int symbol = symbolNode(element); if (symbol == EXT_NODE || symbol == EXT_INSTANCE_NODE || symbol == EXT_ATTACHMENT_FULL || symbol == EXT_LINK) { node = endNode(node); } } } else { // It get in certain other switch (symbolNode(element)) { case EXT_UNIT: node = readUnit (node); break; case EXT_EXTRA: node = readExtra (node); break; case EXT_INSTANCE_ACTUATOR: node = readInstanceActuator(node); break; case EXT_BIND_ACTUATOR: node = readBindActuator (node); break; case EXT_INSTANCE_SENSOR: node = readInstanceSensor (node); break; case EXT_FRAME_ORIGIN: node = readFrameOrigin (node); break; } } } break; case EXN_NONE: case EXN_TEXT: case EXN_COMMENT: case EXN_CDATA: case EXN_UNKNOWN: break; case EXN_ELEMENT_END: { string element = reader->getNodeName(); // It treated with end tags for the control of the node stack. if (checkAccessibleNode(element)) { switch (symbolNode(element)) { case EXT_NODE: node = endNode (node); break; case EXT_INSTANCE_NODE: node = endNode (node); break; case EXT_LINK: node = endNode (node); break; case EXT_ATTACHMENT_FULL: node = endNode (node); break; } } } break; } } if (reader) { delete reader; reader = NULL; } createStructure(); checkSafetyNode(); befFile = fileName; } bool DaeParserImpl::checkAccessibleNode(string& name) { if (iequals(name.substr(0, 8), "library_")) { // For the small number, and does not utilize the map and hash. static const int EXT_ELEMENT_MAX = 9; static const string EXT_ELEMENT_VALUE[EXT_ELEMENT_MAX] = { "library_visual_scenes", "library_geometries", "library_materials", "library_effects", "library_nodes", "library_images", "library_physics_models", "library_kinematics_models", "library_physics_scenes", }; for (int i = 0; i < EXT_ELEMENT_MAX; i++) { if (iequals(EXT_ELEMENT_VALUE[i], name)) { accessible = i; return true; } } accessible = -1; } return (accessible < 0 ? false : true); } void DaeParserImpl::split(string& value, double* point, int max, double init = 0.0) { BOOST_ASSERT(point && 0 < max); trim(value); for (int i = 0; i < max; i++) point[i] = init; // Parses a string and returns by substituting a pair of specified number of elements int i = 0; for (split_iterator iter = make_split_iterator(value, token_finder(is_space(), token_compress_on)); iter != split_iterator(); iter++) { point[i++] = lexical_cast(*iter); if (i == max) { return; } } } DaeNodePtr DaeParserImpl::readUnit(DaeNodePtr node) { // It get the coefficients of the coordinates. if (reader->getAttributeValue("meter")) { unit = lexical_cast(reader->getAttributeValue("meter")); } return node; } DaeNodePtr DaeParserImpl::readNode(DaeNodePtr node) { // There is always a name for node. node = new DaeNode; node->id = (reader->getAttributeValue("id") ? reader->getAttributeValue("id") : reader->getAttributeValue("name")); node->name = reader->getAttributeValue("name"); node->type = (reader->getAttributeValue("type") ? (iequals(reader->getAttributeValue("type"), "joint") ? EXT_NODE_JOINT : EXT_NODE_NODE) : EXT_NODE_NODE); pair pib = nodes.insert(pair(node->id, node)); if (!pib.second) { throwException(line(), (format("[%1%]duplicate node:%2%") % line() % node->id).str()); } // for the context of the link name pib = nodeNames.insert(pair(node->name, node)); if (!pib.second) { if (!inlineParse) { throwException(line(), ((format("[%1%][WARNING]duplicate node-name:%2%") % line() % node->name).str())); } } if (!rootNodePresence) { stack.clear(); } // It will tell the relationship between the nodes so far. DaeNodePtr root = (accessible == EXT_NODES ? library : instance); node->parent = (stack.empty() ? root : stack.at(stack.size() - 1).second); node->parent->children.insert(pair(node->id, node)); node->stack = stack; stack.push_back(pair(node->id, node)); if (!rootNodePresence) { rootNode = node; rootNodePresence = true; rootLinkName = node->name; } return node; } DaeNodePtr DaeParserImpl::readInstanceNode(DaeNodePtr node) { string url = reader->getAttributeValue("url"); url = url.substr(1); string uuidNode = lexical_cast(random_generator()()); DaeNodePtr refNode = new DaeNode; refNode->id = uuidNode; refNode->refNodeId = url; // It will tell the relationship between the nodes so far. DaeNodePtr root = (accessible == EXT_NODES ? library : instance); refNode->parent = (stack.empty() ? root : stack.at(stack.size() - 1).second); refNode->parent->children.insert(pair(refNode->id, refNode)); refNode->stack = stack; stack.push_back(pair(refNode->id, refNode)); return node; } DaeNodePtr DaeParserImpl::endNode(DaeNodePtr node) { if (!stack.empty()) { stack.pop_back(); } return node; } DaeNodePtr DaeParserImpl::readTranslate(DaeNodePtr node) { double point[3]; point[0] = point[1] = point[2] = 0.0; reader->read(); string translate = reader->getNodeData(); split(translate, point, 3); if (point[0] != 0.0 || point[1] != 0.0 || point[2] != 0.0) { // Do not log about all 0. node->transform.translate += Vector3d(point[0], point[1], point[2]); // ColladaBodyLoader only uses this translates information. // The mass_frame tag is defined multiple translate from origin. // But ColladaBodyLoader need one of the last. The translates to provide that one. node->transform.translates.push_back(Vector3d(point[0], point[1], point[2])); } return node; } void DaeParserImpl::rotate(string& value, DaeTransform& transform) { trim(value); double point[4]; int i = 0; point[0] = point[1] = point[2] = point[3] = 0.0; for (split_iterator iter = make_split_iterator(value, token_finder(is_space(), token_compress_on)); iter != split_iterator(); iter++) { point[i++] = lexical_cast(*iter); if (i == 4) { i = 0; // If there is a rotate more than one, It will use all of its rotation. transform.rotate = (transform.rotate * AngleAxis(point[3] * M_PI / 180, Vector3(point[0], point[1], point[2]))); } } } DaeNodePtr DaeParserImpl::readRotate(DaeNodePtr node) { reader->read(); string value = reader->getNodeData(); rotate(value, node->transform); return node; } DaeNodePtr DaeParserImpl::readScale(DaeNodePtr node) { double point[3]; point[0] = point[1] = point[2] = 0.0; reader->read(); string scale = reader->getNodeData(); split(scale, point, 3, 1.0); node->transform.scale = Vector3(point[0], point[1], point[2]); return node; } void DaeParserImpl::matrix(string& value, Matrix4d& matrix) { trim(value); double point[4][4]; int i = 0, j = 0; for (int z = 0; z < 4; z++) point[z][0] = point[z][1] = point[z][2] = point[z][3] = 0.0; for (split_iterator iter = make_split_iterator(value, token_finder(is_space(), token_compress_on)); iter != split_iterator(); iter++) { point[j][i++] = lexical_cast(*iter); if (i == 4) { if (4 < j) { throwException(line(), (format("[%1%]invalid matrix") % line()).str()); } i = 0; j++; } } matrix << point[0][0], point[0][1], point[0][2], point[0][3], point[1][0], point[1][1], point[1][2], point[1][3], point[2][0], point[2][1], point[2][2], point[2][3], point[3][0], point[3][1], point[3][2], point[3][3]; } DaeNodePtr DaeParserImpl::readMatrix(DaeNodePtr node) { reader->read(); string value = reader->getNodeData(); if (node->transform.matrix) { throwException(line(), (format("[%1%]duplicate matrix:%2%") % line() % node->id).str()); } node->transform.matrix = new Matrix4d; matrix(value, *(node->transform.matrix)); return node; } DaeNodePtr DaeParserImpl::readInstanceGeometry(DaeNodePtr node) { if (accessible != EXT_PHYSICS_MODELS) { node = readInstanceGeometryForNodes (node); } else { node = readInstanceGeometryForPhysics(node); } return node; } DaeNodePtr DaeParserImpl::readInstanceGeometryForNodes(DaeNodePtr node) { string url = reader->getAttributeValue("url"); url = url.substr(1); refGeometryId = url; DaeGeometries::iterator iterg = geometries.find(url); DaeGeometryPtr geometry = (iterg != geometries.end() ? iterg->second.get() : new DaeGeometry); if (iterg == geometries.end()) { geometry->geometryId = url; geometries.insert(pair(url, geometry)); } DaeGeometries::iterator itern = node->geometries.find(url); if (itern != node->geometries.end()) { throwException(line(), (format("[%1%]duplicate geometry object found:%2%") % line() % url).str()); } else { node->geometries.insert(pair(url, geometry)); } return node; } DaeRigidPtr DaeParserImpl::findRigidBody(string& refNodeId) { DaeRigidRelations::iterator itern = rrelations.find(refNodeId); if (itern == rrelations.end()) { throwException(line(), (format("[%1%][1]node-id not found on rigid-body:%2%") % line() % refNodeId).str()); } DaeRigids::iterator iterr = rigids.find(itern->second); if (iterr == rigids.end()) { throwException(line(), (format("[%1%][2]rigid-id not found on rigid-body:%2%") % line() % itern->second).str()); } return iterr->second; } DaeNodePtr DaeParserImpl::readInstanceGeometryForPhysics(DaeNodePtr node) { if (!reader->getAttributeValue("url")) { throwException(line(), (format("[%1%]invalid geometry") % line()).str()); } string url = reader->getAttributeValue("url"); url = url.substr(1); DaeGeometries::iterator iterg = geometries.find(url); if (iterg == geometries.end()) { throwException(line(), (format("[%1%]invalid geometry-id:%2%") % line() % url).str()); } DaeShape* shape = static_cast(node.get()); shape->setPolygon(iterg->second); return node; } DaeNodePtr DaeParserImpl::readInstanceMaterial(DaeNodePtr node) { if (!reader->getAttributeValue("target")) { throwException(line(), (format("[%1%]invalid target attribute on instance material") % line()).str()); } if (!reader->getAttributeValue("symbol")) { throwException(line(), (format("[%1%]invalid symbol attribute on instance material") % line()).str()); } string target = reader->getAttributeValue("target"); string symbol = reader->getAttributeValue("symbol"); target = target.substr(1); if (DaeShape* extShape = dynamic_cast(node.get())) { // keeping the reference material id only for the "rigid_body". extShape->refMaterialId = target; } else { // creating the relation of geometryid + symbol and material-id for "geometry". DaeGeometries::iterator iterg = geometries.find(refGeometryId); if (iterg == geometries.end()) { throwException(line(), (format("[%1%]invalid geometry structure found:%2%") % line() % target).str()); } DaeGeometryPtr geometry = iterg->second; geometry->refMaterialId = target; DaeMaterials::iterator iterm = materials.find(geometry->refMaterialId); if (iterm == materials.end()) { DaeMaterialPtr material = new DaeMaterial; material->materialId = target; materials.insert(pair(target, material)); } // Keep the symbol for target name of concrete-material. materialRef.insert(pair(refGeometryId + "/" + symbol, target)); } return node; } DaeNodePtr DaeParserImpl::readMaterial(DaeNodePtr node) { if (reader->getAttributeValue("id")) { // ignore the empty id of material-tag in gazobo-tag. string materialId = reader->getAttributeValue("id"); refMaterialId = materialId; DaeMaterials::iterator iterm = materials.find(materialId); if (iterm == materials.end()) { DaeMaterialPtr material = new DaeMaterial; material->materialId = materialId; materials.insert(pair(materialId, material)); } } return node; } DaeNodePtr DaeParserImpl::readInstanceEffect(DaeNodePtr node) { DaeMaterials::iterator iter = materials.find(refMaterialId); if (iter == materials.end()) { throwException(line(), (format("[%1%]invalid effect structure:%2%") % line() % refMaterialId).str()); } DaeMaterialPtr material = iter->second; string url = reader->getAttributeValue("url"); url = url.substr(1); material->refEffectId = url; DaeEffects::iterator itere = effects.find(url); if (itere == effects.end()) { DaeEffectPtr effect = new DaeEffect; effect->effectId = url; effects.insert(pair(url, effect)); } return node; } DaeNodePtr DaeParserImpl::readEffect(DaeNodePtr node) { // It will hold the id. This ID is used in the child node. refEffectId = reader->getAttributeValue("id"); return node; } DaeEffectPtr DaeParserImpl::findOrCreateEffect(string& refEffectId) { DaeEffects::iterator iter = effects.find(refEffectId); DaeEffectPtr effect = (iter != effects.end() ? iter->second.get() : new DaeEffect); if (iter == effects.end()) { effect->effectId = refEffectId; effects.insert(pair(refEffectId, effect)); } return effect; } DaeEffectPtr DaeParserImpl::moveToColor(string& refEffectId) { DaeEffectPtr effect = findOrCreateEffect(refEffectId); // It go to the color tag for (int i = 0; i < 2; i++) { reader->read(); } if (iequals(reader->getNodeName(), "texture")) { // skip the processing without printing error message. throwException(line(), ""); } if (!iequals(reader->getNodeName(), "color")) { throwException(line(), (format("[%1%]invalid effect-color structure:%2%") % line() % refEffectId).str()); } reader->read(); // It go to the text-node return effect; } DaeEffectPtr DaeParserImpl::moveToFloat(string& refEffectId) { DaeEffectPtr effect = findOrCreateEffect(refEffectId); // It go to the float tag for (int i = 0; i < 2; i++) { reader->read(); } if (!iequals(reader->getNodeName(), "float")) { throwException(line(), (format("[%1%]invalid effect-float structure:%2%") % line() % refEffectId).str()); } reader->read(); // It go to the text-node return effect; } DaeNodePtr DaeParserImpl::readEmission(DaeNodePtr node) { DaeEffectPtr effect = moveToColor(refEffectId); // It read the emission/color string emission = reader->getNodeData(); double point[3]; split(emission, point, 3); effect->emission << point[0], point[1], point[2]; return node; } DaeNodePtr DaeParserImpl::readAmbient(DaeNodePtr node) { DaeEffectPtr effect = moveToColor(refEffectId); // It read the emission/color string ambient = reader->getNodeData(); double point[1]; split(ambient, point, 1); effect->ambient = point[0]; return node; } DaeNodePtr DaeParserImpl::readDiffuse(DaeNodePtr node) { DaeEffectPtr effect; try { effect = moveToColor(refEffectId); } catch (...) { // It was texture-tag effect = findOrCreateEffect(refEffectId); effect->diffuse = Vector3(1.0, 1.0, 1.0); return node; } // It read the diffuse/color string diffuse = reader->getNodeData(); double point[3]; split(diffuse, point, 3); effect->diffuse << point[0], point[1], point[2]; return node; } DaeNodePtr DaeParserImpl::readSpecular(DaeNodePtr node) { DaeEffectPtr effect = moveToColor(refEffectId); // It read the emission/color string specular = reader->getNodeData(); double point[3]; split(specular, point, 3); effect->specular << point[0], point[1], point[2]; return node; } DaeNodePtr DaeParserImpl::readShininess(DaeNodePtr node) { DaeEffectPtr effect = moveToFloat(refEffectId); // It read the shininess/float string shininess = reader->getNodeData(); double point[1]; split(shininess, point, 1); effect->shininess = point[0]; return node; } DaeNodePtr DaeParserImpl::readTransparency(DaeNodePtr node) { DaeEffectPtr effect = moveToFloat(refEffectId); // It read the shininess/float string transparency = reader->getNodeData(); double point[1]; split(transparency, point, 1); effect->transparency = point[0]; return node; } DaeNodePtr DaeParserImpl::readGeometry(DaeNodePtr node) { // It will hold the id. This ID is used in the child node. refGeometryId = reader->getAttributeValue("id"); DaeGeometries::iterator iter = geometries.find(refGeometryId); if (iter == geometries.end()) { DaeGeometryPtr geometry = new DaeGeometry; geometry->geometryId = refGeometryId; geometries.insert(pair(refGeometryId, geometry)); } meshes.clear(); return node; } DaeNodePtr DaeParserImpl::readVertices(DaeNodePtr node) { // It will hold the id. This ID is used in the child node. refVerticesId = refGeometryId + "/" + reader->getAttributeValue("id"); meshes.push_back("vertices"); return node; } DaeNodePtr DaeParserImpl::readSource(DaeNodePtr node) { // It will hold the id. This ID is used in the child node. if (reader->getAttributeValue("id")) { refSourceId = reader->getAttributeValue("id"); meshes.push_back("source"); } return node; } void DaeParserImpl::array(string& value, DaeVectorXArrayPtr array) { trim(value); array->clear(); for (split_iterator iter = make_split_iterator(value, token_finder(is_space(), token_compress_on)); iter != split_iterator(); iter++) { if ((boost::copy_range(*iter)).size() <= 0) { throwException(line(), (format("[%1%]invalid value:%2%") % line() % value).str()); } try { // It holds the number of the number of specified. array->push_back(lexical_cast(*iter)); } catch (...) { // NaN is assigned, numerical error occurs. array->push_back(0.0); } } } DaeNodePtr DaeParserImpl::readFloatArray(DaeNodePtr node) { DaeVectorMap::iterator iter = sources.find(refSourceId); if (iter != sources.end()) { throwException(line(), (format("[%1%]invalid source-float structure:%2%") % line() % refSourceId).str()); } int icount = (reader->getAttributeValue("count") ? lexical_cast(reader->getAttributeValue("count")) : -1); DaeVectorXArrayPtr source = DaeVectorXArrayPtr(new DaeVectorXArray); if (0 < icount) { source->resize(icount); } reader->read(); string value = reader->getNodeData(); array(value, source); pair pib = sources.insert(pair(refSourceId, source)); if (!pib.second) { throwException(line(), (format("[%1%]duplicate source:%2%") % line() % refSourceId).str()); } return node; } DaeNodePtr DaeParserImpl::readAccessor(DaeNodePtr node) { if (!reader->getAttributeValue("stride")) { throwException(line(), (format("[%1%]invalid stride,source-id:%2%") % line() % refSourceId).str()); } int stride = lexical_cast(reader->getAttributeValue("stride")); pair pib = strides.insert(pair(refSourceId, stride)); if (!pib.second) { throwException(line(), (format("[%1%]duplicate stride:%2%") % line() % refSourceId).str()); } return node; } DaeNodePtr DaeParserImpl::readImage(DaeNodePtr node) { // It will hold the id. This ID is used in the child node. refImageId = reader->getAttributeValue("id"); return node; } void DaeParserImpl::createMesh(int line) { DaeGeometries::iterator iter = geometries.find(refGeometryId); if (iter == geometries.end()) { throwException(line, (format("[%1%]invalid mesh on geometry(geimeotry-id:%2%)") % line % refGeometryId).str()); } DaeGeometryPtr geometry = iter->second; DaeMeshPtr mesh = new DaeMesh; if (reader->getAttributeValue("material")) { // keep the material such as MESH (triangles-tag). mesh->refMaterialId = reader->getAttributeValue("material"); } geometry->meshes.push_back(mesh); refMesh = mesh; } DaeNodePtr DaeParserImpl::readPolylist(DaeNodePtr node) { figure = EXT_POLYLIST; createMesh(line()); meshes.push_back("polylist"); return node; } DaeNodePtr DaeParserImpl::readBox(DaeNodePtr node) { if (accessible != EXT_PHYSICS_MODELS) { throwException(line(), (format("[%1%]invalid box-tag, it not join to the physics-tag") % line()).str()); } for (int i = 0; i < 3; i++) reader->read(); string value = reader->getNodeData(); DaeVectorXArrayPtr values = DaeVectorXArrayPtr(new DaeVectorXArray); array(value, values); DaeShape* shape = static_cast(node.get()); if (shape->isPresence()) { throwException(line(), (format("[%1%]duplicate primitive-physics on shape, rigid-id:%2%") % line() % befRigid->id).str()); } shape->setBox(Vector3(values->at(0), values->at(1), values->at(2))); return node; } DaeNodePtr DaeParserImpl::readSphere(DaeNodePtr node) { if (accessible != EXT_PHYSICS_MODELS) { throwException(line(), (format("[%1%]invalid sphere-tag, it not join to the physics-tag") % line()).str()); } for (int i = 0; i < 3; i++) reader->read(); string value = reader->getNodeData(); DaeShape* shape = static_cast(node.get()); if (shape->isPresence()) { throwException(line(), (format("[%1%]duplicate primitive-physics on shape, rigid-id:%2%") % line() % befRigid->id).str()); } shape->setSphere(lexical_cast(value)); return node; } DaeNodePtr DaeParserImpl::readCylinder(DaeNodePtr node) { if (accessible != EXT_PHYSICS_MODELS) { throwException(line(), (format("[%1%]invalid cylinder-tag, it not join to the physics-tag") % line()).str()); } std::string name = ""; double height = 0.0, radius = 0.0; for (int i = 0; i < 2; i++) reader->read(); name = reader->getNodeName(); reader->read(); string value = reader->getNodeData(); if (iequals("height", name)) height = lexical_cast(value); else radius = lexical_cast(value); for (int i = 0; i < 3; i++) reader->read(); name = reader->getNodeName(); reader->read(); value = reader->getNodeData(); if (iequals("radius", name)) radius = lexical_cast(value); else height = lexical_cast(value); DaeShape* shape = static_cast(node.get()); if (shape->isPresence()) { throwException(line(), (format("[%1%]duplicate primitive-physics on shape, rigid-id:%2%") % line() % befRigid->id).str()); } shape->setCylinder(height, radius); return node; } void DaeParserImpl::readTaperedCylinderConcrete(std::string& name, std::string& value, double& height, double radius1[2], double radius2[2]) { if (iequals("height", name)) { height = lexical_cast(value); } else if (iequals("radius1", name)) { DaeVectorXArrayPtr values = DaeVectorXArrayPtr(new DaeVectorXArray); array(value, values); radius1[0] = values->at(0); radius1[1] = values->at(1); } else if (iequals("radius2", name)) { DaeVectorXArrayPtr values = DaeVectorXArrayPtr(new DaeVectorXArray); array(value, values); radius2[0] = values->at(0); radius2[1] = values->at(1); } } DaeNodePtr DaeParserImpl::readTaperedCylinder(DaeNodePtr node) { if (accessible != EXT_PHYSICS_MODELS) { throwException(line(), (format("[%1%]invalid tapered-cylinder-tag, it not join to the physics-tag") % line()).str()); } std::string name = ""; double height = 0.0; double radius1[2], radius2[2]; for (int i = 0; i < 2; i++) reader->read(); name = reader->getNodeName(); reader->read(); string value = reader->getNodeData(); readTaperedCylinderConcrete(name, value, height, radius1, radius2); for (int i = 0; i < 3; i++) reader->read(); name = reader->getNodeName(); reader->read(); value = reader->getNodeData(); readTaperedCylinderConcrete(name, value, height, radius1, radius2); for (int i = 0; i < 3; i++) reader->read(); name = reader->getNodeName(); reader->read(); value = reader->getNodeData(); readTaperedCylinderConcrete(name, value, height, radius1, radius2); DaeShape* shape = static_cast(node.get()); if (shape->isPresence()) { throwException(line(), (format("[%1%]duplicate primitive-physics on shape, rigid-id:%2%") % line() % befRigid->id).str()); } shape->setCone(height, Vector2(radius1[0], radius1[1]), Vector2(radius2[0], radius2[1])); return node; } DaeNodePtr DaeParserImpl::readKinematicsModel(DaeNodePtr node) { // keep the kinematics model id for children processing. refKinematicsId = reader->getAttributeValue("id") ? reader->getAttributeValue("id") : reader->getAttributeValue("name"); return node; } DaeNodePtr DaeParserImpl::readLink(DaeNodePtr node) { // There is a clear distinction between link and node in collada. if (accessible != EXT_KINEMATICS_MODELS) { throwException(line(), (format("[%1%]invalid link-tag, it not join to the kinematics-tag") % line()).str()); } if (!reader->getAttributeValue("sid")) { throwException(line(), (format("[%1%]invalid link-tag, it haven't the sid:%2%") % line() % refKinematicsId).str()); } DaeLinkPtr link = new DaeLink; string id = refKinematicsId + "/" + reader->getAttributeValue("sid"); string name = reader->getAttributeValue("name"); link ->id = id; link ->name = name; pair pib = links.insert(pair(id, link)); if (!pib.second) { throwException(line(), (format("[%1%]duplicate link:%2%") % line() % id).str()); } pib = linkNames.insert(pair(name, link)); if (!pib.second) { throwException(line(), (format("[%1%]duplicate link-name:%2%") % line() % name).str()); } if (!rootLinkPresence) { stack.clear(); } if (0 < stack.size()) { DaeJoint* parentNode = static_cast(stack.at(stack.size() - 1).second.get()); parentNode->children.push_back(name); } link->stack = stack; stack.push_back(pair(link->id, link)); if (!rootLinkPresence) { rootLink = link; rootLinkPresence = true; } return static_cast(link); } DaeNodePtr DaeParserImpl::readAttachmentFull(DaeNodePtr node) { // There is a clear distinction between joint and node in collada. // Attachment_full tags are the "INSTANCE" of definition of joint. if (accessible != EXT_KINEMATICS_MODELS) { throwException(line(), (format("[%1%]invalid attachment-tag, it not join to the kinematics-tag") % line()).str()); } if (!reader->getAttributeValue("joint")) { throwException(line(), (format("[%1%]invalid attachment-tag, it haven't a joint attribute") % line()).str()); } string target = reader->getAttributeValue("joint"); DaeJoints::iterator iterj = joints.find(target); DaeJointPtr joint = (iterj == joints.end() ? new DaeJoint : iterj->second.get()); if (iterj == joints.end()) { joints.insert(pair(target, joint)); } joint->id = target; if (0 < stack.size()) { DaeLink* parentNode = static_cast(stack.at(stack.size() - 1).second.get()); parentNode->children.push_back(target); } joint->stack = stack; stack.push_back(pair(joint->id, joint)); return static_cast(joint); } DaeNodePtr DaeParserImpl::readJoint(DaeNodePtr node) { // Joint tags are the "CONCRETE(like Library)" of definition of joint. if (accessible != EXT_KINEMATICS_MODELS) { throwException(line(), (format("[%1%]invalid joint-tag, it not join to the kinematics-tag") % line()).str()); } if (!reader->getAttributeValue("sid")) { throwException(line(), (format("[%1%]invalid joint-tag, it haven't a sid attribute") % line()).str()); } string id = refKinematicsId + "/" + reader->getAttributeValue("sid"); string name = reader->getAttributeValue("name"); DaeJoints::iterator iterj = joints.find(id); DaeJointPtr joint = (iterj == joints.end() ? new DaeJoint : iterj->second.get()); if (iterj == joints.end()) { joints.insert(pair(id, joint)); } joint->id = id; joint->name = name; befJoint = joint; return node; } DaeNodePtr DaeParserImpl::readPrismatic(DaeNodePtr node) { return readRevolute(node); } DaeNodePtr DaeParserImpl::readRevolute(DaeNodePtr node) { if (accessible != EXT_KINEMATICS_MODELS) { throwException(line(), (format("[%1%]invalid revolute-tag, it not join to the kinematics-tag") % line()).str()); } if (!reader->getAttributeValue("sid")) { throwException(line(), (format("[%1%]invalid revolute-tag, it haven't a sid attribute") % line()).str()); } if (!befJoint) { throwException(line(), (format("[%1%]invalid revolute-tag, it haven't a parent joint-tag") % line()).str()); } // The structure of this hierarchy is deterministic. DaeRevolutePtr revolute = new DaeRevolute; string id = reader->getAttributeValue("sid"); revolute->id = id; befRevolute = revolute; befJoint->revolutes.push_back(revolute); return node; } DaeNodePtr DaeParserImpl::readAxis(DaeNodePtr node) { if (accessible == EXT_KINEMATICS_MODELS) { if (befJoint && befRevolute) { reader->read(); if (!reader->getNodeData()) { throwException(line(), (format("[%1%]invalid axis-tag, it haven't a content") % line()).str()); } string content = reader->getNodeData(); vector ret; boost::split(ret, content, is_any_of(" ")); if (ret.size() != 3) { throwException(line(), (format("[%1%]invalid axis-tag, it have a invalid content") % line()).str()); } // The structure of this hierarchy is deterministic. befRevolute->axis = Vector3(lexical_cast(ret[0]), lexical_cast(ret[1]), lexical_cast(ret[2])); } } return node; } DaeNodePtr DaeParserImpl::readMin(DaeNodePtr node) { if (accessible == EXT_KINEMATICS_MODELS) { if (befJoint && befRevolute) { reader->read(); if (!reader->getNodeData()) { throwException(line(), (format("[%1%]invalid min-tag, it haven't a content") % line()).str()); } string content = reader->getNodeData(); befRevolute->limitMin = lexical_cast(content); } } return node; } DaeNodePtr DaeParserImpl::readMax(DaeNodePtr node) { if (accessible == EXT_KINEMATICS_MODELS) { if (befJoint && befRevolute) { reader->read(); if (!reader->getNodeData()) { throwException(line(), (format("[%1%]invalid max-tag, it haven't a content") % line()).str()); } // The structure of this hierarchy is deterministic. string content = reader->getNodeData(); befRevolute->limitMax = lexical_cast(content); } } return node; } DaeNodePtr DaeParserImpl::readInstancePhysicsModel(DaeNodePtr node) { rrelations.clear(); return node; } DaeNodePtr DaeParserImpl::readInstanceRigidBody(DaeNodePtr node) { // Rigid is related to the link. if (accessible != EXT_PHYSICS_SCENES) { throwException(line(), (format("[%1%]invalid instance-rigid-tag, it not join to the physics-scene-tag") % line()).str()); } if (!reader->getAttributeValue("body") || !reader->getAttributeValue("target")) { throwException(line(), (format("[%1%]invalid instance-rigid-tag, it haven't a body or target") % line()).str()); } string body = reader->getAttributeValue("body"); string target = reader->getAttributeValue("target"); target = target.substr(1); pair pib = rrelations.insert(pair(target, body)); if (!pib.second) { throwException(line(), (format("[%1%]duplicate instance-rigid-tag:%2%(%3%)") % line() % target % body).str()); } return node; } DaeNodePtr DaeParserImpl::readMass(DaeNodePtr node) { // mass is the mass of the link. if (accessible != EXT_PHYSICS_MODELS) { throwException(line(), (format("[%1%]invalid mass-tag, it not join to the physics-tag") % line()).str()); } reader->read(); if (!reader->getNodeData()) { throwException(line(), (format("[%1%]invalid mass-tag, it haven't a content") % line()).str()); } string value = reader->getNodeData(); DaeRigid* rigid = static_cast(node.get()); rigid->mass = lexical_cast(value); return node; } DaeNodePtr DaeParserImpl::readMassFrame(DaeNodePtr node) { // mass_frame is translation and rotation to the center of gravity. if (!befRigid) { throwException(line(), (format("[%1%]invalid mass-frmae-tag") % line()).str()); } DaeMassFramePtr massFrame = new DaeMassFrame; befRigid->massFrame = massFrame; // easy to access this node on next(child) node. return static_cast(massFrame); } DaeNodePtr DaeParserImpl::readInertia(DaeNodePtr node) { // This is the inertia of the link. if (accessible != EXT_PHYSICS_MODELS) { throwException(line(), (format("[%1%]invalid inertia-tag, it not join to the physics-tag") % line()).str()); } reader->read(); if (!reader->getNodeData()) { throwException(line(), (format("[%1%]invalid inertia-tag, it haven't a content") % line()).str()); } string value = reader->getNodeData(); DaeVectorXArrayPtr values = DaeVectorXArrayPtr(new DaeVectorXArray); array(value, values); befRigid->inertia = Vector3(lexical_cast(values->at(0)), lexical_cast(values->at(1)), lexical_cast(values->at(2))); return node; } DaeNodePtr DaeParserImpl::readShape(DaeNodePtr node) { // This is a graphic of primitive. if (accessible != EXT_PHYSICS_MODELS) { throwException(line(), (format("[%1%]invalid shape-tag, it not join to the physics-tag") % line()).str()); } DaeShapePtr shape = new DaeShape; befRigid->shapes.push_back(shape); return static_cast(shape); } DaeNodePtr DaeParserImpl::readRigidBody(DaeNodePtr node) { if (accessible != EXT_PHYSICS_MODELS) { throwException(line(), (format("[%1%]invalid rigid-body-tag, it not join to the physics-tag") % line()).str()); } if (!reader->getAttributeValue("sid")) { throwException(line(), (format("[%1%]invalid rigid-body-tag, it haven't a sid") % line()).str()); } DaeRigidPtr rigid = DaeRigidPtr(new DaeRigid); string id = reader->getAttributeValue("sid"); string name = reader->getAttributeValue("name") ? reader->getAttributeValue("name") : reader->getAttributeValue("sid"); refRigidBodyId = id; rigid->id = id; rigid->name = name; befRigid = rigid; pair pib = rigids.insert(pair(id, rigid)); if (!pib.second) { throwException(line(), (format("[%1%]duplicate rigid-body-tag:%2%") % line() % id).str()); } pib = rigidNames.insert(pair(name, rigid)); if (!pib.second) { throwException(line(), (format("[%1%]duplicate rigid-body-tag:%2%") % line() % name).str()); } return static_cast(rigid); } DaeNodePtr DaeParserImpl::readVcount(DaeNodePtr node) { // vcount is the number of vertices of the shape. (vertices count) if (figure != EXT_POLYLIST) { throwException(line(), (format("[%1%]invalid structure of vcount:%2%") % line() % refGeometryId).str()); } DaeGeometries::iterator iterg = geometries.find(refGeometryId); if (iterg == geometries.end()) { throwException(line(), (format("[%1%]invalid vcount on geometry:%2%") % line() % refGeometryId).str()); } DaeGeometryPtr geometry = iterg->second; reader->read(); string value = reader->getNodeData(); array(value, refMesh->vcount); return node; } bool DaeParserImpl::createVcount(DaeVectorXArrayPtr vcount) { if (vcount->size() <= 0) { return false; // no vcount } for (DaeVectorXArray::iterator iter = vcount->begin(); iter != vcount->end(); iter++) { if (3 < lexical_cast(*iter)) { return true; } } return false; } DaeNodePtr DaeParserImpl::readInitFrom(DaeNodePtr node) { // init_from is an image of the texture. if (accessible == EXT_IMAGES) { reader->read(); string fileName = reader->getNodeData(); boost::algorithm::replace_all(fileName, "file:///", ""); // no need "file:///" DaeTexturePtr texture = new DaeTexture(path + "/" + fileName); pair pib = textures.insert(pair(refImageId, texture)); if (!pib.second) { throwException(line(), (format("[%1%]duplicate texture:%2%") % line() % refImageId).str()); } } else if (accessible == EXT_EFFECTS) { reader->read(); string id = reader->getNodeData(); DaeEffectPtr effect = findOrCreateEffect(refEffectId); effect->refImageId = id; } else { throwException(line(), (format("[%1%]invalid structure of init_from") % line()).str()); } return node; } DaeNodePtr DaeParserImpl::readActuator(DaeNodePtr node) { if (!reader->getAttributeValue("id")) { throwException(line(), (format("[%1%]invalid actuator") % line()).str()); } string id = reader->getAttributeValue("id"); DaeActuatorPtr actuator = new DaeActuator; actuator->id = id; pair pib = actuators.insert(pair(id, actuator)); if (!pib.second) { throwException(line(), (format("[%1%]duplicate actuator:%2%") % line() % id).str()); } return static_cast(actuator); } void DaeParserImpl::setActuator(DaeNodePtr node, double& value, string message) { reader->read(); if (reader->getNodeData()) { string data = reader->getNodeData(); value = lexical_cast(data); } else { *os << format(message.c_str()) % line() % node->id << endl; } } DaeNodePtr DaeParserImpl::readAssignedPowerRating(DaeNodePtr node) { DaeActuator* value = static_cast(node.get()); setActuator(node, value->assignedPowerRating, "[%1%][WARNING]assigned power rating is empty on actuator-tag:%2%"); return node; } DaeNodePtr DaeParserImpl::readMaxSpeeed(DaeNodePtr node) { DaeActuator* value = static_cast(node.get()); setActuator(node, value->maxSpeed, "[%1%][WARNING]max speed is empty on actuator-tag:%2%"); return node; } DaeNodePtr DaeParserImpl::readNoLoadSpeed(DaeNodePtr node) { DaeActuator* value = static_cast(node.get()); setActuator(node, value->noLoadSpeed, "[%1%][WARNING]no load speed is empty on actuator-tag:%2%"); return node; } DaeNodePtr DaeParserImpl::readNominalTorque(DaeNodePtr node) { DaeActuator* value = static_cast(node.get()); setActuator(node, value->nominalTorque, "[%1%][WARNING]nominal torque is empty on actuator-tag:%2%"); return node; } DaeNodePtr DaeParserImpl::readNominalVoltage(DaeNodePtr node) { DaeActuator* value = static_cast(node.get()); setActuator(node, value->nominalVoltage, "[%1%][WARNING]nominal voltage is empty on actuator-tag:%2%"); return node; } DaeNodePtr DaeParserImpl::readRotorInertia(DaeNodePtr node) { DaeActuator* value = static_cast(node.get()); setActuator(node, value->rotorInertia, "[%1%][WARNING]rotor inertia is empty on actuator-tag:%2%"); return node; } DaeNodePtr DaeParserImpl::readSpeedConstant(DaeNodePtr node) { DaeActuator* value = static_cast(node.get()); setActuator(node, value->speedConstant, "[%1%][WARNING]speed constant is empty on actuator-tag:%2%"); return node; } DaeNodePtr DaeParserImpl::readSpeedTorqueGradient(DaeNodePtr node) { DaeActuator* value = static_cast(node.get()); setActuator(node, value->speedTorqueGradient, "[%1%][WARNING]speed torque gradient is empty on actuator-tag:%2%"); return node; } DaeNodePtr DaeParserImpl::readStartingCurrent(DaeNodePtr node) { DaeActuator* value = static_cast(node.get()); setActuator(node, value->startingCurrent, "[%1%][WARNING]starting current is empty on actuator-tag:%2%"); return node; } DaeNodePtr DaeParserImpl::readTerminalResistance(DaeNodePtr node) { DaeActuator* value = static_cast(node.get()); setActuator(node, value->terminalResistance, "[%1%][WARNING]terminal resistance is empty on actuator-tag:%2%"); return node; } DaeNodePtr DaeParserImpl::readTorqueConstant(DaeNodePtr node) { DaeActuator* value = static_cast(node.get()); setActuator(node, value->torqueConstant, "[%1%][WARNING]torque constant is empty on actuator-tag:%2%"); return node; } DaeNodePtr DaeParserImpl::readInstanceActuator(DaeNodePtr node) { if (DaeAttachActuator* attach = dynamic_cast(node.get())) { if (!reader->getAttributeValue("url")) { throwException(line(), (format("[%1%]invalid instance actuator-tag, url attribute not found:%2%") % line() % node->id).str()); } string url = reader->getAttributeValue("url"); url = url.substr(1); attach->instanceActuator = url; createActuatorRelation(attach); } return node; } DaeNodePtr DaeParserImpl::readBindActuator(DaeNodePtr node) { if (DaeAttachActuator* attach = dynamic_cast(node.get())) { if (!reader->getAttributeValue("joint")) { throwException(line(), (format("[%1%]invalid bind actuator-tag, joint attribute not found:%2%") % line() % node->id).str()); } string joint = reader->getAttributeValue("joint"); attach->bindActuator = joint; createActuatorRelation(attach); } return node; } void DaeParserImpl::createActuatorRelation(DaeAttachActuatorPtr attach) { if (0 < attach->instanceActuator.size() && 0 < attach->bindActuator.size()) { pair pib = arelations.insert(pair(attach->bindActuator, attach->instanceActuator)); if (!pib.second) { throwException(line(), (format("[%1%]duplicate actuator-relation:%2%") % line() % attach->bindActuator).str()); } } } DaeNodePtr DaeParserImpl::readInstanceSensor(DaeNodePtr node) { if (DaeAttachSensor* attach = dynamic_cast(node.get())) { if (!reader->getAttributeValue("url")) { throwException(line(), (format("[%1%]invalid instance sensor-tag, url attribute not found:%2%") % line() % node->id).str()); } string url = reader->getAttributeValue("url"); url = url.substr(1); attach->instanceSensor = url; createSensorRelation(attach); } return node; } DaeNodePtr DaeParserImpl::readFrameOrigin(DaeNodePtr node) { if (DaeAttachSensor* attach = dynamic_cast(node.get())) { if (!reader->getAttributeValue("link")) { throwException(line(), (format("[%1%]invalid frame-origin-tag, link attribute not found:%2%") % line() % node->id).str()); } string link = reader->getAttributeValue("link"); attach->frameOrigin = link; createSensorRelation(attach); } return node; } void DaeParserImpl::createSensorRelation(DaeAttachSensorPtr attach) { if (0 < attach->instanceSensor.size() && 0 < attach->frameOrigin.size()) { srelations.push_back(pair(attach->frameOrigin, attach->instanceSensor)); } } DaeNodePtr DaeParserImpl::readExtra(DaeNodePtr node) { if (reader->getAttributeValue("type")) { string type = reader->getAttributeValue("type"); if (iequals(type, "attach_actuator")) { // This will complement the attributes of the joint. DaeAttachActuatorPtr value = new DaeAttachActuator; return static_cast(value); } else if (iequals(type, "attach_sensor")) { // This will complement the attributes of the joint. DaeAttachSensorPtr value = new DaeAttachSensor; return static_cast(value); } } return node; } DaeNodePtr DaeParserImpl::readSensor(DaeNodePtr node) { if (!reader->getAttributeValue("id")) { throwException(line(), (format("[%1%]invalid sensor-tag, id attribute not found") % line()).str()); } DaeSensorPtr sensor = new DaeSensor; sensor->id = reader->getAttributeValue("id"); sensor->type = reader->getAttributeValue("type") ? reader->getAttributeValue("type") : "" ; pair pib = sensors.insert(pair(sensor->id, sensor)); if (!pib.second) { throwException(line(), (format("[%1%]duplicate sensor:%2%") % line() % sensor->id).str()); } return static_cast(sensor); } DaeNodePtr DaeParserImpl::readFocalLength(DaeNodePtr node) { if (DaeSensor* sensor = dynamic_cast(node.get())) { reader->read(); sensor->focalLength = lexical_cast(reader->getNodeData()); } return node; } DaeNodePtr DaeParserImpl::readIntrinsic(DaeNodePtr node) { if (DaeSensor* sensor = dynamic_cast(node.get())) { reader->read(); string value = reader->getNodeData(); DaeVectorXArrayPtr source = DaeVectorXArrayPtr(new DaeVectorXArray); array(value, source); if (source->size() != 6) { throwException(line(), (format("[%1%]invalid intrinsic-tag, not 6-dimensions") % line()).str()); } sensor->intrinsic << source->at(0), source->at(1), source->at(2), source->at(3), source->at(4), source->at(5); } return node; } DaeNodePtr DaeParserImpl::readImageDimensions(DaeNodePtr node) { if (DaeSensor* sensor = dynamic_cast(node.get())) { reader->read(); string value = reader->getNodeData(); DaeVectorXArrayPtr source = DaeVectorXArrayPtr(new DaeVectorXArray); array(value, source); if (source->size() != 3) { throwException(line(), (format("[%1%]invalid image-dimensions-tag, not 3-dimensions") % line()).str()); } sensor->imageDimensions << source->at(0), source->at(1), source->at(2); } return node; } DaeNodePtr DaeParserImpl::readMeasurementTime(DaeNodePtr node) { if (DaeSensor* sensor = dynamic_cast(node.get())) { reader->read(); sensor->measurementTime = lexical_cast(reader->getNodeData()); } return node; } bool DaeParserImpl::checkOrder(DaeOrder& order, int type = 0) { DaeOrder::iterator iterv = std::find(order.begin(), order.end(), "vertices"); DaeOrder::iterator iters = std::find(order.begin(), order.end(), "source"); DaeOrder::iterator iterp = std::find(order.begin(), order.end(), "position"); switch (type) { case 0: { return (iterv != order.end() && iters != order.end() && iterp != order.end()); break; } case 1: { DaeOrder::iterator itert = std::find(order.begin(), order.end(), "triangles"); DaeOrder::iterator iterm = std::find(order.begin(), order.end(), "lines"); DaeOrder::iterator iterl = std::find(order.begin(), order.end(), "polylist"); return (iterv != order.end() && iters != order.end() && iterp != order.end() && (itert != order.end() || iterm != order.end() || iterl != order.end())); break; } } return false; } DaeNodePtr DaeParserImpl::readInput(DaeNodePtr node) { string semantic = reader->getAttributeValue("semantic"); string source = reader->getAttributeValue("source"); source = source.substr(1); int type = symbolSemantic(semantic); switch (type) { case EXT_POSITION: { meshes.push_back("position"); refPositionId = source; pair pia = verticesRef.insert(pair(refVerticesId, refPositionId)); if (!pia.second) { throwException(line(), (format("[%1%]duplicate vertices-id:%2%,position-id:%3%") % line() % refVerticesId % refPositionId).str()); } break; } case EXT_VERTEX: case EXT_NORMAL: case EXT_COLOR: case EXT_TEXCOORD: int offset = -1; if (reader->getAttributeValue("offset")) { offset = lexical_cast(reader->getAttributeValue("offset")); if (offsetMaximum < offset) { offsetMaximum = offset; } createVertexAndNormal(type, source, offset); } break; } return node; } void DaeParserImpl::createVertexAndNormal(int type, string& source, int offset) { if (!checkOrder(meshes)) { throwException(line(), (format("[%1%]invalid triangle") % line()).str()); } if (!refMesh) { throwException(line(), (format("[%1%]invalid mesh structure. Currently, only the lines and polylist and triangles are eligible(geometry-id:%2%)") % line() % refGeometryId).str()); } DaeGeometries::iterator iterv = geometries.find(refGeometryId); if (iterv == geometries.end()) { throwException(line(), (format("[%1%]invalid geometry:%2%") % line() % refGeometryId).str()); } DaeGeometryPtr geometry = iterv->second; // check the valid mesh on geometry DaeMeshes::iterator iterm = std::find(geometry->meshes.begin(), geometry->meshes.end(), refMesh); if (iterm == geometry->meshes.end()) { throwException(line(), (format("[%1%]invalid mesh is invoked. Currently, only the lines and polylist and triangles are eligible(geometry-id:%2%)") % line() % refGeometryId).str()); } switch (type) { case EXT_VERTEX: { if (!iequals(refVerticesId, source)) { source = refGeometryId + "/" + source; if (!iequals(refVerticesId, source)) { throwException(line(), (format("[%1%]invalid vertices(1):%2%") % line() % refVerticesId).str()); } } DaeVectorMap::iterator iter = sources.find(refPositionId); if (iter == sources.end()) { throwException(line(), (format("[%1%]invalid position:%2%") % line() % refPositionId).str()); } offsetVertex = offset; refMesh->refVerticesId = source; refMesh->vertices = iter->second; break; } case EXT_NORMAL: { refNormalsId = source; DaeVectorMap::iterator iter = sources.find(refNormalsId); if (iter == sources.end()) { throwException(line(), (format("[%1%]invalid normals(1):%2%") % line() % refNormalsId).str()); } offsetNormal = offset; refMesh->refNormalsId = source; refMesh->normals = iter->second; break; } case EXT_COLOR: { refColorId = source; DaeVectorMap::iterator iter = sources.find(refColorId); if (iter == sources.end()) { throwException(line(), (format("[%1%]invalid colors:%2%") % line() % refColorId).str()); } offsetColor = offset; refMesh->refColorId = source; refMesh->colors = iter->second; break; } case EXT_TEXCOORD: { refTexcoordId = source; DaeVectorMap::iterator iter = sources.find(refTexcoordId); if (iter == sources.end()) { throwException(line(), (format("[%1%]invalid texcoords:%2%") % line() % refTexcoordId).str()); } offsetTexcoord = offset; refMesh->refTexcoordId = source; refMesh->texcoords = iter->second; break; } } } DaeNodePtr DaeParserImpl::readTriangles(DaeNodePtr node) { figure = EXT_TRIANGLES; createMesh(line()); meshes.push_back("triangles"); return node; } DaeNodePtr DaeParserImpl::readLines(DaeNodePtr node) { figure = EXT_LINES; createMesh(line()); meshes.push_back("lines"); return node; } void DaeParserImpl::index(string &value, DaeVectorXArrayPtr index, int offset, int offsetMaximum) { if (offset < 0) { return; } trim(value); index->clear(); for (split_iterator iter = make_split_iterator(value, token_finder(is_space(), token_compress_on)); iter != split_iterator(); iter++) { if ((boost::copy_range(*iter)).size() <= 0) { throwException(line(), (format("[%1%]invalid value:%2%") % line() % boost::copy_range(*iter)).str()); } for (int n = 0; n < offset; n++) { // It will skip the offset of the first iter++; if (iter == split_iterator()) { *os << ((format("[%1%]invalid offset(before token):%2%") % line() % offset).str()) << endl; return; } } index->push_back(lexical_cast(*iter)); for (int n = 0; n < (offsetMaximum - offset); n++) { // It will skip the rest of the offset iter++; if (iter == split_iterator()) { return; // it finish } } } } DaeNodePtr DaeParserImpl::readP(DaeNodePtr node) { if (!checkOrder(meshes, 1)) { throwException(line(), (format("[%1%]invalid p structure(p order on mesh)") % line()).str()); } if (!refMesh) { throwException(line(), (format("[%1%]invalid mesh structure. Currently, only the lines and polylist and triangles are eligible(geometry-id:%2%)") % line() % refGeometryId).str()); } DaeGeometries::iterator iter = geometries.find(refGeometryId); if (iter == geometries.end()) { throwException(line(), (format("[%1%]invalid geometry(geimeotry-id:%2%)") % line() % refGeometryId).str()); } DaeGeometryPtr geometry = iter->second; // check the valid mesh on geometry DaeMeshes::iterator iterm = std::find(geometry->meshes.begin(), geometry->meshes.end(), refMesh); if (iterm == geometry->meshes.end()) { throwException(line(), (format("[%1%]invalid mesh is invoked. Currently, only the lines and polylist and triangles are eligible(geometry-id:%2%)") % line() % refGeometryId).str()); } reader->read(); string value = reader->getNodeData(); index(value, refMesh->verticesIndexes, offsetVertex, offsetMaximum); if (0 <= offsetNormal) { index(value, refMesh->normalsIndexes, offsetNormal, offsetMaximum); } if (0 <= offsetColor) { index(value, refMesh->colorsIndexes, offsetColor, offsetMaximum); } if (0 <= offsetTexcoord) { index(value, refMesh->texcoordsIndexes, offsetTexcoord, offsetMaximum); } return node; } bool DaeParserImpl::checkConcreteNode(DaeNodePtr node) { for (DaeNodes::iterator iter = node->children.begin(); iter != node->children.end();) { DaeNodePtr child = iter->second; if (0 < child->refNodeId.length()) { // It replaced with a copy of the actual node to instance_node DaeNodes::iterator itern = nodes.find(child->refNodeId); if (itern == nodes.end()) { throwException(line(), (format("[-1]concrete node not found:%1%") % child->refNodeId).str()); } node->children.erase(iter++); DaeNodePtr concrete = itern->second->clone(); pair pib = node->children.insert(pair(concrete->id, concrete)); if (!pib.second) { throwException(line(), (format("[%1%]duplicate node:%2%") % line() % concrete->id).str()); } } else { iter++; } } for (DaeNodes::iterator iter = node->children.begin(); iter != node->children.end(); iter++) { checkConcreteNode(iter->second); } return true; } void DaeParserImpl::createLists(DaeNodePtr node, bool omit = false) { // It will convert to format lists from the tree structure of the node. if (!omit) { lists.push_back(pair(node->id, node)); } for (DaeNodes::iterator iter = node->children.begin(); iter != node->children.end(); iter++) { createLists(iter->second); } } void DaeParserImpl::createNodeStack(DaeNodePtr node, DaeNodeStack& stacks, bool omit = false) { // It will create a parent-child relationship of the nodes from the tree structure of the node. if (!omit) { node->stack = stacks; stacks.push_back(pair(node->id, node)); } for (DaeNodes::iterator iter = node->children.begin(); iter != node->children.end(); iter++) { createNodeStack(iter->second, stacks); } if (!omit) { stacks.pop_back(); } } void DaeParserImpl::createStructure() { // It will assign a copy of the node to instance_node. checkConcreteNode(library); checkConcreteNode(instance); // It will create a parent-child relationship of the nodes from the tree structure of the node. DaeNodeStack stacks; stacks.clear(); createNodeStack(instance, stacks, true); // It will convert to format lists from the tree structure of the node. lists.clear(); createLists(instance, true); } bool DaeParserImpl::checkSafetyNode() { BOOST_FOREACH(NODES_PAIR n, lists) { if (0 < n.second->refNodeId.length()) { // If there is a instance_node, it is an error. throwException(line(), (format("[%1%]invalid instance_node:%2%") % line() % n.second->id).str()); } BOOST_FOREACH(GEOMETRY_PAIR g, n.second->geometries) { DaeGeometryPtr geometry = g.second; if (geometry->refMaterialId.length() <= 0) { // It will add effect and material with a value of default. createEmptyMaterial(geometry); } DaeEffectPtr effect = findEffect(geometry->refMaterialId); } } return true; } void DaeParserImpl::createEmptyMaterial(DaeGeometryPtr geometry) { string uuidEffect = lexical_cast(random_generator()()); string uuidMaterial = lexical_cast(random_generator()()); DaeMaterialPtr newMaterial = new DaeMaterial; DaeEffectPtr newEffect = new DaeEffect; newEffect ->effectId = uuidEffect; newMaterial->refEffectId = uuidEffect; newMaterial->materialId = uuidMaterial; geometry ->refMaterialId = uuidMaterial; // New material add pair pibm = materials.insert(pair(uuidMaterial, newMaterial)); if (!pibm.second) { throwException(line(), (format("[%1%]duplicate material:%2%") % line() % uuidMaterial).str()); } // New Effect add pair pibe = effects.insert(pair(uuidEffect, newEffect)); if (!pibe.second) { throwException(line(), (format("[%1%]duplicate effect:%2%") % line() % uuidEffect).str()); } } int DaeParserImpl::createStride(string& verticesId) { DaeVerticesRef::iterator iterv = verticesRef.find(verticesId); if (iterv == verticesRef.end()) { throwException(line(), (format("[%1%]invalid vertices-id:%2%") % line() % verticesId).str()); } DaeStrides::iterator iters = strides.find(iterv->second); if (iters == strides.end()) { throwException(line(), (format("[%1%]invalid position-id:%2%") % line() % iterv->second).str()); } int stride = iters->second; return stride; } SgGroup* DaeParserImpl::convert() { SgGroup* sgGroup = new SgGroup(); if (!rootNodePresence) { // If you do not have a node, It will return the group empty. return sgGroup; } // If there is a link, and use of the joint and node and link. BOOST_FOREACH(NODES_PAIR n, lists) { setNode(n.second, sgGroup, true); } return sgGroup; } void DaeParserImpl::setNode(DaeNodePtr extNode, SgGroup* sgGroup, bool createTransform) { // If there is a node, It will create a SgTransform always. SgGroup* sgTransParent = NULL; SgGroup* sgTransChild = NULL; if (createTransform) { // This is calculated by including the transform itself from the root. setTransform(extNode, &sgTransParent, &sgTransChild); } else { // Using the empty transform, if the BodyLoader to use this function. // BodyLoader computes the transform by using the setTransform. sgTransParent = new SgPosTransform; sgTransChild = new SgPosTransform; } if (sgTransParent) { static_cast(sgTransParent)->setName(extNode->name); } sgGroup->addChild(sgTransParent); BOOST_FOREACH(GEOMETRY_PAIR g, extNode->geometries) { setGeometry(g.second, extNode, sgTransParent); } // In the case of inline tags, rigid does not refer. if (!inlineParse) { // create a figure(physics) setRigid(extNode, sgGroup, sgTransParent); } } void DaeParserImpl::setRigid(DaeNodePtr extNode, SgGroup* sgGroup, SgGroup* sgTransParent) { try { DaeRigidPtr rigid = findRigidBody(extNode->id); if (0 < rigid->shapes.size() && sgTransParent->numChildren() != rigid->shapes.size()) { throwException(line(), (format("[%1%]invalid number of mesh and rigid:%2%") % line() % extNode->id).str()); } unsigned int i = 0; for (DaeShapes::iterator iters = rigid->shapes.begin(); iters != rigid->shapes.end(); iters++) { DaeShapePtr extShape = *iters; if (extShape->box.presence) { static_cast(sgTransParent->child(i))->setMesh( meshGenerator.generateBox(extShape->box.halfExtents)); } else if (extShape->sphere.presence) { static_cast(sgTransParent->child(i))->setMesh( meshGenerator.generateSphere(extShape->sphere.radius)); } else if (extShape->cylinder.presence) { static_cast(sgTransParent->child(i))->setMesh( meshGenerator.generateCylinder(extShape->cylinder.radius, extShape->cylinder.height)); } else if (extShape->cone.presence) { *os << ((format("[%1%]no implementation yet") % line()).str()) << endl; return; } i++; } #ifdef _OLD_VERSION for (DaeShapes::iterator iters = rigid->shapes.begin(); iters != rigid->shapes.end(); iters++) { DaeShapePtr extShape = *iters; if (extShape->isPresence()) { // !!! IMPORTANT !!! // I am ignoring the rotation and translation of rigid now. // But Please use the following method if you want to use that. if (0 < extShape->transform.translates.size()) { extShape->transform.translate = extShape->transform.translates[extShape->transform.translates.size() - 1]; } // If there is a node, It will create a SgTransform always. SgGroup* sgTransParent = NULL; SgGroup* sgTransChild = NULL; setTransform(extShape, &sgTransParent, &sgTransChild); if (extShape->polygon.presence) { #ifdef _PRINT_RIGID_POLYGON // In order to become the shape of the multiple, it does not do anything now. setGeometry(extShape->polygon.geometry, extNode, sgTransParent); for (SgGroup::iterator iterg = sgTransParent->begin(); iterg != sgTransParent->end(); iterg++) { if (SgShape* temp = dynamic_cast((*iterg).get())) { temp->setMaterial(material); // for transparency } } #endif } else { MeshGenerator meshGenerator; SgShapePtr sgShape = SgShapePtr(new SgShape); if (extShape->box.presence) { sgShape->setMesh(meshGenerator.generateBox(extShape->box.halfExtents)); } else if (extShape->sphere.presence) { sgShape->setMesh(meshGenerator.generateSphere(extShape->sphere.radius)); } else if (extShape->cylinder.presence) { sgShape->setMesh(meshGenerator.generateCylinder(extShape->cylinder.radius, extShape->cylinder.height)); } else if (extShape->cone.presence) { *os << ((format("[%1%]no implementation yet") % line()).str()) << endl; return; } else { throwException(line(), (format("[%1%]invalid figure,node-id:%2%") % line() % extNode->id).str()); } SgMaterialPtr sgMaterial = SgMaterialPtr(new SgMaterial); sgMaterial->setTransparency(1.0); sgShape->setMaterial(sgMaterial); sgTransParent->addChild(sgShape); } sgGroup->addChild(sgTransParent); } } #endif } catch (...) { // In this case, the rigid-body is not handled. } } void DaeParserImpl::setGeometry(DaeGeometryPtr extGeometry, DaeNodePtr extNode, SgGroup* sgTransParent) { PolygonMeshTriangulator triangulator; triangulator.setDeepCopyEnabled(true); // If you have a shape, It will create a SgShape in SgTransform. for (DaeMeshes::iterator iterm = extGeometry->meshes.begin(); iterm != extGeometry->meshes.end(); iterm++) { // create a new SgObjects. SgShape* sgShape = new SgShape; // check the count of vertices bool polygon = (0 < (*iterm)->vcount->size() ? true : false); // create the multi meshes. SgMeshBasePtr sgMesh = (polygon ? static_cast(new SgPolygonMesh) : static_cast(new SgMesh)); setMesh(extGeometry, *iterm, sgMesh, polygon); if(polygon){ sgShape->setMesh(triangulator.triangulate(static_pointer_cast(sgMesh))); } else { sgShape->setMesh(static_pointer_cast(sgMesh)); } // create a normals if (!sgMesh->hasNormals()) { MeshNormalGenerator generator; generator.generateNormals(static_pointer_cast(sgMesh), 0.7853981633974483); } sgMesh->updateBoundingBox(); SgMaterial* sgMaterial = new SgMaterial; DaeEffectPtr tmpEffect; // create a new materials by TRIANGLES. if ((*iterm)->refMaterialId.size() <= 0) { throwException(line(), (format("[%1%]invalid material symbol:%2%") % line() % extGeometry->geometryId).str()); } string symbol = extGeometry->geometryId + "/" + (*iterm)->refMaterialId; DaeMaterialRef::iterator itersr = materialRef.find(symbol); if (itersr == materialRef.end()) { throwException(line(), (format("[%1%]invalid material symbol:%2%") % line() % symbol).str()); } tmpEffect = findEffect(itersr->second); setMaterial(tmpEffect, sgMaterial); sgShape->setMaterial(sgMaterial); if (0 < tmpEffect->refImageId.size()) { SgTexture* sgTexture = new SgTexture; setTexture(tmpEffect->refImageId, sgTexture); sgShape->setTexture(sgTexture); } sgTransParent->addChild(sgShape); } } void DaeParserImpl::setMesh(DaeGeometryPtr extGeometry, DaeMeshPtr extMesh, SgMeshBase* sgMesh, bool polygon) { if (!sgMesh) { throwException(line(), (format("[%1%]invalid sg-mesh created") % line()).str()); } // Read side is responsible, It will generate the recording area of the normal and vertex // However there is no need to generate the index SgVertexArrayPtr sgvecVertices = new SgVertexArray; SgNormalArrayPtr sgvecNormals = new SgNormalArray; sgMesh->setVertices(sgvecVertices); sgMesh->setNormals (sgvecNormals); setVertices(extGeometry, extMesh, sgMesh); setVIndexes(extGeometry, extMesh, sgMesh, polygon); setNormals (extGeometry, extMesh, sgMesh); setXIndexes(extGeometry, extMesh, extMesh->refNormalsId, "n-index", 3, extMesh->normalsIndexes, sgMesh->normalIndices(), polygon); if (0 < extMesh->colors->size()) { SgColorArrayPtr sgvecColors = new SgColorArray; sgMesh->setColors(sgvecColors); setColors (extGeometry, extMesh, sgMesh); setXIndexes(extGeometry, extMesh, extMesh->refColorId, "c-index", 3, extMesh->colorsIndexes, sgMesh->colorIndices(), polygon); } if (0 < extMesh->texcoords->size()) { SgTexCoordArrayPtr sgvecTexcoords = new SgTexCoordArray; sgMesh->setTexCoords(sgvecTexcoords); setTexcoord(extGeometry, extMesh, sgMesh); setXIndexes(extGeometry, extMesh, extMesh->refTexcoordId, "t-index", 2, extMesh->texcoordsIndexes, sgMesh->texCoordIndices(), polygon); } } void DaeParserImpl::setTexture(string meshImageId, SgTexture* sg) { DaeTextures::iterator iter = textures.find(meshImageId); if (iter == textures.end()) { throwException(line(), (format("[%1%]invalid image-id:%2%") % line() % meshImageId).str()); } DaeTexturePtr texture = iter->second; sg->getOrCreateImage()->image().load(texture->fileName()); } void DaeParserImpl::setVertices(DaeGeometryPtr extGeometry, DaeMeshPtr extMesh, SgMeshBase* sgMesh) { int t = 0; double value[3]; if (extMesh->vertices) { int tstride = createStride(extMesh->refVerticesId); if (3 != tstride) { // only 3-dimension throwException(line(), (format("[%1%]It does not correspond to the vertices of the polygon.") % line()).str()); } DaeVectorXArrayPtr vertices = extMesh->vertices; //sgMesh->vertices()->resize(extGeometry->vertices->size() / tstride); for (unsigned int i = 0; i < vertices->size(); i++) { value[t++] = lexical_cast(vertices->at(i)); if (t == tstride) { t = 0; // it sums the coefficients of the coordinates. Vector3 result(value[0], value[1], value[2]); sgMesh->vertices()->push_back((unit * result).cast()); } } } else { throwException(line(), (format("[%1%]invalid vertices(2):%2%") % line() % extGeometry->geometryId).str()); } } void DaeParserImpl::setNormals(DaeGeometryPtr extGeometry, DaeMeshPtr extMesh, SgMeshBase* sgMesh) { int t = 0; double value[3]; if (extMesh->normals) { DaeStrides::iterator iter = strides.find(extMesh->refNormalsId); if (iter == strides.end()) { return; } int tstride = iter->second; if (3 != tstride) { // only 3-dimension throwException(line(), (format("[%1%]It does not correspond to the normal of the polygon.") % line()).str()); } DaeVectorXArrayPtr normals = extMesh->normals; //sgMesh->normals()->resize(normals->size() / tstride); for (unsigned int i = 0; i < normals->size(); i++) { value[t++] = lexical_cast(normals->at(i)); if (t == tstride) { t = 0; Vector3f result(value[0], value[1], value[2]); sgMesh->normals()->push_back(result); } } } else { throwException(line(), (format("[%1%]invalid normals(2):%2%") % line() % extMesh->refNormalsId).str()); } } void DaeParserImpl::setTexcoord(DaeGeometryPtr extGeometry, DaeMeshPtr extMesh, SgMeshBase* sgMesh) { int t = 0; double value[2]; if (extMesh->texcoords) { DaeStrides::iterator iter = strides.find(extMesh->refTexcoordId); if (iter == strides.end()) { return; } int tstride = iter->second; if (2 != tstride) { // only S and T throwException(line(), (format("[%1%]It does not correspond to the texcoord of the polygon.") % line()).str()); } DaeVectorXArrayPtr texcoords = extMesh->texcoords; //sgMesh->texCoord()->resize(texcoords->size() / tstride); for (unsigned int i = 0; i < texcoords->size(); i++) { value[t++] = lexical_cast(texcoords->at(i)); if (t == tstride) { t = 0; // !!! important !!! // Direction of y is reversed the coordinates of the image coordinates and OpenGL. // Then, the coordinate system of the blender is the forward. Please be careful. Vector2f result(value[0], value[1] * -1.0); sgMesh->texCoords()->push_back(result); } } } else { throwException(line(), (format("[%1%]invalid texcoord") % line()).str()); } } void DaeParserImpl::setColors(DaeGeometryPtr extGeometry, DaeMeshPtr extMesh, SgMeshBase* sgMesh) { int t = 0; double value[3]; if (extMesh->colors) { DaeStrides::iterator iter = strides.find(extMesh->refColorId); if (iter == strides.end()) { return; } int tstride = iter->second; if (3 != tstride) { // Three primary colors throwException(line(), (format("[%1%]It does not correspond to the colors of the polygon.") % line()).str()); } DaeVectorXArrayPtr colors = extMesh->colors; //sgMesh->colors()->resize(colors->size() / tstride); for (unsigned int i = 0; i < colors->size(); i++) { value[t++] = lexical_cast(colors->at(i)); if (t == tstride) { t = 0; Vector3f result(value[0], value[1], value[2]); sgMesh->colors()->push_back(result); } } } else { throwException(line(), (format("[%1%]invalid colors") % line()).str()); } } void DaeParserImpl::setVIndexes(DaeGeometryPtr extGeometry, DaeMeshPtr extMesh, SgMeshBase* sgMesh, bool polygon) { unsigned int t = 0, v = 0, vcount = 0; vector value; if (extMesh->verticesIndexes) { DaeVectorXArrayPtr vIndexes = extMesh->verticesIndexes; for (unsigned int i = 0; i < vIndexes->size(); i++) { if (t == 0) { vcount = (polygon ? extMesh->vcount->at(v) : 3); value.resize(vcount); } value[t++] = lexical_cast(vIndexes->at(i)); if (t == vcount) { t = 0; v++; if (polygon) { for (unsigned int j = 0; j < vcount; j++) { static_cast(sgMesh)->polygonVertices().push_back(value[j]); } static_cast(sgMesh)->polygonVertices().push_back(-1); } else { for (unsigned int j = 0; j < vcount; j++) { static_cast(sgMesh)->triangleVertices().push_back(value[j]); } } } } } else { throwException(line(), (format("[%1%]invalid v-index") % line()).str()); } } void DaeParserImpl::setXIndexes(DaeGeometryPtr ext, DaeMeshPtr extMesh, string id, string text, int stride, DaeVectorXArrayPtr extArray, SgIndexArray& sgArray, bool polygon) { unsigned int t = 0, v = 0, vcount = 0; vector value; if (extArray) { DaeStrides::iterator iter = strides.find(id); if (iter == strides.end()) { return; // no normals on dae file. } int tstride = iter->second; if (stride != tstride) { // only 3-dimension throwException(line(), (format("[%1%]It does not correspond to the %2% of the polygon.") % line() % text).str()); } DaeVectorXArrayPtr indexes = extArray; for (unsigned int i = 0; i < indexes->size(); i++) { if (t == 0) { vcount = (polygon ? extMesh->vcount->at(v) : 3); value.resize(vcount); } value[t++] = lexical_cast(indexes->at(i)); if (t == vcount) { t = 0; v++; for (unsigned int j = 0; j < vcount; j++) { sgArray.push_back(value[j]); } if (polygon) { sgArray.push_back(-1); } } } } else { throwException(line(), (format("[%1%]invalid %2%") % line() % text).str()); } } DaeEffectPtr DaeParserImpl::findEffect(string& geoMaterialId) { DaeMaterials::iterator iterm = materials.find(geoMaterialId); if (iterm == materials.end()) { throwException(line(), (format("[-1]invalid material:%1%") % geoMaterialId).str()); } DaeMaterialPtr extMaterial = iterm->second; if (extMaterial->refEffectId.length() <= 0) { throwException(line(), (format("[-1]invalid ref-effect:%1%") % extMaterial->refEffectId).str()); } DaeEffects::iterator itere = effects.find(extMaterial->refEffectId); if (itere == effects.end()) { throwException(line(), (format("[-1]invalid effect:%1%") % extMaterial->refEffectId).str()); } DaeEffectPtr extEffect = itere->second; return extEffect; } void DaeParserImpl::setMaterial(DaeEffectPtr extEffect, SgMaterial* sgMaterial) { sgMaterial->setEmissiveColor (extEffect->emission); sgMaterial->setAmbientIntensity(extEffect->ambient); sgMaterial->setDiffuseColor (extEffect->diffuse); sgMaterial->setSpecularColor (extEffect->specular); sgMaterial->setShininess (extEffect->shininess); sgMaterial->setTransparency (extEffect->transparency); } void DaeParserImpl::setTransform(DaeNodePtr extNode, SgGroup** sgParent, SgGroup** sgChild) { if (extNode->transform.affine) { throwException(line(), (format("[-1][WARNING]duplicate transform:%1%, previous transform is used.") % extNode->id).str()); } static const Vector3 vecZero(0.0, 0.0, 0.0); Translation3 C(vecZero); Translation3 T(extNode->transform.translate); // It use the unit of distance extNode->transform.translate *= unit; const AngleAxis& SR = AngleAxis(0.0, Vector3(0, 0, 0)); const AngleAxis& R = extNode->transform.rotate; Affine3 S, A, U, B, K, TS; S.linear() = extNode->transform.scale.asDiagonal(); S.translation().setZero(); // It set to transform itself, which is defined for each node. extNode->transform.affine = new Affine3(T * C * R * SR * S * SR.inverse() * C.inverse()); // If the matrix is defined, It will use that value. if (extNode->transform.matrix) { U.matrix() = *(extNode->transform.matrix); U.translation() *= unit; extNode->transform.affine->matrix() = extNode->transform.affine->matrix() * U.matrix(); } // It sums of the transform from the "ALL" parent node. for (DaeNodeStack::iterator iter = extNode->stack.begin(); iter != extNode->stack.end(); iter++) { if (!iter->second->transform.affine) { Translation3 TT(iter->second->transform.translate); const AngleAxis& TR = iter->second->transform.rotate; TS.linear() = iter->second->transform.scale.asDiagonal(); TS.translation().setZero(); iter->second->transform.affine = new Affine3(TT * C * TR * SR * TS * SR.inverse() * C.inverse()); } A = ( (iter == extNode->stack.begin()) ? ( *(iter->second->transform.affine)) : (A * (*(iter->second->transform.affine))) ); } // It will hold the transform to their from root. #ifdef _INVALID_VERSION if (0 < extNode->stack.size()) { extNode->transform.parents = A; } #endif // It isolated on a scale and rotation by transformation. Matrix3 retTranslation, retScaling; B.matrix() = extNode->transform.affine->matrix(); B.computeScalingRotation(&retTranslation, &retScaling); SgPosTransform* sgTransParent = new SgPosTransform; if ((retScaling.diagonal()[0] - 1.0) < DBL_EPSILON && (retScaling.diagonal()[1] - 1.0) < DBL_EPSILON && (retScaling.diagonal()[2] - 1.0) < DBL_EPSILON) { // It hold the transform of itself considering parent node. K = (0 < extNode->stack.size()) ? (A * (*(extNode->transform.affine))) : (*(extNode->transform.affine)); // This matrix does not include the scale. // It hold the transform of itself considering parent node. sgTransParent->setTransform(K); *sgParent = sgTransParent; *sgChild = sgTransParent; } else { // There is no direction of scale to Collada. SgScaleTransform* scale = new SgScaleTransform; scale->setScale(retScaling.diagonal()); sgTransParent->addChild(scale); // It hold the transform of itself considering parent node. K = (0 < extNode->stack.size()) ? (A * retTranslation) : ( retTranslation); // Returns a separate scale. // It hold the transform of itself considering parent node. sgTransParent->setTransform(K); // Collada has no scale-orientation and scale-center. // Then SR and C has all zero. SgPosTransform* sgTransChild = new SgPosTransform; sgTransChild->setTransform(SR.inverse() * C.inverse()); scale->addChild(sgTransChild); *sgParent = sgTransParent; *sgChild = sgTransChild; } } DaeNode* DaeParserImpl::findNode(const string& nodeName) { // node and joint and link to define the relationship in the attribute of the "name". DaeNodes::iterator iter = nodeNames.find(nodeName); if (iter == nodeNames.end()) { throwException(line(), (format("[-1]invalid nodeName on nodes:%1%") % nodeName).str()); } return iter->second.get(); } DaeNode* DaeParserImpl::findLinkByJoint(const string& jointName) { // node and joint and link to define the relationship in the attribute of the "name". DaeLinks::iterator iter = linkNames.find(jointName); if (iter == linkNames.end()) { throwException(line(), (format("[-1]invalid jointName on links:%1%") % jointName).str()); } return iter->second.get(); } DaeNode* DaeParserImpl::findJointByLink(const string& linkName) { DaeJoints::iterator iter = joints.find(linkName); if (iter == joints.end()) { throwException(line(), (format("[-1]invalid linkName on joints:%1%") % linkName).str()); } return iter->second.get(); } DaeNode* DaeParserImpl::findRigidByLink(const string& linkName) { DaeRigids::iterator iter = rigidNames.find(linkName); if (iter == rigidNames.end()) { throwException(line(), (format("[-1]invalid linkName on rigids:%1%") % linkName).str()); } return iter->second.get(); } DaeNode* DaeParserImpl::findActuator(const string& jointId) { DaeActuatorRelations::iterator iterr = arelations.find(jointId); if (iterr == arelations.end()) { throwException(line(), (format("[-1]invalid joint-id on actuator-relations:%1%") % jointId).str()); } DaeActuators::iterator itera = actuators.find(iterr->second); if (itera == actuators.end()) { throwException(line(), (format("[-1]invalid actuator-id on actuator:%1%,%2%") % itera->second % jointId).str()); } return static_cast(itera->second.get()); } DaeResultSensors* DaeParserImpl::findSensor(const string& linkId) { sensorResults = DaeResultSensorsPtr(new DaeResultSensors); for (DaeSensorRelations::iterator iters = srelations.begin(); iters != srelations.end(); iters++) { if (iequals(iters->first, linkId)) { DaeSensors::iterator iterr = sensors.find(iters->second); if (iterr != sensors.end()) { sensorResults->push_back(iterr->second.get()); } } } return sensorResults.get(); } }; choreonoid-1.5.0/src/Util/ExecutablePath.cpp0000664000000000000000000000725112741425367017474 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "ExecutablePath.h" #include "FileUtil.h" #include "Config.h" #ifdef _WIN32 #include #endif #ifdef __linux__ #include #include #endif #ifndef MACOSX #if defined(__APPLE__) && defined(__MACH__) #define MACOSX #endif #endif #ifdef MACOSX #include #endif using namespace std; using namespace boost; namespace { string executablePath_; string executableDirectory_; string executableTopDirectory_; string shareDirectory_; string executableBasename_; } namespace cnoid { void findExecutablePath() { #ifdef _WIN32 static const int BUFSIZE = 1024; TCHAR execFilePath[BUFSIZE]; if(GetModuleFileName(NULL, execFilePath, BUFSIZE)){ #ifndef UNICODE executablePath_ = execFilePath; #else int codepage = _getmbcp(); const int newSize = WideCharToMultiByte(codepage, 0, execFilePath, -1, NULL, 0, NULL, NULL); if(newSize > 0){ vector execFilePathMB(newSize + 1); newSize = WideCharToMultiByte(codepage, 0, execFilePath, -1, &execFilePathMB[0], newSize + 1, NULL, NULL); executablePath_ = execFilePathUtf8; ; } #endif // UNICODE } #endif #ifdef __linux__ utsname info; if(uname(&info) == 0){ if(strncmp(info.sysname, "Linux", 6) == 0){ static const int BUFSIZE = 1024; char buf[BUFSIZE]; int n = readlink("/proc/self/exe", buf, BUFSIZE - 1); buf[n] = 0; executablePath_ = buf; } } #endif #ifdef MACOSX char buf[1024]; uint32_t n = sizeof(buf); if(_NSGetExecutablePath(buf, &n) == 0){ executablePath_ = buf; } filesystem::path path; // remove dot from a path like bin/./choreonoid makePathCompact(filesystem::path(executablePath_), path); //filesystem::path path = filesystem::canonical(filesystem::path(executablePath_)); #else filesystem::path path(executablePath_); #endif executableDirectory_ = path.parent_path().string(); filesystem::path topPath = path.parent_path().parent_path(); executableTopDirectory_ = topPath.string(); filesystem::path sharePath = topPath / CNOID_SHARE_SUBDIR; if(filesystem::is_directory(sharePath)){ shareDirectory_ = getNativePathString(sharePath); } else if(filesystem::is_directory(sharePath.parent_path())){ shareDirectory_ = getNativePathString(sharePath.parent_path()); } else if(topPath.has_parent_path()){ // case of a sub build directory sharePath = topPath.parent_path() / "share"; if(filesystem::is_directory(sharePath)){ shareDirectory_ = getNativePathString(sharePath); } } #ifdef _WIN32 if(path.extension() == ".exe"){ executableBasename_ = getBasename(path); } else { executableBasename_ = getFilename(path); } #else executableBasename_ = getFilename(path); #endif } const std::string& executablePath() { if(executablePath_.empty()){ findExecutablePath(); } return executablePath_; } const std::string& executableDirectory() { if(executablePath_.empty()){ findExecutablePath(); } return executableDirectory_; } const std::string& executableTopDirectory() { if(executablePath_.empty()){ findExecutablePath(); } return executableTopDirectory_; } const std::string& shareDirectory() { if(executablePath_.empty()){ findExecutablePath(); } return shareDirectory_; } const std::string& executableBasename() { if(executablePath_.empty()){ findExecutablePath(); } return executableBasename_; } } choreonoid-1.5.0/src/Util/Image.h0000664000000000000000000000211312741425367015255 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_IMAGE_H #define CNOID_UTIL_IMAGE_H #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT Image { public: Image(); Image(const Image& org); virtual ~Image(); Image& operator=(const Image& rhs); void reset(); bool empty() const { return pixels_.empty(); } unsigned char* pixels() { return &pixels_.front(); } const unsigned char* pixels() const { return &pixels_.front(); } int width() const { return width_; } int height() const { return height_; } int numComponents() const { return numComponents_; } bool hasAlphaComponent() const { return (numComponents() % 2) == 0; } void setSize(int width, int height, int nComponents); void setSize(int width, int height); void clear(); void applyVerticalFlip(); void load(const std::string& filename); void save(const std::string& filename) const; private: std::vector pixels_; int width_; int height_; int numComponents_; }; } #endif choreonoid-1.5.0/src/Util/MultiVector3Seq.h0000664000000000000000000000201312741425367017243 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_MULTI_VECTOR3_SEQ_H_INCLUDED #define CNOID_UTIL_MULTI_VECTOR3_SEQ_H_INCLUDED #include "MultiSeq.h" #include "EigenTypes.h" #include "exportdecl.h" namespace cnoid { class Mapping; class YAMLWriter; class CNOID_EXPORT MultiVector3Seq : public MultiSeq > { typedef MultiSeq > BaseSeqType; public: typedef boost::shared_ptr Ptr; MultiVector3Seq(); MultiVector3Seq(int numFrames, int numParts = 1); MultiVector3Seq(const MultiVector3Seq& org); virtual ~MultiVector3Seq(); virtual AbstractSeqPtr cloneSeq() const; void copySeqProperties(const MultiVector3Seq& source); protected: virtual Vector3 defaultValue() const { return Vector3::Zero(); } virtual bool doWriteSeq(YAMLWriter& writer); virtual bool doReadSeq(const Mapping& archive); }; typedef MultiVector3Seq::Ptr MultiVector3SeqPtr; } #endif choreonoid-1.5.0/src/Util/python/0000775000000000000000000000000012741425367015406 5ustar rootrootchoreonoid-1.5.0/src/Util/python/PyGeometryTypes.cpp0000664000000000000000000000077712741425367021256 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include "PyUtil.h" #include "../PolyhedralRegion.h" using namespace boost::python; using namespace cnoid; namespace cnoid { void exportPyGeometryTypes() { class_("PolyhedralRegion") .def("numBoundingPlanes", &PolyhedralRegion::numBoundingPlanes) .def("clear", &PolyhedralRegion::clear) .def("addBoundingPlane", &PolyhedralRegion::addBoundingPlane) .def("checkInside", &PolyhedralRegion::checkInside) ; } } choreonoid-1.5.0/src/Util/python/PyEigenTypes.cpp0000664000000000000000000002756512741425367020516 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include "PyUtil.h" #include "PySignal.h" #include "../EigenTypes.h" #include "../EigenUtil.h" namespace python = boost::python; using namespace cnoid; namespace { python::object numpy; python::object numpy_ndarray; python::object numpy_array; python::object numpy_ndarray_tolist; template struct Vector_to_ndarray_converter { static PyObject* convert(const VectorType& v){ python::list elements; for(int i=0; i < v.size(); ++i){ elements.append(v[i]); } python::object array = numpy_array(elements); return python::incref(array.ptr()); } }; template struct ndarray_to_Vector_converter { ndarray_to_Vector_converter(){ python::converter::registry::push_back( &ndarray_to_Vector_converter::convertible, &ndarray_to_Vector_converter::construct, python::type_id()); } static void* convertible(PyObject* pyobj){ if(PyObject_IsInstance(pyobj, numpy_ndarray.ptr()) == 1){ return pyobj; } return 0; } static void construct(PyObject* pyobj, python::converter::rvalue_from_python_stage1_data* data){ VectorType* pv = new(reinterpret_cast*> (data)->storage.bytes) VectorType(); for(python::ssize_t i = 0; i < dim; ++i) { (*pv)[i] = python::extract(PySequence_GetItem(pyobj, i)); } data->convertible = pv; } }; template struct pylist_to_Vector_converter { pylist_to_Vector_converter(){ python::converter::registry::push_back( &pylist_to_Vector_converter::convertible, &pylist_to_Vector_converter::construct, python::type_id()); } static void* convertible(PyObject* pyobj){ if(PySequence_Check(pyobj)){ return pyobj; } return 0; } static void construct(PyObject* pyobj, python::converter::rvalue_from_python_stage1_data* data){ VectorType* pv = new(reinterpret_cast*> (data)->storage.bytes) VectorType(); for(python::ssize_t i = 0; i < dim; ++i) { (*pv)[i] = python::extract(PySequence_GetItem(pyobj, i)); } data->convertible = pv; } }; template struct Matrix_to_ndarray_converter { static PyObject* convert(const MatrixType& R){ python::list elements; for(int i=0; i < R.rows(); ++i){ python::list row; for(int j=0; j < R.cols(); ++j){ row.append(R(i, j)); } elements.append(row); } python::object array = numpy_array(elements); return python::incref(array.ptr()); } }; template struct ndarray_to_Matrix_converter { ndarray_to_Matrix_converter(){ python::converter::registry::push_back( &ndarray_to_Matrix_converter::convertible, &ndarray_to_Matrix_converter::construct, python::type_id()); } static void* convertible(PyObject* pyobj){ if(PyObject_IsInstance(pyobj, numpy_ndarray.ptr()) == 1){ return pyobj; } return 0; } static void construct(PyObject* pyobj, python::converter::rvalue_from_python_stage1_data* data){ MatrixType* M = new(reinterpret_cast*>(data)->storage.bytes) MatrixType(); python::object array((boost::python::handle<>(python::borrowed(pyobj)))); python::list elements = python::extract(numpy_ndarray_tolist(array)); for(python::ssize_t i = 0; i < rows; ++i) { python::list row = python::extract(elements[i]); for(python::ssize_t j = 0; j < rows; ++j) { (*M)(i, j) = python::extract(row[j]); } } data->convertible = M; } }; template struct pylist_to_Matrix_converter { pylist_to_Matrix_converter(){ python::converter::registry::push_back( &pylist_to_Matrix_converter::convertible, &pylist_to_Matrix_converter::construct, python::type_id()); } static void* convertible(PyObject* pyobj){ if(PySequence_Check(pyobj)){ return pyobj; } return 0; } static void construct(PyObject* pyobj, python::converter::rvalue_from_python_stage1_data* data){ MatrixType* M = new(reinterpret_cast*>(data)->storage.bytes) MatrixType(); for(python::ssize_t i = 0; i < rows; ++i) { python::list row = python::extract(PySequence_GetItem(pyobj, i)); for(python::ssize_t j = 0; j < rows; ++j) { (*M)(i, j) = python::extract(row[j]); } } data->convertible = M; } }; template struct Transform_to_ndarray_converter { static PyObject* convert(const TransformType& T){ python::list elements; typename TransformType::ConstLinearPart R = T.linear(); typename TransformType::ConstTranslationPart p = T.translation(); python::list bottom; for(int i=0; i < 3; ++i){ python::list row; row.append(R(i, 0)); row.append(R(i, 1)); row.append(R(i, 2)); row.append(p[i]); elements.append(row); bottom.append(static_cast(0.0)); } bottom.append(static_cast(1.0)); elements.append(bottom); python::object array = numpy_array(elements); return python::incref(array.ptr()); } }; template struct ndarray_to_Transform_converter { ndarray_to_Transform_converter(){ python::converter::registry::push_back( &ndarray_to_Transform_converter::convertible, &ndarray_to_Transform_converter::construct, python::type_id()); } static void* convertible(PyObject* pyobj){ if(PyObject_IsInstance(pyobj, numpy_ndarray.ptr()) == 1){ return pyobj; } return 0; } static void construct(PyObject* pyobj, python::converter::rvalue_from_python_stage1_data* data){ TransformType* T = new(reinterpret_cast*>(data)->storage.bytes) TransformType(); python::object array((boost::python::handle<>(python::borrowed(pyobj)))); python::list elements = python::extract(numpy_ndarray_tolist(array)); for(python::ssize_t i = 0; i < 3; ++i) { typename TransformType::LinearPart R = T->linear(); typename TransformType::TranslationPart p = T->translation(); python::list row = python::extract(elements[i]); R(i, 0) = python::extract(row[0]); R(i, 1) = python::extract(row[1]); R(i, 2) = python::extract(row[2]); p[i] = python::extract(row[3]); } data->convertible = T; } }; template struct pylist_to_Transform_converter { pylist_to_Transform_converter(){ python::converter::registry::push_back( &pylist_to_Transform_converter::convertible, &pylist_to_Transform_converter::construct, python::type_id()); } static void* convertible(PyObject* pyobj){ if(PySequence_Check(pyobj)){ return pyobj; } return 0; } static void construct(PyObject* pyobj, python::converter::rvalue_from_python_stage1_data* data){ TransformType* T = new(reinterpret_cast*>(data)->storage.bytes) TransformType(); for(python::ssize_t i = 0; i < 3; ++i) { typename TransformType::LinearPart R = T->linear(); typename TransformType::TranslationPart p = T->translation(); python::list row = python::extract(PySequence_GetItem(pyobj, i)); R(i, 0) = python::extract(row[0]); R(i, 1) = python::extract(row[1]); R(i, 2) = python::extract(row[2]); p[i] = python::extract(row[3]); } data->convertible = T; } }; Matrix3 angleAxis(double angle, const Vector3& vec){ return Matrix3(AngleAxis(angle, vec)); } Affine3 angleAxis44(double angle, const Vector3& vec){ return Affine3(AngleAxis(angle, vec)); } Vector3 getNormalized(const Vector3& vec){ return vec.normalized(); } Affine3 rotFromRpy44(const Vector3& vec){ return Affine3(rotFromRpy(vec)); } Vector3 getUnitX(){ return Vector3::UnitX(); } Vector3 getUnitY(){ return Vector3::UnitY(); } Vector3 getUnitZ(){ return Vector3::UnitZ(); } } namespace cnoid { void exportPyEigenTypes() { numpy = python::import("numpy"); numpy_ndarray = numpy.attr("ndarray"); numpy_array = numpy.attr("array"); numpy_ndarray_tolist = numpy_ndarray.attr("tolist"); python::to_python_converter >(); ndarray_to_Vector_converter(); pylist_to_Vector_converter(); python::to_python_converter >(); ndarray_to_Vector_converter(); pylist_to_Vector_converter(); python::to_python_converter >(); ndarray_to_Vector_converter(); pylist_to_Vector_converter(); python::to_python_converter >(); ndarray_to_Vector_converter(); pylist_to_Vector_converter(); python::to_python_converter >(); ndarray_to_Vector_converter(); pylist_to_Vector_converter(); python::to_python_converter >(); ndarray_to_Matrix_converter(); pylist_to_Matrix_converter(); python::to_python_converter >(); ndarray_to_Matrix_converter(); pylist_to_Matrix_converter(); python::to_python_converter >(); ndarray_to_Transform_converter(); pylist_to_Transform_converter(); python::to_python_converter >(); ndarray_to_Transform_converter(); pylist_to_Transform_converter(); python::def("rpyFromRot", cnoid::rpyFromRot); Matrix3 (*cnoid_rotFromRpy1)(const Vector3& rpy) = cnoid::rotFromRpy; python::def("rotFromRpy", cnoid_rotFromRpy1); python::def("rotFromRpy44", rotFromRpy44); python::def("omegaFromRot", cnoid::omegaFromRot); python::def("angleAxis", angleAxis); python::def("angleAxis44", angleAxis44); python::def("normalized", getNormalized); python::def("unitX", getUnitX); python::def("unitY", getUnitY); python::def("unitZ", getUnitZ); PySignal("Affine3Signal"); } } choreonoid-1.5.0/src/Util/python/PySignal.cpp0000664000000000000000000000544012741425367017643 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include "PySignal.h" #include "../Signal.h" #include "../ConnectionSet.h" using namespace boost::python; using namespace cnoid; namespace { void (ConnectionSet::*ConnectionSet_add1)(const Connection&) = &ConnectionSet::add; void (ConnectionSet::*ConnectionSet_add2)(const ConnectionSet&) = &ConnectionSet::add; void (ConnectionSet::*ConnectionSet_block1)() = &ConnectionSet::block; void (ConnectionSet::*ConnectionSet_block2)(int) = &ConnectionSet::block; void (ConnectionSet::*ConnectionSet_unblock1)() = &ConnectionSet::unblock; void (ConnectionSet::*ConnectionSet_unblock2)(int) = &ConnectionSet::unblock; void (ScopedConnectionSet::*ScopedConnectionSet_block1)() = &ScopedConnectionSet::block; void (ScopedConnectionSet::*ScopedConnectionSet_block2)(int) = &ScopedConnectionSet::block; void (ScopedConnectionSet::*ScopedConnectionSet_unblock1)() = &ScopedConnectionSet::unblock; void (ScopedConnectionSet::*ScopedConnectionSet_unblock2)(int) = &ScopedConnectionSet::unblock; } namespace cnoid { void exportPySignalTypes() { PySignal("VoidSignal"); PySignal("BoolSignal"); PySignal("IntSignal"); PySignal("DoubleSignal"); PySignal("StringSignal"); class_("Connection") .def("disconnect", &Connection::disconnect) .def("connected", &Connection::connected) .def("block", &Connection::block) .def("unblock", &Connection::unblock); class_("ScopedConnection") .def("reset", &ScopedConnection::reset) .def("disconnect", &ScopedConnection::disconnect) .def("connected", &ScopedConnection::connected) .def("block", &ScopedConnection::block) .def("unblock", &ScopedConnection::unblock); class_("ConnectionSet") .def("empty", &ConnectionSet::empty) .def("numConnections", &ConnectionSet::numConnections) .def("add", ConnectionSet_add1) .def("add", ConnectionSet_add2) .def("block", ConnectionSet_block1) .def("block", ConnectionSet_block2) .def("unblock", ConnectionSet_unblock1) .def("unblock", ConnectionSet_unblock2) .def("disconnect", &ConnectionSet::disconnect); class_("ScopedConnectionSet") .def("empty", &ScopedConnectionSet::empty) .def("numConnections", &ScopedConnectionSet::numConnections) .def("add", &ScopedConnectionSet::add) .def("block", ScopedConnectionSet_block1) .def("block", ScopedConnectionSet_block2) .def("unblock", ScopedConnectionSet_unblock1) .def("unblock", ScopedConnectionSet_unblock2) .def("disconnect", &ScopedConnectionSet::disconnect); } } choreonoid-1.5.0/src/Util/python/PySceneGraph.cpp0000664000000000000000000000753312741425367020452 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include "PyUtil.h" #include "../SceneGraph.h" #include "../SceneProvider.h" using namespace boost::python; using namespace cnoid; namespace { void SgObject_notifyUpdate1(SgObject& self){ self.notifyUpdate(); } void SgObject_notifyUpdate2(SgObject& self, SgUpdate& update){ self.notifyUpdate(update); } void SgObject_notifyUpdate3(SgObject& self, SgUpdate::Action action){ self.notifyUpdate(action); } BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(SgGroup_clearChildren, clearChildren, 0, 1) BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(SgGroup_addChild, addChild, 1, 2) SgNodePtr SgGroup_child(SgGroup& self, int index) { return self.child(index); } SgNodePtr SceneProvider_getScene(SceneProvider& self) { return self.getScene(); } Affine3 SgPosTransform_get_position(SgPosTransform& self) { return self.position(); } void SgPosTransform_set_position(SgPosTransform& self, const Affine3& T) { self.position() = T; } Affine3 SgPosTransform_get_T(SgPosTransform& self) { return self.T(); } void SgPosTransform_set_T(SgPosTransform& self, const Affine3& T) { self.T() = T; } Vector3 SgPosTransform_get_translation(SgPosTransform& self) { return self.translation(); } void SgPosTransform_set_translation(SgPosTransform& self, const Vector3& p) { self.setTranslation(p); } Matrix3 SgPosTransform_get_rotation(SgPosTransform& self) { return self.rotation(); } void SgPosTransform_set_rotation(SgPosTransform& self, const Matrix3& R){ self.setRotation(R); } } namespace cnoid { void exportPySceneGraph() { { scope sgObjectScope = class_< SgUpdate >("SgUpdate") .def("action", &SgUpdate::action) .def("setAction", &SgUpdate::setAction) ; enum_("Action") .value("NONE", SgUpdate::NONE) .value("ADDED", SgUpdate::ADDED) .value("REMOVED", SgUpdate::REMOVED) .value("BBOX_UPDATED", SgUpdate::BBOX_UPDATED) .value("MODIFIED", SgUpdate::MODIFIED) ; } class_< SgObject, SgObjectPtr, bases, boost::noncopyable >("SgObject", no_init) .def("name", &SgObject::name, return_value_policy()) .def("setName", &SgObject::setName) .def("notifyUpdate", SgObject_notifyUpdate1) .def("notifyUpdate", SgObject_notifyUpdate2) .def("notifyUpdate", SgObject_notifyUpdate3) ; implicitly_convertible(); class_< SgNode, SgNodePtr, bases >("SgNode") .def("isGroup", &SgNode::isGroup); implicitly_convertible(); class_< SgGroup, SgGroupPtr, bases >("SgGroup") .def("empty", &SgGroup::empty) .def("numChildren", &SgGroup::numChildren) .def("clearChildren", &SgGroup::clearChildren, SgGroup_clearChildren()) .def("child", SgGroup_child) .def("addChild", &SgGroup::addChild, SgGroup_addChild()); implicitly_convertible(); class_< SgTransform, SgTransformPtr, bases, boost::noncopyable>("SgTransform", no_init); implicitly_convertible(); class_< SgPosTransform, SgPosTransformPtr, bases, boost::noncopyable >("SgPosTransform") .def("position", SgPosTransform_get_position) .def("setPosition", SgPosTransform_set_position) .add_property("T", SgPosTransform_get_position, SgPosTransform_set_position) .def("translation", SgPosTransform_get_translation) .def("setTranslation", SgPosTransform_set_translation) .def("rotation", SgPosTransform_get_rotation) .def("setRotation", SgPosTransform_set_rotation) ; implicitly_convertible(); class_("SceneProvider", no_init); } } choreonoid-1.5.0/src/Util/python/CMakeLists.txt0000664000000000000000000000071512741425367020151 0ustar rootroot # @author Shin'ichiro Nakaoka #set_source_files_properties(PyTask.cpp PROPERTIES COMPILE_FLAGS "-O0 -g") add_cnoid_python_module(PyUtil PyUtilModule.cpp PySignal.cpp PyValueTree.cpp PyEigenTypes.cpp PyEigenArchive.cpp PySeqTypes.cpp PySceneGraph.cpp PyGeometryTypes.cpp PyTask.cpp ) target_link_libraries(PyUtil CnoidUtil CnoidPython) set(headers PyUtil.h PySignal.h ) apply_common_setting_for_python_module(PyUtil "${headers}") choreonoid-1.5.0/src/Util/python/PyEigenTypes.old.cpp0000664000000000000000000001705612741425367021265 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include "PyUtil.h" #include "../EigenTypes.h" #include "../EigenUtil.h" #include namespace python = boost::python; using namespace boost::python; using namespace cnoid; namespace { template struct Vector_to_pylist_converter { static PyObject* convert(const VectorType& v){ python::list retval; for(int i=0; i < v.size(); ++i){ retval.append(v[i]); } return python::incref(retval.ptr()); } }; template struct pylist_to_Vector_converter { pylist_to_Vector_converter(){ converter::registry::push_back( &pylist_to_Vector_converter::convertible, &pylist_to_Vector_converter::construct, python::type_id()); } static void* convertible(PyObject* pyo){ if(PySequence_Check(pyo) && PySequence_Size(pyo) == dim){ return pyo; } return 0; } static void construct(PyObject* pyo, python::converter::rvalue_from_python_stage1_data* data){ VectorType* pv = new(reinterpret_cast*>(data)->storage.bytes) VectorType(); for(python::ssize_t i = 0; i < dim; ++i) { (*pv)[i] = python::extract(PySequence_GetItem(pyo, i)); } data->convertible = pv; } }; template struct Matrix_to_pylist_converter { static PyObject* convert(const MatrixType& R){ python::list Rout; for(int i=0; i < R.rows(); ++i){ python::list row; for(int j=0; j < R.cols(); ++j){ row.append(R(i, j)); } Rout.append(row); } return python::incref(Rout.ptr()); } }; template struct pylist_to_Matrix_converter { pylist_to_Matrix_converter(){ converter::registry::push_back( &pylist_to_Matrix_converter::convertible, &pylist_to_Matrix_converter::construct, python::type_id()); } static void* convertible(PyObject* pyo){ if(PySequence_Check(pyo)){ return pyo; } return 0; } static void construct(PyObject* pyo, python::converter::rvalue_from_python_stage1_data* data){ MatrixType* M = new(reinterpret_cast*>(data)->storage.bytes) MatrixType(); for(python::ssize_t i = 0; i < rows; ++i) { python::list row = python::extract(PySequence_GetItem(pyo, i)); for(python::ssize_t j = 0; j < rows; ++j) { (*M)(i, j) = python::extract(row[j]); } } data->convertible = M; } }; template struct Transform_to_pylist_converter { static PyObject* convert(const TransformType& T){ python::list Tout; typename TransformType::ConstLinearPart R = T.linear(); typename TransformType::ConstTranslationPart p = T.translation(); python::list bottom; for(int i=0; i < 3; ++i){ python::list row; row.append(R(i, 0)); row.append(R(i, 1)); row.append(R(i, 2)); row.append(p[i]); Tout.append(row); bottom.append(static_cast(0.0)); } bottom.append(static_cast(1.0)); Tout.append(bottom); return python::incref(Tout.ptr()); } }; template struct pylist_to_Transform_converter { pylist_to_Transform_converter(){ converter::registry::push_back( &pylist_to_Transform_converter::convertible, &pylist_to_Transform_converter::construct, python::type_id()); } static void* convertible(PyObject* pyo){ if(PySequence_Check(pyo)){ int numRows = PySequence_Size(pyo); if(numRows == 3 || numRows == 4){ return pyo; } } return 0; } static void construct(PyObject* pyo, python::converter::rvalue_from_python_stage1_data* data){ TransformType* T = new(reinterpret_cast*>(data)->storage.bytes) TransformType(); for(python::ssize_t i = 0; i < 3; ++i) { typename TransformType::LinearPart R = T->linear(); typename TransformType::TranslationPart p = T->translation(); python::list row = python::extract(PySequence_GetItem(pyo, i)); R(i, 0) = python::extract(row[0]); R(i, 1) = python::extract(row[1]); R(i, 2) = python::extract(row[2]); p[i] = python::extract(row[3]); } data->convertible = T; } }; //! \todo replace this function with another python functions Affine3 getAffine3FromAngleAxis(double angle, const Vector3& vec){ /* Affine3 m; m = AngleAxis(angle, vec); return m; */ return Affine3(AngleAxis(angle, vec)); } //! \todo replace this function with another python functions Vector3 getNormalized(const Vector3& vec){ return vec.normalized(); } } namespace cnoid { void exportPyEigenTypes() { to_python_converter >(); pylist_to_Vector_converter(); to_python_converter >(); pylist_to_Vector_converter(); to_python_converter >(); pylist_to_Vector_converter(); to_python_converter >(); pylist_to_Vector_converter(); to_python_converter >(); pylist_to_Matrix_converter(); to_python_converter >(); pylist_to_Matrix_converter(); to_python_converter >(); pylist_to_Transform_converter(); to_python_converter >(); pylist_to_Transform_converter(); void (SE3::*SE3_set1)(const Vector3& translation, const Quat& rotation) = &SE3::set; void (SE3::*SE3_set2)(const Vector3& translation, const Matrix3& R) = &SE3::set; void (SE3::*SE3_set3)(const Position& T) = &SE3::set; const Vector3& (SE3::*SE3_translation_const)() const = &SE3::translation; const Quat& (SE3::*SE3_rotation_const)() const = &SE3::rotation; class_("SE3", init<>()) .def("set", SE3_set1) .def("set", SE3_set2) .def("set", SE3_set3) .def("translation", SE3_translation_const, return_value_policy()) .def("rotation", SE3_rotation_const, return_value_policy()); python::def("rpyFromRot", cnoid::rpyFromRot); Matrix3 (*cnoid_rotFromRpy1)(const Vector3& rpy) = cnoid::rotFromRpy; python::def("rotFromRpy", cnoid_rotFromRpy1); python::def("omegaFromRot", cnoid::omegaFromRot); //! \todo replace the following functions with another python functions python::def("angleAxis", getAffine3FromAngleAxis); python::def("normalized", getNormalized); } } choreonoid-1.5.0/src/Util/python/PyTask.cpp0000664000000000000000000006130612741425367017333 0ustar rootroot/*! @author Shizuko Hattori @author Shin'ichiro Nakaoka */ #include "../Task.h" #include "../AbstractTaskSequencer.h" #include "../ValueTree.h" #include "PyUtil.h" #include #include #include #include using namespace std; using namespace boost::python; namespace python = boost::python; using namespace cnoid; namespace { void TaskProc_notifyCommandFinishTrue(TaskProc& self){ self.notifyCommandFinish(true); } bool TaskPorc_waitForSignal1(python::object self, python::object signalProxy) { python::object notifyCommandFinish = self.attr("notifyCommandFinish_true"); python::object connection = signalProxy.attr("connect")(notifyCommandFinish); return python::extract(self.attr("waitForCommandToFinish")(connection, 0.0)); } bool TaskPorc_waitForSignal2(python::object self, python::object signalProxy, double timeout) { python::object notifyCommandFinish = self.attr("notifyCommandFinish_true"); python::object connection = signalProxy.attr("connect")(notifyCommandFinish); return python::extract(self.attr("waitForCommandToFinish")(connection, timeout)); } bool TaskPorc_waitForBooleanSignal1(python::object self, python::object signalProxy) { python::object notifyCommandFinish = self.attr("notifyCommandFinish"); python::object connection = signalProxy.attr("connect")(notifyCommandFinish); return python::extract(self.attr("waitForCommandToFinish")(connection, 0.0)); } bool TaskPorc_waitForBooleanSignal2(python::object self, python::object signalProxy, double timeout) { python::object notifyCommandFinish = self.attr("notifyCommandFinish"); python::object connection = signalProxy.attr("connect")(notifyCommandFinish); return python::extract(self.attr("waitForCommandToFinish")(connection, timeout)); } bool TaskProc_waitForCommandToFinish1(TaskProc& self) { bool ret; Py_BEGIN_ALLOW_THREADS ret = self.waitForCommandToFinish(); Py_END_ALLOW_THREADS return ret; } bool TaskProc_waitForCommandToFinish2(TaskProc& self, double timeout) { bool ret; Py_BEGIN_ALLOW_THREADS ret = self.waitForCommandToFinish(timeout); Py_END_ALLOW_THREADS return ret; } bool TaskProc_waitForCommandToFinish3(TaskProc& self, Connection connectionToDisconnect, double timeout) { bool ret; Py_BEGIN_ALLOW_THREADS ret = self.waitForCommandToFinish(connectionToDisconnect, timeout); Py_END_ALLOW_THREADS return ret; } /** \todo Currently boost::python::object is used for storing the callback function object, but this generates a circular reference between the task object and the function object because callback functions are ususally instance methods of the task object and the reference to the task object (self) is contained in the function objcets. In this case, the task object is never released even if the task is removed from the task sequencer and there is no varibale that refers to the task in Python. Using the weakref module may solve this problem. */ struct PyTaskFunc { python::object func; PyTaskFunc(python::object f) : func(f) { if(!PyFunction_Check(f.ptr()) && !PyMethod_Check(f.ptr())){ PyErr_SetString(PyExc_TypeError, "Task command must be a function type object"); python::throw_error_already_set(); } } void operator()(TaskProc* proc) { PyGILock lock; try { int numArgs = python::extract(func.attr("func_code").attr("co_argcount")); if(numArgs == 0){ func(); } else { func(boost::ref(proc)); } } catch(python::error_already_set const& ex) { handlePythonException(); } } }; struct PyMenuItemFunc { python::object func; PyMenuItemFunc(python::object f) : func(f) { } void operator()() { PyGILock lock; try { func(); } catch(python::error_already_set const& ex) { handlePythonException(); } } }; struct PyCheckMenuItemFunc { python::object func; PyCheckMenuItemFunc(python::object f) : func(f) { } void operator()(bool on) { PyGILock lock; try { func(on); } catch(python::error_already_set const& ex) { handlePythonException(); } } }; TaskCommandPtr TaskCommand_setCaption(TaskCommand& self, const std::string& caption){ return self.setCaption(caption); } TaskCommandPtr TaskCommand_setDescription(TaskCommand& self, const std::string& description){ return self.setDescription(description); } TaskCommandPtr TaskCommand_setFunction(TaskCommand& self, python::object func){ return self.setFunction(PyTaskFunc(func)); } TaskCommandPtr TaskCommand_setDefault1(TaskCommand& self) { return self.setDefault(); } TaskCommandPtr TaskCommand_setDefault2(TaskCommand& self, bool on) { return self.setDefault(on); } TaskCommandPtr TaskCommand_setCheckable1(TaskCommand& self){ return self.setCheckable(); } TaskCommandPtr TaskCommand_setCheckable2(TaskCommand& self, bool on) { return self.setCheckable(on); } TaskCommandPtr TaskCommand_setToggleState(TaskCommand& self, TaskToggleState* state){ return self.setToggleState(state); } TaskToggleStatePtr TaskCommand_toggleState(TaskCommand& self){ return self.toggleState(); } TaskCommandPtr TaskCommand_setChecked(TaskCommand& self, bool on){ return self.setChecked(on); } TaskCommandPtr TaskCommand_setPhaseLink(TaskCommand& self, int phaseIndex) { return self.setPhaseLink(phaseIndex); } TaskCommandPtr TaskCommand_setPhaseLinkStep(TaskCommand& self, int phaseIndexStep) { return self.setPhaseLinkStep(phaseIndexStep); } TaskCommandPtr TaskCommand_linkToNextPhase(TaskCommand& self) { return self.linkToNextPhase(); } TaskCommandPtr TaskCommand_setCommandLink(TaskCommand& self, int commandIndex){ return self.setCommandLink(commandIndex); } TaskCommandPtr TaskCommand_setCommandLinkStep(TaskCommand& self, int commandIndexStep){ return self.setCommandLinkStep(commandIndexStep); } TaskCommandPtr TaskCommand_linkToNextCommand(TaskCommand& self) { return self.linkToNextCommand(); } TaskCommandPtr TaskCommand_setCommandLinkAutomatic1(TaskCommand& self) { return self.setCommandLinkAutomatic(); } TaskCommandPtr TaskCommand_setCommandLinkAutomatic2(TaskCommand& self, bool on) { return self.setCommandLinkAutomatic(on); } TaskCommandPtr TaskCommand_setLevel(TaskCommand& self, int level){ return self.setLevel(level); } TaskPhasePtr TaskPhase_clone1(TaskPhase& self){ return self.clone(); } TaskPhasePtr TaskPhase_clone2(TaskPhase& self, bool doDeepCopy ){ return self.clone(doDeepCopy); } void TaskPhase_setPreCommand(TaskPhase& self, python::object func){ return self.setPreCommand(PyTaskFunc(func)); } TaskCommandPtr TaskPhase_addCommand1(TaskPhase& self) { return self.addCommand(); } TaskCommandPtr TaskPhase_addCommand2(TaskPhase& self, const std::string& caption) { return self.addCommand(caption); } TaskCommandPtr TaskPhase_addToggleCommand1(TaskPhase& self) { return self.addToggleCommand(); } TaskCommandPtr TaskPhase_addToggleCommand2(TaskPhase& self, const std::string& caption) { return self.addToggleCommand(caption); } TaskCommandPtr TaskPhase_addCommandExMain(TaskPhase* self, const std::string& caption, python::dict kw) { TaskCommandPtr command = self->addCommand(caption); python::list args = kw.items(); const int n = python::len(args); for(int i=0; i < n; ++i){ python::object arg(args[i]); std::string key = python::extract(arg[0]); python::object value(arg[1]); if(key == "default" && PyBool_Check(value.ptr())){ if(python::extract(value)){ command->setDefault(); } } else if(key == "function"){ //TaskCommand_setFunction(*command, value); } } return command; } TaskCommandPtr TaskPhase_addCommandEx(python::tuple args_, python::dict kw) { TaskPhasePtr self = python::extract(args_[0]); const std::string caption = python::extract(args_[1]); return TaskPhase_addCommandExMain(self, caption, kw); } TaskCommandPtr TaskPhase_command(TaskPhase& self, int index) { return self.command(index); } TaskCommandPtr TaskPhase_lastCommand(TaskPhase& self) { return self.lastCommand(); } TaskCommandPtr TaskPhaseProxy_addCommand1(TaskPhaseProxy& self) { return self.addCommand(); } TaskCommandPtr TaskPhaseProxy_addCommand2(TaskPhaseProxy& self, const std::string& caption) { return self.addCommand(caption); } TaskCommandPtr TaskPhaseProxy_addToggleCommand1(TaskPhaseProxy& self) { return self.addToggleCommand(); } TaskCommandPtr TaskPhaseProxy_addToggleCommand2(TaskPhaseProxy& self, const std::string& caption) { return self.addToggleCommand(caption); } void TaskMenu_addMenuItem1(TaskMenu& self, const std::string& caption, python::object func){ self.addMenuItem(caption, PyMenuItemFunc(func)); } void TaskMenu_addCheckMenuItem1(TaskMenu& self, const std::string& caption, bool isChecked, python::object func){ self.addCheckMenuItem(caption, isChecked, PyCheckMenuItemFunc(func)); } void TaskMenu_addMenuSeparator(TaskMenu& self){ self.addMenuSeparator(); } class TaskWrap : public Task, public python::wrapper { public : TaskWrap() { }; TaskWrap(const std::string& name, const std::string& caption) : Task(name, caption) { }; TaskWrap(const Task& org, bool doDeepCopy = true) : Task(org, doDeepCopy) { }; virtual void onMenuRequest(TaskMenu& menu){ bool called = false; { PyGILock lock; try { if(python::override onMenuRequest = this->get_override("onMenuRequest")){ called = true; onMenuRequest(boost::ref(menu)); } } catch(python::error_already_set const& ex) { cnoid::handlePythonException(); } } if(!called){ Task::onMenuRequest(menu); } } void default_onMenuRequest(TaskMenu& menu) { return this->Task::onMenuRequest(menu); } virtual void onActivated(AbstractTaskSequencer* sequencer){ bool isOverridden = false; { PyGILock lock; try { if(python::override func = this->get_override("onActivated")){ isOverridden = true; func(boost::ref(sequencer)); } } catch(python::error_already_set const& ex) { cnoid::handlePythonException(); } } if(!isOverridden){ Task::onActivated(sequencer); } } void default_onActivated(AbstractTaskSequencer* sequencer){ return this->Task::onActivated(sequencer); } virtual void onDeactivated(AbstractTaskSequencer* sequencer){ bool isOverridden = false; { PyGILock lock; try { if(python::override func = this->get_override("onDeactivated")){ isOverridden = true; func(boost::ref(sequencer)); } } catch(python::error_already_set const& ex) { cnoid::handlePythonException(); } } if(!isOverridden){ Task::onDeactivated(sequencer); } } void default_onDeactivated(AbstractTaskSequencer* sequencer){ return this->Task::onDeactivated(sequencer); } virtual void storeState(AbstractTaskSequencer* sequencer, Mapping& archive){ bool isOverridden = false; { PyGILock lock; try { if(python::override storeStateFunc = this->get_override("storeState")){ isOverridden = true; MappingPtr a = &archive; storeStateFunc(boost::ref(sequencer), a); } } catch(python::error_already_set const& ex) { cnoid::handlePythonException(); } } if(!isOverridden){ Task::storeState(sequencer, archive); } } void default_storeState(AbstractTaskSequencer* sequencer, Mapping& archive){ return this->Task::storeState(sequencer, archive); } virtual void restoreState(AbstractTaskSequencer* sequencer, const Mapping& archive){ bool isOverridden = false; { PyGILock lock; try { if(python::override restoreState = this->get_override("restoreState")){ isOverridden = true; MappingPtr a = const_cast(&archive); restoreState(boost::ref(sequencer), a); } } catch(python::error_already_set const& ex) { cnoid::handlePythonException(); } } if(!isOverridden){ Task::restoreState(sequencer, archive); } } void default_restoreState(AbstractTaskSequencer* sequencer, const Mapping& archive){ return this->Task::restoreState(sequencer, archive); } }; typedef ref_ptr TaskWrapPtr; TaskPhasePtr Task_phase(Task& self, int index){ return self.phase(index); } TaskPhasePtr Task_addPhase1(Task& self, TaskPhase* phase){ return self.addPhase(phase); } TaskPhasePtr Task_addPhase2(Task& self, const std::string& caption){ return self.addPhase(caption); } TaskPhasePtr Task_lastPhase(Task& self){ return self.lastPhase(); } void Task_setPreCommand(Task& self, python::object func){ return self.setPreCommand(PyTaskFunc(func)); } TaskCommandPtr Task_addCommand1(Task& self){ return self.addCommand(); } TaskCommandPtr Task_addCommand2(Task& self, const std::string& caption){ return self.addCommand(caption); } TaskCommandPtr Task_addToggleCommand1(Task& self){ return self.addToggleCommand(); } TaskCommandPtr Task_addToggleCommand2(Task& self, const std::string& caption){ return self.addToggleCommand(caption); } TaskCommandPtr Task_lastCommand(Task& self){ return self.lastCommand(); } TaskCommandPtr Task_addCommandEx(python::tuple args_, python::dict kw){ TaskWrapPtr self = python::extract(args_[0]); const std::string caption = python::extract(args_[1]); return TaskPhase_addCommandExMain(self->lastPhase(), caption, kw); } typedef std::set TaskSequencerSet; TaskSequencerSet taskSequencers; typedef std::map PyTaskMap; PyTaskMap pyTasks; void onTaskRemoved(Task* task) { PyTaskMap::iterator p = pyTasks.find(task); if(p != pyTasks.end()){ PyGILock lock; pyTasks.erase(p); } } TaskPtr registerTask(AbstractTaskSequencer* sequencer, object& pyTask) { PyGILock lock; TaskPtr task = extract(pyTask); if(task){ if(taskSequencers.find(sequencer) == taskSequencers.end()){ sequencer->sigTaskRemoved().connect(onTaskRemoved); taskSequencers.insert(sequencer); } pyTasks[task] = pyTask; return task; } return TaskPtr(); } void AbstractTaskSequencer_addTask(AbstractTaskSequencer& self, object pyTask) { if(TaskPtr task = registerTask(&self, pyTask)){ self.addTask(task); } } bool AbstractTaskSequencer_updateTask(AbstractTaskSequencer& self, object pyTask) { if(TaskPtr task = registerTask(&self, pyTask)){ return self.updateTask(task); } return false; } TaskPtr AbstractTaskSequencer_task(AbstractTaskSequencer& self, int index) { return self.task(index); } } namespace cnoid { void exportPyTaskTypes() { class_("TaskProc", no_init) .def("currentPhaseIndex", &TaskProc::currentPhaseIndex) .def("isAutoMode", &TaskProc::isAutoMode) .def("breakSequence", &TaskProc::breakSequence) .def("setNextCommand", &TaskProc::setNextCommand) .def("setNextPhase", &TaskProc::setNextPhase) .def("setCommandLinkAutomatic", &TaskProc::setCommandLinkAutomatic) .def("executeCommand", &TaskProc::executeCommand) .def("wait", &TaskProc::wait) .def("waitForCommandToFinish", TaskProc_waitForCommandToFinish1) .def("waitForCommandToFinish", TaskProc_waitForCommandToFinish2) .def("waitForCommandToFinish", TaskProc_waitForCommandToFinish3) .def("notifyCommandFinish", &TaskProc:: notifyCommandFinish) .def("notifyCommandFinish_true", TaskProc_notifyCommandFinishTrue) .def("waitForSignal", TaskPorc_waitForSignal1) .def("waitForSignal", TaskPorc_waitForSignal2) .def("waitForBooleanSignal", TaskPorc_waitForBooleanSignal1) .def("waitForBooleanSignal", TaskPorc_waitForBooleanSignal2) ; class_("TaskFunc") .def("__call__", &TaskFunc::operator()) ; class_, boost::noncopyable >("TaskToggleState") .def("isChecked", &TaskToggleState::isChecked) .def("setChecked", &TaskToggleState::setChecked) .def("sigToggled", &TaskToggleState::sigToggled) ; implicitly_convertible(); class_ >("TaskCommand", init()) .def("caption", &TaskCommand::caption, return_value_policy()) .def("setCaption", TaskCommand_setCaption) .def("description", &TaskCommand::description, return_value_policy()) .def("setDescription", TaskCommand_setDescription) .def("function", &TaskCommand::function) .def("setFunction", TaskCommand_setFunction) .def("setDefault", TaskCommand_setDefault1) .def("setDefault", TaskCommand_setDefault2) .def("isDefault", &TaskCommand::isDefault) .def("setCheckable", TaskCommand_setCheckable1) .def("setCheckable", TaskCommand_setCheckable2) .def("setToggleState", TaskCommand_setToggleState) .def("toggleState", TaskCommand_toggleState) .def("setChecked", TaskCommand_setChecked) .def("isChecked", &TaskCommand::isChecked) .def("nextPhaseIndex", &TaskCommand::nextPhaseIndex) .def("setPhaseLink", TaskCommand_setPhaseLink) .def("setPhaseLinkStep", TaskCommand_setPhaseLinkStep) .def("linkToNextPhase", TaskCommand_linkToNextPhase) .def("nextCommandIndex", &TaskCommand::nextCommandIndex) .def("setCommandLink", TaskCommand_setCommandLink) .def("setCommandLinkStep", TaskCommand_setCommandLinkStep) .def("linkToNextCommand", TaskCommand_linkToNextCommand) .def("isCommandLinkAutomatic", &TaskCommand::isCommandLinkAutomatic) .def("setCommandLinkAutomatic", TaskCommand_setCommandLinkAutomatic1) .def("setCommandLinkAutomatic", TaskCommand_setCommandLinkAutomatic2) .def("setLevel", TaskCommand_setLevel) .def("level", &TaskCommand::level) ; implicitly_convertible(); class_, boost::noncopyable > ("TaskPhase", init()) .def(init()) .def(init()) .def("clone", TaskPhase_clone1) .def("clone", TaskPhase_clone2) .def("caption", &TaskPhase::caption, return_value_policy()) .def("setCaption", &TaskPhase::setCaption) .def("isSkipped", &TaskPhase::isSkipped) .def("setSkipped", &TaskPhase::setSkipped) .def("setPreCommand", TaskPhase_setPreCommand) .def("setPreCommand", &TaskPhase::setPreCommand) .def("preCommand", &TaskPhase::preCommand) .def("addCommand", TaskPhase_addCommand1) .def("addCommand", TaskPhase_addCommand2) .def("addToggleCommand", TaskPhase_addToggleCommand1) .def("addToggleCommand", TaskPhase_addToggleCommand2) .def("addCommandEx", python::raw_function(TaskPhase_addCommandEx, 2)) .def("numCommands", &TaskPhase::numCommands) .def("command", TaskPhase_command) .def("lastCommandIndex", &TaskPhase::lastCommandIndex) .def("lastCommand", TaskPhase_lastCommand) .def("commandLevel", &TaskPhase::commandLevel) .def("maxCommandLevel", &TaskPhase::maxCommandLevel) ; implicitly_convertible(); class_, boost::noncopyable >("TaskPhaseProxy", no_init) .def("setCommandLevel", &TaskPhaseProxy::setCommandLevel) .def("commandLevel", &TaskPhaseProxy::commandLevel) .def("addCommand", TaskPhaseProxy_addCommand1) .def("addCommand", TaskPhaseProxy_addCommand2) .def("addToggleCommand", TaskPhaseProxy_addToggleCommand1) .def("addToggleCommand", TaskPhaseProxy_addToggleCommand2) ; implicitly_convertible(); class_("TaskMenu", no_init) .def("addMenuItem", TaskMenu_addMenuItem1) .def("addCheckMenuItem", TaskMenu_addCheckMenuItem1) .def("addMenuSeparator", TaskMenu_addMenuSeparator) ; class_, boost::noncopyable >("Task", init<>()) .def(init()) .def(init()) .def(init()) .def("name", &Task::name, return_value_policy()) .def("setName", &Task::setName) .def("caption", &Task::caption, return_value_policy()) .def("setCaption", &Task::setCaption) .def("numPhases", &Task::numPhases) .def("phase", Task_phase) .def("addPhase", Task_addPhase1) .def("addPhase", Task_addPhase2) .def("lastPhase", Task_lastPhase) .def("setPreCommand", Task_setPreCommand) .def("setPreCommand", &Task::setPreCommand) .def("addCommand", Task_addCommand1) .def("addCommand", Task_addCommand2) .def("addToggleCommand", Task_addToggleCommand1) .def("addToggleCommand", Task_addToggleCommand2) .def("addCommandEx", python::raw_function(Task_addCommandEx, 2)) .def("lastCommand", Task_lastCommand) .def("lastCommandIndex", &Task::lastCommandIndex) .def("funcToSetCommandLink", &Task::funcToSetCommandLink) .def("onMenuRequest", &Task::onMenuRequest, &TaskWrap::default_onMenuRequest) .def("onActivated", &Task::onActivated, &TaskWrap::default_onActivated) .def("onDeactivated", &Task::onDeactivated, &TaskWrap::default_onDeactivated) .def("storeState", &Task::storeState, &TaskWrap::default_storeState) .def("restoreState", &Task::restoreState, &TaskWrap::default_restoreState) .def("commandLevel", &Task::commandLevel) .def("maxCommandLevel", &Task::maxCommandLevel) ; implicitly_convertible(); implicitly_convertible(); class_("AbstractTaskSequencer", no_init) .def("activate", &AbstractTaskSequencer::activate) .def("isActive", &AbstractTaskSequencer::isActive) .def("addTask", AbstractTaskSequencer_addTask) .def("updateTask", AbstractTaskSequencer_updateTask) .def("removeTask", &AbstractTaskSequencer::removeTask) .def("sigTaskAdded", &AbstractTaskSequencer::sigTaskAdded) .def("sigTaskRemoved", &AbstractTaskSequencer::sigTaskRemoved) .def("clearTasks", &AbstractTaskSequencer::clearTasks) .def("numTasks", &AbstractTaskSequencer::numTasks) .def("task", AbstractTaskSequencer_task) .def("currentTaskIndex", &AbstractTaskSequencer::currentTaskIndex) .def("setCurrentTask", &AbstractTaskSequencer::setCurrentTask) .def("sigCurrentTaskChanged", &AbstractTaskSequencer::sigCurrentTaskChanged) .def("currentPhaseIndex", &AbstractTaskSequencer::currentPhaseIndex) .def("setCurrentPhase", &AbstractTaskSequencer::setCurrentPhase) .def("sigCurrentPhaseChanged", &AbstractTaskSequencer::sigCurrentPhaseChanged) .def("currentCommandIndex", &AbstractTaskSequencer::currentCommandIndex) .def("executeCommand", &AbstractTaskSequencer::executeCommand) .def("sigCurrentCommandChanged", &AbstractTaskSequencer::sigCurrentCommandChanged) .def("isBusy", &AbstractTaskSequencer::isBusy) .def("sigBusyStateChanged", &AbstractTaskSequencer::sigBusyStateChanged) .def("isAutoMode", &AbstractTaskSequencer::isAutoMode) .def("setAutoMode", &AbstractTaskSequencer::setAutoMode) .def("sigAutoModeToggled", &AbstractTaskSequencer::sigAutoModeToggled) ; } } choreonoid-1.5.0/src/Util/python/PyEigenArchive.cpp0000664000000000000000000000363612741425367020764 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include "PyUtil.h" #include "../EigenArchive.h" #include "../ValueTree.h" #include using namespace std; namespace python = boost::python; using namespace cnoid; namespace { python::object readVector3(MappingPtr mapping, const std::string& key){ Vector3 v; if(cnoid::read(*mapping, key, v)){ return python::object(v); } return python::object(); } python::object readVector4(MappingPtr mapping, const std::string& key){ Vector4 v; if(cnoid::read(*mapping, key, v)){ return python::object(v); } return python::object(); } python::object readMatrix4(MappingPtr mapping, const std::string& key){ Matrix4 T; if(cnoid::read(*mapping, key, T)){ return python::object(T); } return python::object(); } python::object readAffine3(MappingPtr mapping, const std::string& key){ Affine3 T; try { if(cnoid::read(*mapping, key, T.matrix())){ return python::object(T); } } catch(const ValueNode::ScalarTypeMismatchException& ex){ cout << ex.message() << endl; } return python::object(); } ListingPtr writeVector3(MappingPtr mapping, const std::string& key, const Vector3& v){ return &cnoid::write(*mapping, key, v); } ListingPtr writeVector4(MappingPtr mapping, const std::string& key, const Vector4& v){ return &cnoid::write(*mapping, key, v); } ListingPtr writeAffine3(MappingPtr mapping, const std::string& key, const Affine3& T){ return &cnoid::write(*mapping, key, T.matrix()); } } namespace cnoid { void exportPyEigenArchive() { python::def("readVector3", readVector3); python::def("readVector4", readVector4); python::def("readMatrix4", readMatrix4); python::def("readAffine3", readAffine3); python::def("writeVector3", writeVector3); python::def("writeVector4", writeVector4); python::def("writeAffine3", writeAffine3); } } choreonoid-1.5.0/src/Util/python/PySignal.h0000664000000000000000000001327112741425367017311 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_PYSIGNAL_H #define CNOID_UTIL_PYSIGNAL_H #include "../Signal.h" #include "PyUtil.h" #include namespace cnoid { template boost::python::object pyGetSignalArgObject(T& value){ return boost::python::object(value); } namespace signal_private { template struct python_function_caller0 { boost::python::object func; python_function_caller0(boost::python::object func) : func(func) { } T operator()() { PyGILock lock; T result; try { result = func(); } catch(boost::python::error_already_set const& ex) { cnoid::handlePythonException(); } return result; } }; template<> struct python_function_caller0 { boost::python::object func; python_function_caller0(boost::python::object func) : func(func) { } void operator()() { PyGILock lock; try { func(); } catch(boost::python::error_already_set const& ex) { cnoid::handlePythonException(); } } }; template struct python_function_caller1 { boost::python::object func; python_function_caller1(boost::python::object func) : func(func) { } T operator()(ARG1 arg1) { PyGILock lock; T result; try { result = func(pyGetSignalArgObject(arg1)); } catch(boost::python::error_already_set const& ex) { handlePythonException(); } return result; } }; template struct python_function_caller1 { boost::python::object func; python_function_caller1(boost::python::object func) : func(func) { } void operator()(ARG1 arg1) { PyGILock lock; try { func(pyGetSignalArgObject(arg1)); } catch(boost::python::error_already_set const& ex) { handlePythonException(); } } }; template struct python_function_caller2 { boost::python::object func; python_function_caller2(boost::python::object func) : func(func) { } T operator()(ARG1 arg1, ARG2 arg2) { PyGILock lock; T result; try { result = func(pyGetSignalArgObject(arg1), pyGetSignalArgObject(arg2)); } catch(boost::python::error_already_set const& ex) { handlePythonException(); } return result; } }; template struct python_function_caller2 { boost::python::object func; python_function_caller2(boost::python::object func) : func(func) { } void operator()(ARG1 arg1, ARG2 arg2) { PyGILock lock; try { func(pyGetSignalArgObject(arg1), pyGetSignalArgObject(arg2)); } catch(boost::python::error_already_set const& ex) { handlePythonException(); } } }; template class py_signal_impl; template class py_signal_impl<0, Signature, Combiner> { typedef boost::function_traits traits; public: typedef python_function_caller0 caller; }; template class py_signal_impl<1, Signature, Combiner> { typedef boost::function_traits traits; public: typedef python_function_caller1 caller; }; template class py_signal_impl<2, Signature, Combiner> { typedef boost::function_traits traits; public: typedef python_function_caller2 caller; }; } // namespace signal_private template< typename Signature, typename Combiner = signal_private::last_value::result_type> > class PySignalProxy : public signal_private::py_signal_impl< (boost::function_traits::arity), Signature, Combiner> { typedef signal_private::py_signal_impl<(boost::function_traits::arity), Signature, Combiner> base_type; static Connection connect(SignalProxy& self, boost::python::object func){ return self.connect(typename base_type::caller(func)); } public: PySignalProxy(const char* name) { boost::python::class_< SignalProxy >(name) .def("connect", &PySignalProxy::connect); } }; template< typename Signature, typename Combiner = signal_private::last_value::result_type> > class PySignal : public signal_private::py_signal_impl< (boost::function_traits::arity), Signature, Combiner> { typedef signal_private::py_signal_impl<(boost::function_traits::arity), Signature, Combiner> base_type; static Connection connect(Signal& self, boost::python::object func){ return self.connect(typename base_type::caller(func)); } static Connection connectProxy(SignalProxy& self, boost::python::object func){ return self.connect(typename base_type::caller(func)); } public: PySignal(const char* name) { boost::python::class_< Signal, boost::noncopyable >(name) .def("connect", &PySignal::connect); boost::python::class_< SignalProxy >((std::string(name) + "Proxy").c_str()) .def("connect", &PySignal::connectProxy); } }; } #endif choreonoid-1.5.0/src/Util/python/PyEigenTypes.ver2.cpp0000664000000000000000000004746312741425367021372 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include "PyUtil.h" #include "../EigenTypes.h" #include "../EigenUtil.h" #include namespace python = boost::python; using namespace boost::python; using namespace cnoid; namespace { template struct pylist_to_Vector_converter { pylist_to_Vector_converter(){ converter::registry::push_back( &pylist_to_Vector_converter::convertible, &pylist_to_Vector_converter::construct, python::type_id()); } static void* convertible(PyObject* pyo){ if(PySequence_Check(pyo) && PySequence_Size(pyo) == dim){ return pyo; } return 0; } static void construct(PyObject* pyo, python::converter::rvalue_from_python_stage1_data* data){ VectorType* pv = new(reinterpret_cast*>(data)->storage.bytes) VectorType(); for(python::ssize_t i = 0; i < dim; ++i) { (*pv)[i] = python::extract(PySequence_GetItem(pyo, i)); } data->convertible = pv; } }; template struct pylist_to_Matrix_converter { pylist_to_Matrix_converter(){ converter::registry::push_back( &pylist_to_Matrix_converter::convertible, &pylist_to_Matrix_converter::construct, python::type_id()); } static void* convertible(PyObject* pyo){ if(PySequence_Check(pyo)){ return pyo; } return 0; } static void construct(PyObject* pyo, python::converter::rvalue_from_python_stage1_data* data){ MatrixType* M = new(reinterpret_cast*>(data)->storage.bytes) MatrixType(); for(python::ssize_t i = 0; i < rows; ++i) { python::list row = python::extract(PySequence_GetItem(pyo, i)); for(python::ssize_t j = 0; j < rows; ++j) { (*M)(i, j) = python::extract(row[j]); } } data->convertible = M; } }; template struct pylist_to_Transform_converter { pylist_to_Transform_converter(){ converter::registry::push_back( &pylist_to_Transform_converter::convertible, &pylist_to_Transform_converter::construct, python::type_id()); } static void* convertible(PyObject* pyo){ if(PySequence_Check(pyo)){ int numRows = PySequence_Size(pyo); if(numRows == 3 || numRows == 4){ return pyo; } } return 0; } static void construct(PyObject* pyo, python::converter::rvalue_from_python_stage1_data* data){ TransformType* T = new(reinterpret_cast*>(data)->storage.bytes) TransformType(); for(python::ssize_t i = 0; i < 3; ++i) { typename TransformType::LinearPart R = T->linear(); typename TransformType::TranslationPart p = T->translation(); python::list row = python::extract(PySequence_GetItem(pyo, i)); R(i, 0) = python::extract(row[0]); R(i, 1) = python::extract(row[1]); R(i, 2) = python::extract(row[2]); p[i] = python::extract(row[3]); } data->convertible = T; } }; //! \todo replace this function with another python functions Affine3 getAffine3FromAngleAxis(double angle, const Vector3& vec){ /* Affine3 m; m = AngleAxis(angle, vec); return m; */ return Affine3(AngleAxis(angle, vec)); } typedef Eigen::Matrix::Index Index; void checkIndex(Index i, Index size) { if(i < 0 || i >= size) { static boost::format message("Index %1% out of range 0..%2%"); PyErr_SetString(PyExc_IndexError, (message % i % (size - 1)).str().c_str()); python::throw_error_already_set(); } } void extractIndex(python::tuple indexTuple, Index rows, Index cols, Index out_index[2]){ if(python::len(indexTuple) != 2) { PyErr_SetString(PyExc_IndexError,"Index must be integer or a 2-tuple"); python::throw_error_already_set(); } for(int i=0; i < 2; ++i) { python::extract e(indexTuple[i]); if(!e.check()){ PyErr_SetString( PyExc_ValueError, (boost::format("Unable to convert %1%-th index to integer.") % i).str().c_str()); python::throw_error_already_set(); } out_index[i] = e(); } checkIndex(out_index[0], rows); checkIndex(out_index[1], cols); } std::string getClassName(const python::object& obj){ return python::extract(obj.attr("__class__").attr("__name__"))(); } template class MatrixBaseVisitor : public python::def_visitor >{ typedef typename TMatrixBase::Scalar Scalar; public: template void visit(PyClass& pyClass) const { pyClass .def("__neg__", &MatrixBaseVisitor::__neg__) .def("__add__", &MatrixBaseVisitor::__add__) .def("__iadd__", &MatrixBaseVisitor::__iadd__) .def("__sub__", &MatrixBaseVisitor::__sub__) .def("__isub__", &MatrixBaseVisitor::__isub__) .def("__eq__", &MatrixBaseVisitor::__eq__) .def("__ne__", &MatrixBaseVisitor::__ne__) .def("__mul__", &MatrixBaseVisitor::__mul__scalar) .def("__imul__", &MatrixBaseVisitor::__imul__scalar) .def("__rmul__", &MatrixBaseVisitor::__rmul__scalar) .def("__div__",&MatrixBaseVisitor::__div__scalar) .def("__idiv__",&MatrixBaseVisitor::__idiv__scalar) .def("__mul__",&MatrixBaseVisitor::__mul__scalar) .def("__rmul__",&MatrixBaseVisitor::__rmul__scalar) .def("__imul__",&MatrixBaseVisitor::__imul__scalar) .def("__div__",&MatrixBaseVisitor::__div__scalar) .def("__idiv__",&MatrixBaseVisitor::__idiv__scalar) .def("rows", &TMatrixBase::rows) .def("cols", &TMatrixBase::cols) .add_static_property("Ones", &MatrixBaseVisitor::Ones) .add_static_property("Zero", &MatrixBaseVisitor::Zero) .add_static_property("Identity", &MatrixBaseVisitor::Identity) .def("norm",&TMatrixBase::norm) .def("__abs__",&TMatrixBase::norm) .def("squaredNorm",&TMatrixBase::squaredNorm) .def("normalize",&TMatrixBase::normalize) .def("normalized",&TMatrixBase::normalized) ; } static TMatrixBase Ones(){ return TMatrixBase::Ones(); } static TMatrixBase Zero(){ return TMatrixBase::Zero(); } static TMatrixBase Identity(){ return TMatrixBase::Identity(); } static bool __eq__(const TMatrixBase& a, const TMatrixBase& b){ if(a.rows()!=b.rows() || a.cols()!=b.cols()){ return false; } return a.cwiseEqual(b).all(); } static bool __ne__(const TMatrixBase& a, const TMatrixBase& b){ return !__eq__(a,b); } static TMatrixBase __neg__(const TMatrixBase& a){ return -a; }; static TMatrixBase __add__(const TMatrixBase& a, const TMatrixBase& b){ return a + b; } static TMatrixBase __sub__(const TMatrixBase& a, const TMatrixBase& b){ return a - b; } static TMatrixBase __iadd__(TMatrixBase& a, const TMatrixBase& b){ a += b; return a; }; static TMatrixBase __isub__(TMatrixBase& a, const TMatrixBase& b){ a -= b; return a; }; template static TMatrixBase __mul__scalar(const TMatrixBase& a, const Scalar2& scalar){ return a * scalar; } template static TMatrixBase __imul__scalar(TMatrixBase& a, const Scalar2& scalar){ a *= scalar; return a; } template static TMatrixBase __rmul__scalar(const TMatrixBase& a, const Scalar2& scalar){ return a * scalar; } template static TMatrixBase __div__scalar(const TMatrixBase& a, const Scalar2& scalar){ return a / scalar; } template static TMatrixBase __idiv__scalar(TMatrixBase& a, const Scalar2& scalar){ a /= scalar; return a; } }; template class VectorVisitor : public python::def_visitor< VectorVisitor > { friend class python::def_visitor_access; typedef typename TVector::Scalar Scalar; enum { Dim = TVector::RowsAtCompileTime }; public: template void visit(PyClass& pyClass) const { MatrixBaseVisitor().visit(pyClass); pyClass .def(python::init()) .def("__setitem__", &VectorVisitor::__setitem__) .def("__getitem__", &VectorVisitor::__getitem__) .def("__str__", &VectorVisitor::__str__) .def("__repr__", &VectorVisitor::__str__) .def("dot", &VectorVisitor::dot) .def("__len__", &VectorVisitor::__len__).staticmethod("__len__") .def("cross", &VectorVisitor::cross) .add_static_property("UnitX", &VectorVisitor::UnitX) .add_static_property("UnitY", &VectorVisitor::UnitY) .add_static_property("UnitZ", &VectorVisitor::UnitZ) .add_property("x", &VectorVisitor::get_x, &VectorVisitor::set_x) .add_property("y", &VectorVisitor::get_y, &VectorVisitor::set_y) .add_property("z", &VectorVisitor::get_z, &VectorVisitor::set_z) ; }; static void __setitem__(TVector& self, Index i, Scalar value){ checkIndex(i, Dim); self[i] = value; } static Scalar __getitem__(const TVector& self, Index i){ checkIndex(i, Dim); return self[i]; } static Index __len__(){ return Dim; } static Scalar dot(const TVector& self, const TVector& other){ return self.dot(other); } static TVector cross(const TVector& self, const TVector& other){ return self.cross(other); } static TVector UnitX(){ return TVector::UnitX(); } static TVector UnitY(){ return TVector::UnitY(); } static TVector UnitZ(){ return TVector::UnitZ(); } static Scalar get_x(const TVector& self) { return self.x(); } static Scalar set_x(TVector& self, Scalar value) { self.x() = value; } static Scalar get_y(const TVector& self) { return self.y(); } static Scalar set_y(TVector& self, Scalar value) { self.y() = value; } static Scalar get_z(const TVector& self) { return self.z(); } static Scalar set_z(TVector& self, Scalar value) { self.z() = value; } static std::string __str__(const python::object& obj){ const TVector& self = python::extract(obj)(); std::ostringstream oss; oss << getClassName(obj) << "("; Index i=0; while(true){ oss << self[i++]; if(i == Dim){ break; } oss << ", "; } oss << ")"; return oss.str(); } }; template class MatrixVisitor : public python::def_visitor< MatrixVisitor > { friend class python::def_visitor_access; typedef typename TMatrix::Scalar Scalar; typedef typename Eigen::Matrix ColumnVector; enum { Rows = TMatrix::RowsAtCompileTime }; enum { Cols = TMatrix::RowsAtCompileTime }; public: template void visit(PyClass& pyClass) const { MatrixBaseVisitor().visit(pyClass); pyClass .def("transpose", &MatrixVisitor::transpose) .def("inverse", &MatrixVisitor::inverse) .def("diagonal",&MatrixVisitor::diagonal) .def("row", &MatrixVisitor::row) .def("col", &MatrixVisitor::col) .def("__mul__", &MatrixVisitor::__mul__matrix) .def("__imul__",&MatrixVisitor::__imul__matrix) .def("__mul__", &MatrixVisitor::__mul__vector) .def("__rmul__",&MatrixVisitor::__mul__vector) .def("__setitem__", &MatrixVisitor::__setitem__row) .def("__getitem__", &MatrixVisitor::__getitem__row) .def("__setitem__", &MatrixVisitor::__setitem__element) .def("__getitem__", &MatrixVisitor::__getitem__element) .def("__str__", &MatrixVisitor::__str__) .def("__repr__", &MatrixVisitor::__str__) .def("__len__", &MatrixVisitor::__len__).staticmethod("__len__") ; } static Index __len__(){ return TMatrix::RowsAtCompileTime; } static TMatrix transpose(const TMatrix& M){ return M.transpose(); } static ColumnVector diagonal(const TMatrix& M){ return M.diagonal(); } static ColumnVector __getitem__row(const TMatrix& M, Index i){ checkIndex(i, M.rows()); return M.row(i); } static void __setitem__row(TMatrix& M, Index i, const ColumnVector& v){ checkIndex(i, M.rows()); M.row(i) = v; } static Scalar __getitem__element(const TMatrix& M, python::tuple indexTuple){ Index index[2]; extractIndex(indexTuple, M.rows(), M.cols(), index); return M(index[0], index[1]); } static void __setitem__element(TMatrix& M, python::tuple indexTuple, const Scalar& value){ Index index[2]; extractIndex(indexTuple, M.rows(), M.cols(), index); M(index[0], index[1]) = value; } static TMatrix __mul__matrix(const TMatrix& A, const TMatrix& B){ return A * B; } static TMatrix __imul__matrix(TMatrix& A, const TMatrix& B){ A *= B; return A; }; static ColumnVector __mul__vector(const TMatrix& M, const ColumnVector& v){ return M * v; } static TMatrix inverse(const TMatrix& M){ return M.inverse(); } static ColumnVector row(const TMatrix& M, Index i){ checkIndex(i, M.rows()); return M.row(i); } static ColumnVector col(const TMatrix& M, Index i){ checkIndex(i, M.cols()); return M.col(i); } static std::string __str__(const python::object& obj){ std::ostringstream oss; const TMatrix& M = python::extract(obj)(); oss << getClassName(obj) << "("; for(Index i=0; i < M.rows(); ++i){ oss << "\t("; Index j=0; while(true){ oss << M(i, j++); if(j == Cols){ break; } oss << ", "; } oss < ")\n"; } oss < ")"; return oss.str(); } }; template class TransformVisitor : public python::def_visitor< TransformVisitor > { friend class python::def_visitor_access; typedef typename TTransform::Scalar Scalar; typedef typename TTransform::MatrixType MatrixType; typedef typename TTransform::LinearMatrixType LinearMatrixType; typedef typename TTransform::VectorType VectorType; static TTransform Identity_; public: /* TransformVisitor() { Identity_.setIdentity(); } */ template void visit(PyClass& pyClass) const { pyClass .def("__setitem__", &TransformVisitor::__setitem__element) .def("__getitem__", &TransformVisitor::__getitem__element) .def("matrix", &TransformVisitor::matrix) .def("linear", &TransformVisitor::linear) .def("rotation", &TransformVisitor::rotation) .def("translation", &TransformVisitor::translation) .def("inverse", &TransformVisitor::inverse) .def("setIdentity", &TTransform::setIdentity).staticmethod("setIdentity") .add_static_property("Identity", &TransformVisitor::Identity) .add_static_property("Dim", &TransformVisitor::Dim) .add_static_property("HDim", &TransformVisitor::HDim) .add_static_property("Rows", &TransformVisitor::Rows) .def("__str__", &TransformVisitor::__str__) .def("__repr__", &TransformVisitor::__str__) ; } static Scalar __getitem__element(const TTransform& T, python::tuple indexTuple){ Index index[2]; extractIndex(indexTuple, TTransform::Rows, TTransform::HDim, index); return T(index[0], index[1]); } static void __setitem__element(TTransform& M, python::tuple indexTuple, const Scalar& value){ Index index[2]; extractIndex(indexTuple, TTransform::Rows, TTransform::HDim, index); M(index[0], index[1]) = value; } static MatrixType matrix(const TTransform& T){ return T.matrix(); } static LinearMatrixType linear(const TTransform& T){ return T.linear(); } static LinearMatrixType rotation(const TTransform& T){ return T.rotation(); } static VectorType translation(const TTransform& T){ return T.translation(); } static TTransform inverse(const TTransform& T){ return T.inverse(); } static TTransform Identity(){ return Identity_; } static Index Dim() { return TTransform::Dim; } static Index HDim() { return TTransform::HDim; } static Index Rows() { return TTransform::Rows; } static std::string __str__(const python::object& obj){ std::ostringstream oss; const TTransform& T = python::extract(obj)(); oss << getClassName(obj) << "("; for(Index i=0; i < TTransform::Rows; ++i){ oss << "\t("; Index j=0; while(true){ oss << T(i, j++); if(j == TTransform::HDim){ break; } oss << ", "; } oss < ")\n"; } oss < ")"; return oss.str(); } }; template TTransform TransformVisitor::Identity_ = TTransform::Identity(); } namespace cnoid { void exportPyEigenTypes() { class_("Vector3", init<>()) .def(VectorVisitor()); class_("Vector3f", init<>()) .def(VectorVisitor()); class_("Matrix3", init<>()) .def(MatrixVisitor()); class_("Matrix4", init<>()) .def(MatrixVisitor()); class_("Affine3", init<>()) .def(TransformVisitor()); class_("Position", init<>()) .def(TransformVisitor()); void (SE3::*SE3_set1)(const Vector3& translation, const Quat& rotation) = &SE3::set; void (SE3::*SE3_set2)(const Vector3& translation, const Matrix3& R) = &SE3::set; void (SE3::*SE3_set3)(const Position& T) = &SE3::set; const Vector3& (SE3::*SE3_translation_const)() const = &SE3::translation; const Quat& (SE3::*SE3_rotation_const)() const = &SE3::rotation; class_("SE3", init<>()) .def("set", SE3_set1) .def("set", SE3_set2) .def("set", SE3_set3) .def("translation", SE3_translation_const, return_value_policy()) .def("rotation", SE3_rotation_const, return_value_policy()); python::def("rpyFromRot", cnoid::rpyFromRot); Matrix3 (*cnoid_rotFromRpy1)(const Vector3& rpy) = cnoid::rotFromRpy; python::def("rotFromRpy", cnoid_rotFromRpy1); python::def("omegaFromRot", cnoid::omegaFromRot); //! \todo replace the following functions with another python functions python::def("angleAxis", getAffine3FromAngleAxis); pylist_to_Vector_converter(); pylist_to_Vector_converter(); pylist_to_Vector_converter(); pylist_to_Vector_converter(); pylist_to_Matrix_converter(); pylist_to_Matrix_converter(); pylist_to_Transform_converter(); pylist_to_Transform_converter(); } } choreonoid-1.5.0/src/Util/python/PyUtil.h0000664000000000000000000000115412741425367017006 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #ifndef CNOID_UTIL_PYUTIL_H #define CNOID_UTIL_PYUTIL_H #include "../Referenced.h" #include namespace cnoid { class PyGILock { PyGILState_STATE gstate; public: PyGILock(){ gstate = PyGILState_Ensure(); } ~PyGILock() { PyGILState_Release(gstate); } }; template T* get_pointer(cnoid::ref_ptr const& p) { return p.get(); } } // namespace cnoid namespace boost { namespace python { template struct pointee< cnoid::ref_ptr > { typedef T type; }; }} // namespace boost::python #endif choreonoid-1.5.0/src/Util/python/PyValueTree.cpp0000664000000000000000000002410212741425367020316 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include "PyUtil.h" #include "../ValueTree.h" using namespace std; using namespace boost; using namespace boost::python; using namespace cnoid; namespace { MappingPtr ValueNode_toMapping(ValueNode& self){ return self.toMapping(); } ListingPtr ValueNode_toListing(ValueNode& self){ return self.toListing(); } python::object ValueNode_readInt(ValueNode& self){ int value; if(self.read(value)){ return python::object(value); } return python::object(); } python::object ValueNode_readFloat(ValueNode& self){ double value; if(self.read(value)){ return python::object(value); } return python::object(); } python::object ValueNode_readBool(ValueNode& self){ bool value; if(self.read(value)){ return python::object(value); } return python::object(); } python::object ValueNode_readString(ValueNode& self){ string value; if(self.read(value)){ return python::object(value); } return python::object(); } ValueNodePtr Mapping_find(Mapping& self, const std::string& key){ return self.find(key); } MappingPtr Mapping_findMapping(Mapping& self, const std::string& key){ return self.findMapping(key); } ListingPtr Mapping_findListing(Mapping& self, const std::string& key){ return self.findListing(key); } ValueNodePtr Mapping_get(Mapping& self, const std::string& key){ return &(self.get(key)); } void Mapping_insert1(Mapping& self, const std::string& key, ValueNodePtr node){ self.insert(key, node); } void Mapping_insert2(Mapping& self, MappingPtr other){ self.insert(other); } MappingPtr Mapping_openMapping(Mapping& self, const std::string& key){ return self.openMapping(key); } MappingPtr Mapping_openFlowStyleMapping(Mapping& self, const std::string& key){ return self.openFlowStyleMapping(key); } MappingPtr Mapping_createMapping(Mapping& self, const std::string& key){ return self.createMapping(key); } MappingPtr Mapping_createFlowStyleMapping(Mapping& self, const std::string& key){ return self.createFlowStyleMapping(key); } ListingPtr Mapping_openListing(Mapping& self, const std::string& key){ return self.openListing(key); } ListingPtr Mapping_openFlowStyleListing(Mapping& self, const std::string& key){ return self.openFlowStyleListing(key); } ListingPtr Mapping_createListing(Mapping& self, const std::string& key){ return self.createListing(key); } ListingPtr Mapping_createFlowStyleListing(Mapping& self, const std::string& key){ return self.createFlowStyleListing(key); } python::object Mapping_readString(Mapping& self, const std::string& key){ string value; if(self.read(key, value)){ return python::object(value); } return python::object(); } python::object Mapping_readBool(Mapping& self, const std::string& key){ bool value; if(self.read(key, value)){ return python::object(value); } return python::object(); } python::object Mapping_readInt(Mapping& self, const std::string& key){ int value; if(self.read(key, value)){ return python::object(value); } return python::object(); } python::object Mapping_readFloat(Mapping& self, const std::string& key){ double value; if(self.read(key, value)){ return python::object(value); } return python::object(); } python::object Mapping_get2(Mapping& self, const std::string& key, python::object defaultValue){ if(PyBool_Check(defaultValue.ptr())){ bool value; if(self.read(key, value)){ return python::object(value); } } else if(PyInt_Check(defaultValue.ptr())){ int value; if(self.read(key, value)){ return python::object(value); } } else if(PyFloat_Check(defaultValue.ptr())){ double value; if(self.read(key, value)){ return python::object(value); } } else if(PyString_Check(defaultValue.ptr())){ string value; if(self.read(key, value)){ return python::object(value); } } else { return python::object(); } return defaultValue; } void Mapping_writeString1(Mapping& self, const std::string &key, const std::string& value){ self.write(key, value); } void Mapping_writeString2(Mapping& self, const std::string &key, const std::string& value, StringStyle style){ self.write(key, value, style); } void Mapping_write(Mapping& self, const std::string &key, python::object value){ if(PyBool_Check(value.ptr())){ self.write(key, python::extract(value)); } else if(PyInt_Check(value.ptr())){ self.write(key, python::extract(value)); } else if(PyFloat_Check(value.ptr())){ self.write(key, python::extract(value)); } else { PyErr_SetString(PyExc_TypeError, "The argument type is not supported"); python::throw_error_already_set(); } } ValueNodePtr Listing_front(Listing& self){ return self.front(); } ValueNodePtr Listing_back(Listing& self){ return self.back(); } ValueNodePtr Listing_at(Listing& self, int i){ return self.at(i); } void Listing_write_int(Listing& self, int i, int value){ self.write(i, value); } void Listing_write_string1(Listing& self, int i, const std::string& value){ self.write(i, value); } void Listing_write_string2(Listing& self, int i, const std::string& value, StringStyle stringStyle){ self.write(i, value, stringStyle); } MappingPtr Listing_newMapping(Listing& self){ return self.newMapping(); } void Listing_append_node(Listing& self, ValueNodePtr node){ self.append(node); } void Listing_append_int(Listing& self, int value){ self.append(value); } void Listing_append_double(Listing& self, double value){ self.append(value); } void Listing_append_string1(Listing& self, const std::string& value){ self.append(value); } void Listing_append_string2(Listing& self, const std::string& value, StringStyle style){ self.append(value, style); } } namespace cnoid { void exportPyValueTree() { enum_("StringStyle") .value("PLAING_STRING", PLAIN_STRING) .value("SINGLE_QUOTED", SINGLE_QUOTED) .value("DOUBLE_QUOTED", DOUBLE_QUOTED) .value("LITERAL_STRING", LITERAL_STRING) .value("FOLDED_STRING", FOLDED_STRING); class_, boost::noncopyable>("ValueNode", no_init) .def("isValid", &ValueNode::isValid) .def("toInt", &ValueNode::toInt) .def("toFloat", &ValueNode::toDouble) .def("toBool", &ValueNode::toBool) .def("isScalar", &ValueNode::isScalar) .def("isString", &ValueNode::isString) .def("toString", &ValueNode::toString, return_value_policy()) .def("isMapping", &ValueNode::isMapping) .def("toMapping", ValueNode_toMapping) .def("isListing", &ValueNode::isListing) .def("toListing", ValueNode_toListing) .def("readInt", ValueNode_readInt) .def("readFloat", ValueNode_readFloat) .def("readBool", ValueNode_readBool) .def("readString", ValueNode_readString) .def("hasLineInfo", &ValueNode::hasLineInfo) .def("line", &ValueNode::line) .def("column", &ValueNode::column) ; implicitly_convertible(); class_< Mapping, MappingPtr, bases, boost::noncopyable >("Mapping") .def("empty", &Mapping::empty) .def("size", &Mapping::size) .def("clear", &Mapping::clear) .def("setFlowStyle", &Mapping::setFlowStyle) .def("isFlowStyle", &Mapping::isFlowStyle) .def("setFloatFormat", &Mapping::setDoubleFormat) .def("floatFormat", &Mapping::doubleFormat, return_value_policy()) .def("setKeyQuoteStyle", &Mapping::setKeyQuoteStyle) .def("find", Mapping_find) .def("findMapping", Mapping_findMapping) .def("findListing", Mapping_findListing) .def("get", Mapping_get) .def("__getitem__", Mapping_get) .def("insert", Mapping_insert1) .def("insert", Mapping_insert2) .def("openMapping", Mapping_openMapping) .def("openFlowStyleMapping", Mapping_openFlowStyleMapping) .def("createMapping", Mapping_createMapping) .def("createFlowStyleMapping", Mapping_createFlowStyleMapping) .def("openListing", Mapping_openListing) .def("openFlowStyleListing", Mapping_openFlowStyleListing) .def("createListing", Mapping_createListing) .def("createFlowStyleListing", Mapping_createFlowStyleListing) .def("remove", &Mapping::remove) .def("readString", Mapping_readString) .def("readBool", Mapping_readBool) .def("readInt", Mapping_readInt) .def("readFloat", Mapping_readFloat) .def("get", Mapping_get2) .def("write", Mapping_writeString1) .def("write", Mapping_writeString2) .def("write", Mapping_write) ; implicitly_convertible(); class_< Listing, ListingPtr, bases, boost::noncopyable >("Listing") .def("empty", &Listing::empty) .def("size", &Listing::size) .def("clear", &Listing::clear) .def("reserve", &Listing::reserve) .def("setFlowStyle", &Listing::setFlowStyle) .def("isFlowStyle", &Listing::isFlowStyle) .def("setFloatFormat", &Listing::setDoubleFormat) .def("floatFormat", &Listing::doubleFormat, return_value_policy()) .def("front", Listing_front) .def("back", Listing_back) .def("at", Listing_at) .def("write", Listing_write_int) .def("write", Listing_write_string1) .def("write", Listing_write_string2) .def("__getitem__", Listing_at) .def("newMapping", Listing_newMapping) .def("append", Listing_append_node) .def("append", Listing_append_int) .def("append", Listing_append_double) .def("append", Listing_append_string1) .def("append", Listing_append_string2) .def("appendLF", &Listing::appendLF) ; implicitly_convertible(); } } choreonoid-1.5.0/src/Util/python/PyUtilModule.cpp0000664000000000000000000000441012741425367020505 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include "PyUtil.h" #include "../ExecutablePath.h" #include "../FloatingNumberString.h" #include "../Deque2D.h" using namespace boost::python; using namespace cnoid; namespace { typedef Deque2D< double, std::allocator > Deque2DDouble; void Deque2DDouble_Row_setitem(Deque2DDouble::Row& self, const int i, const double x) { self[i] = x; } double& (Deque2DDouble::Row::*Row_getitem)(int) = &Deque2DDouble::Row::operator[]; const double& (Deque2DDouble::Row::*Row_getitem_const)(int) const = &Deque2DDouble::Row::operator[]; } namespace cnoid { void exportPySignalTypes(); void exportPyValueTree(); void exportPyEigenTypes(); void exportPyEigenArchive(); void exportPySeqTypes(); void exportPySceneGraph(); void exportPyGeometryTypes(); void exportPyTaskTypes(); } BOOST_PYTHON_MODULE(Util) { class_("Referenced", no_init); exportPySignalTypes(); exportPyValueTree(); exportPyEigenTypes(); exportPyEigenArchive(); exportPySeqTypes(); exportPySceneGraph(); exportPyGeometryTypes(); exportPyTaskTypes(); def("shareDirectory", &cnoid::shareDirectory, return_value_policy()); def("executablePath", &cnoid::executablePath, return_value_policy()); def("executableBasename", &cnoid::executableBasename, return_value_policy()); def("executableTopDirectory", &cnoid::executableTopDirectory, return_value_policy()); class_("FloatingNumberString", init()) .def("set", &FloatingNumberString::set) .def("setPositiveValue", &FloatingNumberString::setPositiveValue) .def("setNonNegativeValue", &FloatingNumberString::setNonNegativeValue) .def("value", &FloatingNumberString::value); class_("Row", init<>()) .def("size", &Deque2DDouble::Row::size) .def("at", &Deque2DDouble::Row::at, return_value_policy()) .def("__getitem__", Row_getitem, return_value_policy()) .def("__getitem__", Row_getitem_const, return_value_policy()) .def("__setitem__", Deque2DDouble_Row_setitem) ; } choreonoid-1.5.0/src/Util/python/PySeqTypes.cpp0000664000000000000000000001351412741425367020204 0ustar rootroot/*! * @author Shin'ichiro Nakaoka */ #include "PyUtil.h" #include "../MultiValueSeq.h" #include "../Vector3Seq.h" #include "../ValueTree.h" #include "../YAMLWriter.h" using namespace boost::python; using namespace cnoid; namespace { BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(AbstractSeq_setNumFrames, setNumFrames, 1, 2) BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(AbstractSeq_setTimeLength, setTimeLength, 1, 2) BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(AbstractMultiSeq_setDimension, setDimension, 3, 3) BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(AbstractMultiSeq_setNumParts, setNumParts, 1, 2) } namespace cnoid { void exportPySeqTypes() { class_("AbstractSeq", no_init) .def("cloneSeq", &AbstractSeq::cloneSeq) .def("copySeqProperties", &AbstractSeq::copySeqProperties) .def("seqType", &AbstractSeq::seqType, return_value_policy()) .def("getFrameRate", &AbstractSeq::getFrameRate) .def("setFrameRate", &AbstractSeq::setFrameRate) .def("getTimeStep", &AbstractSeq::getTimeStep) .def("setTimeStep", &AbstractSeq::setTimeStep) .def("getTimeOfFrame", &AbstractSeq::getTimeOfFrame) .def("getOffsetTimeFrame", &AbstractSeq::getOffsetTimeFrame) .def("getOffsetTime", &AbstractSeq::getOffsetTime) .def("getNumFrames", &AbstractSeq::getNumFrames) .def("setNumFrames", &AbstractSeq::setNumFrames, AbstractSeq_setNumFrames()) .def("setTimeLength", &AbstractSeq::setTimeLength, AbstractSeq_setTimeLength()) .def("getTimeLength", &AbstractSeq::getTimeLength) .def("seqContentName", &AbstractSeq::seqContentName, return_value_policy()) .def("setSeqContentName", &AbstractSeq::setSeqContentName) .def("readSeq", &AbstractSeq::readSeq) .def("writeSeq", &AbstractSeq::writeSeq) .def("seqMessage", &AbstractSeq::seqMessage, return_value_policy()) .def("defaultFrameRate", &AbstractSeq::defaultFrameRate); register_ptr_to_python(); class_, boost::noncopyable>("AbstractMultiSeq", no_init) .def("copySeqProperties", &AbstractMultiSeq::copySeqProperties) .def("setDimension", &AbstractMultiSeq::setDimension, AbstractMultiSeq_setDimension()) .def("setNumParts", &AbstractMultiSeq::setNumParts, AbstractMultiSeq_setNumParts()) .def("getNumParts", &AbstractMultiSeq::getNumParts) .def("partIndex", &AbstractMultiSeq::partIndex) .def("partLabel", &AbstractMultiSeq::partLabel, return_value_policy()); register_ptr_to_python(); implicitly_convertible(); const MultiValueSeq::Element& (MultiValueSeq::*MultiValueSeq_at_const)(int, int) const = &MultiValueSeq::at; MultiValueSeq::Element& (MultiValueSeq::*MultiValueSeq_at)(int, int) = &MultiValueSeq::at; void (MultiValueSeq::*MultiValueSeq_pop_front_int)(int) = &MultiValueSeq::pop_front; void (MultiValueSeq::*MultiValueSeq_pop_front)(int) = &MultiValueSeq::pop_front; MultiValueSeq::Row (MultiValueSeq::*MultiValueSeq_row)(int) = &MultiValueSeq::row; const MultiValueSeq::Row (MultiValueSeq::*MultiValueSeq_row_const)(int) const = &MultiValueSeq::row; MultiValueSeq::Column (MultiValueSeq::*MultiValueSeq_column)(int) = &MultiValueSeq::column; const MultiValueSeq::Column (MultiValueSeq::*MultiValueSeq_column_const)(int) const = &MultiValueSeq::column; MultiValueSeq::Frame (MultiValueSeq::*MultiValueSeq_frame)(int) = &MultiValueSeq::frame; const MultiValueSeq::Frame (MultiValueSeq::*MultiValueSeq_frame_const)(int) const = &MultiValueSeq::frame; MultiValueSeq::Part (MultiValueSeq::*MultiValueSeq_part)(int) = &MultiValueSeq::part; const MultiValueSeq::Part (MultiValueSeq::*MultiValueSeq_part_const)(int) const = &MultiValueSeq::part; class_< MultiValueSeq, bases >("MultiValueSeq") .def("empty", &MultiValueSeq::empty) .def("resize", &MultiValueSeq::resize) .def("resizeColumn", &MultiValueSeq::resizeColumn) .def("rowSize", &MultiValueSeq::rowSize) .def("resizeRow", &MultiValueSeq::resizeRow) .def("colSize", &MultiValueSeq::colSize) .def("clear", &MultiValueSeq::clear) .def("at", MultiValueSeq_at_const, return_value_policy()) //.def("at", MultiValueSeq_at, return_value_policy()) // This is impossible .def("row", MultiValueSeq_row) .def("row", MultiValueSeq_row_const) .def("column", MultiValueSeq_column) .def("column", MultiValueSeq_column_const) .def("append", &MultiValueSeq::append) .def("pop_back", &MultiValueSeq::pop_back) .def("pop_front", MultiValueSeq_pop_front_int) .def("pop_front", MultiValueSeq_pop_front) .def("copySeqProperties", &MultiValueSeq::copySeqProperties) .def("frameRate", &MultiValueSeq::frameRate) .def("timeStep", &MultiValueSeq::timeStep) .def("numFrames", &MultiValueSeq::numFrames) .def("numParts", &MultiValueSeq::numParts) .def("timeLength", &MultiValueSeq::timeLength) .def("frameOfTime", &MultiValueSeq::frameOfTime) .def("timeOfFrame", &MultiValueSeq::timeOfFrame) .def("clampFrameIndex", &MultiValueSeq::clampFrameIndex) .def("frame", MultiValueSeq_frame) .def("frame", MultiValueSeq_frame_const) .def("part", MultiValueSeq_part) .def("part", MultiValueSeq_part_const) .def("loadPlainFormat", &MultiValueSeq::loadPlainFormat) .def("saveAsPlainFormat", &MultiValueSeq::saveAsPlainFormat); register_ptr_to_python(); implicitly_convertible(); } } choreonoid-1.5.0/src/CorbaPlugin/0000775000000000000000000000000012741425367015355 5ustar rootrootchoreonoid-1.5.0/src/CorbaPlugin/test.cpp0000664000000000000000000000101312741425367017033 0ustar rootroot #include #include using namespace cnoid; int main(int argc, char* argv[]) { initializeCorbaUtil(); Corba::MessageView_var messageView = getDefaultNamingContextHelper()->findObject("MessageView"); if(argc <= 1){ messageView->put("Hello World from a remote client\n"); } else { for(int i=1; i < argc; ++i){ messageView->put(argv[i]); messageView->put("\n"); } } } choreonoid-1.5.0/src/CorbaPlugin/exportdecl.h0000664000000000000000000000221212741425367017674 0ustar rootroot#ifndef CNOID_CORBAPLUGIN_EXPORTDECL_H_INCLUDED # define CNOID_CORBAPLUGIN_EXPORTDECL_H_INCLUDED # if defined _WIN32 || defined __CYGWIN__ # define CNOID_CORBAPLUGIN_DLLIMPORT __declspec(dllimport) # define CNOID_CORBAPLUGIN_DLLEXPORT __declspec(dllexport) # define CNOID_CORBAPLUGIN_DLLLOCAL # else # if __GNUC__ >= 4 # define CNOID_CORBAPLUGIN_DLLIMPORT __attribute__ ((visibility("default"))) # define CNOID_CORBAPLUGIN_DLLEXPORT __attribute__ ((visibility("default"))) # define CNOID_CORBAPLUGIN_DLLLOCAL __attribute__ ((visibility("hidden"))) # else # define CNOID_CORBAPLUGIN_DLLIMPORT # define CNOID_CORBAPLUGIN_DLLEXPORT # define CNOID_CORBAPLUGIN_DLLLOCAL # endif # endif # ifdef CNOID_CORBAPLUGIN_STATIC # define CNOID_CORBAPLUGIN_DLLAPI # define CNOID_CORBAPLUGIN_LOCAL # else # ifdef CnoidCorbaPlugin_EXPORTS # define CNOID_CORBAPLUGIN_DLLAPI CNOID_CORBAPLUGIN_DLLEXPORT # else # define CNOID_CORBAPLUGIN_DLLAPI CNOID_CORBAPLUGIN_DLLIMPORT # endif # define CNOID_CORBAPLUGIN_LOCAL CNOID_CORBAPLUGIN_DLLLOCAL # endif #endif #ifdef CNOID_EXPORT # undef CNOID_EXPORT #endif #define CNOID_EXPORT CNOID_CORBAPLUGIN_DLLAPI choreonoid-1.5.0/src/CorbaPlugin/CorbaPlugin.h0000664000000000000000000000053412741425367017735 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_CORBAPLUGIN_CORBAPLUGIN_H_INCLUDED #define CNOID_CORBAPLUGIN_CORBAPLUGIN_H_INCLUDED #include #include "exportdecl.h" namespace cnoid { CNOID_EXPORT void checkOrInvokeCorbaNameServer(); CNOID_EXPORT bool takeOverCorbaPluginInitialization(CORBA::ORB_ptr orb); } #endif choreonoid-1.5.0/src/CorbaPlugin/corba/0000775000000000000000000000000012741425367016443 5ustar rootrootchoreonoid-1.5.0/src/CorbaPlugin/corba/MessageView.idl0000664000000000000000000000030612741425367021353 0ustar rootroot #ifndef CNOID_CORBA_MESSAGE_VIEW_IDL_INCLUDED #define CNOID_CORBA_MESSAGE_VIEW_IDL_INCLUDED module cnoid { module Corba { interface MessageView { void put(in string message); }; }; }; #endif choreonoid-1.5.0/src/CorbaPlugin/CMakeLists.txt0000664000000000000000000000160612741425367020120 0ustar rootroot # @author Shin'ichiro Nakaoka #set(CMAKE_BUILD_TYPE Debug) option(BUILD_CORBA_PLUGIN "Build CORBA Plugin" OFF) if(NOT BUILD_CORBA_PLUGIN) return() elseif(NOT ENABLE_CORBA) message(FATAL_ERROR "CorbaPlugin needs to ENABLE_CORBA") endif() idl_compile_cpp(idl_cpp_files idl_h_files corba MessageView) set(target CnoidCorbaPlugin) set(sources CorbaPlugin.cpp NameServerView.cpp MessageView_impl.cpp ) set(headers CorbaPlugin.h ) make_gettext_mofiles(${target} mofiles) add_cnoid_plugin(${target} SHARED ${sources} ${headers} ${mofiles} ${idl_cpp_files}) target_link_libraries(${target} CnoidUtil CnoidCorba CnoidBase) apply_common_setting_for_plugin(${target} "${headers}") if(QT5) qt5_use_modules(${target} OpenGL Network) endif() # test program # add_cnoid_executable(corba-test test.cpp ${idl_cpp_files}) # target_link_libraries(corba-test CnoidCorba ${OMNIORB_LIBRARIES}) choreonoid-1.5.0/src/CorbaPlugin/MessageView_impl.cpp0000664000000000000000000000105712741425367021324 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "MessageView_impl.h" #include #include using namespace std; using namespace cnoid; MessageView_impl::MessageView_impl(CORBA::ORB_ptr orb) : orb(CORBA::ORB::_duplicate(orb)) { } MessageView_impl::~MessageView_impl() { PortableServer::POA_var poa = _default_POA(); PortableServer::ObjectId_var id = poa->servant_to_id(this); poa->deactivate_object(id); } void MessageView_impl::put(const char* message) { cnoid::MessageView::instance()->put(message); } choreonoid-1.5.0/src/CorbaPlugin/CorbaPlugin.qrc0000664000000000000000000000057612741425367020301 0ustar rootroot icons/NSCateCxt.png icons/NSElse.png icons/NSHostCxt.png icons/NSMgr.png icons/NSMgrCxt.png icons/NSModCxt.png icons/NSObj.png icons/NSRTC.png icons/NSZombi.png choreonoid-1.5.0/src/CorbaPlugin/MessageView_impl.h0000664000000000000000000000077212741425367020774 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_CORBA_PLUGIN_MESSAGE_VIEW_IMPL_H_INCLUDED #define CNOID_CORBA_PLUGIN_MESSAGE_VIEW_IMPL_H_INCLUDED #include namespace cnoid { class MessageView_impl : virtual public POA_cnoid::Corba::MessageView { protected: CORBA::ORB_var orb; 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Şû“n(ŬPıLzÙ\0Ò§0=–öˆpı7ċÒñÓĜ~—^<Úş $"TJӖ',O"ߞÔ_ŻŻ–›öˆPŜ™iı˘ġÓ ŝAó•5˜ˆ`lÍ6Ŝtĉ§#ô ½@„ƒıF›7ì4fz½p3kaw}ŝ£Ís€ÛĞĊ!‚üeŭĉwMûö÷IENDB`‚choreonoid-1.5.0/src/CorbaPlugin/icons/NSElse.png0000664000000000000000000000041312741425367020325 0ustar rootroot‰PNG  IHDR‘h6gAMAħ üaÂIDAT8Ocü˙˙?I¨$À@’jsàw›ÁS Öĉ¨ +B"K4n5ûñb}¸1áĊ…Ž*nl( "#¸†=­F?>œÀƒ€ P5ÔŭxħšŻ€˘a Pƒp´ĥH9im‘ö ¨ôǃX{@Y†9*?ntH5˜‰ ŞĦñ0/^öDž ê X\5TC$XuV„ĴÓóÒÔñ ôˆ#)9‘œĝmŸTP›ÌïûIENDB`‚choreonoid-1.5.0/src/CorbaPlugin/NameServerView.cpp0000664000000000000000000000547012741425367020771 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "NameServerView.h" #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace cnoid { class NameServerViewImpl { public: NameServerViewImpl(NameServerView* self); ~NameServerViewImpl(); void updateObjectList(); void appendBindingList(CosNaming::BindingList_var& bList); TreeWidget treeWidget; LineEdit hostAddressBox; SpinBox portNumberSpin; NamingContextHelper ncHelper; }; } void NameServerView::initializeClass(ExtensionManager* ext) { ext->viewManager().registerClass( "NameServerView", N_("Nameserver"), ViewManager::SINGLE_OPTIONAL); } NameServerView::NameServerView() { impl = new NameServerViewImpl(this); } NameServerViewImpl::NameServerViewImpl(NameServerView* self) { self->setDefaultLayoutArea(View::LEFT_BOTTOM); QVBoxLayout* vbox = new QVBoxLayout(); QHBoxLayout* hbox = new QHBoxLayout(); hostAddressBox.setText("localhost"); hostAddressBox.sigEditingFinished().connect (boost::bind(&NameServerViewImpl::updateObjectList, this)); hbox->addWidget(&hostAddressBox); portNumberSpin.setRange(0, 65535); portNumberSpin.setValue(2809); portNumberSpin.sigEditingFinished().connect (boost::bind(&NameServerViewImpl::updateObjectList, this)); hbox->addWidget(&portNumberSpin); PushButton* updateButton = new PushButton(_("Update")); updateButton->sigClicked().connect(boost::bind(&NameServerViewImpl::updateObjectList, this)); hbox->addWidget(updateButton); vbox->addLayout(hbox); treeWidget.setHeaderLabel(_("Object Name")); vbox->addWidget(&treeWidget); self->setLayout(vbox); } NameServerView::~NameServerView() { delete impl; } NameServerViewImpl::~NameServerViewImpl() { } void NameServerViewImpl::updateObjectList() { treeWidget.clear(); ncHelper.setLocation(hostAddressBox.string(), portNumberSpin.value()); if(ncHelper.isAlive()){ NamingContextHelper::ObjectInfoList objects = ncHelper.getObjectList(); for(size_t i=0; i < objects.size(); ++i){ const NamingContextHelper::ObjectInfo& info = objects[i]; //if(info.isAlive){ if(true){ QTreeWidgetItem* item = new QTreeWidgetItem(); QString name = info.id.c_str(); if(!info.kind.empty()){ name += QString("(%1)").arg(QString::fromStdString(info.kind)); } item->setText(0, name); treeWidget.addTopLevelItem(item); } } } } choreonoid-1.5.0/src/CorbaPlugin/po/0000775000000000000000000000000012741425367015773 5ustar rootrootchoreonoid-1.5.0/src/CorbaPlugin/po/ja.po0000664000000000000000000000323512741425367016730 0ustar rootroot# Japanese translations for PACKAGE package. # Copyright (C) 2011 THE PACKAGE'S COPYRIGHT HOLDER # This file is distributed under the same license as the PACKAGE package. # nakaoka , 2011. # msgid "" msgstr "" "Project-Id-Version: PACKAGE VERSION\n" "Report-Msgid-Bugs-To: \n" "POT-Creation-Date: 2013-08-24 00:34+0900\n" "PO-Revision-Date: 2011-12-15 14:08+0000\n" "Last-Translator: nakaoka \n" "Language-Team: Japanese\n" "Language: ja\n" "MIME-Version: 1.0\n" "Content-Type: text/plain; charset=UTF-8\n" "Content-Transfer-Encoding: 8bit\n" "Plural-Forms: nplurals=1; plural=0;\n" #: CorbaPlugin.cpp:62 msgid "An external CORBA name server has been detected." msgstr "ç¨ĵċƒä¸­CORBAƒƒĵƒ ‚µƒĵƒ‚’ĉ¤œċ‡ş——Ÿ€‚" #: CorbaPlugin.cpp:64 msgid "No external CORBA name server was detected." msgstr "ç¨ĵċƒä¸­CORBAƒƒĵƒ ‚µƒĵƒ‚’ĉ¤œċ‡ş§›‚“€‚" #: CorbaPlugin.cpp:69 msgid "Namer server %1% is not found." msgstr "ƒƒĵƒ ‚µƒĵƒ %1% ŒèĤ‹¤‹‚Š›‚“€‚" #: CorbaPlugin.cpp:79 msgid "Name server process %1% has been invoked." msgstr "ƒƒĵƒ ‚µƒĵƒƒ—ƒ­‚ğ‚ı %1% ‚’èµ·ċ‹•——Ÿ€‚" #: CorbaPlugin.cpp:81 msgid "Name server \"%1%\" cannot be invoked." msgstr "ƒƒĵƒ ‚µƒĵƒ \"%1%\" ‚’èµ·ċ‹•§›‚“€‚" #: CorbaPlugin.cpp:129 msgid "Use Choreonoid's name server when no server is found" msgstr "ƒƒĵƒ ‚µƒĵƒĉœŞĉ¤œċ‡şĉ™‚Ğè‡Şċ‰ƒƒĵƒ ‚µƒĵƒ‚’èµ·ċ‹•" #: NameServerView.cpp:59 msgid "Nameserver" msgstr "ƒƒĵƒ ‚µƒĵƒ" #: NameServerView.cpp:76 msgid "Update" msgstr "ĉ›´ĉ–°" #: NameServerView.cpp:82 msgid "Object Name" msgstr "‚ރ–‚¸‚§‚Żƒˆċ" choreonoid-1.5.0/src/CorbaPlugin/NameServerView.h0000664000000000000000000000066412741425367020436 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_CORBAPLUGIN_NAME_SERVER_VIEW_H_INCLUDED #define CNOID_CORBAPLUGIN_NAME_SERVER_VIEW_H_INCLUDED #include namespace cnoid { class NameServerViewImpl; class NameServerView : public View { public: static void initializeClass(ExtensionManager* ext); NameServerView(); virtual ~NameServerView(); private: NameServerViewImpl* impl; }; } #endif choreonoid-1.5.0/src/CorbaPlugin/CorbaPlugin.cpp0000664000000000000000000001200412741425367020263 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "CorbaPlugin.h" #include "MessageView_impl.h" #include "NameServerView.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; using namespace boost; namespace { bool commonInitializationDone; #ifdef Q_OS_WIN32 const char* nameServerCommand = "cnoid-nameserver.exe"; bool useChoreonoidNameServerIfNecessary = true; #else const char* nameServerCommand = "cnoid-nameserver"; # ifdef Q_OS_DARWIN bool useChoreonoidNameServerIfNecessary = true; # else bool useChoreonoidNameServerIfNecessary = false; # endif #endif Process nameServerProcess; } namespace cnoid { void checkOrInvokeCorbaNameServer() { MessageView* mv = MessageView::instance(); const Mapping& conf = *AppConfig::archive()->findMapping("CORBA"); if(conf.isValid()){ conf.read("useChoreonoidNameServerIfNecessary", useChoreonoidNameServerIfNecessary); } if(useChoreonoidNameServerIfNecessary){ // Check if the CORBA iiop port needed for getting the existing NameServer can be accessed QTcpSocket socket; socket.connectToHost("localhost", 2809); if(socket.waitForConnected(50)){ mv->putln(_("An external CORBA name server has been detected.")); } else { mv->putln(_("No external CORBA name server was detected.")); filesystem::path serverExecPath = filesystem::path(executableTopDirectory()) / "bin" / nameServerCommand; if(!filesystem::exists(serverExecPath)){ mv->putln(fmt(_("Namer server %1% is not found.")) % nameServerCommand); } else { string command = getNativePathString(serverExecPath); #ifdef _WIN32 nameServerProcess.start(QString("\"") + command.c_str() + "\""); #else nameServerProcess.start(command.c_str()); #endif if(nameServerProcess.waitForStarted() && nameServerProcess.waitForReadyRead()){ mv->putln(fmt(_("Name server process %1% has been invoked.")) % nameServerCommand); } else { mv->putln(fmt(_("Name server \"%1%\" cannot be invoked.")) % command); } } } } } } namespace { bool initializeCorbaUtilAndNameServer(CORBA::ORB_ptr orb) { if(orb){ initializeCorbaUtil(orb, true); } else { checkOrInvokeCorbaNameServer(); initializeCorbaUtil(true); } commonInitializationDone = true; return true; } class CorbaPlugin : public Plugin { QAction* useChoreonoidNameServerIfNecessaryCheck; MessageView_impl* messageView; boost::thread orbMainLoopThread; public: CorbaPlugin() : Plugin("Corba") { commonInitializationDone = false; } virtual bool initialize() { bool doSetupCorbaMainLoop = !commonInitializationDone; if(!commonInitializationDone){ initializeCorbaUtilAndNameServer(0); } MenuManager& mm = menuManager(); mm.setPath("/Options").setPath("CORBA"); useChoreonoidNameServerIfNecessaryCheck = mm.addCheckItem(_("Use Choreonoid's name server when no server is found")); useChoreonoidNameServerIfNecessaryCheck->setChecked(useChoreonoidNameServerIfNecessary); messageView = new MessageView_impl(getORB()); NamingContextHelper* nc = getDefaultNamingContextHelper(); if(!nc->bindObject(messageView->_this(), "MessageView")){ MessageView::instance()->putln(nc->errorMessage()); } NameServerView::initializeClass(this); if(doSetupCorbaMainLoop){ orbMainLoopThread = thread(boost::bind(&CorbaPlugin::orbMainLoop, this)); } return true; } void orbMainLoop() { // setMainTread(); getORB()->run(); getORB()->destroy(); } virtual bool finalize() { Mapping& conf = *AppConfig::archive()->openMapping("CORBA"); conf.write("useChoreonoidNameServerIfNecessary", useChoreonoidNameServerIfNecessaryCheck->isChecked()); if(orbMainLoopThread.joinable()){ getORB()->shutdown(false); orbMainLoopThread.join(); } if(nameServerProcess.state() != QProcess::NotRunning){ nameServerProcess.kill(); nameServerProcess.waitForFinished(100); } return true; } }; } CNOID_IMPLEMENT_PLUGIN_ENTRY(CorbaPlugin); namespace cnoid { bool takeOverCorbaPluginInitialization(CORBA::ORB_ptr orb) { return initializeCorbaUtilAndNameServer(orb); } } choreonoid-1.5.0/src/OpenRTMPlugin/0000775000000000000000000000000012741425367015613 5ustar rootrootchoreonoid-1.5.0/src/OpenRTMPlugin/OpenRTMPlugin.qrc0000664000000000000000000000026712741425367020772 0ustar rootroot icons/NSObj.png icons/NSRTC.png icons/NSZombi.png choreonoid-1.5.0/src/OpenRTMPlugin/VirtualRobotRTC.cpp0000664000000000000000000003500112741425367021323 0ustar rootroot/** \file \author shizuko hattori */ #include"VirtualRobotRTC.h" #include "BodyRTCItem.h" #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { const bool CONTROLLER_BRIDGE_DEBUG = false; } void VirtualRobotRTC::registerFactory(RTC::Manager* manager, const char* componentTypeName) { static const char* spec[] = { "implementation_id", "VirtualRobot", "type_name", "VirtualRobot", "description", "This component enables controller components to" "access the I/O of a virtual robot in a Choreonoid simulation", "version", CNOID_VERSION_STRING, "vendor", "AIST", "category", "Choreonoid", "activity_type", "DataFlowComponent", "max_instance", "100", "language", "C++", "lang_type", "compile", "" }; if(CONTROLLER_BRIDGE_DEBUG){ cout << "initVirtualRobotRTC()" << endl; } RTC::Properties profile(spec); profile.setDefault("type_name", componentTypeName); manager->registerFactory(profile, RTC::Create, RTC::Delete); } VirtualRobotRTC::VirtualRobotRTC(RTC::Manager* manager) : RTC::DataFlowComponentBase(manager) { if(CONTROLLER_BRIDGE_DEBUG){ cout << "VirtualRobotRTC::VirtualRobotRTC" << endl; } } RTC::ReturnCode_t VirtualRobotRTC::onInitialize() { return RTC::RTC_OK; } VirtualRobotRTC::~VirtualRobotRTC() { if(CONTROLLER_BRIDGE_DEBUG){ cout << "VirtualRobotRTC::~VirtualRobotRTC" << endl; } } void VirtualRobotRTC::createPorts( BridgeConf* bridgeConf) { if(bridgeConf){ PortInfoMap::iterator it; for(it = bridgeConf->outPortInfos.begin(); it != bridgeConf->outPortInfos.end(); ++it){ if (!createOutPortHandler(it->second)){ cerr << "createOutPortHandler(" << it->second.portName << ") failed" << std::endl; } } for(it = bridgeConf->inPortInfos.begin(); it != bridgeConf->inPortInfos.end(); ++it){ if (!createInPortHandler(it->second)){ cerr << "createInPortHandler(" << it->second.portName << ") failed" << std::endl; } } updatePortObjectRefs(); } } bool VirtualRobotRTC::createOutPortHandler(PortInfo& portInfo) { DataTypeId dataTypeId = portInfo.dataTypeId; bool ret = false; if(portInfo.dataOwnerNames.empty()){ switch(dataTypeId) { case JOINT_VALUE: case JOINT_VELOCITY: case JOINT_ACCELERATION: case JOINT_TORQUE: case FORCE_SENSOR: case RATE_GYRO_SENSOR: case ACCELERATION_SENSOR: ret = registerOutPortHandler(new SensorStateOutPortHandler(portInfo)); break; case CAMERA_RANGE: ret = registerOutPortHandler(new CameraRangeOutPortHandler(portInfo, false)); break; case CAMERA_IMAGE: ret = registerOutPortHandler(new CameraImageOutPortHandler(portInfo, false)); break; case RANGE_SENSOR: ret = registerOutPortHandler(new RangeSensorOutPortHandler(portInfo, false)); break; default: break; } } else { switch(dataTypeId) { case JOINT_VALUE: case JOINT_VELOCITY: case JOINT_ACCELERATION: case JOINT_TORQUE: case ABS_TRANSFORM: case ABS_VELOCITY: case ABS_ACCELERATION: case CONSTRAINT_FORCE: case EXTERNAL_FORCE: ret = registerOutPortHandler(new LinkDataOutPortHandler(portInfo)); break; case ABS_TRANSFORM2: ret = registerOutPortHandler(new AbsTransformOutPortHandler(portInfo)); break; case FORCE_SENSOR: case RATE_GYRO_SENSOR: case ACCELERATION_SENSOR: ret = registerOutPortHandler(new SensorDataOutPortHandler(portInfo)); break; case RATE_GYRO_SENSOR2: ret = registerOutPortHandler(new GyroSensorOutPortHandler(portInfo)); break; case ACCELERATION_SENSOR2: ret = registerOutPortHandler(new AccelerationSensorOutPortHandler(portInfo)); break; case LIGHT: ret = registerOutPortHandler(new LightOnOutPortHandler(portInfo)); break; case CAMERA_RANGE: ret = registerOutPortHandler(new CameraRangeOutPortHandler(portInfo, false)); break; case CAMERA_IMAGE: ret = registerOutPortHandler(new CameraImageOutPortHandler(portInfo, false)); break; case RANGE_SENSOR: ret = registerOutPortHandler(new RangeSensorOutPortHandler(portInfo, false)); break; default: break; } } return ret; } bool VirtualRobotRTC::createInPortHandler(PortInfo& portInfo) { DataTypeId dataTypeId = portInfo.dataTypeId; bool ret = false; if(portInfo.dataOwnerNames.empty()){ switch(dataTypeId) { case JOINT_VALUE: case JOINT_VELOCITY: case JOINT_ACCELERATION: case JOINT_TORQUE: ret = registerInPortHandler(new JointDataSeqInPortHandler(portInfo)); break; default: break; } }else{ switch(dataTypeId){ case JOINT_VALUE: case JOINT_VELOCITY: case JOINT_ACCELERATION: case JOINT_TORQUE: ret = registerInPortHandler(new LinkDataInPortHandler(portInfo)); break; case ABS_TRANSFORM2: ret = registerInPortHandler(new AbsTransformInPortHandler(portInfo)); break; case ABS_TRANSFORM: case ABS_VELOCITY: case ABS_ACCELERATION: case EXTERNAL_FORCE: ret = registerInPortHandler(new LinkDataInPortHandler(portInfo)); break; case LIGHT: ret = registerInPortHandler(new LightOnInPortHandler(portInfo)); break; default: break; } } return ret; } PortHandlerPtr VirtualRobotRTC::getOutPortHandler(const std::string& name_) { string name(name_); string::size_type index = name.rfind("."); if (index != string::npos) name = name.substr(index+1); PortHandlerPtr portHandler; OutPortHandlerMap::iterator p = outPortHandlers.find(name); if(p != outPortHandlers.end()){ portHandler = p->second; } return portHandler; } PortHandlerPtr VirtualRobotRTC::getInPortHandler(const std::string& name_) { string name(name_); string::size_type index = name.rfind("."); if (index != string::npos) name = name.substr(index+1); PortHandlerPtr portHandler; InPortHandlerMap::iterator q = inPortHandlers.find(name); if(q != inPortHandlers.end()){ portHandler = q->second; } return portHandler; } void VirtualRobotRTC::updatePortObjectRefs() { for(OutPortHandlerMap::iterator it = outPortHandlers.begin(); it != outPortHandlers.end(); ++it){ OutPortHandlerPtr& handler = it->second; handler->portRef = RTC::PortService::_nil(); } for(InPortHandlerMap::iterator it = inPortHandlers.begin(); it != inPortHandlers.end(); ++it){ InPortHandlerPtr& handler = it->second; handler->portRef = RTC::PortService::_nil(); } RTC::PortServiceList_var ports = get_ports(); for(CORBA::ULong i=0; i < ports->length(); ++i){ RTC::PortProfile_var profile = ports[i]->get_port_profile(); const char* type; if (!(NVUtil::find(profile->properties, "port.port_type") >>= type)) break; PortHandlerPtr portHandler; if(!std::strcmp(type,"DataInPort")) portHandler = getInPortHandler(string(profile->name)); else portHandler = getOutPortHandler(string(profile->name)); if(portHandler){ portHandler->portRef = ports[i]; } } } RTC::RTCList* VirtualRobotRTC::getConnectedRtcs() { RTC::RTCList* rtcList = new RTC::RTCList; set foundRtcNames; for(OutPortHandlerMap::iterator it = outPortHandlers.begin(); it != outPortHandlers.end(); ++it){ OutPortHandlerPtr& handler = it->second; addConnectedRtcs(handler->portRef, *rtcList, foundRtcNames); } for(InPortHandlerMap::iterator it = inPortHandlers.begin(); it != inPortHandlers.end(); ++it){ InPortHandlerPtr& handler = it->second; addConnectedRtcs(handler->portRef, *rtcList, foundRtcNames); } return rtcList; } void VirtualRobotRTC::addConnectedRtcs(RTC::PortService_ptr portRef, RTC::RTCList& rtcList, std::set& foundRtcNames) { RTC::PortProfile_var portProfile = portRef->get_port_profile(); string portName(portProfile->name); RTC::ConnectorProfileList_var connectorProfiles = portRef->get_connector_profiles(); for(CORBA::ULong i=0; i < connectorProfiles->length(); ++i){ RTC::ConnectorProfile& connectorProfile = connectorProfiles[i]; RTC::PortServiceList& connectedPorts = connectorProfile.ports; for(CORBA::ULong j=0; j < connectedPorts.length(); ++j){ RTC::PortService_ptr connectedPortRef = connectedPorts[j]; RTC::PortProfile_var connectedPortProfile = connectedPortRef->get_port_profile(); RTC::RTObject_var connectedRtcRef = RTC::RTObject::_duplicate(connectedPortProfile->owner); RTC::RTObject_var thisRef = RTC::RTObject::_duplicate(getObjRef()); if(!CORBA::is_nil(connectedRtcRef) && !connectedRtcRef->_is_equivalent(thisRef)){ CORBA::ULong ii=0; for(; ii_is_equivalent(connectedRtcRef)) break; } if(ii == rtcList.length()){ RTC::ComponentProfile_var componentProfile = connectedRtcRef->get_component_profile(); string connectedRtcName(componentProfile->instance_name); MessageView* mv = MessageView::instance(); mv->putln(fmt(_("detected RTC: %1% Port connection: %2% <--> %3%")) % connectedRtcName % portName % connectedPortProfile->name); RTC::ExecutionContextList_var execServices = connectedRtcRef->get_owned_contexts(); for(CORBA::ULong k=0; k < execServices->length(); k++) { RTC::ExecutionContext_var execContext = execServices[k]; OpenRTM::ExtTrigExecutionContextService_var extTrigExecContext = OpenRTM::ExtTrigExecutionContextService::_narrow(execContext); if(!CORBA::is_nil(extTrigExecContext)){ CORBA::ULong n = rtcList.length(); rtcList.length(n + 1); rtcList[n] = connectedRtcRef; foundRtcNames.insert(connectedRtcName); RTC::PortServiceList_var portList = connectedRtcRef->get_ports(); for(CORBA::ULong jj=0; jj < portList->length(); ++jj){ addConnectedRtcs(portList[jj], rtcList, foundRtcNames); } } } } } } } } void VirtualRobotRTC::inputDataFromSimulator(BodyRTCItem* bodyRTC) { const double controlTime = bodyRTC->controlTime(); const double controlTimeStep = bodyRTC->timeStep(); for(OutPortHandlerMap::iterator it = outPortHandlers.begin(); it != outPortHandlers.end(); ++it){ double stepTime = it->second->stepTime; if(stepTime){ double w = controlTime - (int)(controlTime / stepTime) * stepTime + controlTimeStep / 2; if(w >= stepTime){ w = 0.0; } if(w < controlTimeStep ){ it->second->inputDataFromSimulator(bodyRTC); } }else{ it->second->inputDataFromSimulator(bodyRTC); } } } void VirtualRobotRTC::outputDataToSimulator(const BodyPtr& body) { for(InPortHandlerMap::iterator it = inPortHandlers.begin(); it != inPortHandlers.end(); ++it){ it->second->outputDataToSimulator(body); } } void VirtualRobotRTC::writeDataToOutPorts(double controlTime, double controlTimeStep) { for(OutPortHandlerMap::iterator it = outPortHandlers.begin(); it != outPortHandlers.end(); ++it){ if(!it->second->synchController) continue; double stepTime = it->second->stepTime; if(stepTime){ double w = controlTime-(int)(controlTime/stepTime)*stepTime + controlTimeStep/2; if(w >= stepTime) w=0; if(w < controlTimeStep ) it->second->writeDataToPort(); }else{ it->second->writeDataToPort(); } } } void VirtualRobotRTC::readDataFromInPorts() { for(InPortHandlerMap::iterator it = inPortHandlers.begin(); it != inPortHandlers.end(); ++it){ it->second->readDataFromPort(); } } void VirtualRobotRTC::stop() { } bool VirtualRobotRTC::checkOutPortStepTime(double controlTimeStep) { bool ret = true; for(OutPortHandlerMap::iterator it = outPortHandlers.begin(); it != outPortHandlers.end(); ++it){ double stepTime = it->second->stepTime; if(stepTime && stepTime < controlTimeStep){ cerr << "OutPort(" << it->second->portName << ") : Output interval(" << stepTime << ") must be longer than the control interval(" << controlTimeStep << ")." << std::endl; ret &= false; } } return ret; } void VirtualRobotRTC::initialize(Body* simulationBody) { for(OutPortHandlerMap::iterator it = outPortHandlers.begin(); it != outPortHandlers.end(); ++it){ CameraImageOutPortHandler* cameaImageOutPortHandler = dynamic_cast(it->second.get()); if(cameaImageOutPortHandler) cameaImageOutPortHandler->initialize(simulationBody); CameraRangeOutPortHandler* cameaRangeOutPortHandler = dynamic_cast(it->second.get()); if(cameaRangeOutPortHandler) cameaRangeOutPortHandler->initialize(simulationBody); RangeSensorOutPortHandler* rangeSensorOutPortHandler = dynamic_cast(it->second.get()); if(rangeSensorOutPortHandler) rangeSensorOutPortHandler->initialize(simulationBody); } } choreonoid-1.5.0/src/OpenRTMPlugin/ChoreonoidPeriodicExecutionContext.cpp0000664000000000000000000000320212741425367025315 0ustar rootroot/*! * @file ChoreonoidPeriodicExecutionContext.cpp * @author hattori */ #include "ChoreonoidPeriodicExecutionContext.h" #include #ifndef OPENRTM_VERSION110 #include #endif using namespace cnoid; ChoreonoidPeriodicExecutionContext::ChoreonoidPeriodicExecutionContext() : PeriodicExecutionContext() { } ChoreonoidPeriodicExecutionContext::~ChoreonoidPeriodicExecutionContext() { } RTC::ReturnCode_t ChoreonoidPeriodicExecutionContext::deactivate_component(RTC::LightweightRTObject_ptr comp) throw (CORBA::SystemException) { #ifdef OPENRTM_VERSION110 RTC_TRACE(("deactivate_component()")); CompItr it = std::find_if(m_comps.begin(), m_comps.end(), find_comp(comp)); if(it == m_comps.end()) { return RTC::BAD_PARAMETER; } if(!(it->_sm.m_sm.isIn(RTC::ACTIVE_STATE))){ return RTC::PRECONDITION_NOT_MET; } it->_sm.m_sm.goTo(RTC::INACTIVE_STATE); it->_sm.worker(); if(it->_sm.m_sm.isIn(RTC::INACTIVE_STATE)){ RTC_TRACE(("The component has been properly deactivated.")); return RTC::RTC_OK; } RTC_ERROR(("The component could not be deactivated.")); return RTC::RTC_ERROR; #else RTC_impl::RTObjectStateMachine* rtobj = m_worker.findComponent(comp); if (rtobj == NULL) { return RTC::BAD_PARAMETER; } if (!(rtobj->isCurrentState(RTC::ACTIVE_STATE))) { return RTC::PRECONDITION_NOT_MET; } rtobj->goTo(RTC::INACTIVE_STATE); rtobj->workerDo(); if (!(rtobj->isCurrentState(RTC::INACTIVE_STATE))) { return RTC::RTC_OK; } return RTC::RTC_ERROR; #endif } choreonoid-1.5.0/src/OpenRTMPlugin/OpenRTMPlugin.cpp0000664000000000000000000004032212741425367020763 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "BodyRTCItem.h" #include "RTCItem.h" #include "OpenHRPClockGeneratorItem.h" #include "ChoreonoidExecutionContext.h" #include "ChoreonoidPeriodicExecutionContext.h" #include "OpenRTMUtil.h" #include "RTSNameServerView.h" #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { class ManagerEx : public RTC::Manager { public: RTM::ManagerServant* servant() { return m_mgrservant; } }; ManagerEx* manager; std::set managedComponents; class PostComponentShutdownListenr : public RTC::PostComponentActionListener { RTC::RTObject_impl* rtc; public: PostComponentShutdownListenr(RTC::RTObject_impl* rtc) : rtc(rtc) { } virtual void operator()(UniqueId ec_id, ReturnCode_t ret){ } }; void rtcManagerMainLoop() { manager->runManager(); } class OpenRTMPlugin : public Plugin { MessageView* mv; boost::thread rtcManagerMainLoopThread; Action* deleteRTCsOnSimulationStartCheck; Connection connectionToSigSimulaionAboutToStart; public: OpenRTMPlugin() : Plugin("OpenRTM") { require("Body"); require("Corba"); precede("Corba"); } virtual bool initialize() { const char* argv[] = { "choreonoid", "-f", "./rtc.conf.choreonoid", "-o", "manager.shutdown_on_nortcs: NO", "-o", "manager.shutdown_auto: NO", "-o", "naming.formats: %n.rtc", #ifdef Q_OS_WIN32 // To reduce the startup time on Windows "-o", "corba.args: -ORBclientCallTimeOutPeriod 100", #endif "-o", "logger.enable: NO", //"-o", "corba.nameservers: localhost", //"-o", "exec_cxt.periodic.type: SynchExtTriggerEC", //"-o", "exec_cxt.periodic.rate: 1000000", //"-o", "manager.is_master: YES" //"-o", "logger.enable: YES", //"-o", "logger.file_name: stdout", //"-o", "logger.log_level: TRACE", //"-o", "corba.args: -ORBendPoint giop:tcp::2809 -ORBpoaUniquePersistentSystemIds 1" }; #ifdef Q_OS_WIN32 int numArgs = 11; #else int numArgs = 9; #endif bool FORCE_DISABLE_LOG = true; if(FORCE_DISABLE_LOG){ numArgs += 2; } mv = MessageView::instance(); cnoid::checkOrInvokeCorbaNameServer(); manager = static_cast(RTC::Manager::init(numArgs, const_cast(argv))); RTM::Manager_ptr servantRef = manager->servant()->getObjRef(); if(CORBA::is_nil(servantRef)){ manager->servant()->createINSManager(); } #ifdef OPENRTM_VERSION110 if(manager->registerECFactory("ChoreonoidExecutionContext", RTC::ECCreate, RTC::ECDelete)){ #else if(RTC::ExecutionContextFactory::instance().addFactory("ChoreonoidExecutionContext", ::coil::Creator< ::RTC::ExecutionContextBase, ::cnoid::ChoreonoidExecutionContext>, ::coil::Destructor< ::RTC::ExecutionContextBase, ::cnoid::ChoreonoidExecutionContext>)){ #endif mv->putln(_("ChoreonoidExecutionContext has been registered.")); } #ifdef OPENRTM_VERSION110 if(manager->registerECFactory("ChoreonoidPeriodicExecutionContext", RTC::ECCreate, RTC::ECDelete)){ #else if(RTC::ExecutionContextFactory::instance().addFactory("ChoreonoidPeriodicExecutionContext", ::coil::Creator< ::RTC::ExecutionContextBase, ::cnoid::ChoreonoidPeriodicExecutionContext>, ::coil::Destructor< ::RTC::ExecutionContextBase, ::cnoid::ChoreonoidPeriodicExecutionContext>)){ #endif mv->putln(_("ChoreonoidPeriodicExecutionContext has been registered.")); } manager->activateManager(); #ifdef Q_OS_WIN32 omniORB::setClientCallTimeout(0); // reset the global timeout setting? #endif if(!cnoid::takeOverCorbaPluginInitialization(manager->getORB())){ return false; } BodyRTCItem::initialize(this); RTCItem::initialize(this); OpenHRPClockGeneratorItem::initialize(this); VirtualRobotRTC::registerFactory(manager, "VirtualRobot"); rtcManagerMainLoopThread = boost::thread(rtcManagerMainLoop); menuManager().setPath("/Tools/OpenRTM").addItem(_("Delete unmanaged RT components")) ->sigTriggered().connect(boost::bind(&OpenRTMPlugin::deleteUnmanagedRTCs, this, true)); deleteRTCsOnSimulationStartCheck = menuManager().setPath("/Options/OpenRTM").addCheckItem( _("Delete unmanaged RT components on starting a simulation")); deleteRTCsOnSimulationStartCheck->sigToggled().connect( boost::bind(&OpenRTMPlugin::onDeleteRTCsOnSimulationStartToggled, this, _1)); setProjectArchiver( boost::bind(&OpenRTMPlugin::store, this, _1), boost::bind(&OpenRTMPlugin::restore, this, _1)); RTSNameServerView::initializeClass(this); return true; } bool store(Archive& archive) { archive.write("deleteUnmanagedRTCsOnStartingSimulation", deleteRTCsOnSimulationStartCheck->isChecked()); return true; } void restore(const Archive& archive) { bool checked = deleteRTCsOnSimulationStartCheck->isChecked(); if(!archive.read("deleteUnmanagedRTCsOnStartingSimulation", checked)){ // for reading the old version format const Archive& oldNode = *archive.findSubArchive("OpenRTMPlugin"); if(oldNode.isValid()){ oldNode.read("deleteUnmanagedRTCsOnStartingSimulation", checked); } } deleteRTCsOnSimulationStartCheck->setChecked(checked); } void onDeleteRTCsOnSimulationStartToggled(bool on) { connectionToSigSimulaionAboutToStart.disconnect(); if(on){ connectionToSigSimulaionAboutToStart = SimulationBar::instance()->sigSimulationAboutToStart().connect( boost::bind(&OpenRTMPlugin::deleteUnmanagedRTCs, this, false)); } } void onSimulationAboutToStart() { if(deleteUnmanagedRTCs(false) > 0){ mv->flush(); } } int deleteUnmanagedRTCs(bool doPutMessageWhenNoUnmanagedComponents) { int n = cnoid::numUnmanagedRTCs(); if(n == 0){ if(doPutMessageWhenNoUnmanagedComponents){ mv->notify("There are no RT components which are not managed by Choreonoid."); } } else { if(n == 1){ mv->notify(_("An RT component which is not managed by Choreonoid is being deleted.")); } else { mv->notify(format(_("%1% RT components which are not managed by Choreonoid are being deleted.")) % n); } mv->flush(); cnoid::deleteUnmanagedRTCs(); if(n == 1){ mv->notify(_("The unmanaged RT component has been deleted.")); } else { mv->notify(_("The unmanaged RT components have been deleted.")); } } return n; } virtual bool finalize() { connectionToSigSimulaionAboutToStart.disconnect(); std::vector rtcs = manager->getComponents(); for(int i=0; i < rtcs.size(); ++i){ RTObject_impl* rtc = rtcs[i]; RTC::ExecutionContextList_var eclist = rtc->get_participating_contexts(); if(eclist->length() > 0){ for(CORBA::ULong j=0; j < eclist->length(); ++j){ if(!CORBA::is_nil(eclist[j])){ eclist[j]->remove_component(rtc->getObjRef()); } } } } // delete all the components owned by exisiting BodyRTCItems itemManager().detachAllManagedTypeItemsFromRoot(); cnoid::deleteUnmanagedRTCs(); manager->shutdown(); manager->unloadAll(); return true; } }; } CNOID_IMPLEMENT_PLUGIN_ENTRY(OpenRTMPlugin); RTM::Manager_ptr cnoid::getRTCManagerServant() { return RTM::Manager::_duplicate(manager->servant()->getObjRef()); } RTC::RTObject_impl* cnoid::createManagedRTC(const char* comp_args) { RTC::RTObject_impl* rtc = manager->createComponent(comp_args); if(rtc){ managedComponents.insert(rtc); //rtc->addPostComponentActionListener(POST_ON_SHUTDOWN, new PostComponentShutdownListenr(rtc)); } return rtc; } CNOID_EXPORT int cnoid::numUnmanagedRTCs() { int n = 0; std::vector rtcs = manager->getComponents(); for(int i=0; i < rtcs.size(); ++i){ RTObject_impl* rtc = rtcs[i]; if(managedComponents.find(rtc) == managedComponents.end()){ ++n; } } return n; } CNOID_EXPORT int cnoid::deleteUnmanagedRTCs() { int numDeleted = 0; std::vector rtcs = manager->getComponents(); // deactivate for(int i=0; i < rtcs.size(); ++i){ RTObject_impl* rtc = rtcs[i]; if(managedComponents.find(rtc) == managedComponents.end()){ RTC::ExecutionContextList_var eclist = rtc->get_owned_contexts(); if(eclist->length() > 0 && !CORBA::is_nil(eclist[0])){ eclist[0]->deactivate_component(rtc->getObjRef()); OpenRTM::ExtTrigExecutionContextService_var execContext = OpenRTM::ExtTrigExecutionContextService::_narrow(eclist[0]); if(!CORBA::is_nil(execContext)) execContext->tick(); } eclist = rtc->get_participating_contexts(); if(eclist->length() > 0 && !CORBA::is_nil(eclist[0])){ eclist[0]->deactivate_component(rtc->getObjRef()); OpenRTM::ExtTrigExecutionContextService_var execContext = OpenRTM::ExtTrigExecutionContextService::_narrow(eclist[0]); if(!CORBA::is_nil(execContext)) execContext->tick(); } } } #ifdef OPENRTM_VERSION110 for(int i=0; i < rtcs.size(); ++i){ RTObject_impl* rtc = rtcs[i]; if(managedComponents.find(rtc) == managedComponents.end()){ RTC::ExecutionContextList_var eclist = rtc->get_participating_contexts(); for(CORBA::ULong j=0; j < eclist->length(); ++j){ if(!CORBA::is_nil(eclist[j])){ eclist[j]->remove_component(rtc->getObjRef()); } } PortServiceList_var ports = rtc->get_ports(); for(CORBA::ULong j=0; j < ports->length(); ++j){ ports[j]->disconnect_all(); } RTC::ExecutionContextList_var myEClist = rtc->get_owned_contexts(); if(myEClist->length() > 0 && !CORBA::is_nil(myEClist[0])){ OpenRTM::ExtTrigExecutionContextService_var myEC = OpenRTM::ExtTrigExecutionContextService::_narrow(myEClist[0]); RTCList rtcs = myEC->get_profile()->participants; for(int i=0; i < rtcs.length(); ++i){ myEC->remove_component(rtcs[i]); } } } } #else typedef std::map > RemoveMap; RemoveMap removeMap; for(int i=0; i < rtcs.size(); ++i){ RTObject_impl* rtc = rtcs[i]; RTC::ExecutionContextList_var eclist = rtc->get_participating_contexts(); for(CORBA::ULong j=0; j < eclist->length(); ++j){ if(!CORBA::is_nil(eclist[j])){ RTC::ExecutionContextService_var execContext = RTC::ExecutionContextService::_narrow(eclist[j]); RemoveMap::iterator it = removeMap.find(execContext); if(it==removeMap.end()){ std::set rtcs; rtcs.insert(rtc); removeMap.insert(make_pair(execContext,rtcs)); }else it->second.insert(rtc); } } } for(RemoveMap::iterator it=removeMap.begin(); it!=removeMap.end(); it++){ std::set removeRTCs = it->second; RTC::ExecutionContextService_var ec = it->first; for(std::set::iterator it = removeRTCs.begin(); it != removeRTCs.end(); it++){ ec->remove_component((*it)->getObjRef()); } OpenRTM::ExtTrigExecutionContextService_var execContext = OpenRTM::ExtTrigExecutionContextService::_narrow(ec); if(!CORBA::is_nil(execContext)) execContext->tick(); } #endif for(int i=0; i < rtcs.size(); ++i){ RTObject_impl* rtc = rtcs[i]; if(managedComponents.find(rtc) == managedComponents.end()){ //std::cout << rtc->getInstanceName() << std::endl; rtc->exit(); manager->cleanupComponents(); ++numDeleted; } } return numDeleted; } bool cnoid::deleteRTC(RTC::RtcBase* rtc, bool waitToBeDeleted) { if(rtc){ RTC::ExecutionContextList_var eclist = rtc->get_participating_contexts(); for(CORBA::ULong i=0; i < eclist->length(); ++i){ if(!CORBA::is_nil(eclist[i])){ eclist[i]->remove_component(rtc->getObjRef()); #ifndef OPENRTM_VERSION110 OpenRTM::ExtTrigExecutionContextService_var execContext = OpenRTM::ExtTrigExecutionContextService::_narrow(eclist[i]); if(!CORBA::is_nil(execContext)) execContext->tick(); #endif } } RTC::ExecutionContextList_var myEClist = rtc->get_owned_contexts(); if(myEClist->length() > 0 && !CORBA::is_nil(myEClist[0])){ #ifdef OPENRTM_VERSION110 OpenRTM::ExtTrigExecutionContextService_var myEC = OpenRTM::ExtTrigExecutionContextService::_narrow(myEClist[0]); RTCList rtcs = myEC->get_profile()->participants; for(int i=0; i < rtcs.length(); ++i){ myEC->remove_component(rtcs[i]); } #else RTC::ExecutionContextService_var myEC = RTC::ExecutionContextService::_narrow(myEClist[0]); RTCList rtcs = myEC->get_profile()->participants; for(int i=0; i < rtcs.length(); ++i){ myEC->remove_component(rtcs[i]); } OpenRTM::ExtTrigExecutionContextService_var execContext = OpenRTM::ExtTrigExecutionContextService::_narrow(myEC); if(!CORBA::is_nil(execContext)) execContext->tick(); #endif } rtc->exit(); manager->cleanupComponents(); managedComponents.erase(rtc); return true; } return false; } namespace cnoid { template<> CORBA::Object::_ptr_type findRTCService(RTC::RTObject_ptr rtc, const std::string& name) { CORBA::Object_ptr service = CORBA::Object::_nil(); RTC::PortServiceList ports; ports = *(rtc->get_ports()); RTC::ComponentProfile* cprof; cprof = rtc->get_component_profile(); std::string portname = std::string(cprof->instance_name) + "." + name; for(unsigned int i=0; i < ports.length(); i++){ RTC::PortService_var port = ports[i]; RTC::PortProfile* prof = port->get_port_profile(); if(std::string(prof->name) == portname){ RTC::ConnectorProfile connProfile; connProfile.name = "noname"; connProfile.connector_id = ""; connProfile.ports.length(1); connProfile.ports[0] = port; connProfile.properties = 0; port->connect(connProfile); const char* ior = 0; connProfile.properties[0].value >>= ior; if(ior){ service = getORB()->string_to_object(ior); } port->disconnect(connProfile.connector_id); break; } } return service; } } choreonoid-1.5.0/src/OpenRTMPlugin/exportdecl.h0000664000000000000000000000226612741425367020143 0ustar rootroot#ifndef CNOID_OPENRTMPLUGIN_EXPORTDECL_H_INCLUDED # define CNOID_OPENRTMPLUGIN_EXPORTDECL_H_INCLUDED # if defined _WIN32 || defined __CYGWIN__ # define CNOID_OPENRTMPLUGIN_DLLIMPORT __declspec(dllimport) # define CNOID_OPENRTMPLUGIN_DLLEXPORT __declspec(dllexport) # define CNOID_OPENRTMPLUGIN_DLLLOCAL # else # if __GNUC__ >= 4 # define CNOID_OPENRTMPLUGIN_DLLIMPORT __attribute__ ((visibility("default"))) # define CNOID_OPENRTMPLUGIN_DLLEXPORT __attribute__ ((visibility("default"))) # define CNOID_OPENRTMPLUGIN_DLLLOCAL __attribute__ ((visibility("hidden"))) # else # define CNOID_OPENRTMPLUGIN_DLLIMPORT # define CNOID_OPENRTMPLUGIN_DLLEXPORT # define CNOID_OPENRTMPLUGIN_DLLLOCAL # endif # endif # ifdef CNOID_OPENRTMPLUGIN_STATIC # define CNOID_OPENRTMPLUGIN_DLLAPI # define CNOID_OPENRTMPLUGIN_LOCAL # else # ifdef CnoidOpenRTMPlugin_EXPORTS # define CNOID_OPENRTMPLUGIN_DLLAPI CNOID_OPENRTMPLUGIN_DLLEXPORT # else # define CNOID_OPENRTMPLUGIN_DLLAPI CNOID_OPENRTMPLUGIN_DLLIMPORT # endif # define CNOID_OPENRTMPLUGIN_LOCAL CNOID_OPENRTMPLUGIN_DLLLOCAL # endif #endif #ifdef CNOID_EXPORT # undef CNOID_EXPORT #endif #define CNOID_EXPORT CNOID_OPENRTMPLUGIN_DLLAPI choreonoid-1.5.0/src/OpenRTMPlugin/ChoreonoidExecutionContext.h0000664000000000000000000000225712741425367023314 0ustar rootroot/*! @file ChoreonoidExecutionContext.h @author Shin'ichiro Nakaoka */ #ifndef CNOID_OPENRTM_PLUGIN_CHOREONOID_EXECUTION_CONTEXT_H_INCLUDED #define CNOID_OPENRTM_PLUGIN_CHOREONOID_EXECUTION_CONTEXT_H_INCLUDED #include #include #include #if defined(OPENRTM_VERSION110) #include #else #include #endif #ifdef WIN32 #pragma warning( disable : 4290 ) #endif namespace cnoid { /*! To call 'tick()' when the 'deactivate_component" function is called, OpenHRPExecutionContext is redefined as this class in the OpenRTM plugin. See post 02356 to the openrtm-users mailing list. */ #ifdef OPENRTM_VERSION110 class ChoreonoidExecutionContext : public virtual RTC::PeriodicExecutionContext #else class ChoreonoidExecutionContext : public RTC::OpenHRPExecutionContext #endif { public: ChoreonoidExecutionContext(); virtual ~ChoreonoidExecutionContext(void); virtual void tick(void) throw (CORBA::SystemException); virtual int svc(void); virtual RTC::ReturnCode_t deactivate_component(RTC::LightweightRTObject_ptr comp) throw (CORBA::SystemException); }; }; #endif choreonoid-1.5.0/src/OpenRTMPlugin/RTCItem.h0000664000000000000000000000502112741425367017231 0ustar rootroot/** @author */ #ifndef CNOID_OPENRTM_PLUGIN_RTC_ITEM_H_INCLUDED #define CNOID_OPENRTM_PLUGIN_RTC_ITEM_H_INCLUDED #include #include #include #include #include "exportdecl.h" using namespace std; using namespace RTC; namespace cnoid { class MessageView; typedef map PropertyMap; class RTComponent { public: RTComponent(const boost::filesystem::path& modulePath, PropertyMap& properties); ~RTComponent(); void deleteRTC(bool waitToBeDeleted); RtcBase* rtc() { return rtc_; }; bool isValid() const; const std::string& name() const { return componentName; } private: RTObject_var rtcRef; RtcBase* rtc_; boost::filesystem::path modulePath; Process rtcProcess; string componentName; MessageView* mv; void init(const string& moduleName, PropertyMap& properties); void init(const boost::filesystem::path& modulePath, PropertyMap& properties); bool createRTC(PropertyMap& properties); void setupModules(string& fileName, string& initFuncName, string& componentName, PropertyMap& properties ); void createProcess(string& command, PropertyMap& properties); void onReadyReadServerProcessOutput(); }; class CNOID_EXPORT RTCItem : public Item { public: static void initialize(ExtensionManager* ext); RTCItem(); RTCItem(const RTCItem& org); virtual ~RTCItem(); enum PERIODIC_TYPE { PERIODIC_EXECUTION_CONTEXT = 0, SYNCH_EXT_TRIGGER, EXT_TRIG_EXECUTION_CONTEXT, CHOREONOID_EXECUTION_CONTEXT, N_PERIODIC_TYPE }; enum PathBase { RTC_DIRECTORY = 0, PROJECT_DIRECTORY, N_PATH_BASE }; void setModuleName(const std::string& name); void setPeriodicType(int type); void setPeriodicRate(int rate); void setPathBase(int base); protected: virtual void onPositionChanged(); virtual void onDisconnectedFromRoot(); virtual Item* doDuplicate() const; virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: ostream& os; MessageView* mv; string moduleName; RTComponent* rtcomp; Selection periodicType; int periodicRate; int oldType; PropertyMap properties; Selection pathBase; int oldPathBase; boost::filesystem::path modulePath; bool convertAbsolutePath(); }; typedef ref_ptr RTCItemPtr; } #endif choreonoid-1.5.0/src/OpenRTMPlugin/RTSNameServerView.cpp0000664000000000000000000002035412741425367021616 0ustar rootroot/** @author Shin'ichiro Nakaoka @author Hisashi Ikari */ #include "RTSNameServerView.h" #include #include #include #include #include #include #include #include #include //#include "RTSDiagramView.h" //#include "RTSCorbaUtil.h" //#include "RTSCommonImpl.h" #include "gettext.h" #undef _HOST_CXT_VERSION using namespace boost; namespace cnoid { class RTSNameServerViewImpl { public: RTSNameServerViewImpl(RTSNameServerView* self); ~RTSNameServerViewImpl(); void updateObjectList(); void updateObjectList(const NamingContextHelper::ObjectInfoList& objects, QTreeWidgetItem* parent); void setConnection(); void selectedItem(); #ifdef _HOST_CXT_VERSION void extendDiagram(const NamingContextHelper::ObjectInfo& info, QTreeWidgetItem* parent); #endif void clearDiagram(); TreeWidget treeWidget; LineEdit hostAddressBox; SpinBox portNumberSpin; NamingContextHelper ncHelper; }; } void RTSNameServerView::initializeClass(ExtensionManager* ext) { ext->viewManager().registerClass( "RTSNameServerView", N_("RTC List"), ViewManager::SINGLE_OPTIONAL); } RTSNameServerView* RTSNameServerView::instance() { return ViewManager::findView(); } #if 0 void RTSNameServerView::onActivated() { try { impl->setConnection(); } catch (...) { /* ignore the exception */ } } TreeWidget* RTSNameServerView::getTreeWidget() { return &(impl->treeWidget); } void RTSNameServerView::setConnection() { impl->setConnection(); } #endif RTSNameServerView::RTSNameServerView() { impl = new RTSNameServerViewImpl(this); } RTSNameServerViewImpl::RTSNameServerViewImpl(RTSNameServerView* self) { self->setDefaultLayoutArea(View::LEFT_BOTTOM); QVBoxLayout* vbox = new QVBoxLayout(); QHBoxLayout* hbox = new QHBoxLayout(); hostAddressBox.setText("localhost"); hostAddressBox.sigEditingFinished().connect (bind(&RTSNameServerViewImpl::updateObjectList, this)); hbox->addWidget(&hostAddressBox); portNumberSpin.setRange(0, 65535); portNumberSpin.setValue(2809); portNumberSpin.sigEditingFinished().connect (bind(&RTSNameServerViewImpl::updateObjectList, this)); hbox->addWidget(&portNumberSpin); PushButton* updateButton = new PushButton(_("Update")); updateButton->sigClicked().connect(bind(&RTSNameServerViewImpl::updateObjectList, this)); hbox->addWidget(updateButton); vbox->addLayout(hbox); treeWidget.setHeaderLabel(_("Object Name")); treeWidget.setDragEnabled(true); treeWidget.setDropIndicatorShown(true); //treeWidget.sigItemClicked().connect(bind(&RTSNameServerViewImpl::selectedItem, this)); treeWidget.setSelectionMode(QAbstractItemView::ExtendedSelection); treeWidget.header()->close(); vbox->addWidget(&treeWidget); self->setLayout(vbox); } #if 0 void RTSNameServerViewImpl::setConnection() { QString addressText = hostAddressBox.text(); string address = string(qtos(addressText)); int port = portNumberSpin.value(); ncHelper->setLocation(address, port); // It set the information to connect to the view of all. try { vector views = ViewManager::allViews(); for (vector::iterator iterv = views.begin(); iterv != views.end(); iterv++) { const string& viewName = (*iterv)->name(); if (iequals(viewName, N_("RTC Properties"))) { RTSPropertiesView* propView = static_cast(*iterv); propView->setConnection(address, port); } if (iequals(viewName, N_("RTC Diagram"))) { RTSDiagramView* diagramView = static_cast(*iterv); diagramView->setConnection(address, port); } } } catch (...) { // ignore the exception, just catching for non crash. } } void RTSNameServerViewImpl::clearDiagram() { // It clear the all diagram on diagram-view. vector views = ViewManager::allViews(); for (vector::iterator iterv = views.begin(); iterv != views.end(); iterv++) { const string& viewName = (*iterv)->name(); if (iequals(viewName, N_("RTC Diagram"))) { RTSDiagramView* diagramView = static_cast(*iterv); diagramView->clearDiagram(); return; } } } void RTSNameServerViewImpl::selectedItem() { QModelIndex index = treeWidget.currentIndex(); QString temp = treeWidget.model()->data(index).toString(); string item(qtos(temp)); // It set the information to connect to the view of all. try { vector views = ViewManager::allViews(); for (vector::iterator iterv = views.begin(); iterv != views.end(); iterv++) { const string& viewName = (*iterv)->name(); if (iequals(viewName, N_("RTC Properties"))) { RTSPropertiesView* propView = static_cast(*iterv); propView->showProperties(item); return; } } } catch (...) { // ignore the exception, just catching for non crash. } } #endif RTSNameServerView::~RTSNameServerView() { delete impl; } RTSNameServerViewImpl::~RTSNameServerViewImpl() { } void RTSNameServerViewImpl::updateObjectList() { try { treeWidget.clear(); // Update to connect information ncHelper.setLocation(hostAddressBox.string(), portNumberSpin.value()); // Connection information updates to all views. //setConnection(); // Clear information update to all views. //clearDiagram(); if(ncHelper.isAlive()){ NamingContextHelper::ObjectInfoList objects = ncHelper.getObjectList(); updateObjectList(objects, NULL); treeWidget.expandAll(); } } catch (...) { // ignore the exception for non crash. } } void RTSNameServerViewImpl::updateObjectList(const NamingContextHelper::ObjectInfoList& objects, QTreeWidgetItem* parent) { for(size_t i = 0; i < objects.size(); ++i){ const NamingContextHelper::ObjectInfo& info = objects[i]; if (iequals(info.kind, "rtc") || iequals(info.kind, "host_cxt")) { if (parent == NULL && iequals(info.kind, "host_cxt")) { #ifdef _HOST_CXT_VERSION extendDiagram(info, parent); } else if (parent && iequals(info.kind, "rtc")){ #else } else if (iequals(info.kind, "rtc")){ #endif QTreeWidgetItem* item = new QTreeWidgetItem(); QString name = info.id.c_str(); item->setText(0, name); item->setIcon(0, info.isAlive ? QIcon(":/Corba/icons/NSRTC.png") : QIcon(":/Corba/icons/NSZombi.png")); if (parent == NULL) treeWidget.addTopLevelItem(item); else parent->addChild(item); } } } } #ifdef _HOST_CXT_VERSION void RTSNameServerViewImpl::extendDiagram(const NamingContextHelper::ObjectInfo& info, QTreeWidgetItem* parent) { // view the host context. QTreeWidgetItem* item = new QTreeWidgetItem(); QString name = info.id.c_str(); string rtcName = string(qtos(name)); item->setIcon(0, QIcon(":/Corba/icons/NSHostCxt.png")); item->setText(0, QString(string(rtcName).c_str())); if (parent == NULL) treeWidget.addTopLevelItem(item); else parent->addChild(item); // view the rtc in host context. NamingContextHelperPtr helper = NamingContextHelperPtr(new NamingContextHelper); QString addressText = hostAddressBox.text(); string address = string(qtos(addressText)); int port = portNumberSpin.value(); helper->setLocation(address, port); if (helper->isAlive()) { CORBA::Object_var obj = helper->findObject(rtcName, "host_cxt"); helper->bindObject(obj, rtcName, "host_cxt"); NamingContextHelper::ObjectInfoList objects = helper->getObjectList(); updateObjectList(objects, item); //RTS_RELEASE(obj, "release"); if (!CORBA::is_nil(obj)) CORBA::release(obj); } } #endif choreonoid-1.5.0/src/OpenRTMPlugin/RTSNameServerView.h0000664000000000000000000000131312741425367021255 0ustar rootroot/** @author Shin'ichiro Nakaoka @author Hisashi Ikari */ #ifndef CNOID_OPENRTM_PLUGIN_RTS_NAME_SERVER_VIEW_H_INCLUDED #define CNOID_OPENRTM_PLUGIN_RTS_NAME_SERVER_VIEW_H_INCLUDED #include #include using namespace cnoid; namespace cnoid { class RTSNameServerViewImpl; /*! * @brief It is a screen of RTC list. */ class RTSNameServerView : public View { public: static void initializeClass(ExtensionManager* ext); static RTSNameServerView* instance(); RTSNameServerView(); virtual ~RTSNameServerView(); // virtual void onActivated(); // TreeWidget* getTreeWidget(); // void setConnection(); private: RTSNameServerViewImpl* impl; }; } #endif choreonoid-1.5.0/src/OpenRTMPlugin/corba/0000775000000000000000000000000012741425367016701 5ustar rootrootchoreonoid-1.5.0/src/OpenRTMPlugin/corba/PointCloud.idl0000664000000000000000000000616712741425367021465 0ustar rootroot/* RTC:OpenNI * * Copyright (C) 2011 * Geoffrey Biggs * RT-Synthesis Research Group * Intelligent Systems Research Institute, * National Institute of Advanced Industrial Science and Technology (AIST), * Japan * All rights reserved. * Licensed under the Eclipse Public License -v 1.0 (EPL) * http://www.opensource.org/licenses/eclipse-1.0.txt * * Point cloud data type. */ #ifndef POINTCLOUD_IDL__ #define POINTCLOUD_IDL__ module PointCloudTypes { // These data structures store clouds of N-dimensional points. Each point // can contain information such as normals, intensity, colour data, etc. // The point data is stored as a binary blob, with the layout of each point // in the cloud described in a "fields" array. // The point cloud data may be organised in 2D (like an image) or 1D // (unordered cloud). Point clouds organised in 2D are typically produced // by camera depth sensors such as stereo cameras or time-of-flight // cameras. // These data structures are compatible with the PointCloud2 message from // ROS Diamondback. // Time stamp struct Time { unsigned long sec; unsigned long nsec; }; // Possible data types that can be used in point fields. enum DataType { INT8, UINT8, INT16, UINT16, INT32, UINT32, FLOAT32, FLOAT64 }; // Specifies the data type of a field in a point. // e.g. XYZRGB points would be stored as six fields: // "x": offset 0, float32, 4 bytes length // "y": offset 4, float32, 4 bytes length // "z": offset 8, float32, 4 bytes length // "r": offset 12, uint8, 1 byte length // "g": offset 13, uint8, 1 byte length // "b": offset 14, uint8, 1 byte length struct PointField { // Name of the field string name; // Offset into a point of the field's data unsigned long offset; // Data type used by the field DataType data_type; // Number of bytes in the field unsigned long count; }; typedef sequence PointFieldList; // Stores a complete point cloud. struct PointCloud { // Time stamp. Time tm; // Sequence stamp unsigned long seq; // 2D structure of the cloud. // If the cloud is unordered, height should be 1 // and width is the number of points in the cloud. unsigned long height; unsigned long width; // Name of the point type string type; // Data channels present in each point. PointFieldList fields; // Is the data big-endian? boolean is_bigendian; // Length of a point in bytes. unsigned long point_step; // Length of a row in bytes. unsigned long row_step; // Raw point data. Size is (row_step * height). #ifdef TARGET_IS_DDS sequence data; #else sequence data; #endif // TARGET_IS_DDS // True if there are no invalid points. boolean is_dense; }; }; // module RTC #endif // POINTCLOUD_IDL__ choreonoid-1.5.0/src/OpenRTMPlugin/corba/CameraImage.idl0000664000000000000000000000144212741425367021527 0ustar rootroot #ifndef CNOID_CAMERA_IMAGE_IDL_INCLUDED #define CNOID_CAMERA_IMAGE_IDL_INCLUDED /* The following definitions are extracted from OpenRTM-aist and hrpsys-base */ #include module Img { typedef double Vec3[3]; typedef double Mat44[4][4]; enum ColorFormat { CF_UNKNOWN, CF_GRAY, CF_RGB, CF_GRAY_JPEG, CF_RGB_JPEG // local extension }; struct ImageData { long width; long height; ColorFormat format; sequence raw_data; }; struct CameraIntrinsicParameter { double matrix_element[5]; sequence distortion_coefficient; }; struct CameraImage { RTC::Time captured_time; ImageData image; CameraIntrinsicParameter intrinsic; Mat44 extrinsic; }; struct TimedCameraImage { RTC::Time tm; CameraImage data; long error_code; }; }; #endif choreonoid-1.5.0/src/OpenRTMPlugin/corba/OpenHRP/0000775000000000000000000000000012741425367020154 5ustar rootrootchoreonoid-1.5.0/src/OpenRTMPlugin/corba/OpenHRP/ClockGenerator.idl0000664000000000000000000000331312741425367023550 0ustar rootroot#ifndef OPENHRP_CLOCK_GENERATOR_IDL_INCLUDED #define OPENHRP_CLOCK_GENERATOR_IDL_INCLUDED #include module OpenHRP { /** * @if jp * @brief ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ä¸–ç•Œĉ™‚ċˆğĞċŸş„Ĥ€ç™ğ録•‚ŒĤ„‚‹ċ¤–部ƒˆƒŞ‚Ĵä𘁍ċŸèĦŒ‚³ƒ³ƒ†‚­‚ıƒˆĞ‚Żƒ­ƒƒ‚Ż‚’送äżĦ™‚‹ * * ç™ğ録•‚ŒŸċŸèĦŒ‚³ƒ³ƒ†‚­‚ıƒˆŒèĤĉħ‚™‚‹ĉ™‚é–“ċˆğżŒ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ĉ™‚é–“ċˆğżċ€ĉ•°§Ş„ċ ´ċˆ€‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ĉ™‚ċˆğŒ‚Żƒ­ƒƒ‚Ż‚’送äżĦ™ıĉ™‚ċˆğäğ降ĞŞ£ŸçžĴ間Ğ送äżĦ•‚Œ‚‹. * * ä‹) ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³ĉ™‚é–“ċˆğżŒ2[ms]€ċŸèĦŒ‚³ƒ³ƒ†‚­‚ıƒˆċŸèĦŒċ‘¨ĉœŸŒ3[ms]§‚‚‹ċ ´ċˆ€ċŸèĦŒ‚³ƒ³ƒ†‚­‚ıƒˆĞŻ0, 4, 6, 10,...[ms]§‚Żƒ­ƒƒ‚ŻŒé€äżĦ•‚Œ‚‹€‚ * @endif */ interface ClockGenerator { /** * @if jp * @brief ec‚’‚Żƒ­ƒƒ‚Żé€äżĦċŻèħĦ¨—Ĥç™ğ録™‚‹€‚ * @param ec ‚Żƒ­ƒƒ‚Żé€äżĦċŻèħĦ¨Ş‚‹ċ¤–部ƒˆƒŞ‚Ĵä𘁍ċŸèĦŒ‚³ƒ³ƒ†‚­‚ıƒˆ * @param period ‚Żƒ­ƒƒ‚Ż‚’送äżĦ—ĤĉĴ²—„é–“éš”[s] * @endif */ #ifdef OPENRTM_VERSION_042 void subscribe(in RTC::ExtTrigExecutionContextService ec, in double period); #else void subscribe(in OpenRTM::ExtTrigExecutionContextService ec, in double period); #endif /** * @if jp * @brief ec‚’‚Żƒ­ƒƒ‚Żé€äżĦċŻèħĦ‹‚‰ċ‰Šé™¤™‚‹€‚ * @param ec ‚Żƒ­ƒƒ‚Żé€äżĦċŻèħĦ‹‚‰ċ‰Šé™¤™‚‹ċ¤–部ƒˆƒŞ‚Ĵä𘁍ċŸèĦŒ‚³ƒ³ƒ†‚­‚ıƒˆ * @endif */ #ifdef OPENRTM_VERSION_042 void unsubscribe(in RTC::ExtTrigExecutionContextService ec); #else void unsubscribe(in OpenRTM::ExtTrigExecutionContextService ec); #endif }; }; #endif choreonoid-1.5.0/src/OpenRTMPlugin/ChoreonoidExecutionContext.cpp0000664000000000000000000000374612741425367023653 0ustar rootroot/*! @file ChoreonoidExecutionContext.cpp @author Shin'ichiro Nakaoka */ #include "ChoreonoidExecutionContext.h" #include #ifndef OPENRTM_VERSION110 #include #endif using namespace cnoid; #if defined(OPENRTM_VERSION110) ChoreonoidExecutionContext::ChoreonoidExecutionContext() : PeriodicExecutionContext() #else ChoreonoidExecutionContext::ChoreonoidExecutionContext() : OpenHRPExecutionContext() #endif { } ChoreonoidExecutionContext::~ChoreonoidExecutionContext() { } void ChoreonoidExecutionContext::tick() throw (CORBA::SystemException) { #ifdef OPENRTM_VERSION110 std::for_each(m_comps.begin(), m_comps.end(), invoke_worker()); #else invokeWorker(); #endif } int ChoreonoidExecutionContext::svc(void) { return 0; } RTC::ReturnCode_t ChoreonoidExecutionContext::deactivate_component(RTC::LightweightRTObject_ptr comp) throw (CORBA::SystemException) { #ifdef OPENRTM_VERSION110 RTC_TRACE(("deactivate_component()")); CompItr it = std::find_if(m_comps.begin(), m_comps.end(), find_comp(comp)); if(it == m_comps.end()) { return RTC::BAD_PARAMETER; } if(!(it->_sm.m_sm.isIn(RTC::ACTIVE_STATE))){ return RTC::PRECONDITION_NOT_MET; } it->_sm.m_sm.goTo(RTC::INACTIVE_STATE); tick(); if(it->_sm.m_sm.isIn(RTC::INACTIVE_STATE)){ RTC_TRACE(("The component has been properly deactivated.")); return RTC::RTC_OK; } RTC_ERROR(("The component could not be deactivated.")); return RTC::RTC_ERROR; #else RTC_impl::RTObjectStateMachine* rtobj = m_worker.findComponent(comp); if (rtobj == NULL) { return RTC::BAD_PARAMETER; } if (!(rtobj->isCurrentState(RTC::ACTIVE_STATE))) { return RTC::PRECONDITION_NOT_MET; } rtobj->goTo(RTC::INACTIVE_STATE); tick(); if (!(rtobj->isCurrentState(RTC::INACTIVE_STATE))) { return RTC::RTC_OK; } return RTC::RTC_ERROR; #endif } choreonoid-1.5.0/src/OpenRTMPlugin/OpenHRPClockGeneratorItem.h0000664000000000000000000000221712741425367022703 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_OPENRTM_PLUGIN_OPENHRP_CLOCK_GENERATOR_ITEM_H #define CNOID_OPENRTM_PLUGIN_OPENHRP_CLOCK_GENERATOR_ITEM_H #include namespace cnoid { class ExtensionManager; class OpenHRPClockGenerator_impl; class OpenHRPClockGeneratorItem : public ControllerItem { public: static void initialize(ExtensionManager* ext); OpenHRPClockGeneratorItem(); OpenHRPClockGeneratorItem(const OpenHRPClockGeneratorItem& org); virtual ~OpenHRPClockGeneratorItem(); virtual bool start(ControllerItemIO* io); virtual double timeStep() const; virtual void input(); virtual bool control(); virtual void output(); virtual void stop(); protected: virtual void onDisconnectedFromRoot(); virtual Item* doDuplicate() const; virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: static OpenHRPClockGenerator_impl* clockGenerator; double timeStep_; }; typedef ref_ptr OpenHRPClockGeneratorItemPtr; } #endif choreonoid-1.5.0/src/OpenRTMPlugin/CMakeLists.txt0000664000000000000000000002054012741425367020354 0ustar rootroot # @author Shin'ichiro Nakaoka #set(CMAKE_BUILD_TYPE Debug) #set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -g") option(BUILD_OPENRTM_PLUGIN "Building OpenRTMPlugin" OFF) if(NOT BUILD_OPENRTM_PLUGIN) return() else() if(NOT BUILD_CORBA_PLUGIN) message(FATAL_ERROR "OpenRTM Plugin requires CorbaPlugin.") endif() endif() function(add_cnoid_openRTM_plugin) add_library(${ARGV}) set_target_properties(${ARGV0} PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR} ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR} RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR}) if(ENABLE_INSTALL_RPATH) if(APPLE) set_target_properties(${ARGV0} PROPERTIES INSTALL_NAME_DIR "@rpath") set_target_properties(${ARGV0} PROPERTIES LINK_FLAGS "-Wl,-rpath,@loader_path,-rpath,@loader_path/..") else() set_target_properties(${ARGV0} PROPERTIES INSTALL_RPATH "$ORIGIN:$ORIGIN/..") endif() else() if(APPLE) set_target_properties(${ARGV0} PROPERTIES INSTALL_NAME_DIR "") else() set_target_properties(${ARGV0} PROPERTIES INSTALL_RPATH "$ORIGIN") endif() endif() endfunction() set(OPENRTM_DIR ${OPENRTM_DIR} CACHE PATH "set the top directory of OpenRTM-aist") if(UNIX) if(NOT OPENRTM_DIR) pkg_check_modules(OPENRTM REQUIRED openrtm-aist) message(STATUS "OPENRTM VERSION ${OPENRTM_VERSION}" ) execute_process( COMMAND pkg-config --variable=prefix openrtm-aist OUTPUT_VARIABLE OPENRTM_DIR RESULT_VARIABLE RESULT OUTPUT_STRIP_TRAILING_WHITESPACE) message(STATUS "OPENRTM_DIR=${OPENRTM_DIR}") if(NOT (EXISTS "${OPENRTM_DIR}/include/openrtm-1.1/rtm/RTObjectStateMachine.h")) add_definitions(-DOPENRTM_VERSION110) else() add_definitions(-DOPENRTM_VERSION_TRUNK) endif() endif() elseif(MSVC) if(NOT OPENRTM_DIR) message(FATAL_ERROR "Please specify the directory of OpenRTM-aist to OPENRTM_DIR.") endif() endif() if(OPENRTM_DIR) if(MSVC) set(OPENRTM_DIR_BACK ${OPENRTM_DIR}) include(${OPENRTM_DIR}/cmake/OpenRTMConfig.cmake) if(NOT OPENRTM_VERSION STREQUAL "1.1.2") set(OPENRTM_DIR ${OPENRTM_DIR_BACK}) set(OPENRTM_LIBRARY_DIRS ${OPENRTM_DIR}/bin) endif() if(NOT (EXISTS "${OPENRTM_DIR}/rtm/RTObjectStateMachine.h")) add_definitions(-DOPENRTM_VERSION110) else() add_definitions(-DOPENRTM_VERSION_TRUNK) endif() else() if(EXISTS "${OPENRTM_DIR}/lib/x86_64-linux-gnu/openrtm-1.1/cmake/OpenRTMConfig.cmake") include(${OPENRTM_DIR}/lib/x86_64-linux-gnu/openrtm-1.1/cmake/OpenRTMConfig.cmake) elseif(EXISTS "${OPENRTM_DIR}/lib/i386-linux-gnu/openrtm-1.1/cmake/OpenRTMConfig.cmake") include(${OPENRTM_DIR}/lib/i386-linux-gnu/openrtm-1.1/cmake/OpenRTMConfig.cmake) else() include(${OPENRTM_DIR}/lib/openrtm-1.1/cmake/OpenRTMConfig.cmake) endif() set(OPENRTM_LIBRARY_DIRS ${OPENRTM_DIR}/lib) if(NOT (EXISTS "${OPENRTM_DIR}/include/openrtm-1.1/rtm/RTObjectStateMachine.h")) add_definitions(-DOPENRTM_VERSION110) endif() endif() message(STATUS "OPENRTM VERSION ${OPENRTM_VERSION}" ) set(OPENRTM_PREFIX ${OPENRTM_DIR}) set(OPENRTM_INCLUDE_DIRS ${OPENRTM_DIR}/include ${OPENRTM_DIR}/include/coil-1.1 ${OPENRTM_DIR}/include/openrtm-1.1 ${OPENRTM_DIR}/include/openrtm-1.1/rtm/idl ${OPENRTM_DIR}/rtm # for the Windows installer version ${OPENRTM_DIR}/rtm/idl # for the Windows installer version ${OPENRTM_DIR} ) if(UNIX) set(OPENRTM_LIBRARIES RTC coil) elseif(MSVC) if(OPENRTM_VERSION STREQUAL "1.1.0") file(GLOB librtc RELATIVE ${OPENRTM_LIBRARY_DIRS} "${OPENRTM_LIBRARY_DIRS}/RTC???.lib") get_filename_component(librtc ${librtc} NAME_WE) file(GLOB libcoil RELATIVE ${OPENRTM_LIBRARY_DIRS} "${OPENRTM_LIBRARY_DIRS}/coil???.lib") get_filename_component(libcoil ${libcoil} NAME_WE) add_definitions(-DOPENRTM_VERSION110) set(OPENRTM_LIBRARIES optimized ${librtc} debug ${librtc}d optimized ${libcoil} debug ${libcoil}d optimized ws2_32 debug ws2_32) endif() if(OPENRTM_VERSION STREQUAL "1.1.1") if(CMAKE_CL_64) file(GLOB librtc RELATIVE ${OPENRTM_LIBRARY_DIRS} "${OPENRTM_LIBRARY_DIRS}/RTC???_????_x64.lib") elseif() file(GLOB librtc RELATIVE ${OPENRTM_LIBRARY_DIRS} "${OPENRTM_LIBRARY_DIRS}/RTC???_????.lib") endif() get_filename_component(librtc ${librtc} NAME_WE) if(CMAKE_CL_64) file(GLOB libcoil RELATIVE ${OPENRTM_LIBRARY_DIRS} "${OPENRTM_LIBRARY_DIRS}/coil???_????_x64.lib") elseif() file(GLOB libcoil RELATIVE ${OPENRTM_LIBRARY_DIRS} "${OPENRTM_LIBRARY_DIRS}/coil???_????.lib") endif() get_filename_component(libcoil ${libcoil} NAME_WE) set(OPENRTM_LIBRARIES optimized ${librtc} debug ${librtc}d optimized ${libcoil} debug ${libcoil}d optimized ws2_32 debug ws2_32) endif() message(STATUS "bin dir = ${OPENRTM_DIR}/bin, lib dir = ${OPENRTM_LIBRARY_DIRS}, rtm libs = ${OPENRTM_LIBRARIES}") install_external_libraries(${OPENRTM_LIBRARY_DIRS} ${OPENRTM_LIBRARY_DIRS} ${OPENRTM_LIBRARIES}) endif() endif() # Make the following variables accessible from other directories set(OPENRTM_INCLUDE_DIRS ${OPENRTM_INCLUDE_DIRS} CACHE INTERNAL "OpenRTM's include directories") set(OPENRTM_LIBRARY_DIRS ${OPENRTM_LIBRARY_DIRS} CACHE INTERNAL "OpenRTM's library directories") set(OPENRTM_LIBRARIES ${OPENRTM_LIBRARIES} CACHE INTERNAL "OpenRTM's library files") #add_definitions(${OPENRTM_CFLAGS}) include_directories(${OPENRTM_INCLUDE_DIRS}) link_directories(${OPENRTM_LIBRARY_DIRS}) set(library CnoidOpenRTM) set(IDL_INCLUDE_DIRS ${OPENRTM_PREFIX}/include/openrtm-1.1/rtm/idl ${OPENRTM_PREFIX}/rtm/idl # for the Windows installer version ) idl_compile_cpp(idl_cpp_files idl_h_files corba CameraImage PointCloud) idl_compile_cpp(OpenHRP_idl_cpp_files OpenHRP_idl_h_files corba/OpenHRP ClockGenerator) set(library_sources ) include_directories(${IDL_INCLUDE_DIRS}) add_cnoid_library(${library} STATIC ${library_sources} ${idl_cpp_files} ${idl_h_files} ${OpenHRP_idl_cpp_files} ${OpenHRP_idl_h_files}) target_link_libraries(${library} CnoidCorba) apply_common_setting_for_library(${library} "") # Plugin set(plugin CnoidOpenRTMPlugin) set(plugin_sources OpenRTMPlugin.cpp BodyRTCItem.cpp VirtualRobotRTC.cpp VirtualRobotPortHandler.cpp BridgeConf.cpp RTCItem.cpp OpenHRPClockGeneratorItem.cpp ChoreonoidExecutionContext.cpp ChoreonoidPeriodicExecutionContext.cpp RTSNameServerView.cpp ) set(plugin_headers ) if(NOT QT5) QT4_ADD_RESOURCES(RC_SRCS OpenRTMPlugin.qrc) else() QT5_ADD_RESOURCES(RC_SRCS OpenRTMPlugin.qrc) endif() if(NOT QT5) QT4_WRAP_CPP( RTSNameServerView.cpp OPTIONS "-DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED" ) else() QT5_WRAP_CPP( RTSNameServerView.cpp OPTIONS "-DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED" ) endif() if(MSVC) add_definitions(-D__WIN32__ -D__x86__ -D__NT__ -D__OSVERSION__=4 -D_CRT_SECURE_NO_DEPRECATE -D_WIN32_WINNT=0x0500 -DRTC_CORBA_CXXMAPPING11) endif() make_gettext_mofiles(${plugin} mofiles) if(OPENRTM_VERSION STREQUAL "1.1.0") add_cnoid_plugin(${plugin} SHARED ${plugin_sources} ${plugin_headers} ${mofiles}) else() add_cnoid_OpenRTM_plugin(${plugin} SHARED ${plugin_sources} ${plugin_headers} ${mofiles}) if(ENABLE_GCC_FVISIBILITY_HIDDEN) set_source_files_properties(BodyRTCItem.cpp VirtualRobotRTC.cpp VirtualRobotPortHandler.cpp BridgeConf.cpp RTCItem.cpp OpenHRPClockGeneratorItem.cpp ChoreonoidExecutionContext.cpp PROPERTIES COMPILE_FLAGS "-fvisibility=hidden") endif() endif() target_link_libraries(${plugin} CnoidBodyPlugin CnoidCorbaPlugin CnoidOpenRTM ${OPENRTM_LIBRARIES}) if(UNIX) target_link_libraries(${plugin} ${Boost_REGEX_LIBRARY}) endif() apply_common_setting_for_plugin(${plugin} "${plugin_headers}") if(ENABLE_PYTHON) add_subdirectory(python) endif() file(MAKE_DIRECTORY ${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR}/rtc) install(DIRECTORY ${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR}/rtc DESTINATION ${CNOID_PLUGIN_SUBDIR}/rtc FILES_MATCHING PATTERN "*" EXCLUDE) if(QT5) qt5_use_modules(${plugin} Core OpenGL Network) endif() choreonoid-1.5.0/src/OpenRTMPlugin/VirtualRobotPortHandler.cpp0000664000000000000000000006131512741425367023124 0ustar rootroot/** \file \author Shizuko Hattori */ #include "VirtualRobotPortHandler.h" #include "BodyRTCItem.h" #include #include #include #include using namespace std; using namespace RTC; using namespace cnoid; PortHandler::~PortHandler() { } SensorStateOutPortHandler::SensorStateOutPortHandler(PortInfo& info) : OutPortHandler(info), outPort(info.portName.c_str(), values) { dataTypeId = info.dataTypeId; stepTime = info.stepTime; } void SensorStateOutPortHandler::inputDataFromSimulator(BodyRTCItem* bodyRTC) { const BodyPtr& body = bodyRTC->body(); switch(dataTypeId) { case JOINT_VALUE: { const int n = body->numJoints(); values.data.length(n); for(int i=0; i < n; i++){ values.data[i] = body->joint(i)->q(); } break; } case JOINT_VELOCITY: { const int n =body->numJoints(); values.data.length(n); for(int i=0; i < n; i++){ values.data[i] = body->joint(i)->dq(); } break; } case JOINT_TORQUE: { const int n = body->numJoints(); values.data.length(n); for(int i=0; i < n; i++){ values.data[i] = body->joint(i)->u(); } break; } case FORCE_SENSOR: { const DeviceList& forceSensors = bodyRTC->forceSensors(); const int n = forceSensors.size(); values.data.length(6 * n); for(int i=0; i < n; i++){ Eigen::Map(&values.data[i*6]) = forceSensors[i]->F(); } } break; case RATE_GYRO_SENSOR: { const DeviceList& rateGyroSensors = bodyRTC->rateGyroSensors(); const int n = rateGyroSensors.size(); values.data.length(3 * n); for(int i=0; i < n; i++){ Eigen::Map(&values.data[i*3]) = rateGyroSensors[i]->w(); } } break; case ACCELERATION_SENSOR: { const DeviceList& accelerationSensors = bodyRTC->accelerationSensors(); const int n = accelerationSensors.size(); values.data.length(3 * n); for(int i=0; i < n; i++){ Eigen::Map(&values.data[i*3]) = accelerationSensors[i]->dv(); } } break; default: break; } setTime(values, bodyRTC->controlTime()); } void SensorStateOutPortHandler::writeDataToPort() { outPort.write(); } LinkDataOutPortHandler::LinkDataOutPortHandler(PortInfo& info) : OutPortHandler(info), outPort(info.portName.c_str(), value), linkNames(info.dataOwnerNames) { linkDataType = info.dataTypeId; stepTime = info.stepTime; } void LinkDataOutPortHandler::inputDataFromSimulator(BodyRTCItem* bodyRTC) { const BodyPtr& body = bodyRTC->body(); size_t n = linkNames.size(); switch(linkDataType) { case JOINT_VALUE: value.data.length(n); for(size_t i=0; ilink(linkNames[i])->q(); } break; case JOINT_VELOCITY: value.data.length(n); for(size_t i=0; ilink(linkNames[i])->dq(); } break; case JOINT_ACCELERATION: value.data.length(n); for(size_t i=0; ilink(linkNames[i])->ddq(); } break; case JOINT_TORQUE: value.data.length(n); for(size_t i=0; ilink(linkNames[i])->u(); } break; case ABS_TRANSFORM: value.data.length(12*n); for(size_t i=0, j=0; ilink(linkNames[i]); value.data[j++] = link->p()(0); value.data[j++] = link->p()(1); value.data[j++] = link->p()(2); const Matrix3 m33 = link->attitude(); value.data[j++] = m33(0, 0); value.data[j++] = m33(0, 1); value.data[j++] = m33(0, 2); value.data[j++] = m33(1, 0); value.data[j++] = m33(1, 1); value.data[j++] = m33(1, 2); value.data[j++] = m33(2, 0); value.data[j++] = m33(2, 1); value.data[j++] = m33(2, 2); } break; case ABS_VELOCITY: { value.data.length(6*n); for(size_t i=0, j=0; ilink(linkNames[i]); value.data[j++] = link->v()(0); value.data[j++] = link->v()(1); value.data[j++] = link->v()(2); value.data[j++] = link->w()(0); value.data[j++] = link->w()(1); value.data[j++] = link->w()(2); } } break; case EXTERNAL_FORCE: { value.data.length(6*n); for(size_t i=0, j=0; ilink(linkNames[i]); value.data[j++] = link->f_ext()(0); value.data[j++] = link->f_ext()(1); value.data[j++] = link->f_ext()(2); value.data[j++] = link->tau_ext()(0); value.data[j++] = link->tau_ext()(1); value.data[j++] = link->tau_ext()(2); } } break; case CONSTRAINT_FORCE: // linkName size must be one. { DyLink* link = dynamic_cast(body->link(linkNames[0])); if(link){ const vector& constraintForces = link->constraintForces(); const size_t n = constraintForces.size(); value.data.length(6*n); for(size_t i=0, j=0; icontrolTime()); } void LinkDataOutPortHandler::writeDataToPort() { outPort.write(); } AbsTransformOutPortHandler::AbsTransformOutPortHandler(PortInfo& info) : OutPortHandler(info), outPort(info.portName.c_str(), value), linkNames(info.dataOwnerNames) { linkDataType = info.dataTypeId; stepTime = info.stepTime; } void AbsTransformOutPortHandler::inputDataFromSimulator(BodyRTCItem* bodyRTC) { Link* link = bodyRTC->body()->link(linkNames[0]); value.data.position.x = link->p().x(); value.data.position.y = link->p().y(); value.data.position.z = link->p().z(); Matrix3 R = link->attitude(); const Vector3 rpy = rpyFromRot(R); value.data.orientation.r = rpy[0]; value.data.orientation.p = rpy[1]; value.data.orientation.y = rpy[2]; setTime(value, bodyRTC->controlTime()); } void AbsTransformOutPortHandler::writeDataToPort() { outPort.write(); } SensorDataOutPortHandler::SensorDataOutPortHandler(PortInfo& info) : OutPortHandler(info), outPort(info.portName.c_str(), value), sensorNames(info.dataOwnerNames) { stepTime = info.stepTime; } void SensorDataOutPortHandler::inputDataFromSimulator(BodyRTCItem* bodyRTC) { const BodyPtr& body = bodyRTC->body(); if(!sensorNames.empty()){ if(Device* sensor = body->findDevice(sensorNames[0])){ const int dataSize = sensor->stateSize(); value.data.length(dataSize); if(dataSize > 0){ for(size_t i=0; i < sensorNames.size(); ++i){ if(Device* sensor = body->findDevice(sensorNames[i])){ sensor->writeState(&value.data[i * dataSize]); } } } } } setTime(value, bodyRTC->controlTime()); } void SensorDataOutPortHandler::writeDataToPort() { outPort.write(); } GyroSensorOutPortHandler::GyroSensorOutPortHandler(PortInfo& info) : OutPortHandler(info), outPort(info.portName.c_str(), value), sensorNames(info.dataOwnerNames) { stepTime = info.stepTime; } void GyroSensorOutPortHandler::inputDataFromSimulator(BodyRTCItem* bodyRTC) { if(!sensorNames.empty()){ if(RateGyroSensor* gyroSensor =bodyRTC->body()->findDevice(sensorNames[0])){ value.data.avx = gyroSensor->w().x(); value.data.avy = gyroSensor->w().y(); value.data.avz = gyroSensor->w().z(); setTime(value, bodyRTC->controlTime()); } } } void GyroSensorOutPortHandler::writeDataToPort() { outPort.write(); } AccelerationSensorOutPortHandler::AccelerationSensorOutPortHandler(PortInfo& info) : OutPortHandler(info), outPort(info.portName.c_str(), value), sensorNames(info.dataOwnerNames) { stepTime = info.stepTime; } void AccelerationSensorOutPortHandler::inputDataFromSimulator(BodyRTCItem* bodyRTC) { if(!sensorNames.empty()){ if(AccelerationSensor* accelSensor = bodyRTC->body()->findDevice(sensorNames[0])){ value.data.ax = accelSensor->dv().x(); value.data.ay = accelSensor->dv().y(); value.data.az = accelSensor->dv().z(); setTime(value, bodyRTC->controlTime()); } } } void AccelerationSensorOutPortHandler::writeDataToPort() { outPort.write(); } LightOnOutPortHandler::LightOnOutPortHandler(PortInfo& info) : OutPortHandler(info), outPort(info.portName.c_str(), value), lightNames(info.dataOwnerNames) { stepTime = info.stepTime; } void LightOnOutPortHandler::inputDataFromSimulator(BodyRTCItem* bodyRTC) { const BodyPtr& body = bodyRTC->body(); value.data.length(lightNames.size()); size_t i=0; for(vector::iterator it = lightNames.begin(); it != lightNames.end(); it++){ Light* light = body->findDevice(*it); value.data[i++] = light->on(); } setTime(value, bodyRTC->controlTime()); } void LightOnOutPortHandler::writeDataToPort() { outPort.write(); } CameraImageOutPortHandler::CameraImageOutPortHandler(PortInfo& info, bool synchController) : OutPortHandler(info), outPort(info.portName.c_str(), value) { stepTime = info.stepTime; if(!info.dataOwnerNames.empty()) cameraName = info.dataOwnerNames.at(0); else cameraName.clear(); value.data.image.format = Img::CF_UNKNOWN; } void CameraImageOutPortHandler::initialize(Body* simBody) { camera = 0; if(!cameraName.empty()){ camera = simBody->findDevice(cameraName); }else{ DeviceList cameras(simBody->devices()); if(!cameras.empty()) camera = cameras[0]; } if(camera){ double fovy2 = camera->fieldOfView() / 2.0; double width = camera->resolutionX(); double height = camera->resolutionY(); double minlength = std::min(width, height); double fu, fv; fv = fu = minlength / tan(fovy2) / 2.0; double u0 = (width - 1)/2.0; double v0 = (height - 1)/2.0; value.data.intrinsic.matrix_element[0] = fu; value.data.intrinsic.matrix_element[1] = 0.0; value.data.intrinsic.matrix_element[2] = u0; value.data.intrinsic.matrix_element[3] = fv; value.data.intrinsic.matrix_element[4] = v0; value.data.intrinsic.distortion_coefficient.length(5); for (int i=0; i<5; i++) value.data.intrinsic.distortion_coefficient[i] = 0.0; // zero distortion is natural in simulator for(int i=0; i<4; i++) for(int j=0; j<4; j++) value.data.extrinsic[i][j] = i==j? 1.0: 0.0; camera->sigStateChanged().connect(boost::bind(&CameraImageOutPortHandler::onCameraStateChanged, this)); } } void CameraImageOutPortHandler::onCameraStateChanged() { if(camera->sharedImage() != prevImage){ const Image& image = camera->constImage(); if(!image.empty()){ int width,height; value.data.image.height = height = image.height(); value.data.image.width = width = image.width(); switch(camera->imageType()){ case Camera::GRAYSCALE_IMAGE : value.data.image.format = Img::CF_GRAY; break; case Camera::COLOR_IMAGE : value.data.image.format = Img::CF_RGB; break; default : value.data.image.format = Img::CF_UNKNOWN; break; } size_t length = width * height * image.numComponents() * sizeof(unsigned char); value.data.image.raw_data.length(length); void* src = (void*)image.pixels(); void* dis = (void*)value.data.image.raw_data.get_buffer(); memcpy(dis, src, length); } prevImage = camera->sharedImage(); boost::lock_guard lock(mtx); setTime(value, controlTime - camera->delay()); outPort.write(); } } void CameraImageOutPortHandler::inputDataFromSimulator(BodyRTCItem* bodyRTC) { boost::lock_guard lock(mtx); controlTime = bodyRTC->controlTime(); } void CameraImageOutPortHandler::writeDataToPort() { } CameraRangeOutPortHandler::CameraRangeOutPortHandler(PortInfo& info, bool synchController) : OutPortHandler(info), outPort(info.portName.c_str(), value) { stepTime = info.stepTime; if(!info.dataOwnerNames.empty()) rangeCameraName = info.dataOwnerNames.at(0); else rangeCameraName.clear(); } void CameraRangeOutPortHandler::initialize(Body* simBody) { rangeCamera = 0; if(!rangeCameraName.empty()){ rangeCamera = simBody->findDevice(rangeCameraName); }else{ DeviceList cameras = simBody->devices(); if(!cameras.empty()) rangeCamera = cameras[0]; } if(rangeCamera){ switch(rangeCamera->imageType()){ case Camera::COLOR_IMAGE : format = "xyzrgb"; break; case Camera::GRAYSCALE_IMAGE : case Camera::NO_IMAGE : default : format = "xyz"; break; } value.type = CORBA::string_dup(format.c_str()); bool colored = false; if (format == "xyz"){ value.fields.length(3); }else if (format == "xyzrgb"){ value.fields.length(6); colored = true; } value.fields[0].name = "x"; value.fields[0].offset = 0; value.fields[0].data_type = PointCloudTypes::FLOAT32; value.fields[0].count = 4; value.fields[1].name = "y"; value.fields[1].offset = 4; value.fields[1].data_type = PointCloudTypes::FLOAT32; value.fields[1].count = 4; value.fields[2].name = "z"; value.fields[2].offset = 8; value.fields[2].data_type = PointCloudTypes::FLOAT32; value.fields[2].count = 4; value.point_step = 12; if (format == "xyzrgb"){ value.fields[3].name = "r"; value.fields[3].offset = 12; value.fields[3].data_type = PointCloudTypes::UINT8; value.fields[3].count = 1; value.fields[4].name = "g"; value.fields[4].offset = 13; value.fields[4].data_type = PointCloudTypes::UINT8; value.fields[4].count = 1; value.fields[5].name = "b"; value.fields[5].offset = 14; value.fields[5].data_type = PointCloudTypes::UINT8; value.fields[5].count = 1; value.point_step = 16; } value.is_bigendian = false; value.is_dense = true; rangeCamera->sigStateChanged().connect(boost::bind(&CameraRangeOutPortHandler::onCameraStateChanged, this)); } } void CameraRangeOutPortHandler::onCameraStateChanged() { if(rangeCamera->sharedPoints() != prevPoints){ const vector& points = rangeCamera->constPoints(); const Image& image = rangeCamera->constImage(); if(!points.empty()){ if(!image.empty()){ value.height = image.height(); value.width = image.width(); }else{ if(rangeCamera->isOrganized()){ value.height = rangeCamera->resolutionY(); value.width = rangeCamera->resolutionX(); }else{ value.height = 1; value.width = rangeCamera->numPoints(); } } value.row_step = value.point_step * value.width; size_t length = points.size() * value.point_step; value.data.length(length); unsigned char* dis = (unsigned char*)value.data.get_buffer(); const unsigned char* pixels = 0; if(!image.empty()) pixels = image.pixels(); for(int i=0; isharedPoints(); boost::lock_guard lock(mtx); setTime(value, controlTime - rangeCamera->delay()); outPort.write(); } } void CameraRangeOutPortHandler::inputDataFromSimulator(BodyRTCItem* bodyRTC) { boost::lock_guard lock(mtx); controlTime = bodyRTC->controlTime(); } void CameraRangeOutPortHandler::writeDataToPort() { } RangeSensorOutPortHandler::RangeSensorOutPortHandler(PortInfo& info, bool synchController) : OutPortHandler(info), outPort(info.portName.c_str(), value) { stepTime = info.stepTime; if(!info.dataOwnerNames.empty()) rangeSensorName = info.dataOwnerNames.at(0); else rangeSensorName.clear(); } void RangeSensorOutPortHandler::initialize(Body* simBody) { rangeSensor = 0; if(!rangeSensorName.empty()){ rangeSensor = simBody->findDevice(rangeSensorName); }else{ DeviceList rangeSensors = simBody->devices(); if(!rangeSensors.empty()) rangeSensor = rangeSensors[0]; } if(rangeSensor){ value.config.minAngle = -rangeSensor->yawRange() / 2.0; value.config.maxAngle = rangeSensor->yawRange() / 2.0; value.config.angularRes = rangeSensor->yawStep(); value.config.minRange = rangeSensor->minDistance(); value.config.maxRange = rangeSensor->maxDistance(); value.config.frequency = rangeSensor->frameRate(); value.config.rangeRes = 0; // no data // Ignore geometry value.geometry.geometry.pose.orientation.r = 0.0; value.geometry.geometry.pose.orientation.p = 0.0; value.geometry.geometry.pose.orientation.y = 0.0; value.geometry.geometry.pose.position.x = 0.0; value.geometry.geometry.pose.position.y = 0.0; value.geometry.geometry.pose.position.z = 0.0; value.geometry.geometry.size.w = 0.0; value.geometry.geometry.size.l = 0.0; value.geometry.geometry.size.h = 0.0; value.geometry.elementGeometries.length(0); // rangeSensor->sigStateChanged().connect(boost::bind(&RangeSensorOutPortHandler::onRangeSensorStateChanged, this)); } } void RangeSensorOutPortHandler::onRangeSensorStateChanged() { if(rangeSensor->sharedRangeData() != prevRangeData){ const RangeSensor::RangeData& src = rangeSensor->constRangeData(); value.ranges.length(src.size()); for(int i=0; isharedRangeData(); boost::lock_guard lock(mtx); setTime(value, controlTime - rangeSensor->delay()); outPort.write(); } } void RangeSensorOutPortHandler::inputDataFromSimulator(BodyRTCItem* bodyRTC) { boost::lock_guard lock(mtx); controlTime = bodyRTC->controlTime(); } void RangeSensorOutPortHandler::writeDataToPort() { } JointDataSeqInPortHandler::JointDataSeqInPortHandler(PortInfo& info) : InPortHandler(info), inPort(info.portName.c_str(), values) { linkDataType = info.dataTypeId; } void JointDataSeqInPortHandler::outputDataToSimulator(const BodyPtr& body) { const int n = std::min(body->numJoints(), (int)(values.data.length())); //! \todo put warning if the number of joints is different from the port data size switch(linkDataType) { case JOINT_VALUE: for(int i=0; i < n; i++){ body->joint(i)->q() = values.data[i]; } break; case JOINT_VELOCITY: for(int i=0; i < n; i++){ body->joint(i)->dq() = values.data[i]; } break; case JOINT_ACCELERATION: for(int i=0; ijoint(i)->ddq() = values.data[i]; } break; case JOINT_TORQUE: for(int i=0; i < n; i++){ body->joint(i)->u() = values.data[i]; } break; default : break; } } void JointDataSeqInPortHandler::readDataFromPort() { if( inPort.isNew() == false ){ values.data.length(0); }else inPort.read(); } LinkDataInPortHandler::LinkDataInPortHandler(PortInfo& info) : InPortHandler(info), inPort(info.portName.c_str(), values), linkNames(info.dataOwnerNames) { linkDataType = info.dataTypeId; } void LinkDataInPortHandler::outputDataToSimulator(const BodyPtr& body) { size_t n=linkNames.size(); if(!values.data.length()) return; switch(linkDataType) { case JOINT_VALUE: for(size_t i=0; ilink(linkNames[i])->q() = values.data[i]; break; case JOINT_VELOCITY: for(size_t i=0; ilink(linkNames[i])->dq() = values.data[i]; break; case JOINT_ACCELERATION: for(size_t i=0; ilink(linkNames[i])->ddq() = values.data[i]; break; case JOINT_TORQUE: for(size_t i=0; ilink(linkNames[i])->u() = values.data[i]; break; case ABS_TRANSFORM: for(size_t i=0; ilink(linkNames[i]); link->p() = Vector3( values.data[12*i], values.data[12*i+1], values.data[12*i+2]); Matrix3 R; R << values.data[12*i+3], values.data[12*i+4], values.data[12*i+5], values.data[12*i+6], values.data[12*i+7], values.data[12*i+8], values.data[12*i+9], values.data[12*i+10], values.data[12*i+11]; link->setAttitude(R); } break; case ABS_VELOCITY: for(size_t i=0; ilink(linkNames[i]); link->v() = Vector3( values.data[6*i], values.data[6*i+1], values.data[6*i+2]); link->w() = Vector3( values.data[6*i+3], values.data[6*i+4], values.data[6*i+5]); } break; case EXTERNAL_FORCE: for(size_t i=0; ilink(linkNames[i]); link->f_ext() = Vector3( values.data[6*i], values.data[6*i+1], values.data[6*i+2]); link->tau_ext() = Vector3( values.data[6*i+3], values.data[6*i+4], values.data[6*i+5]); } default : break; } } void LinkDataInPortHandler::readDataFromPort() { if( inPort.isNew() == false ){ values.data.length(0); }else inPort.read(); } AbsTransformInPortHandler::AbsTransformInPortHandler(PortInfo& info) : InPortHandler(info), inPort(info.portName.c_str(), values), linkNames(info.dataOwnerNames) { linkDataType = info.dataTypeId; } void AbsTransformInPortHandler::outputDataToSimulator(const BodyPtr& body) { Link* link = body->link(linkNames[0]); link->p().x() = values.data.position.x; link->p().y() = values.data.position.y; link->p().z() = values.data.position.z; Matrix3 R = rotFromRpy(values.data.orientation.r, values.data.orientation.p, values.data.orientation.y); link->setAttitude(R); } void AbsTransformInPortHandler::readDataFromPort() { if( inPort.isNew() == false ){ return; }else inPort.read(); } LightOnInPortHandler::LightOnInPortHandler(PortInfo& info) : InPortHandler(info), inPort(info.portName.c_str(), values), lightNames(info.dataOwnerNames) { } void LightOnInPortHandler::outputDataToSimulator(const BodyPtr& body) { for(size_t i=0; ifindDevice(lightNames[i]); light->on(values.data[i]); light->notifyStateChange(); } } void LightOnInPortHandler::readDataFromPort() { if( inPort.isNew() == false ){ values.data.length(0); }else inPort.read(); } choreonoid-1.5.0/src/OpenRTMPlugin/OpenRTMUtil.h0000664000000000000000000000234312741425367020110 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_OPENRTM_PLUGIN_OPENRTM_UTIL_H_INCLUDED #define CNOID_OPENRTM_PLUGIN_OPENRTM_UTIL_H_INCLUDED #include #include #include "exportdecl.h" namespace cnoid { CNOID_EXPORT RTM::Manager_ptr getRTCManagerServant(); /** Components managed by plugins should be created by using this function instead of using RTC::Manager::createComponent(). A component created by this function is registered as a plugin-managed component, and functions such as 'removeUnmanagedComponents()' ignore those components. */ CNOID_EXPORT RTC::RTObject_impl* createManagedRTC(const char* comp_args); CNOID_EXPORT int numUnmanagedRTCs(); CNOID_EXPORT int deleteUnmanagedRTCs(); template typename ServiceType::_ptr_type findRTCService(RTC::RTObject_ptr rtc, const std::string& name) { CORBA::Object_var obj = findRTCService(rtc, name); return CORBA::is_nil(obj) ? ServiceType::_nil() : ServiceType::_narrow(obj); } template<> CNOID_EXPORT CORBA::Object::_ptr_type findRTCService(RTC::RTObject_ptr rtc, const std::string& name); CNOID_EXPORT bool deleteRTC(RTC::RtcBase* rtc, bool waitToBeDeleted = true); } #endif choreonoid-1.5.0/src/OpenRTMPlugin/VirtualRobotRTC.h0000664000000000000000000000512112741425367020770 0ustar rootroot/** \file \author shizuko hattori */ #ifndef CNOID_OPENRTM_PLUGIN_VIRTUAL_ROBOT_RTC_H_INCLUDED #define CNOID_OPENRTM_PLUGIN_VIRTUAL_ROBOT_RTC_H_INCLUDED #include #include #include #include #include #include #include "VirtualRobotPortHandler.h" namespace cnoid { class VirtualRobotRTC : public RTC::DataFlowComponentBase { public: static void registerFactory(RTC::Manager* manager, const char* componentTypeName); VirtualRobotRTC(RTC::Manager* manager); ~VirtualRobotRTC(); RTC::ReturnCode_t onInitialize(); void createPorts(BridgeConf* bridgeConf); PortHandlerPtr getOutPortHandler(const std::string& name); PortHandlerPtr getInPortHandler(const std::string& name); RTC::RTCList* getConnectedRtcs(); void inputDataFromSimulator(BodyRTCItem* bodyRTC); void outputDataToSimulator(const BodyPtr& body); void writeDataToOutPorts(double controlTime, double controlTimeStep); void readDataFromInPorts(); void stop(); bool checkOutPortStepTime(double controlTimeStep); void initialize(Body* simulationBody); private: typedef std::map OutPortHandlerMap; OutPortHandlerMap outPortHandlers; typedef std::map InPortHandlerMap; InPortHandlerMap inPortHandlers; bool createOutPortHandler(PortInfo& portInfo); bool createInPortHandler(PortInfo& portInfo); template bool registerOutPortHandler(TOutPortHandler* handler) { const std::string& name = handler->portName; if(!getOutPortHandler(name)){ if (!addOutPort(name.c_str(), handler->outPort)) return false; outPortHandlers.insert(std::make_pair(name, OutPortHandlerPtr(handler))); } return true; } template bool unregisterOutPortHandler(TOutPortHandler* handler) { if (deleteOutPort(handler->outPort)) return true; return false; } template bool registerInPortHandler(TInPortHandler* handler) { const std::string& name = handler->portName; if(!getInPortHandler(name)){ if (!addInPort(name.c_str(), handler->inPort)) return false; inPortHandlers.insert(std::make_pair(name, InPortHandlerPtr(handler))); } return true; } void updatePortObjectRefs(); void addConnectedRtcs(RTC::PortService_ptr portRef, RTC::RTCList& rtcList, std::set& foundRtcNames); }; } #endif choreonoid-1.5.0/src/OpenRTMPlugin/BridgeConf.h0000664000000000000000000000767212741425367020002 0ustar rootroot/* * 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) * General Robotix Inc. */ /** \file \author Shin'ichiro Nakaoka */ #ifndef OPENHRP_BRIDGE_CONF_H_INCLUDED #define OPENHRP_BRIDGE_CONF_H_INCLUDED #if ( defined ( WIN32 ) || defined ( _WIN32 ) || defined(__WIN32__) || defined(__NT__) ) #define SUFFIX_SHARED_EXT ".dll" #define SUFFIX_EXE_EXT ".exe" #elif defined(__APPLE__) #define SUFFIX_SHARED_EXT ".dylib" #define SUFFIX_EXE_EXT ".app" #else #define SUFFIX_SHARED_EXT ".so" #define SUFFIX_EXE_EXT "" #endif #include #include #include #include #include #include #include enum DataTypeId { INVALID_DATA_TYPE = 0, JOINT_VALUE, JOINT_VELOCITY, JOINT_ACCELERATION, JOINT_TORQUE, EXTERNAL_FORCE, ABS_TRANSFORM, ABS_VELOCITY, ABS_ACCELERATION, FORCE_SENSOR, RATE_GYRO_SENSOR, ACCELERATION_SENSOR, RANGE_SENSOR, CONSTRAINT_FORCE, RATE_GYRO_SENSOR2, ACCELERATION_SENSOR2, ABS_TRANSFORM2, LIGHT, CAMERA_IMAGE, CAMERA_RANGE }; struct PortInfo { std::string portName; DataTypeId dataTypeId; std::vector dataOwnerNames; // link name or sensor name int dataOwnerId; // sensor id double stepTime; }; typedef std::map PortInfoMap; struct PortConnection { std::string InstanceName[2]; std::string PortName[2]; //std::string robotPortName; //std::string controllerInstanceName; //std::string controllerPortName; }; typedef std::vector PortConnectionList; struct ModuleInfo { std::string fileName; std::string componentName; std::string initFuncName; bool isLoaded; RTC::RtcBase* rtcServant; }; typedef std::list ModuleInfoList; typedef std::map TimeRateMap; class BridgeConf { public: BridgeConf(); ~BridgeConf(); bool loadConfigFile(const char* confFileName); bool isReady() { return isReady_; } const char* getOpenHRPNameServerIdentifier(); const char* getControllerName(); const char* getVirtualRobotRtcTypeName(); void setupModules(); typedef std::map LabelToDataTypeIdMap; LabelToDataTypeIdMap labelToDataTypeIdMap; PortInfoMap outPortInfos; PortInfoMap inPortInfos; ModuleInfoList moduleInfoList; PortConnectionList portConnections; TimeRateMap timeRateMap; private: boost::program_options::variables_map vmap; boost::program_options::options_description options; boost::program_options::options_description commandLineOptions; bool isReady_; bool isProcessingConfigFile; std::string virtualRobotRtcTypeName; std::string controllerName; std::string nameServerIdentifier; void initOptionsDescription(); void initLabelToDataTypeMap(); void parseCommandLineOptions(int argc, char* argv[]); void parseOptions(); void setPortInfos(const char* optionLabel, PortInfoMap& portInfos); void addPortConnection(const std::string& value); void setPreLoadModuleInfo(); void addModuleInfo(const std::string& value); void addTimeRateInfo(const std::string& value); void extractParameters(const std::string& str, std::vector& result, const char delimiter = ':'); std::string expandEnvironmentVariables(const std::string& str); }; #endif choreonoid-1.5.0/src/OpenRTMPlugin/RTCItem.cpp0000664000000000000000000003026012741425367017567 0ustar rootroot/** @author Shizuko Hattori @author Shin'ichiro Nakaoka */ #include "RTCItem.h" #include "BridgeConf.h" #include "OpenRTMUtil.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace boost; using namespace cnoid; namespace { const bool TRACE_FUNCTIONS = false; } void RTCItem::initialize(ExtensionManager* ext) { static bool initialized = false; if(!initialized){ ext->itemManager().registerClass(N_("RTCItem")); ext->itemManager().addCreationPanel(); initialized = true; } } RTCItem::RTCItem() : os(MessageView::instance()->cout()), periodicType(N_PERIODIC_TYPE, CNOID_GETTEXT_DOMAIN_NAME), pathBase(N_PATH_BASE, CNOID_GETTEXT_DOMAIN_NAME) { rtcomp = 0; moduleName.clear(); mv = MessageView::instance(); periodicRate = 1000; periodicType.setSymbol(PERIODIC_EXECUTION_CONTEXT, N_("PeriodicExecutionContext")); periodicType.setSymbol(SYNCH_EXT_TRIGGER, N_("SynchExtTriggerEC")); periodicType.setSymbol(EXT_TRIG_EXECUTION_CONTEXT, N_("ExtTrigExecutionContext")); periodicType.setSymbol(CHOREONOID_EXECUTION_CONTEXT, N_("ChoreonoidExecutionContext")); periodicType.select(PERIODIC_EXECUTION_CONTEXT); oldType = PERIODIC_EXECUTION_CONTEXT; properties.clear(); properties.insert(make_pair(string("exec_cxt.periodic.type"), periodicType.selectedSymbol())); stringstream ss; ss << periodicRate; properties.insert(make_pair(string("exec_cxt.periodic.rate"), ss.str())); pathBase.setSymbol(RTC_DIRECTORY, N_("RTC directory")); pathBase.setSymbol(PROJECT_DIRECTORY, N_("Project directory")); pathBase.select(RTC_DIRECTORY); oldPathBase = RTC_DIRECTORY; } RTCItem::RTCItem(const RTCItem& org) : os(MessageView::instance()->cout()), Item(org), periodicType(org.periodicType), pathBase(org.pathBase) { rtcomp = org.rtcomp; moduleName = org.moduleName; mv = MessageView::instance(); periodicRate = org.periodicRate; oldType = org.oldType; properties = org.properties; oldPathBase = org.oldPathBase; } RTCItem::~RTCItem() { } void RTCItem::onPositionChanged() { if(!rtcomp){ if(convertAbsolutePath()) rtcomp = new RTComponent(modulePath, properties); } } void RTCItem::onDisconnectedFromRoot() { if(rtcomp){ rtcomp->deleteRTC(false); delete rtcomp; rtcomp = 0; } } Item* RTCItem::doDuplicate() const { return new RTCItem(*this); } void RTCItem::setModuleName(const std::string& name) { if(moduleName!=name){ moduleName = name; if(rtcomp){ delete rtcomp; } if (convertAbsolutePath()) rtcomp = new RTComponent(modulePath, properties); } } void RTCItem::setPeriodicType(int type) { if(oldType != type){ oldType = type; properties["exec_cxt.periodic.type"] = periodicType.symbol(type); if(rtcomp){ delete rtcomp; } if (convertAbsolutePath()) rtcomp = new RTComponent(modulePath, properties); } } void RTCItem::setPeriodicRate(int rate) { if(periodicRate!=rate){ periodicRate = rate; stringstream ss; ss << periodicRate; properties["exec_cxt.periodic.rate"] = ss.str(); if(rtcomp){ delete rtcomp; } if (convertAbsolutePath()) rtcomp = new RTComponent(modulePath, properties); } } void RTCItem::setPathBase(int base) { pathBase.select(base); if (oldPathBase != base){ oldPathBase = base; if (rtcomp){ delete rtcomp; } if (convertAbsolutePath()) rtcomp = new RTComponent(modulePath, properties); } } void RTCItem::doPutProperties(PutPropertyFunction& putProperty) { Item::doPutProperties(putProperty); putProperty(_("Relative Path Base"), pathBase, boost::bind(&RTCItem::setPathBase, this, _1), true); FileDialogFilter filter; filter.push_back( string(_(" Dynamic Link Library ")) + DLLSFX ); string dir; if(!moduleName.empty() && checkAbsolute(filesystem::path(moduleName))) dir = filesystem::path(moduleName).parent_path().string(); else{ if(pathBase.is(RTC_DIRECTORY)) dir = (filesystem::path(executableTopDirectory()) / CNOID_PLUGIN_SUBDIR / "rtc").string(); } putProperty(_("RTC module Name"), FilePath(moduleName, filter, dir), boost::bind(&RTCItem::setModuleName, this, _1), true); putProperty(_("Periodic type"), periodicType, boost::bind((bool(Selection::*)(int))&Selection::select, &periodicType, _1)); setPeriodicType(periodicType.selectedIndex()); putProperty(_("Periodic Rate"), periodicRate, boost::bind(&RTCItem::setPeriodicRate, this, _1), true); } bool RTCItem::store(Archive& archive) { if(!Item::store(archive)){ return false; } archive.writeRelocatablePath("moduleName", moduleName); archive.write("periodicType", periodicType.selectedSymbol()); archive.write("periodicRate", periodicRate); archive.write("RelativePathBase", pathBase.selectedSymbol(), DOUBLE_QUOTED); return true; } bool RTCItem::restore(const Archive& archive) { if(!Item::restore(archive)){ return false; } string value; if(archive.read("moduleName", value)){ filesystem::path path(archive.expandPathVariables(value)); moduleName = getNativePathString(path); } string symbol; if(archive.read("periodicType", symbol)){ periodicType.select(symbol); oldType = periodicType.selectedIndex(); properties["exec_cxt.periodic.type"] = symbol; } if(archive.read("periodicRate", periodicRate)){ stringstream ss; ss << periodicRate; properties["exec_cxt.periodic.rate"] = ss.str(); } if (archive.read("RelativePathBase", symbol)){ pathBase.select(symbol); oldPathBase = pathBase.selectedIndex(); } return true; } bool RTCItem::convertAbsolutePath() { modulePath = moduleName; if (!checkAbsolute(modulePath)){ if (pathBase.is(RTC_DIRECTORY)) modulePath = filesystem::path(executableTopDirectory()) / CNOID_PLUGIN_SUBDIR / "rtc" / modulePath; else { const string& projectFileName = ProjectManager::instance()->getProjectFileName(); if (projectFileName.empty()){ mv->putln(_("Please save the project.")); return false; } else{ modulePath = boost::filesystem::path(projectFileName).parent_path() / modulePath; } } } return true; } RTComponent::RTComponent(const filesystem::path& modulePath, PropertyMap& prop) { rtc_ = 0; rtcRef = 0; if (modulePath.empty()){ return; } init(modulePath, prop); } RTComponent::~RTComponent() { deleteRTC(true); } void RTComponent::init(const filesystem::path& modulePath_, PropertyMap& prop) { mv = MessageView::instance(); modulePath = modulePath_; createRTC(prop); } bool RTComponent::createRTC(PropertyMap& prop) { string moduleNameLeaf = modulePath.leaf().string(); size_t i = moduleNameLeaf.rfind('.'); if(i != string::npos){ componentName = moduleNameLeaf.substr(0, i); } else { componentName = moduleNameLeaf; } string actualFilename; if(filesystem::exists(modulePath)){ actualFilename = getNativePathString(modulePath); if(modulePath.extension() == SUFFIX_SHARED_EXT){ string initFunc(componentName + "Init"); setupModules(actualFilename, initFunc, componentName, prop); } else { createProcess(actualFilename, prop); } } else { filesystem::path exePath(modulePath.string() + SUFFIX_EXE_EXT); if(filesystem::exists(exePath)){ actualFilename = getNativePathString(exePath); createProcess(actualFilename, prop); } else { filesystem::path dllPath(modulePath.string() + SUFFIX_SHARED_EXT); if(filesystem::exists(dllPath)){ actualFilename = getNativePathString(dllPath); string initFunc(componentName + "Init"); setupModules(actualFilename, initFunc, componentName, prop); } else { mv->putln(fmt(_("A file of RTC \"%1%\" does not exist.")) % componentName); } } } bool created = isValid(); if(created){ mv->putln(fmt(_("RTC \"%1%\" has been created from \"%2%\".")) % componentName % actualFilename); } else { mv->putln(fmt(_("RTC \"%1%\" cannot be created.")) % componentName); } return created; } void RTComponent::setupModules(string& fileName, string& initFuncName, string& componentName, PropertyMap& prop) { RTC::Manager& rtcManager = RTC::Manager::instance(); rtcManager.load(fileName.c_str(), initFuncName.c_str()); string option("?"); for(PropertyMap::iterator it = prop.begin(); it != prop.end(); ){ option += it->first + "=" + it->second; if(++it != prop.end()){ option += "&"; } } rtc_ = createManagedRTC((componentName + option).c_str()); if(!rtc_){ mv->putln(fmt(_("RTC \"%1%\" cannot be created by the RTC manager.\n" " RTC module file: \"%2%\"\n" " Init function: %3%\n" " option: %4%")) % componentName % fileName % initFuncName % option); } } void RTComponent::onReadyReadServerProcessOutput() { mv->put(QString(rtcProcess.readAll())); } bool RTComponent::isValid() const { return (rtc_ || rtcProcess.state() != QProcess::NotRunning); } void RTComponent::createProcess(string& command, PropertyMap& prop) { QStringList argv; argv.push_back(QString("-o")); argv.push_back(QString("naming.formats: %n.rtc")); argv.push_back(QString("-o")); argv.push_back(QString("logger.enable: NO")); for(PropertyMap::iterator it = prop.begin(); it != prop.end(); it++){ argv.push_back(QString("-o")); argv.push_back(QString(string(it->first+":"+it->second).c_str())); } if(rtcProcess.state() != QProcess::NotRunning){ rtcProcess.kill(); rtcProcess.waitForFinished(100); } #ifdef _WIN32 rtcProcess.start(QString("\"") + command.c_str() + "\"", argv ); #else rtcProcess.start(command.c_str(), argv); #endif if(!rtcProcess.waitForStarted()){ mv->putln(fmt(_("RT Component process \"%1%\" cannot be executed.")) % command); } else { mv->putln(fmt(_("RT Component process \"%1%\" has been executed.")) % command ); rtcProcess.sigReadyReadStandardOutput().connect( boost::bind(&RTComponent::onReadyReadServerProcessOutput, this)); } } void RTComponent::deleteRTC(bool waitToBeDeleted) { if(TRACE_FUNCTIONS){ cout << "BodyRTComponent::deleteRTC()" << endl; } if(rtc_){ string rtcName(rtc_->getInstanceName()); mv->putln(fmt(_("delete %1%")) % rtcName); if(!cnoid::deleteRTC(rtc_, true)){ mv->putln(fmt(_("%1% cannot be deleted.")) % rtcName); } rtc_ = 0; } else if(rtcProcess.state() != QProcess::NotRunning){ mv->putln(fmt(_("delete %1%")) % componentName); rtcProcess.kill(); rtcProcess.waitForFinished(100); } if(TRACE_FUNCTIONS){ cout << "End of BodyRTCItem::deleteModule()" << endl; } } choreonoid-1.5.0/src/OpenRTMPlugin/BridgeConf.cpp0000664000000000000000000003300412741425367020321 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "BridgeConf.h" #include "OpenRTMUtil.h" #include #include #include #include #if (BOOST_VERSION <= 103301) #include #include #include #else #include #endif using namespace std; using namespace boost; BridgeConf::BridgeConf() : options("Allowed options"), commandLineOptions("Allowed options") { isReady_ = true; } BridgeConf::~BridgeConf() { } bool BridgeConf::loadConfigFile(const char* confFileName) { isReady_ = false; initOptionsDescription(); initLabelToDataTypeMap(); ifstream ifs(confFileName); if (ifs.fail()) { return false; } program_options::store(program_options::parse_config_file(ifs, options), vmap); isProcessingConfigFile = true; program_options::notify(vmap); parseOptions(); isReady_ = true; return true; } void BridgeConf::initOptionsDescription() { options.add_options() ("name-server", program_options::value()->default_value("127.0.0.1:2809"), "Nameserver used by OpenHRP (hostname:port)") ("server-name", program_options::value()->default_value("ControllerBridge"), "Name of the OpenHRP controller factory server") ("robot-name", program_options::value()->default_value(""), "Name of the virtual robot RTC type") ("module", program_options::value >(), "Module filename") ("out-port", program_options::value >(), "Set an out-port that transfers data from the simulator to the controller") ("in-port", program_options::value >(), "Set an in-port transfers data from the controller to the simulator") ("connection", program_options::value >(), "Port connection setting") ("periodic-rate", program_options::value >(), "Periodic rate of execution context (INSTANCE_NAME:TIME_RATE[<=1.0])"); commandLineOptions.add(options).add_options() ("config-file", program_options::value(), "configuration file of the controller bridge") ("help,h", "Show this help"); } void BridgeConf::initLabelToDataTypeMap() { LabelToDataTypeIdMap& m = labelToDataTypeIdMap; m["JOINT_VALUE"] = JOINT_VALUE; m["JOINT_VELOCITY"] = JOINT_VELOCITY; m["JOINT_ACCELERATION"] = JOINT_ACCELERATION; m["JOINT_TORQUE"] = JOINT_TORQUE; m["EXTERNAL_FORCE"] = EXTERNAL_FORCE; m["ABS_TRANSFORM"] = ABS_TRANSFORM; m["ABS_VELOCITY"] = ABS_VELOCITY; m["ABS_ACCELERATION"] = ABS_ACCELERATION; m["FORCE_SENSOR"] = FORCE_SENSOR; m["RATE_GYRO_SENSOR"] = RATE_GYRO_SENSOR; m["ACCELERATION_SENSOR"] = ACCELERATION_SENSOR; m["RANGE_SENSOR"] = RANGE_SENSOR; m["CONSTRAINT_FORCE"] = CONSTRAINT_FORCE; m["RATE_GYRO_SENSOR2"] = RATE_GYRO_SENSOR2; m["ACCELERATION_SENSOR2"] = ACCELERATION_SENSOR2; m["ABS_TRANSFORM2"] = ABS_TRANSFORM2; m["LIGHT"] = LIGHT; m["CAMERA_IMAGE"] = CAMERA_IMAGE; m["CAMERA_RANGE"] = CAMERA_RANGE; } void BridgeConf::parseCommandLineOptions(int argc, char* argv[]) { isProcessingConfigFile = false; program_options::parsed_options parsed = program_options::command_line_parser(argc, argv).options(commandLineOptions).allow_unregistered().run(); program_options::store(parsed, vmap); if(vmap.count("help")){ cout << commandLineOptions << endl; } else { if(vmap.count("config-file")){ string fileName(vmap["config-file"].as()); ifstream ifs(fileName.c_str()); if (ifs.fail()) { throw invalid_argument(string("cannot open the config file")); } program_options::store(program_options::parse_config_file(ifs, options), vmap); isProcessingConfigFile = true; } program_options::notify(vmap); parseOptions(); isReady_ = true; } } void BridgeConf::parseOptions() { if(vmap.count("module")){ vector values = vmap["module"].as >(); for(size_t i=0; i < values.size(); ++i){ string modulePath( values[i] ); if( filesystem::extension(filesystem::path( modulePath )).empty() ) { modulePath += string( SUFFIX_SHARED_EXT ); } addModuleInfo( modulePath ); } } if(vmap.count("out-port")){ setPortInfos("out-port", outPortInfos); } if(vmap.count("in-port")){ setPortInfos("in-port", inPortInfos); } if(vmap.count("connection")){ vector values = vmap["connection"].as >(); for(size_t i=0; i < values.size(); ++i){ addPortConnection(values[i]); } } string server(expandEnvironmentVariables(vmap["name-server"].as())); nameServerIdentifier = string("corbaloc:iiop:") + server + "/NameService"; controllerName = expandEnvironmentVariables(vmap["server-name"].as()); virtualRobotRtcTypeName = expandEnvironmentVariables(vmap["robot-name"].as()); if(virtualRobotRtcTypeName==""){ virtualRobotRtcTypeName=controllerName; virtualRobotRtcTypeName.append("(Robot)"); } if(vmap.count("periodic-rate")){ vector values = vmap["periodic-rate"].as >(); for(size_t i=0; i < values.size(); ++i){ addTimeRateInfo(values[i]); } } } void BridgeConf::setPortInfos(const char* optionLabel, PortInfoMap& portInfos) { vector ports = vmap[optionLabel].as >(); for(size_t i=0; i < ports.size(); ++i){ vector parameters; extractParameters(ports[i], parameters); int n = parameters.size(); if(n < 2 || n > 4){ throw invalid_argument(string("invalid in port setting")); } PortInfo info; info.portName = parameters[0]; int j; for(j=1; j<3; j++){ LabelToDataTypeIdMap::iterator it = labelToDataTypeIdMap.find(parameters[j]); if(it == labelToDataTypeIdMap.end() ){ // ƒ—ƒ­ƒ‘ƒ†‚£ċ§Ş„§è­˜ċˆċ€€ // if(j==2) // 3番盁§Ğƒ—ƒ­ƒ‘ƒ†‚£ċŒŞ„§‚¨ƒİƒĵ€€// throw invalid_argument(string("invalid data type")); string st=parameters[j]; vector owners; extractParameters(st, owners, ','); for(size_t i=0; i 1){ throw invalid_argument(string("invalid VisionSensor setting")); } }else{ //識ċˆċŒċċ‰ // info.dataOwnerId = -1; info.dataOwnerNames.push_back(owners[i]); } } }else{ // ƒ—ƒ­ƒ‘ƒ†‚£ċ // info.dataTypeId = it->second; j++; break; } } if(j 1 ) throw invalid_argument(string("invalid in port setting")); portInfos.insert(make_pair(info.portName, info)); } } void BridgeConf::addPortConnection(const std::string& value) { vector parameters; extractParameters(value, parameters); int n = parameters.size(); if(n < 2 || n > 4){ throw std::invalid_argument(string("Invalied port connection")); } PortConnection connection; if(parameters.size() == 2){ connection.PortName[0] = parameters[0]; connection.PortName[1] = parameters[1]; } else if(parameters.size() == 3){ connection.PortName[0] = parameters[0]; connection.InstanceName[1] = parameters[1]; connection.PortName[1] = parameters[2]; }else if(parameters.size() == 4 ){ connection.InstanceName[0] = parameters[0]; connection.PortName[0] = parameters[1]; connection.InstanceName[1] = parameters[2]; connection.PortName[1] = parameters[3]; } portConnections.push_back(connection); } void BridgeConf::setPreLoadModuleInfo() { RTC::Manager& rtcManager = RTC::Manager::instance(); std::vector components = rtcManager.getComponents(); for(std::vector::iterator it=components.begin(); it != components.end(); ++it){ ModuleInfo info; info.componentName = (*it)->get_component_profile()->type_name; info.fileName = ""; info.initFuncName = ""; info.isLoaded = true; info.rtcServant = *it; moduleInfoList.push_back(info); } } void BridgeConf::addModuleInfo(const std::string& value) { vector parameters; extractParameters(value, parameters); if(parameters.size() == 0 || parameters.size() > 2){ throw std::invalid_argument(std::string("invalid module set")); } else { ModuleInfo info; info.fileName = parameters[0]; info.componentName = filesystem::basename(filesystem::path(info.fileName)); if(parameters.size() == 1){ info.initFuncName = info.componentName + "Init"; } else { info.initFuncName = parameters[1]; } info.isLoaded = false; moduleInfoList.push_back(info); } } void BridgeConf::addTimeRateInfo(const std::string& value) { vector parameters; extractParameters(value, parameters); if (parameters.size() == 0 || parameters.size() > 2) { throw std::invalid_argument(std::string("invalid time rate set")); } else { timeRateMap.insert( std::map::value_type(parameters[0], atof(parameters[1].c_str())) ); } } void BridgeConf::setupModules() { RTC::Manager& rtcManager = RTC::Manager::instance(); ModuleInfoList::iterator moduleInfo = moduleInfoList.begin(); format param("%1%?exec_cxt.periodic.type=ChoreonoidExecutionContext&exec_cxt.periodic.rate=1000000"); while(moduleInfo != moduleInfoList.end()){ if(!moduleInfo->isLoaded){ rtcManager.load(moduleInfo->fileName.c_str(), moduleInfo->initFuncName.c_str()); moduleInfo->isLoaded = true; moduleInfo->rtcServant = cnoid::createManagedRTC(str(param % moduleInfo->componentName).c_str()); } ++moduleInfo; } } const char* BridgeConf::getOpenHRPNameServerIdentifier() { return nameServerIdentifier.c_str(); } const char* BridgeConf::getControllerName() { return controllerName.c_str(); } const char* BridgeConf::getVirtualRobotRtcTypeName() { return virtualRobotRtcTypeName.c_str(); } void BridgeConf::extractParameters(const std::string& str, std::vector& result, const char delimiter) { string::size_type sepPos = 0; string::size_type nowPos = 0; while (sepPos != string::npos) { sepPos = str.find(delimiter, nowPos); if(isProcessingConfigFile){ result.push_back(expandEnvironmentVariables(str.substr(nowPos, sepPos-nowPos))); } else { result.push_back(str.substr(nowPos, sepPos-nowPos)); } nowPos = sepPos+1; } } std::string BridgeConf::expandEnvironmentVariables(const std::string& str) { regex variablePattern("\\$([A-z][A-z_0-9]*)"); match_results result; match_flag_type flags = match_default; string::const_iterator start, end; std::string str_(str); start = str_.begin(); end = str_.end(); int pos = 0; vector< pair< int, int > > results; while ( regex_search(start, end, result, variablePattern, flags) ) { results.push_back(std::make_pair(pos+result.position(1), result.length(1))); // seek to the remaining part start = result[0].second; pos += result.length(0); flags |= boost::match_prev_avail; flags |= boost::match_not_bob; } // replace the variables in reverse order while (!results.empty()) { int begin = results.back().first; int length = results.back().second; string envName = str.substr(begin, length); char* envValue = getenv(envName.c_str()); if(envValue){ str_.replace(begin-1, length+1, string(envValue)); } results.pop_back(); } return str_; } choreonoid-1.5.0/src/OpenRTMPlugin/ChoreonoidPeriodicExecutionContext.h0000664000000000000000000000210212741425367024760 0ustar rootroot/*! @file ChoreonoidPeriodicExecutionContext.h @author Shizuko Hattori */ #ifndef CNOID_OPENRTM_PLUGIN_CHOREONOID_PERIODIC_EXECUTION_CONTEXT_H_INCLUDED #define CNOID_OPENRTM_PLUGIN_CHOREONOID_PERIODIC_EXECUTION_CONTEXT_H_INCLUDED #include #include #include #include #ifdef WIN32 #pragma warning( disable : 4290 ) #endif namespace cnoid { /*! To call 'tick()' when the 'deactivate_component" function is called, OpenHRPExecutionContext is redefined as this class in the OpenRTM plugin. See post 02356 to the openrtm-users mailing list. */ #ifdef OPENRTM_VERSION110 class ChoreonoidPeriodicExecutionContext : public virtual RTC::PeriodicExecutionContext #else class ChoreonoidPeriodicExecutionContext : public virtual RTC_exp::PeriodicExecutionContext #endif { public: ChoreonoidPeriodicExecutionContext(); virtual ~ChoreonoidPeriodicExecutionContext(void); virtual RTC::ReturnCode_t deactivate_component(RTC::LightweightRTObject_ptr comp) throw (CORBA::SystemException); }; }; #endif choreonoid-1.5.0/src/OpenRTMPlugin/OpenHRPClockGeneratorItem.cpp0000664000000000000000000001130312741425367023232 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "OpenHRPClockGeneratorItem.h" #include "corba/OpenHRP/ClockGenerator.hh" #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { MessageView* mv = 0; class ExecContextInfo : public Referenced { public: OpenRTM::ExtTrigExecutionContextService_ptr context; double period; double nextTickTime; ExecContextInfo(OpenRTM::ExtTrigExecutionContextService_ptr context, double period) : context(context), period(period), nextTickTime(0.0) { } ~ExecContextInfo() { CORBA::release(context); } bool step(double currentTime) { if (currentTime >= nextTickTime){ try{ context->tick(); nextTickTime += period; } catch(CORBA::SystemException& ex){ mv->putln(fmt(_("OpenHRP ClockGenerator failed to tick an execution context due to exception: %1%.")) % ex._rep_id()); return false; } } return true; } void reset() { nextTickTime = 0.0; } }; typedef ref_ptr ExecContextInfoPtr; }; namespace cnoid { class OpenHRPClockGenerator_impl : virtual public POA_OpenHRP::ClockGenerator, virtual public PortableServer::RefCountServantBase { vector contexts; double currentTime; public: OpenHRPClockGenerator_impl() { currentTime = 0.0; } ~OpenHRPClockGenerator_impl() { } virtual void subscribe(OpenRTM::ExtTrigExecutionContextService_ptr context, ::CORBA::Double period) { contexts.push_back(new ExecContextInfo(context, period)); mv->putln(_("OpenHRP ClockGenerator received a subscription request.")); } virtual void unsubscribe(OpenRTM::ExtTrigExecutionContextService_ptr context) { for(vector::iterator p = contexts.begin(); p != contexts.end(); ++p){ ExecContextInfoPtr& info = *p; if(info->context->_is_equivalent(context)){ contexts.erase(p); break; } } mv->putln(_("OpenHRP ClockGenerator received an unsubscription request.")); } void step(double stepTime) { vector::iterator p = contexts.begin(); while(p != contexts.end()){ ExecContextInfoPtr& info = *p; if(!info->step(currentTime)){ p = contexts.erase(p); } else { ++p; } currentTime += stepTime; } } void reset() { vector::iterator p = contexts.begin(); while(p != contexts.end()){ ExecContextInfoPtr& info = *p; info->reset(); ++p; } currentTime = 0.0; } }; } OpenHRPClockGenerator_impl* OpenHRPClockGeneratorItem::clockGenerator = 0; void OpenHRPClockGeneratorItem::initialize(ExtensionManager* ext) { mv = MessageView::instance(); ext->itemManager().registerClass(N_("OpenHRPClockGeneratorItem")); ext->itemManager().addCreationPanel(); clockGenerator = ext->manage(new OpenHRPClockGenerator_impl()); } OpenHRPClockGeneratorItem::OpenHRPClockGeneratorItem() { } OpenHRPClockGeneratorItem::OpenHRPClockGeneratorItem(const OpenHRPClockGeneratorItem& org) : ControllerItem(org) { } Item* OpenHRPClockGeneratorItem::doDuplicate() const { return new OpenHRPClockGeneratorItem(*this); } OpenHRPClockGeneratorItem::~OpenHRPClockGeneratorItem() { } void OpenHRPClockGeneratorItem::onDisconnectedFromRoot() { } bool OpenHRPClockGeneratorItem::start(ControllerItemIO* io) { timeStep_ = io->timeStep(); clockGenerator->reset(); mv->putln(_("OpenHRP ClockGenerator is used for this simulation.")); return true; } double OpenHRPClockGeneratorItem::timeStep() const { return timeStep_; } void OpenHRPClockGeneratorItem::input() { } bool OpenHRPClockGeneratorItem::control() { clockGenerator->step(timeStep_); return true; } void OpenHRPClockGeneratorItem::output() { } void OpenHRPClockGeneratorItem::stop() { } void OpenHRPClockGeneratorItem::doPutProperties(PutPropertyFunction& putProperty) { ControllerItem::doPutProperties(putProperty); } bool OpenHRPClockGeneratorItem::store(Archive& archive) { return ControllerItem::store(archive); } bool OpenHRPClockGeneratorItem::restore(const Archive& archive) { return ControllerItem::restore(archive); } choreonoid-1.5.0/src/OpenRTMPlugin/icons/0000775000000000000000000000000012741425367016726 5ustar rootrootchoreonoid-1.5.0/src/OpenRTMPlugin/icons/NSRTC.png0000664000000000000000000000103612741425367020325 0ustar rootroot‰PNG  IHDR‘h6gAMAħ üaĠIDAT8O•’ŬK"aĈëë˘›.6Œ ‚%Ĝ‚²‚² k(/" ëB"ˆŠˆÖ>­)­ÔL'ÍF§qĈ"­]·Âh×ĠyßwĈq:S" ²àáÀÀüžóÌ9SĞŞjMU@UUêÑïħ˙ô·ÔħÀ+‘ä_2 ô?ù>•K>ĞÂo9|'"YR˙f•LVNŭѤɔzó óI™O>k°PŒŜ`|ûˆùD.x‹ĦğĤ™îYĤ{ĉ²kšN§ÓZ$xĜ)g§°ëYxR¸;- GNôD$KvYñËíĦ9 (ñ¤ù‰@H§¸Żä+lKÁÌgs ÀŜK $‰çOyâdħ“%Ž ´@ĥ ħeì´ĈgÑÔQé „í!l;Ç6/Y§Iӈğ”ÁShı˘ˆbĊƒ°´}Ž? şuCCGşa÷Ĉ³p-I<R?/9qÉÙh˟Y dżÁJ(Żì [‚ ïIh!÷ö‰h˙Cè5ZI½aŒ‹‹Ñ&˜cƒóQ½•é°„Ú&ŭŸÌŜĉ1—Îèh0œÔëzvĥ÷OÊ­íz8Eï€iÄdŸ°Xf­ósˋKk?Öİ-Ş|BUë+"á_/Ä%â†IENDB`‚choreonoid-1.5.0/src/OpenRTMPlugin/icons/NSZombi.png0000664000000000000000000000037412741425367020761 0ustar rootroot‰PNG  IHDR‘h6gAMAħ üa³IDAT8Ocü˙˙?I¨ĥL°%ˆ * ÔĈ>ğEğ/A@(Ö÷Ú×T€˘au·~ @(–u:á×T€˘aQğ3~ @(ĉĥ¸âÑ @  ӛÜ15@Z#i h˜ÔàĴY)DPŠ†Z/4 upT€˘Ħ³Êż  ­p hfC¸@(ËŭààEÖ T€˘Ħş$€ BÑáj³ŝĴÔ uIENDB`‚choreonoid-1.5.0/src/OpenRTMPlugin/VirtualRobotPortHandler.h0000664000000000000000000001745312741425367022575 0ustar rootroot/** \file \author shizuko hattori */ #ifndef CNOID_OPENRTM_PLUGIN_VIRTUAL_ROBOT_PORT_HANDLER_H #define CNOID_OPENRTM_PLUGIN_VIRTUAL_ROBOT_PORT_HANDLER_H #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "BridgeConf.h" namespace cnoid { class BodyRTCItem; class PortHandler { public: PortHandler(PortInfo& info) : portName(info.portName){} virtual ~PortHandler(); RTC::PortService_var portRef; std::string portName; }; typedef boost::shared_ptr PortHandlerPtr; class OutPortHandler : public PortHandler { public: OutPortHandler(PortInfo& info, bool synchContorller = true) : PortHandler(info), synchController(synchContorller){} virtual void inputDataFromSimulator(BodyRTCItem* bodyRTC) = 0; virtual void writeDataToPort() = 0; template void setTime(T& value, double _time) { value.tm.sec = (unsigned long)_time; value.tm.nsec = (unsigned long)((_time-value.tm.sec)*1000000000.0 + 0.5); if( value.tm.nsec >= 1000000000 ){ value.tm.sec++; value.tm.nsec -= 1000000000; } } double stepTime; bool synchController; }; typedef boost::shared_ptr OutPortHandlerPtr; class InPortHandler : public PortHandler { public: InPortHandler(PortInfo& info) : PortHandler(info){} virtual void outputDataToSimulator(const BodyPtr& body) = 0; virtual void readDataFromPort() = 0; }; typedef boost::shared_ptr InPortHandlerPtr; class SensorStateOutPortHandler : public OutPortHandler { public: SensorStateOutPortHandler(PortInfo& info); virtual void inputDataFromSimulator(BodyRTCItem* bodyRTC); virtual void writeDataToPort(); private: RTC::TimedDoubleSeq values; public: RTC::OutPort outPort; private: DataTypeId dataTypeId; }; class LinkDataOutPortHandler : public OutPortHandler { public: LinkDataOutPortHandler(PortInfo& info); virtual void inputDataFromSimulator(BodyRTCItem* bodyRTC); virtual void writeDataToPort(); private: RTC::TimedDoubleSeq value; public: RTC::OutPort outPort; private: std::vector linkNames; DataTypeId linkDataType; }; class AbsTransformOutPortHandler : public OutPortHandler { public: AbsTransformOutPortHandler(PortInfo& info); virtual void inputDataFromSimulator(BodyRTCItem* bodyRTC); virtual void writeDataToPort(); private: RTC::TimedPose3D value; public: RTC::OutPort outPort; private: std::vector linkNames; DataTypeId linkDataType; }; class SensorDataOutPortHandler : public OutPortHandler { public: SensorDataOutPortHandler(PortInfo& info); virtual void inputDataFromSimulator(BodyRTCItem* bodyRTC); virtual void writeDataToPort(); private: RTC::TimedDoubleSeq value; public: RTC::OutPort outPort; private: std::vector sensorNames; }; class GyroSensorOutPortHandler : public OutPortHandler { public: GyroSensorOutPortHandler(PortInfo& info); virtual void inputDataFromSimulator(BodyRTCItem* bodyRTC); virtual void writeDataToPort(); private: RTC::TimedAngularVelocity3D value; public: RTC::OutPort outPort; private: std::vector sensorNames; }; class AccelerationSensorOutPortHandler : public OutPortHandler { public: AccelerationSensorOutPortHandler(PortInfo& info); virtual void inputDataFromSimulator(BodyRTCItem* bodyRTC); virtual void writeDataToPort(); private: RTC::TimedAcceleration3D value; public: RTC::OutPort outPort; private: std::vector sensorNames; }; class LightOnOutPortHandler : public OutPortHandler { public: LightOnOutPortHandler(PortInfo& info); virtual void inputDataFromSimulator(BodyRTCItem* bodyRTC); virtual void writeDataToPort(); private: RTC::TimedBooleanSeq value; public: RTC::OutPort outPort; private: std::vector lightNames; }; class CameraImageOutPortHandler : public OutPortHandler { public: CameraImageOutPortHandler(PortInfo& info, bool synchController); virtual void inputDataFromSimulator(BodyRTCItem* bodyRTC); virtual void writeDataToPort(); void onCameraStateChanged(); void initialize(Body* simulationBody); private: Img::TimedCameraImage value; public: RTC::OutPort outPort; private: boost::mutex mtx; Camera* camera; std::string cameraName; boost::shared_ptr prevImage; double controlTime; }; class CameraRangeOutPortHandler : public OutPortHandler { public: CameraRangeOutPortHandler(PortInfo& info, bool synchController); virtual void inputDataFromSimulator(BodyRTCItem* bodyRTC); virtual void writeDataToPort(); void onCameraStateChanged(); void initialize(Body* simulationBody); private: PointCloudTypes::PointCloud value; public: RTC::OutPort outPort; private: boost::mutex mtx; RangeCamera* rangeCamera; std::string rangeCameraName; boost::shared_ptr prevPoints; boost::shared_ptr image; std::string format; double controlTime; }; class RangeSensorOutPortHandler : public OutPortHandler { public: RangeSensorOutPortHandler(PortInfo& info, bool synchController); virtual void inputDataFromSimulator(BodyRTCItem* bodyRTC); virtual void writeDataToPort(); void onRangeSensorStateChanged(); void initialize(Body* simulationBody); private: RTC::RangeData value; public: RTC::OutPort outPort; private: boost::mutex mtx; RangeSensor* rangeSensor; std::string rangeSensorName; boost::shared_ptr prevRangeData; double controlTime; }; class JointDataSeqInPortHandler : public InPortHandler { public: JointDataSeqInPortHandler(PortInfo& info); virtual void outputDataToSimulator(const BodyPtr& body); virtual void readDataFromPort(); private: RTC::TimedDoubleSeq values; public: RTC::InPort inPort; private: DataTypeId linkDataType; }; class LinkDataInPortHandler : public InPortHandler { public: LinkDataInPortHandler(PortInfo& info); virtual void outputDataToSimulator(const BodyPtr& body); virtual void readDataFromPort(); private: RTC::TimedDoubleSeq values; public: RTC::InPort inPort; private: std::vector linkNames; DataTypeId linkDataType; }; class AbsTransformInPortHandler : public InPortHandler { public: AbsTransformInPortHandler(PortInfo& info); virtual void outputDataToSimulator(const BodyPtr& body); virtual void readDataFromPort(); private: RTC::TimedPose3D values; public: RTC::InPort inPort; private: std::vector linkNames; DataTypeId linkDataType; }; class LightOnInPortHandler : public InPortHandler { public: LightOnInPortHandler(PortInfo& info); virtual void outputDataToSimulator(const BodyPtr& body); virtual void readDataFromPort(); private: RTC::TimedBooleanSeq values; public: RTC::InPort inPort; private: std::vector lightNames; }; } #endif choreonoid-1.5.0/src/OpenRTMPlugin/po/0000775000000000000000000000000012741425367016231 5ustar rootrootchoreonoid-1.5.0/src/OpenRTMPlugin/po/ja.po0000664000000000000000000002134612741425367017171 0ustar rootroot# Japanese translations for PACKAGE package. # Copyright (C) 2012 THE PACKAGE'S COPYRIGHT HOLDER # This file is distributed under the same license as the PACKAGE package. # nakaoka , 2012. # msgid "" msgstr "" "Project-Id-Version: PACKAGE VERSION\n" "Report-Msgid-Bugs-To: \n" "POT-Creation-Date: 2016-04-28 15:25+0900\n" "PO-Revision-Date: 2012-07-17 00:22+0100\n" "Last-Translator: nakaoka \n" "Language-Team: Japanese\n" "Language: ja\n" "MIME-Version: 1.0\n" "Content-Type: text/plain; charset=UTF-8\n" "Content-Transfer-Encoding: 8bit\n" "Plural-Forms: nplurals=1; plural=0;\n" #: BodyRTCItem.cpp:37 msgid "BodyRTCItem" msgstr "ƒœƒ‡‚£RTC‚˘‚¤ƒ†ƒ " #: BodyRTCItem.cpp:60 msgid "Use Configuration File" msgstr "設ċšƒ•‚Ħ‚¤ƒĞ‚’ä½żç”¨" #: BodyRTCItem.cpp:61 msgid "Create Default Port" msgstr "ĉ¨™ĉş–ƒƒĵƒˆ‚’作ĉˆ" #: BodyRTCItem.cpp:66 RTCItem.cpp:66 msgid "RTC directory" msgstr "RTCƒ‡‚£ƒĴ‚ŻƒˆƒŞ" #: BodyRTCItem.cpp:67 RTCItem.cpp:67 msgid "Project directory" msgstr "ƒ—ƒ­‚¸‚§‚Żƒˆƒ‡‚£ƒĴ‚ŻƒˆƒŞ" #: BodyRTCItem.cpp:123 BodyRTCItem.cpp:169 RTCItem.cpp:249 msgid "Please save the project." msgstr "ƒ—ƒ­‚¸‚§‚Żƒˆ‚’保ċ­˜—Ĥ •„€‚" #: BodyRTCItem.cpp:132 msgid "Config File \"%1%\" has been loaded." msgstr "設ċšƒ•‚Ħ‚¤ƒĞ \"%1%\" ŒèŞ­żèĵ‚Œ—Ÿ€‚" #: BodyRTCItem.cpp:134 msgid "Cannot find or open \"%1%\"." msgstr "\"%1%\"€€Żċ­˜ċœ¨—Ş„‹€é–‹‘›‚“€‚" #: BodyRTCItem.cpp:144 msgid "Loading Module.... \"%1%\"" msgstr "\"%1%\"‚’èŞ­żèĵżä¸­...." #: BodyRTCItem.cpp:195 msgid "RTC \"%1%\" has been created." msgstr "RTC \"%1%\" ‚’生ĉˆ——Ÿ€‚" #: BodyRTCItem.cpp:317 msgid "RTC \"%1%\" is not ready." msgstr "RTC \"%1%\" Œċˆİ用§›‚“€‚" #: BodyRTCItem.cpp:324 msgid "Output interval must be longer than the control interval." msgstr "ċ‡şċŠ›é–“éš”Ż€‚³ƒ³ƒˆƒ­ƒĵƒĞé–“éš”‚ˆ‚Šé•·„ċż…èĤŒ‚‚Š™€‚" #: BodyRTCItem.cpp:508 msgid "Auto Connect" msgstr "è‡Şċ‹•ƒƒĵƒˆĉŽçĥš" #: BodyRTCItem.cpp:509 msgid "RTC Instance name" msgstr "RTC‚¤ƒ³‚ı‚żƒ³‚ıċ" #: BodyRTCItem.cpp:511 msgid "Periodic rate" msgstr "ċŸèĦŒċ‘¨ĉœŸ" #: BodyRTCItem.cpp:513 RTCItem.cpp:179 msgid "Relative Path Base" msgstr "相ċŻƒ‘‚ıƒ™ƒĵ‚ı" #: BodyRTCItem.cpp:517 RTCItem.cpp:183 msgid " Dynamic Link Library " msgstr " ċ…ħĉœ‰ƒİ‚¤ƒ–ƒİƒŞ " #: BodyRTCItem.cpp:525 msgid "Controller module name" msgstr "‚³ƒ³ƒˆƒ­ƒĵƒİƒ˘‚¸ƒƒĵƒĞċ" #: BodyRTCItem.cpp:528 msgid "Configuration mode" msgstr "設ċšƒ˘ƒĵƒ‰" #: BodyRTCItem.cpp:532 msgid " RTC Configuration File (*.conf)" msgstr "RTC 設ċšƒ•‚Ħ‚£ƒĞ (*.conf)" #: BodyRTCItem.cpp:540 msgid "Configuration file name" msgstr "設ċšƒ•‚Ħ‚¤ƒĞċ" #: BodyRTCItem.cpp:619 BodyRTCItem.cpp:667 msgid "%1% is not found." msgstr "%1% ŒèĤ‹¤‹‚Š›‚“€‚" #: BodyRTCItem.cpp:623 BodyRTCItem.cpp:671 msgid "%1% is not an RTC object." msgstr "%1% ŻRTC§Ż‚‚Š›‚“€‚" #: BodyRTCItem.cpp:632 msgid "setup RT components" msgstr "RTCè¨­ċš‚’—Ĥ„™€‚" #: BodyRTCItem.cpp:727 msgid "periodic-rate (%1%) = %2% " msgstr "ċ‘¨ĉœŸ(%1%) = %2% " #: BodyRTCItem.cpp:739 msgid "detected the ExtTrigExecutionContext" msgstr "ExtTrigExecutionContext‚’ĉ¤œċ‡ş——Ÿ€‚" #: BodyRTCItem.cpp:851 BodyRTCItem.cpp:860 msgid "%1% does not have a port %2%." msgstr "%1% Ż€ƒƒĵƒˆ %2% ‚’ĉŒ£Ĥ„›‚“€‚" #: BodyRTCItem.cpp:882 msgid "The robot does not have a port named %1%." msgstr "ƒ­ƒœƒƒƒˆŻƒƒĵƒˆ %1% ‚’ĉŒ£Ĥ„›‚“€‚" #: BodyRTCItem.cpp:893 BodyRTCItem.cpp:963 msgid "connect %1%:%2% --> %3%:%4%" msgstr "%1%:%2% --> %3%:%4% ĉŽçĥš—Ĥ„™...." #: BodyRTCItem.cpp:897 BodyRTCItem.cpp:1004 msgid "connect %1%:%2% <-- %3%:%4%" msgstr "%1%:%2% <-- %3%:%4% ĉŽçĥš—Ĥ„™...." #: BodyRTCItem.cpp:903 BodyRTCItem.cpp:966 BodyRTCItem.cpp:1007 msgid "Connection was successful." msgstr "ĉŽçĥš——Ÿ€‚" #: BodyRTCItem.cpp:905 BodyRTCItem.cpp:968 BodyRTCItem.cpp:1009 msgid "Connection failed." msgstr "ĉŽçĥš§›‚“§—Ÿ€‚" #: BodyRTCItem.cpp:907 BodyRTCItem.cpp:970 BodyRTCItem.cpp:1011 msgid " It has already been connected." msgstr "ĉ—˘ĞĉŽçĥš—Ĥ„™€‚" #: BodyRTCItem.cpp:1079 BodyRTCItem.cpp:1095 RTCItem.cpp:410 RTCItem.cpp:417 msgid "delete %1%" msgstr "%1% ‚’ċ‰Šé™¤——Ÿ€‚" #: BodyRTCItem.cpp:1116 RTCItem.cpp:412 msgid "%1% cannot be deleted." msgstr "%1% ‚’ċ‰Šé™¤§›‚“§—Ÿ€‚" #: OpenHRPClockGeneratorItem.cpp:44 msgid "" "OpenHRP ClockGenerator failed to tick an execution context due to exception: " "%1%." msgstr "" "OpenHRP‚Żƒ­ƒƒ‚Ż‚¸‚§ƒƒĴƒĵ‚żŻä‹ċ¤–Ğ‚ˆ‚ŠċŸèĦŒ‚³ƒ³ƒ†‚­‚ıƒˆtickĞċ¤ħĉ•———Ÿ€‚" #: OpenHRPClockGeneratorItem.cpp:81 msgid "OpenHRP ClockGenerator received a subscription request." msgstr "OpenHRP‚Żƒ­ƒƒ‚Ż‚¸‚§ƒƒĴƒĵ‚żŒè³ĵèŞ­èĤĉħ‚‚’ċ—äżĦ——Ÿ€‚" #: OpenHRPClockGeneratorItem.cpp:92 msgid "OpenHRP ClockGenerator received an unsubscription request." msgstr "OpenHRP‚Żƒ­ƒƒ‚Ż‚¸‚§ƒƒĴƒĵ‚żŒè³ĵèŞ­ċœĉ­˘èĤĉħ‚‚’ċ—äżĦ——Ÿ€‚" #: OpenHRPClockGeneratorItem.cpp:128 msgid "OpenHRPClockGeneratorItem" msgstr "OpenHRP‚Żƒ­ƒƒ‚Ż‚¸‚§ƒƒĴƒĵ‚ż‚˘‚¤ƒ†ƒ " #: OpenHRPClockGeneratorItem.cpp:170 msgid "OpenHRP ClockGenerator is used for this simulation." msgstr "ĉœĴ‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³§ŻOpenHRP‚Żƒ­ƒƒ‚Ż‚¸‚§ƒƒĴƒĵ‚żŒä½żç”¨•‚Œ™€‚" #: OpenRTMPlugin.cpp:126 msgid "ChoreonoidExecutionContext has been registered." msgstr "ChoreonoidExecutionContext‚’ç™ğ録——Ÿ€‚" #: OpenRTMPlugin.cpp:137 msgid "ChoreonoidPeriodicExecutionContext has been registered." msgstr "ChoreonoidPeriodicExecutionContext‚’ç™ğ録——Ÿ€‚" #: OpenRTMPlugin.cpp:158 msgid "Delete unmanaged RT components" msgstr "非çĦ理下RT‚³ƒ³ƒƒĵƒƒ³ƒˆċ‰Šé™¤" #: OpenRTMPlugin.cpp:163 msgid "Delete unmanaged RT components on starting a simulation" msgstr "非çĦ理下RT‚³ƒ³ƒƒĵƒƒ³ƒˆ‚’‚·ƒŸƒƒĴƒĵ‚·ƒ§ƒ³é–‹ċ§‹ĉ™‚Ğċ‰Šé™¤" #: OpenRTMPlugin.cpp:226 msgid "An RT component which is not managed by Choreonoid is being deleted." msgstr "ChoreonoidçĦ理下Ğç„Ħ„1ċ€‹RT‚³ƒ³ƒƒĵƒƒ³ƒˆ‚’ċ‰Šé™¤—Ĥ„™€‚" #: OpenRTMPlugin.cpp:228 msgid "" "%1% RT components which are not managed by Choreonoid are being deleted." msgstr "ChoreonoidçĦ理下Ğç„Ħ„%1%ċ€‹RT‚³ƒ³ƒƒĵƒƒ³ƒˆ‚’ċ‰Šé™¤—Ĥ„™€‚" #: OpenRTMPlugin.cpp:233 msgid "The unmanaged RT component has been deleted." msgstr "RT‚³ƒ³ƒƒĵƒƒ³ƒˆƒ—ƒ­‚ğ‚ı \"%1%\" ‚’èµ·ċ‹•——Ÿ€‚" #: OpenRTMPlugin.cpp:235 msgid "The unmanaged RT components have been deleted." msgstr "非çĦ理下RT‚³ƒ³ƒƒĵƒƒ³ƒˆ‚’ċ‰Šé™¤——Ÿ€‚" #: RTCItem.cpp:38 msgid "RTCItem" msgstr "RTC‚˘‚¤ƒ†ƒ " #: RTCItem.cpp:55 msgid "PeriodicExecutionContext" msgstr "" #: RTCItem.cpp:56 msgid "SynchExtTriggerEC" msgstr "" #: RTCItem.cpp:57 msgid "ExtTrigExecutionContext" msgstr "" #: RTCItem.cpp:58 msgid "ChoreonoidExecutionContext" msgstr "" #: RTCItem.cpp:191 msgid "RTC module Name" msgstr "RTCƒ˘‚¸ƒƒĵƒĞċ" #: RTCItem.cpp:194 msgid "Periodic type" msgstr "ċŸèĦŒ‚ż‚¤ƒ—" #: RTCItem.cpp:197 msgid "Periodic Rate" msgstr "ċŸèĦŒċ‘¨ĉœŸ" #: RTCItem.cpp:318 msgid "A file of RTC \"%1%\" does not exist." msgstr "RTC \"%1%\" ƒ•‚Ħ‚¤ƒĞŒċ­˜ċœ¨—›‚“€‚" #: RTCItem.cpp:326 msgid "RTC \"%1%\" has been created from \"%2%\"." msgstr "RTC \"%1%\" ‚’ \"%2%\" ‹‚‰ç”Ÿĉˆ——Ÿ€‚" #: RTCItem.cpp:328 msgid "RTC \"%1%\" cannot be created." msgstr "RTC \"%1%\" ‚’生ĉˆ§›‚“—Ÿ€‚" #: RTCItem.cpp:351 msgid "" "RTC \"%1%\" cannot be created by the RTC manager.\n" " RTC module file: \"%2%\"\n" " Init function: %3%\n" " option: %4%" msgstr "" "RTC \"%1%\" ‚’RTCƒžƒƒĵ‚¸ƒ£‹‚‰ç”Ÿĉˆ§›‚“€‚\n" " RTCƒ•‚Ħ‚¤ƒĞ: \"%2%\"\n" " Init関ĉ•°: %3%\n" " ‚ރ—‚·ƒ§ƒ³: %4%" #: RTCItem.cpp:393 msgid "RT Component process \"%1%\" cannot be executed." msgstr "RT‚³ƒ³ƒƒĵƒƒ³ƒˆƒ—ƒ­‚ğ‚ı \"%1%\" Żèµ·ċ‹•§›‚“§—Ÿ€‚" #: RTCItem.cpp:395 msgid "RT Component process \"%1%\" has been executed." msgstr "RT‚³ƒ³ƒƒĵƒƒ³ƒˆƒ—ƒ­‚ğ‚ı \"%1%\" ‚’èµ·ċ‹•——Ÿ€‚" #: RTSNameServerView.cpp:53 msgid "RTC List" msgstr "RTCƒŞ‚ıƒˆ" #: RTSNameServerView.cpp:107 msgid "Update" msgstr "ĉ›´ĉ–°" #: RTSNameServerView.cpp:113 msgid "Object Name" msgstr "‚ރ–‚¸‚§‚Żƒˆċ" #: RTSNameServerView.cpp:137 RTSNameServerView.cpp:178 msgid "RTC Properties" msgstr "RTCƒ—ƒ­ƒ‘ƒ†‚£" #: RTSNameServerView.cpp:141 RTSNameServerView.cpp:158 msgid "RTC Diagram" msgstr "RTCƒ€‚¤‚˘‚°ƒİƒ " #: VirtualRobotRTC.cpp:325 msgid "detected RTC: %1% Port connection: %2% <--> %3%" msgstr "RTC‚’ĉ¤œċ‡şïĵš %1%€€ƒƒĵƒˆĉŽçĥšïĵš€€%2% <--> %3%" choreonoid-1.5.0/src/OpenRTMPlugin/BodyRTCItem.h0000664000000000000000000001035012741425367020050 0ustar rootroot/** @author Shizuko Hattori @author Shin'ichiro Nakaoka */ #ifndef CNOID_OPENRTM_PLUGIN_BODY_RTC_ITEM_H #define CNOID_OPENRTM_PLUGIN_BODY_RTC_ITEM_H #include "VirtualRobotRTC.h" #include "RTCItem.h" #include #include #include #include #ifdef ENABLE_SIMULATION_PROFILING #include #endif #include "exportdecl.h" namespace cnoid { class MessageView; class CNOID_EXPORT BodyRTCItem : public ControllerItem { public: static void initialize(ExtensionManager* ext); BodyRTCItem(); BodyRTCItem(const BodyRTCItem& org); virtual ~BodyRTCItem(); virtual bool start(ControllerItemIO* io); virtual double timeStep() const; virtual void input(); virtual bool control(); virtual void output(); virtual void stop(); const BodyPtr& body() const { return simulationBody; }; const DeviceList& forceSensors() const { return forceSensors_; } const DeviceList& rateGyroSensors() const { return gyroSensors_; } const DeviceList& accelerationSensors() const { return accelSensors_; } double controlTime() const { return controlTime_; } enum ConfigMode { CONF_FILE_MODE = 0, CONF_ALL_MODE, N_CONFIG_MODES }; enum PathBase { RTC_DIRECTORY = 0, PROJECT_DIRECTORY, N_PATH_BASE }; void setControllerModule(const std::string& name); void setConfigFile(const std::string& filename); void setConfigMode(int mode); void setPeriodicRate(double freq); void setAutoConnectionMode(bool on); void setPathBase(int pathBase); #ifdef ENABLE_SIMULATION_PROFILING virtual void getProfilingNames(std::vector& profilingNames); virtual void getProfilingTimes(std::vector& profilingTimes); #endif protected: virtual void onPositionChanged(); virtual void onDisconnectedFromRoot(); virtual Item* doDuplicate() const; virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: BodyPtr simulationBody; DeviceList forceSensors_; DeviceList gyroSensors_; DeviceList accelSensors_; double timeStep_; // The world time step is used if the following values are 0 double executionCycleProperty; double executionCycle; double executionCycleCounter; const ControllerItemIO* io; double controlTime_; std::ostream& os; std::string bodyName; RTC::CorbaNaming* naming; BridgeConf* bridgeConf; VirtualRobotRTC* virtualRobotRTC; OpenRTM::ExtTrigExecutionContextService_var virtualRobotEC; Selection configMode; bool autoConnect; RTComponent* rtcomp; Selection pathBase; typedef std::map PortMap; struct RtcInfo { RTC::RTObject_var rtcRef; PortMap portMap; OpenRTM::ExtTrigExecutionContextService_var execContext; double timeRate; double timeRateCounter; }; typedef boost::shared_ptr RtcInfoPtr; typedef std::map RtcInfoMap; RtcInfoMap rtcInfoMap; typedef std::vector RtcInfoVector; RtcInfoVector rtcInfoVector; std::string moduleName; std::string moduleFileName; std::string confFileName; std::string instanceName; int oldMode; int oldPathBase; MessageView* mv; void createRTC(BodyPtr body); void setdefaultPort(BodyPtr body); void activateComponents(); void deactivateComponents(); void detectRtcs(); void setupRtcConnections(); RtcInfoPtr addRtcVectorWithConnection(RTC::RTObject_var new_rtcRef); void makePortMap(RtcInfoPtr& rtcInfo); int connectPorts(RTC::PortService_var outPort, RTC::PortService_var inPort); void setInstanceName(const std::string& name); void deleteModule(bool waitToBeDeleted); #ifdef ENABLE_SIMULATION_PROFILING double bodyRTCTime; double controllerTime; TimeMeasure timer; #endif }; typedef ref_ptr BodyRTCItemPtr; } #endif choreonoid-1.5.0/src/OpenRTMPlugin/BodyRTCItem.cpp0000664000000000000000000011674712741425367020424 0ustar rootroot/** @author Shizuko Hattori @author Shin'ichiro Nakaoka */ #include "BodyRTCItem.h" #include "VirtualRobotRTC.h" #include "OpenRTMUtil.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; using namespace RTC; namespace { const bool TRACE_FUNCTIONS = false; } void BodyRTCItem::initialize(ExtensionManager* ext) { static bool initialized = false; if(!initialized){ ext->itemManager().registerClass(N_("BodyRTCItem")); ext->itemManager().addCreationPanel(); initialized = true; } } BodyRTCItem::BodyRTCItem() : os(MessageView::instance()->cout()), configMode(N_CONFIG_MODES, CNOID_GETTEXT_DOMAIN_NAME), pathBase(N_PATH_BASE, CNOID_GETTEXT_DOMAIN_NAME) { setName("BodyRTC"); io = 0; virtualRobotRTC = 0; rtcomp = 0; bridgeConf = 0; moduleName.clear(); bodyName.clear(); instanceName.clear(); mv = MessageView::instance(); configMode.setSymbol(CONF_FILE_MODE, N_("Use Configuration File")); configMode.setSymbol(CONF_ALL_MODE, N_("Create Default Port")); configMode.select(CONF_ALL_MODE); oldMode = CONF_ALL_MODE; autoConnect = false; pathBase.setSymbol(RTC_DIRECTORY, N_("RTC directory")); pathBase.setSymbol(PROJECT_DIRECTORY, N_("Project directory")); pathBase.select(RTC_DIRECTORY); oldPathBase = RTC_DIRECTORY; executionCycleProperty = 0.0; } BodyRTCItem::BodyRTCItem(const BodyRTCItem& org) : ControllerItem(org), os(MessageView::instance()->cout()), configMode(org.configMode), pathBase(org.pathBase) { io = 0; virtualRobotRTC = org.virtualRobotRTC; rtcomp = org.rtcomp; bridgeConf = org.bridgeConf; moduleName = org.moduleName; instanceName = org.instanceName; bodyName = org.bodyName; oldMode = org.oldMode; autoConnect = org.autoConnect; mv = MessageView::instance(); executionCycleProperty = org.executionCycleProperty; oldPathBase = org.oldPathBase; } BodyRTCItem::~BodyRTCItem() { } void BodyRTCItem::createRTC(BodyPtr body) { bridgeConf = new BridgeConf(); if(configMode.is(CONF_FILE_MODE)){ filesystem::path confPath; if(!confFileName.empty()){ confPath = confFileName; } else if(!moduleName.empty()){ confPath = moduleName+".conf"; } if(!confPath.empty()){ if(!checkAbsolute(confPath)){ if (pathBase.is(RTC_DIRECTORY)) confPath = filesystem::path(executableTopDirectory()) / CNOID_PLUGIN_SUBDIR / "rtc" / confPath; else { const string& projectFileName = ProjectManager::instance()->getProjectFileName(); if (projectFileName.empty()){ mv->putln(_("Please save the project.")); return; }else{ confPath = boost::filesystem::path(projectFileName).parent_path() / confPath; } } } std::string confFileName0 = getNativePathString(confPath); if(bridgeConf->loadConfigFile(confFileName0.c_str())){ mv->putln(fmt(_("Config File \"%1%\" has been loaded.")) % confFileName0); } else { mv->putln(fmt(_("Cannot find or open \"%1%\".")) % confFileName0); } } }else{ setdefaultPort(body); } ModuleInfoList& moduleInfoList = bridgeConf->moduleInfoList; ModuleInfoList::iterator it; for(it=moduleInfoList.begin(); it != moduleInfoList.end(); ++it){ mv->putln(fmt(_("Loading Module.... \"%1%\"")) % it->fileName); } bridgeConf->setupModules(); if(!moduleName.empty()){ ModuleInfoList& moduleInfoList = bridgeConf->moduleInfoList; ModuleInfoList::iterator it; for(it = moduleInfoList.begin(); it != moduleInfoList.end(); ++it){ if(it->componentName == moduleName){ break; } } if(it == moduleInfoList.end()){ PropertyMap prop; prop["exec_cxt.periodic.type"] = "ChoreonoidExecutionContext"; prop["exec_cxt.periodic.rate"] = "1000000"; filesystem::path modulePath(moduleName); if (!checkAbsolute(modulePath)){ if (pathBase.is(RTC_DIRECTORY)) modulePath = filesystem::path(executableTopDirectory()) / CNOID_PLUGIN_SUBDIR / "rtc" / modulePath; else { const string& projectFileName = ProjectManager::instance()->getProjectFileName(); if (projectFileName.empty()){ mv->putln(_("Please save the project.")); return; } else{ modulePath = boost::filesystem::path(projectFileName).parent_path() / modulePath; } } } rtcomp = new RTComponent(modulePath, prop); } } RTC::Manager& rtcManager = RTC::Manager::instance(); string bodyName(body->name()); if(instanceName.empty()){ instanceName = bodyName; } int i=2; while(rtcManager.getComponent(instanceName.c_str()) != NULL){ stringstream ss; ss << bodyName << "(" << i << ")"; instanceName = ss.str(); i++; } format param("VirtualRobot?instance_name=%1%&exec_cxt.periodic.type=ChoreonoidExecutionContext&exec_cxt.periodic.rate=1000000"); RtcBase* rtc = createManagedRTC(str(param % instanceName).c_str()); mv->putln(fmt(_("RTC \"%1%\" has been created.")) % instanceName); virtualRobotRTC = dynamic_cast(rtc); virtualRobotRTC->createPorts(bridgeConf); virtualRobotEC = OpenRTM::ExtTrigExecutionContextService::_nil(); RTC::ExecutionContextList_var eclist = virtualRobotRTC->get_owned_contexts(); for(CORBA::ULong i=0; i < eclist->length(); ++i){ if(!CORBA::is_nil(eclist[i])){ virtualRobotEC = OpenRTM::ExtTrigExecutionContextService::_narrow(eclist[i]); break; } } } void BodyRTCItem::setdefaultPort(BodyPtr body) { PortInfoMap& outPortInfoMap = bridgeConf->outPortInfos; PortInfo portInfo; portInfo.dataOwnerNames.clear(); portInfo.dataTypeId = JOINT_VALUE; portInfo.portName = "q"; portInfo.stepTime = 0; outPortInfoMap.insert(make_pair(portInfo.portName, portInfo)); portInfo.dataTypeId = JOINT_TORQUE; portInfo.portName = "u_out"; portInfo.stepTime = 0; outPortInfoMap.insert(make_pair(portInfo.portName, portInfo)); for(size_t i=0; i < forceSensors_.size(); ++i){ if(Device* sensor = forceSensors_[i]){ portInfo.dataTypeId = FORCE_SENSOR; portInfo.dataOwnerNames.clear(); portInfo.dataOwnerNames.push_back(sensor->name()); portInfo.portName = sensor->name(); portInfo.stepTime = 0; outPortInfoMap.insert(make_pair(portInfo.portName, portInfo)); } } for(size_t i=0; i < gyroSensors_.size(); ++i){ if(Device* sensor = gyroSensors_[i]){ portInfo.dataTypeId = RATE_GYRO_SENSOR; portInfo.dataOwnerNames.clear(); portInfo.dataOwnerNames.push_back(sensor->name()); portInfo.portName = sensor->name(); portInfo.stepTime = 0; outPortInfoMap.insert(make_pair(portInfo.portName, portInfo)); } } for(size_t i=0; i < accelSensors_.size(); ++i){ if(Device* sensor = accelSensors_[i]){ portInfo.dataTypeId = ACCELERATION_SENSOR; portInfo.dataOwnerNames.clear(); portInfo.dataOwnerNames.push_back(sensor->name()); portInfo.portName = sensor->name(); portInfo.stepTime = 0; outPortInfoMap.insert(make_pair(portInfo.portName, portInfo)); } } PortInfoMap& inPortInfoMap = bridgeConf->inPortInfos; portInfo.dataOwnerNames.clear(); portInfo.dataTypeId = JOINT_TORQUE; portInfo.portName = "u_in"; portInfo.stepTime = 0; inPortInfoMap.insert(make_pair(portInfo.portName, portInfo)); } void BodyRTCItem::onPositionChanged() { // create or recreate an RTC corresponding to the body // The target body can be detected like this: BodyItem* ownerBodyItem = findOwnerItem(); if(ownerBodyItem){ Body* body = ownerBodyItem->body(); if(bodyName != body->name()){ forceSensors_ = body->devices().getSortedById(); gyroSensors_ = body->devices().getSortedById(); accelSensors_ = body->devices().getSortedById(); bodyName = body->name(); deleteModule(true); createRTC(body); } } else { deleteModule(false); bodyName.clear(); } } void BodyRTCItem::onDisconnectedFromRoot() { // This is not necessary because onPositionChanged() is also called // when the item is disconnected from the root deleteModule(false); } Item* BodyRTCItem::doDuplicate() const { return new BodyRTCItem(*this); } bool BodyRTCItem::start(ControllerItemIO* io) { this->io = io; simulationBody = io->body(); timeStep_ = io->timeStep(); controlTime_ = io->currentTime(); forceSensors_ = simulationBody->devices().getSortedById(); gyroSensors_ = simulationBody->devices().getSortedById(); accelSensors_ = simulationBody->devices().getSortedById(); executionCycle = (executionCycleProperty > 0.0) ? executionCycleProperty : timeStep_; executionCycleCounter = executionCycle; bool isReady = true; if(rtcomp && !rtcomp->isValid()){ mv->putln(fmt(_("RTC \"%1%\" is not ready.")) % rtcomp->name()); isReady = false; } if(virtualRobotRTC) { virtualRobotRTC->initialize(simulationBody); if(!virtualRobotRTC->checkOutPortStepTime(timeStep_)){ mv->putln(fmt(_("Output interval must be longer than the control interval."))); isReady = false; } } if(isReady){ rtcInfoVector.clear(); detectRtcs(); setupRtcConnections(); activateComponents(); } #ifdef ENABLE_SIMULATION_PROFILING bodyRTCTime = 0.0; #endif return isReady; } double BodyRTCItem::timeStep() const { return timeStep_; } void BodyRTCItem::input() { controlTime_ = io->currentTime(); // write the state of simulationBody to out-ports virtualRobotRTC->inputDataFromSimulator(this); } bool BodyRTCItem::control() { // tick the execution context of the connected RTCs virtualRobotRTC->writeDataToOutPorts(controlTime_, timeStep_); if(!CORBA::is_nil(virtualRobotEC)){ executionCycleCounter += timeStep_; if(executionCycleCounter + timeStep_ / 2.0 > executionCycle){ #ifdef ENABLE_SIMULATION_PROFILING timer.begin(); #endif virtualRobotEC->tick(); #ifdef ENABLE_SIMULATION_PROFILING bodyRTCTime = timer.measure(); #endif executionCycleCounter -= executionCycle; } } #ifdef ENABLE_SIMULATION_PROFILING timer.begin(); #endif for(RtcInfoVector::iterator p = rtcInfoVector.begin(); p != rtcInfoVector.end(); ++p){ RtcInfoPtr& rtcInfo = *p; if(!CORBA::is_nil(rtcInfo->execContext)){ rtcInfo->timeRateCounter += rtcInfo->timeRate; if(rtcInfo->timeRateCounter + rtcInfo->timeRate/2.0 > 1.0){ rtcInfo->execContext->tick(); rtcInfo->timeRateCounter -= 1.0; } } } #ifdef ENABLE_SIMULATION_PROFILING controllerTime = timer.measure(); #endif virtualRobotRTC->readDataFromInPorts(); return true; } void BodyRTCItem::output() { // read in-ports and write the values to simulationBody virtualRobotRTC->outputDataToSimulator(simulationBody); } void BodyRTCItem::stop() { // deactivate the RTC deactivateComponents(); } void BodyRTCItem::setControllerModule(const std::string& name) { if(moduleName!=name){ moduleName = name; BodyItem* ownerBodyItem = findOwnerItem(); if(ownerBodyItem){ BodyPtr body = ownerBodyItem->body(); deleteModule(true); createRTC(body); } } } void BodyRTCItem::setAutoConnectionMode(bool on) { autoConnect = on; } void BodyRTCItem::setConfigFile(const std::string& name) { if(confFileName!=name){ confFileName = name; if(configMode.is(CONF_ALL_MODE)) return; BodyItem* ownerBodyItem = findOwnerItem(); if(ownerBodyItem){ BodyPtr body = ownerBodyItem->body(); deleteModule(true); createRTC(body); } } } void BodyRTCItem::setConfigMode(int mode) { configMode.select(mode); if(oldMode != mode){ oldMode = mode; BodyItem* ownerBodyItem = findOwnerItem(); if(ownerBodyItem){ BodyPtr body = ownerBodyItem->body(); deleteModule(true); createRTC(body); } } } void BodyRTCItem::setPeriodicRate(double freq) { executionCycleProperty = 1.0 / freq; } void BodyRTCItem::setInstanceName(const std::string& name) { if(instanceName!=name){ instanceName = name; BodyItem* ownerBodyItem = findOwnerItem(); if(ownerBodyItem){ BodyPtr body = ownerBodyItem->body(); deleteModule(true); createRTC(body); } } } void BodyRTCItem::setPathBase(int base) { pathBase.select(base); if (oldPathBase != base){ oldPathBase = base; BodyItem* ownerBodyItem = findOwnerItem(); if (ownerBodyItem){ BodyPtr body = ownerBodyItem->body(); deleteModule(true); createRTC(body); } } } void BodyRTCItem::doPutProperties(PutPropertyFunction& putProperty) { ControllerItem::doPutProperties(putProperty); putProperty(_("Auto Connect"), autoConnect, changeProperty(autoConnect)); putProperty(_("RTC Instance name"), instanceName, boost::bind(&BodyRTCItem::setInstanceName, this, _1), true); putProperty.decimals(3)(_("Periodic rate"), executionCycleProperty, changeProperty(executionCycleProperty)); putProperty(_("Relative Path Base"), pathBase, boost::bind(&BodyRTCItem::setPathBase, this, _1), true); FileDialogFilter filter; filter.push_back( string(_(" Dynamic Link Library ")) + DLLSFX ); string dir; if(!moduleName.empty() && checkAbsolute(filesystem::path(moduleName))) dir = filesystem::path(moduleName).parent_path().string(); else{ if(pathBase.is(RTC_DIRECTORY)) dir = (filesystem::path(executableTopDirectory()) / CNOID_PLUGIN_SUBDIR / "rtc").string(); } putProperty(_("Controller module name"), FilePath(moduleName, filter, dir), boost::bind(&BodyRTCItem::setControllerModule, this, _1), true); putProperty(_("Configuration mode"), configMode, boost::bind(&BodyRTCItem::setConfigMode, this, _1), true); filter.clear(); filter.push_back(_(" RTC Configuration File (*.conf)") ); dir.clear(); if(!confFileName.empty() && checkAbsolute(filesystem::path(confFileName))) dir = filesystem::path(confFileName).parent_path().string(); else{ if(pathBase.is(RTC_DIRECTORY)) dir = (filesystem::path(executableTopDirectory()) / CNOID_PLUGIN_SUBDIR / "rtc").string(); } putProperty(_("Configuration file name"), FilePath(confFileName, filter, dir), boost::bind(&BodyRTCItem::setConfigFile, this, _1), true); } bool BodyRTCItem::store(Archive& archive) { if(!ControllerItem::store(archive)){ return false; } archive.writeRelocatablePath("moduleName", moduleName); archive.writeRelocatablePath("confFileName", confFileName); archive.write("configurationMode", configMode.selectedSymbol(), DOUBLE_QUOTED); archive.write("AutoConnect", autoConnect); archive.write("InstanceName", instanceName, DOUBLE_QUOTED); archive.write("bodyPeriodicRate", executionCycleProperty); archive.write("RelativePathBase", pathBase.selectedSymbol(), DOUBLE_QUOTED); return true; } bool BodyRTCItem::restore(const Archive& archive) { if(!ControllerItem::restore(archive)){ return false; } string value; if(archive.read("moduleName", value)){ filesystem::path path(archive.expandPathVariables(value)); moduleName = getNativePathString(path); } if(archive.read("confFileName", value)){ filesystem::path path(archive.expandPathVariables(value)); confFileName = getNativePathString(path); } string symbol; if(archive.read("configurationMode", symbol)){ configMode.select(symbol); oldMode = configMode.selectedIndex(); } if (archive.read("RelativePathBase", symbol)){ pathBase.select(symbol); oldPathBase = pathBase.selectedIndex(); } archive.read("AutoConnect", autoConnect); archive.read("InstanceName", instanceName); archive.read("bodyPeriodicRate", executionCycleProperty); return true; } // configƒ•‚Ħ‚¤ƒĞ§ĉŒ‡ċš•‚ŒŸRTC,RobotĞĉ—˘ĞĉŽçĥš•‚ŒĤ„‚‹RTC‚’ĉ¤œċ‡ş™‚‹€‚ // void BodyRTCItem::detectRtcs() { RTC::Manager& rtcManager = RTC::Manager::instance(); string nameServer = rtcManager.getConfig()["corba.nameservers"]; int comPos = nameServer.find(","); if (comPos < 0){ comPos = nameServer.length(); } nameServer = nameServer.substr(0, comPos); naming = new RTC::CorbaNaming(rtcManager.getORB(), nameServer.c_str()); for(TimeRateMap::iterator it = bridgeConf->timeRateMap.begin(); it != bridgeConf->timeRateMap.end(); ++it){ RTC::RTObject_var rtcRef; string rtcName = it->first; if( rtcName != "") { string rtcNamingName = rtcName + ".rtc"; CORBA::Object_var objRef; try { objRef = naming->resolve(rtcNamingName.c_str()); } catch(const CosNaming::NamingContext::NotFound &ex) { } if(CORBA::is_nil(objRef)) { mv->putln(fmt(_("%1% is not found.")) % rtcName); } else { rtcRef = RTC::RTObject::_narrow(objRef); if(CORBA::is_nil(rtcRef)){ mv->putln(fmt(_("%1% is not an RTC object.")) % rtcName); } } } if (!CORBA::is_nil(rtcRef)) { addRtcVectorWithConnection(rtcRef); } } mv->putln(_("setup RT components")); rtcInfoMap.clear(); for(size_t i=0; i < bridgeConf->portConnections.size(); ++i){ PortConnection& connection = bridgeConf->portConnections[i]; for(int i=0; i<2; i++){ RTC::RTObject_var rtcRef = 0; string rtcName; if(!connection.InstanceName[i].empty()){ rtcName = connection.InstanceName[i]; } else { if(i==1){ if(rtcomp && rtcomp->rtc()){ RTC::RtcBase* rtcServant = rtcomp->rtc(); rtcName = rtcServant->getInstanceName(); rtcRef = rtcServant->getObjRef(); } } else { continue; } } RtcInfoMap::iterator it = rtcInfoMap.find(rtcName); if(it == rtcInfoMap.end()){ if(!rtcRef){ string rtcNamingName = rtcName + ".rtc"; CORBA::Object_var objRef; try { objRef = naming->resolve(rtcNamingName.c_str()); } catch(const CosNaming::NamingContext::NotFound &ex) { } if(CORBA::is_nil(objRef)){ mv->putln(fmt(_("%1% is not found.")) % rtcName); } else { rtcRef = RTC::RTObject::_narrow(objRef); if(CORBA::is_nil(rtcRef)){ mv->putln(fmt(_("%1% is not an RTC object.")) % rtcName); } } } if(!CORBA::is_nil(rtcRef)){ RtcInfoPtr rtcInfo = addRtcVectorWithConnection(rtcRef); rtcInfoMap.insert(make_pair(rtcName,rtcInfo)); } } } } RTC::RTCList_var rtcList = virtualRobotRTC->getConnectedRtcs(); for(CORBA::ULong i=0; i < rtcList->length(); ++i){ addRtcVectorWithConnection(rtcList[i]); } } void BodyRTCItem::makePortMap(RtcInfoPtr& rtcInfo) { RTC::PortServiceList_var ports = rtcInfo->rtcRef->get_ports(); for(CORBA::ULong i=0; i < ports->length(); ++i){ RTC::PortProfile_var profile = ports[i]->get_port_profile(); std::string portName(profile->name); string::size_type index = portName.rfind("."); if (index != string::npos) portName = portName.substr(index+1); rtcInfo->portMap[portName] = ports[i]; } } /// new_rtcRefƒƒĵƒˆƒžƒƒƒ—作ĉˆ—€rtcInfoVectorĞç™ğ録™‚‹€‚ // BodyRTCItem::RtcInfoPtr BodyRTCItem::addRtcVectorWithConnection(RTC::RTObject_var new_rtcRef) { RtcInfoVector::iterator it = rtcInfoVector.begin(); for( ; it != rtcInfoVector.end(); ++it){ if((*it)->rtcRef->_is_equivalent(new_rtcRef)) return *it; } RtcInfoPtr rtcInfo(new RtcInfo()); rtcInfo->rtcRef = new_rtcRef; makePortMap(rtcInfo); string rtcName = (string)rtcInfo->rtcRef->get_component_profile()->instance_name; if (bridgeConf->timeRateMap.size() == 0 ) { rtcInfo->timeRate = 1.0; rtcInfo->timeRateCounter = 0.0; } else { TimeRateMap::iterator p = bridgeConf->timeRateMap.find(rtcName); if ( p != bridgeConf->timeRateMap.end() ) { rtcInfo->timeRate = (double)p->second; rtcInfo->timeRateCounter = 1.0 - rtcInfo->timeRate; } else { rtcInfo->timeRate = 0.0; rtcInfo->timeRateCounter = 0.0; } mv->putln(fmt(_("periodic-rate (%1%) = %2% ")) % rtcName % rtcInfo->timeRate); } rtcInfoVector.push_back(rtcInfo); RTC::ExecutionContextList_var eclist = rtcInfo->rtcRef->get_owned_contexts(); for(CORBA::ULong i=0; i < eclist->length(); ++i){ if(!CORBA::is_nil(eclist[i])){ rtcInfo->execContext = OpenRTM::ExtTrigExecutionContextService::_narrow(eclist[i]); SDOPackage::NVList& properties = rtcInfo->rtcRef->get_component_profile()->properties; const char* ec_type(0); NVUtil::find(properties, "exec_cxt.periodic.type") >>= ec_type; if(!CORBA::is_nil(rtcInfo->execContext)){ mv->putln(_("detected the ExtTrigExecutionContext")); } break; } } return rtcInfo; } void BodyRTCItem::activateComponents() { for(RtcInfoVector::iterator p = rtcInfoVector.begin(); p != rtcInfoVector.end(); ++p){ RtcInfoPtr& rtcInfo = *p; if(!CORBA::is_nil(rtcInfo->execContext)){ if( RTC::PRECONDITION_NOT_MET == rtcInfo->execContext->activate_component(rtcInfo->rtcRef) ){ rtcInfo->execContext->reset_component(rtcInfo->rtcRef); rtcInfo->execContext->activate_component(rtcInfo->rtcRef); } } } RTC::ExecutionContextList_var eclist = virtualRobotRTC->get_owned_contexts(); for(CORBA::ULong i=0; i < eclist->length(); ++i){ if(!CORBA::is_nil(eclist[i])){ OpenRTM::ExtTrigExecutionContextService_var execContext = OpenRTM::ExtTrigExecutionContextService::_narrow(eclist[i]); if(!CORBA::is_nil(execContext)){ if(RTC::PRECONDITION_NOT_MET == execContext->activate_component(virtualRobotRTC->getObjRef())){ execContext->reset_component(virtualRobotRTC->getObjRef()); execContext->tick(); execContext->activate_component(virtualRobotRTC->getObjRef()); } execContext->tick(); } break; } } } void BodyRTCItem::deactivateComponents() { std::vector vecExecContext; for(RtcInfoVector::iterator p = rtcInfoVector.begin(); p != rtcInfoVector.end(); ++p){ RtcInfoPtr& rtcInfo = *p; if(!CORBA::is_nil(rtcInfo->execContext)){ rtcInfo->execContext->deactivate_component(rtcInfo->rtcRef); vecExecContext.push_back(rtcInfo->execContext); } } RTC::ExecutionContextList_var eclist = virtualRobotRTC->get_owned_contexts(); for(CORBA::ULong i=0; i < eclist->length(); ++i){ if(!CORBA::is_nil(eclist[i])){ OpenRTM::ExtTrigExecutionContextService_var execContext = OpenRTM::ExtTrigExecutionContextService::_narrow(eclist[i]); if(!CORBA::is_nil(execContext)){ execContext->deactivate_component(virtualRobotRTC->getObjRef()); vecExecContext.push_back(execContext); } break; } } for( std::vector::iterator ite = vecExecContext.begin(); ite != vecExecContext.end(); ++ite ){ if(!CORBA::is_nil( *ite )){ (*ite)->tick(); } } } void BodyRTCItem::setupRtcConnections() { for(size_t i=0; i < bridgeConf->portConnections.size(); ++i){ const PortConnection& connection = bridgeConf->portConnections[i]; string instanceName0 = connection.InstanceName[0]; string instanceName1 = connection.InstanceName[1]; if(instanceName1.empty()){ if(rtcomp && rtcomp->rtc()){ instanceName1 = rtcomp->rtc()->getInstanceName(); } } bool instance0isRobot = false; RtcInfoPtr rtcInfo0; RtcInfoPtr rtcInfo1; if(!instanceName0.empty()){ RtcInfoMap::iterator p = rtcInfoMap.find(instanceName0); if(p != rtcInfoMap.end()){ rtcInfo0 = p->second; } } else { instance0isRobot = true; instanceName0 = virtualRobotRTC->getInstanceName(); } if(!instanceName0.empty()){ RtcInfoMap::iterator p = rtcInfoMap.find(instanceName1); if(p != rtcInfoMap.end()){ rtcInfo1 = p->second; } } else { continue; } if( ( rtcInfo0 || instance0isRobot ) && rtcInfo1){ RTC::PortService_var portRef0; if(!instance0isRobot){ PortMap::iterator q = rtcInfo0->portMap.find(connection.PortName[0]); if(q == rtcInfo0->portMap.end()){ mv->putln(fmt(_("%1% does not have a port %2%.")) % instanceName0 % connection.PortName[0]); continue; } portRef0 = q->second; } RTC::PortService_var portRef1; PortMap::iterator q = rtcInfo1->portMap.find(connection.PortName[1]); if(q == rtcInfo1->portMap.end()){ mv->putln(fmt(_("%1% does not have a port %2%.")) % instanceName1 % connection.PortName[1]); continue; } portRef1 = q->second; RTC::PortProfile_var profile = portRef1->get_port_profile(); const char* type; if (!(NVUtil::find(profile->properties, "port.port_type") >>= type)) { continue; } bool port1isIn = false; if(!std::strcmp(type,"DataInPort")){ port1isIn = true; } if(instance0isRobot){ PortHandlerPtr robotPortHandler; if(port1isIn){ robotPortHandler = virtualRobotRTC->getOutPortHandler(connection.PortName[0]); } else { robotPortHandler = virtualRobotRTC->getInPortHandler(connection.PortName[0]); } if(!robotPortHandler){ mv->putln(fmt(_("The robot does not have a port named %1%.")) % connection.PortName[0]); continue; } portRef0 = robotPortHandler->portRef; if(CORBA::is_nil(portRef0)){ continue; } } int connected = false; if(port1isIn){ mv->putln(fmt(_("connect %1%:%2% --> %3%:%4%")) % instanceName0 % connection.PortName[0] % instanceName1 % connection.PortName[1]); connected = connectPorts(portRef0, portRef1); }else{ mv->putln(fmt(_("connect %1%:%2% <-- %3%:%4%")) % instanceName0 % connection.PortName[0] % instanceName1 % connection.PortName[1]); connected = connectPorts(portRef1, portRef0); } if(!connected){ mv->putln( _("Connection was successful.")); } else if(connected == -1){ mv->putln(_("Connection failed.")); } else if(connected == 1){ mv->putln(_(" It has already been connected.")); } } } if(configMode.is(CONF_ALL_MODE) && autoConnect){ std::vector rtcRefs; if(!moduleName.empty()){ if(rtcomp && rtcomp->rtc()){ rtcRefs.push_back(rtcomp->rtc()->getObjRef()); } } if(rtcRefs.empty()){ CosNaming::BindingList_var bl; CosNaming::BindingIterator_var bi; naming->list(naming->getRootContext(), 100, bl, bi); CORBA::ULong len(bl->length()); for(CORBA::ULong i = 0; i < len; ++i){ string name(naming->toString(bl[i].binding_name)); if(name != instanceName+".rtc" && name.find(".rtc") != string::npos){ RTC::RTObject_var rtcRef; try { rtcRef = RTC::RTObject::_narrow(naming->resolve(bl[i].binding_name)); } catch(const CosNaming::NamingContext::NotFound &ex) { } rtcRefs.push_back(rtcRef); } } } PortInfoMap& outPortInfoMap = bridgeConf->outPortInfos; for(PortInfoMap::iterator it=outPortInfoMap.begin(); it!=outPortInfoMap.end(); it++){ string robotPortName(it->first); for(std::vector::iterator it = rtcRefs.begin(); it != rtcRefs.end(); it++){ RTC::PortServiceList_var ports = (*it)->get_ports(); for(CORBA::ULong i=0; i < ports->length(); ++i){ RTC::PortProfile_var profile = ports[i]->get_port_profile(); const char* type; if (!(NVUtil::find(profile->properties, "port.port_type") >>= type)){ break; } if(!std::strcmp(type,"DataInPort")){ std::string portName(profile->name); string::size_type index = portName.rfind("."); if (index != string::npos) portName = portName.substr(index+1); if(portName==robotPortName || (robotPortName=="u_out" && portName=="u") || (robotPortName=="u_out" && portName=="u_in")){ RtcInfoPtr rtcInfo = addRtcVectorWithConnection(*it); PortMap::iterator q = rtcInfo->portMap.find(portName); RTC::PortService_var controllerPortRef = q->second; PortHandlerPtr robotPortHandler = virtualRobotRTC->getOutPortHandler(robotPortName); RTC::PortService_var robotPortRef = robotPortHandler->portRef; if(!CORBA::is_nil(robotPortRef)){ int connected = connectPorts(robotPortRef, controllerPortRef); mv->putln(fmt(_("connect %1%:%2% --> %3%:%4%")) % virtualRobotRTC->getInstanceName() % robotPortName % (*it)->get_component_profile()->instance_name % portName); if(!connected){ mv->putln(_("Connection was successful.")); } else if(connected == -1){ mv->putln(_("Connection failed.")); } else if(connected == 1){ mv->putln(_(" It has already been connected.")); } } } } } } } PortInfoMap& inPortInfoMap = bridgeConf->inPortInfos; for(PortInfoMap::iterator it=inPortInfoMap.begin(); it!=inPortInfoMap.end(); it++){ string robotPortName(it->first); for(std::vector::iterator it = rtcRefs.begin(); it != rtcRefs.end(); it++){ RTC::PortServiceList_var ports = (*it)->get_ports(); for(CORBA::ULong i=0; i < ports->length(); ++i){ RTC::PortProfile_var profile = ports[i]->get_port_profile(); const char* type; if(!(NVUtil::find(profile->properties, "port.port_type") >>= type)){ break; } if(!std::strcmp(type,"DataOutPort")){ std::string portName(profile->name); string::size_type index = portName.rfind("."); if (index != string::npos) portName = portName.substr(index+1); if(portName==robotPortName || (robotPortName=="u_in" && portName=="u") || (robotPortName=="u_in" && portName=="u_out")){ RtcInfoPtr rtcInfo = addRtcVectorWithConnection(*it); PortMap::iterator q = rtcInfo->portMap.find(portName); RTC::PortService_var controllerPortRef = q->second; PortHandlerPtr robotPortHandler = virtualRobotRTC->getInPortHandler(robotPortName); RTC::PortService_var robotPortRef = robotPortHandler->portRef; if(!CORBA::is_nil(robotPortRef)){ int connected = connectPorts(controllerPortRef, robotPortRef); mv->putln(fmt(_("connect %1%:%2% <-- %3%:%4%")) % virtualRobotRTC->getInstanceName() % robotPortName % (*it)->get_component_profile()->instance_name % portName); if(!connected){ mv->putln(_("Connection was successful.")); } else if(connected == -1){ mv->putln(_("Connection failed.")); } else if(connected == 1){ mv->putln(_(" It has already been connected.")); } } } } } } } } } int BodyRTCItem::connectPorts(RTC::PortService_var outPort, RTC::PortService_var inPort) { RTC::ConnectorProfileList_var connectorProfiles = inPort->get_connector_profiles(); for(CORBA::ULong i=0; i < connectorProfiles->length(); ++i){ RTC::ConnectorProfile& connectorProfile = connectorProfiles[i]; RTC::PortServiceList& connectedPorts = connectorProfile.ports; for(CORBA::ULong j=0; j < connectedPorts.length(); ++j){ RTC::PortService_ptr connectedPortRef = connectedPorts[j]; if(connectedPortRef->_is_equivalent(outPort)){ return 1; } } } // connect ports RTC::ConnectorProfile cprof; cprof.connector_id = ""; cprof.name = CORBA::string_dup("connector0"); cprof.ports.length(2); cprof.ports[0] = RTC::PortService::_duplicate(inPort); cprof.ports[1] = RTC::PortService::_duplicate(outPort); CORBA_SeqUtil::push_back(cprof.properties, NVUtil::newNV("dataport.dataflow_type", "Push")); CORBA_SeqUtil::push_back(cprof.properties, NVUtil::newNV("dataport.interface_type", "corba_cdr")); CORBA_SeqUtil::push_back(cprof.properties, NVUtil::newNV("dataport.subscription_type", "flush")); RTC::ReturnCode_t result = inPort->connect(cprof); if(result == RTC::RTC_OK) return 0; else return -1; } void BodyRTCItem::deleteModule(bool waitToBeDeleted) { RTC::Manager& rtcManager = RTC::Manager::instance(); if(TRACE_FUNCTIONS){ cout << "BodyRTCItem::deleteModule()" << endl; } std::vector deleteList; if(bridgeConf){ ModuleInfoList& moduleInfoList = bridgeConf->moduleInfoList; ModuleInfoList::iterator it; for(it=moduleInfoList.begin(); it != moduleInfoList.end(); ++it){ if(it->isLoaded){ if(it->rtcServant){ deleteList.push_back(it->rtcServant->getInstanceName()); it->rtcServant->exit(); mv->putln(fmt(_("delete %1%")) % it->rtcServant->getInstanceName()); } } } delete bridgeConf; bridgeConf = 0; } if(rtcomp){ rtcomp->deleteRTC(waitToBeDeleted); delete rtcomp; rtcomp = 0; } if(virtualRobotRTC){ deleteList.push_back(virtualRobotRTC->getInstanceName()); mv->putln(fmt(_("delete %1%")) % virtualRobotRTC->getInstanceName()); cnoid::deleteRTC(virtualRobotRTC, waitToBeDeleted); virtualRobotRTC = 0; } if(waitToBeDeleted){ std::vector remainder; for(int i=0; i < 100; i++){ remainder.clear(); for(std::vector::iterator it=deleteList.begin(); it!=deleteList.end(); it++){ RTC::RtcBase* component = rtcManager.getComponent((*it).c_str()); if(component){ remainder.push_back(*it); } } if(remainder.empty()){ return; } msleep(20); } for(std::vector::iterator it=remainder.begin(); it!=remainder.end(); it++){ mv->putln(fmt(_("%1% cannot be deleted.")) % *it); } } if(TRACE_FUNCTIONS){ cout << "End of BodyRTCItem::deleteModule()" << endl; } } #ifdef ENABLE_SIMULATION_PROFILING void BodyRTCItem::getProfilingNames(vector& profilingNames) { profilingNames.push_back(" BodyRTC calculation time"); profilingNames.push_back(" Controller calculation time"); } void BodyRTCItem::getProfilingTimes(vector& profilingToimes) { profilingToimes.push_back(bodyRTCTime); profilingToimes.push_back(controllerTime); } #endif choreonoid-1.5.0/src/OpenRTMPlugin/python/0000775000000000000000000000000012741425367017134 5ustar rootrootchoreonoid-1.5.0/src/OpenRTMPlugin/python/PyOpenRTMPlugin.cpp0000664000000000000000000000316012741425367022614 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include "../RTCItem.h" #include "../BodyRTCItem.h" #ifdef _WIN32 #undef HAVE_UNISTD_H #if _MSC_VER < 1800 #undef HAVE_INTTYPES_H #endif #endif #include using namespace boost::python; using namespace cnoid; BOOST_PYTHON_MODULE(OpenRTMPlugin) { class_< RTCItem, RTCItemPtr, bases >("RTCItem") .def("setModuleName", &RTCItem::setModuleName) .def("setPeriodicType", &RTCItem::setPeriodicType) .def("setPeriodicRate", &RTCItem::setPeriodicRate); class_< BodyRTCItem, BodyRTCItemPtr, bases > bodyRTCItemClass("BodyRTCItem"); bodyRTCItemClass .def("setControllerModule", &BodyRTCItem::setControllerModule) .def("setConfigMode", &BodyRTCItem::setConfigMode) .def("setConfigFile", &BodyRTCItem::setConfigFile) .def("setAutoConnectionMode", &BodyRTCItem::setAutoConnectionMode) .def("setPeriodicRate", &BodyRTCItem::setPeriodicRate); { scope bodyRTCItemScope = bodyRTCItemClass; enum_("ConfigMode") .value("FILE", BodyRTCItem::CONF_FILE_MODE) .value("ALL", BodyRTCItem::CONF_ALL_MODE); } enum_("PeriodicType") .value("PERIODIC_EXECUTION_CONTEXT", RTCItem::PERIODIC_EXECUTION_CONTEXT) .value("SYNCH_EXT_TRIGGER", RTCItem::SYNCH_EXT_TRIGGER) .value("EXT_TRIG_EXECUTION_CONTEXT", RTCItem::EXT_TRIG_EXECUTION_CONTEXT) .value("CHOREONOID_EXECUTION_CONTEXT", RTCItem::CHOREONOID_EXECUTION_CONTEXT) .value("N_PERIODIC_TYPE", RTCItem::N_PERIODIC_TYPE); } choreonoid-1.5.0/src/OpenRTMPlugin/python/CMakeLists.txt0000664000000000000000000000026412741425367021676 0ustar rootroot set(target PyOpenRTMPlugin) add_cnoid_python_module(${target} PyOpenRTMPlugin.cpp) target_link_libraries(${target} CnoidOpenRTMPlugin ${PYTHON_LIBRARIES} ${Boost_PYTHON_LIBRARY}) choreonoid-1.5.0/src/PhysXPlugin/0000775000000000000000000000000012741425367015402 5ustar rootrootchoreonoid-1.5.0/src/PhysXPlugin/PhysXSimulatorItem.cpp0000664000000000000000000011312112741425367021677 0ustar rootroot/*! @file @author Shizuko Hattori */ #include "PhysXSimulatorItem.h" #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" #include #ifndef _WIN32 using std::isfinite; #endif #ifndef NDEBUG #define _DEBUG 1 #endif #include using namespace std; using namespace boost; using namespace cnoid; using namespace physx; namespace { const bool DEBUG_COLLISION = false; const double DEFAULT_GRAVITY_ACCELERATION = 9.80665; const bool meshOnly = false; class PhysXBody; class PhysXLink : public Referenced { public: PhysXSimulatorItemImpl* simImpl; Link* link; PhysXLink* parent; PxRigidActor* pxRigidActor; PxJoint* pxJoint; vector vertices; vector triangles; double q_offset; PhysXLink(PhysXSimulatorItemImpl* simImpl, PhysXBody* physXBody, PhysXLink* parent, const Vector3& parentOrigin, Link* link); ~PhysXLink(); void createLinkBody(bool isStatic, PhysXLink* parent, const Vector3& origin); void createGeometry(PhysXBody* physXBody); PxTriangleMesh* createTriangleMesh(); PxConvexMesh* createConvexMeshSafe(); void addMesh(MeshExtractor* extractor, PhysXBody* physXBody); void setKinematicStateToPhysX(); void getKinematicStateFromPhysX(); void setTorqueToPhysX(); void setVelocityToPhysX(); }; typedef ref_ptr PhysXLinkPtr; class PhysXBody : public SimulationBody { public: PhysXSimulatorItemImpl* simImpl; bool isStatic; PxAggregate* pxAggregate; vector physXLinks; BasicSensorSimulationHelper sensorHelper; vector extraJoints; PhysXBody(const Body& orgBody); ~PhysXBody(); void createBody(PhysXSimulatorItemImpl* simImpl); void setKinematicStateToPhysX(); void getKinematicStateFromPhysX(); void setTorqueToPhysX(); void updateForceSensors(); void setExtraJoints(); void setVelocityToPhysX(); }; } namespace cnoid { class PhysXSimulatorItemImpl : public PxSimulationEventCallback, PxContactModifyCallback { public: PhysXSimulatorItem* self; MessageView* mv; static int numOfinstance; static PxDefaultErrorCallback pxDefaultErrorCallback; static PxDefaultAllocator pxDefaultAllocatorCallback; static PxFoundation* pxFoundation; static PxProfileZoneManager* pxProfileZoneManager; static PxCooking* pxCooking; PxPhysics* pxPhysics; PxDefaultCpuDispatcher* pxDispatcher; PxScene* pxScene; PxMaterial* pxMaterial; Vector3 gravity; double timeStep; double staticFriction; double dynamicFriction; double restitution; bool isJointLimitMode; bool velocityMode; PhysXSimulatorItemImpl(PhysXSimulatorItem* self); PhysXSimulatorItemImpl(PhysXSimulatorItem* self, const PhysXSimulatorItemImpl& org); void initialize(); void finalize(); ~PhysXSimulatorItemImpl(); void clear(); bool initializeSimulation(const std::vector& simBodies); bool stepSimulation(const std::vector& activeSimBodies); void addBody(PhysXBody* physXBody); void doPutProperties(PutPropertyFunction& putProperty); void store(Archive& archive); void restore(const Archive& archive); virtual void onContact(const PxContactPairHeader& pairHeader, const PxContactPair* pairs, PxU32 nbPairs); virtual void onTrigger(PxTriggerPair* pairs, PxU32 count){} virtual void onConstraintBreak(PxConstraintInfo*, PxU32) {} virtual void onWake(PxActor** , PxU32 ) {} virtual void onSleep(PxActor** , PxU32 ){} virtual void onContactModify(PxContactModifyPair* const pairs, PxU32 count); }; int PhysXSimulatorItemImpl::numOfinstance = 0; PxDefaultErrorCallback PhysXSimulatorItemImpl::pxDefaultErrorCallback; PxDefaultAllocator PhysXSimulatorItemImpl::pxDefaultAllocatorCallback; PxFoundation* PhysXSimulatorItemImpl::pxFoundation = 0; PxProfileZoneManager* PhysXSimulatorItemImpl::pxProfileZoneManager = 0; PxCooking* PhysXSimulatorItemImpl::pxCooking = 0; PxFilterFlags customFilterShader( PxFilterObjectAttributes attributes0, PxFilterData filterData0, PxFilterObjectAttributes attributes1, PxFilterData filterData1, PxPairFlags& pairFlags, const void* constantBlock, PxU32 constantBlockSize) { pairFlags = PxPairFlag::eCONTACT_DEFAULT; if(filterData0.word0 || filterData1.word0) pairFlags |= PxPairFlag::eMODIFY_CONTACTS; if(DEBUG_COLLISION) pairFlags |= PxPairFlag::eNOTIFY_TOUCH_PERSISTS | PxPairFlag::eNOTIFY_TOUCH_FOUND | PxPairFlag::eNOTIFY_CONTACT_POINTS; return PxFilterFlag::eDEFAULT; } } PhysXLink::PhysXLink (PhysXSimulatorItemImpl* simImpl, PhysXBody* physXBody, PhysXLink* parent, const Vector3& parentOrigin, Link* link) : simImpl(simImpl), link(link), parent(parent) { physXBody->physXLinks.push_back(this); pxJoint = 0; q_offset = 0; Vector3 o = parentOrigin + link->b(); createLinkBody(physXBody->isStatic, parent, o); if(physXBody->pxAggregate) physXBody->pxAggregate->addActor(*pxRigidActor); for(Link* child = link->child(); child; child = child->sibling()){ new PhysXLink(simImpl, physXBody, this, o, child); } createGeometry(physXBody); if(link->jointType() == Link::CRAWLER_JOINT || link->jointType() == Link::PSEUDO_CONTINUOUS_TRACK){ PxFilterData simFilterData; simFilterData.word0 = 1; int nbShapes = pxRigidActor->getNbShapes(); PxShape** shapes = (PxShape**) ::alloca(nbShapes * sizeof(PxShape*)); pxRigidActor->getShapes(shapes, nbShapes); for(int i = 0; i < nbShapes; i++) shapes[i]->setSimulationFilterData(simFilterData); } } void PhysXLink::createLinkBody(bool isStatic, PhysXLink* parent, const Vector3& origin) { if(isStatic){ pxRigidActor = simImpl->pxPhysics->createRigidStatic(PxTransform(PxVec3(origin.x(), origin.y(), origin.z()))); }else{ PxRigidDynamic* pxRigidDynamic = simImpl->pxPhysics->createRigidDynamic(PxTransform(PxVec3(origin.x(), origin.y(), origin.z()))); const Matrix3& I = link->I(); const Vector3& c = link->c(); PxMat33 inertia(PxVec3(I(0,0), I(1,0), I(2,0)), PxVec3(I(0,1), I(1,1), I(2,1)), PxVec3(I(0,2), I(1,2), I(2,2))); PxQuat orient; PxVec3 diagTensor = PxDiagonalize(inertia, orient); pxRigidDynamic->setCMassLocalPose(PxTransform(PxVec3(c.x(), c.y(), c.z()), orient)); pxRigidDynamic->setMass(link->m()); pxRigidDynamic->setMassSpaceInertiaTensor(diagTensor); pxRigidDynamic->setSleepThreshold(0.0); // don't sleep pxRigidActor = pxRigidDynamic; } pxRigidActor->userData = link; const Vector3& a = link->a(); const Vector3& b = link->b(); const Vector3& d = link->d(); switch(link->jointType()){ case Link::ROTATIONAL_JOINT:{ Vector3 u(1,0,0); Vector3 ty = a.cross(u); PxMat33 R0; if(ty.norm() < 1.0e-8){ if(a.x() == -1.0){ R0.column0 = PxVec3(-1.0, 0.0, 0.0); R0.column1 = PxVec3(0.0, -1.0, 0.0); R0.column2 = PxVec3(0.0, 0.0, 1.0); }else R0 = PxMat33::createIdentity(); } else { ty.normalized(); Vector3 tz = a.cross(ty).normalized(); R0.column0 = PxVec3(a.x(), a.y(), a.z()); R0.column1 = PxVec3(ty.x(), ty.y(), ty.z()); R0.column2 = PxVec3(tz.x(), tz.y(), tz.z()); } PxTransform Tp(PxVec3(b(0), b(1), b(2)), PxQuat(R0)); PxTransform Tc(PxVec3(0,0,0), PxQuat(R0)); // The axis along which the two bodies may rotate is specified by the common origin of the joint frames and their common x-axis PxRevoluteJoint* joint = PxRevoluteJointCreate(*simImpl->pxPhysics, parent->pxRigidActor, Tp, pxRigidActor, Tc); if(simImpl->isJointLimitMode){ if(link->q_upper() < numeric_limits::max() && link->q_lower() > -numeric_limits::max()){ joint->setLimit(PxJointAngularLimitPair(link->q_lower(), link->q_upper(), 0.01f)); joint->setRevoluteJointFlag(PxRevoluteJointFlag::eLIMIT_ENABLED, true); } } if(simImpl->velocityMode){ joint->setDriveForceLimit(numeric_limits::max()); joint->setRevoluteJointFlag(PxRevoluteJointFlag::eDRIVE_ENABLED, true); } q_offset = joint->getAngle(); pxJoint = joint; } break; case Link::SLIDE_JOINT:{ Vector3 u(1,0,0); Vector3 ty = d.cross(u); PxMat33 R0; if(ty.norm() < 1.0e-8){ if(a.x() == -1.0){ R0.column0 = PxVec3(-1.0, 0.0, 0.0); R0.column1 = PxVec3(0.0, -1.0, 0.0); R0.column2 = PxVec3(0.0, 0.0, 1.0); }else R0 = PxMat33::createIdentity(); } else { ty.normalized(); Vector3 tz = d.cross(ty).normalized(); R0.column0 = PxVec3(d.x(), d.y(), d.z()); R0.column1 = PxVec3(ty.x(), ty.y(), ty.z()); R0.column2 = PxVec3(tz.x(), tz.y(), tz.z()); } PxTransform Tp(PxVec3(b(0), b(1), b(2)), PxQuat(R0)); PxTransform Tc(PxVec3(0,0,0), PxQuat(R0)); PxPrismaticJoint* joint = PxPrismaticJointCreate(*simImpl->pxPhysics, parent->pxRigidActor, Tp, pxRigidActor, Tc); if(simImpl->isJointLimitMode){ if(link->q_upper() < numeric_limits::max() && link->q_lower() > -numeric_limits::max()){ PxTolerancesScale scale; joint->setLimit(PxJointLinearLimitPair(scale, link->q_lower(), link->q_upper(), 0.01f)); joint->setPrismaticJointFlag(PxPrismaticJointFlag::eLIMIT_ENABLED, true); } } if(simImpl->velocityMode){ } q_offset = joint->getPosition(); pxJoint = joint; } break; case Link::FREE_JOINT: break; case Link::FIXED_JOINT: default: if(parent){ PxTransform Tp(PxVec3(b(0), b(1), b(2))); PxTransform Tc(PxVec3(0,0,0)); PxFixedJoint* joint = PxFixedJointCreate(*simImpl->pxPhysics, parent->pxRigidActor, Tp, pxRigidActor, Tc); pxJoint = joint; } break; } } void PhysXLink::createGeometry(PhysXBody* physXBody) { if(link->shape()){ MeshExtractor* extractor = new MeshExtractor; if(extractor->extract(link->shape(), boost::bind(&PhysXLink::addMesh, this, extractor, physXBody))){ if(!vertices.empty()){ if(pxRigidActor->isRigidStatic()){ PxTriangleMesh* triangleMesh = createTriangleMesh(); if(triangleMesh){ PxShape* pxShape = pxRigidActor->createShape(PxTriangleMeshGeometry(triangleMesh), *simImpl->pxMaterial); triangleMesh->release(); } }else{ PxConvexMesh* convexMesh = createConvexMeshSafe(); if(convexMesh){ PxShape* pxShape = pxRigidActor->createShape(PxConvexMeshGeometry(convexMesh), *simImpl->pxMaterial); convexMesh->release(); } } } } delete extractor; } } void PhysXLink::addMesh(MeshExtractor* extractor, PhysXBody* physXBody) { SgMesh* mesh = extractor->currentMesh(); const Affine3& T = extractor->currentTransform(); bool meshAdded = false; if(!meshOnly){ if(mesh->primitiveType() != SgMesh::MESH){ bool doAddPrimitive = false; Vector3 scale; optional translation; if(!extractor->isCurrentScaled()){ scale.setOnes(); doAddPrimitive = true; } else { Affine3 S = extractor->currentTransformWithoutScaling().inverse() * extractor->currentTransform(); if(S.linear().isDiagonal()){ if(!S.translation().isZero()){ translation = S.translation(); } scale = S.linear().diagonal(); if(mesh->primitiveType() == SgMesh::BOX){ doAddPrimitive = true; } else if(mesh->primitiveType() == SgMesh::SPHERE){ // check if the sphere is uniformly scaled for all the axes if(scale.x() == scale.y() && scale.x() == scale.z()){ doAddPrimitive = true; } } else if(mesh->primitiveType() == SgMesh::CYLINDER){ // check if the bottom circle face is uniformly scaled if(scale.x() == scale.z()){ doAddPrimitive = true; } } } } if(doAddPrimitive){ bool created = false; PxShape* shape; switch(mesh->primitiveType()){ case SgMesh::BOX : { const Vector3& s = mesh->primitive().size / 2.0; shape = pxRigidActor->createShape(PxBoxGeometry(s.x()*scale.x(), s.y()*scale.y(), s.z()*scale.z()), *simImpl->pxMaterial); created = true; break; } case SgMesh::SPHERE : { SgMesh::Sphere sphere = mesh->primitive(); shape = pxRigidActor->createShape(PxSphereGeometry(sphere.radius * scale.x()), *simImpl->pxMaterial); created = true; break; } default : break; } if(created){ Affine3 T_ = extractor->currentTransformWithoutScaling(); if(translation){ T_ *= Translation3(*translation); } PxVec3 p = PxVec3(T_(0,3), T_(1,3), T_(2,3)); PxMat33 R(PxVec3(T_(0,0), T_(1,0), T_(2,0)), PxVec3(T_(0,1), T_(1,1), T_(2,1)), PxVec3(T_(0,2), T_(1,2), T_(2,2))); PxTransform Tp(p, PxQuat(R)); shape->setLocalPose(Tp); meshAdded = true; } } } } if(!meshAdded){ const int vertexIndexTop = vertices.size(); const SgVertexArray& vertices_ = *mesh->vertices(); const int numVertices = vertices_.size(); for(int i=0; i < numVertices; ++i){ const Vector3 v = T * vertices_[i].cast(); vertices.push_back(PxVec3(v.x(), v.y(), v.z())); } const int numTriangles = mesh->numTriangles(); for(int i=0; i < numTriangles; ++i){ SgMesh::TriangleRef tri = mesh->triangle(i); triangles.push_back(vertexIndexTop + tri[0]); triangles.push_back(vertexIndexTop + tri[1]); triangles.push_back(vertexIndexTop + tri[2]); } } } PxTriangleMesh* PhysXLink::createTriangleMesh() { PxTriangleMeshDesc meshDesc; meshDesc.points.count = vertices.size(); meshDesc.points.stride = sizeof(PxVec3); meshDesc.points.data = &vertices[0]; meshDesc.triangles.count = triangles.size()/3; meshDesc.triangles.stride = 3*sizeof(int); meshDesc.triangles.data = &triangles[0]; PxDefaultMemoryOutputStream writeBuffer; bool status = simImpl->pxCooking->cookTriangleMesh(meshDesc, writeBuffer); if(!status) return 0; PxDefaultMemoryInputData readBuffer(writeBuffer.getData(), writeBuffer.getSize()); return simImpl->pxPhysics->createTriangleMesh(readBuffer); } PxConvexMesh* PhysXLink::createConvexMeshSafe() { PxConvexMeshDesc convexDesc; convexDesc.points.count = vertices.size(); convexDesc.points.stride = sizeof(PxVec3); convexDesc.points.data = &vertices[0]; convexDesc.flags = PxConvexFlag::eCOMPUTE_CONVEX; convexDesc.vertexLimit = 256; bool aabbCreated = false; PxDefaultMemoryOutputStream buf; bool retVal = simImpl->pxCooking->cookConvexMesh(convexDesc, buf); if(!retVal){ convexDesc.flags |= PxConvexFlag::eINFLATE_CONVEX; retVal = simImpl->pxCooking->cookConvexMesh(convexDesc, buf); } if(!retVal){ // create AABB PxBounds3 aabb; aabb.setEmpty(); for (PxU32 i = 0; i < vertices.size(); i++) aabb.include(vertices[i]); PxVec3 aabbVerts[8]; aabbVerts[0] = PxVec3(aabb.minimum.x,aabb.minimum.y,aabb.minimum.z); aabbVerts[1] = PxVec3(aabb.maximum.x,aabb.minimum.y,aabb.minimum.z); aabbVerts[2] = PxVec3(aabb.maximum.x,aabb.maximum.y,aabb.minimum.z); aabbVerts[3] = PxVec3(aabb.minimum.x,aabb.maximum.y,aabb.minimum.z); aabbVerts[4] = PxVec3(aabb.minimum.x,aabb.minimum.y,aabb.maximum.z); aabbVerts[5] = PxVec3(aabb.maximum.x,aabb.minimum.y,aabb.maximum.z); aabbVerts[6] = PxVec3(aabb.maximum.x,aabb.maximum.y,aabb.maximum.z); aabbVerts[7] = PxVec3(aabb.minimum.x,aabb.maximum.y,aabb.maximum.z); convexDesc.points.count = 8; convexDesc.points.stride = sizeof(PxVec3); convexDesc.points.data = &aabbVerts[0]; convexDesc.flags = PxConvexFlag::eCOMPUTE_CONVEX; retVal = simImpl->pxCooking->cookConvexMesh(convexDesc, buf); aabbCreated = true; } if(!retVal) return 0; PxDefaultMemoryInputData input(buf.getData(), buf.getSize()); PxConvexMesh* mesh = simImpl->pxPhysics->createConvexMesh(input); // vLimit test if(mesh && !aabbCreated && (convexDesc.flags & PxConvexFlag::eINFLATE_CONVEX)){ bool iterate = true; PxU32 limit = 256; while(iterate){ if(mesh->getNbVertices() > 256){ if(limit - (mesh->getNbVertices() - limit) > 4){ convexDesc.vertexLimit = limit - (mesh->getNbVertices() - limit); }else{ convexDesc.vertexLimit = 4; } limit = convexDesc.vertexLimit; mesh->release(); mesh = 0; PxDefaultMemoryOutputStream buf2; retVal = simImpl->pxCooking->cookConvexMesh(convexDesc, buf2); if(retVal){ PxDefaultMemoryInputData input2(buf2.getData(), buf2.getSize()); mesh = simImpl->pxPhysics->createConvexMesh(input2); if(!mesh) return 0; }else{ return 0; } }else{ return mesh; } } } return mesh; } PhysXLink::~PhysXLink() { if(pxJoint) pxJoint->release(); pxRigidActor->release(); } void PhysXLink::setKinematicStateToPhysX() { const Position& T = link->T(); PxMat44 m(PxVec4(T(0,0), T(1,0), T(2,0), T(3,0)), PxVec4(T(0,1), T(1,1), T(2,1), T(3,1)), PxVec4(T(0,2), T(1,2), T(2,2), T(3,2)), PxVec4(T(0,3), T(1,3), T(2,3), T(3,3))); PxTransform pose(m); pxRigidActor->setGlobalPose(pose); if(pxRigidActor->isRigidDynamic()){ const Vector3& w = link->w(); const Vector3& v = link->v(); pxRigidActor->isRigidDynamic()->setLinearVelocity(PxVec3(v.x(), v.y(), v.z())); pxRigidActor->isRigidDynamic()->setAngularVelocity(PxVec3(w.x(), w.y(), w.z())); } } void PhysXLink::getKinematicStateFromPhysX() { if(pxJoint){ if(link->isRotationalJoint()){ PxRevoluteJoint* joint = pxJoint->is(); link->q() = joint->getAngle() - q_offset; link->dq() = joint->getVelocity(); } else if(link->isSlideJoint()){ PxPrismaticJoint* joint = pxJoint->is(); link->q() = joint->getPosition() - q_offset; link->dq() = joint->getVelocity(); } } PxTransform T = pxRigidActor->getGlobalPose(); PxVec3& p = T.p; link->p() = Vector3(p[0], p[1], p[2]); PxMat33 R(T.q); link->R() << R(0,0), R(0,1), R(0,2), R(1,0), R(1,1), R(1,2), R(2,0), R(2,1), R(2,2); if(pxRigidActor->isRigidDynamic()){ PxVec3 v = pxRigidActor->isRigidDynamic()->getLinearVelocity(); PxVec3 w = pxRigidActor->isRigidDynamic()->getAngularVelocity(); link->w() = Vector3(w[0], w[1], w[2]); link->v() = Vector3(v[0], v[1], v[2]); } } void PhysXLink::setTorqueToPhysX() { if(link->isRotationalJoint()){ const Vector3 u = link->u() * link->a(); const Vector3 uu = link->R() * u; PxVec3 torque(uu(0), uu(1), uu(2)); pxRigidActor->isRigidDynamic()->addTorque(torque); PxRigidDynamic* actor = parent->pxRigidActor->isRigidDynamic(); if(actor) actor->addTorque(-torque); } else if(link->isSlideJoint()){ const Vector3 u = link->u() * link->d(); const Vector3 uu = link->R() * u; const PxVec3 force(uu(0), uu(1), uu(2)); PxRigidBodyExt::addForceAtLocalPos(*pxRigidActor->isRigidDynamic(), force, PxVec3(0,0,0)); PxRigidDynamic* actor = parent->pxRigidActor->isRigidDynamic(); if(actor){ const Vector3& b = link->b(); PxVec3 pos(b(0), b(1), b(2)); PxRigidBodyExt::addForceAtLocalPos(*actor, -force, pos); } } } void PhysXLink::setVelocityToPhysX() { if(link->isRotationalJoint()){ PxRevoluteJoint* joint = pxJoint->is(); double v = link->dq(); joint->setDriveVelocity(v); } else if(link->isSlideJoint()){ } } PhysXBody::PhysXBody(const Body& orgBody) : SimulationBody(new Body(orgBody)) { pxAggregate = 0; extraJoints.clear(); } PhysXBody::~PhysXBody() { if(pxAggregate) pxAggregate->release(); for(vector::iterator it = extraJoints.begin(); it!=extraJoints.end(); it++) (*it)->release(); } void PhysXBody::createBody(PhysXSimulatorItemImpl* _simImpl) { simImpl = _simImpl; isStatic = body()->isStaticModel(); int numLinks = body()->numLinks(); if(numLinks > 1){ bool enableSelfCollision = false; pxAggregate = simImpl->pxPhysics->createAggregate(numLinks, enableSelfCollision); } PhysXLink* rootLink = new PhysXLink(simImpl, this, 0, Vector3::Zero(), body()->rootLink()); setKinematicStateToPhysX(); if(numLinks > 1) simImpl->pxScene->addAggregate(*pxAggregate); else simImpl->pxScene->addActor(*physXLinks[0]->pxRigidActor); if(rootLink->link->jointType() == Link::FIXED_JOINT && rootLink->pxRigidActor->isRigidDynamic()){ PxFixedJoint* joint = PxFixedJointCreate(*simImpl->pxPhysics, 0, PxTransform(PxIdentity), rootLink->pxRigidActor, rootLink->pxRigidActor->getGlobalPose().getInverse()); rootLink->pxJoint = joint; } setExtraJoints(); setTorqueToPhysX(); sensorHelper.initialize(body(), simImpl->timeStep, simImpl->gravity); const DeviceList& forceSensors = sensorHelper.forceSensors(); for(size_t i=0; i < forceSensors.size(); ++i) physXLinks[forceSensors[i]->link()->index()]->pxJoint->setConstraintFlag(PxConstraintFlag::eREPORTING, true); } void PhysXBody::setExtraJoints() { const int n = body()->numExtraJoints(); for(int j=0; j < n; ++j){ Body::ExtraJoint& extraJoint = body()->extraJoint(j); PhysXLinkPtr physXLinkPair[2]; for(int i=0; i < 2; ++i){ PhysXLinkPtr physXLink; Link* link = extraJoint.link[i]; if(link->index() < (int)physXLinks.size()){ physXLink = physXLinks[link->index()]; if(physXLink->link == link){ physXLinkPair[i] = physXLink; } } if(!physXLink){ break; } } if(physXLinkPair[1]){ Link* link0 = physXLinkPair[0]->link; Link* link1 = physXLinkPair[1]->link; Vector3 p0 = link0->Rs() * extraJoint.point[0]; // link0 local position Vector3 a = link0->Rs() * extraJoint.axis; // link0 local axis Vector3 p1 = link1->Rs() * extraJoint.point[1]; // link1 local position if(extraJoint.type == Body::EJ_PISTON){ Vector3 u(1,0,0); Vector3 ty = a.cross(u); PxMat33 R0; if(ty.norm() == 0){ R0 = PxMat33::createIdentity(); } else { ty.normalized(); Vector3 tz = a.cross(ty).normalized(); R0.column0 = PxVec3(a.x(), a.y(), a.z()); R0.column1 = PxVec3(ty.x(), ty.y(), ty.z()); R0.column2 = PxVec3(tz.x(), tz.y(), tz.z()); } PxTransform T0(PxVec3(p0(0), p0(1), p0(2)), PxQuat(R0)); PxTransform T1(PxVec3(p1(0), p1(1), p1(2)), PxQuat(R0)); PxRevoluteJoint* joint = PxRevoluteJointCreate(*simImpl->pxPhysics, physXLinkPair[0]->pxRigidActor, T0, physXLinkPair[1]->pxRigidActor, T1); extraJoints.push_back(joint); } else if(extraJoint.type == Body::EJ_BALL){ PxTransform T0(PxVec3(p0(0), p0(1), p0(2))); PxTransform T1(PxVec3(p1(0), p1(1), p1(2))); PxSphericalJoint* joint = PxSphericalJointCreate(*simImpl->pxPhysics, physXLinkPair[0]->pxRigidActor, T0, physXLinkPair[1]->pxRigidActor, T1); extraJoints.push_back(joint); } } } } void PhysXBody::setKinematicStateToPhysX() { for(size_t i=0; i < physXLinks.size(); ++i){ physXLinks[i]->setKinematicStateToPhysX(); } } void PhysXBody::setTorqueToPhysX() { for(size_t i=0; i < physXLinks.size(); ++i){ physXLinks[i]->setTorqueToPhysX(); } } void PhysXBody::setVelocityToPhysX() { // Skip the root link for(size_t i=1; i < physXLinks.size(); ++i){ physXLinks[i]->setVelocityToPhysX(); } } void PhysXBody::getKinematicStateFromPhysX() { for(size_t i=0; i < physXLinks.size(); ++i){ physXLinks[i]->getKinematicStateFromPhysX(); } } void PhysXBody::updateForceSensors() { const DeviceList& forceSensors = sensorHelper.forceSensors(); for(size_t i=0; i < forceSensors.size(); ++i){ ForceSensor* sensor = forceSensors[i]; const Link* link = sensor->link(); const PxJoint* joint = physXLinks[link->index()]->pxJoint; PxVec3 force, torque; joint->getConstraint()->getForce(force, torque); //The force is resolved at the origin of actor1's joint frame. Vector3 f(force[0], force[1], force[2]); Vector3 tau(torque[0], torque[1], torque[2]); const Matrix3 R = sensor->R_local(); const Vector3 p = sensor->p_local(); sensor->f() = R.transpose() * f; sensor->tau() = R.transpose() * (tau - p.cross(f)); sensor->notifyStateChange(); } } void PhysXSimulatorItem::initialize(ExtensionManager* ext) { ext->itemManager().registerClass(N_("PhysXSimulatorItem")); ext->itemManager().addCreationPanel(); } PhysXSimulatorItem::PhysXSimulatorItem() { impl = new PhysXSimulatorItemImpl(this); } PhysXSimulatorItemImpl::PhysXSimulatorItemImpl(PhysXSimulatorItem* self) : self(self) { numOfinstance++; initialize(); gravity << 0.0, 0.0, -DEFAULT_GRAVITY_ACCELERATION; isJointLimitMode = false; staticFriction = 0.5; dynamicFriction = 0.5; restitution = 0.1; velocityMode = false; } PhysXSimulatorItem::PhysXSimulatorItem(const PhysXSimulatorItem& org) : SimulatorItem(org) { impl = new PhysXSimulatorItemImpl(this, *org.impl); } PhysXSimulatorItemImpl::PhysXSimulatorItemImpl(PhysXSimulatorItem* self, const PhysXSimulatorItemImpl& org) : self(self) { numOfinstance++; initialize(); gravity << 0.0, 0.0, -DEFAULT_GRAVITY_ACCELERATION; staticFriction = org.staticFriction; dynamicFriction = org.dynamicFriction; restitution = org.restitution; isJointLimitMode = org.isJointLimitMode; velocityMode = org.velocityMode; } void PhysXSimulatorItemImpl::initialize() { mv = MessageView::instance(); if(!pxFoundation) pxFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, pxDefaultAllocatorCallback, pxDefaultErrorCallback); if(!pxProfileZoneManager) pxProfileZoneManager = &PxProfileZoneManager::createProfileZoneManager(PhysXSimulatorItemImpl::pxFoundation); if(!pxCooking) pxCooking = PxCreateCooking(PX_PHYSICS_VERSION, *pxFoundation, PxCookingParams((PxTolerancesScale()))); pxPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *pxFoundation, PxTolerancesScale(), true, pxProfileZoneManager); if(!pxPhysics) mv->putln("PxCreatePhysics failed!"); pxScene = 0; pxDispatcher = 0; pxMaterial = 0; } void PhysXSimulatorItemImpl::finalize() { if(pxProfileZoneManager) pxProfileZoneManager->release(); if(pxCooking) pxCooking->release(); if(pxFoundation) pxFoundation->release(); } PhysXSimulatorItem::~PhysXSimulatorItem() { delete impl; } PhysXSimulatorItemImpl::~PhysXSimulatorItemImpl() { clear(); if(pxPhysics){ pxPhysics->release(); pxPhysics = 0; } numOfinstance--; if(!numOfinstance) finalize(); } void PhysXSimulatorItem::setAllLinkPositionOutputMode(bool on) { // The mode is not changed. // This simulator only supports the all link position output // because joint positions may be slightly changed } void PhysXSimulatorItemImpl::clear() { if(pxMaterial){ pxMaterial->release(); pxMaterial = 0; } if(pxScene){ pxScene->release(); pxScene = 0; } if(pxDispatcher){ pxDispatcher->release(); pxDispatcher = 0; } } Item* PhysXSimulatorItem::doDuplicate() const { return new PhysXSimulatorItem(*this); } SimulationBody* PhysXSimulatorItem::createSimulationBody(Body* orgBody) { return new PhysXBody(*orgBody); } bool PhysXSimulatorItem::initializeSimulation(const std::vector& simBodies) { return impl->initializeSimulation(simBodies); } bool PhysXSimulatorItemImpl::initializeSimulation(const std::vector& simBodies) { clear(); PxSceneDesc sceneDesc(pxPhysics->getTolerancesScale()); sceneDesc.gravity = PxVec3(gravity.x(), gravity.y(), gravity.z()); //sceneDesc.flags |= PxSceneFlag::eREQUIRE_RW_LOCK; pxDispatcher = PxDefaultCpuDispatcherCreate(0); sceneDesc.cpuDispatcher = pxDispatcher; sceneDesc.filterShader = customFilterShader; sceneDesc.contactModifyCallback = this; if(DEBUG_COLLISION) sceneDesc.simulationEventCallback = this; pxScene = pxPhysics->createScene(sceneDesc); if (!pxScene) mv->putln("createScene failed!"); pxMaterial = pxPhysics->createMaterial(staticFriction, dynamicFriction, restitution); if(!pxMaterial) mv->putln("createMaterial failed!"); timeStep = self->worldTimeStep(); for(size_t i=0; i < simBodies.size(); ++i){ addBody(static_cast(simBodies[i])); } return true; } void PhysXSimulatorItemImpl::addBody(PhysXBody* physXBody) { Body& body = *physXBody->body(); Link* rootLink = body.rootLink(); rootLink->v().setZero(); rootLink->dv().setZero(); rootLink->w().setZero(); rootLink->dw().setZero(); for(int i=0; i < body.numJoints(); ++i){ Link* joint = body.joint(i); joint->u() = 0.0; joint->dq() = 0.0; joint->ddq() = 0.0; } body.clearExternalForces(); body.calcForwardKinematics(true, true); physXBody->createBody(this); } void PhysXSimulatorItem::initializeSimulationThread() { } void PhysXSimulatorItemImpl::onContact(const PxContactPairHeader& pairHeader, const PxContactPair* pairs, PxU32 nbPairs) { Link* link0 = (Link*)pairHeader.actors[0]->userData; Link* link1 = (Link*)pairHeader.actors[1]->userData; std::cout << link0->name() << " " << link1->name() << std::endl; std::vector contactPoints; for(size_t i=0;iactor[0]->userData; Link* link1 = (Link*)pairs->actor[1]->userData; //std::cout << link0->name() << " " << link1->name() << std::endl; Link* crawlerlink = 0; double sign = 1; if(link0->jointType() == Link::CRAWLER_JOINT || link0->jointType() == Link::PSEUDO_CONTINUOUS_TRACK){ crawlerlink = link0; }else if(link1->jointType() == Link::CRAWLER_JOINT || link1->jointType() == Link::PSEUDO_CONTINUOUS_TRACK){ crawlerlink = link1; sign = -1; } if(!crawlerlink) return; const Vector3 axis0 = crawlerlink->R() * crawlerlink->a(); const PxVec3 axis(axis0.x(), axis0.y(), axis0.z()); for(size_t i=0; icontacts.getNormal(i); PxVec3 dir = axis.cross(normal); if(dir.magnitude() < 1e-5) continue; dir.normalize(); if(crawlerlink->jointType() == Link::PSEUDO_CONTINUOUS_TRACK) dir *= sign * crawlerlink->dq(); else dir *= sign * crawlerlink->u(); pairs->contacts.setTargetVelocity(i, dir); } } bool PhysXSimulatorItem::stepSimulation(const std::vector& activeSimBodies) { return impl->stepSimulation(activeSimBodies); } bool PhysXSimulatorItemImpl::stepSimulation(const std::vector& activeSimBodies) { for(size_t i=0; i < activeSimBodies.size(); ++i){ PhysXBody* physXBody = static_cast(activeSimBodies[i]); physXBody->body()->setVirtualJointForces(); if(velocityMode) physXBody->setVelocityToPhysX(); else physXBody->setTorqueToPhysX(); } pxScene->simulate(timeStep); pxScene->fetchResults(true); for(size_t i=0; i < activeSimBodies.size(); ++i){ PhysXBody* physXBody = static_cast(activeSimBodies[i]); physXBody->getKinematicStateFromPhysX(); if(!physXBody->sensorHelper.forceSensors().empty()){ physXBody->updateForceSensors(); } if(physXBody->sensorHelper.hasGyroOrAccelerationSensors()){ physXBody->sensorHelper.updateGyroAndAccelerationSensors(); } } return true; } void PhysXSimulatorItem::doPutProperties(PutPropertyFunction& putProperty) { SimulatorItem::doPutProperties(putProperty); impl->doPutProperties(putProperty); } void PhysXSimulatorItemImpl::doPutProperties(PutPropertyFunction& putProperty) { putProperty.decimals(2).min(0.0) (_("Static Friction"), staticFriction, changeProperty(staticFriction)); putProperty.decimals(2).min(0.0) (_("Dynamic Friction"), dynamicFriction, changeProperty(dynamicFriction)); putProperty.decimals(2).min(0.0) (_("Restitution"), restitution, changeProperty(restitution)); putProperty(_("Limit joint range"), isJointLimitMode, changeProperty(isJointLimitMode)); putProperty(_("Velocity Control Mode"), velocityMode, changeProperty(velocityMode)); } bool PhysXSimulatorItem::store(Archive& archive) { SimulatorItem::store(archive); impl->store(archive); return true; } void PhysXSimulatorItemImpl::store(Archive& archive) { archive.write("staticFriction", staticFriction); archive.write("dynamicFriction", dynamicFriction); archive.write("Restitution", restitution); archive.write("jointLimitMode", isJointLimitMode); archive.write("velocityMode", velocityMode); } bool PhysXSimulatorItem::restore(const Archive& archive) { SimulatorItem::restore(archive); impl->restore(archive); return true; } void PhysXSimulatorItemImpl::restore(const Archive& archive) { string symbol; archive.read("staticFriction", staticFriction); archive.read("dynamicFriction", dynamicFriction); archive.read("Restitution", restitution); archive.read("jointLimitMode", isJointLimitMode); archive.read("velocityMode", velocityMode); } choreonoid-1.5.0/src/PhysXPlugin/PhysXSimulatorItem.h0000664000000000000000000000226712741425367021354 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_PHYSXPLUGIN_PHYSX_SIMULATOR_ITEM_H_INCLUDED #define CNOID_PHYSXPLUGIN_PHYSX_SIMULATOR_ITEM_H_INCLUDED #include namespace cnoid { class PhysXSimulatorItemImpl; class PhysXSimulatorItem : public SimulatorItem { public: static void initialize(ExtensionManager* ext); PhysXSimulatorItem(); PhysXSimulatorItem(const PhysXSimulatorItem& org); virtual ~PhysXSimulatorItem(); virtual void setAllLinkPositionOutputMode(bool on); protected: virtual SimulationBody* createSimulationBody(Body* orgBody); virtual bool initializeSimulation(const std::vector& simBodies); virtual void initializeSimulationThread(); virtual bool stepSimulation(const std::vector& activeSimBodies); virtual Item* doDuplicate() const; virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: PhysXSimulatorItemImpl* impl; friend class PhysXSimulatorItemImpl; }; typedef ref_ptr PhysXSimulatorItemPtr; } #endif choreonoid-1.5.0/src/PhysXPlugin/CMakeLists.txt0000664000000000000000000001007112741425367020141 0ustar rootroot # @author Shizuko Hattori option(BUILD_PhysX_PLUGIN "Building PhysXPlugin" OFF) if(NOT BUILD_PhysX_PLUGIN) return() endif() set(PhysX_DIR ${PhysX_DIR} CACHE PATH "set the top directory of PhysX") if(NOT PhysX_DIR) message(FATAL_ERROR "Please specify the directory of PhysX to PhysX_DIR.") endif() if(PhysX_DIR) set(PhysX_INCLUDE_DIRS ${PhysX_DIR}/Include) if(UNIX) if(CMAKE_SIZEOF_VOID_P EQUAL 8) set(PhysX_LIBRARY_DIRS ${PhysX_DIR}/Lib/linux64) else() set(PhysX_LIBRARY_DIRS ${PhysX_DIR}/Lib/linux32) #add_definitions(-malign-double) endif() set(PhysX_LIBRARIES PvdRuntime PhysX3 SimulationController SceneQuery LowLevel LowLevelCloth PhysX3Vehicle PhysX3Cooking PhysX3Extensions PhysX3CharacterKinematic PhysXProfileSDK PxTask PhysX3Common ) elseif(MSVC) if(CMAKE_CL_64) set(PhysX_LIBRARY_DIRS ${PhysX_DIR}/Lib/win64) set(PhysX_LIBRARIES optimized PhysX3_x64 debug PhysX3DEBUG_x64 optimized PhysX3Common_x64 debug PhysX3CommonDEBUG_x64 optimized PhysXProfileSDK debug PhysXProfileSDKDEBUG optimized PhysX3Extensions debug PhysX3ExtensionsDEBUG optimized PhysX3Cooking_x64 debug PhysX3CookingDEBUG_x64 ) if(INSTALL_RUNTIME_DEPENDENCIES) install(PROGRAMS ${PhysX_DIR}/Bin/win64/PhysX3_x64.dll DESTINATION bin CONFIGURATIONS Release RelWithDebInfo MinSizeRel) install(PROGRAMS ${PhysX_DIR}/Bin/win64/PhysX3CHECKED_x64.dll DESTINATION bin CONFIGURATIONS Debug) install(PROGRAMS ${PhysX_DIR}/Bin/win64/PhysX3Common_x64.dll DESTINATION bin CONFIGURATIONS Release RelWithDebInfo MinSizeRel) install(PROGRAMS ${PhysX_DIR}/Bin/win64/PhysX3CommonCHECKED_x64.dll DESTINATION bin CONFIGURATIONS Debug) install(PROGRAMS ${PhysX_DIR}/Bin/win64/nvToolsExt64_1.dll DESTINATION bin CONFIGURATIONS Release RelWithDebInfo MinSizeRel Debug) install(PROGRAMS ${PhysX_DIR}/Bin/win64/PhysX3Cooking_x64.dll DESTINATION bin CONFIGURATIONS Release RelWithDebInfo MinSizeRel) install(PROGRAMS ${PhysX_DIR}/Bin/win64/PhysX3CookingCHECKED_x64.dll DESTINATION bin CONFIGURATIONS Debug) endif() else() set(PhysX_LIBRARY_DIRS ${PhysX_DIR}/Lib/win32) set(PhysX_LIBRARIES optimized PhysX3_x86 debug PhysX3DEBUG_x86 optimized PhysX3Common_x86 debug PhysX3CommonDEBUG_x86 optimized PhysXProfileSDK debug PhysXProfileSDKDEBUG optimized PhysX3Extensions debug PhysX3ExtensionsDEBUG optimized PhysX3Cooking_x86 debug PhysX3CookingDEBUG_x86 ) if(INSTALL_RUNTIME_DEPENDENCIES) install(PROGRAMS ${PhysX_DIR}/Bin/win32/PhysX3_x86.dll DESTINATION bin CONFIGURATIONS Release RelWithDebInfo MinSizeRel) install(PROGRAMS ${PhysX_DIR}/Bin/win32/PhysX3CHECKED_x86.dll DESTINATION bin CONFIGURATIONS Debug) install(PROGRAMS ${PhysX_DIR}/Bin/win32/PhysX3Common_x86.dll DESTINATION bin CONFIGURATIONS Release RelWithDebInfo MinSizeRel) install(PROGRAMS ${PhysX_DIR}/Bin/win32/PhysX3CommonCHECKED_x86.dll DESTINATION bin CONFIGURATIONS Debug) install(PROGRAMS ${PhysX_DIR}/Bin/win32/nvToolsExt32_1.dll DESTINATION bin CONFIGURATIONS Release RelWithDebInfo MinSizeRel Debug) install(PROGRAMS ${PhysX_DIR}/Bin/win32/PhysX3Cooking_x86.dll DESTINATION bin CONFIGURATIONS Release RelWithDebInfo MinSizeRel) install(PROGRAMS ${PhysX_DIR}/Bin/win32/PhysX3CookingCHECKED_x86.dll DESTINATION bin CONFIGURATIONS Debug) endif() endif() endif() endif() include_directories(${PhysX_INCLUDE_DIRS}) link_directories(${PhysX_LIBRARY_DIRS}) set(target CnoidPhysXPlugin) set(sources PhysXPlugin.cpp PhysXSimulatorItem.cpp ) set(headers PhysXSimulatorItem.h ) make_gettext_mofiles(${target} mofiles) add_cnoid_plugin(${target} SHARED ${sources} ${headers} ${mofiles}) target_link_libraries(${target} CnoidBodyPlugin ${PhysX_LIBRARIES}) apply_common_setting_for_plugin(${target} "${headers}") choreonoid-1.5.0/src/PhysXPlugin/PhysXPlugin.cpp0000664000000000000000000000115212741425367020337 0ustar rootroot/*! @file @author Shizuko Hattori */ #include "PhysXSimulatorItem.h" #include using namespace std; using namespace cnoid; namespace { class PhysXPlugin : public Plugin { public: PhysXPlugin() : Plugin("PhysX") { require("Body"); } virtual ~PhysXPlugin() { } virtual bool initialize() { PhysXSimulatorItem::initialize(this); return true; } virtual bool finalize() { return true; } }; } CNOID_IMPLEMENT_PLUGIN_ENTRY(PhysXPlugin); choreonoid-1.5.0/src/PhysXPlugin/po/0000775000000000000000000000000012741425367016020 5ustar rootrootchoreonoid-1.5.0/src/PhysXPlugin/po/ja.po0000664000000000000000000000204012741425367016746 0ustar rootroot# Japanese translations for PACKAGE package. # Copyright (C) 2014 THE PACKAGE'S COPYRIGHT HOLDER # This file is distributed under the same license as the PACKAGE package. # hattori , 2014. # msgid "" msgstr "" "Project-Id-Version: PACKAGE VERSION\n" "Report-Msgid-Bugs-To: \n" "POT-Creation-Date: 2014-03-18 14:26+0900\n" "PO-Revision-Date: 2014-03-18 14:26+0900\n" "Last-Translator: hattori \n" "Language-Team: Japanese\n" "Language: ja\n" "MIME-Version: 1.0\n" "Content-Type: text/plain; charset=UTF-8\n" "Content-Transfer-Encoding: 8bit\n" "Plural-Forms: nplurals=1; plural=0;\n" #: PhysXSimulatorItem.cpp:766 msgid "PhysXSimulatorItem" msgstr "PhysX‚·ƒŸƒƒĴƒĵ‚ż‚˘‚¤ƒ†ƒ " #: PhysXSimulatorItem.cpp:1081 msgid "Static Friction" msgstr "静ĉ‘İĉ“Ĥ係ĉ•°" #: PhysXSimulatorItem.cpp:1084 msgid "Dynamic Friction" msgstr "ċ‹•ĉ‘İĉ“Ĥ係ĉ•°" #: PhysXSimulatorItem.cpp:1087 msgid "Restitution" msgstr "ċç™şäż‚ĉ•°" #: PhysXSimulatorItem.cpp:1089 msgid "Limit joint range" msgstr "関節範ċ›²ĉ‹˜ĉŸ" choreonoid-1.5.0/src/PhysXPlugin/README.txt0000664000000000000000000000045212741425367017101 0ustar rootrootƒğPhysX-3.3.0_LINUX_SDK_Core.zip‚’ƒ€‚Ĥƒ³ƒ­ƒĵƒ‰—Ĥ€ċħ•é–‹™‚‹€‚ ƒğccmake §€BUILD_PhysX_PLUGIN ‚’ ON PhysX_DIR Ğċħ•é–‹—Ÿƒ‡‚£ƒĴ‚ŻƒˆƒŞ‚’ĉŒ‡ċš™‚‹€‚ ƒğubuntu 32bit OS ċ ´ċˆŻ€ADDITIONAL_CXX_FLAGS_RELEASE Ğ -malign-double ‚’ĉŒ‡ċš™‚‹€‚ choreonoid-1.5.0/src/FCLPlugin/0000775000000000000000000000000012741425367014733 5ustar rootrootchoreonoid-1.5.0/src/FCLPlugin/FCLCollisionDetector.cpp0000664000000000000000000003520512741425367021416 0ustar rootroot/** \file \author Shizuko Hattori */ #include "FCLCollisionDetector.h" #include #include #include #include #include #include #include #include #include #include using namespace std; using namespace boost; using namespace fcl; using namespace cnoid; namespace { const bool USE_PRIMITIVE = false; class FCLPlugin : public Plugin { public: FCLPlugin() : Plugin("FCL") { require("Body"); } virtual ~FCLPlugin() { } virtual bool initialize() { return true; } virtual bool finalize() { return true; } }; CNOID_IMPLEMENT_PLUGIN_ENTRY(FCLPlugin); CollisionDetectorPtr factory() { return boost::make_shared(); } struct FactoryRegistration { FactoryRegistration(){ CollisionDetector::registerFactory("FCLCollisionDetector", factory); } } factoryRegistration; typedef boost::shared_ptr CollisionObjectPtr; typedef BVHModel MeshModel; typedef boost::shared_ptr MeshModelPtr; class CollisionObjectEx { public : CollisionObjectEx(); ~CollisionObjectEx(); CollisionObjectPtr meshObject; MeshModelPtr meshModel; vector primitiveObjects; vector primitiveLocalT; bool isStatic; }; typedef boost::shared_ptr CollisionObjectExPtr; CollisionObjectEx::CollisionObjectEx() { primitiveObjects.clear(); primitiveLocalT.clear(); isStatic = false; } CollisionObjectEx::~CollisionObjectEx() { } } namespace cnoid { class FCLCollisionDetectorImpl { public: FCLCollisionDetectorImpl(); ~FCLCollisionDetectorImpl(); vector models; typedef set< IdPair<> > IdPairSet; IdPairSet modelPairs; IdPairSet nonInterfarencePairs; MeshExtractor* meshExtractor; int addGeometry(SgNode* geometry); void addMesh(CollisionObjectEx* model); bool makeReady(); void updatePosition(int geometryId, const Position& position); void detectCollisions(boost::function callback); void detectObjectCollisions(CollisionObject* object1, CollisionObject* object2, CollisionPair& collisionPair); private : }; } FCLCollisionDetector::FCLCollisionDetector() { impl = new FCLCollisionDetectorImpl(); } FCLCollisionDetectorImpl::FCLCollisionDetectorImpl() { meshExtractor = new MeshExtractor(); } FCLCollisionDetector::~FCLCollisionDetector() { delete impl; } FCLCollisionDetectorImpl::~FCLCollisionDetectorImpl() { delete meshExtractor; } const char* FCLCollisionDetector::name() const { return "FCLCollisionDetector"; } CollisionDetectorPtr FCLCollisionDetector::clone() const { return boost::make_shared(); } void FCLCollisionDetector::clearGeometries() { impl->models.clear(); impl->nonInterfarencePairs.clear(); impl->modelPairs.clear(); } int FCLCollisionDetector::numGeometries() const { return impl->models.size(); } int FCLCollisionDetector::addGeometry(SgNodePtr geometry) { return impl->addGeometry(geometry.get()); } int FCLCollisionDetectorImpl::addGeometry(SgNode* geometry) { const int index = models.size(); bool isValid = false; if(geometry){ CollisionObjectExPtr model = boost::make_shared(); model->meshModel = boost::make_shared(); model->meshModel->beginModel(); if(meshExtractor->extract(geometry, boost::bind(&FCLCollisionDetectorImpl::addMesh, this, model.get()))){ if(model->meshModel->num_vertices){ model->meshModel->endModel(); model->meshModel->computeLocalAABB(); CollisionObject* obj = new CollisionObject(model->meshModel); model->meshObject = boost::shared_ptr(obj); } models.push_back(model); isValid = true; } } if(!isValid){ models.push_back(CollisionObjectExPtr()); } return index; } void FCLCollisionDetectorImpl::addMesh(CollisionObjectEx* model) { SgMesh* mesh = meshExtractor->currentMesh(); const Affine3& T = meshExtractor->currentTransform(); bool meshAdded = false; if(USE_PRIMITIVE){ if(mesh->primitiveType() != SgMesh::MESH){ bool doAddPrimitive = false; Vector3 scale; optional translation; if(!meshExtractor->isCurrentScaled()){ scale.setOnes(); doAddPrimitive = true; } else { Affine3 S = meshExtractor->currentTransformWithoutScaling().inverse() * meshExtractor->currentTransform(); if(S.linear().isDiagonal()){ if(!S.translation().isZero()){ translation = S.translation(); } scale = S.linear().diagonal(); if(mesh->primitiveType() == SgMesh::BOX){ doAddPrimitive = true; } else if(mesh->primitiveType() == SgMesh::SPHERE){ // check if the sphere is uniformly scaled for all the axes if(scale.x() == scale.y() && scale.x() == scale.z()){ doAddPrimitive = true; } } else if(mesh->primitiveType() == SgMesh::CYLINDER){ // check if the bottom circle face is uniformly scaled if(scale.x() == scale.z()){ doAddPrimitive = true; } } else if(mesh->primitiveType() == SgMesh::CONE){ if(scale.x() == scale.z()){ doAddPrimitive = true; } } } } if(doAddPrimitive){ bool created = false; switch(mesh->primitiveType()){ case SgMesh::BOX : { const Vector3& s = mesh->primitive().size; fcl::Box* box = new fcl::Box(s.x() * scale.x(), s.y() * scale.y(), s.z() * scale.z()); CollisionObject* obj = new CollisionObject(boost::shared_ptr(box)); model->primitiveObjects.push_back(boost::shared_ptr(obj)); created = true; break; } case SgMesh::SPHERE : { double radius = mesh->primitive().radius; fcl::Sphere* sphere = new fcl::Sphere(radius * scale.x()); CollisionObject* obj = new CollisionObject(boost::shared_ptr(sphere)); model->primitiveObjects.push_back(boost::shared_ptr(obj)); created = true; break; } case SgMesh::CYLINDER : { SgMesh::Cylinder cylinder = mesh->primitive(); fcl::Cylinder* cylinder_ = new fcl::Cylinder(cylinder.radius * scale.x(), cylinder.height * scale.y()); CollisionObject* obj = new CollisionObject(boost::shared_ptr(cylinder_)); model->primitiveObjects.push_back(boost::shared_ptr(obj)); created = true; break; } case SgMesh::CONE : { SgMesh::Cone cone = mesh->primitive(); fcl::Cone* cone_ = new fcl::Cone(cone.radius * scale.x(), cone.height * scale.y()); CollisionObject* obj = new CollisionObject(boost::shared_ptr(cone_)); model->primitiveObjects.push_back(boost::shared_ptr(obj)); created = true; break; } default : break; } if(created){ Position t; if(translation){ t = meshExtractor->currentTransformWithoutScaling() * Translation3(*translation); } else { t = meshExtractor->currentTransformWithoutScaling(); } fcl::Vec3f p(t(0,3), t(1,3), t(2,3)); fcl::Matrix3f R(t(0,0), t(0,1), t(0,2), t(1,0), t(1,1), t(1,2), t(2,0), t(2,1), t(2,2)); model->primitiveLocalT.push_back(Transform3f(R,p)); meshAdded = true; } } } } if(!meshAdded){ const int vertexIndexTop = model->meshModel->num_vertices; const SgVertexArray& vertices_ = *mesh->vertices(); const int numVertices = vertices_.size(); vector points; for(int i=0; i < numVertices; ++i){ const Vector3 v = T * vertices_[i].cast(); points.push_back(Vec3f(v.x(), v.y(), v.z())); } const int numTriangles = mesh->numTriangles(); vector tri_indices; for(int i=0; i < numTriangles; ++i){ SgMesh::TriangleRef src = mesh->triangle(i); int i0 = vertexIndexTop + src[0]; int i1 = vertexIndexTop + src[1]; int i2 = vertexIndexTop + src[2]; tri_indices.push_back(Triangle(i0, i1, i2)); } model->meshModel->addSubModel(points, tri_indices); } } void FCLCollisionDetector::setGeometryStatic(int geometryId, bool isStatic) { CollisionObjectExPtr& model = impl->models[geometryId]; if(model){ model->isStatic = isStatic; } } bool FCLCollisionDetector::enableGeometryCache(bool on) { return false; } void FCLCollisionDetector::clearGeometryCache(SgNodePtr geometry) { } void FCLCollisionDetector::clearAllGeometryCaches() { } void FCLCollisionDetector::setNonInterfarenceGeometyrPair(int geometryId1, int geometryId2) { impl->nonInterfarencePairs.insert(IdPair<>(geometryId1, geometryId2)); } bool FCLCollisionDetector::makeReady() { return impl->makeReady(); } bool FCLCollisionDetectorImpl::makeReady() { modelPairs.clear(); const int n = models.size(); for(int i=0; i < n; ++i){ CollisionObjectExPtr& model1 = models[i]; if(model1){ for(int j = i+1; j < n; ++j){ CollisionObjectExPtr& model2 = models[j]; if(model2){ if(!model1->isStatic || !model2->isStatic){ if(nonInterfarencePairs.find(IdPair<>(i, j)) == nonInterfarencePairs.end()){ modelPairs.insert(IdPair<>(i,j)); } } } } } } return true; } void FCLCollisionDetector::updatePosition(int geometryId, const Position& position) { impl->updatePosition(geometryId, position); } void FCLCollisionDetectorImpl::updatePosition(int geometryId, const Position& _position) { CollisionObjectExPtr& model = models[geometryId]; fcl::Vec3f p(_position(0,3), _position(1,3), _position(2,3)); fcl::Matrix3f R(_position(0,0), _position(0,1), _position(0,2), _position(1,0), _position(1,1), _position(1,2), _position(2,0), _position(2,1), _position(2,2)); if(model){ if(model->meshObject){ model->meshObject->setTransform(R,p); } vector::iterator itt = model->primitiveLocalT.begin(); for(vector::iterator it = model->primitiveObjects.begin(); it!=model->primitiveObjects.end(); it++, itt++) if(*it){ fcl::Transform3f trans(R,p); trans *= (*itt); (*it)->setTransform(trans); } } } void FCLCollisionDetector::detectCollisions(boost::function callback) { impl->detectCollisions(callback); } void FCLCollisionDetectorImpl::detectCollisions(boost::function callback) { CollisionPair collisionPair; vector& collisions = collisionPair.collisions; for(IdPairSet::iterator it = modelPairs.begin(); it!=modelPairs.end(); it++){ CollisionObjectExPtr& model1 = models[(*it)(0)]; CollisionObjectExPtr& model2 = models[(*it)(1)]; collisions.clear(); if(model1->meshObject){ if(model2->meshObject) detectObjectCollisions(model1->meshObject.get(), model2->meshObject.get(), collisionPair); for(vector::iterator itt = model2->primitiveObjects.begin(); itt!=model2->primitiveObjects.end(); itt++) detectObjectCollisions(model1->meshObject.get(), (*itt).get(), collisionPair); } for(vector::iterator iter = model1->primitiveObjects.begin(); iter!=model1->primitiveObjects.end(); iter++){ if(model2->meshObject) detectObjectCollisions((*iter).get(), model2->meshObject.get(), collisionPair); for(vector::iterator itt = model2->primitiveObjects.begin(); itt!=model2->primitiveObjects.end(); itt++) detectObjectCollisions((*iter).get(), (*itt).get(), collisionPair); } if(!collisions.empty()){ collisionPair.geometryId[0] = (*it)(0); collisionPair.geometryId[1] = (*it)(1); callback(collisionPair); } } } void FCLCollisionDetectorImpl::detectObjectCollisions(CollisionObject* object1, CollisionObject* object2, CollisionPair& collisionPair) { vector& collisions = collisionPair.collisions; CollisionRequest request(std::numeric_limits::max(), true); CollisionResult result; std::vector contacts; int numContacts = collide(object1, object2, request, result); result.getContacts(contacts); for (int j=0;j namespace cnoid { class FCLCollisionDetectorImpl; class FCLCollisionDetector : public CollisionDetector { public: FCLCollisionDetector(); virtual ~FCLCollisionDetector(); virtual const char* name() const; virtual CollisionDetectorPtr clone() const; virtual void clearGeometries(); virtual int numGeometries() const; virtual int addGeometry(SgNodePtr geometry); virtual void setGeometryStatic(int geometryId, bool isStatic = true); virtual bool enableGeometryCache(bool on); virtual void clearGeometryCache(SgNodePtr geometry); virtual void clearAllGeometryCaches(); virtual void setNonInterfarenceGeometyrPair(int geometryId1, int geometryId2); virtual bool makeReady(); virtual void updatePosition(int geometryId, const Position& position); virtual void detectCollisions(boost::function callback); private: FCLCollisionDetectorImpl* impl; }; typedef boost::shared_ptr FCLCollisionDetectorPtr; } #endif choreonoid-1.5.0/src/PCLPlugin/0000775000000000000000000000000012741425367014745 5ustar rootrootchoreonoid-1.5.0/src/PCLPlugin/exportdecl.h0000664000000000000000000000213612741425367017271 0ustar rootroot#ifndef CNOID_PCLPLUGIN_EXPORTDECL_H_INCLUDED # define CNOID_PCLPLUGIN_EXPORTDECL_H_INCLUDED # if defined _WIN32 || defined __CYGWIN__ # define CNOID_PCLPLUGIN_DLLIMPORT __declspec(dllimport) # define CNOID_PCLPLUGIN_DLLEXPORT __declspec(dllexport) # define CNOID_PCLPLUGIN_DLLLOCAL # else # if __GNUC__ >= 4 # define CNOID_PCLPLUGIN_DLLIMPORT __attribute__ ((visibility("default"))) # define CNOID_PCLPLUGIN_DLLEXPORT __attribute__ ((visibility("default"))) # define CNOID_PCLPLUGIN_DLLLOCAL __attribute__ ((visibility("hidden"))) # else # define CNOID_PCLPLUGIN_DLLIMPORT # define CNOID_PCLPLUGIN_DLLEXPORT # define CNOID_PCLPLUGIN_DLLLOCAL # endif # endif # ifdef CNOID_PCLPLUGIN_STATIC # define CNOID_PCLPLUGIN_DLLAPI # define CNOID_PCLPLUGIN_LOCAL # else # ifdef CnoidPCLPlugin_EXPORTS # define CNOID_PCLPLUGIN_DLLAPI CNOID_PCLPLUGIN_DLLEXPORT # else # define CNOID_PCLPLUGIN_DLLAPI CNOID_PCLPLUGIN_DLLIMPORT # endif # define CNOID_PCLPLUGIN_LOCAL CNOID_PCLPLUGIN_DLLLOCAL # endif #endif #ifdef CNOID_EXPORT # undef CNOID_EXPORT #endif #define CNOID_EXPORT CNOID_PCLPLUGIN_DLLAPI choreonoid-1.5.0/src/PCLPlugin/PointCloudUtil.h0000664000000000000000000000077212741425367020042 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_PCL_PLUGIN_POINT_CLOUD_UTIL_H #define CNOID_PCL_PLUGIN_POINT_CLOUD_UTIL_H #include #include #include "exportdecl.h" namespace cnoid { CNOID_EXPORT SgMesh* createSurfaceMesh(SgPointSet* pointSet); CNOID_EXPORT boost::optional alignPointCloud (SgPointSet* target, SgPointSet* source, Affine3& io_T, double maxCorrespondenceDistance, int maxIterations, double epsilon = 1.0e-8); } #endif choreonoid-1.5.0/src/PCLPlugin/PCLPlugin.cpp0000664000000000000000000000043712741425367017252 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include using namespace cnoid; class PCLPlugin : public Plugin { public: PCLPlugin() : Plugin("PCL") { } virtual bool initialize(){ return true; } }; CNOID_IMPLEMENT_PLUGIN_ENTRY(PCLPlugin); choreonoid-1.5.0/src/PCLPlugin/CMakeLists.txt0000664000000000000000000000125712741425367017512 0ustar rootroot option(BUILD_PCL_PLUGIN "Building PCLPlugin" OFF) if(NOT BUILD_PCL_PLUGIN) return() endif() find_package(PCL REQUIRED common io surface features) include_directories(${PCL_INCLUDE_DIRS}) link_directories(${PCL_LIBRARY_DIRS}) add_definitions(${PCL_DEFINITIONS}) set(sources PCLPlugin.cpp PointCloudUtil.cpp ) set(headers PointCloudUtil.h exportdecl.h ) set(target CnoidPCLPlugin) make_gettext_mofiles(${target} mofiles) add_cnoid_plugin(${target} SHARED ${sources} ${headers} ${mofiles}) target_link_libraries(${target} CnoidBase ${PCL_COMMON_LIBRARIES} ${PCL_SURFACE_LIBRARIES} ${PCL_FEATURES_LIBRARIES} pcl_io) apply_common_setting_for_plugin(${target} "${headers}") choreonoid-1.5.0/src/PCLPlugin/PointCloudUtil.cpp0000664000000000000000000001242212741425367020370 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "PointCloudUtil.h" #include #include #include #include #include #include #include using namespace std; using namespace cnoid; SgMesh* cnoid::createSurfaceMesh(SgPointSet* pointSet) { if(!pointSet->hasVertices()){ return 0; } SgVertexArray* vertices = pointSet->vertices(); const int numPoints = vertices->size(); SgMesh* mesh = new SgMesh; mesh->setVertices(vertices); typedef pcl::PointCloud PointCloud; PointCloud::Ptr cloud(new PointCloud(numPoints, 1)); for(int i=0; i < numPoints; ++i){ const Vector3f& p = (*vertices)[i]; cloud->points[i] = pcl::PointXYZ(p.x(), p.y(), p.z()); } // Normal estimation* pcl::NormalEstimation n; pcl::PointCloud::Ptr normals(new pcl::PointCloud); pcl::search::KdTree::Ptr tree(new pcl::search::KdTree); tree->setInputCloud(cloud); n.setInputCloud(cloud); n.setSearchMethod(tree); //n.setRadiusSearch(0.03); n.setViewPoint(0.0, 0.0, 0.5); n.setKSearch(20); n.compute(*normals); //* normals should not contain the point normals + surface curvatures /* SgNormalArray& meshNormals = *mesh->setNormals(new SgNormalArray(normals->size())); for(size_t i=0; i < normals->size(); ++i){ meshNormals[i] = Eigen::Map(normals->points[i].normal); } */ // Concatenate the XYZ and normal fields* pcl::PointCloud::Ptr cloud_with_normals(new pcl::PointCloud); pcl::concatenateFields(*cloud, *normals, *cloud_with_normals); //* cloud_with_normals = cloud + normals // Create search tree* pcl::search::KdTree::Ptr tree2(new pcl::search::KdTree); tree2->setInputCloud(cloud_with_normals); // Initialize objects pcl::GreedyProjectionTriangulation gp3; pcl::PolygonMesh polygonMesh; // Set the maximum distance between connected points (maximum edge length) gp3.setSearchRadius(0.025); // Set typical values for the parameters gp3.setMu(2.5); gp3.setMaximumNearestNeighbors(100); gp3.setMaximumSurfaceAngle(M_PI / 4.0); // 45 degrees gp3.setMinimumAngle(M_PI / 18.0); // 10 degrees gp3.setMaximumAngle(2.0 * M_PI / 3.0); // 120 degrees gp3.setNormalConsistency(false); gp3.setConsistentVertexOrdering(true); // Get result gp3.setInputCloud(cloud_with_normals); gp3.setSearchMethod(tree2); gp3.reconstruct(polygonMesh); // The result type is supposed to be triangles SgNormalArray& meshNormals = *mesh->setNormals(new SgNormalArray(cloud_with_normals->size())); for(size_t i=0; i < cloud_with_normals->size(); ++i){ meshNormals[i] = Eigen::Map(cloud_with_normals->points[i].normal); } const vector& triangles = polygonMesh.polygons; const int numTriangles = triangles.size(); mesh->reserveNumTriangles(numTriangles); for(int i=0; i < numTriangles; ++i){ const vector& triangleVertices = triangles[i].vertices; if(triangleVertices.size() == 3){ mesh->addTriangle(triangleVertices[0], triangleVertices[1], triangleVertices[2]); } } return mesh; } boost::optional cnoid::alignPointCloud (SgPointSet* target, SgPointSet* source, Affine3& io_T, double maxCorrespondenceDistance, int maxIterations, double epsilon) { typedef pcl::PointCloud PointCloud; if(!target->hasVertices() || !source->hasVertices()){ return boost::none; } const SgVertexArray& targetPoints = *target->vertices(); PointCloud::Ptr targetCloud(new PointCloud(targetPoints.size(), 1)); targetCloud->is_dense = false; for(size_t i=0; i < targetPoints.size(); ++i){ const Vector3f& p = targetPoints[i]; targetCloud->points[i] = pcl::PointXYZ(p.x(), p.y(), p.z()); } const SgVertexArray& sourcePoints = *source->vertices(); PointCloud::Ptr sourceCloud(new PointCloud(sourcePoints.size(), 1)); sourceCloud->is_dense = false; for(size_t i=0; i < sourcePoints.size(); ++i){ const Vector3f& p = sourcePoints[i]; sourceCloud->points[i] = pcl::PointXYZ(p.x(), p.y(), p.z()); } typedef pcl::IterativeClosestPoint ICP; ICP icp; //cout << "icp.getMaxCorrespondenceDistance(): " << icp.getMaxCorrespondenceDistance() << endl; //cout << "icp.getMaximumIterations(): " << icp.getMaximumIterations() << endl; icp.setInputTarget(targetCloud); icp.setInputSource(sourceCloud); icp.setMaxCorrespondenceDistance(maxCorrespondenceDistance); icp.setMaximumIterations(maxIterations); icp.setTransformationEpsilon(epsilon); pcl::PointCloud Final; const ICP::Matrix4 guess(io_T.matrix().cast()); icp.align(Final, guess); io_T = icp.getFinalTransformation().cast(); if(icp.hasConverged()){ return icp.getFitnessScore(); } return boost::none; } choreonoid-1.5.0/src/Base/0000775000000000000000000000000012741425367014022 5ustar rootrootchoreonoid-1.5.0/src/Base/MultiSE3SeqGraphView.h0000664000000000000000000000253312741425367020071 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_MULTI_SE3_SEQ_GRAPH_VIEW_H #define CNOID_BASE_MULTI_SE3_SEQ_GRAPH_VIEW_H #include "GraphViewBase.h" #include "MultiSE3SeqItem.h" #include "Buttons.h" #include namespace cnoid { class MultiSE3SeqGraphView : public GraphViewBase { public: static void initializeClass(ExtensionManager* ext); MultiSE3SeqGraphView(); ~MultiSE3SeqGraphView(); virtual bool storeState(Archive& archive); virtual bool restoreState(const Archive& archive); private: ToggleToolButton xyzToggles[3]; ToggleToolButton rpyToggles[3]; ConnectionSet toggleConnections; void setupElementToggleSet(QBoxLayout* box, ToggleToolButton toggles[], const char* labels[], bool isActive); virtual int currentNumParts(const ItemList<>& items) const; virtual ItemList<> extractTargetItems(const ItemList<>& items) const; void addGraphDataHandlers(Item* item, int partIndex, std::vector& out_handlers); void updateGraphDataHandler(Item* item, GraphDataHandlerPtr handler); void onDataRequest(MultiSE3SeqPtr seq, int partIndex, int type, int axis, int frame, int size, double* out_values); void onDataModified(MultiSE3SeqItem* item, int partIndex, int type, int axis, int frame, int size, double* values); }; } #endif choreonoid-1.5.0/src/Base/VirtualJoystickView.cpp0000664000000000000000000001513612741425367020535 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "VirtualJoystickView.h" #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { const bool TRACE_FUNCTIONS = false; enum { ARROW_UP, ARROW_DOWN, ARROW_LEFT, ARROW_RIGHT, L_AXIS_UP, L_AXIS_DOWN, L_AXIS_LEFT, L_AXIS_RIGHT, R_AXIS_UP, R_AXIS_DOWN, R_AXIS_LEFT, R_AXIS_RIGHT, BUTTON_A, BUTTON_B, BUTTON_X, BUTTON_Y, NUM_JOYSTICK_ELEMENTS }; struct ButtonInfo { const char* label; int row; int column; bool isAxis; double activeValue; int id; int key; }; ButtonInfo buttonInfo[] = { { "^", 0, 1, true, -1.0, 7, Qt::Key_Up }, { "v", 2, 1, true, 1.0, 7, Qt::Key_Down }, { "<", 1, 0, true, -1.0, 6, Qt::Key_Left }, { ">", 1, 2, true, 1.0, 6, Qt::Key_Right }, { "E", 3, 3, true, -1.0, 1, Qt::Key_E }, { "D", 5, 3, true, 1.0, 1, Qt::Key_D }, { "S", 4, 2, true, -1.0, 0, Qt::Key_S }, { "F", 4, 4, true, 1.0, 0, Qt::Key_F }, { "I", 3, 8, true, -1.0, 4, Qt::Key_I }, { "K", 5, 8, true, 1.0, 4, Qt::Key_K }, { "J", 4, 7, true, -1.0, 3, Qt::Key_J }, { "L", 4, 9, true, 1.0, 3, Qt::Key_L }, { "A", 2, 10, false, 1.0, 0, Qt::Key_A }, { "B", 1, 11, false, 1.0, 1, Qt::Key_B }, { "X", 1, 9, false, 1.0, 2, Qt::Key_X }, { "Y", 0, 10, false, 1.0, 3, Qt::Key_Y } }; } namespace cnoid { class VirtualJoystickViewImpl : public ExtJoystick { public: VirtualJoystickView* self; QGridLayout grid; ToolButton buttons[NUM_JOYSTICK_ELEMENTS]; typedef std::map KeyToButtonMap; KeyToButtonMap keyToButtonMap; vector keyValues; Signal sigButton_; Signal sigAxis_; boost::mutex mutex; vector axisPositions; vector buttonStates; VirtualJoystickViewImpl(VirtualJoystickView* self); ~VirtualJoystickViewImpl(); bool onKeyStateChanged(int key, bool on); virtual int numAxes() const; virtual int numButtons() const; virtual bool readCurrentState(); virtual double getPosition(int axis) const; virtual bool getButtonState(int button) const; virtual bool isActive() const; virtual SignalProxy sigButton(); virtual SignalProxy sigAxis(); }; } void VirtualJoystickView::initializeClass(ExtensionManager* ext) { ext->viewManager().registerClass( "VirtualJoystickView", N_("Virtual Joystick"), ViewManager::SINGLE_OPTIONAL); } VirtualJoystickView::VirtualJoystickView() { impl = new VirtualJoystickViewImpl(this); } VirtualJoystickViewImpl::VirtualJoystickViewImpl(VirtualJoystickView* self) : self(self), keyValues(NUM_JOYSTICK_ELEMENTS, 0.0) { self->setSizePolicy(QSizePolicy::Ignored, QSizePolicy::Ignored); self->setDefaultLayoutArea(View::BOTTOM); self->setFocusPolicy(Qt::WheelFocus); for(int i=0; i < NUM_JOYSTICK_ELEMENTS; ++i){ ButtonInfo& info = buttonInfo[i]; buttons[i].setText(info.label); grid.addWidget(&buttons[i], info.row, info.column); keyToButtonMap[info.key] = i; if(info.isAxis){ if(info.id >= axisPositions.size()){ axisPositions.resize(info.id + 1, 0.0); } } else { if(info.id >= buttonStates.size()){ buttonStates.resize(info.id + 1, false); } } } QHBoxLayout* hbox = new QHBoxLayout; hbox->addStretch(); hbox->addLayout(&grid); hbox->addStretch(); QVBoxLayout* vbox = new QVBoxLayout; vbox->addStretch(); vbox->addLayout(hbox); vbox->addStretch(); self->setLayout(vbox); ExtJoystick::registerJoystick("VirtualJoystickView", this); } VirtualJoystickView::~VirtualJoystickView() { delete impl; } VirtualJoystickViewImpl::~VirtualJoystickViewImpl() { } void VirtualJoystickView::keyPressEvent(QKeyEvent* event) { if(!impl->onKeyStateChanged(event->key(), true)){ View::keyPressEvent(event); } } void VirtualJoystickView::keyReleaseEvent(QKeyEvent* event) { if(!impl->onKeyStateChanged(event->key(), false)){ View::keyPressEvent(event); } } bool VirtualJoystickViewImpl::onKeyStateChanged(int key, bool on) { KeyToButtonMap::iterator p = keyToButtonMap.find(key); if(p == keyToButtonMap.end()){ return false; } else { int index = p->second; ToolButton& button = buttons[index]; ButtonInfo& info = buttonInfo[p->second]; button.setDown(on); { boost::unique_lock lock(mutex); keyValues[index] = on ? info.activeValue : 0.0; } } return true; } int VirtualJoystickViewImpl::numAxes() const { return axisPositions.size(); } int VirtualJoystickViewImpl::numButtons() const { return buttonStates.size(); } bool VirtualJoystickViewImpl::readCurrentState() { std::fill(axisPositions.begin(), axisPositions.end(), 0.0); { boost::unique_lock lock(mutex); for(int i=0; i < NUM_JOYSTICK_ELEMENTS; ++i){ ButtonInfo& info = buttonInfo[i]; if(info.isAxis){ axisPositions[info.id] += keyValues[i]; } else { buttonStates[info.id] = keyValues[i]; } } } return true; } double VirtualJoystickViewImpl::getPosition(int axis) const { if(axis >=0 && axis < axisPositions.size()){ return axisPositions[axis]; } return 0.0; } bool VirtualJoystickViewImpl::getButtonState(int button) const { if(button >= 0 && button < buttonStates.size()){ return buttonStates[button]; } return false; } bool VirtualJoystickViewImpl::isActive() const { for(size_t i=0; i < axisPositions.size(); ++i){ if(axisPositions[i] != 0.0){ return true; } } for(size_t i=0; i < buttonStates.size(); ++i){ if(buttonStates[i]){ return true; } } return false; } SignalProxy VirtualJoystickViewImpl::sigButton() { return sigButton_; } SignalProxy VirtualJoystickViewImpl::sigAxis() { return sigAxis_; } bool VirtualJoystickView::storeState(Archive& archive) { return true; } bool VirtualJoystickView::restoreState(const Archive& archive) { return true; } choreonoid-1.5.0/src/Base/CheckBox.cpp0000664000000000000000000000114112741425367016211 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "CheckBox.h" using namespace cnoid; CheckBox::CheckBox(QWidget* parent) : QCheckBox(parent) { initialize(); } CheckBox::CheckBox(const QString& text, QWidget* parent) : QCheckBox(text, parent) { initialize(); } void CheckBox::initialize() { connect(this, SIGNAL(stateChanged(int)), this, SLOT(onStateChanged(int))); connect(this, SIGNAL(toggled(bool)), this, SLOT(onToggled(bool))); } void CheckBox::onStateChanged(int state) { sigStateChanged_(state); } void CheckBox::onToggled(bool checked) { sigToggled_(checked); } choreonoid-1.5.0/src/Base/SocketNotifier.cpp0000664000000000000000000000055212741425367017460 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "SocketNotifier.h" using namespace cnoid; SocketNotifier::SocketNotifier(int socket, Type type, QObject* parent) : QSocketNotifier(socket, type, parent) { connect(this, SIGNAL(activated(int)), this, SLOT(onActivated(int))); } void SocketNotifier::onActivated(int socket) { sigActivated_(socket); } choreonoid-1.5.0/src/Base/App.cpp0000664000000000000000000002554012741425367015254 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "App.h" #include "AppUtil.h" #include "AppConfig.h" #include "ParametricPathProcessor.h" #include "ExtensionManager.h" #include "OptionManager.h" #include "PluginManager.h" #include "ItemManager.h" #include "ProjectManager.h" #include "MenuManager.h" #include "TimeSyncItemEngine.h" #include "MainWindow.h" #include "RootItem.h" #include "FolderItem.h" #include "ExtCommandItem.h" #include "SceneItem.h" #include "PointSetItem.h" #include "MultiPointSetItem.h" #include "ViewManager.h" #include "MessageView.h" #include "ItemTreeView.h" #include "ItemPropertyView.h" #include "SceneView.h" #include "FileBar.h" #include "ScriptBar.h" #include "TimeBar.h" #include "SceneBar.h" #include "CaptureBar.h" #include "ImageView.h" #include "TaskView.h" #include "GraphBar.h" #include "MultiValueSeqGraphView.h" #include "MultiSE3SeqGraphView.h" #include "MultiValueSeqItem.h" #include "MultiSE3SeqItem.h" #include "MultiAffine3SeqItem.h" #include "Vector3SeqItem.h" #include "PathVariableEditor.h" #include "Licenses.h" #include "MovieRecorder.h" #include "LazyCaller.h" #include "TextEditView.h" #include "VirtualJoystickView.h" #include "DescriptionDialog.h" #include #include #include #include #include #include #include #include #include #ifdef Q_OS_WIN32 #include #endif #include "gettext.h" using namespace cnoid; namespace { View* lastFocusView_ = 0; Signal sigFocusViewChanged; Signal sigAboutToQuit_; void onCtrl_C_Input(int p) { callLater(boost::bind(&MainWindow::close, MainWindow::instance())); } #ifdef Q_OS_WIN32 BOOL WINAPI consoleCtrlHandler(DWORD ctrlChar) { callLater(boost::bind(&MainWindow::close, MainWindow::instance())); return FALSE; } #endif } namespace cnoid { class AppImpl { App* self; QApplication* qapplication; int& argc; char**& argv; ExtensionManager* ext; MainWindow* mainWindow; std::string appName; std::string vendorName; DescriptionDialog* descriptionDialog; bool doQuit; AppImpl(App* self, int& argc, char**& argv); ~AppImpl(); void initialize(const char* appName, const char* vendorName, const QIcon& icon, const char* pluginPathList); int exec(); void onMainWindowCloseEvent(); void onSigOptionsParsed(boost::program_options::variables_map& v); bool processCommandLineOptions(); void showInformationDialog(); void onOpenGLVSyncToggled(bool on); friend class App; friend class View; }; } App::App(int& argc, char**& argv) { impl = new AppImpl(this, argc, argv); } #include AppImpl::AppImpl(App* self, int& argc, char**& argv) : self(self), argc(argc), argv(argv) { descriptionDialog = 0; #if QT_VERSION < QT_VERSION_CHECK(5, 0, 0) #if defined(__APPLE__) && defined(__MACH__) if(!getenv("QT_GRAPHICSSYSTEM")){ QApplication::setGraphicsSystem("raster"); // to obtain better rendering performance } #endif #endif QCoreApplication::setAttribute(Qt::AA_X11InitThreads); doQuit = false; qapplication = new QApplication(argc, argv); self->connect(qapplication, SIGNAL(focusChanged(QWidget*, QWidget*)), self, SLOT(onFocusChanged(QWidget*, QWidget*))); } void App::initialize(const char* appName, const char* vendorName, const QIcon& icon, const char* pluginPathList) { impl->initialize(appName, vendorName, icon, pluginPathList); } void AppImpl::initialize( const char* appName, const char* vendorName, const QIcon& icon, const char* pluginPathList) { this->appName = appName; this->vendorName = vendorName; setlocale(LC_ALL, ""); // for gettext #if QT_VERSION < QT_VERSION_CHECK(5, 0, 0) QTextCodec::setCodecForCStrings(QTextCodec::codecForLocale()); #else QTextCodec::setCodecForLocale(QTextCodec::codecForName("UTF-8")); #endif qapplication->setApplicationName(appName); qapplication->setOrganizationName(vendorName); qapplication->setWindowIcon(icon); AppConfig::initialize(appName, vendorName); ParametricPathProcessor::instance()->setVariables( AppConfig::archive()->openMapping("pathVariables")); ext = new ExtensionManager("Base", false); // OpenGL settings Mapping* glConfig = AppConfig::archive()->openMapping("OpenGL"); QGLFormat glfmt = QGLFormat::defaultFormat(); glfmt.setSwapInterval(glConfig->get("vsync", 0)); QGLFormat::setDefaultFormat(glfmt); mainWindow = MainWindow::initialize(appName, ext); ViewManager::initializeClass(ext); MessageView::initializeClass(ext); RootItem::initializeClass(ext); ProjectManager::initialize(ext); FileBar::initialize(ext); ScriptBar::initialize(ext); TimeBar::initialize(ext); ItemTreeView::initializeClass(ext); ItemPropertyView::initializeClass(ext); TextEditView::initializeClass(ext); SceneBar::initialize(ext); SceneView::initializeClass(ext); ImageView::initializeClass(ext); GraphBar::initialize(ext); MultiValueSeqGraphView::initializeClass(ext); MultiSE3SeqGraphView::initializeClass(ext); TaskView::initializeClass(ext); VirtualJoystickView::initializeClass(ext); TimeSyncItemEngineManager::initialize(); FolderItem::initializeClass(ext); ExtCommandItem::initializeClass(ext); MultiValueSeqItem::initializeClass(ext); MultiSE3SeqItem::initializeClass(ext); MultiAffine3SeqItem::initializeClass(ext); Vector3SeqItem::initializeClass(ext); SceneItem::initializeClass(ext); PointSetItem::initializeClass(ext); MultiPointSetItem::initializeClass(ext); MovieRecorder::initialize(ext); CaptureBar::initialize(ext); PathVariableEditor::initialize(ext); ext->menuManager().setPath("/Help").addItem(_("About Choreonoid")) ->sigTriggered().connect(boost::bind(&AppImpl::showInformationDialog, this)); // OpenGL settings Action* vsyncItem = ext->menuManager().setPath("/Options/OpenGL").addCheckItem(_("Vertical Sync")); vsyncItem->setChecked(glfmt.swapInterval() > 0); vsyncItem->sigToggled().connect(boost::bind(&AppImpl::onOpenGLVSyncToggled, this, _1)); PluginManager::initialize(ext); PluginManager::instance()->doStartupLoading(pluginPathList); mainWindow->installEventFilter(self); OptionManager& om = ext->optionManager(); om.addOption("quit", "quit the application just after it is invoked"); om.sigOptionsParsed().connect(boost::bind(&AppImpl::onSigOptionsParsed, this, _1)); // Some plugins such as OpenRTM plugin are driven by a library which tries to catch SIGINT. // This may block the normal termination by inputting Ctrl+C. // To avoid it, the following signal handliers are set. std::signal(SIGINT, onCtrl_C_Input); std::signal(SIGTERM, onCtrl_C_Input); #ifdef Q_OS_WIN32 // The above SIGINT handler seems to work even on Windows // when Choreonoid is compiled as a console-program, // and the following handler only works for a console-program, too. // Hence the folloing handler for Windows is currently disabled. // SetConsoleCtrlHandler(consoleCtrlHandler, TRUE); #endif #ifdef Q_OS_LINUX /** The following code is neccessary to avoid a crash when a view which has a widget such as QPlainTextEdit and has not been focused yet is first focused (clikced) during the camera image simulation processed by GLVisionSimulatorItem. The crash only occurs in Linux with the nVidia proprietary X driver. If the user clicks such a view to give the focus before the simulation started, the crash doesn't occur, so here the focus is forced to be given by the following code. */ /** This is now executed in GLVisionSimulatorItem::initializeSimulation if(QWidget* textEdit = MessageView::instance()->findChild("TextEdit")){ textEdit->setFocus(); textEdit->clearFocus(); } */ #endif } App::~App() { if(impl){ delete impl; } } AppImpl::~AppImpl() { AppConfig::flush(); delete qapplication; } int App::exec() { return impl->exec(); } int AppImpl::exec() { processCommandLineOptions(); if(!mainWindow->isVisible()){ mainWindow->show(); } int result = 0; if(doQuit){ MessageView::instance()->flush(); } else { result = qapplication->exec(); } PluginManager::finalize(); delete ext; delete mainWindow; mainWindow = 0; return result; } bool App::eventFilter(QObject* watched, QEvent* event) { if(watched == impl->mainWindow && event->type() == QEvent::Close){ impl->onMainWindowCloseEvent(); event->accept(); return true; } return false; } void AppImpl::onMainWindowCloseEvent() { sigAboutToQuit_(); mainWindow->storeWindowStateConfig(); QWidgetList windows = QApplication::topLevelWidgets(); for(int i=0; i < windows.size(); ++i){ QWidget* window = windows[i]; if(window != mainWindow){ window->close(); } } } SignalProxy cnoid::sigAboutToQuit() { return sigAboutToQuit_; } void AppImpl::onSigOptionsParsed(boost::program_options::variables_map& v) { if(v.count("quit")){ doQuit = true; } } bool AppImpl::processCommandLineOptions() { if(!ext->optionManager().parseCommandLine(argc, argv)){ //put error messages } return false; } void AppImpl::showInformationDialog() { if(!descriptionDialog){ descriptionDialog = new DescriptionDialog(); descriptionDialog->setWindowTitle(_("About Choreonoid")); QFile resource(":/Base/LICENSE"); if(resource.open(QIODevice::ReadOnly | QIODevice::Text)){ QTextStream license(&resource); descriptionDialog->setDescription( QString("Choreonoid Version %1\n\n").arg(CNOID_FULL_VERSION_STRING) + license.readAll()); } } descriptionDialog->show(); } void AppImpl::onOpenGLVSyncToggled(bool on) { Mapping* glConfig = AppConfig::archive()->openMapping("OpenGL"); glConfig->write("vsync", (on ? 1 : 0)); // show messag dialog to prompt restart here } void App::onFocusChanged(QWidget* old, QWidget* now) { while(now){ View* view = dynamic_cast(now); if(view){ lastFocusView_ = view; sigFocusViewChanged(lastFocusView_); break; } now = now->parentWidget(); } } View* View::lastFocusView() { return lastFocusView_; } SignalProxy View::sigFocusChanged() { return sigFocusViewChanged; } /** This function is called by a View oject when the object to delete is the current focus view. */ void App::clearFocusView() { if(lastFocusView_){ lastFocusView_ = 0; sigFocusViewChanged(0); } } choreonoid-1.5.0/src/Base/JoystickCaptureLinux.cpp0000664000000000000000000000527612741425367020703 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include "JoystickCapture.h" #include "SocketNotifier.h" #include #include using namespace cnoid; namespace cnoid { class JoystickCaptureImpl { public: Joystick* joystick; SocketNotifier* notifier; JoystickCaptureImpl(); ~JoystickCaptureImpl(); bool setDevice(const char* device); void onNotifierActivated(); }; } JoystickCapture::JoystickCapture() { impl = new JoystickCaptureImpl; } JoystickCaptureImpl::JoystickCaptureImpl() { joystick = 0; notifier = 0; } JoystickCapture::~JoystickCapture() { delete impl; } JoystickCaptureImpl::~JoystickCaptureImpl() { setDevice(0); } bool JoystickCapture::setDevice(const char* device) { return impl->setDevice(device); } bool JoystickCaptureImpl::setDevice(const char* device) { if(notifier){ delete notifier; notifier = 0; } if(joystick){ delete joystick; joystick = 0; } if(device){ joystick = new Joystick(device); if(joystick->isReady()){ notifier = new SocketNotifier(joystick->fileDescriptor(), QSocketNotifier::Read); notifier->sigActivated().connect(boost::bind(&JoystickCaptureImpl::onNotifierActivated, this)); return true; } } return false; } void JoystickCapture::releaseDevice() { impl->setDevice(0); } SignalProxy JoystickCapture::sigButton() { return impl->joystick->sigButton(); } SignalProxy JoystickCapture::sigAxis() { return impl->joystick->sigAxis(); } bool JoystickCapture::isReady() const { return (impl->joystick && impl->joystick->isReady()); } void JoystickCaptureImpl::onNotifierActivated() { notifier->setEnabled(false); joystick->readCurrentState(); notifier->setEnabled(true); } int JoystickCapture::numAxes() const { return impl->joystick ? impl->joystick->numAxes() : 0; } void JoystickCapture::setAxisEnabled(int axis, bool on) { if(impl->joystick){ impl->joystick->setAxisEnabled(axis, on); } } int JoystickCapture::numButtons() const { return impl->joystick ? impl->joystick->numButtons() : 0; } bool JoystickCapture::readCurrentState() { return impl->joystick ? impl->joystick->readCurrentState() : false; } double JoystickCapture::getPosition(int axis) const { return impl->joystick ? impl->joystick->getPosition(axis) : 0.0; } bool JoystickCapture::getButtonState(int button) const { return impl->joystick ? impl->joystick->getButtonState(button) : false; } bool JoystickCapture::isActive() const { return impl->joystick ? impl->joystick->isActive() : false; } choreonoid-1.5.0/src/Base/ItemTreeArchiver.cpp0000664000000000000000000002052112741425367017730 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "ItemTreeArchiver.h" #include "RootItem.h" #include "ItemManager.h" #include "PluginManager.h" #include "MessageView.h" #include "Archive.h" #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace cnoid { class ItemTreeArchiverImpl { public: MessageView* mv; ostream& os; int itemIdCounter; int numArchivedItems; int numRestoredItems; map nonExistentPlugins; ItemTreeArchiverImpl(); ArchivePtr store(Archive& parentArchive, Item* item); ArchivePtr storeIter(Archive& parentArchive, Item* item, bool& isComplete); bool restore(Archive& archive, Item* parentItem, const std::set& optionalPlugins); void restoreItemIter(Archive& archive, Item* parentItem, const std::set& optionalPlugins); }; } ItemTreeArchiver::ItemTreeArchiver() { impl = new ItemTreeArchiverImpl; reset(); } ItemTreeArchiverImpl::ItemTreeArchiverImpl() : mv(MessageView::mainInstance()), os(mv->cout()) { } ItemTreeArchiver::~ItemTreeArchiver() { delete impl; } void ItemTreeArchiver::reset() { impl->itemIdCounter = 0; impl->numArchivedItems = 0; impl->numRestoredItems = 0; impl->nonExistentPlugins.clear(); } int ItemTreeArchiver::numArchivedItems() const { return impl->numArchivedItems; } int ItemTreeArchiver::numRestoredItems() const { return impl->numRestoredItems; } ArchivePtr ItemTreeArchiver::store(Archive* parentArchive, Item* item) { return impl->store(*parentArchive, item); } ArchivePtr ItemTreeArchiverImpl::store(Archive& parentArchive, Item* item) { bool isComplete = true; ArchivePtr archive = storeIter(parentArchive, item, isComplete); if(!isComplete){ mv->putln(MessageView::WARNING, _("Not all items were stored correctly.")); } return archive; } ArchivePtr ItemTreeArchiverImpl::storeIter(Archive& parentArchive, Item* item, bool& isComplete) { string pluginName; string className; if(!ItemManager::getClassIdentifier(item, pluginName, className)){ mv->putln(MessageView::ERROR, format(_("\"%1%\" cannot be stored. Its type is not registered.")) % item->name()); isComplete = false; return 0; } ArchivePtr archive = new Archive(); archive->inheritSharedInfoFrom(parentArchive); ArchivePtr dataArchive; if(!item->isSubItem()){ mv->putln(format(_("Storing %1% \"%2%\"")) % className % item->name()); mv->flush(); dataArchive = new Archive(); dataArchive->inheritSharedInfoFrom(parentArchive); if(!item->store(*dataArchive)){ mv->putln(MessageView::ERROR, format(_("\"%1%\" cannot be stored.")) % item->name()); isComplete = false; return 0; } archive->registerItemId(item, itemIdCounter); archive->write("id", itemIdCounter); itemIdCounter++; } archive->write("name", item->name(), DOUBLE_QUOTED); if(item->isSubItem()){ archive->write("isSubItem", true); } else { archive->write("plugin", pluginName); archive->write("class", className); if(!dataArchive->empty()){ archive->insert("data", dataArchive); } } ListingPtr children = new Listing(); for(Item* childItem = item->childItem(); childItem; childItem = childItem->nextItem()){ if(childItem->isTemporal()){ continue; } ArchivePtr childArchive = storeIter(*archive, childItem, isComplete); if(childArchive){ children->append(childArchive); } } if(!children->empty()){ archive->insert("children", children); } else if(item->isSubItem()){ archive = 0; } return archive; } bool ItemTreeArchiver::restore(Archive* archive, Item* parentItem, const std::set& optionalPlugins) { return impl->restore(*archive, parentItem, optionalPlugins); } bool ItemTreeArchiverImpl::restore(Archive& archive, Item* parentItem, const std::set& optionalPlugins) { numArchivedItems = 0; numRestoredItems = 0; archive.setCurrentParentItem(0); try { restoreItemIter(archive, parentItem, optionalPlugins); } catch (const ValueNode::Exception& ex){ os << ex.message(); } archive.setCurrentParentItem(0); nonExistentPlugins.clear(); return (numRestoredItems > 0); } void ItemTreeArchiverImpl::restoreItemIter (Archive& archive, Item* parentItem, const std::set& optionalPlugins) { string name; if(!archive.read("name", name)){ return; } bool isOptional = false; ItemPtr item; const bool isSubItem = archive.get("isSubItem", false); if(isSubItem){ item = parentItem->findSubItem(name); if(!item){ mv->putln(MessageView::WARNING, format(_("Sub item \"%1%\" is not found. Its children cannot be restored.")) % name); } } else { string pluginName; string className; if(!(archive.read("plugin", pluginName) && archive.read("class", className))){ mv->putln(MessageView::ERROR, _("Archive is broken.")); return; } const char* actualPluginName = PluginManager::instance()->guessActualPluginName(pluginName); if(actualPluginName){ item = ItemManager::create(actualPluginName, className); } else { pair::iterator, bool> ret = nonExistentPlugins.insert(pair(pluginName, isOptional)); if(ret.second){ if(optionalPlugins.find(pluginName) != optionalPlugins.end()){ isOptional = true; ret.first->second = isOptional; } } else { isOptional = ret.first->second; } if(!isOptional){ mv->putln(MessageView::WARNING, format(_("%1%Plugin is not loaded.")) % pluginName); } } if(!item){ if(!isOptional){ mv->putln(MessageView::WARNING, format(_("%1% of %2%Plugin is not a registered item type.")) % className % pluginName); ++numArchivedItems; } } else { ++numArchivedItems; item->setName(name); bool isRootItem = dynamic_pointer_cast(item); if(isRootItem){ item = parentItem; --numArchivedItems; } else { mv->putln(format(_("Restoring %1% \"%2%\"")) % className % name); mv->flush(); ValueNodePtr dataNode = archive.find("data"); if(dataNode->isValid()){ if(!dataNode->isMapping()){ mv->putln(MessageView::ERROR, _("The 'data' key does not have mapping-type data")); item = 0; } else { Archive* dataArchive = static_cast(dataNode->toMapping()); dataArchive->inheritSharedInfoFrom(archive); dataArchive->setCurrentParentItem(parentItem); if(!item->restore(*dataArchive)){ item = 0; } } } if(item){ parentItem->addChildItem(item); ++numRestoredItems; } } } } if(!item){ if(!isOptional){ mv->putln(MessageView::WARNING, format(_("\"%1%\" cannot be restored.")) % name); } } else { int id; if(archive.read("id", id) && (id >= 0)){ archive.registerItemId(item, id); } ListingPtr children = archive.findListing("children"); if(children->isValid()){ for(int i=0; i < children->size(); ++i){ Archive* childArchive = dynamic_cast(children->at(i)->toMapping()); childArchive->inheritSharedInfoFrom(archive); restoreItemIter(*childArchive, item, optionalPlugins); } } } } choreonoid-1.5.0/src/Base/FileBar.h0000664000000000000000000000055712741425367015506 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_FILE_BAR_H_INCLUDED #define CNOID_BASE_FILE_BAR_H_INCLUDED #include namespace cnoid { class FileBar : public ToolBar { public: static void initialize(ExtensionManager* ext); static FileBar* instance(); virtual ~FileBar(); private: FileBar(); }; } #endif choreonoid-1.5.0/src/Base/TimeBar.h0000664000000000000000000000475112741425367015525 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_TIME_BAR_H #define CNOID_BASE_TIME_BAR_H #include #include "exportdecl.h" namespace cnoid { class ExtensionManager; class TimeBarImpl; class CNOID_EXPORT TimeBar : public ToolBar { public: static void initialize(ExtensionManager* ext); static TimeBar* instance(); /** \note If any connected slot returns false, the playback is canceled. */ SignalProxy sigPlaybackInitialized(); SignalProxy sigPlaybackStarted(); SignalProxy sigTimeChanged(); SignalProxy sigPlaybackStopped(); inline double time() const { return time_; } bool setTime(double time); double realPlaybackTime() const; double minTime() const; double maxTime() const; void setTimeRange(double min, double max); inline double frameRate() const { return frameRate_; } void setFrameRate(double rate); inline double timeStep() const { return 1.0 / frameRate_; } inline bool isBeatMode() const { return isBeatMode_; } inline double beatOffset() const { return beatOffset_; } inline double tempo() const { return tempo_; } double timeOfBeatLocation(double beatLocation) const; double beatLocationOfTime(double time) const; inline int beatNumerator() const { return beatNumerator_; } inline int beatDenominator() const { return beatDenominator_; } double playbackSpeedScale() const; void setPlaybackSpeedScale(double scale); double playbackFrameRate() const; void setPlaybackFrameRate(double rate); void setRepeatMode(bool on); void startPlayback(); void startPlaybackFromFillLevel(); void stopPlayback(bool isStoppedManually = false); bool isDoingPlayback(); int startFillLevelUpdate(); void updateFillLevel(int id, double time); void stopFillLevelUpdate(int id); void setFillLevelSync(bool on); virtual int stretchableDefaultWidth() const; protected: virtual bool storeState(Archive& archive); virtual bool restoreState(const Archive& archive); private: TimeBar(); virtual ~TimeBar(); TimeBarImpl* impl; double time_; double frameRate_; bool isBeatMode_; double beatOffset_; double tempo_; int beatNumerator_; int beatDenominator_; friend class TimeBarImpl; }; } #endif choreonoid-1.5.0/src/Base/Splitter.h0000664000000000000000000000120712741425367016001 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_SPLITTER_H #define CNOID_BASE_SPLITTER_H #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT Splitter : public QSplitter { Q_OBJECT public: Splitter(QWidget* parent = 0); Splitter(Qt::Orientation orientation, QWidget* parent = 0); SignalProxy sigSplitterMoved() { return sigSplitterMoved_; } private Q_SLOTS: void onSplitterMoved(int pos, int index); private: Signal sigSplitterMoved_; void initialize(); }; } #endif choreonoid-1.5.0/src/Base/App.h0000664000000000000000000000145512741425367014720 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_APP_H #define CNOID_BASE_APP_H #include #include #include "exportdecl.h" namespace cnoid { class ExtensionManager; class AppImpl; class CNOID_EXPORT App : public QObject { Q_OBJECT public: /** @if jp @param appName ‚˘ƒ—ƒŞ‚ħƒĵ‚·ƒ§ƒ³ċ @param vendorName ƒ™ƒ³ƒ€ċ @endif */ App(int& argc, char**& argv); ~App(); void initialize(const char* appName, const char* vendorName, const QIcon& icon, const char* pluginPathList); int exec(); static void clearFocusView(); virtual bool eventFilter(QObject* watched, QEvent* event); private: AppImpl* impl; private Q_SLOTS: void onFocusChanged(QWidget* old, QWidget* now); }; } #endif choreonoid-1.5.0/src/Base/SceneItem.cpp0000664000000000000000000001126312741425367016405 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "SceneItem.h" #include "ItemManager.h" #include "Archive.h" #include "PutPropertyFunction.h" #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace { boost::scoped_ptr vrmlParser; boost::scoped_ptr vrmlConverter; bool loadVRML(SceneItem* item, const std::string& filename, std::ostream& os) { item->topNode()->clearChildren(true); if(!vrmlParser){ vrmlParser.reset(new VRMLParser); vrmlConverter.reset(new VRMLToSGConverter); } vrmlConverter->setMessageSink(os); vrmlConverter->clearConvertedNodeMap(); SgInvariantGroupPtr group = new SgInvariantGroup; try { vrmlParser->load(filename); while(VRMLNodePtr vrml = vrmlParser->readNode()){ SgNodePtr node = vrmlConverter->convert(vrml); if(node){ group->addChild(node); } } vrmlParser->checkEOF(); } catch(EasyScanner::Exception& ex){ os << ex.getFullMessage(); return false; } if(group->empty()){ os << _("The VRML file does not have any valid entity.") << endl; } else { item->topNode()->addChild(group, true); return true; } return false; } bool loadSTL(SceneItem* item, const std::string& filename, std::ostream& os) { STLSceneLoader loader; SgNode* scene = loader.load(filename); if(!scene){ os << _("The STL file cannot be loaded.") << endl; } else { item->topNode()->addChild(scene); } return (scene != 0); } } void SceneItem::initializeClass(ExtensionManager* ext) { static bool initialized = false; if(!initialized){ ext->itemManager().registerClass(N_("SceneItem")); ext->itemManager().addLoader( "VRML", "VRML-FILE", "wrl", boost::bind(::loadVRML, _1, _2, _3), ItemManager::PRIORITY_CONVERSION); ext->itemManager().addLoader( "Stereolithography (STL)", "STL-FILE", "stl", boost::bind(::loadSTL, _1, _2, _3), ItemManager::PRIORITY_CONVERSION); initialized = true; } } SceneItem::SceneItem() : topNode_(new SgPosTransform()) { } SceneItem::SceneItem(const SceneItem& org) : Item(org) { // shallow copy topNode_ = new SgPosTransform(*org.topNode()); } SceneItem::~SceneItem() { } void SceneItem::setName(const std::string& name) { topNode_->setName(name); Item::setName(name); } SgNode* SceneItem::getScene() { return topNode_.get(); } Item* SceneItem::doDuplicate() const { return new SceneItem(*this); } void SceneItem::doPutProperties(PutPropertyFunction& putProperty) { putProperty(_("File"), getFilename(filePath())); putProperty(_("Translation"), str(Vector3(topNode_->translation())), boost::bind(&SceneItem::onTranslationChanged, this, _1)); Vector3 rpy(rpyFromRot(topNode_->rotation())); putProperty("RPY", str(TO_DEGREE * rpy), boost::bind(&SceneItem::onRotationChanged, this, _1)); } bool SceneItem::onTranslationChanged(const std::string& value) { Vector3 p; if(toVector3(value, p)){ topNode_->setTranslation(p); topNode_->notifyUpdate(); return true; } return false; } bool SceneItem::onRotationChanged(const std::string& value) { Vector3 rpy; if(toVector3(value, rpy)){ topNode_->setRotation(rotFromRpy(TO_RADIAN * rpy)); topNode_->notifyUpdate(); return true; } return false; } bool SceneItem::store(Archive& archive) { if(!filePath().empty()){ archive.writeRelocatablePath("file", filePath()); archive.write("format", fileFormat()); write(archive, "translation", topNode_->translation()); write(archive, "rotation", AngleAxis(topNode_->rotation())); } return true; } bool SceneItem::restore(const Archive& archive) { std::string filename, formatId; if(archive.readRelocatablePath("file", filename) && archive.read("format", formatId)){ Vector3 translation; if(read(archive, "translation", translation)){ topNode_->setTranslation(translation); } AngleAxis rot; if(read(archive, "rotation", rot)){ topNode_->setRotation(rot); } if(load(filename, archive.currentParentItem(), formatId)){ return true; } } return false; } choreonoid-1.5.0/src/Base/ButtonGroup.h0000664000000000000000000000101712741425367016462 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_BUTTON_GROUP_H #define CNOID_BASE_BUTTON_GROUP_H #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT ButtonGroup : public QButtonGroup { Q_OBJECT public: ButtonGroup(QObject* parent = 0); SignalProxy sigButtonClicked() { return sigButtonClicked_; } private Q_SLOTS: void onButtonClicked(int id); private: Signal sigButtonClicked_; }; } #endif choreonoid-1.5.0/src/Base/ViewManager.h0000664000000000000000000001023612741425367016402 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_VIEW_MANAGER_H #define CNOID_BASE_VIEW_MANAGER_H #include "View.h" #include "ExtensionManager.h" #include "Archive.h" #include #include "exportdecl.h" namespace cnoid { class ExtensionManager; class ViewManagerImpl; class CNOID_EXPORT ViewManager { public: static void initializeClass(ExtensionManager* ext); ViewManager(ExtensionManager* ext); ~ViewManager(); class FactoryBase { public: virtual View* create() = 0; virtual ~FactoryBase() { } }; template class Factory : public FactoryBase { public: virtual View* create() { return new ViewType(); } }; enum InstantiationType { SINGLE_DEFAULT, SINGLE_OPTIONAL, MULTI_DEFAULT, MULTI_OPTIONAL }; /** \return If itype is SINGLE_DEFAULT or MULTI_DEFAULT, the default instance created by this function is returned. Otherwise null pointer is returned. */ template ViewType* registerClass( const std::string& className, const std::string& defaultInstanceName, ViewManager::InstantiationType itype = ViewManager::SINGLE_OPTIONAL) { return static_cast( registerClassSub(typeid(ViewType), className, defaultInstanceName, itype, new Factory())); } static ViewClass* viewClass(const std::type_info& view_type_info); // get or create the primal instance of the specified view type static View* getOrCreateView(const std::string& moduleName, const std::string& className); // get or create the instance of the specified view type and instance name static View* getOrCreateView( const std::string& moduleName, const std::string& className, const std::string& instanceName); // for loading the view layout format of the version 1.4 or earlier static View* getOrCreateViewOfDefaultName(const std::string& defaultName); static std::vector allViews(); static std::vector activeViews(); template static ViewType* getOrCreateView(bool doMountCreatedView = false) { return static_cast(getOrCreateSpecificTypeView(typeid(ViewType), std::string(), doMountCreatedView)); } template static ViewType* getOrCreateView(const std::string& instanceName, bool doMountCreatedView = false) { return static_cast(getOrCreateSpecificTypeView(typeid(ViewType), instanceName, doMountCreatedView)); } template static ViewType* findView() { return static_cast(findSpecificTypeView(typeid(ViewType), std::string())); } template static ViewType* findView(const std::string& instanceName) { return static_cast(findSpecificTypeView(typeid(ViewType), instanceName)); } static bool isPrimalInstance(View* view); static bool storeViewStates(ArchivePtr archive, const std::string& key); class ViewStateInfo { public: ViewStateInfo(); ~ViewStateInfo(); operator bool() const { return (data != 0); } private: void* data; friend class ViewManager; }; static void restoreViews(ArchivePtr archive, const std::string& key, ViewStateInfo& out_viewStateInfo); static bool restoreViewStates(ViewStateInfo& info); static SignalProxy sigViewCreated(); static SignalProxy sigViewActivated(); static SignalProxy sigViewDeactivated(); static SignalProxy sigViewRemoved(); private: ViewManager(const ViewManager& org) { } View* registerClassSub( const std::type_info& view_type_info, const std::string& className, const std::string& defaultInstanceName, InstantiationType itype, FactoryBase* factory); static View* getOrCreateSpecificTypeView( const std::type_info& view_type_info, const std::string& instanceName, bool doMountCreatedView); static View* findSpecificTypeView(const std::type_info& view_type_info, const std::string& instanceName); ViewManagerImpl* impl; }; } #endif choreonoid-1.5.0/src/Base/MultiAffine3SeqItem.h0000664000000000000000000000067712741425367017763 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_MULTI_AFFINE3_SEQ_ITEM_H_INCLUDED #define CNOID_BASE_MULTI_AFFINE3_SEQ_ITEM_H_INCLUDED #include "MultiSeqItem.h" #include namespace cnoid { typedef MultiSeqItem MultiAffine3SeqItem; typedef MultiAffine3SeqItem::Ptr MultiAffine3SeqItemPtr; template<> void MultiSeqItem::initializeClass(ExtensionManager* ext); } #endif choreonoid-1.5.0/src/Base/PluginManager.cpp0000664000000000000000000006250712741425367017271 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "PluginManager.h" #include "Plugin.h" #include "ExtensionManager.h" #include "MenuManager.h" #include "MessageView.h" #include "DescriptionDialog.h" #include "LazyCaller.h" #include "AppConfig.h" #include "MainWindow.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace filesystem = boost::filesystem; #ifdef Q_OS_WIN32 static const char* DLL_PREFIX = ""; static const char* DLL_SUFFIX = "dll"; static const char* PATH_DELIMITER = ";"; # ifdef CNOID_DEBUG static const char* DEBUG_SUFFIX = "d"; # else static const char* DEBUG_SUFFIX = ""; # endif #else # ifdef Q_OS_MAC static const char* DLL_PREFIX = "lib"; static const char* DLL_SUFFIX = "dylib"; static const char* PATH_DELIMITER = ":"; static const char* DEBUG_SUFFIX = ""; # else static const char* DLL_PREFIX = "lib"; static const char* DLL_SUFFIX = "so"; static const char* PATH_DELIMITER = ":"; static const char* DEBUG_SUFFIX = ""; # endif #endif #if QT_VERSION < QT_VERSION_CHECK(5, 0, 0) typedef void* QFunctionPointer; #endif namespace { PluginManager* instance_ = 0; } namespace cnoid { class PluginManagerImpl { public: PluginManagerImpl(ExtensionManager* ext); ~PluginManagerImpl(); Action* startupLoadingCheck; MessageView* mv; QRegExp pluginNamePattern; struct PluginInfo; typedef boost::shared_ptr PluginInfoPtr; typedef map PluginMap; struct PluginInfo { PluginInfo(){ plugin = 0; status = PluginManager::NOT_LOADED; aboutMenuItem = 0; aboutDialog = 0; areAllRequisitiesResolved = false; } QLibrary dll; std::string pathString; Plugin* plugin; string name; vector requisites; vector dependents; set subsequences; bool areAllRequisitiesResolved; int status; QAction* aboutMenuItem; DescriptionDialog* aboutDialog; }; typedef vector PluginInfoArray; PluginInfoArray allPluginInfos; PluginMap nameToPluginInfoMap; PluginMap pathToPluginInfoMap; typedef multimap MultiNameMap; MultiNameMap oldNameToCurrentPluginNameMap; typedef map CountMap; CountMap precedentCountMap; // Finalization should be done in the inverse order typedef list PluginInfoList; PluginInfoList pluginsInDeactivationOrder; PluginInfoArray pluginsToUnload; void clearUnusedPlugins(); void scanPluginFilesInDefaultPath(const std::string& pathList); void scanPluginFilesInDirectoyOfExecFile(); void scanPluginFiles(const std::string& pathString, bool isRecursive); void loadPlugins(); void unloadPluginsActually(); bool finalizePlugins(); bool loadPlugin(int index); bool activatePlugin(int index); void onLoadPluginTriggered(); void onAboutDialogTriggered(PluginInfo* info); const char* guessActualPluginName(const std::string& name); bool unloadPlugin(int index); bool finalizePlugin(PluginInfoPtr info); }; } namespace { bool comparePluginInfo(const PluginManagerImpl::PluginInfoPtr& p, const PluginManagerImpl::PluginInfoPtr& q) { int priority1 = p->plugin ? p->plugin->activationPriority() : std::numeric_limits::min(); int priority2 = q->plugin ? q->plugin->activationPriority() : std::numeric_limits::min(); if(priority1 == priority2){ return (p->name < q->name); } else { return (priority1 < priority2); } } } void PluginManager::initialize(ExtensionManager* ext) { if(!instance_){ instance_ = new PluginManager(ext); } } PluginManager* PluginManager::instance() { return instance_; } void PluginManager::finalize() { if(instance_){ delete instance_; instance_ = 0; } } PluginManager::PluginManager(ExtensionManager* ext) { impl = new PluginManagerImpl(ext); } PluginManagerImpl::PluginManagerImpl(ExtensionManager* ext) : mv(MessageView::mainInstance()) { pluginNamePattern.setPattern(QString(DLL_PREFIX) + "Cnoid.+Plugin" + DEBUG_SUFFIX + "\\." + DLL_SUFFIX); MappingPtr config = AppConfig::archive()->openMapping("PluginManager"); // for the base module PluginInfoPtr info = boost::make_shared(); info->name = "Base"; nameToPluginInfoMap.insert(make_pair(string("Base"), info)); MenuManager& mm = ext->menuManager(); mm.setPath("/File"); mm.addItem(_("Load Plugin")) ->sigTriggered().connect(boost::bind(&PluginManagerImpl::onLoadPluginTriggered, this)); startupLoadingCheck = mm.addCheckItem(_("Startup Plugin Loading")); startupLoadingCheck->setChecked(config->get("startupPluginLoading", true)); mm.addSeparator(); } PluginManager::~PluginManager() { delete impl; } PluginManagerImpl::~PluginManagerImpl() { finalizePlugins(); AppConfig::archive()->openMapping("PluginManager") ->write("startupPluginLoading", startupLoadingCheck->isChecked()); } int PluginManager::numPlugins() const { return impl->allPluginInfos.size(); } const std::string& PluginManager::pluginPath(int index) const { return impl->allPluginInfos[index]->pathString; } const std::string& PluginManager::pluginName(int index) const { return impl->allPluginInfos[index]->name; } int PluginManager::pluginStatus(int index) const { return impl->allPluginInfos[index]->status; } Plugin* PluginManager::findPlugin(const std::string& name) { PluginManagerImpl::PluginMap::iterator p = impl->nameToPluginInfoMap.find(name); if(p != impl->nameToPluginInfoMap.end()){ return p->second->plugin; } return 0; } void PluginManager::doStartupLoading(const char* pluginPathList) { if(impl->startupLoadingCheck->isChecked()){ if(pluginPathList){ scanPluginFilesInPathList(pluginPathList); } scanPluginFilesInDirectoyOfExecFile(); loadPlugins(); } } /** This function scans plugin files in the path list. @param pathList List of the directories to scan, which is specified with the same format as the PATH environment varibale. */ void PluginManager::scanPluginFilesInPathList(const std::string& pathList) { impl->scanPluginFilesInDefaultPath(pathList); } void PluginManagerImpl::scanPluginFilesInDefaultPath(const std::string& pathList) { boost::char_separator sep(PATH_DELIMITER); boost::tokenizer< boost::char_separator > paths(pathList, sep); boost::tokenizer< boost::char_separator >::iterator p; for(p = paths.begin(); p != paths.end(); ++p){ const string& path = *p; scanPluginFiles(path, false); } } void PluginManager::scanPluginFilesInDirectoyOfExecFile() { impl->scanPluginFilesInDirectoyOfExecFile(); } void PluginManagerImpl::scanPluginFilesInDirectoyOfExecFile() { string directory = getNativePathString( filesystem::path(executableTopDirectory()) / CNOID_PLUGIN_SUBDIR); scanPluginFiles(directory, false); } void PluginManager::scanPluginFiles(const std::string& pathString) { impl->scanPluginFiles(pathString, false); } void PluginManagerImpl::scanPluginFiles(const std::string& pathString, bool isRecursive) { filesystem::path pluginPath(pathString); if(filesystem::exists(pluginPath)){ if(filesystem::is_directory(pluginPath)){ if(!isRecursive){ static const bool doSorting = false; filesystem::directory_iterator end; if(doSorting){ list paths; for(filesystem::directory_iterator it(pluginPath); it != end; ++it){ const filesystem::path& filepath = *it; paths.push_back(getNativePathString(*it)); } paths.sort(); for(list::iterator p = paths.begin(); p != paths.end(); ++p){ scanPluginFiles(*p, true); } } else { for(filesystem::directory_iterator it(pluginPath); it != end; ++it){ const filesystem::path& filepath = *it; scanPluginFiles(getNativePathString(filepath), true); } } } } else { QString filename(getFilename(pluginPath).c_str()); if(pluginNamePattern.exactMatch(filename)){ PluginMap::iterator p = pathToPluginInfoMap.find(pathString); if(p == pathToPluginInfoMap.end()){ PluginInfoPtr info = boost::make_shared(); info->pathString = pathString; allPluginInfos.push_back(info); pathToPluginInfoMap[pathString] = info; } } } } } void PluginManager::clearUnusedPlugins() { impl->clearUnusedPlugins(); } void PluginManagerImpl::clearUnusedPlugins() { vector oldList = allPluginInfos; allPluginInfos.clear(); for(size_t i=0; i < oldList.size(); ++i){ PluginInfoPtr& info = oldList[i]; if(info->status == PluginManager::ACTIVE){ allPluginInfos.push_back(info); } else { pathToPluginInfoMap.erase(info->pathString); } } } void PluginManager::loadPlugins() { impl->loadPlugins(); } void PluginManagerImpl::loadPlugins() { while(true){ int numLoaded = 0; int numNotLoaded = 0; for(size_t i=0; i < allPluginInfos.size(); ++i){ if(allPluginInfos[i]->status == PluginManager::NOT_LOADED){ if(loadPlugin(i)){ ++numLoaded; } else { ++numNotLoaded; } } } if(numLoaded == 0 || numNotLoaded == 0){ break; } } std::sort(allPluginInfos.begin(), allPluginInfos.end(), comparePluginInfo); size_t totalNumActivated = 0; while(true){ size_t numActivated = 0; for(size_t i=0; i < allPluginInfos.size(); ++i){ int status = allPluginInfos[i]->status; if(status == PluginManager::LOADED){ if(activatePlugin(i)){ numActivated++; totalNumActivated++; } } } if(numActivated == 0 || totalNumActivated == allPluginInfos.size()){ if(allPluginInfos.size() - totalNumActivated > 0){ // Put information about plugins which cannot find required plugins for(size_t i=0; i < allPluginInfos.size(); ++i){ PluginInfoPtr& info = allPluginInfos[i]; if(info->status == PluginManager::LOADED && !info->areAllRequisitiesResolved){ string lacks; int n = 0; for(size_t j=0; j < info->requisites.size(); ++j){ PluginMap::iterator q = nameToPluginInfoMap.find(info->requisites[j]); if(q == nameToPluginInfoMap.end()){ if(n++ > 0){ lacks += ", "; } lacks += info->requisites[j]; } } mv->putln(fmt(_("%1%-plugin cannot be initialized because required plugin(s) %2% are not found.")) % info->name % lacks); } } } break; } } } bool PluginManager::loadPlugin(int index) { if(impl->loadPlugin(index)){ return impl->activatePlugin(index); } return false; } bool PluginManagerImpl::loadPlugin(int index) { QString errorMessage; PluginInfoPtr& info = allPluginInfos[index]; if(info->status == PluginManager::ACTIVE){ mv->putln(fmt(_("Plugin file \"%1%\" has already been activated.")) % info->pathString); } else if(info->status == PluginManager::NOT_LOADED){ mv->putln(fmt(_("Detecting plugin file \"%1%\"")) % info->pathString); mv->flush(); info->dll.setFileName(info->pathString.c_str()); // Some Python modules written in C/C++ requires the following options // to link with the python runtime library, but this might cause the symbol conflicts // amaong internal use libraries such as OPCODE used in both the Body module and ODE. info->dll.setLoadHints(QLibrary::ExportExternalSymbolsHint); //info->dll.setLoadHints(QLibrary::ResolveAllSymbolsHint); //info->dll.setLoadHints(0); if(!(info->dll.load())){ errorMessage = info->dll.errorString(); } else { QFunctionPointer symbol = info->dll.resolve("getChoreonoidPlugin"); if(!symbol){ info->status = PluginManager::INVALID; errorMessage = _("The plugin entry function \"getChoreonoidPlugin\" is not found.\n"); errorMessage += info->dll.errorString(); } else { Plugin::PluginEntry getCnoidPluginFunc = (Plugin::PluginEntry)(symbol); Plugin*& plugin = info->plugin; plugin = getCnoidPluginFunc(); if(!plugin){ info->status = PluginManager::INVALID; errorMessage = _("The plugin object cannot be created."); } else { info->status = PluginManager::LOADED; info->name = plugin->name(); const int numRequisites = plugin->numRequisites(); for(int i=0; i < numRequisites; ++i){ info->requisites.push_back(plugin->requisite(i)); } const int numSubsequences = plugin->numSubsequences(); for(int i=0; i < numSubsequences; ++i){ const string subsequence(plugin->subsequence(i)); CountMap::iterator p = precedentCountMap.find(subsequence); if(p == precedentCountMap.end()){ precedentCountMap.insert(make_pair(subsequence, 1)); } else { p->second += 1; } info->subsequences.insert(subsequence); } PluginMap::iterator p = nameToPluginInfoMap.find(info->name); if(p == nameToPluginInfoMap.end()){ nameToPluginInfoMap.insert(make_pair(info->name, info)); } else { info->status = PluginManager::CONFLICT; PluginInfoPtr& another = p->second; another->status = PluginManager::CONFLICT; errorMessage = str(fmt(_("Plugin file \"%1%\" conflicts with \"%2%\".")) % info->pathString % another->pathString).c_str(); } } } } } if(!errorMessage.isEmpty()){ mv->putln(_("Loading the plugin failed.")); mv->putln(errorMessage); mv->flush(); } return (info->status == PluginManager::LOADED); } bool PluginManagerImpl::activatePlugin(int index) { QString errorMessage; PluginInfoPtr& info = allPluginInfos[index]; if(info->status == PluginManager::ACTIVE){ mv->putln(fmt(_("Plugin file \"%1%\" has already been activated.")) % info->pathString); } else if(info->status == PluginManager::LOADED){ bool requisitesActive = true; CountMap::iterator p = precedentCountMap.find(info->name); if(p != precedentCountMap.end()){ if(p->second > 0){ // precedent plugins should be initialized before this return false; } } // check whether all the required plugins have already been active for(size_t i=0; i < info->requisites.size(); ++i){ const string& requisiteName = info->requisites[i]; PluginMap::iterator q = nameToPluginInfoMap.find(requisiteName); if(q == nameToPluginInfoMap.end()){ requisitesActive = false; break; } PluginInfoPtr& requisite = q->second; if(info->subsequences.find(requisiteName) != info->subsequences.end()){ if(requisite->status != PluginManager::LOADED){ requisitesActive = false; break; } } else if(requisite->status != PluginManager::ACTIVE){ requisitesActive = false; break; } } if(requisitesActive){ info->areAllRequisitiesResolved = true; if(!info->plugin->initialize()){ info->status = PluginManager::INVALID; errorMessage = _("The plugin object cannot be intialized."); } else { info->status = PluginManager::ACTIVE; pluginsInDeactivationOrder.push_front(info); // add this plugin to dependent list of the requisites for(size_t i=0; i < info->requisites.size(); ++i){ PluginMap::iterator p = nameToPluginInfoMap.find(info->requisites[i]); if(p != nameToPluginInfoMap.end()){ p->second->dependents.push_back(info->name); } } // decreate the count of subsequent pulgins for(set::iterator p = info->subsequences.begin(); p != info->subsequences.end(); ++p){ const string& pluginName = *p; precedentCountMap[pluginName] -= 1; } // set an about dialog info->plugin->menuManager().setPath("/Help").setPath(_("About Plugins")) .addItem(str(fmt(_("About %1% Plugin")) % info->name).c_str()) ->sigTriggered().connect( boost::bind(&PluginManagerImpl::onAboutDialogTriggered, this, info.get())); // register old names int numOldNames = info->plugin->numOldNames(); for(int i=0; i < numOldNames; ++i){ oldNameToCurrentPluginNameMap.insert( make_pair(info->plugin->oldName(i), info->name)); } mv->putln(fmt(_("%1%-plugin has been activated.")) % info->name); mv->flush(); ExtensionManager::notifySystemUpdate(); } } } if(!errorMessage.isEmpty()){ mv->putln(_("Loading the plugin failed.")); mv->putln(errorMessage); mv->flush(); } return (info->status == PluginManager::ACTIVE); } void PluginManagerImpl::onLoadPluginTriggered() { QFileDialog dialog(MainWindow::instance()); dialog.setWindowTitle(_("Load plugins")); dialog.setFileMode(QFileDialog::ExistingFiles); dialog.setViewMode(QFileDialog::List); dialog.setLabelText(QFileDialog::Accept, _("Open")); dialog.setLabelText(QFileDialog::Reject, _("Cancel")); QStringList filters; filters << QString(_("Plugin files (*.%1)")).arg(DLL_SUFFIX); filters << _("Any files (*)"); dialog.setNameFilters(filters); MappingPtr config = AppConfig::archive()->openMapping("PluginManager"); dialog.setDirectory(config->get("pluginLoadingDialogDirectory", executableTopDirectory()).c_str()); if(dialog.exec()){ config->writePath("pluginLoadingDialogDirectory", dialog.directory().absolutePath().toStdString()); QStringList filenames = dialog.selectedFiles(); for(int i=0; i < filenames.size(); ++i){ string filename = getNativePathString(filesystem::path(filenames[i].toStdString())); // This code was taken from 'scanPluginFiles'. This should be unified. //if(pluginNamePattern.exactMatch(QString(getFilename(pluginPath).c_str()))){ if(true){ PluginMap::iterator p = pathToPluginInfoMap.find(filename); if(p == pathToPluginInfoMap.end()){ PluginInfoPtr info(new PluginInfo); info->pathString = filename; allPluginInfos.push_back(info); pathToPluginInfoMap[filename] = info; } } } loadPlugins(); } } void PluginManagerImpl::onAboutDialogTriggered(PluginInfo* info) { if(!info->aboutDialog){ info->aboutDialog = new DescriptionDialog(); info->aboutDialog->setWindowTitle(str(fmt(_("About %1% Plugin")) % info->name).c_str()); info->aboutDialog->setDescription(info->plugin->description()); } info->aboutDialog->show(); } const char* PluginManager::guessActualPluginName(const std::string& name) { return impl->guessActualPluginName(name); } const char* PluginManagerImpl::guessActualPluginName(const std::string& name) { PluginMap::iterator p = nameToPluginInfoMap.find(name); if(p != nameToPluginInfoMap.end()){ return p->second->name.c_str(); } MultiNameMap::iterator q, upper_bound; std::pair range = oldNameToCurrentPluginNameMap.equal_range(name); for(MultiNameMap::iterator q = range.first; q != range.second; ++q){ const string& candidate = q->second; PluginMap::iterator r = nameToPluginInfoMap.find(candidate); if(r != nameToPluginInfoMap.end()){ return r->second->name.c_str(); } } return 0; } bool PluginManager::unloadPlugin(int index) { return impl->unloadPlugin(index); } bool PluginManagerImpl::unloadPlugin(int index) { PluginInfoPtr& info = allPluginInfos[index]; if(info->plugin && info->plugin->isUnloadable()){ return finalizePlugin(info); } return false; } bool PluginManagerImpl::finalizePlugin(PluginInfoPtr info) { if(info->status == PluginManager::ACTIVE){ if(info->plugin){ bool allDependentsFinalized = true; for(size_t i=0; i < info->dependents.size(); ++i){ PluginMap::iterator p = nameToPluginInfoMap.find(info->dependents[i]); if(p != nameToPluginInfoMap.end()){ PluginInfoPtr& dependentInfo = p->second; if(dependentInfo->status == PluginManager::ACTIVE){ allDependentsFinalized = false; break; } } } if(allDependentsFinalized){ if(!info->plugin->finalize()){ mv->putln(boost::format(_("Plugin %1% cannot be finalized.")) % info->name); mv->flush(); } else { bool isUnloadable = info->plugin->isUnloadable(); info->status = PluginManager::FINALIZED; delete info->plugin; info->plugin = 0; if(info->aboutDialog){ delete info->aboutDialog; info->aboutDialog = 0; } ExtensionManager::notifySystemUpdate(); if(isUnloadable){ pluginsToUnload.push_back(info); callLater(boost::bind(&PluginManagerImpl::unloadPluginsActually, this), LazyCaller::PRIORITY_LOW); } } } } } return (info->status == PluginManager::FINALIZED); } void PluginManagerImpl::unloadPluginsActually() { for(size_t i=0; i < pluginsToUnload.size(); ++i){ PluginInfoPtr& info = pluginsToUnload[i]; if(info->dll.unload()){ info->status = PluginManager::NOT_LOADED; mv->putln(fmt(_("Plugin dll %1% has been unloaded.")) % info->pathString); mv->flush(); } } pluginsToUnload.clear(); } bool PluginManager::finalizePlugins() { return impl->finalizePlugins(); } bool PluginManagerImpl::finalizePlugins() { bool failed = false; bool finalized; do { finalized = false; PluginInfoList::iterator p = pluginsInDeactivationOrder.begin(); while(p != pluginsInDeactivationOrder.end()){ PluginInfoPtr& info = *p; if(info->status != PluginManager::ACTIVE){ p = pluginsInDeactivationOrder.erase(p); } else if(finalizePlugin(info)){ finalized = true; p = pluginsInDeactivationOrder.erase(p); } else { ++p; } } } while(finalized); for(size_t i=0; i < allPluginInfos.size(); ++i){ PluginInfoPtr& info = allPluginInfos[i]; if(info->status == PluginManager::ACTIVE){ if(!finalizePlugin(info)){ failed = true; } } } return !failed; } choreonoid-1.5.0/src/Base/GLSceneRenderer.h0000664000000000000000000001356412741425367017153 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_GL_SCENE_RENDERER_H #define CNOID_BASE_GL_SCENE_RENDERER_H #include #include #include #include "exportdecl.h" namespace cnoid { class GLSceneRendererImpl; class SgCustomGLNode; class Mapping; class CNOID_EXPORT GLSceneRenderer : public SceneRenderer { public: GLSceneRenderer(); GLSceneRenderer(SgGroup* root); virtual ~GLSceneRenderer(); virtual SgGroup* sceneRoot(); virtual SgGroup* scene(); virtual void clearScene(); virtual int numCameras() const; virtual SgCamera* camera(int index); virtual const SgNodePath& cameraPath(int index) const; virtual SignalProxy sigCamerasChanged() const; virtual SgCamera* currentCamera() const; virtual int currentCameraIndex() const; virtual void setCurrentCamera(int index); virtual bool setCurrentCamera(SgCamera* camera); virtual SignalProxy sigCurrentCameraChanged(); virtual void setViewport(int x, int y, int width, int height); virtual Array4i viewport() const; void getViewport(int& out_x, int& out_y, int& out_width, int& out_height) const; virtual double aspectRatio() const; // width / height; virtual const Affine3& currentModelTransform() const; virtual const Affine3& currentCameraPosition() const; virtual const Matrix4& projectionMatrix() const; void getViewFrustum(const SgPerspectiveCamera& camera, double& left, double& right, double& bottom, double& top) const; void getViewVolume(const SgOrthographicCamera& camera, double& left, double& right, double& bottom, double& top) const; bool initializeGL(); // The following functions cannot be called bofore calling the initializeGL() function. bool setSwapInterval(int interval); int getSwapInterval() const; /** This function does the same things as beginRendering() except that actual GL commands are not executed. This should only be called when you want to initialize the rendering without doing any GL rendering commands. For example, you can obtain cameras without rendering, and you can render the scene after selecting the current camera. */ virtual void initializeRendering(); virtual SignalProxy sigRenderingRequest(); void extractPreprocessedNodes(); virtual void beginRendering(); virtual void endRendering(); virtual void render(); virtual void flush(); bool pick(int x, int y); const Vector3& pickedPoint() const; const SgNodePath& pickedNodePath() const; const Vector3f& backgroundColor() const; void setBackgroundColor(const Vector3f& color); virtual SgLight* headLight(); virtual void setHeadLight(SgLight* light); void setHeadLightLightingFromBackEnabled(bool on); void setAsDefaultLight(SgLight* light); void unsetDefaultLight(SgLight* light); void enableAdditionalLights(bool on); enum PolygonMode { FILL_MODE, LINE_MODE, POINT_MODE }; void setPolygonMode(PolygonMode mode); void setDefaultLighting(bool on); void setDefaultSmoothShading(bool on); SgMaterial* defaultMaterial(); void setDefaultColor(const Vector4f& color); void enableTexture(bool on); void setDefaultPointSize(double size); void setDefaultLineWidth(double width); void enableFog(bool on); SgFog* currentFog(); void setNewDisplayListDoubleRenderingEnabled(bool on); void showNormalVectors(double length); void requestToClearCache(); /** If this is enabled, OpenGL resources such as display lists, vertex buffer objects are checked if they are still used or not, and the unused resources are released when finalizeRendering() is called. The default value is true. */ virtual void enableUnusedCacheCheck(bool on); virtual void visitGroup(SgGroup* group); virtual void visitInvariantGroup(SgInvariantGroup* group); virtual void visitTransform(SgTransform* transform); virtual void visitUnpickableGroup(SgUnpickableGroup* group); virtual void visitShape(SgShape* shape); virtual void visitPointSet(SgPointSet* pointSet); virtual void visitLineSet(SgLineSet* lineSet); virtual void visitPreprocessed(SgPreprocessed* preprocessed); virtual void visitLight(SgLight* light); virtual void visitOverlay(SgOverlay* overlay); virtual void visitOutlineGroup(SgOutlineGroup* outline); bool isPicking(); void setColor(const Vector4f& color); void enableColorMaterial(bool on); void setDiffuseColor(const Vector4f& color); void setAmbientColor(const Vector4f& color); void setEmissionColor(const Vector4f& color); void setSpecularColor(const Vector4f& color); void setShininess(float shininess); void enableCullFace(bool on); void setFrontCCW(bool on); void enableLighting(bool on); void setLightModelTwoSide(bool on); void enableBlend(bool on); void enableDepthMask(bool on); void setPointSize(float size); void setLineWidth(float width); private: GLSceneRendererImpl* impl; friend class SgCustomGLNode; }; class CNOID_EXPORT SgCustomGLNode : public SgGroup { public: typedef boost::function RenderingFunction; SgCustomGLNode() { } SgCustomGLNode(RenderingFunction f) : renderingFunction(f) { } virtual SgObject* clone(SgCloneMap& cloneMap) const; virtual void accept(SceneVisitor& visitor); virtual void render(GLSceneRenderer& renderer); void setRenderingFunction(RenderingFunction f); protected: SgCustomGLNode(const SgCustomGLNode& org, SgCloneMap& cloneMap) : SgGroup(org, cloneMap) { } private: RenderingFunction renderingFunction; }; typedef ref_ptr SgCustomGLNodePtr; } #endif choreonoid-1.5.0/src/Base/ItemTreeArchiver.h0000664000000000000000000000117712741425367017403 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_ITEM_TREE_ARCHIVER_H #define CNOID_BASE_ITEM_TREE_ARCHIVER_H #include "Archive.h" #include #include "exportdecl.h" namespace cnoid { class Item; class ItemTreeArchiverImpl; class CNOID_EXPORT ItemTreeArchiver { public: ItemTreeArchiver(); ~ItemTreeArchiver(); void reset(); ArchivePtr store(Archive* parentArchive, Item* topItem); bool restore(Archive* archive, Item* parentItem, const std::set& optionalPlugins); int numArchivedItems() const; int numRestoredItems() const; private: ItemTreeArchiverImpl* impl; }; } #endif choreonoid-1.5.0/src/Base/RectRegionMarker.h0000664000000000000000000000265512741425367017406 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_RECT_REGION_MARKER_H #define CNOID_BASE_RECT_REGION_MARKER_H #include "SceneWidgetEditable.h" #include #include #include "exportdecl.h" namespace cnoid { class PolyhedralRegion; class RectRegionMarkerImpl; class CNOID_EXPORT RectRegionMarker : public SgOverlay, public SceneWidgetEditable { public: RectRegionMarker(); ~RectRegionMarker(); void setRect(int x0, int y0, int x1, int y1); void setEditModeCursor(QCursor cursor); void startEditing(SceneWidget* sceneWidget); bool isEditing() const; void finishEditing(); const PolyhedralRegion& region() const; SignalProxy sigRegionFixed(); virtual void calcViewVolume(double viewportWidth, double viewportHeight, ViewVolume& io_volume); virtual void onSceneModeChanged(const SceneWidgetEvent& event); virtual bool onButtonPressEvent(const SceneWidgetEvent& event); virtual bool onButtonReleaseEvent(const SceneWidgetEvent& event); virtual bool onPointerMoveEvent(const SceneWidgetEvent& event); virtual void onContextMenuRequest(const SceneWidgetEvent& event, MenuManager& menuManager); SignalProxy sigContextMenuRequest(); private: RectRegionMarkerImpl* impl; }; typedef ref_ptr RectRegionMarkerPtr; } #endif choreonoid-1.5.0/src/Base/ImageView.cpp0000664000000000000000000000253212741425367016405 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "ImageView.h" #include "ImageWidget.h" #include "ViewManager.h" #include #include #include #include "gettext.h" using namespace cnoid; namespace cnoid { class ImageViewImpl { public: ImageWidget* imageWidget; }; } void ImageView::initializeClass(ExtensionManager* ext) { ext->viewManager().registerClass( "ImageView", N_("Image"), ViewManager::MULTI_OPTIONAL); } ImageView::ImageView() { impl = new ImageViewImpl; setDefaultLayoutArea(View::CENTER); QVBoxLayout* vbox = new QVBoxLayout(); vbox->setSpacing(0); impl->imageWidget = new ImageWidget; impl->imageWidget->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding); vbox->addWidget(impl->imageWidget, 1); setLayout(vbox); } ImageView::~ImageView() { delete impl; } void ImageView::setPixmap(const QPixmap& pixmap) { impl->imageWidget->setPixmap(pixmap); } void ImageView::setImage(const QImage& image) { impl->imageWidget->setImage(image); } void ImageView::setImage(const Image& image) { impl->imageWidget->setImage(image); } void ImageView::setScalingEnabled(bool on) { impl->imageWidget->setScalingEnabled(on); } bool ImageView::isScalingEnabled() const { return impl->imageWidget->isScalingEnabled(); } choreonoid-1.5.0/src/Base/SceneItem.h0000664000000000000000000000204412741425367016047 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_SCENE_ITEM_H #define CNOID_BASE_SCENE_ITEM_H #include "Item.h" #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT SceneItem : public Item, public SceneProvider { public: static void initializeClass(ExtensionManager* ext); SceneItem(); SceneItem(const SceneItem& org); virtual ~SceneItem(); virtual void setName(const std::string& name); virtual SgNode* getScene(); SgPosTransform* topNode() { return topNode_; } const SgPosTransform* topNode() const { return topNode_; } protected: virtual Item* doDuplicate() const; virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); virtual void doPutProperties(PutPropertyFunction& putProperty); private: SgPosTransformPtr topNode_; bool onTranslationChanged(const std::string& value); bool onRotationChanged(const std::string& value); }; typedef ref_ptr SceneItemPtr; } #endif choreonoid-1.5.0/src/Base/MainWindow.h0000664000000000000000000000241112741425367016245 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_MAIN_WINDOW_H #define CNOID_BASE_MAIN_WINDOW_H #include "Archive.h" #include #include "exportdecl.h" namespace cnoid { class ToolBarArea; class ViewArea; class ToolBar; class MainWindowImpl; class ExtensionManager; class CNOID_EXPORT MainWindow : public QMainWindow { public: static MainWindow* initialize(const char* appName, ExtensionManager* ext); static MainWindow* instance(); void show(); void setProjectTitle(const std::string& title); ToolBarArea* toolBarArea(); ViewArea* viewArea(); void addToolBar(ToolBar* toolbar); void getAllToolBars(std::vector& out_toolBars); void getVisibleToolBars(std::vector& out_toolBars); void restoreLayout(ArchivePtr archive); void storeLayout(ArchivePtr archive); void setInitialLayout(ArchivePtr archive); protected: virtual void changeEvent(QEvent* event); virtual void resizeEvent(QResizeEvent* event); virtual void keyPressEvent(QKeyEvent* event); private: MainWindowImpl* impl; MainWindow(const char* appName, ExtensionManager* ext); virtual ~MainWindow(); void storeWindowStateConfig(); friend class AppImpl; friend class ExtensionManager; }; } #endif choreonoid-1.5.0/src/Base/Timer.h0000664000000000000000000000074212741425367015256 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_TIMER_H #define CNOID_BASE_TIMER_H #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT Timer : public QTimer { Q_OBJECT public: Timer(QObject* parent = 0); SignalProxy sigTimeout() { return sigTimeout_; } private Q_SLOTS: void onTimeout(); private: Signal sigTimeout_; }; } #endif choreonoid-1.5.0/src/Base/TimeBar.cpp0000664000000000000000000005365212741425367016064 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "TimeBar.h" #include "ExtensionManager.h" #include "Archive.h" #include "MessageView.h" #include "MainWindow.h" #include "OptionManager.h" #include "LazyCaller.h" #include "SpinBox.h" #include "Slider.h" #include "Buttons.h" #include "CheckBox.h" #include "Dialog.h" #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace { const bool TRACE_FUNCTIONS = false; inline double myNearByInt(double x) { #ifdef Q_OS_WIN32 double u = ceil(x); double l = floor(x); if(fabs(u - x) < fabs(x - l)){ return u; } else { return l; } #else return nearbyint(x); #endif } class ConfigDialog : public Dialog { public: SpinBox frameRateSpin; SpinBox playbackFrameRateSpin; CheckBox idleLoopDrivenCheck; DoubleSpinBox playbackSpeedScaleSpin; CheckBox fillLevelSyncCheck; CheckBox autoExpandCheck; QCheckBox beatModeCheck; DoubleSpinBox tempoSpin; SpinBox beatcSpin; SpinBox beatmSpin; DoubleSpinBox beatOffsetSpin; ConfigDialog() { setWindowTitle(_("Time Bar Config")); QVBoxLayout* vbox = new QVBoxLayout(); setLayout(vbox); QHBoxLayout* hbox = new QHBoxLayout(); hbox->addWidget(new QLabel(_("Internal frame rate"))); frameRateSpin.setAlignment(Qt::AlignCenter); frameRateSpin.setRange(1, 10000); hbox->addWidget(&frameRateSpin); hbox->addStretch(); vbox->addLayout(hbox); hbox = new QHBoxLayout(); hbox->addWidget(new QLabel(_("Playback frame rate"))); playbackFrameRateSpin.setAlignment(Qt::AlignCenter); playbackFrameRateSpin.setRange(0, 1000); playbackFrameRateSpin.setValue(50); hbox->addWidget(&playbackFrameRateSpin); hbox->addStretch(); vbox->addLayout(hbox); hbox = new QHBoxLayout(); idleLoopDrivenCheck.setText(_("Idle loop driven mode")); hbox->addWidget(&idleLoopDrivenCheck); hbox->addStretch(); vbox->addLayout(hbox); hbox = new QHBoxLayout(); hbox->addWidget(new QLabel(_("Playback speed scale"))); playbackSpeedScaleSpin.setAlignment(Qt::AlignCenter); playbackSpeedScaleSpin.setDecimals(1); playbackSpeedScaleSpin.setRange(0.1, 99.9); playbackSpeedScaleSpin.setSingleStep(0.1); playbackSpeedScaleSpin.setValue(1.0); hbox->addWidget(&playbackSpeedScaleSpin); hbox->addStretch(); vbox->addLayout(hbox); hbox = new QHBoxLayout(); fillLevelSyncCheck.setText(_("Sync with ongoing updates")); fillLevelSyncCheck.setChecked(true); hbox->addWidget(&fillLevelSyncCheck); hbox->addStretch(); vbox->addLayout(hbox); hbox = new QHBoxLayout(); autoExpandCheck.setText(_("Automatically expand the time range")); autoExpandCheck.setChecked(true); hbox->addWidget(&autoExpandCheck); hbox->addStretch(); vbox->addLayout(hbox); /* hbox = new QHBoxLayout(); vbox->addLayout(hbox); beatModeCheck = new QCheckBox(_("Beat mode")); hbox->addWidget(beatModeCheck); beatcSpin = new SpinBox(); beatcSpin->setRange(1, 99); hbox->addWidget(beatcSpin); hbox->addWidget(new QLabel("/")); beatmSpin = new SpinBox(); beatmSpin->setRange(1, 99); hbox->addWidget(beatmSpin); hbox->addStretch(); hbox = new QHBoxLayout(); vbox->addLayout(hbox); hbox->addWidget(new QLabel(_("Tempo"))); tempoSpin = new DoubleSpinBox(); tempoSpin->setRange(1.0, 999.99); tempoSpin->setDecimals(2); hbox->addWidget(tempoSpin); hbox->addWidget(new QLabel(_("Offset"))); beatOffsetSpin = new DoubleSpinBox(); beatOffsetSpin->setRange(-9.99, 9.99); beatOffsetSpin->setDecimals(2); beatOffsetSpin->setSingleStep(0.1); hbox->addWidget(beatOffsetSpin); hbox->addWidget(new QLabel(_("[s]"))); hbox->addStretch(); */ vbox->addStretch(); PushButton* okButton = new PushButton(_("&OK")); okButton->setDefault(true); QDialogButtonBox* buttonBox = new QDialogButtonBox(this); buttonBox->addButton(okButton, QDialogButtonBox::AcceptRole); connect(buttonBox,SIGNAL(accepted()), this, SLOT(accept())); vbox->addWidget(okButton); } }; } namespace cnoid { class TimeBarImpl : public QObject { public: TimeBarImpl(TimeBar* self); ~TimeBarImpl(); bool setTime(double time, bool calledFromPlaybackLoop, QWidget* callerWidget = 0); void onTimeSpinChanged(double value); bool onTimeSliderChangeValue(double value); void setTimeRange(double minTime, double maxTime); void setFrameRate(double rate); void updateTimeProperties(bool forceUpdate); void onPlaybackSpeedScaleChanged(); void onPlaybackFrameRateChanged(); void onPlayActivated(); void onResumeActivated(); void startPlayback(); void stopPlayback(bool isStoppedManually); int startFillLevelUpdate(); void updateFillLevel(int id, double time); void updateMinFillLevel(); void stopFillLevelUpdate(int id); void onTimeRangeSpinsChanged(); void onFrameRateSpinChanged(); virtual void timerEvent(QTimerEvent* event); void onRefreshButtonClicked(); bool storeState(Archive& archive); bool restoreState(const Archive& archive); TimeBar* self; ostream& os; ConfigDialog config; ToolButton* stopResumeButton; ToolButton* frameModeToggle; QIcon resumeIcon; QIcon stopIcon; DoubleSpinBox* timeSpin; Slider* timeSlider; DoubleSpinBox* minTimeSpin; DoubleSpinBox* maxTimeSpin; int decimals; double minTime; double maxTime; double playbackSpeedScale; double playbackFrameRate; double animationTimeOffset; int timerId; QTime timer; bool repeatMode; bool isDoingPlayback; map fillLevelMap; double fillLevel; bool isFillLevelActive; Signal sigPlaybackInitialized; Signal sigPlaybackStarted; Signal sigTimeChanged; Signal sigPlaybackStopped; }; } static void onSigOptionsParsed(boost::program_options::variables_map& v) { if(v.count("start-playback")){ callLater(boost::bind(&TimeBar::startPlayback, TimeBar::instance())); } } void TimeBar::initialize(ExtensionManager* ext) { static bool initialized = false; if(!initialized){ ext->addToolBar(TimeBar::instance()); ext->optionManager() .addOption("start-playback", "start playback automatically") .sigOptionsParsed().connect(onSigOptionsParsed); initialized = true; } } TimeBar* TimeBar::instance() { static TimeBar* timeBar = new TimeBar(); return timeBar; } TimeBar::TimeBar() : ToolBar(N_("TimeBar")) { impl = new TimeBarImpl(this); } TimeBarImpl::TimeBarImpl(TimeBar* self) : self(self), os(MessageView::mainInstance()->cout()), resumeIcon(QIcon(":/Base/icons/resume.png")), stopIcon(QIcon(":/Base/icons/stop.png")) { self->setVisibleByDefault(true); self->setStretchable(true); self->time_ = 0.0; self->frameRate_ = 100.0; decimals = 2; minTime = 0.0; maxTime = 30.0; repeatMode = false; timerId = 0; isDoingPlayback = false; fillLevel = 0; isFillLevelActive = false; self->addButton(QIcon(":/Base/icons/play.png"), _("Start animation")) ->sigClicked().connect(boost::bind(&TimeBarImpl::onPlayActivated, this)); stopResumeButton = self->addButton(resumeIcon, _("Resume animation")); stopResumeButton->setIcon(resumeIcon); stopResumeButton->sigClicked().connect(boost::bind(&TimeBarImpl::onResumeActivated, this)); self->addButton(QIcon(":/Base/icons/refresh.png"), _("Refresh state at the current time")) ->sigClicked().connect(boost::bind(&TimeBarImpl::onRefreshButtonClicked, this)); timeSpin = new DoubleSpinBox(); timeSpin->setAlignment(Qt::AlignCenter); timeSpin->sigValueChanged().connect(boost::bind(&TimeBarImpl::onTimeSpinChanged, this, _1)); self->addWidget(timeSpin); timeSlider = new Slider(Qt::Horizontal); timeSlider->sigValueChanged().connect(boost::bind(&TimeBarImpl::onTimeSliderChangeValue, this, _1)); timeSlider->setMinimumWidth(timeSlider->sizeHint().width()); self->addWidget(timeSlider); minTimeSpin = new DoubleSpinBox(); minTimeSpin->setAlignment(Qt::AlignCenter); minTimeSpin->setRange(-999.0, 999.0); minTimeSpin->sigValueChanged().connect(boost::bind(&TimeBarImpl::onTimeRangeSpinsChanged, this)); self->addWidget(minTimeSpin); self->addLabel(" : "); maxTimeSpin = new DoubleSpinBox(); maxTimeSpin->setAlignment(Qt::AlignCenter); maxTimeSpin->setRange(-999.0, 999.0); maxTimeSpin->sigValueChanged().connect(boost::bind(&TimeBarImpl::onTimeRangeSpinsChanged, this)); self->addWidget(maxTimeSpin); self->addButton(QIcon(":/Base/icons/setup.png"), _("Show the config dialog")) ->sigClicked().connect(boost::bind(&QDialog::show, &config)); config.frameRateSpin.sigValueChanged().connect(boost::bind(&TimeBarImpl::onFrameRateSpinChanged, this)); config.playbackFrameRateSpin.sigValueChanged().connect(boost::bind(&TimeBarImpl::onPlaybackFrameRateChanged, this)); config.playbackSpeedScaleSpin.sigValueChanged().connect(boost::bind(&TimeBarImpl::onPlaybackSpeedScaleChanged, this)); playbackSpeedScale = config.playbackSpeedScaleSpin.value(); playbackFrameRate = config.playbackFrameRateSpin.value(); updateTimeProperties(true); } TimeBar::~TimeBar() { delete impl; } TimeBarImpl::~TimeBarImpl() { } SignalProxy TimeBar::sigPlaybackInitialized() { return impl->sigPlaybackInitialized; } SignalProxy TimeBar::sigPlaybackStarted() { return impl->sigPlaybackStarted; } /** Signal emitted when the TimeBar's time changes. In the function connected to this signal, please return true if the time is valid for it, and return false if the time is not valid. The example of the latter case is that the time is over the length of the data processed in the function. */ SignalProxy TimeBar::sigTimeChanged() { return impl->sigTimeChanged; } SignalProxy TimeBar::sigPlaybackStopped() { return impl->sigPlaybackStopped; } bool TimeBar::setTime(double time) { return impl->setTime(time, false); } /** @todo check whether block() and unblock() of sigc::connection decrease the performance or not. */ bool TimeBarImpl::setTime(double time, bool calledFromPlaybackLoop, QWidget* callerWidget) { if(TRACE_FUNCTIONS){ cout << "TimeBarImpl::setTime(" << time << ", " << calledFromPlaybackLoop << ")" << endl; } if(!calledFromPlaybackLoop && isDoingPlayback){ return false; } const double newTime = myNearByInt(time * self->frameRate_) / self->frameRate_; // When the optimization is enabled, // the result of (newTime == self->time_) sometimes becomes false, // so here the following judgement is used. if(fabs(newTime - self->time_) < 1.0e-14){ if(calledFromPlaybackLoop){ return true; } if(callerWidget){ return false; } } if(newTime > maxTime && config.autoExpandCheck.isChecked()){ maxTime = newTime; timeSpin->blockSignals(true); timeSlider->blockSignals(true); maxTimeSpin->blockSignals(true); timeSpin->setRange(minTime, maxTime); const double r = pow(10.0, decimals); timeSlider->setRange((int)myNearByInt(minTime * r), (int)myNearByInt(maxTime * r)); maxTimeSpin->setValue(maxTime); maxTimeSpin->blockSignals(false); timeSlider->blockSignals(false); timeSpin->blockSignals(false); } self->time_ = newTime; if(callerWidget != timeSpin){ timeSpin->blockSignals(true); timeSpin->setValue(self->time_); timeSpin->blockSignals(false); } if(callerWidget != timeSlider){ timeSlider->blockSignals(true); timeSlider->setValue((int)myNearByInt(self->time_ * pow(10.0, decimals))); timeSlider->blockSignals(false); } return sigTimeChanged(self->time_); } void TimeBarImpl::onTimeSpinChanged(double value) { if(TRACE_FUNCTIONS){ cout << "TimeBarImpl::onTimeSpinChanged()" << endl; } if(isDoingPlayback){ stopPlayback(true); } setTime(value, false, timeSpin); } bool TimeBarImpl::onTimeSliderChangeValue(double value) { if(TRACE_FUNCTIONS){ cout << "TimeBarImpl::onTimeSliderChanged(): value = " << value << endl; } if(isDoingPlayback){ stopPlayback(true); } setTime(value / pow(10.0, decimals), false, timeSlider); return true; } void TimeBar::setFrameRate(double rate) { impl->setFrameRate(rate); } void TimeBarImpl::setFrameRate(double rate) { if(rate > 0.0){ if(self->frameRate_ != rate){ self->frameRate_ = rate; updateTimeProperties(true); } } } double TimeBar::minTime() const { return impl->minTime; } double TimeBar::maxTime() const { return impl->maxTime; } void TimeBar::setTimeRange(double min, double max) { impl->setTimeRange(min, max); } void TimeBarImpl::setTimeRange(double minTime, double maxTime) { this->minTime = minTime; this->maxTime = maxTime; updateTimeProperties(false); } void TimeBarImpl::updateTimeProperties(bool forceUpdate) { timeSpin->blockSignals(true); timeSlider->blockSignals(true); minTimeSpin->blockSignals(true); maxTimeSpin->blockSignals(true); config.frameRateSpin.blockSignals(true); const double timeStep = 1.0 / self->frameRate_; decimals = static_cast(ceil(log10(self->frameRate_))); const double r = pow(10.0, decimals); if(forceUpdate || (minTime != timeSpin->minimum() || maxTime != timeSpin->maximum())){ timeSpin->setRange(minTime, maxTime); timeSlider->setRange((int)myNearByInt(minTime * r), (int)myNearByInt(maxTime * r)); } timeSpin->setDecimals(decimals); timeSpin->setSingleStep(timeStep); timeSlider->setSingleStep(timeStep * r); minTimeSpin->setValue(minTime); maxTimeSpin->setValue(maxTime); config.frameRateSpin.setValue(self->frameRate_); config.frameRateSpin.blockSignals(false); maxTimeSpin->blockSignals(false); minTimeSpin->blockSignals(false); timeSlider->blockSignals(false); timeSpin->blockSignals(false); setTime(self->time_, false); } void TimeBarImpl::onPlaybackSpeedScaleChanged() { playbackSpeedScale = config.playbackSpeedScaleSpin.value(); if(isDoingPlayback){ startPlayback(); } } double TimeBar::playbackSpeedScale() const { return impl->config.playbackSpeedScaleSpin.value(); } void TimeBar::setPlaybackSpeedScale(double scale) { impl->config.playbackSpeedScaleSpin.setValue(scale); } void TimeBarImpl::onPlaybackFrameRateChanged() { playbackFrameRate = config.playbackFrameRateSpin.value(); if(isDoingPlayback){ startPlayback(); } } double TimeBar::playbackFrameRate() const { return impl->config.playbackFrameRateSpin.value(); } void TimeBar::setPlaybackFrameRate(double rate) { impl->config.playbackFrameRateSpin.setValue(rate); } void TimeBar::setRepeatMode(bool on) { impl->repeatMode = on; } void TimeBarImpl::onPlayActivated() { stopPlayback(true); setTime(minTime, false); startPlayback(); } void TimeBarImpl::onResumeActivated() { if(isDoingPlayback){ stopPlayback(true); } else { stopPlayback(true); startPlayback(); } } void TimeBar::startPlayback() { impl->startPlayback(); } void TimeBarImpl::startPlayback() { stopPlayback(false); animationTimeOffset = self->time_; if(sigPlaybackInitialized(self->time_)){ sigPlaybackStarted(self->time_); if(!setTime(self->time_, true)){ sigPlaybackStopped(self->time_, false); } else { isDoingPlayback = true; const static QString tip(_("Stop animation")); stopResumeButton->setIcon(stopIcon); stopResumeButton->setToolTip(tip); if(config.idleLoopDrivenCheck.isChecked()){ timerId = startTimer(0); } else { timerId = startTimer((int)myNearByInt(1000.0 / playbackFrameRate)); } timer.start(); } } } void TimeBar::stopPlayback(bool isStoppedManually) { impl->stopPlayback(isStoppedManually); } void TimeBarImpl::stopPlayback(bool isStoppedManually) { if(isDoingPlayback){ killTimer(timerId); isDoingPlayback = false; sigPlaybackStopped(self->time_, isStoppedManually); const static QString tip(_("Resume animation")); stopResumeButton->setIcon(resumeIcon); stopResumeButton->setToolTip(tip); if(fillLevelMap.empty()){ isFillLevelActive = false; } } } bool TimeBar::isDoingPlayback() { return impl->isDoingPlayback; } int TimeBar::startFillLevelUpdate() { return impl->startFillLevelUpdate(); } int TimeBarImpl::startFillLevelUpdate() { int id=0; if(fillLevelMap.empty()){ isFillLevelActive = true; } else { while(fillLevelMap.find(id) == fillLevelMap.end()){ ++id; } } updateFillLevel(id, 0.0); return id; } void TimeBar::updateFillLevel(int id, double time) { impl->updateFillLevel(id, time); } void TimeBarImpl::updateFillLevel(int id, double time) { fillLevelMap[id] = time; updateMinFillLevel(); } void TimeBarImpl::updateMinFillLevel() { double minFillLevel = std::numeric_limits::max(); map::iterator p; for(p = fillLevelMap.begin(); p != fillLevelMap.end(); ++p){ minFillLevel = std::min(p->second, minFillLevel); } fillLevel = minFillLevel; } void TimeBar::stopFillLevelUpdate(int id) { impl->stopFillLevelUpdate(id); } void TimeBarImpl::stopFillLevelUpdate(int id) { fillLevelMap.erase(id); if(!fillLevelMap.empty()){ updateMinFillLevel(); } else { if(!isDoingPlayback){ isFillLevelActive = false; } } } void TimeBar::setFillLevelSync(bool on) { impl->config.fillLevelSyncCheck.setChecked(on); } void TimeBar::startPlaybackFromFillLevel() { if(isDoingPlayback()){ stopPlayback(); } setTime(impl->fillLevel); startPlayback(); } double TimeBar::realPlaybackTime() const { if(impl->isDoingPlayback){ return impl->animationTimeOffset + impl->playbackSpeedScale * (impl->timer.elapsed() / 1000.0); } else { return time_; } } void TimeBarImpl::timerEvent(QTimerEvent* event) { double time = animationTimeOffset + playbackSpeedScale * (timer.elapsed() / 1000.0); bool doStopAtLastFillLevel = false; if(isFillLevelActive){ if(config.fillLevelSyncCheck.isChecked() || (time > fillLevel)){ animationTimeOffset += (fillLevel - time); time = fillLevel; if(fillLevelMap.empty()){ doStopAtLastFillLevel = true; } } } if(!setTime(time, true) || doStopAtLastFillLevel){ stopPlayback(false); if(!doStopAtLastFillLevel && repeatMode){ setTime(minTime, true); startPlayback(); } } } void TimeBarImpl::onTimeRangeSpinsChanged() { setTimeRange(minTimeSpin->value(), maxTimeSpin->value()); } void TimeBarImpl::onFrameRateSpinChanged() { setFrameRate(config.frameRateSpin.value()); } void TimeBarImpl::onRefreshButtonClicked() { if(!isDoingPlayback){ sigTimeChanged(self->time_); } } int TimeBar::stretchableDefaultWidth() const { return sizeHint().width() + impl->timeSlider->sizeHint().width() * 5; } bool TimeBar::storeState(Archive& archive) { return impl->storeState(archive); } bool TimeBarImpl::storeState(Archive& archive) { archive.write("minTime", minTime); archive.write("maxTime", maxTime); archive.write("frameRate", self->frameRate_); archive.write("playbackFrameRate", playbackFrameRate); archive.write("idleLoopDrivenMode", config.idleLoopDrivenCheck.isChecked()); archive.write("currentTime", self->time_); archive.write("speedScale", playbackSpeedScale); archive.write("syncToOngoingUpdates", config.fillLevelSyncCheck.isChecked()); archive.write("autoExpansion", config.autoExpandCheck.isChecked()); return true; } bool TimeBar::restoreState(const Archive& archive) { return impl->restoreState(archive); } bool TimeBarImpl::restoreState(const Archive& archive) { archive.read("minTime", minTime); archive.read("maxTime", maxTime); archive.read("currentTime", self->time_); config.playbackFrameRateSpin.setValue(archive.get("playbackFrameRate", playbackFrameRate)); config.idleLoopDrivenCheck.setChecked(archive.get("idleLoopDrivenMode", config.idleLoopDrivenCheck.isChecked())); config.playbackSpeedScaleSpin.setValue(archive.get("speedScale", playbackSpeedScale)); config.fillLevelSyncCheck.setChecked(archive.get("syncToOngoingUpdates", config.fillLevelSyncCheck.isChecked())); config.autoExpandCheck.setChecked(archive.get("autoExpansion", config.autoExpandCheck.isChecked())); double prevFrameRate = self->frameRate_; archive.read("frameRate", self->frameRate_); updateTimeProperties(self->frameRate_ != prevFrameRate); return true; } choreonoid-1.5.0/src/Base/ProjectManager.cpp0000664000000000000000000004360512741425367017437 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "ProjectManager.h" #include "RootItem.h" #include "ItemManager.h" #include "ViewManager.h" #include "MessageView.h" #include "ToolBar.h" #include "Archive.h" #include "ItemTreeArchiver.h" #include "ExtensionManager.h" #include "OptionManager.h" #include "MenuManager.h" #include "AppConfig.h" #include "LazyCaller.h" #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace filesystem = boost::filesystem; using boost::format; namespace { ProjectManager* instance_ = 0; } namespace cnoid { class ProjectManagerImpl { public: ProjectManagerImpl(ExtensionManager* em); ~ProjectManagerImpl(); template bool restoreObjectStates( Archive* projectArchive, Archive* states, const vector& objects, const char* nameSuffix); void loadProject(const string& filename, bool isInvokingApplication); template bool storeObjects(Archive& parentArchive, const char* key, vector objects); void saveProject(const string& filename); void overwriteCurrentProject(); void onSigOptionsParsed(boost::program_options::variables_map& v); void openDialogToLoadProject(); void openDialogToSaveProject(); void onPerspectiveCheckToggled(); void onHomeRelativeCheckToggled(); void connectArchiver( const std::string& name, boost::function storeFunction, boost::function restoreFunction); ItemTreeArchiver itemTreeArchiver; MainWindow* mainWindow; MessageView* messageView; string lastAccessedProjectFile; Action* perspectiveCheck; Action* homeRelativeCheck; struct ArchiverInfo { boost::function storeFunction; boost::function restoreFunction; }; typedef map ArchiverMap; typedef map ArchiverMapMap; ArchiverMapMap archivers; }; } ProjectManager* ProjectManager::instance() { return instance_; } void ProjectManager::initialize(ExtensionManager* em) { if(!instance_){ instance_ = em->manage(new ProjectManager(em)); } } ProjectManager::ProjectManager(ExtensionManager* em) { impl = new ProjectManagerImpl(em); } ProjectManagerImpl::ProjectManagerImpl(ExtensionManager* em) { using boost::bind; MappingPtr config = AppConfig::archive()->openMapping("ProjectManager"); MenuManager& mm = em->menuManager(); mm.setPath("/File"); mm.addItem(_("Open Project")) ->sigTriggered().connect(bind(&ProjectManagerImpl::openDialogToLoadProject, this)); mm.addItem(_("Save Project")) ->sigTriggered().connect(bind(&ProjectManagerImpl::overwriteCurrentProject, this)); mm.addItem(_("Save Project As")) ->sigTriggered().connect(bind(&ProjectManagerImpl::openDialogToSaveProject, this)); mm.setPath(N_("Project File Options")); perspectiveCheck = mm.addCheckItem(_("Perspective")); perspectiveCheck->setChecked(config->get("storePerspective", true)); perspectiveCheck->sigToggled().connect(bind(&ProjectManagerImpl::onPerspectiveCheckToggled, this)); homeRelativeCheck = mm.addCheckItem(_("Use HOME relative directories")); homeRelativeCheck->setChecked(config->get("useHomeRelative", false)); homeRelativeCheck->sigToggled().connect(bind(&ProjectManagerImpl::onHomeRelativeCheckToggled, this)); mm.setPath("/File"); mm.addSeparator(); OptionManager& om = em->optionManager(); om.addOption("project", boost::program_options::value< vector >(), "load a project file"); om.addPositionalOption("project", 1); om.sigOptionsParsed().connect(boost::bind(&ProjectManagerImpl::onSigOptionsParsed, this, _1)); mainWindow = MainWindow::instance(); messageView = MessageView::mainInstance(); } ProjectManager::~ProjectManager() { delete impl; instance_ = 0; } ProjectManagerImpl::~ProjectManagerImpl() { } template bool ProjectManagerImpl::restoreObjectStates (Archive* projectArchive, Archive* states, const vector& objects, const char* nameSuffix) { bool restored = false; for(size_t i=0; i < objects.size(); ++i){ TObject* object = objects[i]; const string name = object->objectName().toStdString(); Archive* state = states->findSubArchive(name); if(state->isValid()){ state->inheritSharedInfoFrom(*projectArchive); try { if(object->restoreState(*state)){ restored = true; } } catch(const ValueNode::Exception& ex){ messageView->putln(MessageView::WARNING, format(_("The state of the \"%1%\" %2% was not completely restored.\n%3%")) % name % nameSuffix % ex.message()); } } } return restored; } void ProjectManager::loadProject(const std::string& filename) { impl->loadProject(filename, false); } void ProjectManagerImpl::loadProject(const std::string& filename, bool isInvokingApplication) { bool loaded = false; YAMLReader reader; reader.setMappingClass(); try { messageView->putln(); messageView->notify(str(fmt(_("Loading project file \"%1%\" ...")) % filename)); if(!isInvokingApplication){ messageView->flush(); } int numArchivedItems = 0; int numRestoredItems = 0; if(!reader.load(filename)){ messageView->put(reader.errorMessage() + "\n"); } else if(reader.numDocuments() == 0){ messageView->put(_("The project file is empty.\n")); } else { Archive* archive = static_cast(reader.document()->toMapping()); archive->initSharedInfo(filename); std::set optionalPlugins; Listing& optionalPluginsNode = *archive->findListing("optionalPlugins"); if(optionalPluginsNode.isValid()){ for(int i=0; i < optionalPluginsNode.size(); ++i){ optionalPlugins.insert(optionalPluginsNode[i].toString()); } } ViewManager::ViewStateInfo viewStateInfo; ViewManager::restoreViews(archive, "views", viewStateInfo); MainWindow* mainWindow = MainWindow::instance(); if(isInvokingApplication){ if(perspectiveCheck->isChecked()){ mainWindow->setInitialLayout(archive); } mainWindow->show(); messageView->flush(); mainWindow->repaint(); } else { if(perspectiveCheck->isChecked()){ mainWindow->restoreLayout(archive); } } ArchiverMapMap::iterator p; for(p = archivers.begin(); p != archivers.end(); ++p){ const string& moduleName = p->first; Archive* moduleArchive = archive->findSubArchive(moduleName); if(moduleArchive->isValid()){ ArchiverMap::iterator q; for(q = p->second.begin(); q != p->second.end(); ++q){ const string& objectName = q->first; Archive* objArchive; if(objectName.empty()){ objArchive = moduleArchive; } else { objArchive = moduleArchive->findSubArchive(objectName); } if(objArchive->isValid()){ ArchiverInfo& info = q->second; objArchive->inheritSharedInfoFrom(*archive); info.restoreFunction(*objArchive); loaded = true; } } } } if(!ViewManager::restoreViewStates(viewStateInfo)){ // load the old format (version 1.4 or earlier) Archive* viewStates = archive->findSubArchive("views"); if(viewStates->isValid()){ if(restoreObjectStates(archive, viewStates, ViewManager::allViews(), "view")){ loaded = true; } } } Archive* barStates = archive->findSubArchive("toolbars"); if(barStates->isValid()){ vector toolBars; mainWindow->getAllToolBars(toolBars); if(restoreObjectStates(archive, barStates, toolBars, "bar")){ loaded = true; } } itemTreeArchiver.reset(); Archive* items = archive->findSubArchive("items"); if(items->isValid()){ items->inheritSharedInfoFrom(*archive); itemTreeArchiver.restore(items, RootItem::mainInstance(), optionalPlugins); numArchivedItems = itemTreeArchiver.numArchivedItems(); numRestoredItems = itemTreeArchiver.numRestoredItems(); messageView->putln(format(_("%1% / %2% item(s) are loaded.")) % numRestoredItems % numArchivedItems); if(numRestoredItems < numArchivedItems){ messageView->putln(MessageView::WARNING, format(_("%1% item(s) are not correctly loaded.")) % (numArchivedItems - numRestoredItems)); } if(numRestoredItems > 0){ loaded = true; } } if(loaded){ mainWindow->setProjectTitle(getBasename(filename)); lastAccessedProjectFile = filename; messageView->flush(); archive->callPostProcesses(); if(numRestoredItems == numArchivedItems){ messageView->notify(str(fmt(_("Project \"%1%\" has successfully been loaded.")) % filename)); } else { messageView->notify(str(fmt(_("Project \"%1%\" has been loaded.")) % filename)); } } } } catch (const ValueNode::Exception& ex){ messageView->put(ex.message()); } if(!loaded){ messageView->notify(str(fmt(_("Project \"%1%\" cannot be loaded.")) % filename)); lastAccessedProjectFile.clear(); } } template bool ProjectManagerImpl::storeObjects (Archive& parentArchive, const char* key, vector objects) { bool result = true; if(!objects.empty()){ MappingPtr archives = new Mapping(); archives->setKeyQuoteStyle(DOUBLE_QUOTED); for(size_t i=0; i < objects.size(); ++i){ TObject* object = objects[i]; string name = object->objectName().toStdString(); if(!name.empty()){ ArchivePtr archive = new Archive(); archive->inheritSharedInfoFrom(parentArchive); if(object->storeState(*archive) && !archive->empty()){ archives->insert(name, archive); } } } if(!archives->empty()){ parentArchive.insert(key, archives); result = true; } } return result; } void ProjectManager::saveProject(const string& filename) { impl->saveProject(filename); } void ProjectManagerImpl::saveProject(const string& filename) { messageView->putln(); messageView->notify(str(fmt(_("Saving a project to \"%1%\" ...\n")) % filename)); messageView->flush(); itemTreeArchiver.reset(); ArchivePtr archive = new Archive(); archive->initSharedInfo(filename, homeRelativeCheck->isChecked()); ArchivePtr itemArchive = itemTreeArchiver.store(archive, RootItem::mainInstance()); if(itemArchive){ archive->insert("items", itemArchive); } bool stored = ViewManager::storeViewStates(archive, "views"); vector toolBars; mainWindow->getAllToolBars(toolBars); stored |= storeObjects(*archive, "toolbars", toolBars); ArchiverMapMap::iterator p; for(p = archivers.begin(); p != archivers.end(); ++p){ ArchivePtr moduleArchive = new Archive(); moduleArchive->setKeyQuoteStyle(DOUBLE_QUOTED); ArchiverMap::iterator q; for(q = p->second.begin(); q != p->second.end(); ++q){ const string& objectName = q->first; ArchivePtr objArchive; if(objectName.empty()){ objArchive = moduleArchive; } else { objArchive = new Archive(); } objArchive->inheritSharedInfoFrom(*archive); ArchiverInfo& info = q->second; if(info.storeFunction(*objArchive)){ if(!objectName.empty()){ moduleArchive->insert(objectName, objArchive); } } } if(!moduleArchive->empty()){ const string& moduleName = p->first; archive->insert(moduleName, moduleArchive); stored = true; } } if(perspectiveCheck->isChecked()){ mainWindow->storeLayout(archive); stored = true; } // Storing the file dialog directory from the project file. // This should be disabled. /* string currentFileDialogDirectory; if(AppConfig::archive()->read("currentFileDialogDirectory", currentFileDialogDirectory)){ archive->writeRelocatablePath("currentFileDialogDirectory", currentFileDialogDirectory); } */ if(stored){ YAMLWriter writer(filename); writer.setKeyOrderPreservationMode(true); writer.putNode(archive); messageView->notify(_("Saving a project file has been finished.\n")); mainWindow->setProjectTitle(getBasename(filename)); lastAccessedProjectFile = filename; } else { messageView->notify(_("Saving a project file failed.\n")); lastAccessedProjectFile.clear(); } } void ProjectManager::overwriteCurrentProject() { impl->overwriteCurrentProject(); } void ProjectManagerImpl::overwriteCurrentProject() { if(lastAccessedProjectFile.empty()){ openDialogToSaveProject(); } else { saveProject(lastAccessedProjectFile); } } void ProjectManagerImpl::onSigOptionsParsed(boost::program_options::variables_map& v) { if(v.count("project")){ vector projectFileNames = v["project"].as< vector >(); for(size_t i=0; i < projectFileNames.size(); ++i){ loadProject(toActualPathName(projectFileNames[i]), true); } } } void ProjectManagerImpl::openDialogToLoadProject() { QFileDialog dialog(MainWindow::instance()); dialog.setWindowTitle(_("Open a Choreonoid project file")); dialog.setFileMode(QFileDialog::ExistingFile); dialog.setViewMode(QFileDialog::List); dialog.setLabelText(QFileDialog::Accept, _("Open")); dialog.setLabelText(QFileDialog::Reject, _("Cancel")); QStringList filters; filters << _("Project files (*.cnoid)"); filters << _("Any files (*)"); dialog.setNameFilters(filters); dialog.setDirectory(AppConfig::archive()->get ("currentFileDialogDirectory", shareDirectory()).c_str()); if(dialog.exec()){ AppConfig::archive()->writePath("currentFileDialogDirectory", dialog.directory().absolutePath().toStdString()); loadProject(getNativePathString(filesystem::path(dialog.selectedFiles().front().toStdString())), false); } } void ProjectManagerImpl::openDialogToSaveProject() { QFileDialog dialog(MainWindow::instance()); dialog.setWindowTitle(_("Save a choreonoid project file")); dialog.setFileMode(QFileDialog::AnyFile); dialog.setAcceptMode(QFileDialog::AcceptSave); dialog.setViewMode(QFileDialog::List); dialog.setLabelText(QFileDialog::Accept, _("Save")); dialog.setLabelText(QFileDialog::Reject, _("Cancel")); QStringList filters; filters << _("Project files (*.cnoid)"); filters << _("Any files (*)"); dialog.setNameFilters(filters); dialog.setDirectory(AppConfig::archive()->get("currentFileDialogDirectory", shareDirectory()).c_str()); if(dialog.exec()){ AppConfig::archive()->writePath("currentFileDialogDirectory", dialog.directory().absolutePath().toStdString()); filesystem::path path(dialog.selectedFiles().front().toStdString()); string filename = getNativePathString(path); string ext = filesystem::extension(path); if(ext != ".cnoid"){ filename += ".cnoid"; } saveProject(filename); } } void ProjectManagerImpl::onPerspectiveCheckToggled() { AppConfig::archive()->openMapping("ProjectManager") ->write("storePerspective", perspectiveCheck->isChecked()); } void ProjectManagerImpl::onHomeRelativeCheckToggled() { AppConfig::archive()->openMapping("ProjectManager") ->write("useHomeRelative", homeRelativeCheck->isChecked()); } void ProjectManager::setArchiver( const std::string& moduleName, const std::string& name, boost::function storeFunction, boost::function restoreFunction) { ProjectManagerImpl::ArchiverInfo& info = impl->archivers[moduleName][name]; info.storeFunction = storeFunction; info.restoreFunction = restoreFunction; } void ProjectManager::resetArchivers(const std::string& moduleName) { impl->archivers.erase(moduleName); } const std::string& ProjectManager::getProjectFileName() { return impl->lastAccessedProjectFile; } choreonoid-1.5.0/src/Base/MenuManager.h0000664000000000000000000000265412741425367016401 0ustar rootroot/** @author Shin'ichiro NAKAOKA */ #ifndef CNOID_BASE_MENU_MANAGER_H #define CNOID_BASE_MENU_MANAGER_H #include "Action.h" #include "Menu.h" #include #include "exportdecl.h" namespace cnoid { class Menu; class MenuManagerImpl; /** @if jp ƒĦƒ‹ƒƒĵ‚’ç°Ħċ˜ĞçĦ理™‚‹Ÿ‚‚Żƒİ‚ı€‚ @endif */ class CNOID_EXPORT MenuManager { public: MenuManager(); MenuManager(QWidget* topMenu); virtual ~MenuManager(); void bindTextDomain(const std::string& domain); void setTopMenu(QWidget* topMenu); QWidget* topMenu(); void setNewPopupMenu(QWidget* parent = 0); Menu* popupMenu(); QWidget* current() const; MenuManager& setCurrent(QWidget* menu); int numItems() const; QAction* findItem(const QString& path); MenuManager& setPath(const QString& path); MenuManager& setBackwardMode(); void addAction(QAction* action); Action* addItem(const QString& text); Action* addCheckItem(const QString& text); Action* addRadioItem(QActionGroup* group, const QString& text); MenuManager& addSeparator(); private: MenuManager(const MenuManager* org); QWidget* topMenu_; QWidget* currentMenu_; Menu* popupMenu_; bool isBackwardMode; std::string textDomain; std::pair findPath(const QString& path, bool createPath); void addItem(QWidget* menu, QAction* item); }; } #endif choreonoid-1.5.0/src/Base/RotationDragger.h0000664000000000000000000000336212741425367017272 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_ROTATIN_DRAGGER_H #define CNOID_BASE_ROTATIN_DRAGGER_H #include "SceneDragger.h" #include "SceneDragProjector.h" #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT RotationDragger : public SceneDragger { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW; RotationDragger(); RotationDragger(const RotationDragger& org); RotationDragger(const RotationDragger& org, SgCloneMap& cloneMap); virtual SgObject* clone(SgCloneMap& cloneMap) const; enum Axis { RX = 1, RY = 2, RZ = 4 }; void setDraggableAxes(int axisSet); int draggableAxes() const { return draggableAxes_; } void setRadius(double r); SignalProxy sigRotationStarted() { return sigRotationStarted_; } /** \todo The rotation parameter should be removed. */ SignalProxy sigRotationDragged() { return sigRotationDragged_; } SignalProxy sigRotationFinished() { return sigRotationFinished_; } bool isDragging() const; const AngleAxis& draggedAngleAxis() const; Affine3 draggedPosition() const; virtual bool onButtonPressEvent(const SceneWidgetEvent& event); virtual bool onButtonReleaseEvent(const SceneWidgetEvent& event); virtual bool onPointerMoveEvent(const SceneWidgetEvent& event); virtual void onPointerLeaveEvent(const SceneWidgetEvent& event); private: int draggableAxes_; SgScaleTransformPtr scale; SceneDragProjector dragProjector; Signal sigRotationStarted_; Signal sigRotationDragged_; Signal sigRotationFinished_; }; typedef ref_ptr RotationDraggerPtr; } #endif choreonoid-1.5.0/src/Base/MessageView.cpp0000664000000000000000000006721012741425367016753 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "MessageView.h" #include "MainWindow.h" #include "ViewManager.h" #include "InfoBar.h" #include "Item.h" #include "TextEdit.h" #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { MessageView* messageView = 0; const bool PUT_COUT_TOO = false; class TextSink : public iostreams::sink { public: TextSink(MessageViewImpl* messageViewImpl, bool doFlush); std::streamsize write(const char* s, std::streamsize n); MessageViewImpl* messageViewImpl; QTextEdit& textEdit; bool doFlush; }; struct StdioInfo { streambuf* cout; streambuf* cerr; }; enum MvCommand { MV_PUT, MV_CLEAR }; class MessageViewEvent : public QEvent { public: MessageViewEvent(const QString& message, bool doLF, bool doNotify, bool doFlush) : QEvent(QEvent::User), command(MV_PUT), message(message), doLF(doLF), doNotify(doNotify), doFlush(doFlush) { } MessageViewEvent(MvCommand command) : QEvent(QEvent::User), command(command) { } MvCommand command; QString message; bool doLF; bool doNotify; bool doFlush; }; int flushingRef = 0; Signal sigFlushFinished_; class TextEditEx : public TextEdit { public: MessageViewImpl* viewImpl; TextEditEx(MessageViewImpl* viewImpl) : viewImpl(viewImpl) { } virtual void keyPressEvent(QKeyEvent* event); }; } namespace cnoid { class MessageViewImpl { public: MessageView* self; Qt::HANDLE mainThreadId; TextEditEx textEdit; QTextCursor cursor; QTextCharFormat orgCharFormat; QTextCharFormat currentCharFormat; QColor orgForeColor; QColor orgBackColor; TextSink textSink; iostreams::stream_buffer sbuf; std::ostream os; TextSink textSink_flush; iostreams::stream_buffer sbuf_flush; std::ostream os_flush; std::stack stdios; bool exitEventLoopRequested; Signal sigMessage; MessageViewImpl(MessageView* self); void put(const QString& message, bool doLF, bool doNotify, bool doFlush); void put(int type, const QString& message, bool doLF, bool doNotify, bool doFlush); void doPut(const QString& message, bool doLF, bool doNotify, bool doFlush); void handleMessageViewEvent(MessageViewEvent* event); void flush(); void doClear(); void clear(); void insertPlainText(const QString& message, bool doLF); bool paramtoInt(const QString& txt, vector& n); int setdefault1(const vector& n); int setdefault0(const vector& n); void inttoColor(int n, QColor& col); void textProperties(const vector& n); void escapeSequence(QString& txt); }; } TextSink::TextSink(MessageViewImpl* messageViewImpl, bool doFlush) : messageViewImpl(messageViewImpl), textEdit(messageViewImpl->textEdit), doFlush(doFlush) { } std::streamsize TextSink::write(const char* s, std::streamsize n) { messageViewImpl->put(QString::fromLocal8Bit(s, n), false, false, doFlush); //messageViewImpl->put(QString::fromUtf8(s, n), false, false, doFlush); return n; } void TextEditEx::keyPressEvent(QKeyEvent* event) { if ((event->modifiers().testFlag(Qt::ControlModifier))){ switch(event->key()){ case Qt::Key_C: case Qt::Key_A: TextEdit::keyPressEvent(event); break; } } switch(event->key()){ case Qt::Key_Return: moveCursor(QTextCursor::End); insertPlainText("\n"); ensureCursorVisible(); break; default: break; //TextEdit::keyPressEvent(event); } } void MessageView::initializeClass(ExtensionManager* ext) { messageView = ext->viewManager().registerClass( "MessageView", N_("Message"), ViewManager::SINGLE_DEFAULT); } /** @return The main instance of MessageView. */ MessageView* MessageView::instance() { return messageView; } /** Obsolete. Please use MessageView::instance(). */ MessageView* MessageView::mainInstance() { return messageView; } MessageView::MessageView() { impl = new MessageViewImpl(this); } MessageViewImpl::MessageViewImpl(MessageView* self) : self(self), mainThreadId(QThread::currentThreadId()), textEdit(this), textSink(this, false), sbuf(textSink), os(&sbuf), textSink_flush(this, true), sbuf_flush(textSink_flush), os_flush(&sbuf_flush) { self->setDefaultLayoutArea(View::BOTTOM); textEdit.setObjectName("TextEdit"); textEdit.setFrameShape(QFrame::NoFrame); //textEdit.setReadOnly(true); textEdit.setTextInteractionFlags( Qt::TextSelectableByMouse | Qt::TextSelectableByKeyboard); textEdit.setWordWrapMode(QTextOption::WrapAnywhere); QHBoxLayout* layout = new QHBoxLayout(); layout->addWidget(&textEdit); self->setLayout(layout); textEdit.moveCursor(QTextCursor::End); cursor = textEdit.textCursor(); QFont font("monospace"); font.setStyleHint(QFont::TypeWriter); textEdit.setFont(font); orgForeColor = textEdit.palette().color(QPalette::Text); orgBackColor = textEdit.palette().color(QPalette::Base); currentCharFormat = cursor.charFormat(); orgCharFormat = currentCharFormat; orgCharFormat.setForeground(orgForeColor); orgCharFormat.setBackground(orgBackColor); } MessageView::~MessageView() { delete impl; } std::ostream& MessageView::cout(bool doFlush) { return doFlush ? impl->os_flush : impl->os; } void MessageView::beginStdioRedirect() { /* StdioInfo info; info.cout = std::cout.rdbuf(); info.cerr = std::cerr.rdbuf(); impl->stdios.push(info); std::cout.rdbuf(impl->os.rdbuf()); std::cerr.rdbuf(impl->os.rdbuf()); */ } void MessageView::endStdioRedirect() { /* if(!impl->stdios.empty()){ StdioInfo& info = impl->stdios.top(); std::cout.rdbuf(info.cout); std::cerr.rdbuf(info.cerr); impl->stdios.pop(); } */ } void MessageView::put(const char* message) { impl->put(message, false, false, false); } void MessageView::put(const std::string& message) { impl->put(message.c_str(), false, false, false); } void MessageView::put(const boost::format& message) { impl->put(message.str().c_str(), false, false, false); } void MessageView::put(const QString& message) { impl->put(message, false, false, false); } void MessageView::put(int type, const char* message) { impl->put(type, message, false, false, false); } void MessageView::put(int type, const std::string& message) { impl->put(type, message.c_str(), false, false, false); } void MessageView::put(int type, const boost::format& message) { impl->put(type, message.str().c_str(), false, false, false); } void MessageView::put(int type, const QString& message) { impl->put(type, message, false, false, false); } void MessageView::putln() { impl->put(QString(), true, false, false); } void MessageView::putln(const std::string& message) { impl->put(message.c_str(), true, false, false); } void MessageView::putln(const boost::format& message) { impl->put(message.str().c_str(), true, false, false); } void MessageView::putln(const char* message) { impl->put(message, true, false, false); } void MessageView::putln(const QString& message) { impl->put(message, true, false, false); } void MessageView::putln(int type, const char* message) { impl->put(type, message, true, false, false); } void MessageView::putln(int type, const std::string& message) { impl->put(type, message.c_str(), true, false, false); } void MessageView::putln(int type, const boost::format& message) { impl->put(type, message.str().c_str(), true, false, false); } void MessageView::putln(int type, const QString& message) { impl->put(type, message, true, false, false); } void MessageView::notify(const std::string& message) { impl->put(message.c_str(), true, true, false); } void MessageView::notify(const boost::format& message) { impl->put(message.str().c_str(), true, true, false); } void MessageView::notify(const char* message) { impl->put(message, true, true, false); } void MessageView::notify(const QString& message) { impl->put(message, true, true, false); } void MessageViewImpl::put(const QString& message, bool doLF, bool doNotify, bool doFlush) { if(QThread::currentThreadId() == mainThreadId){ doPut(message, doLF, doNotify, doFlush); } else { MessageViewEvent* event = new MessageViewEvent(message, doLF, doNotify, doFlush); QCoreApplication::postEvent(self, event, Qt::NormalEventPriority); } } void MessageViewImpl::put(int type, const QString& message, bool doLF, bool doNotify, bool doFlush) { if(type == MessageView::NORMAL){ put(message, doLF, doNotify, doFlush); } else { // add the escape sequence to make the text red QString highlighted("\033[31m"); if(type == MessageView::ERROR){ highlighted.append("Error: "); } else if(type == MessageView::WARNING){ highlighted.append("Warning: "); } highlighted.append(message); highlighted.append("\033[0m"); put(highlighted, doLF, doNotify, doFlush); } } void MessageViewImpl::doPut(const QString& message, bool doLF, bool doNotify, bool doFlush) { int scrollPos = textEdit.getScrollPos(); bool enableScroll = (scrollPos > textEdit.maxScrollPos()-3*textEdit.scrollSingleStep()); if(enableScroll){ textEdit.moveCursor(QTextCursor::End); } QString txt(message); int i=0; while(1){ int i = txt.indexOf("\x1b"); if(i < 0){ break; } if(i > 0){ insertPlainText(txt.left(i), false); } txt = txt.mid(++i); escapeSequence(txt); } insertPlainText(txt, doLF); if(enableScroll){ textEdit.ensureCursorVisible(); } if(PUT_COUT_TOO){ cout << message.toStdString(); if(doLF){ cout << endl; } } if(!sigMessage.empty()){ std::string text(message.toStdString()); if(doLF){ text += "\n"; } sigMessage(boost::ref(text)); } if(doNotify){ InfoBar::instance()->notify(message); } if(doFlush){ flush(); } } bool MessageView::event(QEvent* e) { MessageViewEvent* event = dynamic_cast(e); if(event){ impl->handleMessageViewEvent(event); return true; } return false; } void MessageViewImpl::handleMessageViewEvent(MessageViewEvent* event) { switch(event->command){ case MV_PUT: doPut(event->message, event->doLF, event->doNotify, event->doFlush); break; case MV_CLEAR: doClear(); break; default: break; } } int MessageView::currentColumn() { QTextCursor cursor = impl->textEdit.textCursor(); cursor.movePosition(QTextCursor::End); return cursor.columnNumber(); } /** @note Don't call this function from an expose event handler because it may cause a hangup of rendering. */ void MessageView::flush() { impl->flush(); } void MessageViewImpl::flush() { if(QThread::currentThreadId() == mainThreadId){ ++flushingRef; const int maxTime = 10; #if defined(Q_OS_WIN32) || defined(Q_OS_MAC) QCoreApplication::processEvents(QEventLoop::ExcludeUserInputEvents, maxTime); //QCoreApplication::processEvents(); #else //QCoreApplication::processEvents(QEventLoop::ExcludeUserInputEvents); //while(QCoreApplication::hasPendingEvents()){ QCoreApplication::processEvents(QEventLoop::AllEvents, maxTime); //} #endif --flushingRef; if(flushingRef == 0){ sigFlushFinished_(); } } } SignalProxy MessageView::sigMessage() { return impl->sigMessage; } bool MessageView::isFlushing() { return (flushingRef > 0); } SignalProxy MessageView::sigFlushFinished() { return sigFlushFinished_; } void MessageViewImpl::doClear() { textEdit.clear(); } void MessageView::clear() { impl->clear(); } void MessageViewImpl::clear() { if(QThread::currentThreadId() == mainThreadId){ doClear(); } else { QCoreApplication::postEvent(self, new MessageViewEvent(MV_CLEAR), Qt::NormalEventPriority); } } void MessageViewImpl::insertPlainText(const QString& message, bool doLF) { if(!doLF){ cursor.insertText(message); } else { cursor.insertText(message + "\n"); } } bool MessageViewImpl::paramtoInt(const QString& txt, vector& n) { QStringList stringlist = txt.split(';'); for(int j=0; j& n) { if(n.size()){ return n[0]; } else { return 1; } } int MessageViewImpl::setdefault0(const vector& n) { if(n.size()){ return n[0]; } else { return 0; } } void MessageViewImpl::inttoColor(int n, QColor& col) { switch(n){ case 0: //éğ’ // col = QColor("black"); return; case 1: //赤 // col = QColor("red"); return; case 2: //緑 // col = QColor("green"); return; case 3: //éğ„ // col = QColor("yellow"); return; case 4: //青 // col = QColor("blue"); return; case 5: //赤ç´Ğ // col = QColor("magenta"); return; case 6: //ĉ°´è‰² // col = QColor("cyan"); return; case 7: //白 // col = QColor("white"); return; case 8: //灰色 // col = QColor("gray"); return; case 9: col = QColor("darkRed"); return; case 10: //緑 // col = QColor("darkGreen"); return; case 11: //éğ„ // col = QColor("darkYellow"); return; case 12: //青 // col = QColor("darkBlue"); return; case 13: //赤ç´Ğ // col = QColor("darkMagenta"); return; case 14: //ĉ°´è‰² // col = QColor("darkCyan"); return; case 15: //白 // col = QColor("darkGray"); return; } } void MessageViewImpl::textProperties(const vector& n) { QColor col; for(int i=0; i n; if(i > 1){ if(!paramtoInt(txt.mid(1, i-1), n)){ return; } } if(c=='@'){ // çİşç™½‚’ĉŒżċ… // int nn=setdefault1(n); QString sp(nn,' '); insertPlainText(sp, false); }else if(c=='A' || c=='k'){ //‚Ѓĵ‚½ƒĞ上 // int nn=setdefault1(n); cursor.movePosition(QTextCursor::Up, QTextCursor::MoveAnchor, nn); textEdit.setTextCursor(cursor); }else if(c=='B' || c=='e'){ //‚Ѓĵ‚½ƒĞ下 // int nn=setdefault1(n); cursor.movePosition(QTextCursor::Down, QTextCursor::MoveAnchor, nn); textEdit.setTextCursor(cursor); }else if(c=='C' || c=='a'){ //‚Ѓĵ‚½ƒĞċ³ // int nn=setdefault1(n); cursor.movePosition(QTextCursor::Right, QTextCursor::MoveAnchor, nn); textEdit.setTextCursor(cursor); }else if(c=='D' || c=='j'){ //‚Ѓĵ‚½ƒĞċ·Ĥ // int nn=setdefault1(n); cursor.movePosition(QTextCursor::Left, QTextCursor::MoveAnchor, nn); textEdit.setTextCursor(cursor); }else if(c=='E'){ //‚Ѓĵ‚½ƒĞ下ïĵ‘ĉĦç› // int nn=setdefault1(n); cursor.movePosition(QTextCursor::Down, QTextCursor::MoveAnchor, nn); cursor.movePosition(QTextCursor::StartOfLine, QTextCursor::MoveAnchor); textEdit.setTextCursor(cursor); }else if(c=='F'){ //‚Ѓĵ‚½ƒĞ上ïĵ‘ĉĦç› // int nn=setdefault1(n); cursor.movePosition(QTextCursor::Up, QTextCursor::MoveAnchor, nn); cursor.movePosition(QTextCursor::StartOfLine, QTextCursor::MoveAnchor); textEdit.setTextCursor(cursor); }else if(c=='G'){ //‚Ѓĵ‚½ƒĞnnĉĦç› // int nn=setdefault1(n); cursor.movePosition(QTextCursor::StartOfLine, QTextCursor::MoveAnchor); cursor.movePosition(QTextCursor::Right, QTextCursor::MoveAnchor, nn-1); textEdit.setTextCursor(cursor); }else if(c=='H' || c=='f'){ //‚Ѓĵ‚½ƒĞnn0èĦŒnn1ĉĦç› // int nn0, nn1; switch(n.size()){ case 0: nn0 = nn1 = 1; break; case 1: nn0 = n[0]; nn1 = 1; break; case 2 : default : nn0 = n[0]; nn1 = n[1]; } cursor.movePosition(QTextCursor::Start, QTextCursor::MoveAnchor); cursor.movePosition(QTextCursor::Down, QTextCursor::MoveAnchor, nn0-1); cursor.movePosition(QTextCursor::StartOfLine, QTextCursor::MoveAnchor); cursor.movePosition(QTextCursor::Right, QTextCursor::MoveAnchor, nn1-1); textEdit.setTextCursor(cursor); }else if(c=='J'){ int nn=setdefault0(n); switch(nn){ case 0: //‚Ѓĵ‚½ƒĞ位罁‹‚‰ĉœĞċ°§‚’ĉĥˆċŽğ // cursor.clearSelection(); cursor.movePosition(QTextCursor::End, QTextCursor::KeepAnchor); cursor.removeSelectedText(); break; case 1: //ċ…ˆé ­‹‚‰‚Ѓĵ‚½ƒĞ位罁§‚’ĉĥˆċŽğ // cursor.clearSelection(); cursor.movePosition(QTextCursor::Start, QTextCursor::KeepAnchor); cursor.removeSelectedText(); break; case 2: //ċ…¨ĉĥˆċŽğ // textEdit.clear(); break; default: break; } }else if(c=='K'){ int nn=setdefault0(n); switch(nn){ case 0: //‚Ѓĵ‚½ƒĞ位罁‹‚‰èĦŒĉœĞ§‚’ĉĥˆċŽğ // cursor.clearSelection(); cursor.movePosition(QTextCursor::EndOfLine, QTextCursor::KeepAnchor); cursor.removeSelectedText(); break; case 1: //èĦŒé ­‹‚‰‚Ѓĵ‚½ƒĞ位罁§‚’ĉĥˆċŽğ // cursor.clearSelection(); cursor.movePosition(QTextCursor::StartOfLine, QTextCursor::KeepAnchor); cursor.removeSelectedText(); break; case 2: //èĦŒĉĥˆċŽğ // cursor.clearSelection(); cursor.movePosition(QTextCursor::StartOfLine, QTextCursor::MoveAnchor); cursor.movePosition(QTextCursor::EndOfLine, QTextCursor::KeepAnchor); cursor.removeSelectedText(); break; default: break; } }else if(c=='L'){ //ċ‰ĞçİşèĦŒ‚’ĉŒżċ… // int nn=setdefault1(n); cursor.movePosition(QTextCursor::StartOfLine, QTextCursor::MoveAnchor); for(int i=0; icout(doFlush); } void cnoid::showMessageBox(const QString& message) { QMessageBox::information(MainWindow::instance(), _("Message"), message); } void cnoid::showMessageBox(const char* message) { showMessageBox(QString(message)); } void cnoid::showMessageBox(const std::string& message) { showMessageBox(QString(message.c_str())); } void cnoid::showMessageBox(const boost::format& message) { showMessageBox(QString(message.str().c_str())); } void cnoid::showWarningDialog(const QString& message) { QMessageBox::warning(MainWindow::instance(), _("Warning"), message); } void cnoid::showWarningDialog(const char* message) { showWarningDialog(QString(message)); } void cnoid::showWarningDialog(const std::string& message) { showWarningDialog(QString(message.c_str())); } void cnoid::showWarningDialog(const boost::format& message) { showWarningDialog(QString(message.str().c_str())); } bool cnoid::showConfirmDialog(const QString& caption, const QString& message) { QMessageBox::StandardButton clicked = QMessageBox::question(MainWindow::instance(), caption, message, QMessageBox::Ok | QMessageBox::Cancel); return (clicked == QMessageBox::Ok); } bool cnoid::showConfirmDialog(const std::string& caption, const std::string& message) { return showConfirmDialog(QString(caption.c_str()), QString(message.c_str())); } bool cnoid::showConfirmDialog(const char* caption, const char* message) { return showConfirmDialog(QString(caption), QString(message)); } choreonoid-1.5.0/src/Base/exportdecl.h0000664000000000000000000000176012741425367016350 0ustar rootroot#ifndef CNOID_BASE_EXPORTDECL_H_INCLUDED # define CNOID_BASE_EXPORTDECL_H_INCLUDED # if defined _WIN32 || defined __CYGWIN__ # define CNOID_BASE_DLLIMPORT __declspec(dllimport) # define CNOID_BASE_DLLEXPORT __declspec(dllexport) # define CNOID_BASE_DLLLOCAL # else # if __GNUC__ >= 4 # define CNOID_BASE_DLLIMPORT __attribute__ ((visibility("default"))) # define CNOID_BASE_DLLEXPORT __attribute__ ((visibility("default"))) # define CNOID_BASE_DLLLOCAL __attribute__ ((visibility("hidden"))) # else # define CNOID_BASE_DLLIMPORT # define CNOID_BASE_DLLEXPORT # define CNOID_BASE_DLLLOCAL # endif # endif # ifdef CNOID_BASE_STATIC # define CNOID_BASE_DLLAPI # define CNOID_BASE_LOCAL # else # ifdef CnoidBase_EXPORTS # define CNOID_BASE_DLLAPI CNOID_BASE_DLLEXPORT # else # define CNOID_BASE_DLLAPI CNOID_BASE_DLLIMPORT # endif # define CNOID_BASE_LOCAL CNOID_BASE_DLLLOCAL # endif #endif #ifdef CNOID_EXPORT # undef CNOID_EXPORT #endif #define CNOID_EXPORT CNOID_BASE_DLLAPI choreonoid-1.5.0/src/Base/LineEdit.h0000664000000000000000000000352512741425367015675 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_LINE_EDIT_H #define CNOID_BASE_LINE_EDIT_H #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT LineEdit : public QLineEdit { Q_OBJECT public: LineEdit(QWidget* parent = 0); LineEdit(const QString& contents, QWidget* parent = 0); void setText(const QString& text){ QLineEdit::setText(text); } void setText(const char* text) { QLineEdit::setText(text); } void setText(const std::string& text) { QLineEdit::setText(text.c_str()); } std::string string() const { return QLineEdit::text().toStdString(); } SignalProxy sigCursorPositoinChanged() { return sigCursorPositionChanged_; } SignalProxy sigEditingFinished() { return sigEditingFinished_; } SignalProxy sigReturnPressed() { return sigReturnPressed_; } SignalProxy sigSelectionChanged() { return sigSelectionChanged_; } SignalProxy sigTextChanged() { return sigTextChanged_; } SignalProxy sigTextEdited() { return sigTextEdited_; } private Q_SLOTS: void onCursorPositionChanged(int oldpos, int newpos); void onEditingFinished(); void onReturnPressed(); void onSelectionChanged(); void onTextChanged(const QString& text); void onTextEdited(const QString& text); private: Signal sigCursorPositionChanged_; Signal sigEditingFinished_; Signal sigReturnPressed_; Signal sigSelectionChanged_; Signal sigTextChanged_; Signal sigTextEdited_; void initialize(); }; } #endif choreonoid-1.5.0/src/Base/ScriptItem.h0000664000000000000000000000262612741425367016264 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_SCRIPT_ITEM_H #define CNOID_BASE_SCRIPT_ITEM_H #include "AbstractTextItem.h" #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT ScriptItem : public AbstractTextItem { public: ScriptItem(); ScriptItem(const ScriptItem& org); virtual const std::string& textFilename() const; virtual const std::string& scriptFilename() const = 0; virtual std::string identityName() const; virtual bool setBackgroundMode(bool on); virtual bool isBackgroundMode() const; virtual bool isRunning() const; virtual bool execute() = 0; /** This function executes the code in the same namespace as that of the script exection. @note Implementing this function is optional. */ virtual bool executeCode(const char* code); /** This function waits for the script to finish. @return True if the script is actually finished, or false if timeout happens. @note Implementing this function is optional. The function returns false if the function is not implemented. */ virtual bool waitToFinish(double timeout = 0.0); virtual std::string resultString() const; virtual SignalProxy sigScriptFinished() = 0; virtual bool terminate() = 0; protected: virtual ~ScriptItem(); }; typedef ref_ptr ScriptItemPtr; } #endif choreonoid-1.5.0/src/Base/Licenses.cpp0000664000000000000000000000124312741425367016273 0ustar rootroot #include "Licenses.h" #include "gettext.h" const char* cnoid::LGPLtext() { return _("This program is free software; you can redistribute it and/or modify it under the terms of " "the GNU Lesser General Public License as published by the Free Software Foundation; either " "version 2.1 of the License, or (at your option) any later version.\n" "\n" "This package is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; " "without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE." "See the GNU Lesser General Public License for more details.\n"); } choreonoid-1.5.0/src/Base/MultiValueSeqItem.cpp0000664000000000000000000000257212741425367020113 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "MultiValueSeqItem.h" #include "MultiSeqItemCreationPanel.h" #include "ItemManager.h" #include #include "gettext.h" using namespace cnoid; static bool loadPlainSeqFormat(MultiValueSeqItem* item, const std::string& filename, std::ostream& os) { if(item->seq()->loadPlainFormat(filename)){ return true; } else { os << item->seq()->seqMessage(); return false; } } static bool saveAsPlainSeqFormat(MultiValueSeqItem* item, const std::string& filename, std::ostream& os) { if(item->seq()->saveAsPlainFormat(filename)){ return true; } else { os << item->seq()->seqMessage(); return false; } } template<> void MultiSeqItem::initializeClass(ExtensionManager* ext) { ext->itemManager().registerClass(N_("MultiValueSeqItem")); ext->itemManager().addCreationPanel( new MultiSeqItemCreationPanel(_("Number of values in a frame"))); ext->itemManager().addLoaderAndSaver( _("Plain Format of a Multi Value Sequence"), "PLAIN-MULTI-VALUE-SEQ", "*", boost::bind(loadPlainSeqFormat, _1, _2, _3), boost::bind(saveAsPlainSeqFormat, _1, _2, _3), ItemManager::PRIORITY_CONVERSION); } #ifdef WIN32 template class MultiSeqItem; #endif choreonoid-1.5.0/src/Base/TextEdit.h0000664000000000000000000000271412741425367015731 0ustar rootroot/** @author Shizuko Hattori @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_TEXT_EDIT_H #define CNOID_BASE_TEXT_EDIT_H #include #include #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT PlainTextEdit : public QPlainTextEdit { Q_OBJECT public: PlainTextEdit(QWidget* parent = 0); SignalProxy sigCursorPositionChanged() { return sigCursorPositionChanged_; } private Q_SLOTS: void onCursorPositionChanged(); private: Signal sigCursorPositionChanged_; }; class CNOID_EXPORT TextEdit : public QTextEdit { Q_OBJECT public: TextEdit(QWidget* parent = 0); int getScrollPos(); void setScrollPos(int pos); int maxScrollPos(); int scrollSingleStep(); SignalProxy sigCurrentCharFormatChanged() { return sigCurrentCharFormatChanged_; } SignalProxy sigCursorPositionChanged() { return sigCursorPositionChanged_; } SignalProxy sigScroll() { return sigScroll_; } private Q_SLOTS: void onCurrentCharFormatChanged(const QTextCharFormat& f); void onCursorPositionChanged(); void onScroll(int value); private: QScrollBar *vScrollBar; Signal sigCurrentCharFormatChanged_; Signal sigCursorPositionChanged_; Signal sigScroll_; }; } #endif choreonoid-1.5.0/src/Base/PositionDragger.h0000664000000000000000000000510212741425367017271 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_POSITION_DRAGGER_H #define CNOID_BASE_POSITION_DRAGGER_H #include "SceneDragger.h" #include "exportdecl.h" namespace cnoid { class TranslationDragger; class RotationDragger; class PositionDraggerImpl; /** \todo Since the draggable axis set can be specified for PositoinDragger now, the TranslationDragger class and the RotationDragger class should be removed and their implementations should be integrated into the PositionDragger class. */ class CNOID_EXPORT PositionDragger : public SceneDragger { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW; PositionDragger(); PositionDragger(const PositionDragger& org); PositionDragger(const PositionDragger& org, SgCloneMap& cloneMap); virtual SgObject* clone(SgCloneMap& cloneMap) const; enum Axis { TX = 1 << 0, TY = 1 << 1, TZ = 1 << 2, TRANSLATION_AXES = (TX | TY | TZ), RX = 1 << 3, RY = 1 << 4, RZ = 1 << 5, ROTATION_AXES = (RX | RY | RZ), ALL_AXES = (TX | TY | TZ | RX | RY | RZ) }; void setDraggableAxes(int axisSet); int draggableAxes() const; SignalProxy sigDraggableAxesChanged(); void setRadius(double r, double translationAxisRatio = 2.0f); void adjustSize(); void adjustSize(const BoundingBox& bb); void setContentsDragEnabled(bool on); bool isContentsDragEnabled() const; void setDraggerAlwaysShown(bool on); bool isDraggerAlwaysShown() const; void setDraggerAlwaysHidden(bool on); bool isDraggerAlwaysHidden() const; void setUndoEnabled(bool on); bool isUndoEnabled() const; void storeCurrentPositionToHistory(); TranslationDragger* translationDragger(); RotationDragger* rotationDragger(); SignalProxy sigDragStarted(); SignalProxy sigPositionDragged(); SignalProxy sigDragFinished(); virtual bool isDragging() const; virtual Affine3 draggedPosition() const; virtual bool onButtonPressEvent(const SceneWidgetEvent& event); virtual bool onButtonReleaseEvent(const SceneWidgetEvent& event); virtual bool onPointerMoveEvent(const SceneWidgetEvent& event); virtual void onPointerLeaveEvent(const SceneWidgetEvent& event); virtual void onFocusChanged(const SceneWidgetEvent& event, bool on); virtual void onSceneModeChanged(const SceneWidgetEvent& event); virtual bool onUndoRequest(); virtual bool onRedoRequest(); private: PositionDraggerImpl* impl; }; typedef ref_ptr PositionDraggerPtr; } #endif choreonoid-1.5.0/src/Base/JoystickCapture.h0000664000000000000000000000146512741425367017324 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_JOYSTICK_CAPTURE_H #define CNOID_BASE_JOYSTICK_CAPTURE_H #include #include "exportdecl.h" namespace cnoid { class JoystickCaptureImpl; class CNOID_EXPORT JoystickCapture { public: JoystickCapture(); ~JoystickCapture(); bool setDevice(const char* device); bool isReady() const; void releaseDevice(); SignalProxy sigButton(); SignalProxy sigAxis(); int numAxes() const; void setAxisEnabled(int axis, bool on); int numButtons() const; bool readCurrentState(); double getPosition(int axis) const; bool getButtonState(int button) const; bool isActive() const; private: JoystickCaptureImpl* impl; }; } #endif choreonoid-1.5.0/src/Base/AbstractTextItem.h0000664000000000000000000000076312741425367017430 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_ABSTRACT_TEXT_ITEM_H #define CNOID_BASE_ABSTRACT_TEXT_ITEM_H #include "Item.h" #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT AbstractTextItem : public Item { public: AbstractTextItem(); AbstractTextItem(const AbstractTextItem& org); virtual const std::string& textFilename() const = 0; protected: virtual ~AbstractTextItem(); }; typedef ref_ptr AbstractTextItemPtr; } #endif choreonoid-1.5.0/src/Base/LazyCaller.h0000664000000000000000000000501612741425367016237 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_LAZY_CALLER_H #define CNOID_BASE_LAZY_CALLER_H #include #include "exportdecl.h" namespace cnoid { class LazyCallerImpl; /** \note This is not thread safe \todo Make this thread safe so that the function can be called non-main threads */ class CNOID_EXPORT LazyCaller { friend class LazyCallerImpl; bool isPending_; bool isNextPending; LazyCallerImpl* impl; public: enum { PRIORITY_HIGH = 0, PRIORITY_NORMAL, PRIORITY_LOW }; LazyCaller(); LazyCaller(const boost::function& function, int priority = PRIORITY_HIGH); LazyCaller(const LazyCaller& org); virtual ~LazyCaller(); void setFunction(const boost::function& function); void setPriority(int priority); /** The function is called once even if the lazy call is requested many times before the function is actually called. If the conservative mode is on, the function is called one before the function is called and finished. */ void setConservative(bool on); bool isPending() const { return isPending_; } void flush(); typedef void result_type; /** Multiple requests before the actual function call is summarized into a single call */ void operator()() { if(!isPending_){ isPending_ = true; postCallEvent(); } } void cancel(); private: void postCallEvent(); }; class QueuedCallerImpl; class CNOID_EXPORT QueuedCaller { QueuedCallerImpl* impl; QueuedCaller(const QueuedCaller& org); public: /** All the queued functions that have not been executed are canceled in the destructor. */ QueuedCaller(); virtual ~QueuedCaller(); void callLater(const boost::function& function, int priority = LazyCaller::PRIORITY_NORMAL); void cancel(); }; //! deprecated enum { IDLE_PRIORITY_HIGH = LazyCaller::PRIORITY_HIGH, IDLE_PRIORITY_NORMAL = LazyCaller::PRIORITY_NORMAL, IDLE_PRIORITY_LOW = LazyCaller::PRIORITY_LOW }; CNOID_EXPORT void callLater(const boost::function& function, int priority = LazyCaller::PRIORITY_NORMAL); CNOID_EXPORT void callFromMainThread(const boost::function& function, int priority = LazyCaller::PRIORITY_NORMAL); CNOID_EXPORT bool callSynchronously(const boost::function& function, int priority = LazyCaller::PRIORITY_NORMAL); CNOID_EXPORT bool isRunningInMainThread(); } #endif choreonoid-1.5.0/src/Base/Process.h0000664000000000000000000000247712741425367015623 0ustar rootroot/** @author Shin'ichiro NAKAOKA */ #ifndef CNOID_BASE_PROCESS_H #define CNOID_BASE_PROCESS_H #include #include #include "exportdecl.h" namespace cnoid { /** @note On Linux, a child process inherits the same process group as the parent. In this case, some signals such as SIGINT sent to the parent process are also sent to the child processes. (see "man setpgid" and http://stackoverflow.com/questions/6803395/child-process-receives-parents-sigint.) This behavior is not good when the choreonoid main process wants to manage its child processes when the main process is terminated by Ctrl+C. For a child process invoked by the start methods of this class, its own process group id is given and the signals sent to the main process are not sent to it. */ class CNOID_EXPORT Process : public QProcess { Q_OBJECT public: Process(QObject* parent = 0); SignalProxy sigReadyReadStandardOutput() { return sigReadyReadStandardOutput_; } void start(const QString& program, const QStringList& arguments, OpenMode mode = ReadWrite); void start(const QString& program, OpenMode mode = ReadWrite); private Q_SLOTS: void onReadyReadStandardOutput(); private: Signal sigReadyReadStandardOutput_; }; } #endif choreonoid-1.5.0/src/Base/GraphBar.h0000664000000000000000000000123312741425367015660 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_GRAPH_BAR_H #define CNOID_BASE_GRAPH_BAR_H #include #include #include #include #include "exportdecl.h" namespace cnoid { class GraphWidget; class GraphBarImpl; class CNOID_EXPORT GraphBar : public ToolBar { public: static void initialize(ExtensionManager* ext); static GraphBar* instance(); GraphWidget* focusedGraphWidget(); void focus(GraphWidget* graphWidget, bool forceUpdate = false); void releaseFocus(GraphWidget* graphWidget); private: GraphBar(); virtual ~GraphBar(); GraphBarImpl* impl; }; } #endif choreonoid-1.5.0/src/Base/RootItem.cpp0000664000000000000000000001460012741425367016271 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "RootItem.h" #include "ExtensionManager.h" #include "ItemManager.h" #include "LazySignal.h" #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { const bool TRACE_FUNCTIONS = false; } namespace cnoid { class RootItemImpl { public: RootItem* self; RootItemImpl(RootItem* self); ~RootItemImpl(); Signal sigDestroyed; Signal sigSubTreeAdded; Signal sigItemAdded; Signal sigSubTreeMoved; Signal sigItemMoved; Signal sigSubTreeRemoving; Signal sigSubTreeRemoved; LazySignal< Signal > sigTreeChanged; Signal sigItemAssigned; void emitSigItemAddedForItemTree(Item* item); void emitSigItemMovedForItemTree(Item* item); void notifyEventOnSubTreeRemoved(Item* item, bool isMoving); }; } void RootItem::initializeClass(ExtensionManager* ext) { static bool initialized = false; if(!initialized){ ext->itemManager().registerClass(N_("RootItem")); ext->manage(RootItemPtr(mainInstance())); initialized = true; } } RootItem* RootItem::instance() { static RootItem* rootItem = new RootItem(); rootItem->setName("Root"); return rootItem; } RootItem* RootItem::mainInstance() { return instance(); } RootItem::RootItem() { initializeInstance(); } RootItem::RootItem(const RootItem& org) : Item(org) { initializeInstance(); } void RootItem::initializeInstance() { impl = new RootItemImpl(this); } RootItemImpl::RootItemImpl(RootItem* self) : self(self) { } RootItem::~RootItem() { // This is also written in Item::~Item(), but this should be also written here // to notify detaching from the root even when the root is destroyed Item* child = childItem(); while(child){ Item* next = child->nextItem(); child->detachFromParentItem(); child = next; } delete impl; } RootItemImpl::~RootItemImpl() { if(TRACE_FUNCTIONS){ cout << "RootItemImpl::~RootItemImpl()" << endl; } sigDestroyed(self); } SignalProxy RootItem::sigDestroyed() { return impl->sigDestroyed; } SignalProxy RootItem::sigSubTreeAdded() { return impl->sigSubTreeAdded; } SignalProxy RootItem::sigItemAdded() { return impl->sigItemAdded; } SignalProxy RootItem::sigSubTreeMoved() { return impl->sigSubTreeMoved; } SignalProxy RootItem::sigItemMoved() { return impl->sigItemMoved; } /** @if jp ĉœĴ‚·‚°ƒŠƒĞ‚’ĉ‰€ĉœ‰™‚‹ƒĞƒĵƒˆ‚˘‚¤ƒ†ƒ ‹‚‰ƒ‘‚ıĞĉ‰€ċħž™‚‹ċ­‚˘‚¤ƒ†ƒ Œƒ‘‚ı‹‚‰ ċ–‚Šé™¤‹‚Œ‚‹ç›´ċ‰Ğ発èĦŒ•‚Œ‚‹‚·‚°ƒŠƒĞ€‚ @param isMoving ‚˘‚¤ƒ†ƒ Œç§ğċ‹•ä¸­§‚£Ĥ€ċ†³ĉœĴƒĞƒĵƒˆ‚˘‚¤ƒ†ƒ ‹‚‰ƒ‘‚ıĞ ĉ‰€ċħž™‚‹ċ ´ċˆ€true ¨Ş‚‹€‚ @todo §‚Œ°ĉœĴ‚·‚°ƒŠƒĞŻ itemRemoved() ‚·‚°ƒŠƒĞ§ç½ĉ›ˆĤdeprecated¨—Ÿ„€‚ */ SignalProxy RootItem::sigSubTreeRemoving() { return impl->sigSubTreeRemoving; } /** @if jp ĉœĴ‚·‚°ƒŠƒĞ‚’ĉ‰€ĉœ‰™‚‹ƒĞƒĵƒˆ‚˘‚¤ƒ†ƒ ‹‚‰ƒ‘‚ıĞĉ‰€ċħž™‚‹ċ­‚˘‚¤ƒ†ƒ Œƒ‘‚ı‹‚‰ ċ–‚Šé™¤‹‚ŒŸċŒĞċ‘ĵ°‚Œ‚‹‚ıƒ­ƒƒƒˆ‚’ĉŽçĥš™‚‹€‚ @param isMoving ‚˘‚¤ƒ†ƒ Œç§ğċ‹•ä¸­§‚£Ĥ€ċ†³ĉœĴƒĞƒĵƒˆ‚˘‚¤ƒ†ƒ ‹‚‰ƒ‘‚ıĞ ĉ‰€ċħž™‚‹ċ ´ċˆ€true ¨Ş‚‹€‚ */ SignalProxy RootItem::sigSubTreeRemoved() { return impl->sigSubTreeRemoved; } /** @if jp ‚˘‚¤ƒ†ƒ èż½ċŠ ƒğċ‰Šé™¤Şİ€‚˘‚¤ƒ†ƒ ƒ„ƒŞƒĵĉ§‹é€ Œċ¤‰ċŒ–—Ÿ¨Ğċ‘ĵ°‚Œ‚‹‚ıƒ­ƒƒƒˆ‚’ĉŽçĥš™‚‹€‚ sigItemAdded ‚„ sigItemRemoving ¨Żç•°Ş‚Š€ä¸€ċşĤĞèĦŒ‚‚Œ‚‹ä¸€é€£ĉ“ä½œĞċŻ—Ĥ ïĵ‘ċ›ž ‘¨‚Ĥ発èĦŒ•‚Œ‚‹€‚ĉ­£ç˘şĞŻ€ƒ•ƒĴƒĵƒ ƒŻƒĵ‚Ż‚¤ƒ™ƒ³ƒˆƒĞƒĵƒ—§‚­ƒƒĵĞ‚‚‹‚¤ƒ™ƒ³ƒˆ Œċ‡Ĥ理•‚ŒĤ‹‚‰ċŸèĦŒ•‚Œ‚‹€‚ @todo €Œ1ċ›ž ‘¨‚Ĥ€Żĉ‚‰ƒ—ƒ­‚¸‚§‚ŻƒˆèŞ­żèĵżĉ™‚ŞİĞŻċˆ‚‰‚ŒĤ„Ş„§ïĵŒ “ç‚ıĉ”ıċ–„—ĤŠïĵŽ @endif */ SignalProxy RootItem::sigTreeChanged() { return impl->sigTreeChanged.signal(); } /** This signal is emitted when Item::asign() is called. */ SignalProxy RootItem::sigItemAssigned() { return impl->sigItemAssigned; } void RootItem::notifyEventOnSubTreeAdded(Item* item) { if(TRACE_FUNCTIONS){ cout << "RootItem::notifyEventOnItemAdded()" << endl; } impl->sigSubTreeAdded(item); impl->emitSigItemAddedForItemTree(item); impl->sigTreeChanged.request(); } void RootItemImpl::emitSigItemAddedForItemTree(Item* item) { sigItemAdded(item); for(Item* child = item->childItem(); child; child = child->nextItem()){ emitSigItemAddedForItemTree(child); } } void RootItem::notifyEventOnSubTreeMoved(Item* item) { if(TRACE_FUNCTIONS){ cout << "RootItem::notifyEventOnItemMoved()" << endl; } impl->sigSubTreeMoved(item); impl->emitSigItemMovedForItemTree(item); impl->sigTreeChanged.request(); } void RootItemImpl::emitSigItemMovedForItemTree(Item* item) { sigItemMoved(item); for(Item* child = item->childItem(); child; child = child->nextItem()){ emitSigItemMovedForItemTree(child); } } void RootItem::notifyEventOnSubTreeRemoving(Item* item, bool isMoving) { impl->sigSubTreeRemoving(item, isMoving); impl->sigTreeChanged.request(); } void RootItem::notifyEventOnSubTreeRemoved(Item* item, bool isMoving) { impl->notifyEventOnSubTreeRemoved(item, isMoving); } void RootItemImpl::notifyEventOnSubTreeRemoved(Item* item, bool isMoving) { sigSubTreeRemoved(item, isMoving); sigTreeChanged.request(); } void RootItem::emitSigItemAssinged(Item* assigned, Item* srcItem) { impl->sigItemAssigned(assigned, srcItem); } Item* RootItem::doDuplicate() const { return new RootItem(*this); } bool RootItem::store(Archive& archive) { return true; } bool RootItem::restore(const Archive& archive) { return true; } choreonoid-1.5.0/src/Base/ItemTreeView.h0000664000000000000000000001012412741425367016542 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_ITEM_TREE_VIEW_H #define CNOID_BASE_ITEM_TREE_VIEW_H #include "ItemList.h" #include #include #include "exportdecl.h" namespace cnoid { class RootItem; class ItemTreeViewImpl; /** @if jp ‚˘‚¤ƒ†ƒ ƒ„ƒŞƒĵ‚’èĦ¨ç¤ş™‚‹‚Ĥ‚£ƒ³ƒ‰‚Ĥ @endif */ class CNOID_EXPORT ItemTreeView : public View { Q_OBJECT public: static void initializeClass(ExtensionManager* ext); static ItemTreeView* instance(); static ItemTreeView* mainInstance(); // obsolete ItemTreeView(); ItemTreeView(RootItem* rootItem, bool showRoot = false); ~ItemTreeView(); RootItem* rootItem(); void showRoot(bool show); /** @if jp 選ĉŠžçŠĥĉ…‹ĞŞ£Ĥ„‚‹‚˘‚¤ƒ†ƒ †Ħ€ĉŒ‡ċš—Ÿċž‹Ğéİċˆ™‚‹‚‚‚’ċ–ċ—™‚‹€‚ @endif */ template inline ItemList selectedItems() { return allSelectedItems(); } const ItemList<>& selectedItems() { return allSelectedItems(); } template inline ItemType* selectedItem(bool fromMultiItems = false) { return selectedItems().toSingle(fromMultiItems); } /** @if jp topItem äğ下‚µƒ–ƒ„ƒŞƒĵĞŠ‘‚‹é¸ĉŠžçŠĥĉ…‹‚˘‚¤ƒ†ƒ ƒŞ‚ıƒˆ‚’ċ—‚‹€‚ topItem Żé¸ĉŠž•‚ŒĤ„Ĥ‚‚ƒŞ‚ıƒˆĞŻċĞ‚ŒŞ„€‚ @endif */ template inline ItemList selectedSubItems(ItemPtr topItem) { ItemList<> items; extractSelectedItemsOfSubTree(topItem, items); return items; } template inline ItemType* selectedSubItem(ItemPtr topItem, bool fromMultiItems = false) { return selectedSubItems(topItem).toSingle(fromMultiItems); } bool isItemSelected(Item* item); bool selectItem(Item* item, bool select = true); void unselectItem(Item* item); void selectAllItems(); void clearSelection(); /** @return The ID of the check column. */ int addCheckColumn(); void setCheckColumnToolTip(int id, const QString& whatsThis); void updateCheckColumnToolTip(int id); void showCheckColumn(int id, bool on = true); void storeCheckColumnState(int id, Archive& archive); bool restoreCheckColumnState(int id, const Archive& archive); void releaseCheckColumn(int id); /** @if jp ƒ‚§ƒƒ‚ŻçŠĥĉ…‹ĞŞ£Ĥ„‚‹‚˘‚¤ƒ†ƒ †Ħ€ĉŒ‡ċš—Ÿċž‹Ğéİċˆ™‚‹‚‚‚’ċ–ċ—™‚‹€‚ @endif */ template inline ItemList checkedItems(int id = 0) { return allCheckedItems(id); } bool isItemChecked(ItemPtr item, int id = 0); bool checkItem(ItemPtr item, bool check = true, int id = 0); /** @if jp ‚˘‚¤ƒ†ƒ é¸ĉŠžçŠĥĉ…‹Œċ¤‰ċŒ–—Ÿ¨Ğ発èĦŒ•‚Œ‚‹‚·‚°ƒŠƒĞ€‚ @endif */ SignalProxy&)> sigSelectionChanged(); /** @if jp ‚˘‚¤ƒ†ƒ é¸ĉŠžçŠĥĉ…‹Œċ¤‰ċŒ–—Ÿ‹€ƒ„ƒŞƒĵĉ§‹é€ Œċ¤‰ċŒ–—Ÿ¨Ğ発èĦŒ•‚Œ‚‹‚·‚°ƒŠƒĞ€‚ ‚˘‚¤ƒ†ƒ é–“èĤŞċ­é–˘äż‚‚‚ż‚‹‚ˆ†Şƒƒ³ƒ‰ƒİŻ“‚·‚°ƒŠƒĞ¨ĉŽçĥš™‚‹¨‚ˆ„€‚ @endif */ SignalProxy&)> sigSelectionOrTreeChanged(); SignalProxy sigCheckToggled(int id = 0); SignalProxy sigCheckToggled(Item* targetItem, int id = 0); void cutSelectedItems(); protected: virtual bool storeState(Archive& archive); virtual bool restoreState(const Archive& archive); private: ItemTreeViewImpl* impl; void construct(RootItem* rootItem, bool showRoot); ItemList<>& allSelectedItems(); ItemList<>& allCheckedItems(int id); void extractSelectedItemsOfSubTree(ItemPtr topItem, ItemList<>& items); private Q_SLOTS: void onRowsAboutToBeRemoved(const QModelIndex& parent, int start, int end); void onRowsInserted(const QModelIndex& parent, int start, int end); }; } #endif choreonoid-1.5.0/src/Base/Item.cpp0000664000000000000000000004462012741425367015432 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "Item.h" #include "RootItem.h" #include "ItemPath.h" #include "ItemManager.h" #include "MessageView.h" #include #include #include #include "gettext.h" using namespace std; namespace filesystem = boost::filesystem; using namespace cnoid; //tmp #include namespace { const bool TRACE_FUNCTIONS = false; list itemsToEmitSigSubTreeChanged; } namespace cnoid { Signal Item::sigClassUnregistered_; } Item::Item() { attributes = 0; init(); } Item::Item(const Item& org) : name_(org.name_), attributes(org.attributes) { init(); if(attributes[LOAD_ONLY]){ filePath_ = org.filePath_; fileFormat_ = org.fileFormat_; } } void Item::init() { parent_ = 0; firstChild_ = 0; lastChild_ = 0; prevItem_ = 0; nextItem_ = 0; numChildren_ = 0; attributes.reset(SUB_ITEM); attributes.reset(TEMPORAL); isConsistentWithFile_ = false; fileModificationTime_ = 0; } // The assignment operator is disabled Item& Item::operator=(const Item& rhs) { return *this; } Item::~Item() { if(TRACE_FUNCTIONS){ cout << "Item::~Item() of " << name_ << endl; } sigSubTreeChanged_.disconnect_all_slots(); Item* child = childItem(); while(child){ Item* next = child->nextItem(); child->detachFromParentItem(); child = next; } } /** @if jp ‚˘‚¤ƒ†ƒ ċċ‰‚’設ċšïĵċ¤‰ĉ›´™‚‹€‚ ċċ‰Œċ¤‰‚‚‹¨€sigNameChanged ‚·‚°ƒŠƒĞŒç™şèĦŒ•‚Œ‚‹€‚ @endif */ void Item::setName(const std::string& name) { if(name != name_){ string oldName(name_); name_ = name; sigNameChanged_(oldName); } } /** @if jp ĉœĴ‚˘‚¤ƒ†ƒ äğ下ƒ„ƒŞƒĵĞĉ–°ŸĞ‚˘‚¤ƒ†ƒ ‚’èż½ċŠ ™‚‹€‚ @param item èż½ċŠ ™‚‹‚˘‚¤ƒ†ƒ  @endif */ bool Item::addChildItem(Item* item, bool isManualOperation) { return doInsertChildItem(item, 0, isManualOperation); } /** @if jp ‚˘‚¤ƒ†ƒ Œä¸ċŻĉĴ Şĉ§‹ĉˆèĤç´ ¨—Ĥċ°‚˘‚¤ƒ†ƒ ‚’ĉŒ¤ċ ´ċˆ€ addChildItem§ŻŞĉœĴ関ĉ•°‚’用„Ĥċ°‚˘‚¤ƒ†ƒ ‚’èż½ċŠ —ĤŠ“¨§€ ‚·‚ıƒ†ƒ ŻçŠĥĉ³‚’ĉŠŠĉĦċŻèƒ½¨Ş‚‹€‚ “é–˘ĉ•°Ğ‚ˆ£Ĥèż½ċŠ •‚ŒŸ‚˘‚¤ƒ†ƒ Ż isSubItem() Œ true ¨Ş‚‹€‚ @endif */ bool Item::addSubItem(Item* item) { item->attributes.set(SUB_ITEM); return addChildItem(item, false); } bool Item::insertChildItem(Item* item, Item* nextItem, bool isManualOperation) { return doInsertChildItem(item, nextItem, isManualOperation); } bool Item::insertSubItem(Item* item, Item* nextItem) { item->attributes.set(SUB_ITEM); return doInsertChildItem(item, nextItem, false); } bool Item::doInsertChildItem(Item* item, Item* nextItem, bool isManualOperation) { if(!this->onChildItemAboutToBeAdded(item, isManualOperation)){ return false; // rejected } if(!item->attributes[SUB_ITEM]){ attributes.reset(TEMPORAL); } bool isMoving = false; RootItem* rootItem = findRootItem(); if(item->parent_){ RootItem* srcRootItem = item->parent_->findRootItem(); if(srcRootItem){ if(srcRootItem == rootItem){ isMoving = true; } } item->detachFromParentItemSub(isMoving); } item->parent_ = this; if(nextItem && (nextItem->parent_ == this)){ Item* prevItem = nextItem->prevItem_; if(prevItem){ prevItem->nextItem_ = item; item->prevItem_ = prevItem; } else { firstChild_ = item; item->prevItem_ = 0; } nextItem->prevItem_ = item; item->nextItem_ = nextItem; } else if(lastChild_){ lastChild_->nextItem_ = item; item->prevItem_ = lastChild_; item->nextItem_ = 0; lastChild_ = item; } else { firstChild_ = item; lastChild_ = item; } ++numChildren_; item->addRef(); if(rootItem){ if(!isMoving){ item->callFuncOnConnectedToRoot(); // This must be before rootItem->notifyEventOnSubTreeAdded(). item->callSlotsOnPositionChanged(); rootItem->notifyEventOnSubTreeAdded(item); } else { // This must be before rootItem->notifyEventOnSubTreeAdded(). item->callSlotsOnPositionChanged(); rootItem->notifyEventOnSubTreeMoved(item); } } addToItemsToEmitSigSubTreeChanged(); emitSigSubTreeChanged(); return true; } /** This function is called when a child item is about to added to this item. \return false if the item cannot be accepted as a child item \note The childItem is not actually connected to the item when this function is called. */ bool Item::onChildItemAboutToBeAdded(Item* childItem, bool isManualOperation) { return true; } void Item::callSlotsOnPositionChanged() { onPositionChanged(); sigPositionChanged_(); for(ItemPtr child = childItem(); child; child = child->nextItem()){ child->callSlotsOnPositionChanged(); } } void Item::callFuncOnConnectedToRoot() { onConnectedToRoot(); for(ItemPtr child = childItem(); child; child = child->nextItem()){ child->callFuncOnConnectedToRoot(); } } void Item::addToItemsToEmitSigSubTreeChanged() { list::iterator pos = itemsToEmitSigSubTreeChanged.begin(); addToItemsToEmitSigSubTreeChangedSub(pos); } void Item::addToItemsToEmitSigSubTreeChangedSub(list::iterator& pos) { if(parent_){ parent_->addToItemsToEmitSigSubTreeChangedSub(pos); } pos = std::find(pos, itemsToEmitSigSubTreeChanged.end(), this); itemsToEmitSigSubTreeChanged.insert(pos, this); } void Item::emitSigSubTreeChanged() { list::reverse_iterator p; for(p = itemsToEmitSigSubTreeChanged.rbegin(); p != itemsToEmitSigSubTreeChanged.rend(); ++p){ (*p)->sigSubTreeChanged_(); } itemsToEmitSigSubTreeChanged.clear(); } bool Item::isSubItem() const { return attributes[SUB_ITEM]; } /* int Item::subItemIndex() const { if(isSubItem() && parentItem()){ int index = 0; for(Item* sibling = parent->childItem(); sibling = sibling->nextItem(); sibling){ if(sibling == this){ return index; } if(sibling->isSubItem()){ ++index; } } } return -1; } Item* Item::subItem(int subItemIndex) { int index = 0; for(Item* child = parent->childItem(); child = sibling->nextItem(); child){ if(child->isSubItem()){ if(index == subItemIndex){ return child; } ++index; } } return 0; } */ /** If this is true, the item is not automatically saved or overwritten when a project is saved. For example, a motion item which is produced as a simulation result may be an temporal item because a user may not want to save the result. If a user manually save the item, the item becomes a non-temporal item. Or if a child item is manually attached to a temporal item, the item becomes non-temporal one, too. */ bool Item::isTemporal() const { return attributes[TEMPORAL]; } void Item::setTemporal(bool on) { attributes.set(TEMPORAL, on); } /** @if jp ‚˘‚¤ƒ†ƒ ‚’èĤŞ‚˘‚¤ƒ†ƒ ‹‚‰ċˆ‡‚Šé›˘™€‚ @return ƒĞƒĵƒˆ‚˘‚¤ƒ†ƒ ƒ„ƒŞƒĵċ†…‹‚‰ċˆ‡‚Šé›˘•‚Œ‚‹ċ ´ċˆŻ€ƒĞƒĵƒˆ‚˘‚¤ƒ†ƒ ‚’èż”™€‚ @endif */ void Item::detachFromParentItem() { ItemPtr self = this; detachFromParentItemSub(false); } void Item::detachFromParentItemSub(bool isMoving) { RootItem* rootItem = findRootItem(); if(rootItem){ rootItem->notifyEventOnSubTreeRemoving(this, isMoving); } if(parent_){ parent_->addToItemsToEmitSigSubTreeChanged(); if(prevItem_){ prevItem_->nextItem_ = nextItem_; } else { parent_->firstChild_ = nextItem_; } if(nextItem_){ nextItem_->prevItem_ = prevItem_; } else { parent_->lastChild_ = prevItem_; } prevItem_ = 0; nextItem_ = 0; --parent_->numChildren_; this->releaseRef(); parent_ = 0; } attributes.reset(SUB_ITEM); if(rootItem){ rootItem->notifyEventOnSubTreeRemoved(this, isMoving); if(!isMoving){ callSlotsOnPositionChanged(); // sigPositionChanged is also emitted emitSigDetachedFromRootForSubTree(); } } if(!isMoving){ emitSigSubTreeChanged(); } } void Item::emitSigDetachedFromRootForSubTree() { for(ItemPtr child = childItem(); child; child = child->nextItem()){ child->emitSigDetachedFromRootForSubTree(); } sigDetachedFromRoot_(); onDisconnectedFromRoot(); } void Item::onConnectedToRoot() { } void Item::onDisconnectedFromRoot() { if(TRACE_FUNCTIONS){ cout << "Item::onDisconnectedFromRoot() of " << name_ << endl; } } void Item::onPositionChanged() { } static Item* findItemSub(Item* current, ItemPath::iterator it, ItemPath::iterator end) { if(it == end){ return current; } Item* item = 0; for(Item* child = current->childItem(); child; child = child->nextItem()){ if(child->name() == *it){ item = findItemSub(child, ++it, end); if(item){ break; } } } if(!item){ for(Item* child = current->childItem(); child; child = child->nextItem()){ item = findItemSub(child, it, end); if(item){ break; } } } return item; } Item* Item::find(const std::string& path) { return RootItem::instance()->findItem(path); } Item* Item::findItem(const std::string& path) const { ItemPath ipath(path); return findItemSub(const_cast(this), ipath.begin(), ipath.end()); } static Item* findChildItemSub(Item* current, ItemPath::iterator it, ItemPath::iterator end) { if(it == end){ return current; } Item* item = 0; for(Item* child = current->childItem(); child; child = child->nextItem()){ if(child->name() == *it){ item = findChildItemSub(child, ++it, end); if(item){ break; } } } return item; } Item* Item::findChildItem(const std::string& path) const { ItemPath ipath(path); return findChildItemSub(const_cast(this), ipath.begin(), ipath.end()); } static Item* findSubItemSub(Item* current, ItemPath::iterator it, ItemPath::iterator end) { if(it == end){ return current; } Item* item = 0; for(Item* child = current->childItem(); child; child = child->nextItem()){ if(child->name() == *it && child->isSubItem()){ item = findSubItemSub(child, ++it, end); if(item){ break; } } } return item; } Item* Item::findSubItem(const std::string& path) const { ItemPath ipath(path); return findSubItemSub(const_cast(this), ipath.begin(), ipath.end()); } RootItem* Item::findRootItem() const { Item* current = const_cast(this); while(current->parent_){ current = current->parent_; } return dynamic_cast(current); } /** @return When the item is embeded one, this function returs the first parent item which is not an embeded one. Otherwise the item itself is returned. */ Item* Item::headItem() const { Item* head = const_cast(this); while(head->isSubItem()){ if(head->parent_){ head = head->parent_; } else { break; } } return head; } bool Item::isOwnedBy(Item* item) const { Item* current = const_cast(this); while(current = current->parent_){ if(current == item){ return true; } } return false; } bool Item::traverse(boost::function function) { return traverse(this, function); } bool Item::traverse(Item* item, const boost::function& function) { if(function(item)){ return true; } for(Item* child = item->childItem(); child; child = child->nextItem()){ if(traverse(child, function)){ return true; } } return false; } void Item::notifyUpdate() { sigUpdated_(); } /** @if jp ‚˘‚¤ƒ†ƒ ‚³ƒ”ƒĵ‚’生ĉˆ™‚‹€‚ ċ°‚˘‚¤ƒ†ƒ Ğ¤„ĤŻ isFixedToParentItem() Œ true ¨Ż‚³ƒ”ƒĵ•‚Œ‚‹Œ€ false ¨Ż‚³ƒ”ƒĵ•‚ŒŞ„€‚ @endif */ Item* Item::duplicate() const { Item* duplicated = doDuplicate(); if(duplicated && (typeid(*duplicated) != typeid(*this))){ delete duplicated; duplicated = 0; } return duplicated; } /** @if jp ċ°‚˘‚¤ƒ†ƒ ïĵˆ‚µƒ–ƒ„ƒŞƒĵïĵ‰‚‚ċĞ‚Ÿ‚˘‚¤ƒ†ƒ ‚³ƒ”ƒĵ‚’生ĉˆ™‚‹€‚ @endif */ Item* Item::duplicateAll() const { return duplicateAllSub(0); } Item* Item::duplicateAllSub(Item* duplicated) const { if(!duplicated){ duplicated = this->duplicate(); } if(duplicated){ for(Item* child = childItem(); child; child = child->nextItem()){ Item* duplicatedChildItem; if(child->isSubItem()){ duplicatedChildItem = duplicated->findChildItem(child->name()); if(duplicatedChildItem){ child->duplicateAllSub(duplicatedChildItem); } } else { duplicatedChildItem = child->duplicateAllSub(0); if(duplicatedChildItem){ duplicated->addChildItem(duplicatedChildItem); } } } } return duplicated; } /** Override this function to allow duplication of an instance. */ Item* Item::doDuplicate() const { return 0; } /** Copy item properties as much as possible like the assignment operator */ void Item::assign(Item* srcItem) { doAssign(srcItem); RootItem* rootItem = findRootItem(); if(rootItem){ rootItem->emitSigItemAssinged(this, srcItem); } } /** Implement the code to copy properties like the assingment operator */ void Item::doAssign(Item* srcItem) { } /** This function loads the data of the item from a file by using a pre-registered loading function. To make this function available, a loading function has to be registered to an ItemManager in advance by calling the addLoader() or addLoaderAndSaver() function. Otherwise, this function cannot be used. Note that this function should not be overloaded or overridden in the derived classes. */ bool Item::load(const std::string& filename, const std::string& format) { return ItemManager::load(this, filename, parentItem(), format); } /** @param parentItem specify this when the item is newly created one and will be attached to a parent item if loading succeeds. */ bool Item::load(const std::string& filename, Item* parent, const std::string& format) { return ItemManager::load(this, filename, parent, format); } /** This function saves the data of the item to a file by using a pre-registered saving function. To make this function available, a saving function has to be registered to an ItemManager in advance by calling the addSaver() or addLoaderAndSaver() function. Otherwise, this function cannot be used. Note that this function should not be overloaded or overridden in the derived classes. */ bool Item::save(const std::string& filename, const std::string& format) { return ItemManager::save(this, filename, format); } /** This function save the data of the item to the file from which the data of the item has been loaded. If the data has not been loaded from a file, a file save dialog opens and user specifies a file. */ bool Item::overwrite(bool forceOverwrite, const std::string& format) { return ItemManager::overwrite(this, forceOverwrite, format); } void Item::updateFileInformation(const std::string& filename, const std::string& format) { filesystem::path fpath(filename); if(filesystem::exists(fpath)){ filePath_ = filename; fileFormat_ = format; fileModificationTime_ = filesystem::last_write_time(fpath); isConsistentWithFile_ = true; } else { filePath_.clear(); fileFormat_.clear(); fileModificationTime_ = 0; isConsistentWithFile_ = false; } } /** Use this function to disable the implicit overwrite next time */ void Item::clearFileInformation() { filePath_.clear(); fileFormat_.clear(); isConsistentWithFile_ = true; } const Referenced* Item::customData(int id) const { if(id >= (int)extraData.size()){ return 0; } return extraData[id].get(); } Referenced* Item::customData(int id) { if(id >= (int)extraData.size()){ return 0; } return extraData[id].get(); } void Item::setCustomData(int id, ReferencedPtr data) { if(id >= (int)extraData.size()){ extraData.resize(id + 1, 0); } extraData[id] = data; } void Item::clearCustomData(int id) { if(customData(id)){ extraData[id] = 0; } } namespace { bool onNamePropertyChanged(Item* item, const string& name) { if(!name.empty()){ item->setName(name); } return !name.empty(); } } void Item::putProperties(PutPropertyFunction& putProperty) { putProperty(_("Name"), name_, boost::bind(onNamePropertyChanged, this, _1)); std::string moduleName, className; ItemManager::getClassIdentifier(this, moduleName, className); putProperty(_("Class"), className); doPutProperties(putProperty); if(!filePath_.empty()){ putProperty(_("File"), filePath_); } putProperty(_("Num children"), numChildren_); putProperty(_("Sub item?"), isSubItem()); putProperty(_("Temporal"), isTemporal()); putProperty(_("Refs"), refCount()); } /** Override this function to put properties of the item. @note Please call doPutProperties() of the parent class in this function. For example, when your class directly inherits the Item class, call Item::doPutProperties(putProperty). */ void Item::doPutProperties(PutPropertyFunction& putProperty) { } bool Item::store(Archive& archive) { return true; } bool Item::restore(const Archive& archive) { return true; } choreonoid-1.5.0/src/Base/LazySignal.cpp0000664000000000000000000000153412741425367016606 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "LazySignal.h" #include using namespace cnoid; LazySignalBase::LazySignalBase() : LazyCaller(boost::bind(&LazySignalBase::doEmit, this)) { } LazySignalBase::LazySignalBase(boost::function emitFunction, int priority) : LazyCaller(boost::bind(&LazySignalBase::doEmit, this), priority), emitFunction(emitFunction) { } void LazySignalBase::request() { (*this)(); } bool LazySignalBase::doEmit() { for(size_t i=0; i < connectionsToBlock.size(); ++i){ connectionsToBlock[i].block(); } if(emitFunction){ emitFunction(); } else { defaultEmitFunction(); } for(size_t i=0; i < connectionsToBlock.size(); ++i){ connectionsToBlock[i].unblock(); } connectionsToBlock.clear(); return false; } choreonoid-1.5.0/src/Base/ParametricPathProcessor.h0000664000000000000000000000143312741425367021000 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_PARAMETRIC_PATH_PROCESSOR_H #define CNOID_BASE_PARAMETRIC_PATH_PROCESSOR_H #include #include #include "exportdecl.h" namespace cnoid { class Mapping; class ParametricPathProcessorImpl; class CNOID_EXPORT ParametricPathProcessor { public: static ParametricPathProcessor* instance(); ParametricPathProcessor(); ~ParametricPathProcessor(); void setVariables(Mapping* variables); void setBaseDirectory(const std::string& directory); std::string parameterize(const std::string& path) const; boost::optional expand(const std::string& path) const; const std::string& errorMessage() const; private: ParametricPathProcessorImpl* impl; }; } #endif choreonoid-1.5.0/src/Base/ImageWidget.cpp0000664000000000000000000001727312741425367016726 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "ImageWidget.h" #include #include #include #include #include #include using namespace std; using namespace cnoid; ImageWidget::ImageWidget(QWidget* parent) : QWidget(parent) { QPalette p(palette()); p.setColor(QPalette::Background, Qt::black); setPalette(p); setAutoFillBackground(true); isScalingEnabled_ = false; fitted = false; settedT = false; } void ImageWidget::setScalingEnabled(bool on) { if(on != isScalingEnabled_){ isScalingEnabled_ = on; update(); } } bool ImageWidget::isScalingEnabled() const { return isScalingEnabled_; } void ImageWidget::setPixmap(const QPixmap& pixmap) { boost::lock_guard lock(mtx); pixmap_ = pixmap; fitCenter(); update(); } void ImageWidget::setImage(const QImage& image) { boost::lock_guard lock(mtx); pixmap_ = QPixmap::fromImage(image); fitCenter(); update(); } void ImageWidget::setImage(const Image& image) { boost::lock_guard lock(mtx); static QImage::Format componentSizeToFormat[] = { QImage::Format_Invalid, QImage::Format_Invalid, //! \todo convert a gray scale image to RGB888 QImage::Format_Invalid, QImage::Format_RGB888 }; QImage::Format f = componentSizeToFormat[image.numComponents()]; if(f != QImage::Format_Invalid){ pixmap_ = QPixmap::fromImage( QImage(image.pixels(), image.width(), image.height(), f)); } fitCenter(); update(); } void ImageWidget::zoom(double scale) { boost::lock_guard lock(mtx); if(pixmap_.isNull()) return; QSize r = rect().size(); QTransform invT = transform_.inverted(); double x,y; invT.map(r.width()/2,r.height()/2,&x,&y); transform_.translate(x,y); transform_.scale(scale, scale); transform_.translate(-x,-y); update(); } void ImageWidget::translate(QPoint pos) { boost::lock_guard lock(mtx); if(pixmap_.isNull()) return; QTransform T(transform_.m11(), transform_.m12(),transform_.m21(), transform_.m22(), 0,0); QTransform invT = T.inverted(); double x,y; invT.map(pos.x(), pos.y(),&x,&y); transform_.translate(x,y); update(); } void ImageWidget::rotate(double angle) { boost::lock_guard lock(mtx); QSize r = rect().size(); QTransform invT = transform_.inverted(); double x,y; invT.map(r.width()/2,r.height()/2,&x,&y); transform_.translate(x,y); transform_.rotate(angle); transform_.translate(-x,-y); update(); } void ImageWidget::paintEvent(QPaintEvent* event) { QWidget::paintEvent(event); if(pixmap_.isNull()){ return; } //for(int i=0; i lock(mtx); if(pixmap_.isNull()) return; resize(event->size()); } void ImageWidget::resize(const QSize& size) { if(isScalingEnabled_ ){ if(size.width() <= 0 || size.height() <= 0){ return; } QSize s = pixmap_.size(); s.scale(size, Qt::KeepAspectRatio); double newScale = (double)s.width() / (double)pixmap_.size().width(); double scale = newScale / oldScale; oldScale = newScale; QTransform invT = transform_.inverted(); double cx = (double)oldSize.width()/2.0; double cy = (double)oldSize.height()/2.0; double x,y; invT.map(cx, cy, &x, &y); transform_.translate(x,y); transform_.scale(scale, scale); transform_.translate(-x,-y); QTransform T(transform_.m11(), transform_.m12(),transform_.m21(), transform_.m22(), 0,0); invT = T.inverted(); double dx = ((double)size.width()-(double)oldSize.width())/2.0; double dy = ((double)size.height()-(double)oldSize.height())/2.0; invT.map(dx, dy,&x,&y); transform_.translate(x, y); oldSize = size; } } void ImageWidget::setTransform(const QTransform& transform) { transform_ = transform; settedT = true; initialTransform_ = transform_; } bool ImageWidget::getTransform(QTransform& transform) { if(pixmap_.isNull()) return false; notScaledTransform_ = transform_; if(isScalingEnabled_ && !pixmap_.isNull()){ QSize size = pixmap_.size(); double scale = 1.0 / oldScale; QTransform invT = transform_.inverted(); double cx = (double)oldSize.width()/2.0; double cy = (double)oldSize.height()/2.0; double x,y; invT.map(cx, cy, &x, &y); notScaledTransform_.translate(x,y); notScaledTransform_.scale(scale, scale); notScaledTransform_.translate(-x,-y); QTransform T(notScaledTransform_.m11(), notScaledTransform_.m12(),notScaledTransform_.m21(), notScaledTransform_.m22(), 0,0); invT = T.inverted(); double dx = ((double)size.width()-(double)oldSize.width())/2.0; double dy = ((double)size.height()-(double)oldSize.height())/2.0; invT.map(dx, dy,&x,&y); notScaledTransform_.translate(x, y); } transform = notScaledTransform_; return true; } double ImageWidget::getAngle(){ double scale; if(pixmap_.isNull()) scale = 1.0; else scale = oldScale; notScaledTransform_ = transform_; notScaledTransform_ *= scale; return atan2(notScaledTransform_.m12(), notScaledTransform_.m11()); } void ImageWidget::setAngle(double angle) { transform_.reset(); rotate(angle); initialTransform_ = transform_; } void ImageWidget::reset() { boost::lock_guard lock(mtx); transform_ = initialTransform_; fitted = false; settedT = true; fitCenter(); update(); } Image& ImageWidget::getImage() { boost::lock_guard lock(mtx); if(pixmap_.isNull()){ transformedImage.setSize(0,0,1); return transformedImage; } QImage image(rect().size(), QImage::Format_RGB888); image.fill(QColor(0,0,0)); QPainter painter(&image); painter.setRenderHint(QPainter::SmoothPixmapTransform); painter.setWorldTransform(transform_); painter.drawPixmap(0, 0, pixmap_); transformedImage.setSize(image.width(), image.height(), 3); unsigned char* p = transformedImage.pixels(); for(int i=0; i #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT Vector3SeqItem : public AbstractSeqItem { public: static void initializeClass(ExtensionManager* ext); Vector3SeqItem(); Vector3SeqItem(const Vector3SeqItem& org); Vector3SeqItem(Vector3SeqPtr seq); virtual AbstractSeqPtr abstractSeq(); Vector3SeqPtr seq() { return seq_; } bool loadPlainFormat(const std::string& filename); bool saveAsPlainFormat(const std::string& filename); protected: /** This is for the copy constructor of an inherited class */ Vector3SeqItem(const Vector3SeqItem& org, Vector3SeqPtr cloneSeq); virtual ~Vector3SeqItem(); virtual Item* doDuplicate() const; Vector3SeqPtr seq_; }; typedef ref_ptr Vector3SeqItemPtr; } #endif choreonoid-1.5.0/src/Base/ProjectManager.h0000664000000000000000000000210612741425367017073 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_PROJECT_MANAGER_H_INCLUDED #define CNOID_BASE_PROJECT_MANAGER_H_INCLUDED #include "Archive.h" #include #include #include "exportdecl.h" namespace cnoid { class ExtensionManager; class ProjectManagerImpl; class CNOID_EXPORT ProjectManager { public: static ProjectManager* instance(); void loadProject(const std::string& filename); void saveProject(const std::string& filename); void overwriteCurrentProject(); const std::string& getProjectFileName(); static void initialize(ExtensionManager* em); private: ProjectManager(ExtensionManager* em); ~ProjectManager(); ProjectManagerImpl* impl; friend class ExtensionManager; friend class ExtensionManagerImpl; void setArchiver( const std::string& moduleName, const std::string& objectName, boost::function storeFunction, boost::function restoreFunction); void resetArchivers(const std::string& moduleName); }; } #endif choreonoid-1.5.0/src/Base/FolderItem.h0000664000000000000000000000112312741425367016222 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_GUIBASE_FOLDER_ITEM_H_INCLUDED #define CNOID_GUIBASE_FOLDER_ITEM_H_INCLUDED #include "Item.h" #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT FolderItem : public Item { public: static void initializeClass(ExtensionManager* ext); FolderItem(); FolderItem(const FolderItem& org); virtual ~FolderItem(); protected: virtual Item* doDuplicate() const; virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); }; typedef ref_ptr FolderItemPtr; } #endif choreonoid-1.5.0/src/Base/ToolBar.cpp0000664000000000000000000001743412741425367016101 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "ToolBar.h" #include "ToolBarArea.h" #include "MainWindow.h" #include "Separator.h" #include #include #include #ifdef Q_OS_MAC #include #include #endif using namespace std; using namespace cnoid; namespace { #ifdef Q_OS_MAC QCleanlooksStyle cleanlooks; #endif class ToolBarHandle : public QWidget { ToolBar* toolBar; bool isDragging; QPoint dragOrgLocalPos; public: ToolBarHandle(ToolBar* toolBar) : QWidget(toolBar), toolBar(toolBar) { setFixedWidth(12); isDragging = false; setCursor(Qt::OpenHandCursor); } virtual void paintEvent(QPaintEvent* event) { QStylePainter painter(this); QStyleOptionToolBar option; option.initFrom(this); option.features = QStyleOptionToolBar::Movable; option.toolBarArea = Qt::TopToolBarArea; option.state = QStyle::State_Horizontal; option.rect.setHeight(height()); option.rect.setWidth(16); painter.drawPrimitive(QStyle::PE_IndicatorToolBarHandle, option); } virtual void mousePressEvent(QMouseEvent* event) { if(event->button() == Qt::LeftButton){ dragOrgLocalPos = event->pos(); setCursor(Qt::ClosedHandCursor); isDragging = true; } } virtual void mouseMoveEvent(QMouseEvent* event) { if(isDragging){ toolBar->toolBarArea()->dragToolBar(toolBar, event->globalPos() - dragOrgLocalPos); } } virtual void mouseReleaseEvent(QMouseEvent* event) { setCursor(Qt::OpenHandCursor); isDragging = false; } }; } ToolBar::ToolBar(const QString& title) { setWindowTitle(title); setObjectName(title); mainWindow = MainWindow::instance(); hbox = new QHBoxLayout(this); hbox->setSpacing(0); hbox->setContentsMargins(0, 0, 0, 0); setLayout(hbox); handle = new ToolBarHandle(this); hbox->addWidget(handle); hbox->addSpacing(4); radioGroup = 0; isNewRadioGroupRequested = true; toolBarArea_ = 0; isVisibleByDefault_ = false; defaultOrderIndex = 0; desiredX = 0; layoutPriority = 0; isStretchable_ = false; connect(mainWindow, SIGNAL(iconSizeChanged(const QSize&)), this, SLOT(changeIconSize(const QSize&))); } ToolBar::~ToolBar() { } void ToolBar::setVisibleByDefault(bool on) { isVisibleByDefault_ = on; } void ToolBar::setStretchable(bool on) { isStretchable_ = on; } int ToolBar::stretchableDefaultWidth() const { return QWidget::sizeHint().width(); } ToolButton* ToolBar::addButton(const QString& text, const QString& tooltip) { ToolButton* button = new ToolButton(this); #ifdef Q_OS_MAC // Force auto-raize type if(dynamic_cast(button->style())){ button->setStyle(&cleanlooks); } #endif button->setText(text); button->setAutoRaise(true); button->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); if(!tooltip.isEmpty()){ button->setToolTip(tooltip); } hbox->addWidget(button); return button; } ToolButton* ToolBar::addButton(const QIcon& icon, const QString& tooltip) { ToolButton* button = new ToolButton(this); #ifdef Q_OS_MAC // Force auto-raize type if(dynamic_cast(button->style())){ button->setStyle(&cleanlooks); } #endif button->setIconSize(mainWindow->iconSize()); button->setIcon(icon); button->setAutoRaise(true); button->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); if(!tooltip.isEmpty()){ button->setToolTip(tooltip); } hbox->addWidget(button); return button; } ToolButton* ToolBar::addButton(const char* const* xpm, const QString& tooltip) { return addButton(QIcon(QPixmap(xpm)), tooltip); } ToolButton* ToolBar::addToggleButton(const QString& text, const QString& tooltip) { ToolButton* button = addButton(text, tooltip); button->setCheckable(true); return button; } ToolButton* ToolBar::addToggleButton(const QIcon& icon, const QString& tooltip) { ToolButton* button = addButton(icon, tooltip); button->setCheckable(true); return button; } ToolButton* ToolBar::addToggleButton(const char* const* xpm, const QString& tooltip) { ToolButton* button = addButton(xpm, tooltip); button->setCheckable(true); return button; } void ToolBar::requestNewRadioGroup() { radioGroup = 0; isNewRadioGroupRequested = true; } QButtonGroup* ToolBar::currentRadioGroup() { if(isNewRadioGroupRequested){ radioGroup = new QButtonGroup(this); isNewRadioGroupRequested = false; } return radioGroup; } void ToolBar::setRadioButton(ToolButton* button) { button->setCheckable(true); currentRadioGroup()->addButton(button); } ToolButton* ToolBar::addRadioButton(const QString& text, const QString& tooltip) { ToolButton* button = addButton(text, tooltip); setRadioButton(button); return button; } ToolButton* ToolBar::addRadioButton(const QIcon& icon, const QString& tooltip) { ToolButton* button = addButton(icon, tooltip); setRadioButton(button); return button; } ToolButton* ToolBar::addRadioButton(const char* const* xpm, const QString& tooltip) { ToolButton* button = addButton(xpm, tooltip); setRadioButton(button); return button; } void ToolBar::addAction(QAction* action) { ToolButton* button = new ToolButton(this); button->setAutoRaise(true); button->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); button->setDefaultAction(action); hbox->addWidget(button); } void ToolBar::addWidget(QWidget* widget) { hbox->addWidget(widget); } QLabel* ToolBar::addLabel(const QString& text) { QLabel* label = new QLabel(text, this); hbox->addWidget(label); return label; } QLabel* ToolBar::addImage(const QString& filename) { QLabel* label = new QLabel(this); label->setPixmap(QPixmap(filename)); hbox->addWidget(label); return label; } QWidget* ToolBar::addSeparator(int spacing) { VSeparator* sep = new VSeparator(this); hbox->addSpacing(spacing); hbox->addWidget(sep); hbox->addSpacing(spacing); return sep; } void ToolBar::addSpacing(int size) { hbox->addSpacing(size); } void ToolBar::setEnabled(bool on) { /* if(on){ QWidget::setEnabled(on); } else { int n = hbox->count(); for(int i=0; i < n; ++i){ QLayoutItem* item = hbox->itemAt(i); QWidget* widget = item->widget(); if(widget){ widget->setEnabled(false); } handle->setEnabled(true); } } */ int n = hbox->count(); for(int i=0; i < n; ++i){ QLayoutItem* item = hbox->itemAt(i); QWidget* widget = item->widget(); if(widget){ widget->setEnabled(on); } handle->setEnabled(true); } } void ToolBar::changeIconSize(const QSize& iconSize) { changeIconSizeSub(hbox, iconSize); } void ToolBar::changeIconSizeSub(QLayout* layout, const QSize& iconSize) { int n = layout->count(); for(int i=0; i < n; ++i){ QLayoutItem* item = layout->itemAt(i); QLayout * childLayout = dynamic_cast(item); if(childLayout){ changeIconSizeSub(childLayout, iconSize); } QWidgetItem* widgetItem = dynamic_cast(item); if(widgetItem){ QWidget* widget = widgetItem->widget(); ToolButton* button = dynamic_cast(widget); if(button){ button->setIconSize(mainWindow->iconSize()); } } } } bool ToolBar::storeState(Archive& archive) { return true; } bool ToolBar::restoreState(const Archive& archive) { return true; } choreonoid-1.5.0/src/Base/TreeWidget.cpp0000664000000000000000000001000712741425367016567 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "TreeWidget.h" #include #include #include using namespace cnoid; TreeWidget::TreeWidget(QWidget* parent) : QTreeWidget(parent) { connect(this, SIGNAL(currentItemChanged(QTreeWidgetItem*, QTreeWidgetItem*)), this, SLOT(onCurrentItemChanged(QTreeWidgetItem*, QTreeWidgetItem*))); connect(this, SIGNAL(itemActivated(QTreeWidgetItem*, int)), this, SLOT(onItemActivated(QTreeWidgetItem*, int))); connect(this, SIGNAL(itemChanged(QTreeWidgetItem*, int)), this, SLOT(onItemChanged(QTreeWidgetItem*, int))); connect(this, SIGNAL(itemClicked(QTreeWidgetItem*, int)), this, SLOT(onItemClicked(QTreeWidgetItem*, int))); connect(this, SIGNAL(itemCollapsed(QTreeWidgetItem*)), this, SLOT(onItemCollapsed(QTreeWidgetItem*))); connect(this, SIGNAL(itemDoubleClicked(QTreeWidgetItem*, int)), this, SLOT(onItemDoubleClicked(QTreeWidgetItem*, int))); connect(this, SIGNAL(itemEntered(QTreeWidgetItem*, int)), this, SLOT(onItemEntered(QTreeWidgetItem*, int))); connect(this, SIGNAL(itemExpanded(QTreeWidgetItem*)), this, SLOT(onItemExpanded(QTreeWidgetItem*))); connect(this, SIGNAL(itemPressed(QTreeWidgetItem*, int)), this, SLOT(onItemPressed(QTreeWidgetItem*, int))); connect(this, SIGNAL(itemSelectionChanged()), this, SLOT(onItemSelectionChanged())); isVerticalGridLineShown = false; } void TreeWidget::setHeaderSectionResizeMode(int column, QHeaderView::ResizeMode mode) { #if QT_VERSION < QT_VERSION_CHECK(5, 0, 0) header()->setResizeMode(column, mode); #else header()->setSectionResizeMode(column, mode); #endif } void TreeWidget::setVerticalGridLineShown(bool on) { if(on){ gridColorRGB = style()->styleHint(QStyle::SH_Table_GridLineColor, new QStyleOptionViewItemV4()); } isVerticalGridLineShown = on; } TreeWidget::~TreeWidget() { } void TreeWidget::paintEvent(QPaintEvent* event) { QTreeWidget::paintEvent(event); if(isVerticalGridLineShown && topLevelItemCount()){ QHeaderView* hv = header(); QPainter painter(viewport()); QPen oldPen = painter.pen(); painter.setPen(QPen(QColor::fromRgb(gridColorRGB))); for(int i = 0; i < hv->count(); ++i){ // draw only visible sections starting from second column if(hv->isSectionHidden(i) || hv->visualIndex(i) <= 0){ continue; } // position mapped to viewport int pos = hv->sectionViewportPosition(i) - 1; if(pos > 0){ painter.drawLine(QPoint(pos, 0), QPoint(pos, height())); } } painter.setPen(oldPen); } } void TreeWidget::scrollContentsBy(int dx, int dy) { QTreeWidget::scrollContentsBy(dx, dy); // make sure lines get updated even if the view is empty viewport()->update(); } void TreeWidget::onCurrentItemChanged(QTreeWidgetItem* current, QTreeWidgetItem* previous) { sigCurrentItemChanged_(current, previous); } void TreeWidget::onItemActivated(QTreeWidgetItem* item, int column) { sigItemActivated_(item, column); } void TreeWidget::onItemChanged(QTreeWidgetItem* item, int column) { sigItemChanged_(item, column); } void TreeWidget::onItemClicked(QTreeWidgetItem* item, int column) { sigItemClicked_(item, column); } void TreeWidget::onItemCollapsed(QTreeWidgetItem* item) { sigItemCollapsed_(item); } void TreeWidget::onItemDoubleClicked(QTreeWidgetItem* item, int column) { sigItemDoubleClicked_(item, column); } void TreeWidget::onItemEntered(QTreeWidgetItem* item, int column) { sigItemEntered_(item, column); } void TreeWidget::onItemExpanded(QTreeWidgetItem* item) { sigItemExpanded_(item); } void TreeWidget::onItemPressed(QTreeWidgetItem* item, int column) { sigItemPressed_(item, column); } void TreeWidget::onItemSelectionChanged(void) { sigItemSelectionChanged_(); } choreonoid-1.5.0/src/Base/InfoBar.h0000664000000000000000000000145312741425367015516 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_INFO_BAR_H #define CNOID_BASE_INFO_BAR_H #include #include #include #include "exportdecl.h" namespace cnoid { class InfoBarImpl; class CNOID_EXPORT InfoBar : public QStatusBar { Q_OBJECT public: static InfoBar* instance(); void notify(const char* message); void notify(const std::string& message); void notify(const QString& message); private: InfoBar(); ~InfoBar(); QWidget* indicatorBase; QHBoxLayout* indicatorLayout; QWidget* currentIndicator; void setIndicator(QWidget* indicator); void removeCurrentIndicator(); private Q_SLOTS: void onFocusChanged(QWidget* old, QWidget* now); void onIndicatorDestroyed(QObject* obj); }; } #endif choreonoid-1.5.0/src/Base/RectRegionMarker.cpp0000664000000000000000000001503512741425367017735 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "RectRegionMarker.h" #include "SceneWidget.h" #include #include #include #include using namespace std; using namespace cnoid; namespace cnoid { class RectRegionMarkerImpl { public: RectRegionMarker* self; SceneWidget* sceneWidget; SgLineSetPtr lineSet; int left, right, top, bottom; SgVertexArrayPtr vertices; QCursor editModeCursor; int x0, y0; PolyhedralRegion region; Signal sigRegionFixed; Signal sigContextMenuRequest; RectRegionMarkerImpl(RectRegionMarker* self); ~RectRegionMarkerImpl(); void setRect(int x0, int y0, int x1, int y1); void showRectangle(bool on); void onSceneModeChanged(const SceneWidgetEvent& event); bool onButtonPressEvent(const SceneWidgetEvent& event); bool onButtonReleaseEvent(const SceneWidgetEvent& event); bool onPointerMoveEvent(const SceneWidgetEvent& event); }; } RectRegionMarker::RectRegionMarker() { impl = new RectRegionMarkerImpl(this); } RectRegionMarkerImpl::RectRegionMarkerImpl(RectRegionMarker* self) : self(self) { sceneWidget = 0; lineSet = new SgLineSet; vertices = lineSet->getOrCreateVertices(); vertices->resize(4); lineSet->getOrCreateColors()->push_back(Vector3f(1.0f, 0.0f, 0.0f)); lineSet->reserveNumLines(4); SgIndexArray& colorIndices = lineSet->colorIndices(); colorIndices.reserve(8); for(int i=0; i < 4; ++i){ lineSet->addLine(i, (i + 1) % 4); colorIndices.push_back(0); colorIndices.push_back(0); } self->addChild(lineSet); } RectRegionMarker::~RectRegionMarker() { delete impl; } RectRegionMarkerImpl::~RectRegionMarkerImpl() { self->finishEditing(); showRectangle(false); } void RectRegionMarker::calcViewVolume(double viewportWidth, double viewportHeight, ViewVolume& io_volume) { io_volume.left = 0; io_volume.right = viewportWidth; io_volume.bottom = 0; io_volume.top = viewportHeight; } void RectRegionMarker::setRect(int x0, int y0, int x1, int y1) { impl->setRect(x0, y0, x1, y1); } void RectRegionMarkerImpl::setRect(int x0, int y0, int x1, int y1) { if(x0 <= x1){ left = x0; right = x1; } else { left = x1; right = x0; } if(y0 >= y1){ top = y0; bottom = y1; } else { top = y1; bottom = y0; } vertices->at(0) << left, top, 0.0f; vertices->at(1) << left, bottom, 0.0f; vertices->at(2) << right, bottom, 0.0f; vertices->at(3) << right, top, 0.0f; vertices->notifyUpdate(); } void RectRegionMarker::setEditModeCursor(QCursor cursor) { impl->editModeCursor = cursor; } void RectRegionMarker::startEditing(SceneWidget* sceneWidget) { impl->sceneWidget = sceneWidget; onSceneModeChanged(sceneWidget->latestEvent()); sceneWidget->sceneRoot()->addChildOnce(this, true); sceneWidget->installEventFilter(this); } bool RectRegionMarker::isEditing() const { if(impl->sceneWidget){ if(impl->sceneWidget->activeEventFilter() == this){ return true; } } return false; } void RectRegionMarker::finishEditing() { if(impl->sceneWidget){ impl->sceneWidget->removeEventFilter(this); impl->sceneWidget->sceneRoot()->removeChild(this); impl->sceneWidget = 0; } } const PolyhedralRegion& RectRegionMarker::region() const { return impl->region; } SignalProxy RectRegionMarker::sigRegionFixed() { return impl->sigRegionFixed; } void RectRegionMarkerImpl::showRectangle(bool on) { if(on){ self->addChildOnce(lineSet, true); } else { self->removeChild(lineSet, true); } } void RectRegionMarker::onSceneModeChanged(const SceneWidgetEvent& event) { impl->onSceneModeChanged(event); } void RectRegionMarkerImpl::onSceneModeChanged(const SceneWidgetEvent& event) { if(event.sceneWidget()->isEditMode()){ event.sceneWidget()->setCursor(editModeCursor); } else { showRectangle(false); } } bool RectRegionMarker::onButtonPressEvent(const SceneWidgetEvent& event) { return impl->onButtonPressEvent(event); } bool RectRegionMarkerImpl::onButtonPressEvent(const SceneWidgetEvent& event) { x0 = event.x(); y0 = event.y(); setRect(x0, y0, x0, y0); showRectangle(true); return true; } bool RectRegionMarker::onButtonReleaseEvent(const SceneWidgetEvent& event) { return impl->onButtonReleaseEvent(event); } bool RectRegionMarkerImpl::onButtonReleaseEvent(const SceneWidgetEvent& event) { if(left < right && bottom < top){ Vector3 points[4]; event.sceneWidget()->unproject(left, top, 0.0, points[0]); event.sceneWidget()->unproject(left, bottom, 0.0, points[1]); event.sceneWidget()->unproject(right, bottom, 0.0, points[2]); event.sceneWidget()->unproject(right, top, 0.0, points[3]); const Vector3 c = event.currentCameraPosition().translation(); SgCamera* camera = event.sceneWidget()->renderer().currentCamera(); region.clear(); if(dynamic_cast(camera)){ for(int i=0; i < 4; ++i){ const Vector3 normal = (points[(i + 1) % 4] - c).cross(points[i] - c).normalized(); region.addBoundingPlane(normal, points[i]); } } else if(dynamic_cast(camera)){ const Vector3 n0 = (points[3] - points[0]).cross(points[1] - points[0]).normalized(); for(int i=0; i < 4; ++i){ const Vector3 normal = (points[(i + 1) % 4] - points[i]).cross(n0).normalized(); region.addBoundingPlane(normal, points[i]); } } sigRegionFixed(region); } showRectangle(false); return true; } bool RectRegionMarker::onPointerMoveEvent(const SceneWidgetEvent& event) { return impl->onPointerMoveEvent(event); } bool RectRegionMarkerImpl::onPointerMoveEvent(const SceneWidgetEvent& event) { setRect(x0, y0, event.x(), event.y()); return true; } void RectRegionMarker::onContextMenuRequest(const SceneWidgetEvent& event, MenuManager& menuManager) { impl->sigContextMenuRequest(event, menuManager); } SignalProxy RectRegionMarker::sigContextMenuRequest() { return impl->sigContextMenuRequest; } choreonoid-1.5.0/src/Base/VirtualJoystickView.h0000664000000000000000000000126612741425367020201 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_VIRTUAL_JOYSTICK_VIEW_H #define CNOID_BASE_VIRTUAL_JOYSTICK_VIEW_H #include #include "exportdecl.h" namespace cnoid { class VirtualJoystickViewImpl; class CNOID_EXPORT VirtualJoystickView : public View { public: static void initializeClass(ExtensionManager* ext); VirtualJoystickView(); ~VirtualJoystickView(); protected: virtual void keyPressEvent(QKeyEvent* event); virtual void keyReleaseEvent(QKeyEvent* event); virtual bool storeState(Archive& archive); virtual bool restoreState(const Archive& archive); private: VirtualJoystickViewImpl* impl; }; } #endif choreonoid-1.5.0/src/Base/DescriptionDialog.cpp0000664000000000000000000000206712741425367020136 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "DescriptionDialog.h" #include "MainWindow.h" #include "Separator.h" #include #include #include #include #include "gettext.h" using namespace cnoid; DescriptionDialog::DescriptionDialog() : Dialog(MainWindow::instance()) { QVBoxLayout* vbox = new QVBoxLayout(); textEdit.setFrameShape(QFrame::NoFrame); textEdit.setReadOnly(true); vbox->addWidget(&textEdit); vbox->addWidget(new HSeparator()); QPushButton* okButton = new QPushButton(_("&Ok")); okButton->setDefault(true); QDialogButtonBox* buttonBox = new QDialogButtonBox(this); buttonBox->addButton(okButton, QDialogButtonBox::AcceptRole); connect(buttonBox,SIGNAL(accepted()), this, SLOT(accept())); vbox->addWidget(buttonBox); setLayout(vbox); QFontMetrics metrics(font()); resize(metrics.averageCharWidth() * 70, metrics.height() * 24); } void DescriptionDialog::setDescription(const QString& text) { textEdit.setPlainText(text); } choreonoid-1.5.0/src/Base/ItemManager.h0000664000000000000000000002016712741425367016372 0ustar rootroot/** @author Shin'ichiro NAKAOKA */ #ifndef CNOID_BASE_ITEM_MANAGER_H #define CNOID_BASE_ITEM_MANAGER_H #include "ExtensionManager.h" #include "ItemList.h" #include #include #include #include #include #include "exportdecl.h" namespace cnoid { class MenuManager; class Item; typedef ref_ptr ItemPtr; class ItemManagerImpl; class ItemCreationPanel : public QWidget { public: ItemCreationPanel(QWidget* parent = 0) : QWidget(parent) { } virtual bool initializePanel(Item* protoItem) = 0; virtual bool initializeItem(Item* protoItem) = 0; protected: ItemCreationPanel* findPanelOnTheSameDialog(const std::string& name); }; class CNOID_EXPORT ItemManager { public: ItemManager(const std::string& moduleName, MenuManager& menuManager); ~ItemManager(); void detachAllManagedTypeItemsFromRoot(); private: template class Factory { public: virtual Item* operator()() { return new ItemType(); } }; class CreationPanelFilterBase { public: virtual ~CreationPanelFilterBase() { } virtual bool operator()(Item* protoItem, Item* parentItem) = 0; }; typedef boost::shared_ptr CreationPanelFilterBasePtr; class FileFunctionBase { public: virtual ~FileFunctionBase() { } virtual bool operator()(Item* item, const std::string& filename, std::ostream& os, Item* parentItem) = 0; }; typedef boost::shared_ptr FileFunctionBasePtr; class OverwritingCheckFunctionBase { public: ~OverwritingCheckFunctionBase(); virtual bool operator()(Item* item) = 0; }; typedef boost::shared_ptr OverwritingCheckFunctionBasePtr; public: void bindTextDomain(const std::string& domain); enum { PRIORITY_CONVERSION = -10, PRIORITY_OPTIONAL = 0, PRIORITY_DEFAULT = 10, PRIORITY_FORCE = 20 }; template class CreationPanelFilter : public CreationPanelFilterBase { public: typedef boost::function Function; CreationPanelFilter(Function function) : function(function) { } virtual bool operator()(Item* protoItem, Item* parentItem){ return function(static_cast(protoItem), parentItem); } private: Function function; }; template class FileFunction : public FileFunctionBase { public: typedef boost::function Function; FileFunction(Function function) : function(function) { } virtual bool operator()(Item* item, const std::string& filename, std::ostream& os, Item* parentItem){ return function(static_cast(item), filename, os, parentItem); } private: Function function; }; template ItemManager& registerClass(const std::string& className) { registerClassSub(Factory(), 0, typeid(ItemType).name(), className); return *this; } //! This function registers a singleton item class template ItemManager& registerClass(const std::string& className, ItemType* singletonInstance){ registerClassSub(0, singletonInstance, typeid(ItemType).name(), className); return *this; } template void registerDerivedClass(const std::string& className) { // registerClassSub(new Factory(), typeid(ItemType).name(), className); } static bool getClassIdentifier(ItemPtr item, std::string& out_moduleName, std::string& out_className); template static ItemType* singletonInstance() { return static_cast(getSingletonInstance(typeid(ItemType).name())); } static ItemPtr create(const std::string& moduleName, const std::string& itemClassName); template ItemManager& addCreationPanel(ItemCreationPanel* panel = 0) { addCreationPanelSub(typeid(ItemType).name(), panel); return *this; } template void addCreationPanelPreFilter(const typename CreationPanelFilter::Function& filter) { addCreationPanelFilterSub(typeid(ItemType).name(), CreationPanelFilterBasePtr(new CreationPanelFilter(filter)), false); } template void addCreationPanelPostFilter(const typename CreationPanelFilter::Function& filter){ addCreationPanelFilterSub(typeid(ItemType).name(), CreationPanelFilterBasePtr(new CreationPanelFilter(filter)), true); } template ItemManager& addLoader(const std::string& caption, const std::string& formatId, const std::string& extensions, const typename FileFunction::Function& function, int priority = PRIORITY_DEFAULT) { addLoaderSub(typeid(ItemType).name(), caption, formatId, extensions, FileFunctionBasePtr(new FileFunction(function)), priority); return *this; } template ItemManager& addSaver(const std::string& caption, const std::string& formatId, const std::string& extensions, const typename FileFunction::Function& function, int priority = PRIORITY_DEFAULT){ addSaverSub(typeid(ItemType).name(), caption, formatId, extensions, FileFunctionBasePtr(new FileFunction(function)), priority); return *this; } template ItemManager& addLoaderAndSaver(const std::string& caption, const std::string& formatId, const std::string& extensions, const typename FileFunction::Function& loadingFunction, const typename FileFunction::Function& savingFunction, int priority = PRIORITY_DEFAULT){ addLoader(caption, formatId, extensions, loadingFunction, priority); addSaver(caption, formatId, extensions, savingFunction, priority); return *this; } void addMenuItemToImport(const std::string& caption, boost::function slot); static void reloadItems(const ItemList<>& items); private: void registerClassSub( boost::function factory, Item* singletonInstance, const std::string& typeId, const std::string& className); void addCreationPanelSub(const std::string& typeId, ItemCreationPanel* panel); void addCreationPanelFilterSub( const std::string& typeId, CreationPanelFilterBasePtr filter, bool afterInitializionByPanels); void addLoaderSub(const std::string& typeId, const std::string& caption, const std::string& formatId, const std::string& extensions, FileFunctionBasePtr function, int priority); void addSaverSub(const std::string& typeId, const std::string& caption, const std::string& formatId, const std::string& extensions, FileFunctionBasePtr function, int priority); static Item* getSingletonInstance(const std::string& typeId); // The following static functions are called from functions in the Item class static bool load(Item* item, const std::string& filename, Item* parentItem, const std::string& formatId); static bool save(Item* item, const std::string& filename, const std::string& formatId); static bool overwrite(Item* item, bool forceOverwrite, const std::string& formatId); // overwrite friend class Item; friend class ItemManagerImpl; ItemManagerImpl* impl; }; CNOID_EXPORT std::string getOpenFileName(const std::string& caption, const std::string& extensions); CNOID_EXPORT std::vector getOpenFileNames(const std::string& caption, const std::string& extensions); } #endif choreonoid-1.5.0/src/Base/RotationDragger.cpp0000664000000000000000000001602212741425367017622 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "RotationDragger.h" #include #include #include #include #include #include #include #include using namespace std; using namespace cnoid; namespace { const char* axisNames[3] = { "x", "y", "z" }; /** \note This node is not inserted the node path obtained by SceneWidgetEvent::nodePath() */ class ViewpointDependentRenderingSelector : public SgGroup { Vector3 axis; double thresh; public: ViewpointDependentRenderingSelector(){ axis = Vector3::UnitX(); thresh = cos(radian(45.0)); } ViewpointDependentRenderingSelector(const ViewpointDependentRenderingSelector& org, SgCloneMap& cloneMap) : SgGroup(org, cloneMap) { axis = org.axis; thresh = org.thresh; } virtual SgObject* clone(SgCloneMap& cloneMap) const { return new ViewpointDependentRenderingSelector(*this, cloneMap); } void setAxis(const Vector3& axis){ this->axis = axis; } void setSwitchAngle(double rad){ thresh = cos(rad); } virtual void accept(SceneVisitor& visitor) { SceneRenderer* renderer = dynamic_cast(&visitor); if(!renderer){ visitor.visitGroup(this); } else { const Affine3& C = renderer->currentCameraPosition(); const Affine3& M = renderer->currentModelTransform(); bool isPerspetiveCamera = (renderer->projectionMatrix()(3, 3) == 0.0); if(isPerspetiveCamera){ double d = fabs((C.translation() - M.translation()).normalized().dot((M.linear() * axis).normalized())); if(d > thresh){ if(numChildren() > 0){ child(0)->accept(visitor); } } else { if(numChildren() > 1){ child(1)->accept(visitor); } } } else { } } } }; } RotationDragger::RotationDragger() { draggableAxes_ = RX | RY | RZ; MeshGenerator meshGenerator; meshGenerator.setDivisionNumber(36); SgMeshPtr beltMesh1 = meshGenerator.generateDisc(1.0, 1.0 - 0.2); meshGenerator.setDivisionNumber(24); SgMeshPtr beltMesh2 = meshGenerator.generateCylinder(1.0, 0.2, false, false); scale = new SgScaleTransform; // make dragger belts for(int i=0; i < 3; ++i){ SgMaterial* material = new SgMaterial; Vector3f color(0.2f, 0.2f, 0.2f); color[i] = 1.0f; material->setDiffuseColor(Vector3f::Zero()); material->setEmissiveColor(color); material->setAmbientIntensity(0.0f); material->setTransparency(0.6f); SgShape* beltShape1 = new SgShape; beltShape1->setMesh(beltMesh1); beltShape1->setMaterial(material); SgShape* beltShape2 = new SgShape; beltShape2->setMesh(beltMesh2); beltShape2->setMaterial(material); ViewpointDependentRenderingSelector* selector = new ViewpointDependentRenderingSelector; SgPosTransform* transform1 = new SgPosTransform; if(i == 0){ // x-axis selector->setAxis(Vector3::UnitX()); transform1->setRotation(AngleAxis(PI / 2.0, Vector3::UnitY())); } else if(i == 1){ // y-axis selector->setAxis(Vector3::UnitY()); transform1->setRotation(AngleAxis(-PI / 2.0, Vector3::UnitX())); } else if(i == 2) { // z-axis selector->setAxis(Vector3::UnitZ()); } transform1->addChild(beltShape1); SgInvariantGroup* belt1 = new SgInvariantGroup; belt1->setName(axisNames[i]); belt1->addChild(transform1); selector->addChild(belt1); SgPosTransform* transform2 = new SgPosTransform; if(i == 0){ // x-axis transform2->setRotation(AngleAxis(-PI / 2.0, Vector3::UnitZ())); } else if(i == 2) { // z-axis transform2->setRotation(AngleAxis(PI / 2.0, Vector3::UnitX())); } transform2->addChild(beltShape2); SgInvariantGroup* belt2 = new SgInvariantGroup; belt2->setName(axisNames[i]); belt2->addChild(transform2); selector->addChild(belt2); SgSwitch* axis = new SgSwitch; axis->addChild(selector); scale->addChild(axis); } addChild(scale); } RotationDragger::RotationDragger(const RotationDragger& org) : SceneDragger(org) { draggableAxes_ = org.draggableAxes_; scale = new SgScaleTransform; scale->setScale(org.scale->scale()); org.scale->copyChildrenTo(scale); addChild(scale); } RotationDragger::RotationDragger(const RotationDragger& org, SgCloneMap& cloneMap) : SceneDragger(org, cloneMap) { draggableAxes_ = org.draggableAxes_; scale = getChild(0); } SgObject* RotationDragger::clone(SgCloneMap& cloneMap) const { return new RotationDragger(*this, cloneMap); } void RotationDragger::setDraggableAxes(int axisSet) { if(axisSet != draggableAxes_){ for(int i=0; i < 3; ++i){ SgSwitch* axis = dynamic_cast(scale->child(i)); if(axis){ axis->setTurnedOn(axisSet & (1 << i)); } } draggableAxes_ = axisSet; scale->notifyUpdate(); } } void RotationDragger::setRadius(double r) { scale->setScale(r); } bool RotationDragger::isDragging() const { return dragProjector.isDragging(); } const AngleAxis& RotationDragger::draggedAngleAxis() const { return dragProjector.rotationAngleAxis(); } Affine3 RotationDragger::draggedPosition() const { return dragProjector.position(); } bool RotationDragger::onButtonPressEvent(const SceneWidgetEvent& event) { int axis; int indexOfTopNode; if(detectAxisFromNodePath(event.nodePath(), this, axis, indexOfTopNode)){ Affine3 T = calcTotalTransform(event.nodePath(), this); dragProjector.setInitialPosition(T); dragProjector.setRotationAxis(T.linear().col(axis)); if(dragProjector.startRotation(event)){ sigRotationStarted_(); return true; } } return false; } bool RotationDragger::onButtonReleaseEvent(const SceneWidgetEvent& event) { if(dragProjector.isDragging()){ sigRotationFinished_(); dragProjector.resetDragMode(); return true; } return false; } bool RotationDragger::onPointerMoveEvent(const SceneWidgetEvent& event) { if(dragProjector.dragRotation(event)){ if(isContainerMode()){ setPosition(dragProjector.position()); notifyUpdate(); } sigRotationDragged_(dragProjector.rotationAngleAxis()); return true; } return false; } void RotationDragger::onPointerLeaveEvent(const SceneWidgetEvent& event) { if(dragProjector.isDragging()){ sigRotationFinished_(); dragProjector.resetDragMode(); } } choreonoid-1.5.0/src/Base/MultiSeqItem.h0000664000000000000000000000255612741425367016565 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_MULTI_SEQ_ITEM_H_INCLUDED #define CNOID_BASE_MULTI_SEQ_ITEM_H_INCLUDED #include "AbstractSeqItem.h" #include #include "exportdecl.h" namespace cnoid { template class MultiSeqItem : public AbstractMultiSeqItem { public: static void initializeClass(ExtensionManager* ext) { } typedef ref_ptr< MultiSeqItem > Ptr; MultiSeqItem() : seq_(boost::make_shared()) { } MultiSeqItem(typename MultiSeqType::Ptr seq) : seq_(seq) { } virtual AbstractMultiSeqPtr abstractMultiSeq() { return seq_; } typename MultiSeqType::Ptr seq() { return seq_; } MultiSeqItem(const MultiSeqItem& org) : AbstractMultiSeqItem(org), seq_(boost::make_shared(*org.seq_)) { } virtual ~MultiSeqItem() { } protected: /** For the copy constructor of inherited classes */ MultiSeqItem(const MultiSeqItem& org, typename MultiSeqType::Ptr newSeq) : AbstractMultiSeqItem(org), seq_(newSeq) { } void resetSeq(typename MultiSeqType::Ptr seq) { seq_ = seq; } virtual Item* doDuplicate() const { return new MultiSeqItem(*this); } private: typename MultiSeqType::Ptr seq_; }; } #endif choreonoid-1.5.0/src/Base/Menu.h0000664000000000000000000000135012741425367015076 0ustar rootroot/** @author Shin'ichiro NAKAOKA */ #ifndef CNOID_BASE_MENU_H #define CNOID_BASE_MENU_H #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT Menu : public QMenu { Q_OBJECT public: Menu(QWidget* parent = 0); Menu(const QString& title, QWidget* parent = 0); ~Menu(); SignalProxy sigTriggered(); SignalProxy sigAboutToShow(); SignalProxy sigAboutToHide(); private Q_SLOTS: void onTriggered(QAction* action); void onAboutToShow(); void onAboutToHide(); private: Signal* sigTriggered_; Signal* sigAboutToShow_; Signal* sigAboutToHide_; void initialize(); }; } #endif choreonoid-1.5.0/src/Base/Plugin.h0000664000000000000000000000416012741425367015432 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_PLUGIN_H #define CNOID_BASE_PLUGIN_H #include "ExtensionManager.h" #include "exportdecl.h" namespace cnoid { class Item; class View; class ToolBar; class PluginImpl; class CNOID_EXPORT Plugin : public ExtensionManager { public: typedef Plugin* (*PluginEntry)(); Plugin(const char* name); virtual ~Plugin(); const char* name(); virtual bool initialize(); virtual bool finalize(); bool isUnloadable() const; const char* requisite(int index) const; int numRequisites() const; const char* subsequence(int index) const; int numSubsequences() const; const char* oldName(int index) const; int numOldNames() const; virtual const char* description() const; int activationPriority() const; protected: void setPluginScope(Item* item); void setPluginScope(View* view); void setPluginScope(ToolBar* toolBar); void setUnloadable(bool on); void require(const char* pluginName); void precede(const char* pluginName); /** Call this function in the constructor if necessary. @param prioirty A smaller value means a higher priority. The default value is the maximum integer value. The value 0 is set for fundamental plugins which should be initialized before extra plugins. */ void setActivationPriority(int priority); /** When the plugin name is changed but the old project files should be loadable, specify old names of the plugin with this function in the constructor. */ void addOldName(const char* name); #ifdef CNOID_BACKWARD_COMPATIBILITY void depend(const char* pluginName); #endif static const char* LGPLtext(); private: Plugin(const Plugin& org); // disable the copy constructor PluginImpl* impl; }; } #define CNOID_IMPLEMENT_PLUGIN_ENTRY(PluginTypeName) \ extern "C" CNOID_BASE_DLLEXPORT cnoid::Plugin* getChoreonoidPlugin() \ { \ return new PluginTypeName(); \ } #endif choreonoid-1.5.0/src/Base/SceneView.h0000664000000000000000000000161212741425367016063 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_SCENE_VIEW_H #define CNOID_BASE_SCENE_VIEW_H #include "View.h" #include "SceneWidget.h" #include #include "exportdecl.h" namespace cnoid { class Item; class SceneWidget; class SceneWidgetRoot; class SceneViewImpl; class CNOID_EXPORT SceneView : public View { public: static void initializeClass(ExtensionManager* ext); static SceneView* instance(); SceneView(); ~SceneView(); SceneWidget* sceneWidget(); SgGroup* scene(); protected: virtual void onActivated(); virtual void onDeactivated(); virtual QWidget* indicatorOnInfoBar(); virtual bool storeState(Archive& archive); virtual bool restoreState(const Archive& archive); private: static void onItemAdded(Item* item); SceneViewImpl* impl; friend class SceneViewImpl; }; } #endif choreonoid-1.5.0/src/Base/SceneBar.h0000664000000000000000000000072112741425367015655 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_SCENE_BAR_H #define CNOID_BASE_SCENE_BAR_H #include #include "exportdecl.h" namespace cnoid { class SceneWidget; class SceneBarImpl; class CNOID_EXPORT SceneBar : public ToolBar { public: static void initialize(ExtensionManager* ext); static SceneBar* instance(); SceneWidget* targetSceneWidget(); protected: SceneBar(); private: SceneBarImpl* impl; }; } #endif choreonoid-1.5.0/src/Base/Archive.h0000664000000000000000000000534612741425367015564 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_ARCHIVE_H #define CNOID_BASE_ARCHIVE_H #include #include #include #include #include "exportdecl.h" namespace cnoid { class Item; class View; class ViewManager; class ArchiveSharedData; class CNOID_EXPORT Archive : public Mapping { public: Archive(); Archive(int line, int column); virtual ~Archive(); void initSharedInfo(bool useHomeRelativeDirectories = false); void initSharedInfo(const std::string& projectFile, bool useHomeRelativeDirectories = false); void inheritSharedInfoFrom(Archive& archive); void addPostProcess(const boost::function& func, int priority = 0) const; Archive* findSubArchive(const std::string& name); const Archive* findSubArchive(const std::string& name) const; bool forSubArchive(const std::string& name, boost::function func) const; Archive* openSubArchive(const std::string& name); ValueNodePtr getItemId(Item* item) const; Item* findItem(ValueNodePtr id) const; int getViewId(View* view) const; View* findView(int id) const; void clearIds(); template inline ItemType* findItem(ValueNodePtr id) const { return dynamic_cast(findItem(id)); } void writeItemId(const std::string& key, Item* item); template inline ItemType* findItem(const std::string& key) const { ValueNode* id = find(key); return id->isValid() ? findItem(id) : 0; } std::string expandPathVariables(const std::string& path) const; /** This method expands path variables and adds the path to the project file if the path is relative one */ std::string resolveRelocatablePath(const std::string& relocatable) const; bool readRelocatablePath(const std::string& key, std::string& out_value) const; std::string getRelocatablePath(const std::string& path) const; void writeRelocatablePath(const std::string& key, const std::string& path); Item* currentParentItem() const; boost::filesystem::path getProjectDir() const { return projectDirPath; } private: ref_ptr shared; Item* findItem(int id) const; void setCurrentParentItem(Item* parentItem); static Archive* invalidArchive(); void registerItemId(Item* item, int id); void registerViewId(View* view, int id); // called from ItemTreeArchiver void callPostProcesses(); friend class ItemTreeArchiverImpl; friend class ViewManager; friend class ProjectManagerImpl; boost::filesystem::path projectDirPath; }; typedef ref_ptr ArchivePtr; } #endif choreonoid-1.5.0/src/Base/ComboBox.cpp0000664000000000000000000000375312741425367016246 0ustar rootroot/** @author Shin'ichiro NAKAOKA */ #include "ComboBox.h" #include "gettext.h" using namespace cnoid; ComboBox::ComboBox(QWidget* parent) : QComboBox(parent) { isI18nEnabled = false; connect(this, SIGNAL(activated(int)), this, SLOT(onActivated(int))); connect(this, SIGNAL(currentIndexChanged(int)), this, SLOT(onCurrentIndexChanged(int))); connect(this, SIGNAL(editTextChanged(const QString&)), this, SLOT(onEditTextChanged(const QString&))); connect(this, SIGNAL(highlighted(int)), this, SLOT(onHighlighted(int))); } void ComboBox::enableI18n(const char* domainName) { isI18nEnabled = true; this->domainName = domainName; } void ComboBox::addI18nItem(const char* text) { if(isI18nEnabled){ QComboBox::addItem(dgettext(domainName.c_str(), text), text); } else { QComboBox::addItem(text); } } void ComboBox::addI18nItem(const QIcon & icon, const char* text) { if(isI18nEnabled){ QComboBox::addItem(icon, dgettext(domainName.c_str(), text), text); } else { QComboBox::addItem(icon, text); } } QString ComboBox::currentOrgText() const { if(isI18nEnabled){ return itemData(currentIndex()).toString(); } else { return currentText(); } } int ComboBox::findOrgText(const std::string& orgText, bool setFoundItemCurrent) { QString translatedText; if(isI18nEnabled){ translatedText = dgettext(domainName.c_str(), orgText.c_str()); } else { translatedText = orgText.c_str(); } int index = findText(translatedText); if(index >= 0){ if(setFoundItemCurrent){ setCurrentIndex(index); } } return index; } void ComboBox::onActivated(int index) { sigActivated_(index); } void ComboBox::onCurrentIndexChanged(int index) { sigCurrentIndexChanged_(index); } void ComboBox::onEditTextChanged(const QString& text) { sigEditTextChanged_(text); } void ComboBox::onHighlighted(int index) { sigHighlighted_(index); } choreonoid-1.5.0/src/Base/GraphBar.cpp0000664000000000000000000003103612741425367016217 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "GraphBar.h" #include "GraphWidget.h" #include "MainWindow.h" #include "ExtensionManager.h" #include "CheckBox.h" #include "SpinBox.h" #include "ComboBox.h" #include "Dialog.h" #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace { class ConfigDialog : public Dialog { public: ConnectionSet& connections; GraphWidget*& focusedGraphWidget; DoubleSpinBox verticalValueRangeSpin; CheckBox showLimitCheck; SpinBox lineWidthSpin; CheckBox gridCheck; DoubleSpinBox gridSizeSpin; CheckBox rulerCheck; CheckBox editModeCheck; // This should be toggle button on the tool bar. QButtonGroup radioGroup; RadioButton freeLineModeRadio; RadioButton lineModeRadio; CheckBox highlightingControlPointCheck; SpinBox controlPointStepSpin; SpinBox controlPointOffsetSpin; CheckBox timeBarSyncToggle; ComboBox autoScrollModeCombo; ConfigDialog(GraphBarImpl* barImpl); void focus(GraphWidget* graph); void onVerticalValueRangeChanged(double value); void onLineWidthChanged(int value); void onShowLimitToggled(bool on); void onGridToggled(bool on); void onGridSizeChanged(double size); void onRulerToggled(bool on); void onTimeBarSyncToggled(bool on); void onAutoScrollModeChanged(int index); void onEditModeToggled(bool on); void onFreeLineModeToggled(bool on); void onLineModeToggled(bool on); void onControlPointStepOrOffsetChanged(); void onHighlightingControlPointToggled(bool on); }; } namespace cnoid { class GraphBarImpl { public: GraphBarImpl(GraphBar* self); GraphBar* self; ToolButton* orgRenderingToggle; ToolButton* velRenderingToggle; ToolButton* accRenderingToggle; ConnectionSet connections; GraphWidget* focusedGraphWidget; ConfigDialog config; void focus(GraphWidget* graphWidget, bool forceUpdate); void onRenderingTypesToggled(); }; } void GraphBar::initialize(ExtensionManager* ext) { static bool initialized = false; if(!initialized){ ext->addToolBar(GraphBar::instance()); initialized = true; } } GraphBar* GraphBar::instance() { static GraphBar* graphBar = new GraphBar(); return graphBar; } GraphBar::GraphBar() : ToolBar(N_("GraphBar")) { impl = new GraphBarImpl(this); } GraphBarImpl::GraphBarImpl(GraphBar* self) : self(self), config(this) { using boost::bind; self->setVisibleByDefault(true); orgRenderingToggle = self->addToggleButton(QIcon(":/Base/icons/graph.png"), _("Plot trajectories of the target data on the graph view")); orgRenderingToggle->setChecked(true); connections.add( orgRenderingToggle->sigToggled().connect( bind(&GraphBarImpl::onRenderingTypesToggled, this))); velRenderingToggle = self->addToggleButton(QIcon(":/Base/icons/velocitygraph.png"), _("Plot velocity trajectories")); connections.add( velRenderingToggle->sigToggled().connect( bind(&GraphBarImpl::onRenderingTypesToggled, this))); accRenderingToggle = self->addToggleButton(QIcon(":/Base/icons/accgraph.png"), _("Plot acceleration trajectories")); // Hide this button because the acc trajectory is currently not supported by the graph wieget accRenderingToggle->hide(); connections.add( accRenderingToggle->sigToggled().connect( bind(&GraphBarImpl::onRenderingTypesToggled, this))); self->addButton(QIcon(":/Base/icons/setup.png"), _("Show the config dialog")) ->sigClicked().connect(bind(&QDialog::show, &config)); self->setEnabled(false); focusedGraphWidget = 0; } ConfigDialog::ConfigDialog(GraphBarImpl* barImpl) : connections(barImpl->connections), focusedGraphWidget(barImpl->focusedGraphWidget) { using boost::bind; setWindowTitle(_("Graph Config")); QVBoxLayout* vbox = new QVBoxLayout(); setLayout(vbox); QHBoxLayout* hbox = new QHBoxLayout(); hbox->addWidget(new QLabel(_("Line width"))); lineWidthSpin.setRange(1, 9); lineWidthSpin.setValue(1); connections.add( lineWidthSpin.sigValueChanged().connect( bind(&ConfigDialog::onLineWidthChanged, this, _1))); hbox->addWidget(&lineWidthSpin); hbox->addStretch(); vbox->addLayout(hbox); hbox = new QHBoxLayout(); hbox->addWidget(new QLabel(_("y-range, 10^"))); verticalValueRangeSpin.setDecimals(1); verticalValueRangeSpin.setRange(-99.8, 99.8); verticalValueRangeSpin.setSingleStep(0.1); verticalValueRangeSpin.setValue(1.0); connections.add( verticalValueRangeSpin.sigValueChanged().connect( bind(&ConfigDialog::onVerticalValueRangeChanged, this, _1))); hbox->addWidget(&verticalValueRangeSpin); showLimitCheck.setText(_("Show limit values")); showLimitCheck.setChecked(true); connections.add( showLimitCheck.sigToggled().connect( bind(&ConfigDialog::onShowLimitToggled, this, _1))); hbox->addWidget(&showLimitCheck); vbox->addLayout(hbox); hbox = new QHBoxLayout(); gridCheck.setText(_("Show grid")); connections.add( gridCheck.sigToggled().connect( bind(&ConfigDialog::onGridToggled, this, _1))); hbox->addWidget(&gridCheck); gridSizeSpin.setDecimals(3); gridSizeSpin.setRange(-999.999, 999.999); gridSizeSpin.setSingleStep(0.001); gridSizeSpin.setValue(0.2); connections.add( gridSizeSpin.sigValueChanged().connect( bind(&ConfigDialog::onGridSizeChanged, this, _1))); hbox->addWidget(&gridSizeSpin); rulerCheck.setText(_("Show rulers")); rulerCheck.setEnabled(false); connections.add( rulerCheck.sigToggled().connect( bind(&ConfigDialog::onRulerToggled, this, _1))); hbox->addWidget(&rulerCheck); hbox->addStretch(); vbox->addLayout(hbox); hbox = new QHBoxLayout(); editModeCheck.setText(_("Edit mode")); connections.add( editModeCheck.sigToggled().connect( bind(&ConfigDialog::onEditModeToggled, this, _1))); hbox->addWidget(&editModeCheck); radioGroup.addButton(&freeLineModeRadio); radioGroup.addButton(&lineModeRadio); freeLineModeRadio.setText(_("Free line")); freeLineModeRadio.setChecked(true); connections.add( freeLineModeRadio.sigToggled().connect( bind(&ConfigDialog::onFreeLineModeToggled, this, _1))); hbox->addWidget(&freeLineModeRadio); lineModeRadio.setText(_("Line edit")); connections.add( lineModeRadio.sigToggled().connect( bind(&ConfigDialog::onLineModeToggled, this, _1))); hbox->addWidget(&lineModeRadio); hbox->addStretch(); vbox->addLayout(hbox); hbox = new QHBoxLayout(); highlightingControlPointCheck.setText(_("Control points")); connections.add( highlightingControlPointCheck.sigToggled().connect( bind(&ConfigDialog::onHighlightingControlPointToggled, this, _1))); hbox->addWidget(&highlightingControlPointCheck); hbox->addWidget(new QLabel(_("Step"))); controlPointStepSpin.setRange(1, 999); controlPointStepSpin.setValue(1); connections.add( controlPointStepSpin.sigValueChanged().connect( bind(&ConfigDialog::onControlPointStepOrOffsetChanged, this))); hbox->addWidget(&controlPointStepSpin); hbox->addWidget(new QLabel(_("Offset"))); controlPointOffsetSpin.setRange(0, 999); controlPointOffsetSpin.setValue(0); connections.add( controlPointOffsetSpin.sigValueChanged().connect( bind(&ConfigDialog::onControlPointStepOrOffsetChanged, this))); hbox->addWidget(&controlPointOffsetSpin); hbox->addStretch(); vbox->addLayout(hbox); hbox = new QHBoxLayout(); timeBarSyncToggle.setText(_("Time bar sync")); timeBarSyncToggle.setChecked(true); connections.add( timeBarSyncToggle.sigToggled().connect( bind(&ConfigDialog::onTimeBarSyncToggled, this, _1))); hbox->addWidget(&timeBarSyncToggle); autoScrollModeCombo.addItem(_("off")); autoScrollModeCombo.addItem(_("cont.")); autoScrollModeCombo.addItem(_("page")); autoScrollModeCombo.setCurrentIndex(1); connections.add( autoScrollModeCombo.sigCurrentIndexChanged().connect( bind(&ConfigDialog::onAutoScrollModeChanged, this, _1))); hbox->addWidget(&autoScrollModeCombo); hbox->addStretch(); vbox->addLayout(hbox); } GraphBar::~GraphBar() { delete impl; } GraphWidget* GraphBar::focusedGraphWidget() { return impl->focusedGraphWidget; } void GraphBar::focus(GraphWidget* graph, bool forceUpdate) { impl->focus(graph, forceUpdate); } void GraphBarImpl::focus(GraphWidget* graph, bool forceUpdate) { if(graph && (forceUpdate || (graph != focusedGraphWidget))){ focusedGraphWidget = graph; self->setEnabled(true); connections.block(); bool org, vel, acc; graph->getRenderingTypes(org, vel, acc); orgRenderingToggle->setChecked(org); velRenderingToggle->setChecked(vel); accRenderingToggle->setChecked(acc); config.focus(graph); connections.unblock(); } } void ConfigDialog::focus(GraphWidget* graph) { editModeCheck.setChecked(graph->mode() == GraphWidget::EDIT_MODE); GraphWidget::EditMode editMode = graph->editMode(); if(editMode == GraphWidget::FREE_LINE_MODE){ freeLineModeRadio.setChecked(true); } else if(editMode == GraphWidget::LINE_MODE){ lineModeRadio.setChecked(true); } double lower, upper; graph->getVerticalValueRange(lower, upper); verticalValueRangeSpin.setValue(upper); lineWidthSpin.setValue(graph->getLineWidth()); timeBarSyncToggle.setChecked(graph->isTimeBarSyncMode()); autoScrollModeCombo.setCurrentIndex(graph->autoScrollMode()); showLimitCheck.setChecked(graph->showsLimits()); rulerCheck.setChecked(graph->showsRulers()); gridCheck.setChecked(graph->showsGrid()); double width, height; graph->getGridSize(width, height); gridSizeSpin.setValue(width); int step, offset; graph->getControlPointStep(step, offset); controlPointStepSpin.setValue(step); controlPointOffsetSpin.setValue(offset); highlightingControlPointCheck.setChecked(graph->highlightsControlPoints()); } void GraphBar::releaseFocus(GraphWidget* graphWidget) { if(impl->focusedGraphWidget == graphWidget){ impl->focusedGraphWidget = 0; setEnabled(false); } } void GraphBarImpl::onRenderingTypesToggled() { focusedGraphWidget->setRenderingTypes (orgRenderingToggle->isChecked(), velRenderingToggle->isChecked(), accRenderingToggle->isChecked()); } void ConfigDialog::onVerticalValueRangeChanged(double value) { double upper = pow(10.0, value); double lower = -upper; focusedGraphWidget->setVerticalValueRange(lower, upper); } void ConfigDialog::onLineWidthChanged(int value) { focusedGraphWidget->setLineWidth(value); } void ConfigDialog::onShowLimitToggled(bool on) { focusedGraphWidget->showLimits(on); } void ConfigDialog::onGridToggled(bool on) { focusedGraphWidget->showGrid(on); } void ConfigDialog::onGridSizeChanged(double size) { focusedGraphWidget->setGridSize(size, size); } void ConfigDialog::onRulerToggled(bool on) { focusedGraphWidget->showRulers(on); } void ConfigDialog::onTimeBarSyncToggled(bool on) { focusedGraphWidget->setTimeBarSyncMode(on); } void ConfigDialog::onAutoScrollModeChanged(int index) { focusedGraphWidget->setAutoScrollMode((GraphWidget::ScrollMode)index); } void ConfigDialog::onEditModeToggled(bool on) { GraphWidget::Mode mode = on ? GraphWidget::EDIT_MODE : GraphWidget::VIEW_MODE; focusedGraphWidget->changeMode(mode); } void ConfigDialog::onFreeLineModeToggled(bool on) { if(on){ focusedGraphWidget->changeEditMode(GraphWidget::FREE_LINE_MODE); } } void ConfigDialog::onLineModeToggled(bool on) { if(on){ focusedGraphWidget->changeEditMode(GraphWidget::LINE_MODE); } } void ConfigDialog::onControlPointStepOrOffsetChanged() { focusedGraphWidget->setControlPointStep( controlPointStepSpin.value(), controlPointOffsetSpin.value()); } void ConfigDialog::onHighlightingControlPointToggled(bool on) { focusedGraphWidget->highlightControlPoints(on); } choreonoid-1.5.0/src/Base/SceneProjector.h0000664000000000000000000000347212741425367017126 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_SCENE_PROJECT_H #define CNOID_BASE_SCENE_PROJECT_H #include "SceneWidgetEditable.h" #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT SceneProjector { public: virtual ~SceneProjector(); virtual bool project(const SceneWidgetEvent& event, Vector3& out_projected) const = 0; }; class CNOID_EXPORT ScenePlaneProjector : public SceneProjector { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW; ScenePlaneProjector(); ScenePlaneProjector(const Vector3& normal, const Vector3& point); void setPlane(const Vector3& normal, const Vector3& point); const Vector3& normal() const { return normal_; } double d() const { return d_; } virtual bool project(const SceneWidgetEvent& event, Vector3& out_projected) const; private: Vector3 normal_; double d_; bool calcPlaneLineIntersection( const Vector3& lineStart, const Vector3& lineEnd, Vector3& out_isect) const; }; class CNOID_EXPORT SceneCylinderProjector : public SceneProjector { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW; SceneCylinderProjector(); SceneCylinderProjector(const Vector3& center, double radius, double height, const Quat& rotation); void setCylinder(const Vector3& center, double radius, double height, const Quat& rotation); virtual bool project(const SceneWidgetEvent& event, Vector3& out_projected) const; protected: Vector3 center_; double radius_; double height_; Quat rotation_; bool calcUnitCylinderLineIntersection( const Vector3& lineStart, const Vector3& lineEnd, Vector3& out_isectFront, Vector3& out_isectBack) const; bool calcCylinderLineIntersection( const Vector3d& lineStart, const Vector3& lineEnd, Vector3& out_isectFront, Vector3& out_isectBack) const; }; } #endif choreonoid-1.5.0/src/Base/GraphWidget.cpp0000664000000000000000000015325712741425367016750 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "GraphWidget.h" #include "GraphBar.h" #include "ToolBar.h" #include "TimeBar.h" #include "ToolBarArea.h" #include "ScrollBar.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #ifdef _MSC_VER #include inline int isfinite(double x) { return _finite(x); } #endif #include #include "gettext.h" using namespace std; using namespace cnoid; namespace { const bool TRACE_FUNCTIONS = false; const size_t MAX_NUM_HISTORIES = 10; struct EditHistory { EditHistory() { frame = 0; } int frame; vector orgValues; vector newValues; }; typedef boost::shared_ptr EditHistoryPtr; typedef deque EditHistoryList; } namespace cnoid { class GraphDataHandlerImpl { public: GraphDataHandlerImpl(); Signal sigDataUpdated; /** The size of this array is the actual data size + 2 and the actual data is stored from the second elements. The prepended / appended elements are same as the initial / last elements of the actual data, and the elements are used for calculating velocities. */ vector values; int numFrames; // the actual number of frames (values.size() - 2) int prevNumValues; double offset; double stepRatio; double lowerValueLimit; double upperValueLimit; double lowerVelocityLimit; double upperVelocityLimit; int id; std::string label; float r, g, b; EditHistoryList editHistories; int currentHistory; boost::dynamic_bitset<> controlPointMask; bool isControlPointUpdateNeeded; GraphDataHandler::DataRequestCallback dataRequestCallback; GraphDataHandler::DataModifiedCallback dataModifiedCallback; }; class GraphWidgetImpl { public: GraphWidget* self; View* parentView; QWidget* screen; DoubleScrollBar* hScrollbar; DoubleScrollBar* vScrollbar; QPen pen; QVector cursorDashes; QVector limitValueDashes; QPolygonF polyline; GraphWidget::Mode mode; GraphWidget::EditMode editMode; std::vector handlers; ConnectionSet connections; bool isOrgValueVisible; bool isVelocityVisible; bool isAccelerationVisible; bool isReconfigurationNeeded; bool isDomainUpdateNeeded; double domainLowerX; double domainUpperX; double rangeLowerY; double rangeUpperY; double cursorX; double screenCursorX; double currentScreenX; double currentScreenY; double leftX; double centerY; double scaleX; double scaleY; double visibleWidth; double visibleHeight; double visibleHeightHalf; double bottomY; double topY; double screenMarginX; double screenCenterY; double screenWidth; double screenHeight; double lineWidth; bool isLimitVisible; bool isGridOn; double gridWidth; double gridHeight; GraphDataHandlerImpl* editTarget; bool isControlPointsHighlighted; int controlPointStep; int controlPointOffset; enum { DRAG_NONE, DRAG_CURSOR, DRAG_EDIT, DRAG_ZOOM, DRAG_MOVE } dragState; double pressedScreenX; double pressedScreenY; double dragPrevScreenX; double dragPrevScreenY; double dragOrgScaleX; double dragOrgScaleY; double dragOrgLeftX; double dragOrgCenterY; bool isEditBufferedUpdateMode; int editedFrameBegin; int editedFrameEnd; GraphWidget::ScrollMode autoScrollMode; TimeBar* timeBar; bool timeBarSyncMode; Connection timeChangedConnetion; QLabel statusLabel; GraphWidgetImpl(GraphWidget* self, View* parentView); ~GraphWidgetImpl(); void onActivated(); void onDeactivated(); void addDataHandler(GraphDataHandlerPtr handler); void clearDataHandlers(); void updateData(GraphDataHandlerPtr handler); bool setCursorPosition(double x, bool enableTimeBarSync, bool forceTimeChange); bool setCursorPositionWithScreenX(double screenX, bool enableTimeBarSync, bool forceTimeChange); void setTimeBarSyncMode(bool on); void enableTimeBarSync(bool on); void setAutoScrollMode(GraphWidget::ScrollMode mode); void setVerticalValueRange(double lower, double upper); void showLimits(bool show); void showRulers(bool show); void showGrid(bool show); void setGridSize(double width, double height); void setControlPointStep(int step, int offset); void highlightControlPoints(bool on); void changeMode(GraphWidget::Mode mode); void changeEditMode(GraphWidget::EditMode mode); void setupConfiguration(); void updateDomain(); bool onFocusInEvent(QFocusEvent* event); bool onScreenResizeEvent(QResizeEvent* event); bool onScreenMouseButtonPressEvent(QMouseEvent* event); bool onScreenMouseButtonReleaseEvent(QMouseEvent* event); bool onScreenMouseMoveEvent(QMouseEvent* event); bool onScreenKeyPressEvent(QKeyEvent* event); bool onScreenKeyReleaseEvent(QKeyEvent* event); void zoomScreen(int screenX, int screenY); void moveScreen(double screenX, double screenY); void startTrajectoryEdit(); void finishTrajectoryEdit(); void doTrajectoryEdit(int screenX, int screenY, Qt::KeyboardModifiers modifiers); void storeOrgValuesToHistory(int frameBegin, int frameEnd); void undoTrajectoryEdit(); void redoTrajectoryEdit(); void selectEditTargetByClicking(double screenX, double screenY); bool onScreenPaintEvent(QPaintEvent* event); void drawTrajectory(QPainter& painter, const QRect& rect, GraphDataHandlerImpl* data); void drawLimits(QPainter& painter, GraphDataHandlerImpl* data); void updateControlPoints(GraphDataHandlerImpl* data); void drawGrid(QPainter& painter); void onHScrollbarChanged(double value); void onVScrollbarChanged(double value); bool storeState(Archive& archive); bool restoreState(const Archive& archive); }; } GraphDataHandler::GraphDataHandler() { id = -1; impl = new GraphDataHandlerImpl(); } GraphDataHandlerImpl::GraphDataHandlerImpl() { offset = 0.0; stepRatio = 1.0; r = 0.0f; g = 0.0f; b = 0.8f; lowerValueLimit = -std::numeric_limits::max(); upperValueLimit = std::numeric_limits::max(); lowerVelocityLimit = -std::numeric_limits::max(); upperVelocityLimit = std::numeric_limits::max(); isControlPointUpdateNeeded = true; currentHistory = 0; } GraphDataHandler::~GraphDataHandler() { delete impl; } void GraphDataHandler::setColor(float r, float g, float b) { impl->r = r; impl->g = g; impl->b = b; } void GraphDataHandler::setLabel(const std::string& label) { impl->label = label; } void GraphDataHandler::setFrameProperties(int numFrames, double frameRate, double offset) { impl->values.resize(numFrames + 2); impl->numFrames = numFrames; impl->stepRatio = 1.0 / frameRate; impl->offset = offset; impl->isControlPointUpdateNeeded = true; } void GraphDataHandler::setValueLimits(double lower, double upper) { impl->lowerValueLimit = lower; impl->upperValueLimit = upper; } void GraphDataHandler::setVelocityLimits(double lower, double upper) { impl->lowerVelocityLimit = lower; impl->upperVelocityLimit = upper; } void GraphDataHandler::addVerticalLine(double x, const std::string& label) { } void GraphDataHandler::addHorizontalLine(double y, const std::string& label) { } void GraphDataHandler::clearLines() { } void GraphDataHandler::update() { if(TRACE_FUNCTIONS){ cout << "GraphDataHandler::update()" << endl; } impl->sigDataUpdated(); } void GraphDataHandler::setDataRequestCallback(DataRequestCallback callback) { impl->dataRequestCallback = callback; } void GraphDataHandler::setDataModifiedCallback(DataModifiedCallback callback) { impl->dataModifiedCallback = callback; } GraphWidget::GraphWidget(View* parentView) { impl = new GraphWidgetImpl(this, parentView); impl->screen->setBackgroundRole(QPalette::Base); impl->screen->setAutoFillBackground(true); } GraphWidgetImpl::GraphWidgetImpl(GraphWidget* self, View* parentView) : self(self), parentView(parentView) { cursorDashes.push_back(8.0); cursorDashes.push_back(2.0); limitValueDashes.push_back(4.0); limitValueDashes.push_back(4.0); screen = new QWidget(self); screen->setMouseTracking(true); screen->installEventFilter(self); hScrollbar = new DoubleScrollBar(Qt::Horizontal, self); hScrollbar->sigValueChanged().connect( boost::bind(&GraphWidgetImpl::onHScrollbarChanged, this, _1)); vScrollbar = new DoubleScrollBar(Qt::Vertical, self); vScrollbar->sigValueChanged().connect( boost::bind(&GraphWidgetImpl::onVScrollbarChanged, this, _1)); QGridLayout* grid = new QGridLayout(self); grid->setSpacing(0); grid->setContentsMargins(0, 0, 0, 0); grid->addWidget(screen, 0, 0); grid->addWidget(hScrollbar, 1, 0); grid->addWidget(vScrollbar, 0, 1); grid->setColumnStretch(0, 1); grid->setRowStretch(0, 1); grid->setSizeConstraint(QLayout::SetNoConstraint); self->setLayout(grid); isOrgValueVisible = true; isVelocityVisible = false; isAccelerationVisible = false; mode = GraphWidget::VIEW_MODE; editMode = GraphWidget::FREE_LINE_MODE; dragState = DRAG_NONE; screenMarginX = 3.0; scaleX = 200.0; scaleY = 100.0; leftX = 0.0; centerY = 0.0; currentScreenX = 0.0; currentScreenY = 0.0; rangeUpperY = 10.0; rangeLowerY = -rangeUpperY; lineWidth = 1.0; isLimitVisible = true; isGridOn = true; gridWidth = 0.2; gridHeight = 0.2; editTarget = 0; isControlPointsHighlighted = false; controlPointStep = 1; controlPointOffset = 0; isReconfigurationNeeded = false; isDomainUpdateNeeded = true; autoScrollMode = GraphWidget::CONTINUOUS; timeBar = TimeBar::instance(); timeBarSyncMode = true; parentView->sigActivated().connect(boost::bind(&GraphWidgetImpl::onActivated, this)); parentView->sigDeactivated().connect(boost::bind(&GraphWidgetImpl::onDeactivated, this)); statusLabel.setAlignment(Qt::AlignLeft); QFont font = statusLabel.font(); font.setFixedPitch(true); statusLabel.setFont(font); cursorX = -1.0; } GraphWidget::~GraphWidget() { delete impl; } GraphWidgetImpl::~GraphWidgetImpl() { connections.disconnect(); GraphBar::instance()->releaseFocus(self); } void GraphWidgetImpl::onActivated() { enableTimeBarSync(timeBarSyncMode); } void GraphWidgetImpl::onDeactivated() { enableTimeBarSync(false); } void GraphWidget::addDataHandler(GraphDataHandlerPtr handler) { impl->addDataHandler(handler); } void GraphWidgetImpl::addDataHandler(GraphDataHandlerPtr handler) { GraphDataHandlerImpl* data = handler->impl; handlers.push_back(handler); connections.add(handler->impl->sigDataUpdated.connect( boost::bind(&GraphWidgetImpl::updateData, this, handler))); isReconfigurationNeeded = true; isDomainUpdateNeeded = true; updateData(handler); if(!editTarget){ if(data->dataModifiedCallback){ editTarget = data; } } } void GraphWidget::clearDataHandlers() { impl->clearDataHandlers(); } void GraphWidgetImpl::clearDataHandlers() { connections.disconnect(); handlers.clear(); editTarget = 0; isReconfigurationNeeded = true; isDomainUpdateNeeded = true; screen->update(); } void GraphWidgetImpl::updateData(GraphDataHandlerPtr handler) { if(TRACE_FUNCTIONS){ cout << "GraphWidgetImpl::updateData()" << endl; } GraphDataHandlerImpl* data = handler->impl; if(data->prevNumValues != data->numFrames){ isReconfigurationNeeded = true; isDomainUpdateNeeded = true; } if(data->dataRequestCallback){ vector& values = data->values; data->dataRequestCallback(0, data->numFrames, &(values[1])); } screen->update(); } void GraphWidget::setRenderingTypes (bool showOriginalValues, bool showVelocities, bool showAccelerations) { impl->isOrgValueVisible = showOriginalValues; impl->isVelocityVisible = showVelocities; impl->isAccelerationVisible = showAccelerations; impl->screen->update(); } void GraphWidget::getRenderingTypes (bool& showOriginalValues, bool& showVelocities, bool& showAccelerations) { showOriginalValues = impl->isOrgValueVisible; showVelocities = impl->isVelocityVisible; showAccelerations = impl->isAccelerationVisible; } /** @return true if posistion is within the range of the data */ bool GraphWidget::setCursorPosition(double x) { return impl->setCursorPosition(x, false, false); } bool GraphWidgetImpl::setCursorPosition(double x, bool isTimeBarSyncEnabled, bool forceTimeChange) { if(TRACE_FUNCTIONS){ cout << "GraphWidgetImpl::setCursorPosition()" << endl; } bool isWithinDomain = true; if(x < domainLowerX){ x = domainLowerX; isWithinDomain = false; } else if(x > domainUpperX){ x = domainUpperX; isWithinDomain = false; } if(x != cursorX){ bool doScroll = false; const double rightX = leftX + visibleWidth; if(autoScrollMode == GraphWidget::CONTINUOUS){ if(x < leftX){ if(leftX - x < visibleWidth / 3.0){ leftX = x; } else { leftX = x - visibleWidth / 2.0; } doScroll = true; } else if(x >= rightX){ if(x - rightX < visibleWidth / 3.0){ leftX = x - visibleWidth; } else { leftX = x - visibleWidth / 2.0; } doScroll = true; } } else if(autoScrollMode == GraphWidget::PAGE){ if(x < leftX){ if(leftX - x < visibleWidth / 3.0){ leftX -= visibleWidth; } else { leftX = x - visibleWidth / 2.0; } doScroll = true; } else if(x >= rightX){ if(x - rightX < visibleWidth / 3.0){ leftX += visibleWidth; } else { leftX = x - visibleWidth / 2.0; } doScroll = true; } } if(doScroll){ leftX = std::max(domainLowerX, std::min(domainUpperX - visibleWidth, leftX)); screenCursorX = screenMarginX + (x - leftX) * scaleX; isReconfigurationNeeded = true; screen->update(); } else { double oldScreenCursorX = screenCursorX; screenCursorX = screenMarginX + (x - leftX) * scaleX; screen->update((int)oldScreenCursorX - 2, 0, 4, (int)screenHeight); screen->update((int)screenCursorX - 2, 0, 4, (int)screenHeight); } cursorX = x; } if(isTimeBarSyncEnabled && timeBarSyncMode){ double time = cursorX; if(timeBar->time() != time || forceTimeChange){ timeBar->setTime(time); } } return isWithinDomain; } bool GraphWidgetImpl::setCursorPositionWithScreenX(double screenX, bool isTimeBarSyncEnabled, bool forceTimeChange) { return setCursorPosition(leftX + (screenX - screenMarginX) / scaleX, isTimeBarSyncEnabled, forceTimeChange); } void GraphWidget::setTimeBarSyncMode(bool on) { impl->setTimeBarSyncMode(on); } void GraphWidgetImpl::setTimeBarSyncMode(bool on) { timeBarSyncMode = on; enableTimeBarSync(on); } void GraphWidgetImpl::enableTimeBarSync(bool on) { if(TRACE_FUNCTIONS){ cout << "GraphWidgetImpl::enableTimeBarSync()" << endl; } if(timeChangedConnetion.connected()){ if(!on){ timeChangedConnetion.disconnect(); } } else { if(on && parentView->isActive()){ timeChangedConnetion = timeBar->sigTimeChanged().connect( boost::bind(&GraphWidgetImpl::setCursorPosition, this, _1, false, false)); setCursorPosition(timeBar->time(), false, false); } } } bool GraphWidget::isTimeBarSyncMode() { return impl->timeBarSyncMode; } void GraphWidget::setAutoScrollMode(ScrollMode mode) { impl->setAutoScrollMode(mode); } void GraphWidgetImpl::setAutoScrollMode(GraphWidget::ScrollMode mode) { autoScrollMode = mode; } GraphWidget::ScrollMode GraphWidget::autoScrollMode() { return impl->autoScrollMode; } void GraphWidget::setVerticalValueRange(double lower, double upper) { impl->setVerticalValueRange(lower, upper); } void GraphWidgetImpl::setVerticalValueRange(double lower, double upper) { rangeLowerY = lower; rangeUpperY = upper; isReconfigurationNeeded = true; screen->update(); } void GraphWidget::getVerticalValueRange(double& lower, double& upper) { lower = impl->rangeLowerY; upper = impl->rangeUpperY; } void GraphWidget::setLineWidth(double width) { impl->lineWidth = width; impl->screen->update(); } double GraphWidget::getLineWidth() { return impl->lineWidth; } void GraphWidget::showRulers(bool show) { impl->showRulers(show); } void GraphWidgetImpl::showRulers(bool show) { } bool GraphWidget::showsRulers() { return false; } void GraphWidget::showLimits(bool show) { impl->showLimits(show); } void GraphWidgetImpl::showLimits(bool show) { isLimitVisible = show; screen->update(); } bool GraphWidget::showsLimits() { return impl->isLimitVisible; } void GraphWidget::showGrid(bool show) { impl->showGrid(show); } void GraphWidgetImpl::showGrid(bool show) { isGridOn = show; isReconfigurationNeeded = true; screen->update(); } bool GraphWidget::showsGrid() { return impl->isGridOn; } void GraphWidget::setGridSize(double width, double height) { impl->setGridSize(width, height); } void GraphWidgetImpl::setGridSize(double width, double height) { gridWidth = width; gridHeight = height; if(isGridOn){ isReconfigurationNeeded = true; screen->update(); } } void GraphWidget::getGridSize(double& width, double& height) { width = impl->gridWidth; height = impl->gridHeight; } void GraphWidget::setControlPointStep(int step, int offset) { impl->setControlPointStep(step, offset); } void GraphWidgetImpl::setControlPointStep(int step, int offset) { bool changed = false; if(step != controlPointStep){ controlPointStep = step; changed = true; } if(offset != controlPointOffset){ controlPointOffset = offset; changed = true; } if(changed){ for(size_t i=0; i < handlers.size(); ++i){ handlers[i]->impl->isControlPointUpdateNeeded = true; } screen->update(); } } void GraphWidget::getControlPointStep(int& step, int& offset) { step = impl->controlPointStep; offset = impl->controlPointOffset; } void GraphWidget::highlightControlPoints(bool on) { impl->highlightControlPoints(on); } void GraphWidgetImpl::highlightControlPoints(bool on) { isControlPointsHighlighted = on; screen->update(); } bool GraphWidget::highlightsControlPoints() { return impl->isControlPointsHighlighted; } void GraphWidget::changeMode(Mode mode) { impl->changeMode(mode); } void GraphWidgetImpl::changeMode(GraphWidget::Mode mode) { if(mode != this->mode){ if(mode == GraphWidget::EDIT_MODE){ for(size_t i=0; i < handlers.size(); ++i){ updateControlPoints(handlers[i]->impl); } } screen->update(); } } GraphWidget::Mode GraphWidget::mode() { return impl->mode; } void GraphWidget::changeEditMode(EditMode mode) { impl->changeEditMode(mode); } void GraphWidgetImpl::changeEditMode(GraphWidget::EditMode mode) { editMode = mode; } GraphWidget::EditMode GraphWidget::editMode() { return impl->editMode; } QLabel& GraphWidget::statusLabel() { return impl->statusLabel; } void GraphWidgetImpl::setupConfiguration() { if(isDomainUpdateNeeded){ updateDomain(); } visibleWidth = (screenWidth - screenMarginX * 2) / scaleX; double rightX = leftX + visibleWidth; if(rightX > domainUpperX){ leftX -= (rightX - domainUpperX); } if(leftX < domainLowerX){ leftX = domainLowerX; } screenCenterY = screenHeight / 2.0; visibleHeight = screenHeight / scaleY; visibleHeightHalf = visibleHeight / 2.0; topY = centerY - visibleHeightHalf; bottomY = centerY + visibleHeightHalf; hScrollbar->blockSignals(true); if(domainUpperX == domainLowerX){ hScrollbar->setRange(domainLowerX, domainLowerX + 1.0); hScrollbar->setPageStep(1.0); } else { hScrollbar->setRange(domainLowerX, domainUpperX); hScrollbar->setPageStep(visibleWidth); } hScrollbar->setSingleStep(visibleWidth / 100.0); hScrollbar->setValue(leftX); hScrollbar->blockSignals(false); vScrollbar->blockSignals(true); vScrollbar->setRange(rangeLowerY, rangeUpperY); vScrollbar->setPageStep(visibleHeight); vScrollbar->setSingleStep(visibleHeight / 100.0); vScrollbar->setValue(topY); vScrollbar->blockSignals(false); //hRuler.setRange(leftX, rightX, cursorX, std::numeric_limits::max()); //vRuler.setRange(-topY, -bottomY, 0, std::numeric_limits::max()); isReconfigurationNeeded = false; } void GraphWidgetImpl::updateDomain() { double tmpDomainLowerX = std::numeric_limits::max(); double tmpDomainUpperX = -std::numeric_limits::max(); for(size_t i=0; i < handlers.size(); ++i){ GraphDataHandlerImpl* data = handlers[i]->impl; if(data->offset < tmpDomainLowerX){ tmpDomainLowerX = data->offset; } double upper = data->offset + data->numFrames * data->stepRatio; if(upper > tmpDomainUpperX){ tmpDomainUpperX = upper; } } if(tmpDomainLowerX == std::numeric_limits::max()){ domainLowerX = 0.0; // domainUpperX = 10.0; domainUpperX = 0.0; } else { domainLowerX = tmpDomainLowerX; domainUpperX = tmpDomainUpperX; } isDomainUpdateNeeded = false; } bool GraphWidget::eventFilter(QObject* obj, QEvent* event) { if(obj == impl->screen){ switch(event->type()){ case QEvent::FocusIn: return impl->onFocusInEvent(static_cast(event)); case QEvent::Paint: return impl->onScreenPaintEvent(static_cast(event)); case QEvent::Resize: return impl->onScreenResizeEvent(static_cast(event)); case QEvent::MouseMove: return impl->onScreenMouseMoveEvent(static_cast(event)); case QEvent::MouseButtonPress: return impl->onScreenMouseButtonPressEvent(static_cast(event)); case QEvent::MouseButtonRelease: return impl->onScreenMouseButtonReleaseEvent(static_cast(event)); case QEvent::KeyPress: return impl->onScreenKeyPressEvent(static_cast(event)); case QEvent::KeyRelease: return impl->onScreenKeyReleaseEvent(static_cast(event)); default: return false; } } return QWidget::eventFilter(obj, event); } bool GraphWidgetImpl::onFocusInEvent(QFocusEvent* event) { GraphBar::instance()->focus(self); return false; } bool GraphWidgetImpl::onScreenResizeEvent(QResizeEvent* event) { screenWidth = event->size().width(); screenHeight = event->size().height(); setupConfiguration(); return false; } bool GraphWidgetImpl::onScreenMouseButtonPressEvent(QMouseEvent* event) { screen->setFocus(Qt::MouseFocusReason); dragState = DRAG_NONE; pressedScreenX = event->x(); pressedScreenY = event->y(); dragPrevScreenX = event->x(); dragPrevScreenY = event->y(); dragOrgLeftX = leftX; dragOrgCenterY = centerY; if(event->button() == Qt::LeftButton){ if(event->modifiers() & Qt::ControlModifier){ selectEditTargetByClicking(pressedScreenX, pressedScreenY); } else if(mode == GraphWidget::EDIT_MODE && editTarget) { startTrajectoryEdit(); doTrajectoryEdit((int)pressedScreenX, (int)pressedScreenY, event->modifiers()); } else { dragState = DRAG_CURSOR; setCursorPositionWithScreenX(pressedScreenX, true, false); } } else if(event->button() == Qt::MidButton){ dragState = DRAG_ZOOM; dragOrgScaleX = scaleX; dragOrgScaleY = scaleY; } else if(event->button() == Qt::RightButton){ dragState = DRAG_MOVE; } return true; } bool GraphWidgetImpl::onScreenMouseButtonReleaseEvent(QMouseEvent* event) { if(dragState == DRAG_EDIT){ finishTrajectoryEdit(); } dragState = DRAG_NONE; return true; } bool GraphWidgetImpl::onScreenMouseMoveEvent(QMouseEvent* event) { currentScreenX = event->x(); currentScreenY = event->y(); switch(dragState){ case DRAG_CURSOR: setCursorPositionWithScreenX(currentScreenX, true, false); break; case DRAG_EDIT: doTrajectoryEdit(currentScreenX, currentScreenY, event->modifiers()); break; case DRAG_ZOOM: zoomScreen(currentScreenX, currentScreenY); break; case DRAG_MOVE: moveScreen(currentScreenX, currentScreenY); break; default: break; } double x = leftX + (currentScreenX - screenMarginX) / scaleX; double y = - centerY - (currentScreenY - screenCenterY) / scaleY; //hRuler.property_position() = x; //vRuler.property_position() = y; static boost::format f(_("Graph: Position = (%1$.5f, %2$.5f)")); statusLabel.setText(str(f % x % y).c_str()); dragPrevScreenX = currentScreenX; dragPrevScreenY = currentScreenY; return true; } bool GraphWidgetImpl::onScreenKeyPressEvent(QKeyEvent* event) { bool unprocessed = false; if(dragState == DRAG_EDIT){ switch(event->key()){ case Qt::Key_Shift: doTrajectoryEdit(dragPrevScreenX, dragPrevScreenY, event->modifiers() & Qt::ShiftModifier); break; default: unprocessed = true; break; } } else if(dragState == DRAG_NONE) { switch(event->key()){ case Qt::Key_Z: if(event->modifiers() & Qt::ControlModifier){ if(event->modifiers() & Qt::ShiftModifier){ redoTrajectoryEdit(); } else { undoTrajectoryEdit(); } } break; case Qt::Key_F: changeEditMode(GraphWidget::FREE_LINE_MODE); break; case Qt::Key_L: changeEditMode(GraphWidget::LINE_MODE); break; case Qt::Key_Space: { QMouseEvent mouseEvent(QEvent::MouseButtonPress, QPoint(currentScreenX, currentScreenY), Qt::MidButton, Qt::MidButton, event->modifiers()); unprocessed = !onScreenMouseButtonPressEvent(&mouseEvent); } break; default: unprocessed = true; break; } } return !unprocessed; } bool GraphWidgetImpl::onScreenKeyReleaseEvent(QKeyEvent* event) { bool unprocessed = false; switch(event->key()){ case Qt::Key_Shift: if(dragState == DRAG_EDIT){ doTrajectoryEdit(dragPrevScreenX, dragPrevScreenY, event->modifiers() & Qt::ShiftModifier); } break; case Qt::Key_Space: { QMouseEvent mouseEvent(QEvent::MouseButtonPress, QPoint(currentScreenX, currentScreenY), Qt::MidButton, Qt::MidButton, event->modifiers()); unprocessed = !onScreenMouseButtonReleaseEvent(&mouseEvent); } break; default: unprocessed = true; break; } return unprocessed; } void GraphWidgetImpl::zoomScreen(int screenX, int screenY) { double zoomRatioX = pow(1.01, screenX - pressedScreenX); double zoomRatioY = pow(1.01, pressedScreenY - screenY); scaleX = dragOrgScaleX * zoomRatioX; scaleY = dragOrgScaleY * zoomRatioY; double dpx = (pressedScreenX - screenMarginX) / dragOrgScaleX; double dx = dpx * (zoomRatioX - 1.0) / zoomRatioX; leftX = dragOrgLeftX + dx; if(leftX < domainLowerX){ leftX = domainLowerX; } double dpy = (pressedScreenY - screenCenterY) / dragOrgScaleY; double dy = dpy * (zoomRatioY - 1.0) / zoomRatioY; centerY = dragOrgCenterY + dy; isReconfigurationNeeded = true; screen->update(); } void GraphWidgetImpl::moveScreen(double screenX, double screenY) { leftX = dragOrgLeftX + (pressedScreenX - screenX) / scaleX; centerY = dragOrgCenterY + (pressedScreenY - screenY) / scaleY; isReconfigurationNeeded = true; screen->update(); } void GraphWidgetImpl::startTrajectoryEdit() { if((controlPointStep == 1) || editMode != GraphWidget::FREE_LINE_MODE){ isEditBufferedUpdateMode = timeBar->isDoingPlayback(); editedFrameBegin = std::numeric_limits::max(); editedFrameEnd = std::numeric_limits::min(); editTarget->editHistories.push_back(EditHistoryPtr(new EditHistory())); editTarget->currentHistory = editTarget->editHistories.size(); dragState = DRAG_EDIT; } } void GraphWidgetImpl::finishTrajectoryEdit() { EditHistoryList& histories = editTarget->editHistories; //vector& values = editTarget->values; double* values = &editTarget->values[1]; if(!(editedFrameBegin < editedFrameEnd)){ histories.pop_back(); } else { if(isEditBufferedUpdateMode){ editTarget->dataModifiedCallback (editedFrameBegin, editedFrameEnd - editedFrameBegin, &values[editedFrameBegin]); } // set new values (for redo) to history vector& newValues = histories.back()->newValues; newValues.resize(editedFrameEnd - editedFrameBegin); std::copy(&values[editedFrameBegin], &values[editedFrameEnd], newValues.begin()); while(histories.size() > MAX_NUM_HISTORIES){ histories.pop_front(); editTarget->currentHistory = histories.size(); } } } void GraphWidgetImpl::doTrajectoryEdit(int screenX, int screenY, Qt::KeyboardModifiers modifiers) { static const int FROM = 0; static const int TO = 1; double x[2]; double y[2]; double frameAtX[2]; double flooredFrameAtX[2]; int frameToEdit[2]; int orgScreenX, orgScreenY; if(editMode == GraphWidget::FREE_LINE_MODE){ orgScreenX = dragPrevScreenX; orgScreenY = dragPrevScreenY; } else { orgScreenX = pressedScreenX; orgScreenY = pressedScreenY; } //x[FROM] = leftX + (orgScreenX - screenMarginX) / scaleX; //x[TO] = leftX + (screenX - screenMarginX) / scaleX; x[FROM] = dragOrgLeftX + (orgScreenX - screenMarginX) / scaleX; x[TO] = dragOrgLeftX + (screenX - screenMarginX) / scaleX; y[FROM] = - centerY - (orgScreenY - screenCenterY) / scaleY; y[TO] = - centerY - (screenY - screenCenterY) / scaleY; for(int i=0; i < 2; ++i){ frameAtX[i] = x[i] / editTarget->stepRatio; flooredFrameAtX[i] = floor(frameAtX[i]); frameToEdit[i] = static_cast(flooredFrameAtX[i]) + 1; } bool draggedLeftToRight = (x[FROM] <= x[TO]); int LEFT = draggedLeftToRight ? 0 : 1; int RIGHT = draggedLeftToRight ? 1 : 0; int& frameBegin = frameToEdit[LEFT]; int& frameEnd = frameToEdit[RIGHT]; bool inAdjacentFrames = (frameBegin == frameEnd); if(inAdjacentFrames){ double odd = frameAtX[TO] - flooredFrameAtX[TO]; if(odd >= 0.5){ frameEnd++; } else if(odd < 0.5){ frameBegin--; } } if(editMode == GraphWidget::LINE_MODE && !inAdjacentFrames){ if(draggedLeftToRight){ if(frameAtX[LEFT] - flooredFrameAtX[LEFT] >= 0.5){ frameBegin++; } if(frameAtX[RIGHT] - flooredFrameAtX[RIGHT] >= 0.5){ frameEnd++; } } else { if(frameAtX[LEFT] - flooredFrameAtX[LEFT] < 0.5){ frameBegin--; } if(frameAtX[RIGHT] - flooredFrameAtX[RIGHT] < 0.5){ frameEnd--; } } } for(int i=0; i < 2; ++i){ if(frameToEdit[i] < 0){ frameToEdit[i] = 0; } } //vector& values = editTarget->values; double* values = &editTarget->values[1]; const int numFrames = editTarget->numFrames; if(frameEnd > numFrames){ frameEnd = numFrames; } if(editMode == GraphWidget::LINE_MODE){ EditHistoryPtr& history = editTarget->editHistories.back(); std::copy(history->orgValues.begin(), history->orgValues.end(), &values[history->frame]); } if(frameBegin < frameEnd){ storeOrgValuesToHistory(frameBegin, frameEnd); if(inAdjacentFrames){ values[frameBegin] = min(max(y[TO], editTarget->lowerValueLimit), editTarget->upperValueLimit); } else if(editMode == GraphWidget::FREE_LINE_MODE){ double k = (y[RIGHT] - y[LEFT]) / (frameAtX[RIGHT] - frameAtX[LEFT]); for(int frame = frameBegin; frame < frameEnd; ++frame){ double v = k * (frame - frameAtX[LEFT]) + y[LEFT]; values[frame] = min(max(v, editTarget->lowerValueLimit), editTarget->upperValueLimit); } } else if(editMode == GraphWidget::LINE_MODE){ double k; double y0; int frame0; if(modifiers & Qt::ShiftModifier){ k = 0.0; y0 = y[TO]; frame0 = frameBegin; } else { if(draggedLeftToRight){ frame0 = frameBegin - 1; } else { frame0 = frameBegin; } k = (y[RIGHT] - y[LEFT]) / (frameEnd - frameBegin); y0 = y[LEFT]; } for(int frame = frameBegin; frame < frameEnd; ++frame){ double v = k * (frame - frame0) + y0; values[frame] = min(max(v, editTarget->lowerValueLimit), editTarget->upperValueLimit); } } editedFrameBegin = std::min(editedFrameBegin, frameBegin); editedFrameEnd = std::max(editedFrameEnd, frameEnd); if(!isEditBufferedUpdateMode){ editTarget->dataModifiedCallback(frameBegin, frameEnd - frameBegin, &values[frameBegin]); } } screen->update(); double cursorX; if(TO==RIGHT && frameToEdit[LEFT] < frameToEdit[RIGHT]){ cursorX = (frameToEdit[TO] - 1.0 + 0.000001) * editTarget->stepRatio; } else { cursorX = (frameToEdit[TO] + 0.000001) * editTarget->stepRatio; } setCursorPosition(cursorX, true, true); } void GraphWidgetImpl::storeOrgValuesToHistory(int frameBegin, int frameEnd) { //vector& values = editTarget->values; double* values = &editTarget->values[1]; EditHistoryPtr& history = editTarget->editHistories.back(); vector& storedValues = history->orgValues; int nStoredValues = storedValues.size(); if(!nStoredValues){ history->frame = frameBegin; } int leftPartBegin = std::min(frameBegin, history->frame); int leftPartEnd = std::min(frameEnd, history->frame); int rightPartBegin = std::max(frameBegin, history->frame + nStoredValues); int rightPartEnd = std::max(frameEnd, history->frame + nStoredValues); history->frame = leftPartBegin; storedValues.resize(rightPartEnd - leftPartBegin); if(leftPartBegin < leftPartEnd){ std::copy(&values[leftPartBegin], &values[leftPartEnd], storedValues.begin()); } if(rightPartBegin < rightPartEnd){ std::copy(&values[rightPartBegin], &values[rightPartEnd], storedValues.begin() + (rightPartBegin - history->frame)); } } void GraphWidgetImpl::undoTrajectoryEdit() { if(dragState == DRAG_NONE && editTarget){ int& currentHistory = editTarget->currentHistory; if(currentHistory > 0){ currentHistory--; EditHistoryPtr history = editTarget->editHistories[currentHistory]; std::copy(history->orgValues.begin(), history->orgValues.end(), editTarget->values.begin() + history->frame + 1); editTarget->dataModifiedCallback(history->frame, history->orgValues.size(), &history->orgValues[0]); screen->update(); } } } void GraphWidgetImpl::redoTrajectoryEdit() { if(dragState == DRAG_NONE && editTarget){ EditHistoryList& histories = editTarget->editHistories; int& currentHistory = editTarget->currentHistory; if(currentHistory < static_cast(histories.size())){ EditHistoryPtr history = editTarget->editHistories[currentHistory]; std::copy(history->newValues.begin(), history->newValues.end(), editTarget->values.begin() + history->frame + 1); editTarget->dataModifiedCallback(history->frame, history->newValues.size(), &history->newValues[0]); currentHistory++; screen->update(); } } } void GraphWidgetImpl::selectEditTargetByClicking(double screenX, double screenY) { static const double pixelMargin = 6.0; GraphDataHandlerImpl* newTarget = 0; double pointerX = leftX + (screenX - screenMarginX) / scaleX; double pointerY = - centerY - (screenY - screenCenterY) / scaleY; double yMargin = pixelMargin / scaleY; for(size_t i=0; i < handlers.size(); ++i){ GraphDataHandlerImpl* data = handlers[i]->impl; double* values = &data->values[1]; const int size = data->numFrames; int frameAtPointer = (int)floor(pointerX / data->stepRatio); int frameMargin = (int)std::max(pixelMargin / scaleX / data->stepRatio, 1.0); int frameBegin = std::max(frameAtPointer - frameMargin, 0); int frameEnd = std::min(frameAtPointer + frameMargin, size); double yMin = std::numeric_limits::max(); double yMax = -std::numeric_limits::max(); for(int j=frameBegin; j < frameEnd; ++j){ double y = values[j]; yMin = std::min(yMin, y - yMargin); yMax = std::max(yMax, y + yMargin); } if((pointerY >= yMin) && (pointerY <= yMax)){ newTarget = data; break; } } // unselect operation if(newTarget == editTarget){ newTarget = 0; } GraphWidget::Mode newMode = newTarget ? GraphWidget::EDIT_MODE : GraphWidget::VIEW_MODE; if(newMode != mode){ editTarget = newTarget; changeMode(newMode); } else { if(newTarget != editTarget){ screen->update(); } editTarget = newTarget; } } bool GraphWidgetImpl::onScreenPaintEvent(QPaintEvent* event) { if(isReconfigurationNeeded){ setupConfiguration(); } QPainter painter(screen); //painter.setRenderHint(QPainter::Antialiasing); painter.setClipRegion(event->region()); painter.setClipping(true); pen.setStyle(Qt::SolidLine); pen.setWidthF(1.0); painter.setPen(pen); // draw the grid if(isGridOn){ drawGrid(painter); } // draw x-axis pen.setColor(QColor(0, 0, 0)); painter.setPen(pen); double ay = screenCenterY - centerY * scaleY; painter.drawLine(QPointF(0.0, ay), QPointF(screenWidth, ay)); if(isLimitVisible){ for(size_t i=0; i < handlers.size(); ++i){ drawLimits(painter, handlers[i]->impl); } } pen.setWidthF(lineWidth); painter.setPen(pen); for(size_t i=0; i < handlers.size(); ++i){ GraphDataHandlerImpl* data = handlers[i]->impl; drawTrajectory(painter, event->rect(), data); } pen.setWidthF(1.0); painter.setPen(pen); // draw the cursor pen.setColor(QColor(25, 25, 25, 230)); pen.setDashPattern(cursorDashes); painter.setPen(pen); painter.drawLine(QPointF(screenCursorX, 0.0), QPointF(screenCursorX, screenHeight)); //return true; return false; } #include static inline double calcVelocity(int frame, double* values, double stepRatio2) { return (values[frame + 1] - values[frame - 1]) / stepRatio2; } void GraphWidgetImpl::drawTrajectory (QPainter& painter, const QRect& rect, GraphDataHandlerImpl* data) { double areaLeft = rect.x(); double areaRight = rect.x() + rect.width(); if(areaLeft < screenMarginX){ areaLeft = screenMarginX; } if(areaRight > screenWidth - screenMarginX){ areaRight = screenWidth - screenMarginX; } double clippedLeftX = leftX + (areaLeft - screenMarginX) / scaleX; int frame_begin = (int)floor(clippedLeftX / data->stepRatio); const double xratio = data->stepRatio * scaleX; double interFrameOffset = fmod(clippedLeftX / data->stepRatio, 1.0) * xratio; double screenOffsetX = areaLeft - interFrameOffset; double clippedRightX = leftX + (areaRight - screenMarginX) / scaleX; int frame_end = (int)floor(clippedRightX / data->stepRatio) + 2; //vector& values = data->values; double* values = &data->values[1]; const int numFrames = data->numFrames; if(frame_end > numFrames){ frame_end = numFrames; } if(frame_begin < frame_end){ QColor color; if(isVelocityVisible){ values[-1] = values[0]; values[numFrames] = values[numFrames - 1]; const double stepRatio2 = 2.0 * data->stepRatio; int frame = frame_begin; if(frame < 0){ frame = 0; } color.setRgbF((data->g + 0.5) / 2.0, (data->b + 0.2) / 2.0, data->r); pen.setColor(color); painter.setPen(pen); if(xratio > 0.2){ const int n = frame_end - frame; polyline.resize(n); for(int i=0; i < n; ++i){ const double px = screenOffsetX + (frame - frame_begin) * xratio; const double v = calcVelocity(frame, values, stepRatio2); const double py = screenCenterY - (v + centerY) * scaleY; polyline[i] = QPointF(px, py); ++frame; } } else { const int m = (int)(0.5 / xratio); const int n = ceil(double(frame_end - frame) / m); polyline.resize(n * 2); for(int i=0; i < n; ++i){ double px_min = screenOffsetX + (frame - frame_begin) * xratio; double px_max = px_min; const int next = std::min(frame + m, frame_end); double min = calcVelocity(frame++, values, stepRatio2); double max = min; while(frame < next){ const double v = calcVelocity(frame, values, stepRatio2); if(v > max){ max = v; px_max = screenOffsetX + (frame - frame_begin) * xratio; } else if(v < min){ min = v; px_min = screenOffsetX + (frame - frame_begin) * xratio; } frame++; } const double upper = screenCenterY - (max + centerY) * scaleY; const double lower = screenCenterY - (min + centerY) * scaleY; if(px_min <= px_max){ polyline[i*2] = QPointF(px_min, lower); polyline[i*2+1] = QPointF(px_max, upper); } else { polyline[i*2] = QPointF(px_max, upper); polyline[i*2+1] = QPointF(px_min, lower); } } } painter.drawPolyline(polyline); } if(isOrgValueVisible){ int frame = frame_begin; if(frame < 0){ frame = 0; } color.setRgbF(data->r, data->g, data->b); pen.setColor(color); painter.setPen(pen); if(xratio > 0.2){ const int n = frame_end - frame; polyline.resize(n); for(int i=0; i < n; ++i){ const double px = screenOffsetX + (frame - frame_begin) * xratio; const double py = screenCenterY - (values[frame] + centerY) * scaleY; polyline[i] = QPointF(px, py); ++frame; } } else { const int m = (int)(0.5 / xratio); const int n = ceil(double(frame_end - frame) / m); polyline.resize(n * 2); for(int i=0; i < n; ++i){ double px_min = screenOffsetX + (frame - frame_begin) * xratio; double px_max = px_min; const int next = std::min(frame + m, frame_end); double min = values[frame++]; double max = min; while(frame < next){ const double v = values[frame++]; if(v > max){ max = v; px_max = screenOffsetX + (frame - frame_begin) * xratio; } else if(v < min){ min = v; px_min = screenOffsetX + (frame - frame_begin) * xratio; } } const double upper = screenCenterY - (max + centerY) * scaleY; const double lower = screenCenterY - (min + centerY) * scaleY; if(px_min <= px_max){ polyline[i*2] = QPointF(px_min, lower); polyline[i*2+1] = QPointF(px_max, upper); } else { polyline[i*2] = QPointF(px_max, upper); polyline[i*2+1] = QPointF(px_min, lower); } } } painter.drawPolyline(polyline); if(isControlPointsHighlighted || (mode == GraphWidget::EDIT_MODE && data == editTarget)){ updateControlPoints(data); int frame = frame_begin; if(frame < 0){ frame = 0; } boost::dynamic_bitset<>& mask = data->controlPointMask; while(frame < frame_end){ if(mask[frame]){ double px = screenOffsetX + (frame - frame_begin) * xratio; double py = screenCenterY - (values[frame] + centerY) * scaleY; painter.fillRect(QRectF(px - 2, py - 2, 4, 4), color); } ++frame; } } } } } void GraphWidgetImpl::updateControlPoints(GraphDataHandlerImpl* data) { if(data->isControlPointUpdateNeeded){ data->isControlPointUpdateNeeded = false; const int numFrames = data->numFrames; data->controlPointMask.resize(numFrames); for(int i=0; i < numFrames; ++i){ data->controlPointMask[i] = (i % controlPointStep == controlPointOffset); } } } void GraphWidgetImpl::drawLimits(QPainter& painter, GraphDataHandlerImpl* data) { pen.setDashPattern(limitValueDashes); QColor color; if(isVelocityVisible){ color.setRgbF((data->g + 0.5) / 2.0, (data->b + 0.2) / 2.0, data->r); pen.setColor(color); painter.setPen(pen); double lower = screenCenterY - (data->lowerVelocityLimit + centerY) * scaleY; if(isfinite(lower)){ painter.drawLine(QPointF(screenMarginX, lower), QPointF(screenWidth - screenMarginX, lower)); } double upper = screenCenterY - (data->upperVelocityLimit + centerY) * scaleY; if(isfinite(upper)){ painter.drawLine(QPointF(screenMarginX, upper), QPointF(screenWidth - screenMarginX, upper)); } } if(isOrgValueVisible){ color.setRgbF(data->r, data->g, data->b); pen.setColor(color); painter.setPen(pen); double lower = screenCenterY - (data->lowerValueLimit + centerY) * scaleY; if(isfinite(lower)){ painter.drawLine(QPointF(screenMarginX, lower), QPointF(screenWidth - screenMarginX, lower)); } double upper = screenCenterY - (data->upperValueLimit + centerY) * scaleY; if(isfinite(upper)){ painter.drawLine(QPointF(screenMarginX, upper), QPointF(screenWidth - screenMarginX, upper)); } } pen.setStyle(Qt::SolidLine); } void GraphWidgetImpl::drawGrid(QPainter& painter) { QColor color; color.setRgbF(0.8, 0.8, 0.8); pen.setColor(color); painter.setPen(pen); double x = leftX - fmod(leftX, gridWidth); while(x <= leftX + visibleWidth){ double px = (x - leftX) * scaleX + screenMarginX; painter.drawLine(QPointF(px, 0.0), QPointF(px, screenHeight)); x += gridWidth; } double y = topY - fmod(topY, gridHeight); while(y <= bottomY){ double py = (y - topY) * scaleY; painter.drawLine(QPointF(screenMarginX, py), QPointF(screenWidth - screenMarginX, py)); y += gridHeight; } } void GraphWidgetImpl::onHScrollbarChanged(double value) { if(value != leftX){ leftX = value; isReconfigurationNeeded = true; screen->update(); } } void GraphWidgetImpl::onVScrollbarChanged(double value) { double y = value + visibleHeightHalf; if(y != centerY){ centerY = y; isReconfigurationNeeded = true; screen->update(); } } bool GraphWidget::saveImage(const std::string& filename) { QPixmap pixmap(impl->screen->size()); impl->screen->render(&pixmap); pixmap.save(filename.c_str()); return true; } bool GraphWidget::storeState(Archive& archive) { return impl->storeState(archive); } bool GraphWidgetImpl::storeState(Archive& archive) { static const char* modeLabel[] = { "view", "edit" }; archive.write("mode", modeLabel[mode]); static const char* editModeLabel[] = { "freeLine", "line" }; archive.write("editMode", editModeLabel[editMode]); archive.write("original", isOrgValueVisible); archive.write("velocity", isVelocityVisible); archive.write("acceleration", isAccelerationVisible); archive.write("limits", isLimitVisible); archive.write("grid", isGridOn); archive.write("gridWidth", gridWidth); archive.write("gridHeight", gridHeight); archive.write("lineWidth", lineWidth); archive.write("rulers", self->showsRulers()); archive.write("sync", timeBarSyncMode); archive.write("controlPointStep", controlPointStep); archive.write("controlPointOffset", controlPointOffset); archive.write("controlPointHeighlight", isControlPointsHighlighted); static const char* scrollModeLabel[] = { "off", "continuous", "page" }; archive.write("scrollMode", scrollModeLabel[autoScrollMode]); archive.write("lower", rangeLowerY); archive.write("upper", rangeUpperY); return true; } bool GraphWidget::restoreState(const Archive& archive) { return impl->restoreState(archive); } bool GraphWidgetImpl::restoreState(const Archive& archive) { string modeLabel; if(archive.read("mode", modeLabel)){ changeMode((modeLabel == "edit") ? GraphWidget::EDIT_MODE : GraphWidget::VIEW_MODE); } string editModeLabel; if(archive.read("editMode", editModeLabel)){ if(editModeLabel == "freeLine"){ editMode = GraphWidget::FREE_LINE_MODE; } else if(editModeLabel == "line"){ editMode = GraphWidget::LINE_MODE; } } archive.read("original", isOrgValueVisible); archive.read("velocity", isVelocityVisible); archive.read("acceleration", isAccelerationVisible); archive.read("limits", isLimitVisible); archive.read("grid", isGridOn); archive.read("gridWidth", gridWidth); archive.read("gridHeight", gridHeight); archive.read("lineWidth", lineWidth); self->showRulers(archive.get("rulers", self->showsRulers())); setTimeBarSyncMode(archive.get("sync", timeBarSyncMode)); int step = archive.get("controlPointStep", controlPointStep); int offset = archive.get("controlPointOffset", controlPointOffset); setControlPointStep(step, offset); archive.read("controlPointHeighlight", isControlPointsHighlighted); string scrollModeLabel; if(archive.read("scrollMoe", scrollModeLabel)){ if(scrollModeLabel == "off"){ setAutoScrollMode(GraphWidget::OFF); } else if(scrollModeLabel == "continuous"){ setAutoScrollMode(GraphWidget::CONTINUOUS); } else if(scrollModeLabel == "page"){ setAutoScrollMode(GraphWidget::PAGE); } } archive.read("lower", rangeLowerY); archive.read("upper", rangeUpperY); isReconfigurationNeeded = true; screen->update(); if(GraphBar::instance()->focusedGraphWidget() == self){ GraphBar::instance()->focus(self, true); } return true; } choreonoid-1.5.0/src/Base/Splitter.cpp0000664000000000000000000000100312741425367016326 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "Splitter.h" using namespace cnoid; Splitter::Splitter(QWidget* parent) : QSplitter(parent) { initialize(); } Splitter::Splitter(Qt::Orientation orientation, QWidget* parent) : QSplitter(orientation, parent) { initialize(); } void Splitter::initialize() { connect(this, SIGNAL(splitterMoved(int, int)), this, SLOT(onSplitterMoved(int, int))); } void Splitter::onSplitterMoved(int pos, int index) { sigSplitterMoved_(pos, index); } choreonoid-1.5.0/src/Base/ImageWidget.h0000664000000000000000000000260312741425367016362 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_IMAGE_WIDGET_H #define CNOID_BASE_IMAGE_WIDGET_H #include #include #include #include #include "exportdecl.h" namespace cnoid { class Image; class CNOID_EXPORT ImageWidget : public QWidget { Q_OBJECT public: explicit ImageWidget(QWidget* parent = 0); //public Q_SLOTS: void setPixmap(const QPixmap& pixmap); void setImage(const Image& image); void setImage(const QImage& image); void setScalingEnabled(bool on); bool isScalingEnabled() const; void zoom(double scale); void translate(QPoint pos); bool getTransform(QTransform& transform); double getAngle(); void setTransform(const QTransform& transform); void setAngle(double angle); void rotate(double angle); void reset(); Image& getImage(); boost::mutex mtx; protected: virtual void paintEvent(QPaintEvent* event); virtual QSize sizeHint() const; virtual void resizeEvent(QResizeEvent *event); private: QPixmap pixmap_; bool isScalingEnabled_; QTransform transform_; QTransform notScaledTransform_; QTransform initialTransform_; Image transformedImage; void fitCenter(); void resize(const QSize& size); bool fitted; QSize oldSize; double oldScale; bool settedT; }; } #endif choreonoid-1.5.0/src/Base/ExtensionManager.h0000664000000000000000000000633412741425367017450 0ustar rootroot/** @author Shin'ichiro NAKAOKA */ #ifndef CNOID_BASE_EXTENSION_MANAGER_H #define CNOID_BASE_EXTENSION_MANAGER_H #include #include #include "exportdecl.h" namespace cnoid { class Item; class View; class ToolBar; class Archive; class ItemManager; class ViewManager; class TimeSyncItemEngineManager; class MenuManager; class OptionManager; class ExtensionManagerImpl; class CNOID_EXPORT ExtensionManager { public: ExtensionManager(const std::string& moduleName, bool isPlugin); ExtensionManager(const std::string& moduleName, const std::string& version, bool isPlugin); virtual ~ExtensionManager(); const std::string& name() const; const std::string& textDomain() const; ItemManager& itemManager(); TimeSyncItemEngineManager& timeSyncItemEngineManger(); ViewManager& viewManager(); MenuManager& menuManager(); OptionManager& optionManager(); private: struct CNOID_EXPORT PtrHolderBase { virtual ~PtrHolderBase(); }; // smart pointer version template struct PtrHolder : public PtrHolderBase { PtrHolder(PointerType pointer) : pointer(pointer) { } virtual ~PtrHolder() { } PointerType pointer; }; // raw pointer version template struct PtrHolder : public PtrHolderBase { PtrHolder(Object* pointer) : pointer(pointer) { } virtual ~PtrHolder() { delete pointer; } Object* pointer; }; void manageSub(PtrHolderBase* holder); public: void addToolBar(ToolBar* toolBar); template PointerType manage(PointerType pointer) { manageSub(new PtrHolder(pointer)); return pointer; } /** @if jp èµ·ċ‹•ĉ™‚Ğ‚ރ–‚¸‚§‚ŻƒˆċˆĉœŸç”ŸĉˆŒċ…¨Ĥ終‚£Ÿĉ™‚‚„€ ĉ–°ŸĞƒ—ƒİ‚°‚¤ƒ³èŞ­żèĵżƒğ解ĉ”Œ‚£Ÿ¨Şİ€ ‚·‚ıƒ†ƒ §ċˆİ用ċŻèƒ½Ş‚ރ–‚¸‚§‚ŻƒˆçŠĥĉ…‹Ğĉ›´ĉ–°Œ‚£Ÿ¨Ğ 発èĦŒ•‚Œ‚‹ 'SystemUpdated' ‚·‚°ƒŠƒĞ¨ĉŽçĥš™‚‹€‚ @endif */ SignalProxy sigSystemUpdated(); /** @if jp 'SystemUpdated' ‚·‚°ƒŠƒĞ‚’発èĦŒ™‚‹€‚ ‚·‚°ƒŠƒĞç™şèĦŒŻĉœĴƒĦ‚½ƒƒƒ‰ċ‘ĵ³ċ‡ş—ĉ™‚§ŻŞ€ċŒğİ‚¤ƒ™ƒ³ƒˆƒĞƒĵƒ—ċ†…ĞĤèĦŒ‚‚Œ‚‹€‚ “‚ŒĞ‚ˆ‚Š€‚ıƒ­ƒƒƒˆċ‡Ĥ理Żçċœ¨ċ‡Ĥ理中ä𖁂¤ƒ™ƒ³ƒˆŒċ‡Ĥ理•‚ŒŸċŒĞŞ‚‹€‚ Ÿ€ĉœĴƒĦ‚½ƒƒƒ‰ŒċŒĉ™‚ĉœŸĞ複ĉ•°ċ›žċ‘ĵ°‚ŒŸċ ´ċˆ§‚‚€‚·‚°ƒŠƒĞç™şèĦŒŻ²¨¤Ğ¨‚‚‰‚Œ‚‹€‚ @endif */ static void notifySystemUpdate(); SignalProxy sigReleaseRequest(); void setProjectArchiver( const std::string& name, boost::function storeFunction, boost::function restoreFunction); void setProjectArchiver( boost::function storeFunction, boost::function restoreFunction); private: ExtensionManager(const ExtensionManager& org); // disable the copy constructor ExtensionManagerImpl* impl; friend class ExtensionManagerImpl; }; } #endif choreonoid-1.5.0/src/Base/GraphWidget.h0000664000000000000000000000660212741425367016404 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_GRAPH_WIDGET_H #define CNOID_BASE_GRAPH_WIDGET_H #include #include #include #include #include #include #include #include "exportdecl.h" namespace cnoid { class View; class ToolBar; class Archive; class GraphDataHandler; class GraphDataHandlerImpl; class GraphWidgetImpl; typedef boost::shared_ptr GraphDataHandlerPtr; class CNOID_EXPORT GraphDataHandler { public: GraphDataHandler(); ~GraphDataHandler(); void setID(int id) { this->id = id; } int getID() const { return id; } void setColor(float r, float g, float b); void setLabel(const std::string& label); void setFrameProperties(int numFrames, double frameRate, double offset = 0.0); void setValueLimits(double lower, double upper); void setVelocityLimits(double lower, double upper); void addVerticalLine(double x, const std::string& label); void addHorizontalLine(double y, const std::string& label); void clearLines(); void update(); typedef boost::function DataRequestCallback; void setDataRequestCallback(DataRequestCallback callback); typedef boost::function DataModifiedCallback; void setDataModifiedCallback(DataModifiedCallback callback); private: int id; friend class GraphWidgetImpl; GraphDataHandlerImpl* impl; }; class CNOID_EXPORT GraphWidget : public QWidget { public: GraphWidget(View* parentView); ~GraphWidget(); void addDataHandler(GraphDataHandlerPtr handler); void clearDataHandlers(); void setRenderingTypes(bool showOriginalValues, bool showVelocities, bool showAccelerations); void getRenderingTypes(bool& showOriginalValues, bool& showVelocities, bool& showAccelerations); bool setCursorPosition(double pos); void setTimeBarSyncMode(bool on); bool isTimeBarSyncMode(); enum ScrollMode { OFF, CONTINUOUS, PAGE }; void setAutoScrollMode(ScrollMode on); ScrollMode autoScrollMode(); void setVerticalValueRange(double lower, double upper); void getVerticalValueRange(double& lower, double& upper); void setLineWidth(double width); double getLineWidth(); void showRulers(bool show); bool showsRulers(); void showLimits(bool show); bool showsLimits(); void showGrid(bool show); bool showsGrid(); void setGridSize(double width, double height); void getGridSize(double& width, double& height); void setControlPointStep(int step, int offset = 0); void getControlPointStep(int& step, int& offset); void highlightControlPoints(bool on); bool highlightsControlPoints(); enum Mode { VIEW_MODE, EDIT_MODE }; void changeMode(Mode mode); Mode mode(); enum EditMode { FREE_LINE_MODE, LINE_MODE }; void changeEditMode(EditMode mode); EditMode editMode(); QLabel& statusLabel(); bool saveImage(const std::string& filename); virtual bool storeState(Archive& archive); virtual bool restoreState(const Archive& archive); protected: virtual bool eventFilter(QObject* obj, QEvent* event); private: friend class GraphDataHandler; GraphWidgetImpl* impl; }; } #endif choreonoid-1.5.0/src/Base/Archive.cpp0000664000000000000000000003150412741425367016112 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "Archive.h" #include "Item.h" #include "AppConfig.h" #include "MessageView.h" #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { QRegExp regexVar("^\\$\\{(\\w+)\\}"); typedef map ItemToIdMap; typedef map IdToItemMap; typedef map ViewToIdMap; typedef map IdToViewMap; typedef list< boost::function > PostProcessList; } namespace cnoid { class ArchiveSharedData : public Referenced { public: Mapping* directoryVariableMap; filesystem::path projectDirPath; filesystem::path topDirPath; filesystem::path shareDirPath; filesystem::path homeDirPath; QString projectDirString; QString topDirString; QString shareDirString; QString homeDirString; IdToItemMap idToItemMap; ItemToIdMap itemToIdMap; IdToViewMap idToViewMap; ViewToIdMap viewToIdMap; Item* currentParentItem; PostProcessList postProcesses; }; /** \todo Introduce a tree structure to improve the efficiency of searching matched directories */ bool findSubDirectoryOfDirectoryVariable (ArchiveSharedData* shared, const filesystem::path& path, std::string& out_varName, filesystem::path& out_relativePath) { out_relativePath.clear(); int maxMatchSize = 0; filesystem::path relativePath; Mapping::const_iterator p; for(p = shared->directoryVariableMap->begin(); p != shared->directoryVariableMap->end(); ++p){ Listing* paths = p->second->toListing(); if(paths){ for(int i=0; i < paths->size(); ++i){ filesystem::path dirPath(paths->at(i)->toString()); int n = findSubDirectory(dirPath, path, relativePath); if(n > maxMatchSize){ maxMatchSize = n; out_relativePath = relativePath; out_varName = fromUTF8(p->first); } } } } return (maxMatchSize > 0); } void replaceDirectoryVariable(ArchiveSharedData* shared, QString& io_pathString, const QString& varname, int pos, int len) { Listing* paths = shared->directoryVariableMap->findListing(varname.toStdString()); if(paths){ for(int i=0; i < paths->size(); ++i){ string vpath; QString replaced(io_pathString); replaced.replace(pos, len, paths->at(i)->toString().c_str()); filesystem::file_status fstatus = filesystem::status(filesystem::path(replaced.toStdString())); if(filesystem::is_directory(fstatus) || filesystem::exists(fstatus)) { io_pathString = replaced; return; } } } MessageView::mainInstance()->putln( MessageView::WARNING, QString(_("${%1} of \"%2\" cannot be expanded !")).arg(varname).arg(io_pathString)); } } Archive* Archive::invalidArchive() { static ArchivePtr invalidArchive_ = new Archive(); invalidArchive_->typeBits = ValueNode::INVALID_NODE; return invalidArchive_; } Archive::Archive() { } Archive::Archive(int line, int column) : Mapping(line, column) { } Archive::~Archive() { } void Archive::initSharedInfo(bool useHomeRelativeDirectories) { shared = new ArchiveSharedData; shared->topDirPath = executableTopDirectory(); shared->shareDirPath = shareDirectory(); shared->topDirString = executableTopDirectory().c_str(); shared->shareDirString = shareDirectory().c_str(); char* home = getenv("HOME"); if(home){ if(useHomeRelativeDirectories){ shared->homeDirPath = filesystem::path(home); } shared->homeDirString = home; } shared->currentParentItem = 0; } void Archive::initSharedInfo(const std::string& projectFile, bool useHomeRelativeDirectories) { initSharedInfo(useHomeRelativeDirectories); shared->directoryVariableMap = AppConfig::archive()->openMapping("pathVariables"); shared->projectDirPath = projectDirPath = getAbsolutePath(filesystem::path(projectFile)).parent_path(); shared->projectDirString = shared->projectDirPath.string().c_str(); } void Archive::inheritSharedInfoFrom(Archive& archive) { shared = archive.shared; } void Archive::addPostProcess(const boost::function& func, int priority) const { if(shared){ if(priority <= 0){ shared->postProcesses.push_back(func); } else { shared->postProcesses.push_back( boost::bind(&Archive::addPostProcess, this, func, priority - 1)); } } } void Archive::callPostProcesses() { if(shared){ PostProcessList::iterator p = shared->postProcesses.begin(); while(p != shared->postProcesses.end()){ (*p)(); // call a post-process function ++p; } } } Archive* Archive::findSubArchive(const std::string& name) { Mapping* mapping = findMapping(name); if(mapping->isValid()){ Archive* archive = dynamic_cast(mapping); if(archive){ archive->inheritSharedInfoFrom(*this); return archive; } } return invalidArchive(); } const Archive* Archive::findSubArchive(const std::string& name) const { return const_cast(this)->findSubArchive(name); } bool Archive::forSubArchive(const std::string& name, boost::function func) const { const Archive* subArchive = findSubArchive(name); if(subArchive->isValid()){ return func(*subArchive); } return false; } Archive* Archive::openSubArchive(const std::string& name) { Mapping* mapping = findMapping(name); Archive* archive = 0; if(mapping->isValid()){ archive = dynamic_cast(mapping); } if(!archive){ archive = new Archive(); archive->inheritSharedInfoFrom(*this); if(mapping->isValid()){ Mapping::const_iterator p = mapping->begin(); while(p != mapping->end()){ archive->insert(p->first, p->second); ++p; } } insert(name, archive); } return archive; } std::string Archive::expandPathVariables(const std::string& path) const { QString qpath(path.c_str()); // expand variables in the path int pos = regexVar.indexIn(qpath); if(pos != -1){ int len = regexVar.matchedLength(); if(regexVar.captureCount() > 0){ QString varname = regexVar.cap(1); if(varname == "SHARE"){ qpath.replace(pos, len, shared->shareDirString); } else if(varname == "PROGRAM_TOP"){ qpath.replace(pos, len, shared->topDirString); } else if(varname == "HOME"){ qpath.replace(pos, len, shared->homeDirString); } else if (varname == "PROJECT_DIR"){ qpath.replace(pos, len, shared->projectDirString); } else { replaceDirectoryVariable(shared, qpath, varname, pos, len); } } } return qpath.toStdString(); } std::string Archive::resolveRelocatablePath(const std::string& relocatable) const { filesystem::path path(expandPathVariables(relocatable)); if(checkAbsolute(path)){ return getNativePathString(path); } else { filesystem::path fullPath = shared->projectDirPath / path; if(!path.empty() && (*path.begin() == "..")){ filesystem::path compact; makePathCompact(fullPath, compact); return getNativePathString(compact); } else { return getNativePathString(fullPath); } } return relocatable; } bool Archive::readRelocatablePath(const std::string& key, std::string& out_value) const { string relocatable; if(read(key, relocatable)){ out_value = resolveRelocatablePath(relocatable); return true; } return false; } /** \todo Use integated nested map whose node is a single path element to be more efficient. */ std::string Archive::getRelocatablePath(const std::string& orgPathString) const { filesystem::path orgPath(orgPathString); filesystem::path relativePath; string varName; // In the case where the path is originally relative one if(!orgPath.is_complete()){ return getGenericPathString(orgPath); } else if(findSubDirectory(shared->projectDirPath, orgPath, relativePath)){ return string("${PROJECT_DIR}/") + getGenericPathString(relativePath); } else if(findSubDirectoryOfDirectoryVariable(shared, orgPath, varName, relativePath)){ return string("${") + varName + ("}/") + getGenericPathString(relativePath); } else if(findSubDirectory(shared->shareDirPath, orgPath, relativePath)){ return string("${SHARE}/") + getGenericPathString(relativePath); } else if(findSubDirectory(shared->topDirPath, orgPath, relativePath)){ return string("${PROGRAM_TOP}/") + getGenericPathString(relativePath); } else if(findSubDirectory(shared->homeDirPath, orgPath, relativePath)){ return string("${HOME}/") + getGenericPathString(relativePath); } return getGenericPathString(orgPath); } void Archive::writeRelocatablePath(const std::string& key, const std::string& path) { write(key, getRelocatablePath(path), DOUBLE_QUOTED); } void Archive::clearIds() { if(shared){ shared->idToItemMap.clear(); shared->itemToIdMap.clear(); shared->idToViewMap.clear(); shared->viewToIdMap.clear(); } } void Archive::registerItemId(Item* item, int id) { if(shared){ shared->idToItemMap[id] = item; shared->itemToIdMap[item] = id; } } ValueNodePtr Archive::getItemId(Item* item) const { if(shared){ int i = 0; Item* mainItem = item; while(mainItem->isSubItem()){ ++i; mainItem = mainItem->parentItem(); } ItemToIdMap::const_iterator p = shared->itemToIdMap.find(mainItem); if(p != shared->itemToIdMap.end()){ const int id = p->second; if(i == 0){ return new ScalarNode(id); } else { ListingPtr idPath = new Listing(i + 1); idPath->setFlowStyle(true); while(item->isSubItem()){ idPath->write(i--, item->name(), DOUBLE_QUOTED); item = item->parentItem(); } idPath->write(0, id); return idPath; } } } return 0; } void Archive::writeItemId(const std::string& key, Item* item) { if(item){ ValueNodePtr id = getItemId(item); if(id){ insert(key, id); } } } Item* Archive::findItem(int id) const { if(shared){ IdToItemMap::iterator p = shared->idToItemMap.find(id); if(p != shared->idToItemMap.end()){ return p->second; } } return 0; } Item* Archive::findItem(const ValueNodePtr idNode) const { Item* item = 0; if(idNode && shared){ if(idNode->isScalar()){ item = findItem(idNode->toInt()); } else if(idNode->isListing()){ const Listing& idPath = *idNode->toListing(); const int n = idPath.size(); if(n >= 2){ item = findItem(idPath.front()->toInt()); if(item){ for(int i=1; i < n; ++i){ item = item->findSubItem(idPath[i].toString()); if(!item){ item = 0; break; } } } } } } return item; } void Archive::registerViewId(View* view, int id) { if(shared){ shared->idToViewMap[id] = view; shared->viewToIdMap[view] = id; } } /** @return -1 if item does not belong to the archive */ int Archive::getViewId(View* view) const { if(shared && view){ ViewToIdMap::const_iterator p = shared->viewToIdMap.find(view); if(p != shared->viewToIdMap.end()){ return p->second; } } return -1; } View* Archive::findView(int id) const { if(shared){ IdToViewMap::iterator p = shared->idToViewMap.find(id); if(p != shared->idToViewMap.end()){ return p->second; } } return 0; } Item* Archive::currentParentItem() const { if(shared){ return shared->currentParentItem; } return 0; } void Archive::setCurrentParentItem(Item* parentItem) { if(shared){ shared->currentParentItem = parentItem; } } choreonoid-1.5.0/src/Base/TimeSyncItemEngine.h0000664000000000000000000000150612741425367017675 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_TIME_SYNC_ITEM_ENGINE_H #define CNOID_BASE_TIME_SYNC_ITEM_ENGINE_H #include #include #include "exportdecl.h" namespace cnoid { class Item; class CNOID_EXPORT TimeSyncItemEngine : public Referenced { public: virtual ~TimeSyncItemEngine(); virtual bool onTimeChanged(double time); void notifyUpdate(); }; typedef ref_ptr TimeSyncItemEnginePtr; class CNOID_EXPORT TimeSyncItemEngineManager { public: static void initialize(); TimeSyncItemEngineManager(const std::string& moduleName); ~TimeSyncItemEngineManager(); void addEngineFactory(boost::function factory); private: std::string moduleName; }; } #endif choreonoid-1.5.0/src/Base/TaskView.cpp0000664000000000000000000012251712741425367016273 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "TaskView.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace { const bool TRACE_FUNCTIONS = false; typedef PushButton CommandButton; //typedef ToolButton CommandButton; /** This CombBox does not accept the wheel event to change the selection so that the current task is not changed by incorrect operations */ class TaskComboBox : public ComboBox { public: virtual void wheelEvent(QWheelEvent* e){ } }; } namespace cnoid { class TaskViewImpl : public TaskProc, public TaskMenu { public: TaskView* self; MessageView* mv; ostream& os; bool isVerticalLayout; QVBoxLayout topVBox; QHBoxLayout hbox1; QHBoxLayout hbox2; QHBoxLayout hbox3; QVBoxLayout vspace; TaskComboBox taskCombo; PushButton menuButton; ToolButton usualPhaseButton; ToolButton configPhaseButton; PushButton prevButton; PushButton cancelButton; SpinBox phaseIndexSpin; Connection phaseIndexSpinConnection; ToolButton defaultCommandButton; ToggleButton autoModeToggle; PushButton nextButton; QLabel phaseLabel; QWidget commandButtonBox; QBoxLayout* commandButtonBoxBaseLayout; vector commandButtonBoxLayouts; vector commandButtons; bool isNoExecutionMode; bool isActive; bool isExecutionEnabled() const { return !isNoExecutionMode && isActive; } bool isExecutionDisabled() const { return !isExecutionEnabled(); } struct TaskInfo { TaskPtr task; MappingPtr state; TaskInfo(Task* task) : task(task) { } }; std::vector tasks; Signal sigTaskAdded; Signal sigTaskRemoved; TaskPtr currentTask; int currentTaskIndex; Signal sigCurrentTaskChanged; TaskPhasePtr currentPhase; int currentPhaseIndex_; int lastUsualPhaseIndex; int configPhaseIndex; Signal sigCurrentPhaseChanged; boost::optional nextPhaseIndex; enum { NO_CURRENT_COMMAND = -2, PRE_COMMAND = -1 }; int currentCommandIndex; boost::optional nextCommandIndex; // -1 means the pre-command LazyCaller goToNextCommandLater; Signal sigCurrentCommandChanged; Signal sigCurrentCommandCanceled; bool forceCommandLinkAutomatic; bool isBusy; QEventLoop eventLoop; bool isPendingCommandCompleted; Connection commandConnection; Timer commandTimer; Timer waitTimer; Signal sigBusyStateChanged; ScopedConnectionSet menuConnections; MenuManager menuManager; struct MenuItem { boost::function func; boost::function checkFunc; Action* action; MenuItem() { action = 0; } }; vector menuItems; Signal sigMenuRequest; Signal sigMenuItemTriggered; Signal sigMenuItemToggled; TaskViewImpl(TaskView* self); ~TaskViewImpl(); void doLayout(bool on); void activate(bool on, bool forceUpdate); void addTask(Task* task); bool updateTask(Task* task); void clearTasks(); bool setCurrentTask(int index, bool forceUpdate); void setCurrentTaskByName(const std::string& name); CommandButton* getOrCreateCommandButton(int index); void layoutCommandButtons(); bool setCurrentCommandIndex(int index); void setBusyState(bool on); void setFocusToCommandButton(int commandIndex); int getClosestNextPhaseIndex(int phaseIndex); int getLoopBackPhaseIndex(int phaseIndex); void setPhaseIndex(int index, bool isSuccessivelyCalled); void executeCommandSuccessively(int commandIndex); void setTransitionToNextCommand(); void retry(); void onCommandButtonClicked(int commandIndex); void onNextOrPrevButtonClicked(int direction); virtual int currentPhaseIndex() const; virtual bool isAutoMode() const; virtual void breakSequence(); virtual void setNextCommand(int commandIndex); virtual void setNextPhase(int phaseIndex); virtual void setCommandLinkAutomatic(); virtual bool executeCommand(int index); virtual bool wait(double sec); virtual bool waitForCommandToFinish(double timeout); virtual bool waitForCommandToFinish(Connection connection, double timeout); virtual void notifyCommandFinish(bool isCompleted); bool isWaiting() const; void cancelWaiting(bool doBreak = false); bool stopWaiting(bool isCompleted); void onWaitTimeout(); void onUsualPhaseButtonClicked(); void onConfigPhaseButtonClicked(); void onMenuButtonClicked(); void updateMenuItems(bool doPopup); virtual void addMenuItem(const std::string& caption, boost::function func); virtual void addCheckMenuItem(const std::string& caption, bool isChecked, boost::function func); virtual void addMenuSeparator(); void onMenuItemTriggered(int index); void onMenuItemToggled(int index, bool on); void applyMenuItem(int index, bool on); }; } static void onAboutToQuit() { TaskView::instance()->clearTasks(); } void TaskView::initializeClass(ExtensionManager* ext) { ext->viewManager().registerClass( "TaskView", N_("Task"), ViewManager::SINGLE_OPTIONAL); cnoid::sigAboutToQuit().connect(boost::bind(onAboutToQuit)); } TaskView* TaskView::instance() { static TaskView* instance_ = ViewManager::getOrCreateView(); return instance_; } TaskView::TaskView() { impl = new TaskViewImpl(this); } TaskViewImpl::TaskViewImpl(TaskView* self) : self(self), mv(MessageView::instance()), os(mv->cout()) { self->setSizePolicy(QSizePolicy::Ignored, QSizePolicy::Ignored); self->setDefaultLayoutArea(View::CENTER); currentTaskIndex = -1; currentPhaseIndex_ = 0; lastUsualPhaseIndex = 0; configPhaseIndex = 0; currentCommandIndex = NO_CURRENT_COMMAND; forceCommandLinkAutomatic = false; isBusy = false; isNoExecutionMode = false; isActive = false; goToNextCommandLater.setPriority(LazyCaller::PRIORITY_NORMAL); commandTimer.setSingleShot(true); commandTimer.sigTimeout().connect(boost::bind(&TaskViewImpl::cancelWaiting, this, true)); waitTimer.setSingleShot(true); waitTimer.sigTimeout().connect(boost::bind(&TaskViewImpl::onWaitTimeout, this)); taskCombo.setToolTip(_("Select a task type")); taskCombo.addItem(" ---------- "); taskCombo.sigCurrentIndexChanged().connect( boost::bind(&TaskViewImpl::setCurrentTask, this, _1, true)); menuButton.setText("*"); menuButton.setToolTip(_("Option Menu")); menuButton.sigClicked().connect(boost::bind(&TaskViewImpl::onMenuButtonClicked, this)); usualPhaseButton.setText(" { "); usualPhaseButton.setSizePolicy(QSizePolicy::Maximum, QSizePolicy::Preferred); usualPhaseButton.setToolTip(_("Return to the current phase")); usualPhaseButton.sigClicked().connect(boost::bind(&TaskViewImpl::onUsualPhaseButtonClicked, this)); configPhaseButton.setText(" } "); configPhaseButton.setSizePolicy(QSizePolicy::Maximum, QSizePolicy::Preferred); configPhaseButton.setToolTip(_("Go to the config phase")); configPhaseButton.sigClicked().connect(boost::bind(&TaskViewImpl::onConfigPhaseButtonClicked, this)); prevButton.setText("<"); prevButton.setToolTip(_("Go back to the previous phase")); prevButton.sigClicked().connect(boost::bind(&TaskViewImpl::onNextOrPrevButtonClicked, this, -1)); cancelButton.setText(_("Cancel")); cancelButton.setToolTip(_("Cancel waiting for the command to finish")); cancelButton.setEnabled(false); cancelButton.sigClicked().connect(boost::bind(&TaskViewImpl::cancelWaiting, this, true)); phaseIndexSpin.setToolTip(_("Phase index")); phaseIndexSpin.setSuffix(" / 0"); phaseIndexSpin.setAlignment(Qt::AlignCenter); phaseIndexSpin.setRange(0, 0); phaseIndexSpinConnection = phaseIndexSpin.sigValueChanged().connect( boost::bind(&TaskViewImpl::setPhaseIndex, this, _1, false)); defaultCommandButton.setText(_("V")); defaultCommandButton.setSizePolicy(QSizePolicy::Maximum, QSizePolicy::Preferred); defaultCommandButton.setToolTip(_("Execute the default command of the current phase")); defaultCommandButton.sigClicked().connect(boost::bind(&TaskViewImpl::onCommandButtonClicked, this, -1)); autoModeToggle.setText(_("Auto")); autoModeToggle.setToolTip(_("Automatic mode")); nextButton.setText(">"); nextButton.setToolTip(_("Skip to the next phase")); nextButton.sigClicked().connect(boost::bind(&TaskViewImpl::onNextOrPrevButtonClicked, this, +1)); topVBox.addLayout(&hbox1); topVBox.addLayout(&hbox2); topVBox.addLayout(&hbox3); topVBox.addLayout(&vspace); phaseLabel.setTextInteractionFlags(Qt::TextSelectableByMouse); topVBox.addWidget(&phaseLabel, 0, Qt::AlignHCenter); topVBox.addWidget(&commandButtonBox); topVBox.addStretch(); self->setLayout(&topVBox); commandButtonBoxBaseLayout = 0; commandButtonBoxLayouts.resize(5, 0); isVerticalLayout = true; doLayout(false); setPhaseIndex(0, false); activate(false, true); } TaskView::~TaskView() { delete impl; } TaskViewImpl::~TaskViewImpl() { for(size_t i=0; i < tasks.size(); ++i){ sigTaskRemoved(tasks[i].task); } } static void removeWidgetsInLayout(QLayout* layout) { QLayoutItem* child; while((child = layout->takeAt(0)) != 0){ delete child; } } void TaskViewImpl::doLayout(bool isVertical) { if(isVertical == this->isVerticalLayout){ return; } this->isVerticalLayout = isVertical; removeWidgetsInLayout(&hbox1); removeWidgetsInLayout(&hbox2); removeWidgetsInLayout(&hbox3); removeWidgetsInLayout(&vspace); if(commandButtonBoxBaseLayout){ delete commandButtonBoxBaseLayout; } if(isVertical){ hbox1.addWidget(&taskCombo); hbox2.addWidget(&cancelButton); hbox2.addWidget(&autoModeToggle); hbox2.addWidget(&menuButton); hbox2.addWidget(&usualPhaseButton); hbox2.addWidget(&configPhaseButton); hbox3.addWidget(&prevButton); hbox3.addWidget(&phaseIndexSpin); hbox3.addWidget(&defaultCommandButton); hbox3.addWidget(&nextButton); vspace.addSpacing(4); commandButtonBoxBaseLayout = new QHBoxLayout(); commandButtonBoxBaseLayout->setContentsMargins(0, 0, 0, 0); for(int i=0; i < commandButtonBoxLayouts.size(); ++i){ commandButtonBoxLayouts[i] = new QVBoxLayout(); QMargins m = commandButtonBoxLayouts[i]->contentsMargins(); m.setTop(m.top() + 8); m.setBottom(m.bottom() + 8); commandButtonBoxLayouts[i]->setContentsMargins(m); commandButtonBoxLayouts[i]->setSpacing(16); commandButtonBoxBaseLayout->addLayout(commandButtonBoxLayouts[i]); } } else { hbox1.addWidget(&taskCombo, 1); hbox1.addWidget(&menuButton); hbox1.addWidget(&usualPhaseButton); hbox1.addWidget(&configPhaseButton); hbox2.addWidget(&prevButton); hbox2.addWidget(&cancelButton); hbox2.addWidget(&phaseIndexSpin); hbox2.addWidget(&defaultCommandButton); hbox2.addWidget(&autoModeToggle); hbox2.addWidget(&nextButton); commandButtonBoxBaseLayout = new QVBoxLayout(); commandButtonBoxBaseLayout->setContentsMargins(0, 0, 0, 0); for(int i=0; i < commandButtonBoxLayouts.size(); ++i){ commandButtonBoxLayouts[i] = new QHBoxLayout(); commandButtonBoxLayouts[i]->setContentsMargins(0, 0, 0, 0); commandButtonBoxBaseLayout->addLayout(commandButtonBoxLayouts[i]); } } commandButtonBox.setLayout(commandButtonBoxBaseLayout); layoutCommandButtons(); } void TaskView::activate(bool on) { impl->activate(on, false); } void TaskViewImpl::activate(bool on, bool forceUpdate) { if(on != isActive || forceUpdate){ isActive = on; cancelButton.setEnabled(on); defaultCommandButton.setEnabled(on); autoModeToggle.setEnabled(on); phaseLabel.setEnabled(on); commandButtonBox.setEnabled(on); if(on){ mv->notify(QString(_("Task sequencer '%1' has been activated.")).arg(self->windowTitle())); } else { mv->notify(QString(_("Task sequencer '%1' has been deactivated.")).arg(self->windowTitle())); } if(currentTask && !isNoExecutionMode){ if(on){ currentTask->onActivated(self); } else { currentTask->onDeactivated(self); } } } } bool TaskView::isActive() { return impl->isActive; } void TaskView::addTask(Task* task) { impl->addTask(task); } void TaskViewImpl::addTask(Task* task) { taskCombo.blockSignals(true); if(tasks.empty()){ taskCombo.clear(); } tasks.push_back(TaskInfo(task)); taskCombo.addItem(task->name().c_str()); taskCombo.blockSignals(false); sigTaskAdded(task); if(tasks.size() == 1){ setCurrentTask(0, true); } os << boost::format(_("Task \"%1%\" has been added.")) % task->name() << endl; } bool TaskView::updateTask(Task* task) { return impl->updateTask(task); } bool TaskViewImpl::updateTask(Task* task) { bool updated = false; int index = taskCombo.findText(task->name().c_str()); if(index < 0 || index >= tasks.size()){ addTask(task); } else { if(isWaiting()){ mv->putln(MessageView::WARNING, boost::format(_("Task \"%1%\" cannot be updated now because it is wating for a command to finish.")) % task->name()); } else { TaskInfo& info = tasks[index]; TaskPtr oldTask = info.task; info.task = task; bool doEmitSignals = task != oldTask; if(index != currentTaskIndex){ if(doEmitSignals){ sigTaskRemoved(oldTask); sigTaskAdded(task); } } else { info.state = new Mapping(); if(isExecutionEnabled()){ oldTask->storeState(self, *info.state); } if(doEmitSignals){ sigTaskRemoved(oldTask); } setCurrentTask(index, true); if(doEmitSignals){ sigTaskAdded(task); } if(isExecutionEnabled()){ task->restoreState(self, *info.state); } } os << boost::format(_("Task \"%1%\" has been updated with the new one.")) % task->name() << endl; updated = true; } } return updated; } /** \note This function is not implemented yet */ bool TaskView::removeTask(Task* task) { return false; } SignalProxy TaskView::sigTaskAdded() { return impl->sigTaskAdded; } void TaskView::clearTasks() { impl->clearTasks(); } void TaskViewImpl::clearTasks() { while(!tasks.empty()){ sigTaskRemoved(tasks.back().task); tasks.pop_back(); } } SignalProxy TaskView::sigTaskRemoved() { return impl->sigTaskRemoved; } int TaskView::numTasks() const { return impl->tasks.size(); } Task* TaskView::task(int index) { if(index >=0 && index < impl->tasks.size()){ return impl->tasks[index].task; } return 0; } int TaskView::currentTaskIndex() const { return impl->currentTaskIndex; } bool TaskView::setCurrentTask(int taskIndex) { if(TRACE_FUNCTIONS){ cout << "TaskView::setCurrentTask(" << taskIndex << ")" << endl; } return impl->setCurrentTask(taskIndex, false); } SignalProxy TaskView::sigCurrentTaskChanged() { return impl->sigCurrentTaskChanged; } int TaskView::currentPhaseIndex() const { return impl->currentPhaseIndex_; } void TaskView::setCurrentPhase(int phaseIndex) { if(TRACE_FUNCTIONS){ cout << "TaskView::setCurrentPhase(" << phaseIndex << ")" << endl; } impl->setPhaseIndex(phaseIndex, false); } SignalProxy TaskView::sigCurrentPhaseChanged() { return impl->sigCurrentPhaseChanged; } int TaskView::currentCommandIndex() const { return (impl->currentCommandIndex < 0) ? -1 : impl->currentCommandIndex; } SignalProxy TaskView::sigCurrentCommandChanged() { return impl->sigCurrentCommandChanged; } bool TaskView::isBusy() const { return impl->isBusy; } SignalProxy TaskView::sigBusyStateChanged() { return impl->sigBusyStateChanged; } void TaskView::cancelCurrentCommand() { impl->cancelWaiting(true); } SignalProxy TaskView::sigCurrentCommandCanceled() { return impl->sigCurrentCommandCanceled; } bool TaskView::isAutoMode() const { return impl->autoModeToggle.isChecked(); } bool TaskViewImpl::isAutoMode() const { return autoModeToggle.isChecked(); } void TaskView::setAutoMode(bool on) { if(TRACE_FUNCTIONS){ cout << "TaskView::setAutoMode(" << on << ")" << endl; } impl->autoModeToggle.setChecked(on); } SignalProxy TaskView::sigAutoModeToggled() { return impl->autoModeToggle.sigToggled(); } void TaskView::setNoExecutionMode(bool on) { impl->isNoExecutionMode = on; } bool TaskView::isNoExecutionMode() const { return impl->isNoExecutionMode; } void TaskView::executeCommand(int commandIndex) { setCurrentCommand(commandIndex, true); } void TaskView::setCurrentCommand(int commandIndex, bool doExecution) { if(TRACE_FUNCTIONS){ cout << "TaskView::setCurrentCommand(" << commandIndex << ", " << doExecution << ")" << endl; } if(impl->currentPhase){ if(commandIndex < impl->currentPhase->numCommands()){ impl->setCurrentCommandIndex(commandIndex); if(doExecution){ impl->executeCommandSuccessively(commandIndex); } } } } bool TaskViewImpl::setCurrentTask(int index, bool forceUpdate) { if(index < 0 || index >= tasks.size()){ return false; } bool changed = index != currentTaskIndex; if(!changed && !forceUpdate){ return false; } if(taskCombo.currentIndex() != index){ taskCombo.blockSignals(true); taskCombo.setCurrentIndex(index); taskCombo.blockSignals(false); } if(changed && currentTaskIndex >= 0){ TaskInfo& old = tasks[currentTaskIndex]; old.state = new Mapping(); if(isExecutionEnabled()){ old.task->storeState(self, *old.state); old.task->onDeactivated(self); } } TaskInfo& info = tasks[index]; currentTask = info.task; currentTaskIndex = index; currentPhaseIndex_ = -1; currentPhase.reset(); setPhaseIndex(0, false); lastUsualPhaseIndex = currentPhaseIndex_; configPhaseIndex = std::max(0, currentTask->numPhases() - 1); if(isExecutionEnabled()){ info.task->onActivated(self); } if(changed){ sigCurrentTaskChanged(); } return true; } void TaskViewImpl::setCurrentTaskByName(const std::string& name) { if(currentTask && currentTask->name() == name){ return; } for(size_t i=0; i < tasks.size(); ++i){ Task* task = tasks[i].task; if(task->name() == name){ setCurrentTask(i, false); break; } } } CommandButton* TaskViewImpl::getOrCreateCommandButton(int commandIndex) { CommandButton* button; if(commandIndex < commandButtons.size()){ button = commandButtons[commandIndex]; } else { button = new CommandButton(&commandButtonBox); button->sigClicked().connect(boost::bind(&TaskViewImpl::onCommandButtonClicked, this, commandIndex)); commandButtons.push_back(button); /** \note the tab focus order should not be set to command buttons by the setTabOrder function because it causes unexpected focus changes after pushing a command button */ } return button; } void TaskViewImpl::layoutCommandButtons() { int numVisibleButtons = 0; for(int i=0; i < commandButtonBoxLayouts.size(); ++i){ QBoxLayout* layout = commandButtonBoxLayouts[i]; QLayoutItem* child; while((child = layout->takeAt(0)) != 0) { delete child; } } if(!currentPhase){ CommandButton* button = getOrCreateCommandButton(0); button->setText("-"); button->setEnabled(false); button->setToolTip(QString()); commandButtonBoxLayouts[0]->addWidget(button); button->show(); numVisibleButtons = 1; } else { numVisibleButtons = currentPhase->numCommands(); for(int i=0; i < numVisibleButtons; ++i){ CommandButton* button = getOrCreateCommandButton(i); TaskCommand* command = currentPhase->command(i); button->setText(command->caption().c_str()); button->setToolTip(command->description().c_str()); button->setEnabled(!isBusy); button->setDown(false); if(isVerticalLayout){ button->setSizePolicy(QSizePolicy::Maximum, QSizePolicy::Preferred); commandButtonBoxLayouts[0]->addWidget(button, 0, Qt::AlignHCenter); } else { int level = std::min(command->level(), (int)commandButtonBoxLayouts.size() - 1); QBoxLayout* layout = commandButtonBoxLayouts[level]; button->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred); layout->addWidget(button); } button->show(); } } for(int i=1; i < commandButtonBoxLayouts.size(); ++i){ commandButtonBoxLayouts[i]->insertStretch(0); commandButtonBoxLayouts[i]->addStretch(); } for(size_t i = numVisibleButtons; i < commandButtons.size(); ++i){ commandButtons[i]->hide(); } } bool TaskViewImpl::setCurrentCommandIndex(int index) { for(size_t i=0; i < commandButtons.size(); ++i){ commandButtons[i]->setDown(false); } if(isBusy && index >= 0 && index < commandButtons.size()){ commandButtons[index]->setDown(true); } bool changed = (index != currentCommandIndex); currentCommandIndex = index; return changed; } void TaskView::setBusyState(bool on) { impl->setBusyState(on); } void TaskViewImpl::setBusyState(bool on) { if(TRACE_FUNCTIONS){ cout << "TaskViewImpl::setBusyState(" << on << ")" << endl; } if(on != isBusy){ if(TRACE_FUNCTIONS){ cout << "on != isBusy" << endl; } isBusy = on; for(size_t i=0; i < commandButtons.size(); ++i){ commandButtons[i]->setDown(false); commandButtons[i]->setEnabled(!isBusy); } if(isBusy && currentCommandIndex >= 0 && currentCommandIndex < commandButtons.size()){ commandButtons[currentCommandIndex]->setDown(true); } cancelButton.setEnabled(isBusy); MessageView::instance()->flush(); sigBusyStateChanged(); } } void TaskViewImpl::setFocusToCommandButton(int commandIndex) { if(commandIndex >= 0 && commandIndex < commandButtons.size()){ QWidget* widget = QApplication::focusWidget(); while(widget){ if(widget == self){ commandButtons[commandIndex]->setFocus(Qt::OtherFocusReason); break; } widget = widget->parentWidget(); } } } int TaskViewImpl::currentPhaseIndex() const { return currentPhaseIndex_; } int TaskViewImpl::getClosestNextPhaseIndex(int phaseIndex) { int closest = phaseIndex; int distance = std::numeric_limits::max(); if(currentTask){ TaskPhase* phase = currentTask->phase(phaseIndex); if(phase){ for(int i = 0; i < phase->numCommands(); ++i){ TaskCommand* command = phase->command(i); if(command){ int nextIndex = command->nextPhaseIndex(phaseIndex); if(nextIndex != phaseIndex && abs(nextIndex - phaseIndex) < distance){ closest = nextIndex; distance = abs(nextIndex - phaseIndex); } } } } } return closest; } int TaskViewImpl::getLoopBackPhaseIndex(int phaseIndex) { int loopBackIndex = phaseIndex; if(currentTask){ TaskPhase* phase = currentTask->phase(phaseIndex); if(phase){ for(int i = phase->numCommands() - 1; i >=0; --i){ TaskCommand* command = phase->command(i); if(command){ int nextIndex = command->nextPhaseIndex(phaseIndex); if(nextIndex < phaseIndex){ loopBackIndex = nextIndex; break; } } } } } return loopBackIndex; } void TaskViewImpl::setPhaseIndex(int index, bool isSuccessivelyCalled) { if(TRACE_FUNCTIONS){ cout << "TaskViewImpl::setPhaseIndex(" << index << ", " << isSuccessivelyCalled << ")" << endl; } cancelWaiting(false); int numPhases = 0; if(currentTask){ numPhases = currentTask->numPhases(); } int prevPhaseIndex = currentPhaseIndex_; currentPhaseIndex_ = std::max(0, std::min(index, numPhases - 1)); // check if the phase should be skipped if(isSuccessivelyCalled){ std::set skippedIndices; while(true){ if(skippedIndices.find(currentPhaseIndex_) == skippedIndices.end()){ if(currentPhaseIndex_ >= 0 && currentPhaseIndex_ < numPhases){ TaskPhase* phase = currentTask->phase(currentPhaseIndex_); if(phase->isSkipped()){ skippedIndices.insert(currentPhaseIndex_); currentPhaseIndex_ = getClosestNextPhaseIndex(currentPhaseIndex_); continue; } } } break; } } prevButton.setEnabled(currentPhaseIndex_ > 0); nextButton.setEnabled( (currentPhaseIndex_ < numPhases - 1) || (getLoopBackPhaseIndex(currentPhaseIndex_) < numPhases - 1)); if(numPhases == 0){ currentPhase = 0; phaseLabel.setText("No phase"); phaseLabel.show(); } else { currentPhase = currentTask->phase(currentPhaseIndex_); if(currentPhase->caption().empty()){ phaseLabel.setText(""); phaseLabel.hide(); } else { phaseLabel.setText(currentPhase->caption().c_str()); phaseLabel.show(); } } phaseIndexSpinConnection.block(); phaseIndexSpin.setRange(0, numPhases); phaseIndexSpin.setValue(currentPhaseIndex_); phaseIndexSpinConnection.unblock(); phaseIndexSpin.setSuffix(QString(" / %1").arg(numPhases - 1)); layoutCommandButtons(); if(currentPhaseIndex_ != prevPhaseIndex){ sigCurrentPhaseChanged(); } if(isExecutionDisabled()){ return; } bool nextCommandProcessed = false; if(isSuccessivelyCalled && currentPhase){ if(nextCommandIndex){ if(*nextCommandIndex < 0 || autoModeToggle.isChecked()){ setCurrentCommandIndex(NO_CURRENT_COMMAND); executeCommandSuccessively(*nextCommandIndex); nextCommandProcessed = true; } } } if(!nextCommandProcessed){ setBusyState(false); bool doEmit = currentCommandIndex >= 0; setCurrentCommandIndex(NO_CURRENT_COMMAND); if(doEmit){ sigCurrentCommandChanged(); } } } void TaskViewImpl::executeCommandSuccessively(int commandIndex) { if(TRACE_FUNCTIONS){ cout << "TaskViewImpl::executeCommandSuccessively(" << commandIndex << ")" << endl; } cancelWaiting(false); nextCommandIndex = boost::none; setBusyState(true); if(!currentTask || !currentPhase){ setBusyState(false); } else { nextPhaseIndex = currentPhaseIndex_; TaskFunc commandFunc; if(commandIndex < 0){ int defaultCommandIndex = -1; for(int i=0; i < currentPhase->numCommands(); ++i){ TaskCommand* command = currentPhase->command(i); if(command->isDefault()){ defaultCommandIndex = i; break; } } commandFunc = currentPhase->preCommand(); if(defaultCommandIndex >= 0){ if(commandFunc){ nextCommandIndex = defaultCommandIndex; setCommandLinkAutomatic(); } else { commandIndex = defaultCommandIndex; } } } if(commandIndex >= 0){ TaskCommand* command = currentPhase->command(commandIndex); if(command){ commandFunc = command->function(); nextPhaseIndex = command->nextPhaseIndex(currentPhaseIndex_); if(nextPhaseIndex >= currentTask->numPhases()){ nextPhaseIndex = boost::none; } nextCommandIndex = command->nextCommandIndex(commandIndex); } } setFocusToCommandButton(commandIndex < 0 ? 0 : commandIndex); bool doEmit = commandIndex != currentCommandIndex; if(setCurrentCommandIndex(commandIndex)){ sigCurrentCommandChanged(); } if(commandFunc){ commandFunc(this); } setTransitionToNextCommand(); } } void TaskViewImpl::setTransitionToNextCommand() { if(TRACE_FUNCTIONS){ cout << "TaskViewImpl::setTransitionToNextCommand()" << endl; } bool isNextDispatched = false; goToNextCommandLater.cancel(); if(!eventLoop.isRunning()){ if(nextPhaseIndex && *nextPhaseIndex != currentPhaseIndex_){ nextCommandIndex = -1; goToNextCommandLater.setFunction(boost::bind(&TaskViewImpl::setPhaseIndex, this, *nextPhaseIndex, true)); goToNextCommandLater(); isNextDispatched = true; } else { if(nextCommandIndex && *nextCommandIndex != currentCommandIndex){ int index = *nextCommandIndex; nextCommandIndex = boost::none; bool executeNext = autoModeToggle.isChecked(); if(!executeNext){ if(currentCommandIndex >= 0){ TaskCommand* command = currentPhase->command(currentCommandIndex); if(command && command->isCommandLinkAutomatic()){ executeNext = true; } } else if(forceCommandLinkAutomatic){ executeNext = true; } } setFocusToCommandButton(index); if(setCurrentCommandIndex(index)){ sigCurrentCommandChanged(); } if(executeNext){ goToNextCommandLater.setFunction(boost::bind(&TaskViewImpl::executeCommandSuccessively, this, index)); goToNextCommandLater(); isNextDispatched = true; } } } } forceCommandLinkAutomatic = false; if(!isNextDispatched){ setBusyState(false); } } void TaskViewImpl::retry() { breakSequence(); nextCommandIndex = -1; setPhaseIndex(0, false); } void TaskViewImpl::onCommandButtonClicked(int commandIndex) { if(TRACE_FUNCTIONS){ cout << "TaskViewImpl::onCommandButtonClicked(" << commandIndex << ")" << endl; } if(isExecutionEnabled()){ executeCommandSuccessively(commandIndex); } else { setBusyState(true); setCurrentCommandIndex(commandIndex); sigCurrentCommandChanged(); } } void TaskViewImpl::onNextOrPrevButtonClicked(int direction) { if(TRACE_FUNCTIONS){ cout << "TaskViewImpl::onNextOrPrevButtonClicked(" << direction << ")" << endl; } int index = currentPhaseIndex_ + direction; if(currentPhase && index == currentTask->numPhases()){ index = getLoopBackPhaseIndex(currentPhaseIndex_); } setPhaseIndex(index, false); } void TaskViewImpl::breakSequence() { nextPhaseIndex = boost::none; nextCommandIndex = boost::none; mv->putln(MessageView::HIGHLIGHT, "Transition to the next task-command was interrupted."); } void TaskViewImpl::setNextCommand(int commandIndex) { nextCommandIndex = commandIndex; } void TaskViewImpl::setNextPhase(int phaseIndex) { nextPhaseIndex = phaseIndex; } void TaskViewImpl::setCommandLinkAutomatic() { forceCommandLinkAutomatic = true; } bool TaskViewImpl::executeCommand(int commandIndex) { bool completed = false; if(currentPhase){ TaskCommand* command = currentPhase->command(commandIndex); if(command){ TaskFunc func = command->function(); if(func){ int callerCommandIndex = currentCommandIndex; setCurrentCommandIndex(commandIndex); isPendingCommandCompleted = false; func(this); QCoreApplication::processEvents(QEventLoop::AllEvents, 10); setCurrentCommandIndex(callerCommandIndex); completed = isPendingCommandCompleted; } } } return completed; } bool TaskViewImpl::wait(double sec) { bool completed = false; if(!eventLoop.isRunning()){ waitTimer.start(sec * 1000.0); isPendingCommandCompleted = false; eventLoop.exec(QEventLoop::AllEvents); completed = isPendingCommandCompleted; } if(!completed){ breakSequence(); } return completed; } bool TaskViewImpl::waitForCommandToFinish(double timeout) { bool completed = false; if(!eventLoop.isRunning()){ isPendingCommandCompleted = false; if(timeout > 0.0){ commandTimer.start(timeout * 1000.0); } else { commandTimer.stop(); } eventLoop.exec(QEventLoop::AllEvents); completed = isPendingCommandCompleted; } if(!completed){ breakSequence(); } return completed; } bool TaskViewImpl::waitForCommandToFinish(Connection connection, double timeout) { bool completed = false; if(!eventLoop.isRunning()){ commandConnection = connection; completed = waitForCommandToFinish(timeout); } commandConnection.disconnect(); return completed; } void TaskViewImpl::notifyCommandFinish(bool isCompleted) { stopWaiting(isCompleted); } bool TaskViewImpl::isWaiting() const { return eventLoop.isRunning(); } void TaskViewImpl::cancelWaiting(bool doBreak) { if(isExecutionDisabled()){ if(doBreak){ setBusyState(false); sigCurrentCommandCanceled(); } } else { if(eventLoop.isRunning()){ autoModeToggle.setChecked(false); // stop the auto mode, too nextPhaseIndex = boost::none; nextCommandIndex = boost::none; stopWaiting(false); } if(doBreak){ goToNextCommandLater.cancel(); setBusyState(false); sigCurrentCommandCanceled(); } } } bool TaskViewImpl::stopWaiting(bool isCompleted) { if(eventLoop.isRunning()){ isPendingCommandCompleted = isCompleted; eventLoop.quit(); waitTimer.stop(); commandTimer.stop(); return true; } return false; } void TaskViewImpl::onWaitTimeout() { if(eventLoop.isRunning()){ isPendingCommandCompleted = true; eventLoop.quit(); } } void TaskViewImpl::onUsualPhaseButtonClicked() { setPhaseIndex(lastUsualPhaseIndex, false); } void TaskViewImpl::onConfigPhaseButtonClicked() { if(currentPhaseIndex_ < configPhaseIndex){ lastUsualPhaseIndex = currentPhaseIndex_; } setPhaseIndex(configPhaseIndex, false); } void TaskViewImpl::onMenuButtonClicked() { if(isNoExecutionMode){ sigMenuRequest(); } else { updateMenuItems(true); } } void TaskViewImpl::updateMenuItems(bool doPopup) { menuItems.clear(); menuConnections.disconnect(); menuManager.setNewPopupMenu(self); if(currentTask){ currentTask->onMenuRequest(*this); } if(menuManager.numItems() > 0){ menuManager.addSeparator(); } addMenuItem(_("Retry"), boost::bind(&TaskViewImpl::retry, this)); Action* verticalCheck = menuManager.addCheckItem(_("Vertical Layout")); verticalCheck->setChecked(isVerticalLayout); verticalCheck->sigToggled().connect(boost::bind(&TaskViewImpl::doLayout, this, _1)); if(doPopup){ menuManager.popupMenu()->popup(menuButton.mapToGlobal(QPoint(0,0))); } } void TaskViewImpl::addMenuItem(const std::string& caption, boost::function func) { int index = menuItems.size(); MenuItem menuItem; menuItem.action = menuManager.addItem(caption.c_str()); menuConnections.add( menuItem.action->sigTriggered().connect( boost::bind(&TaskViewImpl::onMenuItemTriggered, this, index))); if(func){ menuItem.func = func; } menuItems.push_back(menuItem); } void TaskViewImpl::addCheckMenuItem(const std::string& caption, bool isChecked, boost::function func) { int index = menuItems.size(); MenuItem menuItem; menuItem.action = menuManager.addCheckItem(caption.c_str()); menuItem.action->setChecked(isChecked); menuConnections.add( menuItem.action->sigToggled().connect( boost::bind(&TaskViewImpl::onMenuItemToggled, this, index, _1))); if(func){ menuItem.checkFunc = func; } menuItems.push_back(menuItem); } void TaskViewImpl::addMenuSeparator() { menuManager.addSeparator(); } void TaskViewImpl::onMenuItemTriggered(int index) { MenuItem& item = menuItems[index]; if(isNoExecutionMode){ sigMenuItemTriggered(index); } else { if(item.func){ item.func(); } } } void TaskViewImpl::onMenuItemToggled(int index, bool on) { MenuItem& item = menuItems[index]; if(isNoExecutionMode){ sigMenuItemToggled(index, on); } else { if(item.checkFunc){ item.checkFunc(on); } } } void TaskView::executeMenuItem(int index) { impl->applyMenuItem(index, true); } void TaskView::checkMenuItem(int index, bool on) { impl->applyMenuItem(index, on); } void TaskViewImpl::applyMenuItem(int index, bool on) { if(isExecutionEnabled()){ updateMenuItems(false); if(index >= 0 && index < menuItems.size()){ MenuItem& item = menuItems[index]; if(item.func){ item.func(); } else if(item.checkFunc){ item.checkFunc(on); } } } } boost::dynamic_bitset<> TaskView::menuItemCheckStates() const { boost::dynamic_bitset<> states; impl->updateMenuItems(false); int n = impl->menuItems.size(); states.resize(n); for(int i=0; i < n; ++i){ Action* action = impl->menuItems[i].action; if(action){ states[i] = action->isChecked(); } } return states; } SignalProxy TaskView::sigMenuRequest() { return impl->sigMenuRequest; } void TaskView::showMenu(boost::dynamic_bitset<> checkStates) { impl->updateMenuItems(true); impl->menuConnections.block(); int n = impl->menuItems.size(); for(int i=0; i < n; ++i){ Action* action = impl->menuItems[i].action; if(action && action->isCheckable()){ action->setChecked(checkStates[i]); } } impl->menuConnections.unblock(); } SignalProxy TaskView::sigMenuItemTriggered() { return impl->sigMenuItemTriggered; } SignalProxy TaskView::sigMenuItemToggled() { return impl->sigMenuItemToggled; } bool TaskView::storeState(Archive& archive) { archive.write("layoutMode", impl->isVerticalLayout ? "vertical" : "horizontal"); archive.write("isAutoMode", impl->autoModeToggle.isChecked()); if(impl->currentTask){ archive.write("currentTask", impl->currentTask->name()); } return true; } bool TaskView::restoreState(const Archive& archive) { string layoutMode; if(archive.read("layoutMode", layoutMode)){ if(layoutMode == "horizontal"){ impl->doLayout(false); } else if(layoutMode == "vertical"){ impl->doLayout(true); } } impl->autoModeToggle.setChecked(archive.get("isAutoMode", false)); string name; if(archive.read("currentTask", name)){ archive.addPostProcess(boost::bind(&TaskViewImpl::setCurrentTaskByName, impl, name), 1); } return true; } choreonoid-1.5.0/src/Base/TextEdit.cpp0000664000000000000000000000262212741425367016262 0ustar rootroot/** @author Shizuko Hattori @author Shin'ichiro Nakaoka */ #include "TextEdit.h" using namespace cnoid; PlainTextEdit::PlainTextEdit(QWidget* parent) : QPlainTextEdit(parent) { connect(this, SIGNAL(cursorPositionChanged()), this, SLOT(onCursorPositionChanged())); } void PlainTextEdit::onCursorPositionChanged() { sigCursorPositionChanged_(); } TextEdit::TextEdit(QWidget* parent) : QTextEdit(parent) { vScrollBar = verticalScrollBar(); connect(this, SIGNAL(currentCharFormatChanged(const QTextCharFormat&)), this, SLOT(onCurrentCharFormatChanged(const QTextCharFormat&))); connect(this, SIGNAL(cursorPositionChanged()), this, SLOT(onCursorPositionChanged())); connect(vScrollBar, SIGNAL(valueChanged(int)), this, SLOT(onScroll(int))); } int TextEdit::getScrollPos() { return vScrollBar->value(); } void TextEdit::setScrollPos(int pos) { vScrollBar->setValue(pos); } int TextEdit::maxScrollPos() { return vScrollBar->maximum(); } int TextEdit::scrollSingleStep() { return vScrollBar->singleStep(); } void TextEdit::onCurrentCharFormatChanged(const QTextCharFormat& f) { sigCurrentCharFormatChanged_(boost::ref(f)); } void TextEdit::onCursorPositionChanged() { sigCursorPositionChanged_(); } void TextEdit::onScroll(int value) { sigScroll_(value); } choreonoid-1.5.0/src/Base/SceneDragger.h0000664000000000000000000000151512741425367016526 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_SCENE_DRAGGER_H #define CNOID_BASE_SCENE_DRAGGER_H #include "SceneWidgetEditable.h" #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT SceneDragger : public SgPosTransform, public SceneWidgetEditable { public: SceneDragger(); SceneDragger(const SceneDragger& org); SceneDragger(const SceneDragger& org, SgCloneMap& cloneMap); bool isContainerMode() const { return isContainerMode_; } void setContainerMode(bool on); virtual bool isDragging() const = 0; virtual Affine3 draggedPosition() const = 0; protected: static bool detectAxisFromNodePath(const SgNodePath& path, SgNode* topNode, int& out_axis, int& out_indexOfTopNode); private: bool isContainerMode_; }; typedef ref_ptr SceneDraggerPtr; } #endif choreonoid-1.5.0/src/Base/AppUtil.h0000664000000000000000000000034612741425367015554 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_APP_UTIL_H #define CNOID_BASE_APP_UTIL_H #include #include "exportdecl.h" namespace cnoid { CNOID_EXPORT SignalProxy sigAboutToQuit(); } #endif choreonoid-1.5.0/src/Base/TaskView.h0000664000000000000000000000456312741425367015740 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_TASK_VIEW_H #define CNOID_BASE_TASK_VIEW_H #include #include #include #include "exportdecl.h" namespace cnoid { class TaskViewImpl; class CNOID_EXPORT TaskView : public View, public AbstractTaskSequencer { public: static void initializeClass(ExtensionManager* ext); static TaskView* instance(); TaskView(); ~TaskView(); virtual void activate(bool on = true); virtual bool isActive(); virtual void addTask(Task* task); virtual bool updateTask(Task* task); virtual bool removeTask(Task* task); virtual SignalProxy sigTaskAdded(); virtual SignalProxy sigTaskRemoved(); virtual void clearTasks(); virtual int numTasks() const; virtual Task* task(int index); virtual int currentTaskIndex() const; virtual bool setCurrentTask(int taskIndex); virtual SignalProxy sigCurrentTaskChanged(); virtual int currentPhaseIndex() const; virtual void setCurrentPhase(int phaseIndex); virtual SignalProxy sigCurrentPhaseChanged(); virtual int currentCommandIndex() const; virtual void executeCommand(int commandIndex); virtual SignalProxy sigCurrentCommandChanged(); virtual bool isBusy() const; virtual SignalProxy sigBusyStateChanged(); virtual void cancelCurrentCommand(); virtual SignalProxy sigCurrentCommandCanceled(); virtual bool isAutoMode() const; virtual void setAutoMode(bool on); virtual SignalProxy sigAutoModeToggled(); void setNoExecutionMode(bool on); bool isNoExecutionMode() const; void setCurrentCommand(int commandIndex, bool doExecution); void setBusyState(bool on); void executeMenuItem(int index); void checkMenuItem(int index, bool on); boost::dynamic_bitset<> menuItemCheckStates() const; // valid for the no execution mode SignalProxy sigMenuRequest(); void showMenu(boost::dynamic_bitset<> checkStates); SignalProxy sigMenuItemTriggered(); SignalProxy sigMenuItemToggled(); protected: virtual bool storeState(Archive& archive); virtual bool restoreState(const Archive& archive); private: TaskViewImpl* impl; }; } #endif choreonoid-1.5.0/src/Base/ComboBox.h0000664000000000000000000000256012741425367015706 0ustar rootroot/** @author Shin'ichiro NAKAOKA */ #ifndef CNOID_BASE_COMBO_BOX_H #define CNOID_BASE_COMBO_BOX_H #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT ComboBox : public QComboBox { Q_OBJECT public: ComboBox(QWidget* parent = 0); void enableI18n(const char* domainname); void addI18nItem(const char* text); void addI18nItem(const QIcon & icon, const char* text); QString currentOrgText() const; int findOrgText(const std::string& text, bool setFoundItemCurrent = false); SignalProxy sigActivated() { return sigActivated_; } SignalProxy sigCurrentIndexChanged() { return sigCurrentIndexChanged_; } SignalProxy sigEditTextChanged() { return sigEditTextChanged_; } SignalProxy sigHighlighted() { return sigHighlighted_; } private Q_SLOTS: void onActivated(int index); void onCurrentIndexChanged(int index); void onEditTextChanged(const QString& text); void onHighlighted(int index); private: bool isI18nEnabled; std::string domainName; Signal sigActivated_; Signal sigCurrentIndexChanged_; Signal sigEditTextChanged_; Signal sigHighlighted_; }; } #endif choreonoid-1.5.0/src/Base/LineEdit.cpp0000664000000000000000000000261712741425367016231 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "LineEdit.h" using namespace cnoid; LineEdit::LineEdit(QWidget* parent) : QLineEdit(parent) { initialize(); } LineEdit::LineEdit(const QString& contents, QWidget* parent) : QLineEdit(contents, parent) { initialize(); } void LineEdit::initialize() { connect(this, SIGNAL(cursorPositionChanged(int, int)), this, SLOT(onCursorPositionChanged(int, int))); connect(this, SIGNAL(editingFinished()), this, SLOT(onEditingFinished())); connect(this, SIGNAL(returnPressed()), this, SLOT(onReturnPressed())); connect(this, SIGNAL(selectionChanged()), this, SLOT(onSelectionChanged())); connect(this, SIGNAL(textChanged(const QString&)), this, SLOT(onTextChanged(const QString&))); connect(this, SIGNAL(textEdited(const QString&)), this, SLOT(onTextEdited(const QString&))); } void LineEdit::onCursorPositionChanged(int oldpos, int newpos) { sigCursorPositionChanged_(oldpos, newpos); } void LineEdit::onEditingFinished() { sigEditingFinished_(); } void LineEdit::onReturnPressed() { sigReturnPressed_(); } void LineEdit::onSelectionChanged() { sigSelectionChanged_(); } void LineEdit::onTextChanged(const QString& text) { sigTextChanged_(text); } void LineEdit::onTextEdited(const QString& text) { sigTextEdited_(text); } choreonoid-1.5.0/src/Base/CMakeLists.txt0000664000000000000000000001214412741425367016564 0ustar rootroot # @author Shin'ichiro Nakaoka #set(CMAKE_BUILD_TYPE Debug) #set_source_files_properties(SceneWidget.cpp PROPERTIES COMPILE_FLAGS "-O0 -g") set(sources App.cpp MenuManager.cpp Menu.cpp ProjectManager.cpp ParametricPathProcessor.cpp PathVariableEditor.cpp PluginManager.cpp MainWindow.cpp ViewArea.cpp ToolBarArea.cpp InfoBar.cpp ViewManager.cpp View.cpp MessageView.cpp ItemManager.cpp Item.cpp RootItem.cpp ItemPath.cpp ItemTreeView.cpp ItemPropertyView.cpp SelectionListEditor.cpp MultiSeqItemCreationPanel.cpp ToolBar.cpp TimeBar.cpp ScriptBar.cpp FileBar.cpp CaptureBar.cpp GraphWidget.cpp GraphBar.cpp GraphViewBase.cpp MultiValueSeqGraphView.cpp MultiSE3SeqGraphView.cpp Process.cpp Action.cpp ActionGroup.cpp SpinBox.cpp FloatingNumberBox.cpp ScrollBar.cpp Slider.cpp Splitter.cpp Buttons.cpp ButtonGroup.cpp CheckBox.cpp LineEdit.cpp ComboBox.cpp Dialog.cpp DescriptionDialog.cpp Timer.cpp SocketNotifier.cpp ImageWidget.cpp TreeView.cpp TreeWidget.cpp ItemSelectionModel.cpp ExtensionManager.cpp OptionManager.cpp Plugin.cpp FolderItem.cpp AbstractSeqItem.cpp MultiValueSeqItem.cpp MultiSE3SeqItem.cpp MultiAffine3SeqItem.cpp Vector3SeqItem.cpp ExtCommandItem.cpp AbstractTextItem.cpp ScriptItem.cpp TimeSyncItemEngine.cpp AppConfig.cpp AppUtil.cpp Archive.cpp ItemTreeArchiver.cpp LazyCaller.cpp LazySignal.cpp Licenses.cpp GLSceneRenderer.cpp SceneWidget.cpp SceneWidgetEditable.cpp InteractiveCameraTransform.cpp SceneProjector.cpp SceneDragProjector.cpp SceneDragger.cpp TranslationDragger.cpp RotationDragger.cpp PositionDragger.cpp RectRegionMarker.cpp SceneView.cpp SceneBar.cpp SceneItem.cpp PointSetItem.cpp MultiPointSetItem.cpp MovieRecorder.cpp TextEditView.cpp ImageView.cpp TextEdit.cpp TaskView.cpp VirtualJoystickView.cpp ) if(CMAKE_SYSTEM_NAME STREQUAL Linux) set(sources ${sources} JoystickCaptureLinux.cpp) elseif(WIN32) #set(sources ${sources} JoystickCaptureWindows.cpp) elseif(APPLE) #set(sources ${sources} JoystickCaptureOSX.cpp) endif() set(headers App.h MainWindow.h Process.h Action.h ActionGroup.h SpinBox.h FloatingNumberBox.h ScrollBar.h Slider.h Splitter.h Buttons.h ButtonGroup.h CheckBox.h LineEdit.h ComboBox.h Dialog.h Timer.h SocketNotifier.h ImageWidget.h TreeView.h TreeWidget.h ItemSelectionModel.h MenuManager.h Menu.h ToolBar.h View.h ViewArea.h ViewManager.h GraphWidget.h GraphViewBase.h ExtensionManager.h OptionManager.h ProjectManager.h PluginManager.h Plugin.h ParametricPathProcessor.h MessageView.h ItemTreeView.h ItemList.h Item.h PutPropertyFunction.h RootItem.h FolderItem.h AbstractSeqItem.h MultiSeqItem.h MultiValueSeqItem.h MultiSE3SeqItem.h MultiAffine3SeqItem.h Vector3SeqItem.h ExtCommandItem.h AbstractTextItem.h ScriptItem.h ItemPath.h TimeBar.h TimeSyncItemEngine.h GraphBar.h ItemManager.h AppConfig.h AppUtil.h Archive.h ItemTreeArchiver.h LazySignal.h LazyCaller.h SceneWidget.h SceneProjector.h SceneDragProjector.h SceneDragger.h TranslationDragger.h RotationDragger.h PositionDragger.h SceneBar.h SceneWidgetEditable.h InteractiveCameraTransform.h RectRegionMarker.h GLSceneRenderer.h SceneView.h SceneItem.h PointSetItem.h MultiPointSetItem.h TextEditView.h ImageView.h JoystickCapture.h exportdecl.h gettext.h TextEdit.h TaskView.h ) set(target CnoidBase) set(qtheaders App.h Menu.h ToolBar.h Process.h Action.h ActionGroup.h SpinBox.h FloatingNumberBox.h ScrollBar.h Slider.h Splitter.h Buttons.h ButtonGroup.h CheckBox.h ComboBox.h LineEdit.h Dialog.h ImageWidget.h TreeView.h TreeWidget.h ItemSelectionModel.h Timer.h SocketNotifier.h InfoBar.h ItemTreeView.h SelectionListEditor.h TextEditView.h TextEdit.h ) if(NOT QT5) QT4_ADD_RESOURCES(RC_SRCS Base.qrc) QT4_WRAP_CPP(sources ${qtheaders} OPTIONS "-DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED" ) else() QT5_ADD_RESOURCES(RC_SRCS Base.qrc) QT5_WRAP_CPP(sources ${qtheaders} OPTIONS "-DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED" ) endif() make_gettext_mofiles(${target} mofiles) add_cnoid_library(${target} SHARED ${sources} ${headers} ${mofiles} ${RC_SRCS}) if(QT5) qt5_use_modules(${target} Gui OpenGL Network Widgets) if(UNIX) qt5_use_modules(${target} X11Extras) endif() endif() if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin") target_link_libraries(${target} CnoidUtil ${QT_LIBRARIES} ${Boost_PROGRAM_OPTIONS_LIBRARY} ${OPENGL_LIBRARIES} ${GLEW_LIBRARIES} intl ) elseif(UNIX) target_link_libraries(${target} CnoidUtil ${QT_LIBRARIES} ${Boost_PROGRAM_OPTIONS_LIBRARY} ${OPENGL_LIBRARY} ${GLEW_LIBRARIES} icuuc GLEW Xfixes ) elseif(MSVC) target_link_libraries(${target} ${QT_LIBRARIES} general glu32 CnoidUtil ${GLEW_LIBRARIES} ) endif() apply_common_setting_for_library(${target} "${headers}") if(ENABLE_PYTHON) add_subdirectory(python) endif() choreonoid-1.5.0/src/Base/CaptureBar.cpp0000664000000000000000000001342312741425367016561 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "CaptureBar.h" #include "ExtensionManager.h" #include "MenuManager.h" #include "MessageView.h" #include "MainWindow.h" #include "AppConfig.h" #include "SceneView.h" #include "SceneWidget.h" #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace { Action* includeTabCheck; QString lastCaptureFile; QWidget* lastCaptureWidget; void onIncludeTabToggled(bool on) { AppConfig::archive()->openMapping("CaptureBar")->write("includeTab", on); } bool saveWidgetImage(QWidget* widget, const QString& filename) { SceneView* sceneView = dynamic_cast(widget); if(sceneView){ return sceneView->sceneWidget()->saveImage(filename.toStdString()); } else { QPixmap pixmap(widget->size()); widget->render(&pixmap); return pixmap.save(filename); } } bool saveTabViewImage(QTabWidget* tab, View* view, const QString& filename) { const int n = tab->count(); vector widgets(n); for(int i=0; i < n; ++i){ widgets[i] = tab->widget(i); } tab->clear(); tab->addTab(view, view->windowTitle()); MessageView::instance()->flush(); QPixmap pixmap(tab->size()); tab->render(&pixmap); SceneView* sceneView = dynamic_cast(view); if(sceneView){ QPainter painter(&pixmap); QImage image = sceneView->sceneWidget()->getImage(); QPoint pos = sceneView->mapTo(tab, QPoint(0, 0)); painter.drawImage(pos, image); } bool saved = pixmap.save(filename); tab->clear(); for(int i=0; i < n; ++i){ tab->addTab(widgets[i], widgets[i]->windowTitle()); } tab->setCurrentWidget(view); return saved; } void save(QWidget* widget, boost::function saveImage) { const QString name(widget->windowTitle()); QString filename; QFileDialog dialog(MainWindow::instance()); dialog.setWindowTitle(QString(_("Save the image of %1")).arg(name)); dialog.setFileMode(QFileDialog::AnyFile); dialog.setAcceptMode(QFileDialog::AcceptSave); dialog.setViewMode(QFileDialog::List); dialog.setLabelText(QFileDialog::Accept, _("Save")); dialog.setLabelText(QFileDialog::Reject, _("Cancel")); QStringList filters; filters << _("Any files (*)"); dialog.setNameFilters(filters); MappingPtr config = AppConfig::archive()->openMapping("CaptureBar"); dialog.setDirectory(config->get("directory", QDir::currentPath().toStdString()).c_str()); if(widget != lastCaptureWidget){ lastCaptureFile = QString("%1.png").arg(name); lastCaptureWidget = widget; } dialog.selectFile(lastCaptureFile); if(dialog.exec()){ config->writePath("directory", dialog.directory().absolutePath().toStdString()); filename = dialog.selectedFiles().front(); if(!filename.isEmpty()){ if(saveImage(filename)){ lastCaptureFile = filename; /* MessageView::instance()->putln( QString(_("The image of %1 has successfully been saved into \"%2\".")).arg(name).arg(filename)); */ } else { MessageView::instance()->putln( QString(_("The image of %1 cannot be saved into \"%2\".")).arg(name).arg(filename)); } } } } void captureView(View* view) { QWidget* owner = view->parentWidget(); if(includeTabCheck->isChecked()){ for(int i=0; i < 2; ++i){ QTabWidget* tab = dynamic_cast(owner); if(tab){ save(view, boost::bind(saveTabViewImage, tab, view, _1)); return; } owner = owner->parentWidget(); if(!owner){ break; } } } save(view, boost::bind(saveWidgetImage, view, _1)); } void captureToolbar(ToolBar* bar) { save(bar, boost::bind(saveWidgetImage, bar, _1)); } } void CaptureBar::initialize(ExtensionManager* ext) { static bool initialized = false; if(!initialized){ ext->addToolBar(instance()); MenuManager& mm = ext->menuManager(); MappingPtr config = AppConfig::archive()->openMapping("CaptureBar"); mm.setPath("/Options").setPath(N_("Capture Bar")); includeTabCheck = mm.addCheckItem(_("Include Tab")); includeTabCheck->setChecked(config->get("includeTab", false)); includeTabCheck->sigToggled().connect(onIncludeTabToggled); lastCaptureWidget = 0; initialized = true; } } CaptureBar* CaptureBar::instance() { static CaptureBar* captureBar = new CaptureBar(); return captureBar; } CaptureBar::CaptureBar() : ToolBar(N_("CaptureBar")) { addButton(QIcon(":/Base/icons/scenecapture.png"), _("Capture the image of a view or toolbar")) ->sigClicked().connect(boost::bind(&CaptureBar::grabMouse, this)); } CaptureBar::~CaptureBar() { } void CaptureBar::mouseMoveEvent(QMouseEvent* event) { } void CaptureBar::mousePressEvent(QMouseEvent* event) { if(event->button() == Qt::LeftButton){ releaseMouse(); QWidget* widget = QApplication::widgetAt(event->globalPos()); while(widget){ if(View* view = dynamic_cast(widget)){ captureView(view); break; } else if(ToolBar* bar = dynamic_cast(widget)){ captureToolbar(bar); break; } widget = widget->parentWidget(); } } } choreonoid-1.5.0/src/Base/InfoBar.cpp0000664000000000000000000000441312741425367016050 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "InfoBar.h" #include "View.h" #include #include using namespace std; using namespace cnoid; InfoBar* InfoBar::instance() { static InfoBar* infoBar = new InfoBar(); return infoBar; } InfoBar::InfoBar() { indicatorBase = new QWidget(this); indicatorLayout = new QHBoxLayout(); indicatorLayout->setContentsMargins(0, 0, 0, 0); indicatorLayout->setSpacing(0); indicatorBase->setLayout(indicatorLayout); addPermanentWidget(indicatorBase); currentIndicator = 0; connect(qApp, SIGNAL(focusChanged(QWidget*, QWidget*)), this, SLOT(onFocusChanged(QWidget*, QWidget*))); } InfoBar::~InfoBar() { removeCurrentIndicator(); } void InfoBar::notify(const char* message) { showMessage(message, 5000); } void InfoBar::notify(const std::string& message) { showMessage(QString(message.c_str()), 5000); } void InfoBar::notify(const QString& message) { showMessage(message, 5000); } void InfoBar::setIndicator(QWidget* indicator) { if(indicator != currentIndicator){ removeCurrentIndicator(); if(indicator){ indicatorLayout->addWidget(indicator); indicator->show(); connect(indicator, SIGNAL(destroyed(QObject*)), this, SLOT(onIndicatorDestroyed(QObject*))); currentIndicator = indicator; } } } void InfoBar::removeCurrentIndicator() { if(currentIndicator){ indicatorLayout->removeWidget(currentIndicator); currentIndicator->hide(); currentIndicator->setParent(0); currentIndicator->disconnect(SIGNAL(destroyed(QObject*)), this, SLOT(onIndicatorDestroyed(QObject*))); currentIndicator = 0; } } void InfoBar::onIndicatorDestroyed(QObject* obj) { if(obj == currentIndicator){ currentIndicator = 0; } } void InfoBar::onFocusChanged(QWidget* old, QWidget* now) { QWidget* widget = now; while(widget){ View* view = dynamic_cast(widget); if(view){ QWidget* indicator = view->indicatorOnInfoBar(); if(indicator){ setIndicator(indicator); break; } } widget = widget->parentWidget(); } } choreonoid-1.5.0/src/Base/MainWindow.cpp0000664000000000000000000003731112741425367016607 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "MainWindow.h" #include "ViewArea.h" #include "InfoBar.h" #include "ToolBarArea.h" #include "MenuManager.h" #include "AppConfig.h" #include "TimeBar.h" #include #include #include #if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0) #include #include #else #include #include #endif #include #include "gettext.h" using namespace std; using namespace cnoid; namespace { const bool TRACE_FUNCTIONS = false; MainWindow* mainWindow = 0; #if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0) QSize getAvailableScreenSize() { return QGuiApplication::primaryScreen()->availableSize(); } QSize getScreenSize() { return QGuiApplication::primaryScreen()->size(); } #else QSize getAvailableScreenSize() { return QApplication::desktop()->availableGeometry().size(); } QSize getScreenSize() { return QApplication::desktop()->screenGeometry().size(); } #endif } namespace cnoid { class MainWindowImpl { public: MainWindow* self; MainWindowImpl(MainWindow* self, const char* appName, ExtensionManager* ext); ~MainWindowImpl(); QWidget* centralWidget; QVBoxLayout* centralVBox; std::vector toolBars; ToolBarArea* toolBarArea; ViewArea* viewArea; Action* showViewTabCheck; string appName; MappingPtr config; ArchivePtr initialLayoutArchive; Action* storeLastLayoutCheck; bool isBeforeShowing; bool isBeforeDoingInitialLayout; bool isMaximized; bool isMaximizedJustBeforeFullScreen; bool isFullScreen; bool isGoingToMaximized; QSize normalSize; QSize oldNormalSize; int lastWindowState; QString currentLayoutFolder; Action* fullScreenCheck; void setupMenus(ExtensionManager* ext); void showFirst(); void onFullScreenToggled(bool on); void resizeEvent(QResizeEvent* event); void restoreLayout(ArchivePtr& archive); void resetLayout(); void storeWindowStateConfig(); void keyPressEvent(QKeyEvent* event); }; } MainWindow* MainWindow::initialize(const char* appName, ExtensionManager* ext) { if(!mainWindow){ new MainWindow(appName, ext); } return mainWindow; } MainWindow* MainWindow::instance() { return mainWindow; } MainWindow::MainWindow(const char* appName, ExtensionManager* ext) { mainWindow = this; setWindowTitle(appName); setFocusPolicy(Qt::WheelFocus); impl = new MainWindowImpl(this, appName, ext); } MainWindowImpl::MainWindowImpl(MainWindow* self, const char* appName, ExtensionManager* ext) : self(self), appName(appName) { isBeforeDoingInitialLayout = true; isMaximized = false; isFullScreen = false; isGoingToMaximized = false; config = AppConfig::archive()->openMapping("MainWindow"); centralWidget = new QWidget(self); centralVBox = new QVBoxLayout(centralWidget); centralVBox->setSpacing(0); centralVBox->setContentsMargins(0, 0, 0, 0); toolBarArea = new ToolBarArea(centralWidget); centralVBox->addWidget(toolBarArea); viewArea = new ViewArea(centralWidget); centralVBox->addWidget(viewArea, 1); self->setCentralWidget(centralWidget); setupMenus(ext); self->setStatusBar(InfoBar::instance()); toolBarArea->setInitialLayout(config); isBeforeShowing = true; if(TRACE_FUNCTIONS){ cout << "size = (" << self->width() << ", " << self->height() << ")" << endl; } int width, height; if(config->read("width", width) && config->read("height", height)){ normalSize = QSize(width, height); } else { normalSize = getAvailableScreenSize(); if(TRACE_FUNCTIONS){ cout << "AvailableScreenSize = (" << normalSize.width() << ", " << normalSize.height() << ")" << endl; } static const int defaultSizes[] = { 3840, 2160, 2560, 1600, 1920, 1200, 1680, 1050, 1400, 1050, 1600, 900, 1280, 1024, 1366, 768, 1280, 800, 1280, 768, 1280, 720, 1024, 768, 800, 600, 640, 480, -1, -1, }; int i = 0; while(true){ int w = defaultSizes[i++]; int h = defaultSizes[i++]; if(w < normalSize.width() && h < normalSize.height()){ if(w > 0){ normalSize = QSize(w, h); } break; } } } oldNormalSize = normalSize; if(TRACE_FUNCTIONS){ cout << "normalSize = (" << normalSize.width() << ", " << normalSize.height() << ")" << endl; } lastWindowState = self->windowState(); } void MainWindow::setProjectTitle(const std::string& title) { QString qtitle("%1 - %2"); setWindowTitle(qtitle.arg(title.c_str()).arg(impl->appName.c_str())); } MainWindow::~MainWindow() { if(impl){ delete impl; impl = 0; } } MainWindowImpl::~MainWindowImpl() { } void MainWindowImpl::setupMenus(ExtensionManager* ext) { MenuManager& mm = ext->menuManager(); mm.setPath("/" N_("File")).setBackwardMode().addItem(_("Exit")) ->sigTriggered().connect(boost::bind(&MainWindow::close, self)); mm.setPath("/" N_("Edit")); Menu* viewMenu = static_cast(mm.setPath("/" N_("View")).current()); mm.setPath(N_("Show Toolbar")); Menu* showToolBarMenu = static_cast(mm.current()); showToolBarMenu->sigAboutToShow().connect(boost::bind(&ToolBarArea::setVisibilityMenuItems, toolBarArea, showToolBarMenu)); mm.setCurrent(viewMenu).setPath(N_("Show View")); mm.setCurrent(viewMenu).setPath(N_("Create View")); mm.setCurrent(viewMenu).setPath(N_("Delete View")); showViewTabCheck = mm.setCurrent(viewMenu).addCheckItem(_("Show View Tabs")); showViewTabCheck->sigToggled().connect(boost::bind(&ViewArea::setViewTabsVisible, viewArea, _1)); showViewTabCheck->setChecked(config->get("showViewTabs", true)); mm.setCurrent(viewMenu).addSeparator(); Action* showStatusBarCheck = mm.setCurrent(viewMenu).addCheckItem(_("Show Status Bar")); bool showStatusBar = config->get("showStatusBar", true); QWidget* statusBar = InfoBar::instance(); showStatusBarCheck->setChecked(showStatusBar); showStatusBarCheck->sigToggled().connect(boost::bind(&QWidget::setVisible, statusBar, _1)); fullScreenCheck = mm.addCheckItem(_("Full Screen")); fullScreenCheck->setChecked(config->get("fullScreen", false)); fullScreenCheck->sigToggled().connect(boost::bind(&MainWindowImpl::onFullScreenToggled, this, _1)); mm.setCurrent(viewMenu).setPath(N_("Layout")); storeLastLayoutCheck = mm.addCheckItem(_("Store Last Toolbar Layout")); storeLastLayoutCheck->setChecked(config->get("storeLastLayout", false)); mm.addItem(_("Reset Layout"))->sigTriggered().connect(boost::bind(&MainWindowImpl::resetLayout, this)); mm.setPath("/" N_("Tools")); mm.setPath("/" N_("Filters")); mm.setPath("/" N_("Options")); mm.setPath("/").setBackwardMode().setPath(N_("Help")); } ToolBarArea* MainWindow::toolBarArea() { return impl->toolBarArea; } ViewArea* MainWindow::viewArea() { return impl->viewArea; } void MainWindow::addToolBar(ToolBar* toolbar) { impl->toolBarArea->addToolBar(toolbar); } void MainWindow::getAllToolBars(std::vector& out_toolBars) { impl->toolBarArea->getAllToolBars(out_toolBars); } void MainWindow::getVisibleToolBars(std::vector& out_toolBars) { impl->toolBarArea->getVisibleToolBars(out_toolBars); } void MainWindow::setInitialLayout(ArchivePtr archive) { if(TRACE_FUNCTIONS){ cout << "MainWindow::setInitialLayout()" << endl; } if(impl->isBeforeDoingInitialLayout){ impl->initialLayoutArchive = archive; impl->toolBarArea->setInitialLayout(archive); } } void MainWindow::changeEvent(QEvent* event) { if(event->type() == QEvent::WindowStateChange){ if(TRACE_FUNCTIONS){ cout << "MainWindow::changeEvent() of WindowStateChange: " << windowState() << endl; } QWindowStateChangeEvent* wsc = static_cast(event); bool wasMaximized = wsc->oldState() & (Qt::WindowMaximized | Qt::WindowFullScreen); bool isMaximized = windowState() & (Qt::WindowMaximized | Qt::WindowFullScreen); if(isMaximized){ impl->normalSize = impl->oldNormalSize; if(TRACE_FUNCTIONS){ cout << "normalSize = oldNormalSize;" << endl; } } if(!impl->isGoingToMaximized && wasMaximized && !isMaximized){ if(TRACE_FUNCTIONS){ cout << "return to normal size" << endl; } resize(impl->normalSize); } if(!(windowState() & Qt::WindowFullScreen)){ impl->isMaximized = (windowState() & Qt::WindowMaximized); if(TRACE_FUNCTIONS){ cout << "impl->isMaximized = " << impl->isMaximized << endl; } } impl->lastWindowState = windowState(); } } void MainWindow::show() { impl->showFirst(); } void MainWindowImpl::showFirst() { if(TRACE_FUNCTIONS){ cout << "MainWindowImpl::showFirst()" << endl; } if(isBeforeShowing){ if(config->get("fullScreen", false)){ isMaximizedJustBeforeFullScreen = config->get("maximized", true); #ifdef Q_OS_WIN32 self->resize(getScreenSize()); #endif isGoingToMaximized = true; if(TRACE_FUNCTIONS){ cout << "showFullScreen();" << endl; } self->showFullScreen(); //isGoingToMaximized = false; } else if(config->get("maximized", true)){ #ifdef Q_OS_WIN32 self->resize(getAvailableScreenSize()); #endif isGoingToMaximized = true; if(TRACE_FUNCTIONS){ cout << "showMaximized();" << endl; } self->showMaximized(); //isGoingToMaximized = false; } else { self->resize(normalSize); if(TRACE_FUNCTIONS){ cout << "showNormal();" << endl; } self->showNormal(); } bool showStatusBar = config->get("showStatusBar", true); self->statusBar()->setVisible(showStatusBar); isBeforeShowing = false; } else { self->QMainWindow::show(); } } void MainWindowImpl::onFullScreenToggled(bool on) { if(on){ if(!self->isFullScreen()){ isMaximizedJustBeforeFullScreen = isMaximized; isGoingToMaximized = true; self->showFullScreen(); isGoingToMaximized = false; } } else { if(self->isFullScreen()){ if(isMaximizedJustBeforeFullScreen){ isGoingToMaximized = true; #if QT_VERSION < QT_VERSION_CHECK(5, 0, 0) self->showNormal(); #endif self->showMaximized(); isGoingToMaximized = false; } else { self->showNormal(); } } } } void MainWindow::resizeEvent(QResizeEvent* event) { QMainWindow::resizeEvent(event); impl->resizeEvent(event); } void MainWindowImpl::resizeEvent(QResizeEvent* event) { if(TRACE_FUNCTIONS){ cout << "MainWindowImpl::resizeEvent(): size = ("; cout << event->size().width() << ", " << event->size().height() << ")"; cout << "window size = (" << self->width() << ", " << self->height() << ")" << endl; cout << ", windowState = " << self->windowState(); cout << ", isVisible = " << self->isVisible() << endl; } if(isBeforeDoingInitialLayout){ #ifdef Q_OS_WIN32 toolBarArea->resize(event->size().width(), toolBarArea->height()); restoreLayout(initialLayoutArchive); initialLayoutArchive = 0; isBeforeDoingInitialLayout = false; #else bool isMaximized = self->windowState() & (Qt::WindowMaximized | Qt::WindowFullScreen); if(!isMaximized || self->isVisible()){ if(!isMaximized){ /** This is needed to do the default layout of toolbars correctly because toolBarArea is resized later. */ toolBarArea->resize(event->size().width(), toolBarArea->height()); } if(TRACE_FUNCTIONS){ cout << "MainWindowImpl::resizeEvent(): initializeLayout" << endl; } restoreLayout(initialLayoutArchive); initialLayoutArchive = 0; isBeforeDoingInitialLayout = false; } #endif } else { static const int stateMask = (Qt::WindowMinimized | Qt::WindowMaximized | Qt::WindowFullScreen); if(TRACE_FUNCTIONS){ cout << "lastWindowState: " << lastWindowState << endl; cout << "windowState: " << self->windowState() << endl; } if(!(lastWindowState & stateMask) && !(self->windowState() & stateMask)){ oldNormalSize = normalSize; normalSize = self->size(); if(TRACE_FUNCTIONS){ cout << "normalSize = (" << normalSize.width() << ", " << normalSize.height() << ")" << endl; } } isGoingToMaximized = false; if(TRACE_FUNCTIONS){ cout << "isGoingToMaximized = false;" << endl; } } } void MainWindow::restoreLayout(ArchivePtr archive) { impl->restoreLayout(archive); } void MainWindowImpl::restoreLayout(ArchivePtr& archive) { if(!isBeforeDoingInitialLayout){ toolBarArea->restoreLayout(archive); } else { toolBarArea->doInitialLayout(); } ViewArea::restoreAllViewAreaLayouts(archive); } void MainWindowImpl::resetLayout() { toolBarArea->resetLayout(config); viewArea->resetLayout(); } void MainWindow::storeLayout(ArchivePtr archive) { try { ViewArea::storeAllViewAreaLayouts(archive); toolBarArea()->storeLayout(archive); } catch(const ValueNode::Exception& ex){ std::cout << ex.message() << std::endl; } } void MainWindow::storeWindowStateConfig() { impl->storeWindowStateConfig(); } void MainWindowImpl::storeWindowStateConfig() { config->write("showViewTabs", showViewTabCheck->isChecked()); config->write("showStatusBar", InfoBar::instance()->isVisible()); bool isFullScreen = self->isFullScreen(); config->write("fullScreen", isFullScreen); if(isFullScreen){ config->write("maximized", isMaximizedJustBeforeFullScreen); } else { config->write("maximized", isMaximized); } config->write("width", normalSize.width()); config->write("height", normalSize.height()); config->write("storeLastLayout", storeLastLayoutCheck->isChecked()); if(storeLastLayoutCheck->isChecked()){ toolBarArea->storeLayout(config); } else { toolBarArea->removeLayout(config); } } void MainWindow::keyPressEvent(QKeyEvent* event) { impl->keyPressEvent(event); } void MainWindowImpl::keyPressEvent(QKeyEvent* event) { switch(event->key()){ case Qt::Key_F11: fullScreenCheck->toggle(); break; case Qt::Key_F12: viewArea->setViewTabsVisible(!viewArea->viewTabsVisible()); break; // TimeBar operations case Qt::Key_F5: case Qt::Key_F6: { TimeBar* timeBar = TimeBar::instance(); if(timeBar->isDoingPlayback()){ timeBar->stopPlayback(true); } else { if(event->key() == Qt::Key_F5){ timeBar->setTime(0.0); } timeBar->startPlayback(); } break; } default: event->ignore(); break; } } choreonoid-1.5.0/src/Base/ActionGroup.cpp0000664000000000000000000000201312741425367016754 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "ActionGroup.h" using namespace cnoid; ActionGroup::ActionGroup(QObject* parent) : QActionGroup(parent) { sigHovered_ = 0; sigTriggered_ = 0; } ActionGroup::~ActionGroup() { if(sigHovered_){ delete sigHovered_; } if(sigTriggered_){ delete sigTriggered_; } } SignalProxy ActionGroup::sigHovered() { if(!sigHovered_){ sigHovered_ = new Signal(); connect(this, SIGNAL(triggered(QAction*)), this, SLOT(onHovered(QAction*))); } return *sigHovered_; } void ActionGroup::onHovered(QAction* action) { (*sigHovered_)(action); } SignalProxy ActionGroup::sigTriggered() { if(!sigTriggered_){ sigTriggered_ = new Signal(); connect(this, SIGNAL(triggered(QAction*)), this, SLOT(onTriggered(QAction*))); } return *sigTriggered_; } void ActionGroup::onTriggered(QAction* action) { (*sigTriggered_)(action); } choreonoid-1.5.0/src/Base/MenuManager.cpp0000664000000000000000000001252612741425367016733 0ustar rootroot/** @author Shin'ichiro NAKAOKA */ #include "MenuManager.h" #include "Menu.h" #include #include #include "gettext.h" using namespace std; using namespace cnoid; MenuManager::MenuManager() : topMenu_(0) { currentMenu_ = topMenu_; popupMenu_ = 0; isBackwardMode = false; } MenuManager::MenuManager(QWidget* topMenu) : topMenu_(topMenu) { currentMenu_ = topMenu; popupMenu_ = 0; isBackwardMode = false; } void MenuManager::bindTextDomain(const std::string& domain) { textDomain = domain; } void MenuManager::setTopMenu(QWidget* topMenu) { if(popupMenu_){ delete popupMenu_; popupMenu_ = 0; } topMenu_ = topMenu; currentMenu_ = topMenu; } QWidget* MenuManager::topMenu() { return topMenu_; } void MenuManager::setNewPopupMenu(QWidget* parent) { if(popupMenu_){ delete popupMenu_; } popupMenu_ = new Menu(parent); topMenu_ = popupMenu_; currentMenu_ = popupMenu_; } Menu* MenuManager::popupMenu() { return popupMenu_; } QWidget* MenuManager::current() const { return currentMenu_; } MenuManager::~MenuManager() { if(popupMenu_){ delete popupMenu_; } } int MenuManager::numItems() const { if(topMenu_){ return topMenu_->actions().size(); } return 0; } QAction* MenuManager::findItem(const QString& path) { return findPath(path, false).first; } std::pair MenuManager::findPath(const QString& path, bool createPath) { int pos = 0; int size = path.size(); QAction* item = 0; QWidget* menu = currentMenu_; if(path[pos] == QChar('/')){ pos++; menu = topMenu_; } while(menu && (pos != size)){ int next = path.indexOf(QChar('/'), pos); int length = (next >= 0) ? (next - pos) : next; QString name = path.mid(pos, length); QList items = menu->actions(); item = 0; for(int i=0; i < items.size(); ++i){ if(name == items[i]->objectName()){ item = items[i]; break; } } if(!item){ if(createPath){ if(textDomain.empty()){ item = new QAction(name, menu); } else { #if QT_VERSION < QT_VERSION_CHECK(5, 0, 0) item = new QAction(dgettext(textDomain.c_str(), name.toAscii()), menu); #else item = new QAction(dgettext(textDomain.c_str(), name.toUtf8()), menu); #endif } item->setObjectName(name); addItem(menu, item); item->setMenu(new Menu()); } else { break; } } menu = item->menu(); pos = (next >= 0) ? (next + 1) : size; } return make_pair(item, menu); } void MenuManager::addItem(QWidget* menu, QAction* item) { QList items = menu->actions(); int position; for(position = items.size() - 1; position >= 0; --position){ QAction* sibling = items[position]; if(!sibling->property("isBackward").toBool()){ break; } } position++; if(position < items.size()){ menu->insertAction(items[position], item); } else { menu->addAction(item); } if(isBackwardMode){ item->setProperty("isBackward", true); } } /** @if jp ‚˘‚¤ƒ†ƒ ĉ“ä½œċŻèħĦ¨Ş‚‹ƒĦƒ‹ƒƒĵ‚’ĉŒ‡ċš™‚‹€‚ ƒĦƒ‹ƒƒĵ‚˘‚¤ƒ†ƒ ‚’èż½ċŠ ™‚‹ċ‰Ğ‚‚‰‹˜‚ċ‘ĵ‚“§Šċż…èĤŒ‚‚‹€‚ @param menuPath ċŻèħĦ¨Ş‚‹ƒĦƒ‹ƒƒĵ¸ƒ‘‚ı‚’ĉŒ‡ċš™‚‹€‚ '/' ‹‚‰ċ§‹‚‹ċ ´ċˆƒĞƒĵƒˆ‹‚‰ä½ç½ĞŞ‚Š€†§Ş„ċ ´ċˆŻ çċœ¨ĉŒ‡ċš•‚ŒĤ„‚‹ƒĦƒ‹ƒƒĵ‹‚‰ç›¸ċŻƒ‘‚ıĞŞ‚‹€‚ ‚‚—ƒ‘‚ıĞĉŒ‡ċš•‚ŒŸƒĦƒ‹ƒƒĵŒċ­˜ċœ¨—Ş„ċ ´ċˆŻƒĦƒ‹ƒƒĵŒĉ–°ŸĞ作ĉˆ•‚Œ‚‹€‚ @endif */ MenuManager& MenuManager::setPath(const QString& path) { if(!path.isEmpty() && path[0] == QChar('/')){ isBackwardMode = false; } QAction* item; QWidget* menu; boost::tie(item, menu) = findPath(path, true); if(!menu){ cerr << "cnoid::MenuManager warning: setting path to " << path.toLocal8Bit().data() << " failed." << endl; } currentMenu_ = menu; isBackwardMode = false; return *this; } MenuManager& MenuManager::setCurrent(QWidget* menu) { currentMenu_ = menu; return *this; } MenuManager& MenuManager::setBackwardMode() { isBackwardMode = true; return *this; } Action* MenuManager::addItem(const QString& text) { Action* item = new Action(text, currentMenu_); addItem(currentMenu_, item); return item; } Action* MenuManager::addCheckItem(const QString& text) { Action* item = addItem(text); if(item){ item->setCheckable(true); } return item; } Action* MenuManager::addRadioItem(QActionGroup* group, const QString& text) { Action* item = addItem(text); if(item){ item->setActionGroup(group); } return item; } void MenuManager::addAction(QAction* action) { addItem(currentMenu_, action); } MenuManager& MenuManager::addSeparator() { QAction* separator = new QAction(currentMenu_); separator->setSeparator(true); addItem(currentMenu_, separator); return *this; } choreonoid-1.5.0/src/Base/OptionManager.cpp0000664000000000000000000000532012741425367017271 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "OptionManager.h" #include #include using namespace std; using namespace boost; using namespace cnoid; namespace { struct OptionInfo { OptionInfo() : options("Options") { } program_options::options_description options; program_options::positional_options_description positionalOptions; program_options::variables_map variables; }; OptionInfo* info = 0; } bool OptionManager::parseCommandLine(int argc, char *argv[]) { if(!info){ info = new OptionInfo; } info->options.add_options()("help,h", "show help message"); bool is_error = false; try{ program_options::store( program_options::command_line_parser(argc, argv). options(info->options).positional(info->positionalOptions).run(), info->variables); program_options::notify(info->variables); } catch (std::exception& ex) { std::cerr << "Command line option error! : " << ex.what() << std::endl; is_error = true; } bool terminated; if(info->variables.count("help") || is_error){ cout << info->options << endl; terminated = true; } else { sigOptionsParsed_(info->variables); terminated = false; } // The destructors of the OptionInfo members should be executed here // because their elements may be driven by the code instantiated in the plug-in dlls. // If the destructors are called when the program is finished after the plug-ins are // unloaded, the destructors may cause the segmentation fault // by calling the non-existent codes. delete info; info = 0; sigOptionsParsed_.disconnect_all_slots(); return !terminated; } OptionManager::OptionManager() { info = new OptionInfo; } OptionManager::~OptionManager() { } /* boost::program_options::options_description_easy_init OptionManager::addOptions() { return options.add_options(); } */ OptionManager& OptionManager::addOption(const char* name, const char* description) { if(info){ info->options.add_options()(name, description); } return *this; } OptionManager& OptionManager::addOption(const char* name, const program_options::value_semantic* s) { if(info){ info->options.add_options()(name, s); } return *this; } OptionManager& OptionManager::addOption(const char* name, const program_options::value_semantic* s, const char* description) { if(info){ info->options.add_options()(name, s, description); } return *this; } OptionManager& OptionManager::addPositionalOption(const char* name, int maxCount) { if(info){ info->positionalOptions.add(name, maxCount); } return *this; } choreonoid-1.5.0/src/Base/FileBar.cpp0000664000000000000000000000145712741425367016041 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "FileBar.h" #include "ExtensionManager.h" #include "ProjectManager.h" #include #include "gettext.h" using namespace std; using namespace cnoid; void FileBar::initialize(ExtensionManager* ext) { static bool initialized = false; if(!initialized){ ext->addToolBar(instance()); initialized = true; } } FileBar* FileBar::instance() { static FileBar* fileBar = new FileBar(); return fileBar; } FileBar::FileBar() : ToolBar(N_("FileBar")) { setVisibleByDefault(true); addButton(QIcon(":/Base/icons/projectsave.png"), _("Save the project")) ->sigClicked().connect( boost::bind(&ProjectManager::overwriteCurrentProject, ProjectManager::instance())); } FileBar::~FileBar() { } choreonoid-1.5.0/src/Base/OptionManager.h0000664000000000000000000000253212741425367016740 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_OPTION_MANAGER_H #define CNOID_BASE_OPTION_MANAGER_H #include "ExtensionManager.h" #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT OptionManager { public: //boost::program_options::options_description_easy_init addOptions(); OptionManager& addOption(const char* name, const char* description); OptionManager& addOption(const char* name, const boost::program_options::value_semantic* s); OptionManager& addOption(const char* name, const boost::program_options::value_semantic* s, const char* description); OptionManager& addPositionalOption(const char* name, int maxCount); /** @if jp ‚³ƒžƒ³ƒ‰ƒİ‚¤ƒ³‚ރ—‚·ƒ§ƒ³Œƒ‘ƒĵ‚ı•‚Œ€‚ރ—‚·ƒ§ƒ³è§£ĉžċ‡Ĥ理ĉş–ċ‚™Œĉ•´£Ÿ¨Ğ 発èĦŒ•‚Œ‚‹‚·‚°ƒŠƒĞ‚’ƒƒ³ƒ‰ƒİ関ĉ•°¨ĉŽçĥš™‚‹€‚ @endif */ SignalProxy sigOptionsParsed() { return sigOptionsParsed_; } private: OptionManager(); ~OptionManager(); bool parseCommandLine(int argc, char *argv[]); Signal sigOptionsParsed_; friend class ExtensionManager; friend class AppImpl; }; } #endif choreonoid-1.5.0/src/Base/Action.cpp0000664000000000000000000000246512741425367015752 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "Action.h" using namespace cnoid; Action::Action(QObject* parent) : QAction(parent) { initialize(); } Action::Action(const QString& text, QObject* parent) : QAction(text, parent) { initialize(); } Action::Action(const QIcon& icon, QObject* parent) : QAction(parent) { setIcon(icon); initialize(); } Action::Action(const QIcon& icon, const QString& text, QObject* parent) : QAction(icon, text, parent) { initialize(); } void Action::initialize() { sigTriggered_ = 0; sigToggled_ = 0; } Action::~Action() { if(sigTriggered_){ delete sigTriggered_; } if(sigToggled_){ delete sigToggled_; } } Signal& Action::sigTriggered() { if(!sigTriggered_){ sigTriggered_ = new Signal(); connect(this, SIGNAL(triggered(bool)), this, SLOT(onTriggered(bool))); } return *sigTriggered_; } void Action::onTriggered(bool checked) { (*sigTriggered_)(); } Signal& Action::sigToggled() { if(!sigToggled_){ sigToggled_ = new Signal(); connect(this, SIGNAL(toggled(bool)), this, SLOT(onToggled(bool))); } return *sigToggled_; } void Action::onToggled(bool checked) { (*sigToggled_)(checked); } choreonoid-1.5.0/src/Base/AppConfig.h0000664000000000000000000000101012741425367016031 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_GUIBASE_APP_CONFIG_H_INCLUDED #define CNOID_GUIBASE_APP_CONFIG_H_INCLUDED #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT AppConfig { public: static bool initialize(const std::string& application, const std::string& organization); static Mapping* archive(); static bool flush(); static bool save(const std::string& filename); static bool load(const std::string& filename); }; } #endif choreonoid-1.5.0/src/Base/MultiSeqItemCreationPanel.cpp0000664000000000000000000000454112741425367021561 0ustar rootroot/** @file @author Shin'ichiro NAKAOKA */ #include "MultiSeqItemCreationPanel.h" #include "MultiSeqItem.h" #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace { const bool TRACE_FUNCTIONS = false; } MultiSeqItemCreationPanel::MultiSeqItemCreationPanel(const QString& numSeqsCaption) { QVBoxLayout* vbox = new QVBoxLayout(); setLayout(vbox); QHBoxLayout* hbox = new QHBoxLayout(); hbox->addWidget(new QLabel(_("Name"))); nameEntry = new QLineEdit(); hbox->addWidget(nameEntry); vbox->addLayout(hbox); hbox = new QHBoxLayout(); hbox->addWidget(new QLabel(numSeqsCaption)); numSeqsSpin = new SpinBox(); numSeqsSpin->setRange(1, 999); hbox->addWidget(numSeqsSpin); hbox->addWidget(new QLabel(_("Time length"))); timeLengthSpin = new DoubleSpinBox(); timeLengthSpin->setDecimals(2); timeLengthSpin->setRange(0.0, 9999.99); timeLengthSpin->setSingleStep(0.01); hbox->addWidget(timeLengthSpin); hbox->addWidget(new QLabel(_("Frame rate"))); frameRateSpin = new DoubleSpinBox(); frameRateSpin->setDecimals(0); frameRateSpin->setRange(1.0, 9999.0); hbox->addWidget(frameRateSpin); vbox->addLayout(hbox); } bool MultiSeqItemCreationPanel::initializePanel(Item* protoItem) { nameEntry->setText(protoItem->name().c_str()); AbstractMultiSeqItem* item = dynamic_cast(protoItem); if(item){ AbstractMultiSeqPtr seq = item->abstractMultiSeq(); numSeqsSpin->setValue(seq->getNumParts()); double frameRate = seq->getFrameRate(); timeLengthSpin->setValue(seq->getNumFrames() / frameRate); frameRateSpin->setValue(frameRate); return true; } return false; } bool MultiSeqItemCreationPanel::initializeItem(Item* protoItem) { protoItem->setName(nameEntry->text().toStdString()); AbstractMultiSeqItem* item = dynamic_cast(protoItem); if(item){ AbstractMultiSeqPtr seq = item->abstractMultiSeq(); double frameRate = frameRateSpin->value(); seq->setFrameRate(frameRate); seq->setNumParts(numSeqsSpin->value()); seq->setNumFrames(static_cast(timeLengthSpin->value() * frameRate)); return true; } return false; } choreonoid-1.5.0/src/Base/Action.h0000664000000000000000000000141712741425367015413 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_ACTION_H #define CNOID_BASE_ACTION_H #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT Action : public QAction { Q_OBJECT public: Action(QObject* parent); Action(const QString& text, QObject* parent); Action(const QIcon& icon, QObject* parent); Action(const QIcon& icon, const QString& text, QObject* parent); ~Action(); Signal& sigTriggered(); Signal& sigToggled(); private Q_SLOTS: void onTriggered(bool checked); void onToggled(bool checked); private: Signal* sigTriggered_; Signal* sigToggled_; void initialize(); }; } #endif choreonoid-1.5.0/src/Base/SceneWidgetEditable.cpp0000664000000000000000000000372112741425367020364 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "SceneWidgetEditable.h" #include "SceneWidget.h" #include using namespace cnoid; SceneWidgetEvent::SceneWidgetEvent() { point_.setZero(); x_ = 0.0; y_ = 0.0; key_ = 0; modifiers_ = 0; button_ = 0; wheelSteps_ = 0.0; } SceneWidgetEvent::SceneWidgetEvent(const SceneWidgetEvent& org) : point_(org.point_) { x_ = org.x_; y_ = org.y_; key_ = org.key_; modifiers_ = org.modifiers_; button_ = org.button_; wheelSteps_ = org.wheelSteps_; } const Affine3& SceneWidgetEvent::currentCameraPosition() const { return sceneWidget_->renderer().currentCameraPosition(); } void SceneWidgetEvent::updateIndicator(const std::string& text) const { sceneWidget_->updateIndicator(text); } bool SceneWidgetEditable::onKeyPressEvent(const SceneWidgetEvent& event) { return false; } bool SceneWidgetEditable::onKeyReleaseEvent(const SceneWidgetEvent& event) { return false; } bool SceneWidgetEditable::onButtonPressEvent(const SceneWidgetEvent& event) { return false; } bool SceneWidgetEditable::onButtonReleaseEvent(const SceneWidgetEvent& event) { return false; } bool SceneWidgetEditable::onDoubleClickEvent(const SceneWidgetEvent& event) { return false; } bool SceneWidgetEditable::onPointerMoveEvent(const SceneWidgetEvent& event) { return false; } void SceneWidgetEditable::onPointerLeaveEvent(const SceneWidgetEvent& event) { } bool SceneWidgetEditable::onScrollEvent(const SceneWidgetEvent& event) { return false; } void SceneWidgetEditable::onFocusChanged(const SceneWidgetEvent& event, bool on) { } void SceneWidgetEditable::onContextMenuRequest(const SceneWidgetEvent& event, MenuManager& menuManager) { } void SceneWidgetEditable::onSceneModeChanged(const SceneWidgetEvent& event) { } bool SceneWidgetEditable::onUndoRequest() { return false; } bool SceneWidgetEditable::onRedoRequest() { return false; } choreonoid-1.5.0/src/Base/ScriptBar.cpp0000664000000000000000000000163212741425367016421 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "ScriptBar.h" #include "ScriptItem.h" #include #include #include #include "gettext.h" using namespace cnoid; void ScriptBar::initialize(ExtensionManager* ext) { static bool initialized = false; if(!initialized){ ext->addToolBar(new ScriptBar()); initialized = true; } } ScriptBar::ScriptBar() : ToolBar(N_("ScriptBar")) { setVisibleByDefault(true); addButton(QIcon(":/Base/icons/script.png"), _("Execute scripts")) ->sigClicked().connect(boost::bind(&ScriptBar::executeCheckedScriptItems, this)); } ScriptBar::~ScriptBar() { } void ScriptBar::executeCheckedScriptItems() { ItemList scripts = ItemTreeView::mainInstance()->checkedItems(); for(int i=0; i < scripts.size(); ++i){ scripts[i]->execute(); } } choreonoid-1.5.0/src/Base/MultiSE3SeqItem.h0000664000000000000000000000061512741425367017072 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_MULTI_SE3_SEQ_ITEM_H #define CNOID_BASE_MULTI_SE3_SEQ_ITEM_H #include "MultiSeqItem.h" #include namespace cnoid { typedef MultiSeqItem MultiSE3SeqItem; typedef MultiSE3SeqItem::Ptr MultiSE3SeqItemPtr; template<> void MultiSeqItem::initializeClass(ExtensionManager* ext); } #endif choreonoid-1.5.0/src/Base/Item.h0000664000000000000000000002204312741425367015072 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_ITEM_H #define CNOID_BASE_ITEM_H #include "PutPropertyFunction.h" #include #include #include #include #include #include #include #include "exportdecl.h" namespace cnoid { class Item; typedef ref_ptr ItemPtr; class RootItem; class ItemTreeArchiver; class ExtensionManager; class PutPropertyFunction; class Archive; /** @if not jp @endif @if jp ƒ•ƒĴƒĵƒ ƒŻƒĵ‚Żä¸Š§ċ…ħĉœ‰•‚Œ‚‹‚ރ–‚¸‚§‚Żƒˆ‚’èĦ¨™‚Żƒİ‚ı€‚ ƒ˘ƒ‡ƒĞƒğƒ“ƒƒĵƒğ‚³ƒ³ƒˆƒ­ƒĵƒİƒ•ƒĴƒĵƒ ƒŻƒĵ‚ŻĞŠ‘‚‹ƒ˘ƒ‡ƒĞ部ċˆ†ĉ ¸¨Ş‚‹€‚ @endif */ class CNOID_EXPORT Item : public Referenced { template class ItemCallback { boost::function function; public: ItemCallback(boost::function f) : function(f) { } bool operator()(Item* item) { if(ItemType* casted = dynamic_cast(item)){ return function(casted); } return false; } }; protected: Item(); Item(const Item& item); public: enum Attribute { SUB_ITEM, TEMPORAL, LOAD_ONLY, NUM_ATTRIBUTES }; virtual ~Item(); // The destructor should not be called in usual ways const std::string& name() const { return name_; } virtual void setName(const std::string& name); bool hasAttribute(Attribute attribute) const { return attributes[attribute]; } Item* childItem() const { return firstChild_; } Item* prevItem() const { return prevItem_; } Item* nextItem() const { return nextItem_; } Item* parentItem() const { return parent_; } bool addChildItem(Item* item, bool isManualOperation = false); bool addSubItem(Item* item); bool isSubItem() const; //int subItemIndex() const; //Item* subItem(int subItemIndex); void detachFromParentItem(); void emitSigDetachedFromRootForSubTree(); bool insertChildItem(Item* item, Item* nextItem, bool isManualOperation = false); bool insertSubItem(Item* item, Item* nextItem); bool isTemporal() const; void setTemporal(bool on = true); RootItem* findRootItem() const; /** Find an item that has the corresponding path to it in the sub tree */ Item* findItem(const std::string& path) const; template ItemType* findItem(const std::string& path) const { return dynamic_cast(findItem(path)); } static Item* find(const std::string& path); template ItemType* find(const std::string& path) { return dynamic_cast(find(path)); } /** Find an item that has the corresponding path from a child item to it */ Item* findChildItem(const std::string& path) const; template ItemType* findChildItem(const std::string& path) const { return dynamic_cast(findChildItem(path)); } /** Find a sub item that has the corresponding path from a direct sub item to it */ Item* findSubItem(const std::string& path) const; template ItemType* findSubItem(const std::string& path) const { return dynamic_cast(findSubItem(path)); } /* The function 'template ItemList getSubItems() const' has been removed. Please use ItemList::extractChildItems(Item* item) instead of it. */ Item* headItem() const; template ItemType* findOwnerItem(bool includeSelf = false) { Item* parentItem__ = includeSelf ? this : parentItem(); while(parentItem__){ ItemType* ownerItem = dynamic_cast(parentItem__); if(ownerItem){ return ownerItem; } parentItem__ = parentItem__->parentItem(); } return 0; } bool isOwnedBy(Item* item) const; bool traverse(boost::function function); template bool traverse(boost::function function){ return Item::traverse(ItemCallback(function)); } Item* duplicate() const; Item* duplicateAll() const; void assign(Item* srcItem); bool load(const std::string& filename, const std::string& format = std::string()); bool load(const std::string& filename, Item* parent, const std::string& format = std::string()); bool save(const std::string& filename, const std::string& format = std::string()); bool overwrite(bool forceOverwrite = false, const std::string& format = std::string()); const std::string& filePath() const { return filePath_; } const std::string& fileFormat() const { return fileFormat_; } #ifdef CNOID_BACKWARD_COMPATIBILITY const std::string& lastAccessedFilePath() const { return filePath_; } const std::string& lastAccessedFileFormatId() const { return fileFormat_; } #endif std::time_t fileModificationTime() const { return fileModificationTime_; } bool isConsistentWithFile() const { return isConsistentWithFile_; } void clearFileInformation(); void suggestFileUpdate() { isConsistentWithFile_ = false; } void putProperties(PutPropertyFunction& putProperty); virtual void notifyUpdate(); SignalProxy sigNameChanged() { return sigNameChanged_; } /** \todo Remove this signal and define 'sigPropertyChanged' instead of it */ SignalProxy sigUpdated() { return sigUpdated_; } /** This signal is emitted when the position of this item in the item tree is changed. Being added to the tree and being removed from the tree are also the events to emit this signal. This signal is also emitted for descendent items when the position of an ancestor item is changed. This signal is emitted before RootItem::sigTreeChanged(); */ SignalProxy sigPositionChanged() { return sigPositionChanged_; } /** @note obsolete. */ SignalProxy sigDetachedFromRoot() { return sigDetachedFromRoot_; } /** @note Please use this instead of sigDetachedFromRoot() */ SignalProxy sigDisconnectedFromRoot() { return sigDetachedFromRoot_; } SignalProxy sigSubTreeChanged() { return sigSubTreeChanged_; } virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); Referenced* customData(int id); const Referenced* customData(int id) const; void setCustomData(int id, ReferencedPtr data); void clearCustomData(int id); static SignalProxy sigClassUnregistered() { return sigClassUnregistered_; } protected: virtual void onConnectedToRoot(); virtual void onDisconnectedFromRoot(); virtual void onPositionChanged(); virtual bool onChildItemAboutToBeAdded(Item* childItem, bool isManualOperation); virtual Item* doDuplicate() const; virtual void doAssign(Item* srcItem); virtual void doPutProperties(PutPropertyFunction& putProperty); void setAttribute(Attribute attribute) { attributes.set(attribute); } void unsetAttribute(Attribute attribute) { attributes.reset(attribute); } private: Item* parent_; Item* firstChild_; Item* lastChild_; Item* prevItem_; Item* nextItem_; int numChildren_; std::string name_; std::bitset attributes; std::vector extraStates; std::vector extraData; Signal sigNameChanged_; Signal sigDetachedFromRoot_; Signal sigUpdated_; Signal sigPositionChanged_; Signal sigSubTreeChanged_; static Signal sigClassUnregistered_; // for file overwriting management, mainly accessed by ItemManagerImpl bool isConsistentWithFile_; std::string filePath_; std::string fileFormat_; std::time_t fileModificationTime_; // disable the assignment operator Item& operator=(const Item& rhs); void init(); bool doInsertChildItem(Item* item, Item* nextItem, bool isManualOperation); void callSlotsOnPositionChanged(); void callFuncOnConnectedToRoot(); void addToItemsToEmitSigSubTreeChanged(); void addToItemsToEmitSigSubTreeChangedSub(std::list::iterator& pos); void emitSigSubTreeChanged(); void detachFromParentItemSub(bool isMoving); bool traverse(Item* item, const boost::function& function); Item* duplicateAllSub(Item* duplicated) const; void updateFileInformation(const std::string& filename, const std::string& format); friend class RootItem; friend class ItemTreeArchiver; friend class ItemManagerImpl; }; #ifndef CNOID_BASE_MVOUT_DECLARED #define CNOID_BASE_MVOUT_DECLARED CNOID_EXPORT std::ostream& mvout(bool doFlush = false); #endif } #endif choreonoid-1.5.0/src/Base/AbstractTextItem.cpp0000664000000000000000000000042512741425367017756 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "AbstractTextItem.h" using namespace cnoid; AbstractTextItem::AbstractTextItem() { } AbstractTextItem::AbstractTextItem(const AbstractTextItem& org) : Item(org) { } AbstractTextItem::~AbstractTextItem() { } choreonoid-1.5.0/src/Base/SpinBox.cpp0000664000000000000000000000151412741425367016111 0ustar rootroot/** @author Shin'ichiro NAKAOKA */ #include "SpinBox.h" using namespace cnoid; SpinBox::SpinBox(QWidget* parent) : QSpinBox(parent) { setKeyboardTracking(false); connect(this, SIGNAL(valueChanged(int)), this, SLOT(onValueChanged(int))); connect(this, SIGNAL(editingFinished()), this, SLOT(onEditingFinishded())); } void SpinBox::onValueChanged(int value) { sigValueChanged_(value); } void SpinBox::onEditingFinishded() { sigEditingFinished_(); } DoubleSpinBox::DoubleSpinBox(QWidget* parent) : QDoubleSpinBox(parent) { setKeyboardTracking(false); connect(this, SIGNAL(valueChanged(double)), this, SLOT(onValueChanged(double))); } void DoubleSpinBox::onValueChanged(double value) { sigValueChanged_(value); } void DoubleSpinBox::onEditingFinishded() { sigEditingFinished_(); } choreonoid-1.5.0/src/Base/ExtCommandItem.h0000664000000000000000000000243512741425367017055 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_EXT_COMMAND_ITEM_H #define CNOID_BASE_EXT_COMMAND_ITEM_H #include "Item.h" #include "Process.h" #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT ExtCommandItem : public Item { public: static void initializeClass(ExtensionManager* ext); ExtCommandItem(); ExtCommandItem(const ExtCommandItem& org); virtual ~ExtCommandItem(); void setCommand(const std::string& command); const std::string& command() const { return command_; } double waitingTimeAfterStarted() const { return waitingTimeAfterStarted_; } void setWaitingTimeAfterStarted(double time); bool execute(); bool terminate(); protected: virtual void onDisconnectedFromRoot(); virtual Item* doDuplicate() const; virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: void onReadyReadServerProcessOutput(); std::string command_; Process process; double waitingTimeAfterStarted_; bool signalReadyStandardOutputConnected; bool doCheckExistingProcess; bool doExecuteOnLoading; }; typedef ref_ptr ExtCommandItemPtr; } #endif choreonoid-1.5.0/src/Base/SceneWidget.cpp0000664000000000000000000026461312741425367016743 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "SceneWidget.h" #include "GLSceneRenderer.h" #include "SceneWidgetEditable.h" #include "InteractiveCameraTransform.h" #include "MainWindow.h" #include "Buttons.h" #include "CheckBox.h" #include "ToolBar.h" #include "Dialog.h" #include "SpinBox.h" #include "Separator.h" #include "Archive.h" #include "MessageView.h" #include "MenuManager.h" #include "Timer.h" #include "LazyCaller.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" #ifdef _WIN32 #undef near #undef far #endif using namespace std; using namespace Eigen; using namespace cnoid; namespace { const bool TRACE_FUNCTIONS = false; const bool SHOW_IMAGE_FOR_PICKING = false; class EditableExtractor : public SceneVisitor { public: vector editables; int numEditables() const { return editables.size(); } SgNode* editableNode(int index) { return editables[index]; } SceneWidgetEditable* editable(int index) { return dynamic_cast(editables[index]); } void apply(SgNode* node) { editables.clear(); node->accept(*this); } virtual void visitNode(SgNode* node) { } virtual void visitGroup(SgGroup* group) { if(SceneWidgetEditable* editable = dynamic_cast(group)){ editables.push_back(group); } for(SgGroup::const_iterator p = group->begin(); p != group->end(); ++p){ (*p)->accept(*this); } } virtual void visitInvariantGroup(SgInvariantGroup* group) { } virtual void visitPosTransform(SgPosTransform* transform) { EditableExtractor::visitGroup(transform); } virtual void visitScaleTransform(SgScaleTransform* transform) { EditableExtractor::visitGroup(transform); } virtual void visitShape(SgShape* shape) { } virtual void visitPlot(SgPlot* plot) { } virtual void visitPointSet(SgPointSet* pointSet) { } virtual void visitLineSet(SgLineSet* lineSet) { } virtual void visitPreprocessed(SgPreprocessed* preprocessed) { } virtual void visitLight(SgLight* light) { } virtual void visitCamera(SgCamera* camera) { } virtual void visitOverlay(SgOverlay* overlay) { } }; enum Plane { FLOOR = 0, XZ, YZ }; class ConfigDialog : public Dialog { public: QVBoxLayout* vbox; SpinBox fieldOfViewSpin; DoubleSpinBox zNearSpin; DoubleSpinBox zFarSpin; CheckBox lightingCheck; CheckBox smoothShadingCheck; CheckBox headLightCheck; DoubleSpinBox headLightIntensitySpin; CheckBox headLightFromBackCheck; CheckBox worldLightCheck; DoubleSpinBox worldLightIntensitySpin; DoubleSpinBox worldLightAmbientSpin; CheckBox additionalLightsCheck; CheckBox fogCheck; CheckBox gridCheck[3]; DoubleSpinBox gridSpanSpin[3]; DoubleSpinBox gridIntervalSpin[3]; PushButton backgroundColorButton; PushButton gridColorButton[3]; CheckBox textureCheck; PushButton defaultColorButton; DoubleSpinBox pointSizeSpin; DoubleSpinBox lineWidthSpin; CheckBox pointRenderingModeCheck; Connection pointRenderingModeCheckConnection; CheckBox normalVisualizationCheck; DoubleSpinBox normalLengthSpin; CheckBox coordinateAxesCheck; CheckBox fpsCheck; PushButton fpsTestButton; CheckBox newDisplayListDoubleRenderingCheck; CheckBox bufferForPickingCheck; LazyCaller updateDefaultLightsLater; ConfigDialog(SceneWidgetImpl* impl); void storeState(Archive& archive); void restoreState(const Archive& archive); }; /** \note Z axis should always be the upper vertical direciton. */ Affine3 normalizedCameraTransform(const Affine3& T) { Vector3 x, y; Vector3 z = T.linear().col(2).normalized(); if(fabs(z.dot(Vector3::UnitZ())) > 0.9){ x = T.linear().col(0).normalized(); y = z.cross(x); } else { y = T.linear().col(1); if(y.dot(Vector3::UnitZ()) >= 0.0){ x = Vector3::UnitZ().cross(z).normalized(); y = z.cross(x); } else { x = z.cross(Vector3::UnitZ()).normalized(); y = z.cross(x); } } Affine3 N; N.linear() << x, y, z; N.translation() = T.translation(); return N; } Signal sigSceneWidgetCreated; } namespace cnoid { class SceneWidgetImpl : public QGLWidget { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW SceneWidgetImpl(SceneWidget* self); ~SceneWidgetImpl(); SceneWidget* self; ostream& os; SceneWidgetRootPtr sceneRoot; SgGroupPtr systemGroup; SgGroup* scene; GLSceneRenderer renderer; QGLPixelBuffer* buffer; LazyCaller initializeRenderingLater; SgUpdate modified; SgUpdate added; SgUpdate removed; InteractiveCameraTransformPtr builtinCameraTransform; SgPerspectiveCameraPtr builtinPersCamera; SgOrthographicCameraPtr builtinOrthoCamera; int numBuiltinCameras; bool isBuiltinCameraCurrent; InteractiveCameraTransformPtr interactiveCameraTransform; SgDirectionalLightPtr worldLight; Signal sigStateChanged; LazyCaller emitSigStateChangedLater; bool isEditMode; Selection viewpointControlMode; bool isFirstPersonMode() const { return (viewpointControlMode.which() != SceneWidget::THIRD_PERSON_MODE); } enum DragMode { NO_DRAGGING, EDITING, VIEW_ROTATION, VIEW_TRANSLATION, VIEW_ZOOM } dragMode; set editableEntities; typedef vector EditablePath; EditablePath pointedEditablePath; SceneWidgetEditable* lastMouseMovedEditable; EditablePath focusedEditablePath; SceneWidgetEditable* focusedEditable; QCursor defaultCursor; QCursor editModeCursor; double orgMouseX; double orgMouseY; Vector3 orgPointedPos; Affine3 orgCameraPosition; double orgOrthoCameraHeight; Vector3 cameraViewChangeCenter; double dragAngleRatio; double viewTranslationRatioX; double viewTranslationRatioY; SceneWidgetEvent latestEvent; Vector3 lastClickedPoint; SceneWidgetEditable* eventFilter; ReferencedPtr eventFilterRef; Selection polygonMode; bool collisionLinesVisible; SgCustomGLNodePtr coordinateAxes; SgPosTransform* xAxis; SgPosTransform* yAxis; SgPosTransform* zAxis; SgCustomGLNodePtr grid[3]; Vector4f gridColor[3]; double fps; Timer fpsTimer; int fpsCounter; Timer fpsRenderingTimer; bool fpsRendered; ConfigDialog* config; QLabel* indicatorLabel; MenuManager menuManager; Signal sigContextMenuRequest; Signal sigWidgetFocusChanged; Signal sigAboutToBeDestroyed; #ifdef ENABLE_SIMULATION_PROFILING int profiling_mode; #endif virtual void initializeGL(); virtual void resizeGL(int width, int height); virtual void paintGL(); void renderGrid(GLSceneRenderer& renderer, Plane p); void setupCoordinateAxes(); void renderCoordinateAxes(GLSceneRenderer& renderer); void onSceneGraphUpdated(const SgUpdate& update); void showFPS(bool on); void doFPSTest(); void onFPSUpdateRequest(); void onFPSRenderingRequest(); void renderFPS(); void showBackgroundColorDialog(); void showGridColorDialog(Plane p); void showDefaultColorDialog(); void updateCurrentCamera(); void setCurrentCameraPath(const std::vector& simplifiedPathStrings); void onCamerasChanged(); void onCurrentCameraChanged(); void onTextureToggled(bool on); void onLineWidthChanged(double width); void onPointSizeChanged(double width); void setPolygonMode(int mode); void onPointRenderingModeToggled(bool on); void setCollisionLinesVisible(bool on); void onFieldOfViewChanged(); void onClippingDepthChanged(); void onLightingToggled(bool on); void onSmoothShadingToggled(bool on); void updateDefaultLights(); void onNormalVisualizationChanged(); void resetCursor(); void setEditMode(bool on); void toggleEditMode(); void viewAll(); void onEntityAdded(SgNode* node); void onEntityRemoved(SgNode* node); void onNewDisplayListDoubleRenderingToggled(bool on); void onBufferForPickingToggled(bool on); void updateLatestEvent(QKeyEvent* event); void updateLatestEvent(int x, int y, int modifiers); void updateLatestEvent(QMouseEvent* event); bool updateLatestEventPath(); void updateLastClickedPoint(); SceneWidgetEditable* applyFunction( EditablePath& editablePath, boost::function function); bool setFocusToEditablePath(EditablePath& editablePath); bool setFocusToPointedEditablePath(SceneWidgetEditable* targetEditable); void clearFocusToEditables(); virtual void keyPressEvent(QKeyEvent* event); virtual void keyReleaseEvent(QKeyEvent* event); virtual void mousePressEvent(QMouseEvent* event); virtual void mouseDoubleClickEvent(QMouseEvent* event); virtual void mouseMoveEvent(QMouseEvent* event); void updatePointerPosition(); virtual void mouseReleaseEvent(QMouseEvent* event); virtual void wheelEvent(QWheelEvent* event); virtual void focusInEvent(QFocusEvent* event); virtual void focusOutEvent(QFocusEvent* event); void startViewChange(); void startViewRotation(); void dragViewRotation(); void startViewTranslation(); void dragViewTranslation(); void startViewZoom(); void dragViewZoom(); void zoomView(double ratio); void rotateBuiltinCameraView(double dPitch, double dYaw); void translateBuiltinCameraView(const Vector3& dp_local); void showViewModePopupMenu(const QPoint& globalPos); void showEditModePopupMenu(const QPoint& globalPos); void activateSystemNode(SgNodePtr node, bool on); bool saveImage(const std::string& filename); void setScreenSize(int width, int height); void updateIndicator(const std::string& text); bool storeState(Archive& archive); void writeCameraPath(Mapping& archive, const std::string& key, int cameraIndex); Mapping* storeCameraState(int cameraIndex, bool isInteractiveCamera, SgPosTransform* cameraTransform); bool restoreState(const Archive& archive); void restoreCameraStates(const Listing& cameraListing); int readCameraPath(const Mapping& archive, const char* key); void restoreCurrentCamera(const Mapping& cameraData); }; } SceneWidgetRoot::SceneWidgetRoot(SceneWidget* sceneWidget) : sceneWidget_(sceneWidget) { systemGroup = new SgGroup; systemGroup->setName("System"); addChild(systemGroup); } static void extractPathsFromSceneWidgetRoot(SgNode* node, SgNodePath& reversedPath, vector& paths) { reversedPath.push_back(node); if(!node->hasParents()){ SceneWidgetRoot* sceneWidgetRoot = dynamic_cast(node); if(sceneWidgetRoot){ paths.push_back(reversedPath); std::reverse(paths.back().begin(), paths.back().end()); } } else { SgObject::const_parentIter p; for(p = node->parentBegin(); p != node->parentEnd(); ++p){ SgNode* node = dynamic_cast(*p); if(node){ extractPathsFromSceneWidgetRoot(node, reversedPath, paths); } } } reversedPath.pop_back(); } void SceneWidget::forEachInstance(SgNode* node, boost::function function) { SgNodePath path; vector paths; extractPathsFromSceneWidgetRoot(node, path, paths); for(size_t i=0; i < paths.size(); ++i){ const SgNodePath& path = paths[i]; SceneWidgetRoot* root = static_cast(path.front()); function(root->sceneWidget(), path); } } SceneWidget::SceneWidget() { impl = new SceneWidgetImpl(this); QVBoxLayout* vbox = new QVBoxLayout(); vbox->setContentsMargins(0, 0, 0, 0); vbox->addWidget(impl); setLayout(vbox); ::sigSceneWidgetCreated(this); } SceneWidgetImpl::SceneWidgetImpl(SceneWidget* self) : QGLWidget(self), self(self), os(MessageView::mainInstance()->cout()), sceneRoot(new SceneWidgetRoot(self)), systemGroup(sceneRoot->systemGroup), renderer(sceneRoot), emitSigStateChangedLater(boost::ref(sigStateChanged)) { if(false){ // test cout << "swapInterval = " << QGLWidget::format().swapInterval() << endl; QGLFormat glfmt = QGLWidget::format(); glfmt.setSwapInterval(0); QGLWidget::setFormat(glfmt); cout << "swapInterval = " << QGLWidget::format().swapInterval() << endl; } setFocusPolicy(Qt::WheelFocus); setAutoBufferSwap(true); renderer.enableUnusedCacheCheck(true); renderer.sigRenderingRequest().connect(boost::bind(&SceneWidgetImpl::update, this)); renderer.sigCamerasChanged().connect(boost::bind(&SceneWidgetImpl::onCamerasChanged, this)); renderer.sigCurrentCameraChanged().connect(boost::bind(&SceneWidgetImpl::onCurrentCameraChanged, this)); sceneRoot->sigUpdated().connect(boost::bind(&SceneWidgetImpl::onSceneGraphUpdated, this, _1)); scene = renderer.scene(); buffer = 0; initializeRenderingLater.setFunction(boost::bind(&GLSceneRenderer::initializeRendering, &renderer)); modified.setAction(SgUpdate::MODIFIED); added.setAction(SgUpdate::ADDED); removed.setAction(SgUpdate::REMOVED); BOOST_FOREACH(Vector4f& color, gridColor){ color << 0.9f, 0.9f, 0.9f, 1.0f; } setAutoFillBackground(false); setMouseTracking(true); isEditMode = false; viewpointControlMode.resize(2); viewpointControlMode.setSymbol(SceneWidget::THIRD_PERSON_MODE, "thirdPerson"); viewpointControlMode.setSymbol(SceneWidget::FIRST_PERSON_MODE, "firstPerson"); viewpointControlMode.select(SceneWidget::THIRD_PERSON_MODE); dragMode = NO_DRAGGING; defaultCursor = self->cursor(); editModeCursor = QCursor(Qt::PointingHandCursor); lastMouseMovedEditable = 0; focusedEditable = 0; latestEvent.sceneWidget_ = self; lastClickedPoint.setZero(); eventFilter = 0; indicatorLabel = new QLabel(); indicatorLabel->setTextInteractionFlags(Qt::TextSelectableByMouse); indicatorLabel->setAlignment(Qt::AlignLeft); QFont font = indicatorLabel->font(); font.setFixedPitch(true); indicatorLabel->setFont(font); builtinCameraTransform = new InteractiveCameraTransform(); builtinCameraTransform->setTransform( SgCamera::positionLookingAt( Vector3(4.0, 2.0, 1.5), Vector3(0.0, 0.0, 1.0), Vector3::UnitZ())); interactiveCameraTransform = builtinCameraTransform; builtinPersCamera = new SgPerspectiveCamera(); builtinPersCamera->setName("Perspective"); builtinPersCamera->setFieldOfView(0.6978); builtinCameraTransform->addChild(builtinPersCamera); builtinOrthoCamera = new SgOrthographicCamera(); builtinOrthoCamera->setName("Orthographic"); builtinOrthoCamera->setHeight(20.0f); builtinCameraTransform->addChild(builtinOrthoCamera); isBuiltinCameraCurrent = true; numBuiltinCameras = 2; systemGroup->addChild(builtinCameraTransform); config = new ConfigDialog(this); worldLight = new SgDirectionalLight(); worldLight->setName("WorldLight"); worldLight->setDirection(Vector3(0.0, 0.0, -1.0)); systemGroup->addChild(worldLight); renderer.setAsDefaultLight(worldLight); updateDefaultLights(); polygonMode.resize(3); polygonMode.setSymbol(SceneWidget::FILL_MODE, "fill"); polygonMode.setSymbol(SceneWidget::LINE_MODE, "line"); polygonMode.setSymbol(SceneWidget::POINT_MODE, "point"); polygonMode.select(SceneWidget::FILL_MODE); collisionLinesVisible = false; setupCoordinateAxes(); for(int i=0; i<3; i++){ grid[i] = new SgCustomGLNode(boost::bind(&SceneWidgetImpl::renderGrid, this, _1, static_cast(i))); activateSystemNode(grid[i], config->gridCheck[i].isChecked()); } grid[FLOOR]->setName("FloorGrid"); grid[XZ]->setName("XZplaneGrid"); grid[YZ]->setName("YZplaneGrid"); fpsTimer.sigTimeout().connect(boost::bind(&SceneWidgetImpl::onFPSUpdateRequest, this)); fpsRenderingTimer.setSingleShot(true); fpsRenderingTimer.sigTimeout().connect(boost::bind(&SceneWidgetImpl::onFPSRenderingRequest, this)); #ifdef ENABLE_SIMULATION_PROFILING profiling_mode = 1; #endif } SceneWidget::~SceneWidget() { sigAboutToBeDestroyed(); delete impl; } SceneWidgetImpl::~SceneWidgetImpl() { if(buffer){ buffer->makeCurrent(); delete buffer; } delete indicatorLabel; delete config; } SceneWidgetRoot* SceneWidget::sceneRoot() { return impl->sceneRoot; } SgGroup* SceneWidget::scene() { return impl->scene; } SceneRenderer& SceneWidget::renderer() { return impl->renderer; } QWidget* SceneWidget::indicator() { return impl->indicatorLabel; } void SceneWidgetImpl::initializeGL() { if(TRACE_FUNCTIONS){ os << "SceneWidgetImpl::initializeGL()" << endl; } if(!renderer.initializeGL()){ os << "OpenGL initialization failed." << endl; // This view shoulbe be disabled when the glew initialization is failed. } else { #ifdef _WIN32 // Qt5 does not seem to support setting the swap interval for QGLWidget. renderer.setSwapInterval(QGLFormat::defaultFormat().swapInterval()); #endif } } void SceneWidgetImpl::resizeGL(int width, int height) { if(TRACE_FUNCTIONS){ os << "SceneWidgetImpl::resizeGL()" << endl; } renderer.setViewport(0, 0, width, height); } void SceneWidgetImpl::onSceneGraphUpdated(const SgUpdate& update) { SgNode* node = dynamic_cast(update.path().front()); if(node && (update.action() & (SgUpdate::ADDED | SgUpdate::REMOVED))){ EditableExtractor extractor; extractor.apply(node); const int numEditables = extractor.numEditables(); if(update.action() & SgUpdate::ADDED){ for(int i=0; i < numEditables; ++i){ SceneWidgetEditable* editable = extractor.editable(i); editableEntities.insert(editable); editable->onSceneModeChanged(latestEvent); } } else if(update.action() & SgUpdate::REMOVED){ for(int i=0; i < numEditables; ++i){ SceneWidgetEditable* editable = extractor.editable(i); if(editable == lastMouseMovedEditable){ lastMouseMovedEditable->onPointerLeaveEvent(latestEvent); lastMouseMovedEditable = 0; } bool isEntityFocused = false; for(size_t i=0; i < focusedEditablePath.size(); ++i){ if(editable == focusedEditablePath[i]){ isEntityFocused = true; } } if(isEntityFocused){ clearFocusToEditables(); } editableEntities.erase(editable); } } } } void SceneWidgetImpl::paintGL() { if(TRACE_FUNCTIONS){ static int counter = 0; os << "SceneWidgetImpl::paintGL() " << counter++ << endl; } renderer.render(); if(fpsTimer.isActive()){ renderFPS(); } #ifdef ENABLE_SIMULATION_PROFILING renderer.setColor(Vector4f(1.0f, 1.0f, 1.0f, 1.0f)); int n = self->profilingNames.size(); if(self->profilingTimes.size() == n){ QFont font("monospace"); font.setStyleHint(QFont::Monospace); for(int i=0; iprofilingTimes[i] / self->profilingTimes[n-1] * 100; else percentage = self->profilingTimes[i] / self->worldTimeStep * 100; renderText(20, 20+20*i, QString::fromStdString(self->profilingNames[i]) + QString(": %1 %").arg(percentage,7,'f',1), font); } break; case 1:{ renderText(20, 20+20*i, QString::fromStdString(self->profilingNames[i]) + QString(": %1 ns").arg(self->profilingTimes[i],9,'f',0), font); } break; case 2:{ renderText(20, 20+20*i, QString::fromStdString(self->profilingNames[i]) + QString(": %1 micros").arg(self->profilingTimes[i]*1.0e-3,6,'f',0), font); } break; } } } #endif } void SceneWidgetImpl::renderGrid(GLSceneRenderer& renderer, Plane p) { if(!config->gridCheck[p].isChecked()){ return; } glPushAttrib(GL_LIGHTING_BIT); glDisable(GL_LIGHTING); renderer.setColor(gridColor[p]); float half = config->gridSpanSpin[p].value() / 2.0f; float interval = config->gridIntervalSpin[p].value(); float i = 0.0f; float x = 0.0f; glBegin(GL_LINES); do { x = i * interval; switch(p){ case FLOOR : // y-line glVertex3f( x, -half, 0.0f); glVertex3f( x, half, 0.0f); glVertex3f(-x, -half, 0.0f); glVertex3f(-x, half, 0.0f); // x-line glVertex3f(-half, x, 0.0f); glVertex3f( half, x, 0.0f); glVertex3f(-half, -x, 0.0f); glVertex3f( half, -x, 0.0f); break; case XZ : // z-line glVertex3f( x, 0.0f, -half); glVertex3f( x, 0.0f, half); glVertex3f(-x, 0.0f, -half); glVertex3f(-x, 0.0f, half); // x-line glVertex3f(-half, 0.0f, x); glVertex3f( half, 0.0f, x); glVertex3f(-half, 0.0f, -x); glVertex3f( half, 0.0f, -x); break; case YZ : // z-line glVertex3f(0.0f, x, -half); glVertex3f(0.0f, x, half); glVertex3f(0.0f, -x, -half); glVertex3f(0.0f, -x, half); // y-line glVertex3f(0.0f, -half, x); glVertex3f(0.0f, half, x); glVertex3f(0.0f, -half, -x); glVertex3f(0.0f, half, -x); break; } ++i; } while(x < half); glEnd(); glPopAttrib(); } void SceneWidgetImpl::renderCoordinateAxes(GLSceneRenderer& renderer) { glPushAttrib(GL_LIGHTING_BIT); glDisable(GL_LIGHTING); glMatrixMode(GL_PROJECTION); glPushMatrix(); glLoadIdentity(); int x, y, w, h; renderer.getViewport(x, y, w, h); glOrtho((double)(x - 26), (double)(w - 26), (double)(y - 24), (double)(h - 24), -100.0, 100.0); glMatrixMode(GL_MODELVIEW); glPushMatrix(); glLoadIdentity(); Affine3 transform(renderer.currentCameraPosition()); Affine3 inv = transform.inverse(); glMultMatrixd(inv.data()); renderer.setColor(Vector4f(1.0,0.0,0.0,0.0)); renderer.visitPosTransform(xAxis); renderer.setColor(Vector4f(0.0,1.0,0.0,0.0)); renderer.visitPosTransform(yAxis); renderer.setColor(Vector4f(0.4,0.6,1.0,0.0)); renderer.visitPosTransform(zAxis); glMatrixMode(GL_PROJECTION); glPopMatrix(); glMatrixMode(GL_MODELVIEW); glPopMatrix(); glPopAttrib(); } void SceneWidgetImpl::renderFPS() { renderer.setColor(Vector4f(1.0f, 1.0f, 1.0f, 1.0f)); renderText(20, 20, QString("FPS: %1").arg(fps)); fpsRendered = true; ++fpsCounter; } void SceneWidgetImpl::onFPSUpdateRequest() { double oldFps = fps; fps = fpsCounter / 0.5; fpsCounter = 0; fpsRendered = false; if(oldFps > 0.0 || fps > 0.0){ fpsRenderingTimer.start(100); } } void SceneWidgetImpl::onFPSRenderingRequest() { if(!fpsRendered){ update(); --fpsCounter; } } void SceneWidgetImpl::showFPS(bool on) { if(on){ fpsCounter = 0; fpsTimer.start(500); } else { fpsTimer.stop(); } onFPSUpdateRequest(); } void SceneWidgetImpl::doFPSTest() { const Vector3 p = lastClickedPoint; const Affine3 C = builtinCameraTransform->T(); QElapsedTimer timer; timer.start(); for(double i=1.0; i <= 360.0; i+=1.0){ double a = 3.14159265 * i / 180.0; builtinCameraTransform->setTransform( normalizedCameraTransform( Translation3(p) * AngleAxis(a, Vector3::UnitZ()) * Translation3(-p) * C)); glDraw(); } double time = timer.elapsed() / 1000.0; fps = 360.0 / time; fpsCounter = 0; QMessageBox::information(config, _("FPS Test Result"), QString(_("FPS: %1 frames / %2 [s] = %3")).arg(360).arg(time).arg(fps)); update(); } void SceneWidget::setCursor(const QCursor cursor) { impl->setCursor(cursor); } void SceneWidgetImpl::resetCursor() { setCursor(isEditMode ? editModeCursor : defaultCursor); } SignalProxy SceneWidget::sigStateChanged() const { return impl->sigStateChanged; } void SceneWidget::setEditMode(bool on) { impl->setEditMode(on); } bool SceneWidget::isEditMode() const { return impl->isEditMode; } void SceneWidgetImpl::setEditMode(bool on) { if(on != isEditMode){ isEditMode = on; resetCursor(); if(!isEditMode){ for(size_t i=0; i < focusedEditablePath.size(); ++i){ focusedEditablePath[i]->onFocusChanged(latestEvent, false); } } if(eventFilter){ eventFilter->onSceneModeChanged(latestEvent); } set::iterator p; for(p = editableEntities.begin(); p != editableEntities.end(); ++p){ SceneWidgetEditable* editable = *p; editable->onSceneModeChanged(latestEvent); } if(isEditMode){ for(size_t i=0; i < focusedEditablePath.size(); ++i){ focusedEditablePath[i]->onFocusChanged(latestEvent, true); } } emitSigStateChangedLater(); } } void SceneWidgetImpl::toggleEditMode() { setEditMode(!isEditMode); } const SceneWidgetEvent& SceneWidget::latestEvent() const { return impl->latestEvent; } void SceneWidget::setViewpointControlMode(ViewpointControlMode mode) { impl->viewpointControlMode.select(mode); impl->emitSigStateChangedLater(); } SceneWidget::ViewpointControlMode SceneWidget::viewpointControlMode() const { return static_cast(impl->viewpointControlMode.which()); } void SceneWidget::viewAll() { impl->viewAll(); } void SceneWidgetImpl::viewAll() { if(!interactiveCameraTransform){ return; } const BoundingBox& bbox = renderer.scene()->boundingBox(); if(bbox.empty()){ return; } const double radius = bbox.boundingSphereRadius(); double left, right, bottom, top; renderer.getViewFrustum(*builtinPersCamera, left, right, bottom, top); const double a = renderer.aspectRatio(); double length = (a >= 1.0) ? (top - bottom) : (right - left); Affine3& T = interactiveCameraTransform->T(); T.translation() += (bbox.center() - T.translation()) + T.rotation() * Vector3(0, 0, 2.0 * radius * builtinPersCamera->nearClipDistance() / length); if(SgOrthographicCamera* ortho = dynamic_cast(renderer.currentCamera())){ if(a >= 1.0){ ortho->setHeight(radius * 2.0); } else { ortho->setHeight(radius * 2.0 / a); } ortho->notifyUpdate(modified); } interactiveCameraTransform->notifyUpdate(modified); interactiveCameraTransform->onPositionUpdatedInteractively(); } void SceneWidgetImpl::onNewDisplayListDoubleRenderingToggled(bool on) { renderer.setNewDisplayListDoubleRenderingEnabled(on); } void SceneWidgetImpl::onBufferForPickingToggled(bool on) { if(!on){ if(buffer){ buffer->makeCurrent(); delete buffer; buffer = 0; } } } void SceneWidgetImpl::updateLatestEvent(QKeyEvent* event) { latestEvent.modifiers_ = event->modifiers(); latestEvent.key_ = event->key(); } void SceneWidgetImpl::updateLatestEvent(int x, int y, int modifiers) { latestEvent.x_ = x; latestEvent.y_ = height() - y - 1; latestEvent.modifiers_ = modifiers; } void SceneWidgetImpl::updateLatestEvent(QMouseEvent* event) { updateLatestEvent(event->x(), event->y(), event->modifiers()); latestEvent.button_ = event->button(); } bool SceneWidgetImpl::updateLatestEventPath() { if(config->bufferForPickingCheck.isChecked()){ const QSize s = size(); if(buffer && (buffer->size() != s)){ buffer->makeCurrent(); delete buffer; buffer = 0; } if(!buffer){ if(QGLPixelBuffer::hasOpenGLPbuffers()){ QGLFormat f = format(); f.setDoubleBuffer(false); buffer = new QGLPixelBuffer(s, f, this); buffer->makeCurrent(); glEnable(GL_DEPTH_TEST); } } } if(buffer){ buffer->makeCurrent(); } else { QGLWidget::makeCurrent(); } bool picked = renderer.pick(latestEvent.x(), latestEvent.y()); if(buffer){ buffer->doneCurrent(); } else if(SHOW_IMAGE_FOR_PICKING){ swapBuffers(); } latestEvent.nodePath_.clear(); pointedEditablePath.clear(); if(picked){ latestEvent.point_ = renderer.pickedPoint(); latestEvent.nodePath_ = renderer.pickedNodePath(); SgNodePath& path = latestEvent.nodePath_; for(size_t i=0; i < path.size(); ++i){ SceneWidgetEditable* editable = dynamic_cast(path[i]); if(editable){ pointedEditablePath.push_back(editable); } } } return picked; } void SceneWidgetImpl::updateLastClickedPoint() { const SgNodePath& path = latestEvent.nodePath(); if(!path.empty()){ if(path.back() != grid[FLOOR].get() && path.back() != grid[XZ].get() && path.back() != grid[YZ].get()){ lastClickedPoint = latestEvent.point(); } } } /** \return The editable object with which the given function is actually applied (the function returns true.) If there are no functions which returns true, null object is returned. */ SceneWidgetEditable* SceneWidgetImpl::applyFunction (EditablePath& editablePath, boost::function function) { SceneWidgetEditable* targetEditable = 0; for(EditablePath::reverse_iterator p = editablePath.rbegin(); p != editablePath.rend(); ++p){ SceneWidgetEditable* editable = *p; if(function(editable)){ targetEditable = editable; break; } } return targetEditable; } bool SceneWidgetImpl::setFocusToEditablePath(EditablePath& editablePath) { if(editablePath.empty()){ return false; } int indexOfFirstEditableToChangeFocus = 0; for(size_t i=0; i < editablePath.size(); ++i){ if(i < focusedEditablePath.size() && editablePath[i] == focusedEditablePath[i]){ indexOfFirstEditableToChangeFocus = i + 1; } else { break; } } for(size_t i=indexOfFirstEditableToChangeFocus; i < focusedEditablePath.size(); ++i){ focusedEditablePath[i]->onFocusChanged(latestEvent, false); } for(size_t i=indexOfFirstEditableToChangeFocus; i < editablePath.size(); ++i){ editablePath[i]->onFocusChanged(latestEvent, true); } focusedEditablePath = editablePath; focusedEditable = editablePath.back(); return true; } bool SceneWidgetImpl::setFocusToPointedEditablePath(SceneWidgetEditable* targetEditable) { if(targetEditable){ EditablePath path; for(size_t i=0; i < pointedEditablePath.size(); ++i){ SceneWidgetEditable* editable = pointedEditablePath[i]; path.push_back(editable); if(editable == targetEditable){ return setFocusToEditablePath(path); } } } // No editable is pointed // The following command is disabled because keeping the focus seems better. // clearFocusToEditables(); return false; } void SceneWidgetImpl::clearFocusToEditables() { for(size_t i=0; i < focusedEditablePath.size(); ++i){ focusedEditablePath[i]->onFocusChanged(latestEvent, false); } focusedEditablePath.clear(); focusedEditable = 0; } bool SceneWidget::setSceneFocus(const SgNodePath& path) { SceneWidgetImpl::EditablePath editablePath; for(size_t i=0; i < path.size(); ++i){ SceneWidgetEditable* editable = dynamic_cast(path[i]); if(editable){ editablePath.push_back(editable); } } return impl->setFocusToEditablePath(editablePath); } void SceneWidgetImpl::keyPressEvent(QKeyEvent* event) { if(TRACE_FUNCTIONS){ os << "SceneWidgetImpl::keyPressEvent()" << endl; } updateLatestEvent(event); updateLatestEventPath(); bool handled = false; if(isEditMode){ handled = applyFunction(focusedEditablePath, boost::bind(&SceneWidgetEditable::onKeyPressEvent, _1, boost::ref(latestEvent))); } if(!handled){ switch(event->key()){ case Qt::Key_Escape: toggleEditMode(); handled = true; break; case Qt::Key_Z: if(event->modifiers() & Qt::ControlModifier){ if(event->modifiers() & Qt::ShiftModifier){ handled = applyFunction(focusedEditablePath, boost::bind(&SceneWidgetEditable::onRedoRequest, _1)); } else { handled = applyFunction(focusedEditablePath, boost::bind(&SceneWidgetEditable::onUndoRequest, _1)); } } break; case Qt::Key_1: self->setViewpointControlMode(SceneWidget::FIRST_PERSON_MODE); handled = true; break; case Qt::Key_3: self->setViewpointControlMode(SceneWidget::THIRD_PERSON_MODE); handled = true; break; case Qt::Key_Space: { updateLastClickedPoint(); latestEvent.button_ = Qt::MidButton; startViewChange(); handled = true; break; } #ifdef ENABLE_SIMULATION_PROFILING case Qt::Key_P: profiling_mode++; profiling_mode %= 3; break; #endif default: break; } } if(!handled){ event->setAccepted(false); } } void SceneWidgetImpl::keyReleaseEvent(QKeyEvent* event) { if(TRACE_FUNCTIONS){ os << "SceneWidgetImpl::keyReleaseEvent()" << endl; } bool handled = false; updateLatestEvent(event); if(event->key() == Qt::Key_Space){ dragMode = NO_DRAGGING; handled = true; } else if(dragMode == VIEW_ZOOM && (event->key() == Qt::Key_Control)){ dragMode = NO_DRAGGING; handled = true; } else if(isEditMode){ if(focusedEditable){ handled = focusedEditable->onKeyReleaseEvent(latestEvent); } } if(!handled){ event->setAccepted(false); } } void SceneWidgetImpl::mousePressEvent(QMouseEvent* event) { if(TRACE_FUNCTIONS){ os << "SceneWidgetImpl::mousePressEvent()" << endl; } updateLatestEvent(event); updateLatestEventPath(); updateLastClickedPoint(); bool handled = false; bool forceViewMode = (event->modifiers() & Qt::AltModifier); if(isEditMode && !forceViewMode){ if(event->button() == Qt::RightButton){ showEditModePopupMenu(event->globalPos()); handled = true; } else { if(eventFilter){ handled = eventFilter->onButtonPressEvent(latestEvent); } if(!handled){ handled = setFocusToPointedEditablePath( applyFunction( pointedEditablePath, boost::bind(&SceneWidgetEditable::onButtonPressEvent, _1, boost::ref(latestEvent)))); } if(handled){ dragMode = EDITING; } } } if(!handled){ if(!isEditMode && event->button() == Qt::RightButton){ showViewModePopupMenu(event->globalPos()); handled = true; } } if(!handled){ startViewChange(); } } void SceneWidgetImpl::mouseDoubleClickEvent(QMouseEvent* event) { updateLatestEvent(event); updateLatestEventPath(); bool handled = false; if(isEditMode){ if(eventFilter){ handled = eventFilter->onDoubleClickEvent(latestEvent); } if(!handled){ handled = setFocusToPointedEditablePath( applyFunction( pointedEditablePath, boost::bind(&SceneWidgetEditable::onDoubleClickEvent, _1, boost::ref(latestEvent)))); } } if(!handled){ toggleEditMode(); } } void SceneWidgetImpl::mouseReleaseEvent(QMouseEvent* event) { updateLatestEvent(event); bool handled = false; if(isEditMode && dragMode == EDITING){ if(eventFilter){ handled = eventFilter->onButtonReleaseEvent(latestEvent); } if(!handled){ if(focusedEditable){ updateLatestEventPath(); focusedEditable->onButtonReleaseEvent(latestEvent); } } } dragMode = NO_DRAGGING; } void SceneWidgetImpl::mouseMoveEvent(QMouseEvent* event) { updateLatestEvent(event); bool handled = false; switch(dragMode){ case EDITING: if(eventFilter){ handled = eventFilter->onPointerMoveEvent(latestEvent); } if(!handled){ if(focusedEditable){ handled = focusedEditable->onPointerMoveEvent(latestEvent); } } break; case VIEW_ROTATION: dragViewRotation(); break; case VIEW_TRANSLATION: dragViewTranslation(); break; case VIEW_ZOOM: dragViewZoom(); break; default: updatePointerPosition(); break; } } void SceneWidgetImpl::updatePointerPosition() { if(TRACE_FUNCTIONS){ os << "SceneWidgetImpl::updatePointerPosition()" << endl; } updateLatestEventPath(); if(!isEditMode){ static boost::format f(_("Global Position = (%.3f %.3f %.3f)")); const Vector3& p = latestEvent.point(); updateIndicator(str(f % p.x() % p.y() % p.z())); } else { SceneWidgetEditable* mouseMovedEditable = applyFunction( pointedEditablePath, boost::bind(&SceneWidgetEditable::onPointerMoveEvent, _1, boost::ref(latestEvent))); if(mouseMovedEditable){ if(!QWidget::hasFocus()){ QWidget::setFocus(Qt::MouseFocusReason); } } if(lastMouseMovedEditable != mouseMovedEditable){ if(!mouseMovedEditable){ resetCursor(); } if(lastMouseMovedEditable){ lastMouseMovedEditable->onPointerLeaveEvent(latestEvent); } lastMouseMovedEditable = mouseMovedEditable; } } } void SceneWidgetImpl::wheelEvent(QWheelEvent* event) { if(TRACE_FUNCTIONS){ os << "SceneWidgetImpl::wheelEvent()" << endl; os << "delta: " << event->delta() << endl; } updateLatestEvent(event->x(), event->y(), event->modifiers()); updateLatestEventPath(); updateLastClickedPoint(); const double s = event->delta() / 8.0 / 15.0; latestEvent.wheelSteps_ = s; bool handled = false; if(isEditMode){ if(eventFilter){ handled = eventFilter->onScrollEvent(latestEvent); } if(!handled){ handled = setFocusToPointedEditablePath( applyFunction( pointedEditablePath, boost::bind(&SceneWidgetEditable::onScrollEvent, _1, boost::ref(latestEvent)))); } } if(interactiveCameraTransform){ if(!handled || !isEditMode){ if(event->orientation() == Qt::Vertical){ zoomView(0.25 * s); } } } } bool SceneWidget::unproject(double x, double y, double z, Vector3& out_projected) const { const Array4i& vp = impl->renderer.viewport(); Vector4 p; p[0] = 2.0 * (x - vp[0]) / vp[2] - 1.0; p[1] = 2.0 * (y - vp[1]) / vp[3] - 1.0; p[2] = 2.0 * z - 1.0; p[3] = 1.0; const Matrix4 V = impl->renderer.currentCameraPosition().inverse().matrix(); const Vector4 projected = (impl->renderer.projectionMatrix() * V).inverse() * p; if(projected[3] == 0.0){ return false; } out_projected.x() = projected.x() / projected[3]; out_projected.y() = projected.y() / projected[3]; out_projected.z() = projected.z() / projected[3]; return true; } SignalProxy SceneWidget::sigSceneWidgetCreated() { return ::sigSceneWidgetCreated; } SignalProxy SceneWidget::sigWidgetFocusChanged() { return impl->sigWidgetFocusChanged; } void SceneWidgetImpl::focusInEvent(QFocusEvent* event) { sigWidgetFocusChanged(true); } void SceneWidgetImpl::focusOutEvent(QFocusEvent* event) { sigWidgetFocusChanged(false); } SignalProxy SceneWidget::sigAboutToBeDestroyed() { return impl->sigAboutToBeDestroyed; } void SceneWidgetImpl::startViewChange() { if(interactiveCameraTransform){ switch(latestEvent.button()){ case Qt::LeftButton: startViewRotation(); break; case Qt::MidButton: if(latestEvent.modifiers() & Qt::ControlModifier){ startViewZoom(); } else { startViewTranslation(); } break; default: break; } } } void SceneWidgetImpl::startViewRotation() { if(TRACE_FUNCTIONS){ os << "SceneWidgetImpl::startViewRotation()" << endl; } if(!interactiveCameraTransform){ dragMode = NO_DRAGGING; return; } orgMouseX = latestEvent.x(); orgMouseY = latestEvent.y(); orgCameraPosition = interactiveCameraTransform->T(); if(isFirstPersonMode()){ orgPointedPos = orgCameraPosition.translation(); dragAngleRatio = 0.01f; } else { orgPointedPos = lastClickedPoint; dragAngleRatio = 0.01f; } dragMode = VIEW_ROTATION; } void SceneWidgetImpl::dragViewRotation() { if(TRACE_FUNCTIONS){ os << "SceneWidgetImpl::dragViewRotation()" << endl; } if(!interactiveCameraTransform){ dragMode = NO_DRAGGING; return; } const double dx = latestEvent.x() - orgMouseX; const double dy = latestEvent.y() - orgMouseY; const Vector3 right = SgCamera::right(orgCameraPosition); interactiveCameraTransform->setTransform( normalizedCameraTransform( Translation3(orgPointedPos) * AngleAxis(-dx * dragAngleRatio, Vector3::UnitZ()) * AngleAxis(dy * dragAngleRatio, right) * Translation3(-orgPointedPos) * orgCameraPosition)); if(latestEvent.modifiers() & Qt::ShiftModifier){ Affine3& T = interactiveCameraTransform->T(); Vector3 rpy = rpyFromRot(T.linear()); for(int i=0; i < 3; ++i){ double& a = rpy[i]; for(int j=0; j < 5; ++j){ double b = j * (PI / 2.0) - PI; if(fabs(b - a) < (PI / 8)){ a = b; break; } } } Matrix3 S = rotFromRpy(rpy); T.translation() = orgPointedPos + S * T.linear().transpose() * (T.translation() - orgPointedPos); T.linear() = S; } interactiveCameraTransform->notifyUpdate(modified); interactiveCameraTransform->onPositionUpdatedInteractively(); } void SceneWidgetImpl::startViewTranslation() { if(TRACE_FUNCTIONS){ os << "SceneWidgetImpl::startViewTranslation()" << endl; } if(!interactiveCameraTransform){ dragMode = NO_DRAGGING; return; } const Affine3& C = interactiveCameraTransform->T(); if(isFirstPersonMode()){ viewTranslationRatioX = -0.005; viewTranslationRatioY = -0.005; } else { int x, y, width, height; renderer.getViewport(x, y, width, height); const double aspect = (double)width / height; double r, cw, ch; SgCamera* camera = renderer.currentCamera(); if(SgPerspectiveCamera* pers = dynamic_cast(camera)){ const double fovy = pers->fovy(aspect); r = (lastClickedPoint - C.translation()).dot(SgCamera::direction(C)); ch = tanf(fovy / 2.0) * 2.0; cw = aspect * ch; } else if(SgOrthographicCamera* ortho = dynamic_cast(camera)){ r = 1.0; ch = ortho->height(); cw = aspect * ch; } viewTranslationRatioX = r * cw / width; viewTranslationRatioY = r * ch / height; } orgMouseX = latestEvent.x(); orgMouseY = latestEvent.y(); orgCameraPosition = C; dragMode = VIEW_TRANSLATION; } void SceneWidgetImpl::dragViewTranslation() { if(TRACE_FUNCTIONS){ os << "SceneWidgetImpl::dragViewTranslation()" << endl; } if(!interactiveCameraTransform){ dragMode = NO_DRAGGING; return; } const double dx = viewTranslationRatioX * (latestEvent.x() - orgMouseX); const double dy = viewTranslationRatioY * (latestEvent.y() - orgMouseY); interactiveCameraTransform->setTransform( normalizedCameraTransform( Translation3(-dy * SgCamera::up(orgCameraPosition)) * Translation3(-dx * SgCamera::right(orgCameraPosition)) * orgCameraPosition)); interactiveCameraTransform->notifyUpdate(modified); interactiveCameraTransform->onPositionUpdatedInteractively(); } void SceneWidgetImpl::startViewZoom() { if(TRACE_FUNCTIONS){ os << "SceneWidgetImpl::startViewZoom()" << endl; } if(!interactiveCameraTransform){ dragMode = NO_DRAGGING; return; } orgMouseY = latestEvent.y(); orgCameraPosition = interactiveCameraTransform->T(); if(SgOrthographicCamera* ortho = dynamic_cast(renderer.currentCamera())){ orgOrthoCameraHeight = ortho->height(); } dragMode = VIEW_ZOOM; } void SceneWidgetImpl::dragViewZoom() { if(TRACE_FUNCTIONS){ os << "SceneWidgetImpl::dragViewZoom()" << endl; } SgCamera* camera = renderer.currentCamera(); const double dy = latestEvent.y() - orgMouseY; const double ratio = expf(dy * 0.01); if(SgPerspectiveCamera* pers = dynamic_cast(camera)){ const Affine3& C = orgCameraPosition; const Vector3 v = SgCamera::direction(C); if(isFirstPersonMode()){ double speed = 0.02; interactiveCameraTransform->setTranslation(C.translation() + speed * dy * v); } else { const double l0 = (lastClickedPoint - C.translation()).dot(v); interactiveCameraTransform->setTranslation(C.translation() + v * (l0 * (-ratio + 1.0))); } interactiveCameraTransform->notifyUpdate(modified); interactiveCameraTransform->onPositionUpdatedInteractively(); } else if(SgOrthographicCamera* ortho = dynamic_cast(camera)){ ortho->setHeight(orgOrthoCameraHeight * ratio); ortho->notifyUpdate(modified); } } void SceneWidgetImpl::zoomView(double ratio) { if(!interactiveCameraTransform){ dragMode = NO_DRAGGING; return; } SgCamera* camera = renderer.currentCamera(); if(SgPerspectiveCamera* pers = dynamic_cast(camera)){ const Affine3& C = interactiveCameraTransform->T(); const Vector3 v = SgCamera::direction(C); if(isFirstPersonMode()){ if(latestEvent.modifiers() & Qt::ShiftModifier){ ratio *= 5.0; } interactiveCameraTransform->translation() += ratio * v; } else { if(latestEvent.modifiers() & Qt::ShiftModifier){ ratio *= 0.2; } const double dz = ratio * (lastClickedPoint - C.translation()).dot(v); interactiveCameraTransform->translation() -= dz * v; } interactiveCameraTransform->notifyUpdate(modified); interactiveCameraTransform->onPositionUpdatedInteractively(); } else if(SgOrthographicCamera* ortho = dynamic_cast(camera)){ ortho->setHeight(ortho->height() * expf(ratio)); ortho->notifyUpdate(modified); } } void SceneWidget::startBuiltinCameraViewChange(const Vector3& center) { impl->orgCameraPosition = impl->builtinCameraTransform->T(); impl->cameraViewChangeCenter = center; } void SceneWidget::rotateBuiltinCameraView(double dPitch, double dYaw) { impl->rotateBuiltinCameraView(dPitch, dYaw); } void SceneWidgetImpl::rotateBuiltinCameraView(double dPitch, double dYaw) { const Affine3 T = builtinCameraTransform->T(); builtinCameraTransform->setTransform( normalizedCameraTransform( Translation3(cameraViewChangeCenter) * AngleAxis(dYaw, Vector3::UnitZ()) * AngleAxis(dPitch, SgCamera::right(T)) * Translation3(-cameraViewChangeCenter) * T)); builtinCameraTransform->notifyUpdate(modified); } void SceneWidget::translateBuiltinCameraView(const Vector3& dp_local) { impl->translateBuiltinCameraView(dp_local); } void SceneWidgetImpl::translateBuiltinCameraView(const Vector3& dp_local) { const Affine3 T = builtinCameraTransform->T(); builtinCameraTransform->setTransform( normalizedCameraTransform( Translation3(T.linear() * dp_local) * T)); builtinCameraTransform->notifyUpdate(modified); } void SceneWidgetImpl::showViewModePopupMenu(const QPoint& globalPos) { menuManager.setNewPopupMenu(this); sigContextMenuRequest(latestEvent, menuManager); menuManager.setPath("/"); menuManager.addItem(_("Edit Mode")) ->sigTriggered().connect(boost::bind(&SceneWidgetImpl::toggleEditMode, this)); menuManager.popupMenu()->popup(globalPos); } void SceneWidgetImpl::showEditModePopupMenu(const QPoint& globalPos) { menuManager.setNewPopupMenu(this); int prevNumItems = 0; if(!pointedEditablePath.empty()){ SceneWidgetEditable* editableToFocus = pointedEditablePath.front(); for(EditablePath::reverse_iterator p = pointedEditablePath.rbegin(); p != pointedEditablePath.rend(); ++p){ SceneWidgetEditable* editable = *p; editable->onContextMenuRequest(latestEvent, menuManager); int numItems = menuManager.numItems(); if(numItems > prevNumItems){ menuManager.addSeparator(); prevNumItems = numItems; editableToFocus = editable; } } setFocusToPointedEditablePath(editableToFocus); } if(eventFilter){ eventFilter->onContextMenuRequest(latestEvent, menuManager); if(menuManager.numItems() > prevNumItems){ menuManager.addSeparator(); prevNumItems = menuManager.numItems(); } } sigContextMenuRequest(latestEvent, menuManager); if(menuManager.numItems() > prevNumItems){ menuManager.addSeparator(); } menuManager.setPath("/"); menuManager.addItem(_("View Mode")) ->sigTriggered().connect(boost::bind(&SceneWidgetImpl::toggleEditMode, this)); menuManager.popupMenu()->popup(globalPos); } Menu* SceneWidget::contextMenu() { return impl->menuManager.popupMenu(); } void SceneWidget::showContextMenu() { QPoint pos = QWidget::mapToGlobal(QPoint(0, 0)); if(impl->isEditMode){ impl->showEditModePopupMenu(pos); } else { impl->showViewModePopupMenu(pos); } } SignalProxy SceneWidget::sigContextMenuRequest() { return impl->sigContextMenuRequest; } void SceneWidget::installEventFilter(SceneWidgetEditable* filter) { impl->eventFilter = filter; impl->eventFilterRef = dynamic_cast(filter); } SceneWidgetEditable* SceneWidget::activeEventFilter() { return impl->eventFilter; } void SceneWidget::removeEventFilter(SceneWidgetEditable* filter) { if(impl->eventFilter == filter){ impl->eventFilter = 0; impl->eventFilterRef.reset(); impl->resetCursor(); } } void SceneWidgetImpl::showBackgroundColorDialog() { const Vector3f& c = renderer.backgroundColor(); QColor newColor = QColorDialog::getColor( QColor::fromRgbF(c[0], c[1], c[2], 1.0f), MainWindow::instance(), _("Background Color")); if(newColor.isValid()){ renderer.setBackgroundColor(Vector3f(newColor.redF(), newColor.greenF(), newColor.blueF())); update(); } } void SceneWidgetImpl::showGridColorDialog(Plane p) { QColor newColor = QColorDialog::getColor( QColor::fromRgbF(gridColor[p][0], gridColor[p][1], gridColor[p][2], gridColor[p][3]), MainWindow::instance(), _("Floor Grid Color")); if(newColor.isValid()){ gridColor[p] << newColor.redF(), newColor.greenF(), newColor.blueF(), newColor.alphaF(); update(); } } void SceneWidgetImpl::showDefaultColorDialog() { QColor c = QColorDialog::getColor( QColor::fromRgbF(gridColor[FLOOR][0], gridColor[FLOOR][1], gridColor[FLOOR][2], gridColor[FLOOR][3]), MainWindow::instance(), _("Default Color")); if(c.isValid()){ Vector4f color(c.redF(), c.greenF(), c.blueF(), c.alphaF()); renderer.setDefaultColor(color); renderer.defaultMaterial()->setDiffuseColor(Vector3f(c.redF(), c.greenF(), c.blueF())); renderer.defaultMaterial()->setTransparency(1.0f - c.alphaF()); renderer.requestToClearCache(); update(); } } void SceneWidgetImpl::updateCurrentCamera() { const int index = renderer.currentCameraIndex(); if(index >= 0){ latestEvent.cameraPath_ = renderer.cameraPath(index); } } SgPosTransform* SceneWidget::builtinCameraTransform() { return impl->builtinCameraTransform.get(); } SgPerspectiveCamera* SceneWidget::builtinPerspectiveCamera() const { return impl->builtinPersCamera.get(); } SgOrthographicCamera* SceneWidget::builtinOrthographicCamera() const { return impl->builtinOrthoCamera.get(); } bool SceneWidget::isBuiltinCameraCurrent() const { return impl->isBuiltinCameraCurrent; } void SceneWidgetImpl::setCurrentCameraPath(const std::vector& simplifiedPathStrings) { renderer.setCurrentCameraPath(simplifiedPathStrings); updateCurrentCamera(); } InteractiveCameraTransform* SceneWidget::findOwnerInteractiveCameraTransform(int cameraIndex) { const SgNodePath& path = impl->renderer.cameraPath(cameraIndex); for(size_t i=0; i < path.size() - 1; ++i){ if(InteractiveCameraTransform* transform = dynamic_cast(path[i])){ return transform; } } return 0; } void SceneWidgetImpl::onCamerasChanged() { updateCurrentCamera(); } void SceneWidgetImpl::onCurrentCameraChanged() { interactiveCameraTransform.reset(); isBuiltinCameraCurrent = false; SgCamera* current = renderer.currentCamera(); if(current){ int index = renderer.currentCameraIndex(); const SgNodePath& path = renderer.cameraPath(index); for(int i = path.size() - 2; i >= 0; --i){ if(interactiveCameraTransform = dynamic_cast(path[i])){ isBuiltinCameraCurrent = (current == builtinPersCamera || current == builtinOrthoCamera); break; } } } } void SceneWidgetImpl::onTextureToggled(bool on) { renderer.enableTexture(on); update(); } void SceneWidgetImpl::onLineWidthChanged(double width) { renderer.setDefaultLineWidth(width); update(); } void SceneWidgetImpl::onPointSizeChanged(double size) { renderer.setDefaultPointSize(size); update(); } void SceneWidget::setPolygonMode(PolygonMode mode) { impl->setPolygonMode(mode); } void SceneWidgetImpl::setPolygonMode(int mode) { if(mode < 0 && mode > 2){ return; } int oldMode = polygonMode.which(); if(mode == SceneWidget::POINT_MODE){ config->pointRenderingModeCheckConnection.block(); config->pointRenderingModeCheck.setChecked(true); config->pointRenderingModeCheckConnection.unblock(); } if(mode == SceneWidget::LINE_MODE && config->pointRenderingModeCheck.isChecked()){ polygonMode.select(SceneWidget::POINT_MODE); } else { polygonMode.select(mode); } if(polygonMode.which() != oldMode){ switch(polygonMode.which()){ case SceneWidget::FILL_MODE: renderer.setPolygonMode(GLSceneRenderer::FILL_MODE); break; case SceneWidget::LINE_MODE: renderer.setPolygonMode(GLSceneRenderer::LINE_MODE); break; case SceneWidget::POINT_MODE: renderer.setPolygonMode(GLSceneRenderer::POINT_MODE); break; default: break; } update(); } } SceneWidget::PolygonMode SceneWidget::polygonMode() const { return static_cast(impl->polygonMode.which()); } void SceneWidgetImpl::onPointRenderingModeToggled(bool on) { if(on){ setPolygonMode(polygonMode.which()); } else { if(polygonMode.which() == SceneWidget::POINT_MODE){ setPolygonMode(SceneWidget::LINE_MODE); } } } void SceneWidget::setCollisionLinesVisible(bool on) { impl->setCollisionLinesVisible(on); } void SceneWidgetImpl::setCollisionLinesVisible(bool on) { if(on != collisionLinesVisible){ collisionLinesVisible = on; renderer.property()->write("collision", on); update(); emitSigStateChangedLater(); } } bool SceneWidget::collisionLinesVisible() const { return impl->collisionLinesVisible; } void SceneWidgetImpl::onFieldOfViewChanged() { builtinPersCamera->setFieldOfView(PI * config->fieldOfViewSpin.value() / 180.0); builtinPersCamera->notifyUpdate(modified); } void SceneWidgetImpl::onClippingDepthChanged() { double zNear = config->zNearSpin.value(); double zFar = config->zFarSpin.value(); builtinPersCamera->setNearClipDistance(zNear); builtinPersCamera->setFarClipDistance(zFar); builtinOrthoCamera->setNearClipDistance(zNear); builtinOrthoCamera->setFarClipDistance(zFar); builtinOrthoCamera->notifyUpdate(modified); builtinPersCamera->notifyUpdate(modified); } void SceneWidgetImpl::onLightingToggled(bool on) { renderer.setDefaultLighting(on); update(); } void SceneWidgetImpl::onSmoothShadingToggled(bool on) { renderer.setDefaultSmoothShading(on); update(); } void SceneWidgetImpl::updateDefaultLights() { SgLight* headLight = renderer.headLight(); headLight->on(config->headLightCheck.isChecked()); headLight->setIntensity(config->headLightIntensitySpin.value()); renderer.setHeadLightLightingFromBackEnabled(config->headLightFromBackCheck.isChecked()); worldLight->on(config->worldLightCheck.isChecked()); worldLight->setIntensity(config->worldLightIntensitySpin.value()); worldLight->setAmbientIntensity(config->worldLightAmbientSpin.value()); renderer.enableAdditionalLights(config->additionalLightsCheck.isChecked()); renderer.enableFog(config->fogCheck.isChecked()); worldLight->notifyUpdate(modified); } void SceneWidgetImpl::onNormalVisualizationChanged() { if(config->normalVisualizationCheck.isChecked()){ renderer.showNormalVectors(config->normalLengthSpin.value()); } else { renderer.showNormalVectors(0.0); } update(); } void SceneWidget::setHeadLightIntensity(double value) { impl->config->headLightIntensitySpin.setValue(value); } void SceneWidget::setWorldLightIntensity(double value) { impl->config->worldLightIntensitySpin.setValue(value); } void SceneWidget::setWorldLightAmbient(double value) { impl->config->worldLightAmbientSpin.setValue(value); } void SceneWidget::setFloorGridSpan(double value) { impl->config->gridSpanSpin[FLOOR].setValue(value); } void SceneWidget::setFloorGridInterval(double value) { impl->config->gridIntervalSpin[FLOOR].setValue(value); } void SceneWidget::setLineWidth(double value) { impl->config->lineWidthSpin.setValue(value); } void SceneWidget::setPointSize(double value) { impl->config->pointSizeSpin.setValue(value); } void SceneWidget::setNormalLength(double value) { impl->config->normalLengthSpin.setValue(value); } void SceneWidget::setHeadLightEnabled(bool on) { impl->config->headLightCheck.setChecked(on); } void SceneWidget::setHeadLightLightingFromBack(bool on) { impl->config->headLightFromBackCheck.setChecked(on); } void SceneWidget::setWorldLight(bool on) { impl->config->worldLightCheck.setChecked(on); } void SceneWidget::setAdditionalLights(bool on) { impl->config->additionalLightsCheck.setChecked(on); } void SceneWidget::setFloorGrid(bool on) { impl->config->gridCheck[FLOOR].setChecked(on); } void SceneWidget::setNormalVisualization(bool on) { impl->config->normalVisualizationCheck.setChecked(on); } void SceneWidget::setCoordinateAxes(bool on) { impl->config->coordinateAxesCheck.setChecked(on); } void SceneWidget::setNewDisplayListDoubleRenderingEnabled(bool on) { impl->config->newDisplayListDoubleRenderingCheck.setChecked(on); } void SceneWidget::setUseBufferForPicking(bool on) { impl->config->bufferForPickingCheck.setChecked(on); } void SceneWidget::setBackgroundColor(const Vector3& color) { impl->renderer.setBackgroundColor(color.cast()); impl->update(); } void SceneWidget::setColor(const Vector4& color) { impl->renderer.setColor(color.cast()); } void SceneWidget::setShowFPS(bool on) { impl->showFPS(on); } void SceneWidget::setCameraPosition(const Vector3& eye, const Vector3& direction, const Vector3& up) { impl->builtinCameraTransform->setPosition(SgCamera::positionLookingFor(eye, direction, up)); } void SceneWidget::setFieldOfView(double value) { impl->builtinPersCamera->setFieldOfView(value); } void SceneWidget::setHeight(double value) { impl->builtinOrthoCamera->setHeight(value); } void SceneWidget::setNear(double value) { impl->config->zNearSpin.setValue(value); } void SceneWidget::setFar(double value) { impl->config->zFarSpin.setValue(value); } void SceneWidget::showConfigDialog() { impl->config->show(); } QVBoxLayout* SceneWidget::configDialogVBox() { return impl->config->vbox; } bool SceneWidget::saveImage(const std::string& filename) { return impl->saveImage(filename); } bool SceneWidgetImpl::saveImage(const std::string& filename) { return grabFrameBuffer().save(filename.c_str()); } QImage SceneWidget::getImage() { return impl->grabFrameBuffer(); } void SceneWidget::setScreenSize(int width, int height) { impl->setScreenSize(width, height); } void SceneWidgetImpl::setScreenSize(int width, int height) { QRect r = self->geometry(); setGeometry((r.width() - width) / 2, (r.height() - height) / 2, width, height); } void SceneWidget::updateIndicator(const std::string& text) { impl->indicatorLabel->setText(text.c_str()); } void SceneWidgetImpl::updateIndicator(const std::string& text) { indicatorLabel->setText(text.c_str()); } bool SceneWidget::storeState(Archive& archive) { return impl->storeState(archive); } bool SceneWidgetImpl::storeState(Archive& archive) { archive.write("editMode", isEditMode); archive.write("viewpointControlMode", viewpointControlMode.selectedSymbol()); archive.write("collisionLines", collisionLinesVisible); archive.write("polygonMode", polygonMode.selectedSymbol()); config->storeState(archive); ListingPtr cameraListing = new Listing(); set storedTransforms; int numCameras = renderer.numCameras(); for(int i=0; i < numCameras; ++i){ Mapping* cameraState = 0; if(InteractiveCameraTransform* transform = self->findOwnerInteractiveCameraTransform(i)){ if(!storedTransforms.insert(transform).second){ transform = 0; // already stored } cameraState = storeCameraState(i, true, transform); } else { if(i == renderer.currentCameraIndex()){ cameraState = storeCameraState(i, false, 0); } } if(cameraState){ cameraListing->append(cameraState); } } if(!cameraListing->empty()){ archive.insert("cameras", cameraListing); } write(archive, "backgroundColor", renderer.backgroundColor()); write(archive, "gridColor", gridColor[FLOOR]); write(archive, "xzgridColor", gridColor[XZ]); write(archive, "yzgridColor", gridColor[YZ]); return true; } void SceneWidgetImpl::writeCameraPath(Mapping& archive, const std::string& key, int cameraIndex) { vector cameraStrings; if(renderer.getSimplifiedCameraPathStrings(cameraIndex, cameraStrings)){ if(cameraStrings.size() == 1){ archive.write(key, cameraStrings.front()); } else { Listing& pathNode = *archive.createListing(key); pathNode.setFlowStyle(true); for(size_t i=0; i < cameraStrings.size(); ++i){ pathNode.append(cameraStrings[i]); } } } } Mapping* SceneWidgetImpl::storeCameraState(int cameraIndex, bool isInteractiveCamera, SgPosTransform* cameraTransform) { Mapping* state = new Mapping(); writeCameraPath(*state, "camera", cameraIndex); if(cameraIndex == renderer.currentCameraIndex()){ state->write("isCurrent", true); } if(isInteractiveCamera){ SgCamera* camera = renderer.camera(cameraIndex); if(SgPerspectiveCamera* pers = dynamic_cast(camera)){ state->write("fieldOfView", pers->fieldOfView()); } else if(SgOrthographicCamera* ortho = dynamic_cast(camera)){ state->write("orthoHeight", ortho->height()); } state->write("near", camera->nearClipDistance()); state->write("far", camera->farClipDistance()); if(cameraTransform){ const Affine3& T = cameraTransform->T(); write(*state, "eye", T.translation()); write(*state, "direction", SgCamera::direction(T)); write(*state, "up", SgCamera::up(T)); } } return state; } template static bool readColor(const Mapping& mapping, const char* key, Eigen::MatrixBase& out_color) { const Listing& elements = *mapping.findListing(key); if(!elements.isValid()){ return false; } if(elements.size() < 3 || elements.size() > 4){ elements.throwException("The color value must have three or four elements"); } for(int i=0; i < 3; ++i){ out_color[i] = elements[i].toDouble(); } if(out_color.rows() == 4){ if(elements.size() == 4){ out_color[3] = elements[3].toDouble(); } else { out_color[3] = 1.0f; } } return true; } bool SceneWidget::restoreState(const Archive& archive) { return impl->restoreState(archive); } bool SceneWidgetImpl::restoreState(const Archive& archive) { bool doUpdate = false; setEditMode(archive.get("editMode", isEditMode)); string symbol; if(archive.read("viewpointControlMode", symbol)){ self->setViewpointControlMode((SceneWidget::ViewpointControlMode(viewpointControlMode.index(symbol)))); } if(archive.read("polygonMode", symbol)){ setPolygonMode(polygonMode.index(symbol)); } setCollisionLinesVisible(archive.get("collisionLines", collisionLinesVisible)); config->restoreState(archive); const Listing& cameraListing = *archive.findListing("cameras"); if(cameraListing.isValid()){ archive.addPostProcess( boost::bind(&SceneWidgetImpl::restoreCameraStates, this, boost::ref(cameraListing)), 1); } else { // for the compatibility to the older versions const Mapping& cameraData = *archive.findMapping("camera"); if(cameraData.isValid()){ Vector3 eye, direction, up; if(read(cameraData, "eye", eye) && read(cameraData, "direction", direction) && read(cameraData, "up", up)){ builtinCameraTransform->setPosition(SgCamera::positionLookingFor(eye, direction, up)); doUpdate = true; } double fov; if(cameraData.read("fieldOfView", fov)){ builtinPersCamera->setFieldOfView(fov); doUpdate = true; } double height; if(cameraData.read("orthoHeight", height)){ builtinOrthoCamera->setHeight(height); doUpdate = true; } config->zNearSpin.setValue(cameraData.get("near", static_cast(builtinPersCamera->nearClipDistance()))); config->zFarSpin.setValue(cameraData.get("far", static_cast(builtinPersCamera->farClipDistance()))); archive.addPostProcess( boost::bind(&SceneWidgetImpl::restoreCurrentCamera, this, boost::ref(cameraData)), 1); } } Vector3f color; if(readColor(archive, "backgroundColor", color)){ renderer.setBackgroundColor(color); doUpdate = true; } if(readColor(archive, "gridColor", gridColor[FLOOR])){ doUpdate = true; } if(readColor(archive, "xzgridColor", gridColor[XZ])){ doUpdate = true; } if(readColor(archive, "yzgridColor", gridColor[YZ])){ doUpdate = true; } if(doUpdate){ update(); } return true; } void SceneWidgetImpl::restoreCameraStates(const Listing& cameraListing) { bool doUpdate = false; renderer.initializeRendering(); for(int i=0; i < cameraListing.size(); ++i){ const Mapping& state = *cameraListing[i].toMapping(); int cameraIndex = readCameraPath(state, "camera"); if(cameraIndex >= 0){ Vector3 eye, direction, up; if(read(state, "eye", eye) && read(state, "direction", direction) && read(state, "up", up)){ const SgNodePath& cameraPath = renderer.cameraPath(cameraIndex); for(size_t j=0; j < cameraPath.size() - 1; ++j){ SgPosTransform* transform = dynamic_cast(cameraPath[j]); if(transform){ transform->setPosition(SgCamera::positionLookingFor(eye, direction, up)); transform->notifyUpdate(); } } } SgCamera* camera = renderer.camera(cameraIndex); if(SgPerspectiveCamera* pers = dynamic_cast(camera)){ double fov; if(state.read("fieldOfView", fov)){ pers->setFieldOfView(fov); doUpdate = true; } } if(SgOrthographicCamera* ortho = dynamic_cast(camera)){ double height; if(state.read("orthoHeight", height)){ ortho->setHeight(height); doUpdate = true; } } double near, far; if(state.read("near", near)){ camera->setNearClipDistance(near); doUpdate = true; } if(state.read("far", far)){ camera->setFarClipDistance(far); doUpdate = true; } if(state.get("isCurrent", false)){ renderer.setCurrentCamera(cameraIndex); } } } if(doUpdate){ update(); } } int SceneWidgetImpl::readCameraPath(const Mapping& archive, const char* key) { int index = -1; std::vector pathStrings; const ValueNode& value = *archive.find(key); if(value.isString()){ pathStrings.push_back(value.toString()); } else if(value.isListing()){ const Listing& pathNode = *value.toListing(); for(int i=0; i < pathNode.size(); ++i){ pathStrings.push_back(pathNode[i].toString()); } } if(!pathStrings.empty()){ index = renderer.findCameraPath(pathStrings); } return index; } // for the compatibility to the older versions void SceneWidgetImpl::restoreCurrentCamera(const Mapping& cameraData) { renderer.initializeRendering(); int index = readCameraPath(cameraData, "current"); if(index >= 0){ renderer.setCurrentCamera(index); } } void SceneWidgetImpl::setupCoordinateAxes() { coordinateAxes = new SgCustomGLNode(boost::bind(&SceneWidgetImpl::renderCoordinateAxes, this, _1)); coordinateAxes->setName("CoordinateAxes"); float length = 16; float width = 2; MeshGenerator meshGenerator; SgMeshPtr cylinder = meshGenerator.generateCylinder(width, length); SgMeshPtr cone = meshGenerator.generateCone(width * 2.0, width * 4.0); SgShapePtr xCylinderShape = new SgShape; xCylinderShape->setMesh(cylinder); SgShapePtr xConeShape = new SgShape; xConeShape->setMesh(cone); SgPosTransform* xtransform = new SgPosTransform; xtransform->setTranslation(Vector3(0.0, length / 2.0, 0.0)); xtransform->addChild(xConeShape); xAxis = new SgPosTransform; xAxis->setTranslation(Vector3(length / 2.0, 0.0, 0.0)); AngleAxis xangleA(1.571, Vector3(0.0, 0.0, -1.0)); xAxis->setRotation(xangleA.toRotationMatrix ()); xAxis->addChild(xCylinderShape); xAxis->addChild(xtransform); SgShapePtr yCylinderShape = new SgShape; yCylinderShape->setMesh(cylinder); SgShapePtr yConeShape = new SgShape; yConeShape->setMesh(cone); SgPosTransform* ytransform = new SgPosTransform; ytransform->setTranslation(Vector3(0.0, length/2.0, 0.0)); ytransform->addChild(yConeShape); yAxis = new SgPosTransform; yAxis->setTranslation(Vector3(0.0, length / 2.0, 0.0)); yAxis->addChild(yCylinderShape); yAxis->addChild(ytransform); SgShapePtr zCylinderShape = new SgShape; zCylinderShape->setMesh(cylinder); SgShapePtr zConeShape = new SgShape; zConeShape->setMesh(cone); SgPosTransform* ztransform = new SgPosTransform; ztransform->setTranslation(Vector3(0.0, length / 2.0, 0.0)); ztransform->addChild(zConeShape); zAxis = new SgPosTransform; AngleAxis zangleA(1.571, Vector3(1.0, 0.0, 0.0)); zAxis->setRotation(zangleA.toRotationMatrix ()); zAxis->setTranslation(Vector3(0.0, 0.0, length / 2.0)); zAxis->addChild(zCylinderShape); zAxis->addChild(ztransform); activateSystemNode(coordinateAxes, config->coordinateAxesCheck.isChecked()); } void SceneWidgetImpl::activateSystemNode(SgNodePtr node, bool on) { if(on){ systemGroup->addChild(node, true); } else { systemGroup->removeChild(node, true); } } ConfigDialog::ConfigDialog(SceneWidgetImpl* impl) { setWindowTitle(_("Scene Config")); QVBoxLayout* topVBox = new QVBoxLayout(); vbox = new QVBoxLayout(); QHBoxLayout* hbox; vbox->addLayout(new HSeparatorBox(new QLabel(_("Default Camera")))); hbox = new QHBoxLayout(); hbox->addWidget(new QLabel(_("Field of view"))); fieldOfViewSpin.setRange(1, 179); fieldOfViewSpin.setValue(45); fieldOfViewSpin.sigValueChanged().connect(boost::bind(&SceneWidgetImpl::onFieldOfViewChanged, impl)); hbox->addWidget(&fieldOfViewSpin); hbox->addWidget(new QLabel("[deg]")); hbox->addStretch(); vbox->addLayout(hbox); hbox = new QHBoxLayout(); hbox->addWidget(new QLabel(_("Clipping depth"))); hbox->addSpacing(8); hbox->addWidget(new QLabel(_("Near"))); zNearSpin.setDecimals(4); zNearSpin.setRange(0.0001, 9.9999); zNearSpin.setSingleStep(0.0001); zNearSpin.setValue(impl->builtinPersCamera->nearClipDistance()); zNearSpin.sigValueChanged().connect(boost::bind(&SceneWidgetImpl::onClippingDepthChanged, impl)); hbox->addWidget(&zNearSpin); hbox->addWidget(new QLabel(_("Far"))); zFarSpin.setDecimals(1); zFarSpin.setRange(0.1, 9999999.9); zFarSpin.setSingleStep(0.1); zFarSpin.setValue(impl->builtinPersCamera->farClipDistance()); zFarSpin.sigValueChanged().connect(boost::bind(&SceneWidgetImpl::onClippingDepthChanged, impl)); hbox->addWidget(&zFarSpin); hbox->addStretch(); vbox->addLayout(hbox); updateDefaultLightsLater.setFunction(boost::bind(&SceneWidgetImpl::updateDefaultLights, impl)); vbox->addLayout(new HSeparatorBox(new QLabel(_("Light")))); hbox = new QHBoxLayout(); lightingCheck.setText(_("Lighiting")); lightingCheck.setChecked(true); lightingCheck.sigToggled().connect(boost::bind(&SceneWidgetImpl::onLightingToggled, impl, _1)); hbox->addWidget(&lightingCheck); smoothShadingCheck.setText(_("Smooth shading")); smoothShadingCheck.setChecked(true); smoothShadingCheck.sigToggled().connect(boost::bind(&SceneWidgetImpl::onSmoothShadingToggled, impl, _1)); hbox->addWidget(&smoothShadingCheck); hbox->addStretch(); vbox->addLayout(hbox); hbox = new QHBoxLayout(); headLightCheck.setText(_("Head light")); headLightCheck.setChecked(true); headLightCheck.sigToggled().connect(boost::bind(updateDefaultLightsLater)); hbox->addWidget(&headLightCheck); hbox->addWidget(new QLabel(_("Intensity"))); headLightIntensitySpin.setDecimals(2); headLightIntensitySpin.setSingleStep(0.01); headLightIntensitySpin.setRange(0.0, 1.0); headLightIntensitySpin.setValue(0.75); headLightIntensitySpin.sigValueChanged().connect(boost::bind(updateDefaultLightsLater)); hbox->addWidget(&headLightIntensitySpin); headLightFromBackCheck.setText(_("Back lighting")); headLightFromBackCheck.sigToggled().connect(boost::bind(updateDefaultLightsLater)); hbox->addWidget(&headLightFromBackCheck); hbox->addStretch(); vbox->addLayout(hbox); hbox = new QHBoxLayout(); worldLightCheck.setText(_("World light")); worldLightCheck.setChecked(true); worldLightCheck.sigToggled().connect(boost::bind(updateDefaultLightsLater)); hbox->addWidget(&worldLightCheck); hbox->addWidget(new QLabel(_("Intensity"))); worldLightIntensitySpin.setDecimals(2); worldLightIntensitySpin.setSingleStep(0.01); worldLightIntensitySpin.setRange(0.0, 1.0); worldLightIntensitySpin.setValue(0.5); worldLightIntensitySpin.sigValueChanged().connect(boost::bind(updateDefaultLightsLater)); hbox->addWidget(&worldLightIntensitySpin); hbox->addWidget(new QLabel(_("Ambient"))); worldLightAmbientSpin.setDecimals(2); worldLightAmbientSpin.setSingleStep(0.01); worldLightAmbientSpin.setRange(0.0, 1.0); worldLightAmbientSpin.setValue(0.3); worldLightAmbientSpin.sigValueChanged().connect(boost::bind(updateDefaultLightsLater)); hbox->addWidget(&worldLightAmbientSpin); hbox->addStretch(); vbox->addLayout(hbox); hbox = new QHBoxLayout(); additionalLightsCheck.setText(_("Additional lights")); additionalLightsCheck.setChecked(true); additionalLightsCheck.sigToggled().connect(boost::bind(updateDefaultLightsLater)); hbox->addWidget(&additionalLightsCheck); hbox->addStretch(); vbox->addLayout(hbox); hbox = new QHBoxLayout(); fogCheck.setText(_("Fog")); fogCheck.setChecked(true); fogCheck.sigToggled().connect(boost::bind(updateDefaultLightsLater)); hbox->addWidget(&fogCheck); hbox->addStretch(); vbox->addLayout(hbox); vbox->addLayout(new HSeparatorBox(new QLabel(_("Background")))); hbox = new QHBoxLayout(); backgroundColorButton.setText(_("Background color")); backgroundColorButton.sigClicked().connect(boost::bind(&SceneWidgetImpl::showBackgroundColorDialog, impl)); hbox->addWidget(&backgroundColorButton); hbox->addStretch(); vbox->addLayout(hbox); for(int i=0; i<3; i++){ hbox = new QHBoxLayout(); gridCheck[i].setChecked(false); gridCheck[i].sigToggled().connect( boost::bind(&SceneWidgetImpl::activateSystemNode, impl, boost::ref(impl->grid[i]), _1)); hbox->addWidget(&gridCheck[i]); hbox->addWidget(new QLabel(_("Span"))); gridSpanSpin[i].setAlignment(Qt::AlignCenter); gridSpanSpin[i].setDecimals(1); gridSpanSpin[i].setRange(0.0, 99.9); gridSpanSpin[i].setSingleStep(0.1); gridSpanSpin[i].setValue(10.0); gridSpanSpin[i].sigValueChanged().connect(boost::bind(&SceneWidgetImpl::update, impl)); hbox->addWidget(&gridSpanSpin[i]); hbox->addSpacing(8); hbox->addWidget(new QLabel(_("Interval"))); gridIntervalSpin[i].setAlignment(Qt::AlignCenter); gridIntervalSpin[i].setDecimals(2); gridIntervalSpin[i].setRange(0.01, 9.99); gridIntervalSpin[i].setSingleStep(0.01); gridIntervalSpin[i].setValue(0.5); gridIntervalSpin[i].sigValueChanged().connect(boost::bind(&SceneWidgetImpl::update, impl)); hbox->addWidget(&gridIntervalSpin[i]); gridColorButton[i].setText(_("Color")); gridColorButton[i].sigClicked().connect(boost::bind(&SceneWidgetImpl::showGridColorDialog, impl, static_cast(i))); hbox->addWidget(&gridColorButton[i]); hbox->addStretch(); vbox->addLayout(hbox); } gridCheck[FLOOR].setText(_("Show the floor grid")); gridCheck[XZ].setText(_("Show the xz plane grid")); gridCheck[YZ].setText(_("Show the yz plane grid")); gridCheck[FLOOR].blockSignals(true); gridCheck[FLOOR].setChecked(true); gridCheck[FLOOR].blockSignals(false); vbox->addWidget(new HSeparator()); hbox = new QHBoxLayout(); textureCheck.setText(_("Texture")); textureCheck.setChecked(true); textureCheck.sigToggled().connect(boost::bind(&SceneWidgetImpl::onTextureToggled, impl, _1)); hbox->addWidget(&textureCheck); hbox->addStretch(); vbox->addLayout(hbox); hbox = new QHBoxLayout(); defaultColorButton.setText(_("Default color")); defaultColorButton.sigClicked().connect(boost::bind(&SceneWidgetImpl::showDefaultColorDialog, impl)); hbox->addWidget(&defaultColorButton); hbox->addWidget(new QLabel(_("Default line width"))); lineWidthSpin.setDecimals(1); lineWidthSpin.setRange(0.1, 9.9); lineWidthSpin.setSingleStep(0.1); lineWidthSpin.setValue(1.0); lineWidthSpin.sigValueChanged().connect(boost::bind(&SceneWidgetImpl::onLineWidthChanged, impl, _1)); hbox->addWidget(&lineWidthSpin); hbox->addWidget(new QLabel(_("Default point size"))); pointSizeSpin.setDecimals(1); pointSizeSpin.setRange(0.1, 9.9); pointSizeSpin.setSingleStep(0.1); pointSizeSpin.setValue(1.0); pointSizeSpin.sigValueChanged().connect(boost::bind(&SceneWidgetImpl::onPointSizeChanged, impl, _1)); hbox->addWidget(&pointSizeSpin); hbox->addStretch(); vbox->addLayout(hbox); hbox = new QHBoxLayout(); pointRenderingModeCheck.setText(_("Do point rendering in the wireframe mode")); pointRenderingModeCheckConnection = pointRenderingModeCheck.sigToggled().connect( boost::bind(&SceneWidgetImpl::onPointRenderingModeToggled, impl, _1)); hbox->addWidget(&pointRenderingModeCheck); hbox->addStretch(); vbox->addLayout(hbox); hbox = new QHBoxLayout(); normalVisualizationCheck.setText(_("Normal Visualization")); normalVisualizationCheck.sigToggled().connect( boost::bind(&SceneWidgetImpl::onNormalVisualizationChanged, impl)); hbox->addWidget(&normalVisualizationCheck); normalLengthSpin.setDecimals(3); normalLengthSpin.setRange(0.0, 1000.0); normalLengthSpin.setSingleStep(0.001); normalLengthSpin.setValue(0.01); normalLengthSpin.sigValueChanged().connect( boost::bind(&SceneWidgetImpl::onNormalVisualizationChanged, impl)); hbox->addWidget(&normalLengthSpin); hbox->addStretch(); vbox->addLayout(hbox); vbox->addWidget(new HSeparator()); hbox = new QHBoxLayout(); coordinateAxesCheck.setText(_("Coordinate axes")); coordinateAxesCheck.setChecked(true); coordinateAxesCheck.sigToggled().connect( boost::bind(&SceneWidgetImpl::activateSystemNode, impl, boost::ref(impl->coordinateAxes), _1)); hbox->addWidget(&coordinateAxesCheck); fpsCheck.setText(_("Show FPS")); fpsCheck.setChecked(false); fpsCheck.sigToggled().connect(boost::bind(&SceneWidgetImpl::showFPS, impl, _1)); hbox->addWidget(&fpsCheck); fpsTestButton.setText(_("Test")); fpsTestButton.sigClicked().connect(boost::bind(&SceneWidgetImpl::doFPSTest, impl)); hbox->addWidget(&fpsTestButton); hbox->addStretch(); vbox->addLayout(hbox); hbox = new QHBoxLayout(); newDisplayListDoubleRenderingCheck.setText(_("Do double rendering when a new display list is created.")); newDisplayListDoubleRenderingCheck.sigToggled().connect(boost::bind(&SceneWidgetImpl::onNewDisplayListDoubleRenderingToggled, impl, _1)); hbox->addWidget(&newDisplayListDoubleRenderingCheck); hbox->addStretch(); vbox->addLayout(hbox); hbox = new QHBoxLayout(); bufferForPickingCheck.setText(_("Use an OpenGL pixel buffer for picking")); bufferForPickingCheck.setChecked(true); bufferForPickingCheck.sigToggled().connect(boost::bind(&SceneWidgetImpl::onBufferForPickingToggled, impl, _1)); hbox->addWidget(&bufferForPickingCheck); hbox->addStretch(); vbox->addLayout(hbox); topVBox->addLayout(vbox); topVBox->addWidget(new HSeparator()); QPushButton* okButton = new QPushButton(_("&Ok")); okButton->setDefault(true); QDialogButtonBox* buttonBox = new QDialogButtonBox(this); buttonBox->addButton(okButton, QDialogButtonBox::AcceptRole); connect(buttonBox,SIGNAL(accepted()), this, SLOT(accept())); topVBox->addWidget(buttonBox); setLayout(topVBox); } void ConfigDialog::storeState(Archive& archive) { archive.write("defaultHeadLight", headLightCheck.isChecked()); archive.write("defaultHeadLightIntensity", headLightIntensitySpin.value()); archive.write("headLightLightingFromBack", headLightFromBackCheck.isChecked()); archive.write("worldLight", worldLightCheck.isChecked()); archive.write("worldLightIntensity", worldLightIntensitySpin.value()); archive.write("worldLightAmbient", worldLightAmbientSpin.value()); archive.write("additionalLights", additionalLightsCheck.isChecked()); archive.write("fog", fogCheck.isChecked()); archive.write("floorGrid", gridCheck[FLOOR].isChecked()); archive.write("floorGridSpan", gridSpanSpin[FLOOR].value()); archive.write("floorGridInterval", gridIntervalSpin[FLOOR].value()); archive.write("xzGrid", gridCheck[XZ].isChecked()); archive.write("xzGridSpan", gridSpanSpin[XZ].value()); archive.write("xzGridInterval", gridIntervalSpin[YZ].value()); archive.write("xzGrid", gridCheck[YZ].isChecked()); archive.write("yzGridSpan", gridSpanSpin[YZ].value()); archive.write("yzGridInterval", gridIntervalSpin[YZ].value()); archive.write("texture", textureCheck.isChecked()); archive.write("lineWidth", lineWidthSpin.value()); archive.write("pointSize", pointSizeSpin.value()); archive.write("normalVisualization", normalVisualizationCheck.isChecked()); archive.write("normalLength", normalLengthSpin.value()); archive.write("coordinateAxes", coordinateAxesCheck.isChecked()); archive.write("showFPS", fpsCheck.isChecked()); archive.write("enableNewDisplayListDoubleRendering", newDisplayListDoubleRenderingCheck.isChecked()); archive.write("useBufferForPicking", bufferForPickingCheck.isChecked()); } void ConfigDialog::restoreState(const Archive& archive) { headLightCheck.setChecked(archive.get("defaultHeadLight", headLightCheck.isChecked())); headLightIntensitySpin.setValue(archive.get("defaultHeadLightIntensity", headLightIntensitySpin.value())); headLightFromBackCheck.setChecked(archive.get("headLightLightingFromBack", headLightFromBackCheck.isChecked())); worldLightCheck.setChecked(archive.get("worldLight", worldLightCheck.isChecked())); worldLightIntensitySpin.setValue(archive.get("worldLightIntensity", worldLightIntensitySpin.value())); worldLightAmbientSpin.setValue(archive.get("worldLightAmbient", worldLightAmbientSpin.value())); additionalLightsCheck.setChecked(archive.get("additionalLights", additionalLightsCheck.isChecked())); fogCheck.setChecked(archive.get("fog", fogCheck.isChecked())); gridCheck[FLOOR].setChecked(archive.get("floorGrid", gridCheck[FLOOR].isChecked())); gridSpanSpin[FLOOR].setValue(archive.get("floorGridSpan", gridSpanSpin[FLOOR].value())); gridIntervalSpin[FLOOR].setValue(archive.get("floorGridInterval", gridIntervalSpin[FLOOR].value())); gridCheck[XZ].setChecked(archive.get("xzGrid", gridCheck[XZ].isChecked())); gridSpanSpin[XZ].setValue(archive.get("xzGridSpan", gridSpanSpin[XZ].value())); gridIntervalSpin[XZ].setValue(archive.get("xzGridInterval", gridIntervalSpin[XZ].value())); gridCheck[YZ].setChecked(archive.get("yzGrid", gridCheck[YZ].isChecked())); gridSpanSpin[YZ].setValue(archive.get("yzGridSpan", gridSpanSpin[YZ].value())); gridIntervalSpin[YZ].setValue(archive.get("yzGridInterval", gridIntervalSpin[YZ].value())); textureCheck.setChecked(archive.get("texture", textureCheck.isChecked())); lineWidthSpin.setValue(archive.get("lineWidth", lineWidthSpin.value())); pointSizeSpin.setValue(archive.get("pointSize", pointSizeSpin.value())); normalVisualizationCheck.setChecked(archive.get("normalVisualization", normalVisualizationCheck.isChecked())); normalLengthSpin.setValue(archive.get("normalLength", normalLengthSpin.value())); coordinateAxesCheck.setChecked(archive.get("coordinateAxes", coordinateAxesCheck.isChecked())); fpsCheck.setChecked(archive.get("showFPS", fpsCheck.isChecked())); newDisplayListDoubleRenderingCheck.setChecked(archive.get("enableNewDisplayListDoubleRendering", newDisplayListDoubleRenderingCheck.isChecked())); bufferForPickingCheck.setChecked(archive.get("useBufferForPicking", bufferForPickingCheck.isChecked())); } choreonoid-1.5.0/src/Base/ViewArea.h0000664000000000000000000000173712741425367015706 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_VIEW_AREA_H #define CNOID_BASE_VIEW_AREA_H #include "Archive.h" #include #include "exportdecl.h" namespace cnoid { class View; class ViewAreaImpl; class CNOID_EXPORT ViewArea : public QWidget { public: ViewArea(QWidget* parent = 0); ~ViewArea(); void setSingleView(View* view); void createDefaultPanes(); bool viewTabsVisible() const; void setViewTabsVisible(bool on); bool addView(View* view); bool removeView(View* view); int numViews() const; void storeLayout(ArchivePtr archive); void restoreLayout(ArchivePtr archive); void resetLayout(); static void storeAllViewAreaLayouts(ArchivePtr archive); static void restoreAllViewAreaLayouts(ArchivePtr archive); static void resetAllViewAreaLayouts(); protected: virtual void keyPressEvent(QKeyEvent* event); private: ViewAreaImpl* impl; friend class ViewAreaImpl; }; } #endif choreonoid-1.5.0/src/Base/ToolBarArea.cpp0000664000000000000000000005530612741425367016672 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "ToolBarArea.h" #include "Separator.h" #include "ToolBar.h" #include "MainWindow.h" #include "LazyCaller.h" #include "Menu.h" #include #include #include #include #include #include #include #include #include #include #include #include using namespace std; using namespace cnoid; namespace { const bool DEBUG_MODE = false; typedef std::vector ToolBarArray; class ToolBarRow { public: ToolBarRow(ToolBarArea* toolBarArea) : toolBarArea(toolBarArea), separator(toolBarArea) { height = 0; separator.hide(); } ToolBarArea* toolBarArea; ToolBarArray toolBars; HSeparator separator; int height; }; typedef boost::shared_ptr ToolBarRowPtr; // for archiving struct LayoutState { public: string name; int desiredX; int layoutPriority; }; typedef list RowLayoutState; typedef list AreaLayoutState; } namespace cnoid { class ToolBarAreaImpl { public: ToolBarAreaImpl(ToolBarArea* self); ~ToolBarAreaImpl(); bool addToolBar(ToolBar* toolBar); void removeToolBar(ToolBar* toolBar); void hideToolBar(ToolBar* toolBar); void setVisibilityMenuItems(Menu* menu); void onVisiblityCheckToggled(ToolBar* toolBar, bool on); void storeLayout(MappingPtr& archive); void restoreLayout(MappingPtr& archive); void resetLayout(MappingPtr& archive); void dragToolBar(ToolBar* toolBar, const QPoint& globalPos); void setNewToolBars(); void expandStrechableBars (ToolBarRowPtr& row, int portion, int shift, int barIndex, int numStrechables, int lastSpace); void useSpace(ToolBarRowPtr& row, int space, int shift, int barIndex, int numStrechables, int allspace ); void setNewToolBar(ToolBar* toolBar, vector& numStrechablesOfRow); void layoutToolBars(); void layoutToolBarRow(ToolBarRowPtr toolBarRow, int& io_rowTop, bool isNewBottomRow); void layoutToolBarRowWithDraggedToolBar(ToolBarArray& toolBars, int rowTop, int rowHeight); int normalizeLayoutPriorities(ToolBarArray& toolBars); void layoutToolBarRowPart(ToolBarArray& toolBars, int rowTop, int rowHeight, int partLeft, int partRight); void resizeEvent(QResizeEvent* event); ToolBarArea* self; bool isBeforeDoingInitialLayout; int defaultOrderIndex; struct DefaultOrderCmp { bool operator() (ToolBar* bar1, ToolBar* bar2) { return (bar1->defaultOrderIndex < bar2->defaultOrderIndex); } }; set toolBars; ToolBarArray newToolBarsToShow; deque toolBarRows; ToolBarRowPtr spilledToolBarRow; MappingPtr initialLayout; int areaHeight; int prevAreaHeight; ToolBar* draggedToolBar; bool draggedToolBarHasNotBeenInserted; int dragY; LazyCaller layoutToolBarsLater; }; } ToolBarArea::ToolBarArea(QWidget* parent) : QWidget(parent) { impl = new ToolBarAreaImpl(this); } ToolBarAreaImpl::ToolBarAreaImpl(ToolBarArea* self) : self(self), spilledToolBarRow(new ToolBarRow(self)), layoutToolBarsLater(boost::bind(&ToolBarAreaImpl::layoutToolBars, this)) { isBeforeDoingInitialLayout = true; defaultOrderIndex = 0; draggedToolBar = 0; draggedToolBarHasNotBeenInserted = false; areaHeight = 0; prevAreaHeight = 0; } ToolBarArea::~ToolBarArea() { delete impl; } ToolBarAreaImpl::~ToolBarAreaImpl() { } void ToolBarArea::getAllToolBars(std::vector& out_toolBars) { out_toolBars.clear(); for(set::iterator p = impl->toolBars.begin(); p != impl->toolBars.end(); ++p){ out_toolBars.push_back(*p); } } void ToolBarArea::getVisibleToolBars(std::vector& out_toolBars) { out_toolBars.clear(); for(size_t i=0; i < impl->toolBarRows.size(); ++i){ ToolBarRowPtr& row = impl->toolBarRows[i]; vector& toolBars = row->toolBars; for(size_t j=0; j < toolBars.size(); ++j){ out_toolBars.push_back(toolBars[j]); } } } bool ToolBarArea::addToolBar(ToolBar* toolBar) { return impl->addToolBar(toolBar); } bool ToolBarAreaImpl::addToolBar(ToolBar* toolBar) { if(DEBUG_MODE){ cout << "ToolBarAreaImpl::addToolBar()" << endl; } if(toolBar){ set::iterator p = toolBars.find(toolBar); if(p == toolBars.end()){ toolBars.insert(toolBar); toolBar->toolBarArea_ = self; toolBar->defaultOrderIndex = defaultOrderIndex++; toolBar->hide(); toolBar->setParent(self); if(toolBar->isVisibleByDefault()){ newToolBarsToShow.push_back(toolBar); } if(!isBeforeDoingInitialLayout){ layoutToolBarsLater(); } return true; } } return false; } void ToolBarArea::removeToolBar(ToolBar* toolBar) { if(toolBar){ impl->removeToolBar(toolBar); } } void ToolBarAreaImpl::removeToolBar(ToolBar* toolBar) { set::iterator p = toolBars.find(toolBar); if(p != toolBars.end()){ hideToolBar(toolBar); toolBar->setParent(0); toolBar->toolBarArea_ = 0; toolBars.erase(p); } } void ToolBarAreaImpl::hideToolBar(ToolBar* toolBar) { if(toolBar->isVisible()){ for(size_t i=0; i < toolBarRows.size(); ++i){ ToolBarRowPtr row = toolBarRows[i]; vector& toolBars = row->toolBars; for(size_t j=0; j < toolBars.size(); ++j){ if(toolBars[j] == toolBar){ toolBar->hide(); toolBars.erase(toolBars.begin() + j); if(!isBeforeDoingInitialLayout){ layoutToolBarsLater(); } return; } } } } } void ToolBarArea::setVisibilityMenuItems(Menu* menu) { impl->setVisibilityMenuItems(menu); } void ToolBarAreaImpl::setVisibilityMenuItems(Menu* menu) { menu->clear(); vector sorted(toolBars.size()); std::copy(toolBars.begin(), toolBars.end(), sorted.begin()); std::sort(sorted.begin(), sorted.end(), DefaultOrderCmp()); for(size_t i=0; i < sorted.size(); ++i){ ToolBar* toolBar = sorted[i]; Action* action = new Action(menu); action->setText(toolBar->windowTitle()); action->setCheckable(true); if(toolBar->isVisible()){ action->setChecked(true); } action->sigToggled().connect(boost::bind(&ToolBarAreaImpl::onVisiblityCheckToggled, this, toolBar, _1)); menu->addAction(action); } } void ToolBarAreaImpl::onVisiblityCheckToggled(ToolBar* toolBar, bool on) { if(on){ newToolBarsToShow.push_back(toolBar); layoutToolBarsLater(); } else { hideToolBar(toolBar); } } void ToolBarArea::setInitialLayout(MappingPtr archive) { if(impl->isBeforeDoingInitialLayout){ impl->initialLayout = archive; } } void ToolBarArea::resizeEvent(QResizeEvent* event) { QWidget::resizeEvent(event); impl->resizeEvent(event); } void ToolBarAreaImpl::resizeEvent(QResizeEvent* event) { if(DEBUG_MODE){ cout << "ToolBarAreaImpl::resizeEvent(" << event->size().width() << ", " << event->size().height() << ")"; cout << ", isVisible =" << self->isVisible(); cout << ", MainWindows's windowState() = " << MainWindow::instance()->windowState() << endl; } if(isBeforeDoingInitialLayout){ #ifdef Q_OS_MAC bool doLayout = true; #else bool doLayout = !(MainWindow::instance()->windowState() & (Qt::WindowMaximized | Qt::WindowFullScreen)) || self->isVisible(); #endif if(doLayout){ isBeforeDoingInitialLayout = false; if(initialLayout){ restoreLayout(initialLayout); initialLayout = 0; } else { layoutToolBars(); } } } else { if(event->oldSize().width() >= 0 && event->size().width() != event->oldSize().width()){ layoutToolBars(); } } } bool ToolBarArea::event(QEvent* event) { if(false){ // Is this needed? if(event->type() == QEvent::LayoutRequest){ if(DEBUG_MODE){ cout << "ToolBarArea::event(QEvent::LayoutRequest)" << endl; } impl->layoutToolBars(); return true; } } return QWidget::event(event); } void ToolBarArea::doInitialLayout() { if(DEBUG_MODE){ cout << "ToolBarAreaImpl::doInitialLayout()" << endl; cout << "width = " << width() << endl; } if(impl->isBeforeDoingInitialLayout){ impl->isBeforeDoingInitialLayout = false; if(impl->initialLayout){ impl->restoreLayout(impl->initialLayout); impl->initialLayout = 0; } else { impl->layoutToolBars(); } } } void ToolBarArea::restoreLayout(MappingPtr archive) { impl->restoreLayout(archive); } void ToolBarAreaImpl::restoreLayout(MappingPtr& archive) { if(DEBUG_MODE){ cout << "ToolBarAreaImpl::restoreLayout()" << endl; } if(isBeforeDoingInitialLayout){ initialLayout = archive; return; } const MappingPtr layoutOfToolBars = archive->findMapping("layoutOfToolBars"); if(!layoutOfToolBars->isValid()){ layoutToolBars(); return; } // make the map from name to toolBar typedef map NameToToolBarMap; NameToToolBarMap nameToToolBarMap; for(set::iterator p = toolBars.begin(); p != toolBars.end(); ++p){ ToolBar* toolBar = *p; toolBar->hide(); nameToToolBarMap[toolBar->objectName()] = toolBar; } newToolBarsToShow.clear(); toolBarRows.clear(); const Listing* rows = layoutOfToolBars->get("rows").toListing(); for(int i=0; i < rows->size(); ++i){ ToolBarRowPtr row(new ToolBarRow(self)); toolBarRows.push_back(row); const Listing* bars = rows->at(i)->toListing(); for(int j=0; j < bars->size(); ++j){ const Mapping* state = bars->at(j)->toMapping(); NameToToolBarMap::iterator it = nameToToolBarMap.find(QString(state->get("name").toString().c_str())); if(it != nameToToolBarMap.end()){ ToolBar* toolBar = it->second; row->toolBars.push_back(toolBar); toolBar->desiredX = state->get("x").toInt(); toolBar->layoutPriority = state->get("priority").toInt(); nameToToolBarMap.erase(it); } } if(row->toolBars.empty()){ toolBarRows.pop_back(); } } layoutToolBars(); } void ToolBarArea::resetLayout(MappingPtr archive) { impl->resetLayout(archive); } void ToolBarAreaImpl::resetLayout(MappingPtr& archive) { if(DEBUG_MODE){ cout << "ToolBarAreaImpl::resetLayout()" << endl; } newToolBarsToShow.clear(); for(set::iterator p = toolBars.begin(); p != toolBars.end(); ++p){ ToolBar* toolBar = *p; toolBar->hide(); if(toolBar->isVisibleByDefault()){ newToolBarsToShow.push_back(toolBar); } } std::sort(newToolBarsToShow.begin(), newToolBarsToShow.end(), DefaultOrderCmp()); toolBarRows.clear(); layoutToolBars(); self->removeLayout(archive); } void ToolBarArea::removeLayout(MappingPtr archive) { archive->remove("layoutOfToolBars"); } void ToolBarArea::storeLayout(MappingPtr archive) { impl->storeLayout(archive); } void ToolBarAreaImpl::storeLayout(MappingPtr& archive) { Mapping* layoutOfToolBars = archive->createMapping("layoutOfToolBars"); Listing* rows = layoutOfToolBars->createListing("rows"); for(size_t i=0; i < toolBarRows.size(); ++i){ ToolBarArray& toolBars = toolBarRows[i]->toolBars; if(!toolBars.empty()){ Listing* bars = new Listing(); for(ToolBarArray::iterator p = toolBars.begin(); p != toolBars.end(); ++p){ ToolBar* toolBar = *p; Mapping* state = new Mapping(); state->setFlowStyle(true); state->write("name", toolBar->objectName().toStdString(), DOUBLE_QUOTED); state->write("x", toolBar->desiredX); state->write("priority", toolBar->layoutPriority); bars->append(state); } rows->append(bars); } } } void ToolBarArea::dragToolBar(ToolBar* toolBar, const QPoint& globalPos) { impl->dragToolBar(toolBar, globalPos); } void ToolBarAreaImpl::dragToolBar(ToolBar* toolBar, const QPoint& globalPos) { QPoint p = self->mapFromGlobal(globalPos); draggedToolBar = toolBar; draggedToolBarHasNotBeenInserted = true; draggedToolBar->desiredX = p.x(); dragY = p.y(); if(p.y() < 0){ toolBarRows.push_front(ToolBarRowPtr(new ToolBarRow(self))); } layoutToolBars(); draggedToolBar = 0; } void ToolBarAreaImpl::setNewToolBars() { vector numStrechablesOfRow; for(size_t i=0; i < newToolBarsToShow.size(); ++i){ setNewToolBar(newToolBarsToShow[i], numStrechablesOfRow); } newToolBarsToShow.clear(); for(size_t i=0; i < numStrechablesOfRow.size(); ++i){ int numStrechables = numStrechablesOfRow[i]; if(numStrechables > 0){ ToolBarRowPtr& row = toolBarRows[i]; ToolBar* lastToolBar = row->toolBars.back(); QRect r = lastToolBar->geometry(); int space = self->width() - (r.x() + r.width()); if(space > 0){ expandStrechableBars(row, (space / numStrechables), 0, 0, numStrechables, space); } } } } void ToolBarAreaImpl::expandStrechableBars (ToolBarRowPtr& row, int portion, int shift, int barIndex, int numStrechables, int lastSpace) { ToolBar* bar = row->toolBars[barIndex]; bar->desiredX += shift; if(bar->isStretchable()){ int addition = (numStrechables > 1) ? portion : lastSpace; shift += addition; lastSpace -= addition; --numStrechables; } ++barIndex; if(barIndex < (int)row->toolBars.size()){ expandStrechableBars(row, portion, shift, barIndex, numStrechables, lastSpace); } } void ToolBarAreaImpl::setNewToolBar(ToolBar* toolBar, vector& numStrechablesOfRow) { if(DEBUG_MODE){ cout << "ToolBarAreaImpl::setNewToolBar()" << endl; } if(toolBar){ ToolBarRowPtr toolBarRow; int rowIndex = -1; int width = toolBar->minimumSizeHint().width(); for(size_t i=0; i < toolBarRows.size(); ++i){ ToolBarRowPtr existingRow = toolBarRows[i]; ToolBar* lastToolBar = existingRow->toolBars.back(); if(lastToolBar){ QRect r = lastToolBar->geometry(); int lastX = r.x() + r.width(); int lastSpace = self->width() - lastX; if(width <= lastSpace){ toolBar->desiredX = lastX + 1; if(toolBar->isStretchable()){ width = std::min(toolBar->stretchableDefaultWidth(), lastSpace); } toolBarRow = existingRow; rowIndex = i; break; } } } if(!toolBarRow){ toolBar->desiredX = 0; rowIndex = toolBarRows.size(); toolBarRow.reset(new ToolBarRow(self)); toolBarRows.push_back(toolBarRow); numStrechablesOfRow.push_back(0); } toolBarRow->toolBars.push_back(toolBar); if(toolBar->isStretchable()){ numStrechablesOfRow[rowIndex]++; } toolBar->setGeometry(toolBar->desiredX, 0, width, toolBar->minimumSizeHint().height()); toolBar->show(); } } void ToolBarAreaImpl::layoutToolBars() { if(DEBUG_MODE){ cout << "ToolBarAreaImpl::layoutToolBars()" << endl; } if(!newToolBarsToShow.empty()){ setNewToolBars(); } if(DEBUG_MODE){ cout << "actually do ToolBarAreaImpl::layoutToolBars()" << endl; } areaHeight = 0; int rowTop = 0; spilledToolBarRow->toolBars.clear(); size_t i = 0; while(i < toolBarRows.size()){ layoutToolBarRow(toolBarRows[i], rowTop, false); if(!spilledToolBarRow->toolBars.empty()){ layoutToolBarRow(spilledToolBarRow, rowTop, false); } if(toolBarRows[i]->toolBars.empty()){ toolBarRows.erase(toolBarRows.begin() + i); } else { ++i; } } if(draggedToolBarHasNotBeenInserted){ ToolBarRowPtr row(new ToolBarRow(self)); toolBarRows.push_back(row); layoutToolBarRow(row, rowTop, true); } areaHeight = rowTop; if(areaHeight != prevAreaHeight){ self->setMinimumHeight(areaHeight); prevAreaHeight = areaHeight; } isBeforeDoingInitialLayout = false; } void ToolBarAreaImpl::layoutToolBarRow(ToolBarRowPtr toolBarRow, int& io_rowTop, bool isNewBottomRow) { int rowHeight = 0; bool draggedToolBarExists = false; ToolBarArray& toolBars = toolBarRow->toolBars; // calculate the row height and remove the dragged tool bar if it is originally in this row ToolBarArray::iterator p = toolBars.begin(); while(p != toolBars.end()){ ToolBar* toolBar = *p; if(toolBar == draggedToolBar){ draggedToolBarExists = true; p = toolBars.erase(p); } else { rowHeight = std::max(rowHeight, toolBar->minimumSizeHint().height()); ++p; } } // Is the dragged tool bar moving to this row ? bool isDraggedToolBarMovingToThisRow = false; if(draggedToolBarHasNotBeenInserted){ int bottomBorder = 0; if(rowHeight == 0 && draggedToolBarExists){ int h = draggedToolBar->minimumSizeHint().height(); bottomBorder = io_rowTop + h * 4 / 5; } else { bottomBorder = io_rowTop + rowHeight; } if(dragY < bottomBorder || isNewBottomRow){ isDraggedToolBarMovingToThisRow = true; rowHeight = std::max(rowHeight, draggedToolBar->minimumSizeHint().height()); layoutToolBarRowWithDraggedToolBar(toolBars, io_rowTop, rowHeight); } } if(toolBars.empty()){ toolBarRow->separator.hide(); } else { if(!isDraggedToolBarMovingToThisRow){ layoutToolBarRowPart(toolBars, io_rowTop, rowHeight, 0, self->width()); } io_rowTop += rowHeight; HSeparator& sep = toolBarRow->separator; int h = sep.sizeHint().height(); sep.setGeometry(0, io_rowTop, self->width(), h); sep.show(); io_rowTop += sep.sizeHint().height(); } } void ToolBarAreaImpl::layoutToolBarRowWithDraggedToolBar(ToolBarArray& toolBars, int rowTop, int rowHeight) { int maxPriorty = normalizeLayoutPriorities(toolBars); draggedToolBar->layoutPriority = maxPriorty + 1; for(size_t i=0; i < toolBars.size(); ++i){ if(draggedToolBar->desiredX <= toolBars[i]->desiredX){ toolBars.insert(toolBars.begin() + i, draggedToolBar); draggedToolBarHasNotBeenInserted = false; break; } } if(draggedToolBarHasNotBeenInserted){ toolBars.push_back(draggedToolBar); draggedToolBarHasNotBeenInserted = false; } layoutToolBarRowPart(toolBars, rowTop, rowHeight, 0, self->width()); draggedToolBar->desiredX = draggedToolBar->geometry().x(); } /** @return The maximum priority in the normalized priorities */ int ToolBarAreaImpl::normalizeLayoutPriorities(ToolBarArray& toolBars) { int maxPriority = 0; if(!toolBars.empty()){ ToolBarArray sortedToolBars(toolBars); std::sort(sortedToolBars.begin(), sortedToolBars.end(), ToolBar::LayoutPriorityCmp()); int prevOldPriority = -1; int priority = -1; for(size_t i=0; i < sortedToolBars.size(); ++i){ ToolBar* bar = sortedToolBars[i]; if(bar->layoutPriority > prevOldPriority){ prevOldPriority = bar->layoutPriority; priority += 1; } bar->layoutPriority = priority; if(priority > maxPriority){ maxPriority = priority; } } } return maxPriority; } void ToolBarAreaImpl::layoutToolBarRowPart (ToolBarArray& toolBars, int rowTop, int rowHeight, int partLeft, int partRight) { // find the index of the tool bar with the maximum priority int pivotIndex = 0; int maxPriority = -1; for(size_t i=0; i < toolBars.size(); ++i){ if(toolBars[i]->layoutPriority > maxPriority){ maxPriority = toolBars[i]->layoutPriority; pivotIndex = i; } } ToolBarArray leftPartToolBars; int pivotAreaLeft = partLeft; for(int i=0; i < pivotIndex; ++i){ leftPartToolBars.push_back(toolBars[i]); pivotAreaLeft += toolBars[i]->minimumSizeHint().width(); } ToolBarArray rightPartToolBars; int pivotAreaRight = partRight; for(size_t i = pivotIndex + 1; i < toolBars.size(); ++i){ rightPartToolBars.push_back(toolBars[i]); pivotAreaRight -= toolBars[i]->minimumSizeHint().width(); } ToolBar* pivotToolBar = toolBars[pivotIndex]; int x = pivotToolBar->desiredX; const QSize size = pivotToolBar->minimumSizeHint(); int width = size.width(); if(width < 0){ width = 0; } if(x + width > pivotAreaRight){ x = pivotAreaRight - width; } if(x < pivotAreaLeft){ x = pivotAreaLeft; } if(!leftPartToolBars.empty()){ layoutToolBarRowPart(leftPartToolBars, rowTop, rowHeight, partLeft, x); QRect r = leftPartToolBars.back()->geometry(); int leftPartRight = r.x() + r.width(); if(x <= leftPartRight){ x = leftPartRight + 1; } } int rightPartLeft = partRight; if(!rightPartToolBars.empty()){ layoutToolBarRowPart(rightPartToolBars, rowTop, rowHeight, x + width, partRight); rightPartLeft = rightPartToolBars.front()->geometry().x(); } if(pivotToolBar->isStretchable()){ width = pivotToolBar->maximumWidth(); int possibleWidth = rightPartLeft - x; if(width > possibleWidth){ width = possibleWidth; } } int height = (size.height() >= 0) ? size.height() : rowHeight; int y = rowTop + (rowHeight - height) / 2; pivotToolBar->setGeometry(x, y, width, height); pivotToolBar->show(); } choreonoid-1.5.0/src/Base/TreeView.cpp0000664000000000000000000000410412741425367016257 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "TreeView.h" #include "ItemSelectionModel.h" using namespace cnoid; TreeView::TreeView(QWidget* parent) : QTreeView(parent) { connect(this, SIGNAL(collapsed(const QModelIndex&)), this, SLOT(onCollapsed(const QModelIndex&))); connect(this, SIGNAL(expanded(const QModelIndex&)), this, SLOT(onExpanded(const QModelIndex&))); connect(this, SIGNAL(activated(const QModelIndex&)), this, SLOT(onActivated(const QModelIndex&))); connect(this, SIGNAL(clicked(const QModelIndex&)), this, SLOT(onClicked(const QModelIndex&))); connect(this, SIGNAL(doubleClicked(const QModelIndex&)), this, SLOT(onDoubleClicked(const QModelIndex&))); connect(this, SIGNAL(entered(const QModelIndex&)), this, SLOT(onEntered(const QModelIndex&))); connect(this, SIGNAL(pressed(const QModelIndex&)), this, SLOT(onPressed(const QModelIndex&))); connect(this, SIGNAL(viewportEntered()), this, SLOT(onViewportEntered())); } void TreeView::setModel(QAbstractItemModel* model) { QItemSelectionModel* old = selectionModel(); QTreeView::setModel(model); if(old && !old->parent()){ delete old; } setSelectionModel(new ItemSelectionModel(model, this)); } ItemSelectionModel* TreeView::itemSelectionModel() const { return dynamic_cast(selectionModel()); } void TreeView::onCollapsed(const QModelIndex& index) { sigCollapsed_(index); } void TreeView::onExpanded(const QModelIndex& index) { sigExpanded_(index); } void TreeView::onActivated(const QModelIndex& index) { sigActivated_(index); } void TreeView::onClicked(const QModelIndex& index) { sigClicked_(index); } void TreeView::onDoubleClicked(const QModelIndex& index) { sigDoubleClicked_(index); } void TreeView::onEntered(const QModelIndex& index) { sigEntered_(index); } void TreeView::onPressed(const QModelIndex& index) { sigPressed_(index); } void TreeView::onViewportEntered(void) { sigViewportEntered_(); } choreonoid-1.5.0/src/Base/ItemPropertyView.cpp0000664000000000000000000006012112741425367020024 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "ItemPropertyView.h" #include "ItemTreeView.h" #include "Item.h" #include "ItemList.h" #include "ItemManager.h" #include "ViewManager.h" #include "MenuManager.h" #include "MessageView.h" #include "PutPropertyFunction.h" #include "SelectionListEditor.h" #include "LazyCaller.h" #include "AppConfig.h" #include "Archive.h" #include "MainWindow.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace { bool TRACE_FUNCTIONS = false; struct Int { int value; int min, max; Int(int v){ value = v; }; Int(int v, int min, int max) { value = v; this->min = min; this->max = max; }; }; struct Double { double value; int decimals; double min, max; Double(double v, int d) { value = v; decimals = d; }; Double(double v, int d, double min, double max) { value = v; decimals = d; this->min = min; this->max = max; }; }; typedef boost::variant ValueVariant; typedef boost::variant, boost::function, boost::function, boost::function > FunctionVariant; template class ReturnTrue { public: typedef bool result_type; boost::function func; ReturnTrue(boost::function func) : func(func) { } bool operator()(ValueType value) const { func(value); return true; } }; enum TypeId { TYPE_BOOL, TYPE_INT, TYPE_DOUBLE, TYPE_STRING, TYPE_SELECTION, TYPE_FILEPATH }; struct Property { Property(const string& name, ValueVariant value) : name(name), value(value), hasValidFunction(false) { } Property(const string& name, ValueVariant value, FunctionVariant func) : name(name), value(value), func(func), hasValidFunction(true) { } string name; ValueVariant value; FunctionVariant func; bool hasValidFunction; }; typedef boost::shared_ptr PropertyPtr; class PropertyItem : public QTableWidgetItem { public: PropertyItem(ItemPropertyViewImpl* viewImpl, ValueVariant value); PropertyItem(ItemPropertyViewImpl* viewImpl, ValueVariant value, FunctionVariant func); virtual QVariant data(int role) const; virtual void setData(int role, const QVariant& qvalue); ItemPropertyViewImpl* itemPropertyViewImpl; ValueVariant value; FunctionVariant func; bool hasValidFunction; bool buttonState; // When the value type is FilePath }; class CustomizedTableWidget : public QTableWidget { bool isResizing; int offsetX; public: CustomizedTableWidget(QWidget* parent) : QTableWidget(parent) { setMouseTracking(true); isResizing = false; } PropertyItem* itemFromIndex(const QModelIndex& index) const { return dynamic_cast(QTableWidget::itemFromIndex(index)); } bool isPointingBorder(int x){ int border = columnWidth(0); offsetX = border - x; return (x >= border - 2 && x <= border + 2); } virtual void mouseMoveEvent(QMouseEvent* event) { if(isResizing){ int border = std::max(0, event->x() + offsetX); setColumnWidth(0, border); } else if(isPointingBorder(event->x())){ setCursor(Qt::SizeHorCursor); } else { setCursor(QCursor()); QTableWidget::mouseMoveEvent(event); } } virtual void mousePressEvent(QMouseEvent* event){ if(isPointingBorder(event->x())){ isResizing = true; } else { QTableWidget::mousePressEvent(event); } } virtual void mouseReleaseEvent(QMouseEvent* event){ isResizing = false; QTableWidget::mouseReleaseEvent(event); } }; class CustomizedItemDelegate : public QStyledItemDelegate { public: CustomizedTableWidget* tableWidget; int decimals; CustomizedItemDelegate(CustomizedTableWidget* tableWidget) : tableWidget(tableWidget) { decimals = 2;} virtual QWidget* createEditor(QWidget* parent, const QStyleOptionViewItem& option, const QModelIndex& index) const { QWidget* editor = QStyledItemDelegate::createEditor(parent, option, index); PropertyItem* item = tableWidget->itemFromIndex(index); if(item){ if(QSpinBox* spinBox = dynamic_cast(editor)){ ValueVariant& value = item->value; if(value.which() == TYPE_INT){ Int& v = boost::get(value); spinBox->setRange(v.min, v.max); } } else if(QDoubleSpinBox* doubleSpinBox = dynamic_cast(editor)){ ValueVariant& value = item->value; if(value.which() == TYPE_DOUBLE){ Double& v = boost::get(value); if(v.decimals >= 0){ doubleSpinBox->setDecimals(v.decimals); doubleSpinBox->setSingleStep(pow(10.0, -v.decimals)); } doubleSpinBox->setRange(v.min, v.max); } } } return editor; } virtual QString displayText(const QVariant& value, const QLocale& locale) const { if(value.type() == QVariant::Double){ return QString::number(value.toDouble(), 'f', decimals); } return QStyledItemDelegate::displayText(value, locale); } void paint(QPainter* painter, const QStyleOptionViewItem& option, const QModelIndex& index) const { PropertyItem* item = tableWidget->itemFromIndex(index); if(item && item->value.which() == TYPE_FILEPATH){ FilePath& v = boost::get(item->value); QString strText = QString(v.fileName.c_str()); QStyleOptionButton fileButton; fileButton.icon = QApplication::style()->standardIcon( QStyle::SP_FileDialogStart ); QRect r = option.rect; fileButton.iconSize = QSize(r.height(), r.height()); if(item->buttonState) fileButton.state = QStyle::State_Sunken | QStyle::State_Enabled; else fileButton.state = QStyle::State_Raised | QStyle::State_Enabled; fileButton.features = QStyleOptionButton::None; fileButton.rect = QRect(r.left() + r.width() - r.height(), r.top(), r.height(), r.height()); QApplication::style()->drawControl( QStyle::CE_PushButton, &fileButton, painter); QRect rect(r.left(), r.top(), r.width()-r.height(), r.height()); painter->drawText(rect, Qt::TextWrapAnywhere, strText ); return; } if(item && item->value.which() == TYPE_DOUBLE){ int& d = const_cast(decimals); d = boost::get(item->value).decimals; } QStyledItemDelegate::paint(painter, option, index); } bool editorEvent(QEvent *event, QAbstractItemModel *model, const QStyleOptionViewItem &option, const QModelIndex &index) { PropertyItem* item = tableWidget->itemFromIndex(index); if(item && item->value.which() == TYPE_FILEPATH){ QMouseEvent * e = (QMouseEvent *)event; QRect r = option.rect; QRect rect(r.left() + r.width() - r.height(), r.top(), r.height(), r.height()); if( rect.contains( e->x(), e->y() )){ if( e->type() == QEvent::MouseButtonRelease ){ item->buttonState = false; tableWidget->repaint(rect); FilePath& v = boost::get(item->value); if( openFileDialog(v) ){ item->setData( Qt::EditRole, v.fileName.c_str() ); } }else if( e->type() == QEvent::MouseButtonPress){ item->buttonState = true; tableWidget->repaint(rect); } return true; } } return QStyledItemDelegate::editorEvent(event, model, option, index); } bool openFileDialog(FilePath& v){ QFileDialog dialog(MainWindow::instance()); dialog.setWindowTitle(_("Select File")); dialog.setViewMode(QFileDialog::List); dialog.setFileMode(QFileDialog::ExistingFile); dialog.setLabelText(QFileDialog::Accept, _("Select")); dialog.setLabelText(QFileDialog::Reject, _("Cancel")); if(!v.directory.empty()) dialog.setDirectory(v.directory.c_str()); else dialog.setDirectory(AppConfig::archive()->get("currentFileDialogDirectory", shareDirectory()).c_str()); QStringList filters; for(int i=0; i properties; bool isPressedPathValid; Connection selectionChangedConnection; // PutPropertyFunction's virtual functions PutPropertyFunction& decimals(int d) { decimals_ = d; return *this; } PutPropertyFunction& min(double min) { dmin = min; return *this; } PutPropertyFunction& max(double max) { dmax = max; return *this; } PutPropertyFunction& min(int min){ imin = min; return *this; } PutPropertyFunction& max(int max){ imax = max; return *this; } PutPropertyFunction& reset(){ decimals_ = 2; dmin = -std::numeric_limits::max(); dmax = std::numeric_limits::max(); imin =std::numeric_limits::min(); imax= std::numeric_limits::max(); return *this; } virtual void operator()(const std::string& name, bool value){ addProperty(name, new PropertyItem(this, value)); } virtual void operator()(const std::string& name, bool value, const boost::function& func) { addProperty(name, new PropertyItem(this, value, func)); } virtual void operator()(const std::string& name, bool value, const boost::function& func, bool forceUpdate) { addProperty(name, new PropertyItem (this, value, boost::function(ReturnTrue(func)))); } virtual void operator()(const std::string& name, int value){ addProperty(name, new PropertyItem(this, Int(value))); } virtual void operator()(const std::string& name, int value, const boost::function& func){ addProperty(name, new PropertyItem(this, Int(value, imin, imax), func)); } virtual void operator()(const std::string& name, int value, const boost::function& func, bool forceUpdate){ addProperty(name, new PropertyItem(this, Int(value, imin, imax), boost::function(ReturnTrue(func)))); } virtual void operator()(const std::string& name, double value){ addProperty(name, new PropertyItem(this, Double(value, decimals_))); } virtual void operator()(const std::string& name, double value, const boost::function& func){ addProperty(name, new PropertyItem(this, Double(value, decimals_, dmin, dmax), func)); } virtual void operator()(const std::string& name, double value, const boost::function& func, bool forceUpdate){ addProperty(name, new PropertyItem(this, Double(value, decimals_, dmin, dmax), boost::function(ReturnTrue(func)))); } virtual void operator()(const std::string& name, const std::string& value){ addProperty(name, new PropertyItem(this, value)); } virtual void operator()(const std::string& name, const std::string& value, const boost::function& func){ addProperty(name, new PropertyItem(this, value, func)); } virtual void operator()(const std::string& name, const std::string& value, const boost::function& func, bool forceUpdate){ addProperty(name, new PropertyItem (this, value, boost::function(ReturnTrue(func)))); } void operator()(const std::string& name, const Selection& selection){ addProperty(name, new PropertyItem(this, selection)); } void operator()(const std::string& name, const Selection& selection, const boost::function& func){ addProperty(name, new PropertyItem(this, selection, func)); } void operator()(const std::string& name, const Selection& selection, const boost::function& func, bool forceUpdate){ addProperty(name, new PropertyItem (this, selection, boost::function(ReturnTrue(func)))); } void operator()(const std::string& name, const FilePath& filePath){ addProperty(name, new PropertyItem(this, filePath) ); } void operator()(const std::string& name, const FilePath& filePath, const boost::function& func){ addProperty(name, new PropertyItem(this, filePath, func) ); } void operator()(const std::string& name, const FilePath& filePath, const boost::function& func, bool forceUpdate){ addProperty(name, new PropertyItem(this, filePath, boost::function(ReturnTrue(func)))); } void clear(); void updateProperties(); void addProperty(const std::string& name, PropertyItem* propertyItem); void onItemSelectionChanged(const ItemList<>& items); void zoomFontSize(int pointSizeDiff); }; } PropertyItem::PropertyItem(ItemPropertyViewImpl* viewImpl, ValueVariant value) : itemPropertyViewImpl(viewImpl), value(value), buttonState(false) { setFlags(Qt::ItemIsEnabled); hasValidFunction = false; } PropertyItem::PropertyItem(ItemPropertyViewImpl* viewImpl, ValueVariant value, FunctionVariant func) : itemPropertyViewImpl(viewImpl), value(value), func(func), buttonState(false) { setFlags(Qt::ItemIsEnabled|Qt::ItemIsEditable); hasValidFunction = true; } QVariant PropertyItem::data(int role) const { if(role == Qt::DisplayRole || role == Qt::EditRole){ switch(value.which()){ case TYPE_BOOL: return boost::get(value); case TYPE_INT: return boost::get(value).value; case TYPE_DOUBLE: return boost::get(value).value; case TYPE_STRING: return boost::get(value).c_str(); case TYPE_SELECTION: { const Selection& s = boost::get(value); if(role == Qt::DisplayRole){ return s.selectedLabel(); } else if(role == Qt::EditRole){ QStringList labels; labels << QString::number(s.selectedIndex()); for(int i=0; i < s.size(); ++i){ labels << s.label(i); } return labels; } } case TYPE_FILEPATH: return boost::get(value).fileName.c_str(); } } return QTableWidgetItem::data(role); } void PropertyItem::setData(int role, const QVariant& qvalue) { itemPropertyViewImpl->isEditingProperty = true; itemPropertyViewImpl->updateRequestedDuringPropertyEditing = false; bool accepted = false; if(role == Qt::EditRole){ try { switch(qvalue.type()){ case QVariant::Bool: accepted = boost::get< boost::function >(func)(qvalue.toBool()); break; case QVariant::String: accepted = boost::get< boost::function >(func)(qvalue.toString().toStdString()); break; case QVariant::Int: accepted = boost::get< boost::function >(func)(qvalue.toInt()); break; case QVariant::Double: accepted = boost::get< boost::function >(func)(qvalue.toDouble()); break; case QVariant::StringList: { const QStringList& slist = qvalue.toStringList(); if(!slist.empty()){ accepted = boost::get< boost::function >(func)(slist[0].toInt()); } } break; default: break; } } catch(const boost::bad_lexical_cast& ex) { } if(accepted){ if(!itemPropertyViewImpl->updateRequestedDuringPropertyEditing){ itemPropertyViewImpl->currentItem->notifyUpdate(); } } if(itemPropertyViewImpl->updateRequestedDuringPropertyEditing){ callLater(boost::bind(&ItemPropertyViewImpl::updateProperties, itemPropertyViewImpl)); } } itemPropertyViewImpl->isEditingProperty = false; } void ItemPropertyView::initializeClass(ExtensionManager* ext) { ext->viewManager().registerClass( "ItemPropertyView", N_("Property"), ViewManager::SINGLE_DEFAULT); } ItemPropertyView::ItemPropertyView() { impl = new ItemPropertyViewImpl(this); } ItemPropertyViewImpl::ItemPropertyViewImpl(ItemPropertyView* self) : self(self) { self->setDefaultLayoutArea(View::LEFT_BOTTOM); isPressedPathValid = false; isEditingProperty = false; tableWidget = new CustomizedTableWidget(self); tableWidget->setFrameShape(QFrame::NoFrame); tableWidget->setColumnCount(2); tableWidget->setSelectionBehavior(QAbstractItemView::SelectRows); tableWidget->setSelectionMode(QAbstractItemView::NoSelection); QHeaderView* hh = tableWidget->horizontalHeader(); QHeaderView* vh = tableWidget->verticalHeader(); hh->hide(); vh->hide(); #if QT_VERSION < QT_VERSION_CHECK(5, 0, 0) hh->setResizeMode(QHeaderView::Fixed); vh->setResizeMode(QHeaderView::ResizeToContents); #else hh->setSectionResizeMode(QHeaderView::Stretch); vh->setSectionResizeMode(QHeaderView::ResizeToContents); #endif hh->setStretchLastSection(true); QStyledItemDelegate* delegate = new CustomizedItemDelegate(tableWidget); QItemEditorFactory* factory = new QItemEditorFactory; QItemEditorCreatorBase* selectionListCreator = new QStandardItemEditorCreator(); factory->registerEditor(QVariant::StringList, selectionListCreator); delegate->setItemEditorFactory(factory); tableWidget->setItemDelegate(delegate); QVBoxLayout* vbox = new QVBoxLayout(); vbox->addWidget(tableWidget); self->setLayout(vbox); selectionChangedConnection = ItemTreeView::mainInstance()->sigSelectionChanged().connect( boost::bind(&ItemPropertyViewImpl::onItemSelectionChanged, this, _1)); fontPointSizeDiff = 0; MappingPtr config = AppConfig::archive()->openMapping("ItemPropertyView"); int storedFontPointSizeDiff; if(config->read("fontZoom", storedFontPointSizeDiff)){ zoomFontSize(storedFontPointSizeDiff); } } ItemPropertyView::~ItemPropertyView() { if(TRACE_FUNCTIONS){ cout << "ItemPropertyView::~ItemPropertyView()" << endl; } delete impl; } ItemPropertyViewImpl::~ItemPropertyViewImpl() { if(TRACE_FUNCTIONS){ cout << "ItemPropertyViewImpl::~ItemPropertyView()Impl" << endl; } itemConnections.disconnect(); selectionChangedConnection.disconnect(); } void ItemPropertyViewImpl::clear() { if(TRACE_FUNCTIONS){ cout << "ItemPropertyView::clear()" << endl; } itemConnections.disconnect(); currentItem = 0; updateProperties(); } void ItemPropertyViewImpl::updateProperties() { if(TRACE_FUNCTIONS){ cout << "ItemPropertyView::updateProperties()" << endl; } if(isEditingProperty){ updateRequestedDuringPropertyEditing = true; } else { tableWidget->setRowCount(0); tmpListIndex = 0; properties.clear(); if(currentItem){ reset(); currentItem->putProperties(*this); } } } void ItemPropertyViewImpl::addProperty(const std::string& name, PropertyItem* propertyItem) { int row = tableWidget->rowCount(); tableWidget->setRowCount(row + 1); QTableWidgetItem* nameItem = new QTableWidgetItem(name.c_str()); nameItem->setFlags(Qt::ItemIsEnabled); tableWidget->setItem(row, 0, nameItem); tableWidget->setItem(row, 1, propertyItem); } void ItemPropertyViewImpl::onItemSelectionChanged(const ItemList<>& items) { if(TRACE_FUNCTIONS){ cout << "ItemPropertyView::onItemSelectionChanged()" << endl; } Item* item = items.toSingle(); if(item != currentItem){ itemConnections.disconnect(); currentItem = item; if(item){ itemConnections.add( item->sigUpdated().connect( boost::bind(&ItemPropertyViewImpl::updateProperties, this))); itemConnections.add( item->sigNameChanged().connect( boost::bind(&ItemPropertyViewImpl::updateProperties, this))); itemConnections.add( item->sigDetachedFromRoot().connect( boost::bind(&ItemPropertyViewImpl::clear, this))); } updateProperties(); } } void ItemPropertyView::keyPressEvent(QKeyEvent* event) { if(event->modifiers() & Qt::ControlModifier){ switch(event->key()){ case Qt::Key_Plus: case Qt::Key_Semicolon: impl->zoomFontSize(1); return; case Qt::Key_Minus: impl->zoomFontSize(-1); return; defaut: break; } } View::keyPressEvent(event); } void ItemPropertyViewImpl::zoomFontSize(int pointSizeDiff) { QFont font = tableWidget->font(); font.setPointSize(font.pointSize() + pointSizeDiff); tableWidget->setFont(font); fontPointSizeDiff += pointSizeDiff; AppConfig::archive()->openMapping("ItemPropertyView")->write("fontZoom", fontPointSizeDiff); } void ItemPropertyView::onAttachedMenuRequest(MenuManager& menuManager) { menuManager.addItem(_("Update"))->sigTriggered().connect( boost::bind(&ItemPropertyViewImpl::updateProperties, impl)); menuManager.addItem(_("Reset Column Sizes"))->sigTriggered().connect( boost::bind(&QTableWidget::resizeColumnsToContents, impl->tableWidget)); } choreonoid-1.5.0/src/Base/ViewArea.cpp0000664000000000000000000015051712741425367016242 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "ViewArea.h" #include "View.h" #include "ViewManager.h" #include "MenuManager.h" #include "MessageView.h" #include "MainWindow.h" #include "Timer.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace { enum DropArea { OVER = -1, LEFT = 0, TOP, RIGHT, BOTTOM, NUM_DROP_AREAS }; const int SPLIT_DISTANCE_THRESHOLD = 35; vector viewAreas; bool isBeforeDoingInitialLayout = true; class TabWidget : public QTabWidget { public: TabWidget(QWidget* parent) : QTabWidget(parent) { } QTabBar* tabBar() { return QTabWidget::tabBar(); } }; class ViewPane : public QWidget { public: ViewPane(ViewAreaImpl* viewAreaImpl, QWidget* parent = 0); int addView(View* view); void removeView(View* view); void setTabVisible(bool on); void makeDirect(); QTabBar* tabBar() { return tabWidget->tabBar(); } const QTabBar* tabBar() const { return tabWidget->tabBar(); } int currentIndex() const { return directView ? 0 : tabWidget->currentIndex(); } void setCurrentIndex(int index) { if(!directView){ tabWidget->setCurrentIndex(index); } } View* currentView() const { return directView ? directView : static_cast(tabWidget->currentWidget()); } int count() const { return directView ? 1 : tabWidget->count(); } View* view(int index) const { if(directView){ if(index == 0){ return directView; } return 0; } else { return static_cast(tabWidget->widget(index)); } } virtual bool eventFilter(QObject* object, QEvent* event); virtual QSize minimumSizeHint () const { QSize s = QWidget::minimumSizeHint(); if(!tabBar()->isVisible()){ s.rheight() -= tabBar()->minimumSizeHint().height(); } return s; } TabWidget* tabWidget; QVBoxLayout* vbox; View* directView; ViewAreaImpl* viewAreaImpl; }; } namespace cnoid { class ViewAreaImpl { public: ViewAreaImpl(ViewArea* self); ~ViewAreaImpl(); ViewArea* self; QVBoxLayout* vbox; QSplitter* topSplitter; int numViews; bool viewTabsVisible; bool isMaximizedBeforeFullScreen; bool needToUpdateDefaultPaneAreas; boost::scoped_ptr< vector > defaultViewsToShow; ViewPane* areaToPane[View::NUM_AREAS]; struct AreaDetectionInfo { AreaDetectionInfo() { for(int i=0; i < View::NUM_AREAS; ++i){ scores[i] = 0; } } ViewPane* pane; int scores[View::NUM_AREAS]; }; typedef bitset EdgeContactState; QPoint tabDragStartPosition; bool isViewDragging; View* draggedView; QSize draggedViewWindowSize; ViewArea* dragDestViewArea; ViewPane* dragSrcPane; ViewPane* dragDestPane; bool isViewDraggingOnOuterEdge; int dropEdge; QRubberBand* rubberBand; vector viewSizeLabels; Timer viewSizeLabelTimer; MenuManager viewMenuManager; void setSingleView(View* view); void createDefaultPanes(); void detectExistingPaneAreas(); ViewPane* updateAreaDetectionInfos(QSplitter* splitter, const EdgeContactState& edge, vector& infos); void setBestAreaMatchPane(vector& infos, View::LayoutArea area, ViewPane* firstPane); void setViewTabsVisible(QSplitter* splitter, bool on); void setFullScreen(bool on); bool addView(View* view); void addView(ViewPane* pane, View* view, bool makeCurrent); bool removeView(View* view); bool removeView(ViewPane* pane, View* view, bool isMovingInViewArea); View* findFirstView(QSplitter* splitter); void getVisibleViews(vector& out_views, QSplitter* splitter = 0); void getVisibleViewsIter(QSplitter* splitter, vector& out_views); void showViewSizeLabels(QSplitter* splitter); void hideViewSizeLabels(); bool viewTabMousePressEvent(ViewPane* pane, QMouseEvent* event); bool viewTabMouseMoveEvent(ViewPane* pane, QMouseEvent* event); bool viewTabMouseReleaseEvent(ViewPane* pane, QMouseEvent *event); void showRectangle(QRect r); void dragView(QMouseEvent* event); void dragViewInsidePane(const QPoint& posInDestPane); void dropViewInsidePane(ViewPane* pane, View* view, int dropEdge); void dragViewOnOuterEdge(); void dropViewToOuterEdge(View* view); void dragViewOutside(const QPoint& pos); void dropViewOutside(const QPoint& pos); void separateView(View* view); void clearAllPanes(); void clearAllPanesSub(QSplitter* splitter); void getAllViews(vector& out_views); void getAllViewsSub(QSplitter* splitter, vector& out_views); void storeLayout(Archive* archive); MappingPtr storeSplitterState(QSplitter* splitter, Archive* archive); MappingPtr storePaneState(ViewPane* pane, Archive* archive); void restoreLayout(Archive* archive); QWidget* restoreViewContainer(const Mapping& state, Archive* archive); QWidget* restoreSplitter(const Mapping& state, Archive* archive); ViewPane* restorePane(const Mapping& state, Archive* archive); void resetLayout(); void removePaneIfEmpty(ViewPane* pane); void removePaneSub(QWidget* widgetToRemove, QWidget* widgetToRaise); void clearEmptyPanes(); QWidget* clearEmptyPanesSub(QSplitter* splitter); }; } namespace { class CustomSplitter : public QSplitter { public: ViewAreaImpl* viewAreaImpl; bool defaultOpaqueResize; CustomSplitter(ViewAreaImpl* viewAreaImpl, QWidget* parent = 0) : QSplitter(parent), viewAreaImpl(viewAreaImpl) { defaultOpaqueResize = opaqueResize(); } CustomSplitter(ViewAreaImpl* viewAreaImpl, Qt::Orientation orientation, QWidget* parent = 0) : QSplitter(orientation, parent), viewAreaImpl(viewAreaImpl) { defaultOpaqueResize = opaqueResize(); } bool moveSplitterPosition(int d){ QList s = sizes(); if(s.size() >= 2){ s[0] += d; s[1] -= d; } if(s[0] >= 0 && s[1] >= 0){ setSizes(s); } return true; } QSplitterHandle* createHandle(); }; class CustomSplitterHandle : public QSplitterHandle { CustomSplitter* splitter; bool isDragging; public: CustomSplitterHandle(CustomSplitter* splitter) : QSplitterHandle(splitter->orientation(), splitter), splitter(splitter) { setFocusPolicy(Qt::WheelFocus); isDragging = false; } virtual void mousePressEvent(QMouseEvent* event){ if(event->button() == Qt::LeftButton){ isDragging = true; splitter->viewAreaImpl->showViewSizeLabels(splitter); if(event->modifiers() & Qt::ShiftModifier){ splitter->setOpaqueResize(!splitter->defaultOpaqueResize); } else { splitter->setOpaqueResize(splitter->defaultOpaqueResize); } } QSplitterHandle::mouseMoveEvent(event); } virtual void mouseMoveEvent(QMouseEvent* event){ QSplitterHandle::mouseMoveEvent(event); if(isDragging){ splitter->viewAreaImpl->showViewSizeLabels(splitter); } } virtual void mouseReleaseEvent(QMouseEvent* event) { QSplitterHandle::mouseReleaseEvent(event); isDragging = false; splitter->setOpaqueResize(splitter->defaultOpaqueResize); } virtual void keyPressEvent(QKeyEvent* event) { bool processed = false; int r = 1; if(event->modifiers() & Qt::ShiftModifier){ r = 10; } int key = event->key(); if(orientation() == Qt::Horizontal){ if(key == Qt::Key_Left){ processed = splitter->moveSplitterPosition(-r); } else if(key == Qt::Key_Right){ processed = splitter->moveSplitterPosition( r); } } else { if(key == Qt::Key_Up){ processed = splitter->moveSplitterPosition(-r); } else if(key == Qt::Key_Down){ processed = splitter->moveSplitterPosition( r); } } if(processed){ splitter->viewAreaImpl->showViewSizeLabels(splitter); } else { QSplitterHandle::keyPressEvent(event); } } }; QSplitterHandle* CustomSplitter::createHandle() { return new CustomSplitterHandle(this); } } ViewPane::ViewPane(ViewAreaImpl* viewAreaImpl, QWidget* parent) : QWidget(parent), viewAreaImpl(viewAreaImpl) { vbox = new QVBoxLayout(this); vbox->setSpacing(0); vbox->setContentsMargins(0, 0, 0, 0); tabWidget = new TabWidget(this); tabWidget->setMovable(true); tabWidget->setUsesScrollButtons(true); tabWidget->tabBar()->installEventFilter(this); if(!viewAreaImpl->viewTabsVisible){ tabWidget->tabBar()->hide(); } vbox->addWidget(tabWidget); directView = 0; } int ViewPane::addView(View* view) { if(viewAreaImpl->viewTabsVisible){ return tabWidget->addTab(view, view->windowTitle()); } else { if(viewAreaImpl->self->isWindow() && tabWidget->count() == 0 && !directView){ tabWidget->hide(); directView = view; directView->setParent(this); vbox->addWidget(directView); directView->show(); return 0; } else { tabWidget->show(); if(directView){ tabWidget->addTab(directView, directView->windowTitle()); directView = 0; } return tabWidget->addTab(view, view->windowTitle()); } } } void ViewPane::removeView(View* view) { if(view == directView){ vbox->removeWidget(directView); directView = 0; } else { tabWidget->removeTab(tabWidget->indexOf(view)); if(viewAreaImpl->self->isWindow() && tabWidget->count() == 1 && !viewAreaImpl->viewTabsVisible){ makeDirect(); } } } void ViewPane::setTabVisible(bool on) { if(on){ if(directView){ tabWidget->addTab(directView, directView->windowTitle()); directView = 0; tabWidget->show(); } tabBar()->show(); } else { if(!directView){ if(viewAreaImpl->self->isWindow() && tabWidget->count() == 1){ makeDirect(); } else { tabBar()->hide(); } } } } void ViewPane::makeDirect() { if(!directView && tabWidget->count() == 1){ directView = static_cast(tabWidget->widget(0)); tabWidget->removeTab(0); directView->setParent(this); directView->show(); vbox->addWidget(directView); tabWidget->hide(); } } bool ViewPane::eventFilter(QObject* object, QEvent* event) { if(object == tabWidget->tabBar()){ switch(event->type()){ case QEvent::MouseButtonPress: return viewAreaImpl->viewTabMousePressEvent(this, static_cast(event)); case QEvent::MouseButtonDblClick: break; case QEvent::MouseButtonRelease: return viewAreaImpl->viewTabMouseReleaseEvent(this, static_cast(event)); case QEvent::MouseMove: return viewAreaImpl->viewTabMouseMoveEvent(this, static_cast(event)); default: break; } } return false; } ViewArea::ViewArea(QWidget* parent) : QWidget(parent) { if(parent == 0){ setAttribute(Qt::WA_DeleteOnClose); } impl = new ViewAreaImpl(this); } ViewAreaImpl::ViewAreaImpl(ViewArea* self) : self(self) { numViews = 0; viewTabsVisible = true; isMaximizedBeforeFullScreen = false; isViewDragging = false; draggedView = 0; dragSrcPane = 0; dragDestViewArea = 0; dragDestPane = 0; vbox = new QVBoxLayout(self); vbox->setSpacing(0); vbox->setContentsMargins(0, 0, 0, 0); rubberBand = new QRubberBand(QRubberBand::Rectangle, self); rubberBand->hide(); viewSizeLabelTimer.setSingleShot(true); viewSizeLabelTimer.setInterval(1000); viewSizeLabelTimer.sigTimeout().connect( boost::bind(&ViewAreaImpl::hideViewSizeLabels, this)); topSplitter = 0; needToUpdateDefaultPaneAreas = true; viewAreas.push_back(self); } ViewArea::~ViewArea() { viewAreas.erase(std::find(viewAreas.begin(), viewAreas.end(), this)); delete impl; } ViewAreaImpl::~ViewAreaImpl() { clearAllPanes(); delete rubberBand; } void ViewArea::setSingleView(View* view) { impl->setSingleView(view); } void ViewAreaImpl::setSingleView(View* view) { clearAllPanes(); viewTabsVisible = false; topSplitter = new CustomSplitter(this, self); vbox->addWidget(topSplitter); ViewPane* pane = new ViewPane(this, topSplitter); topSplitter->addWidget(pane); for(int i=0; i < View::NUM_AREAS; ++i){ areaToPane[i] = pane; } needToUpdateDefaultPaneAreas = false; addView(pane, view, true); defaultViewsToShow.reset(); } void ViewArea::createDefaultPanes() { impl->createDefaultPanes(); } void ViewAreaImpl::createDefaultPanes() { clearAllPanes(); topSplitter = new CustomSplitter(this, self); vbox->addWidget(topSplitter); topSplitter->setOrientation(Qt::Horizontal); QSplitter* vSplitter0 = new CustomSplitter(this, Qt::Vertical, topSplitter); topSplitter->addWidget(vSplitter0); areaToPane[View::LEFT_TOP] = new ViewPane(this, vSplitter0); vSplitter0->addWidget(areaToPane[View::LEFT_TOP]); areaToPane[View::LEFT_BOTTOM] = new ViewPane(this, vSplitter0); vSplitter0->addWidget(areaToPane[View::LEFT_BOTTOM]); QSplitter* vSplitter1 = new CustomSplitter(this, Qt::Vertical, topSplitter); topSplitter->addWidget(vSplitter1); QSplitter* hSplitter1 = new CustomSplitter(this, Qt::Horizontal, vSplitter1); vSplitter1->addWidget(hSplitter1); areaToPane[View::BOTTOM] = new ViewPane(this, vSplitter1); vSplitter1->addWidget(areaToPane[View::BOTTOM]); areaToPane[View::CENTER] = new ViewPane(this, hSplitter1); hSplitter1->addWidget(areaToPane[View::CENTER]); areaToPane[View::RIGHT] = new ViewPane(this, hSplitter1); hSplitter1->addWidget(areaToPane[View::RIGHT]); QList sizes; sizes << 100 << 600; topSplitter->setSizes(sizes); sizes.last() = 100; vSplitter0->setSizes(sizes); sizes.last() = 40; vSplitter1->setSizes(sizes); sizes.last() = 160; hSplitter1->setSizes(sizes); needToUpdateDefaultPaneAreas = false; } void ViewAreaImpl::detectExistingPaneAreas() { for(int i=0; i < View::NUM_AREAS; ++i){ areaToPane[i] = 0; } vector infos; EdgeContactState edge; edge.set(); ViewPane* firstPane = updateAreaDetectionInfos(topSplitter, edge, infos); if(infos.empty()){ createDefaultPanes(); } else { setBestAreaMatchPane(infos, View::CENTER, firstPane); setBestAreaMatchPane(infos, View::LEFT_TOP, firstPane); setBestAreaMatchPane(infos, View::LEFT_BOTTOM, firstPane); setBestAreaMatchPane(infos, View::RIGHT, firstPane); setBestAreaMatchPane(infos, View::BOTTOM, firstPane); } needToUpdateDefaultPaneAreas = false; } /** @return The first found pane */ ViewPane* ViewAreaImpl::updateAreaDetectionInfos (QSplitter* splitter, const EdgeContactState& edge, vector& infos) { ViewPane* firstPane = 0; QWidget* childWidgets[2]; childWidgets[0] = (splitter->count() > 0) ? splitter->widget(0) : 0; childWidgets[1] = (splitter->count() > 1) ? splitter->widget(1) : 0; bool isSingle = !(childWidgets[0] && childWidgets[1]); for(int i=0; i < 2; ++i){ EdgeContactState currentEdge(edge); if(!isSingle){ if(splitter->orientation() == Qt::Vertical){ currentEdge.reset((i == 0) ? BOTTOM : TOP); } else { currentEdge.reset((i == 0) ? RIGHT : LEFT); } } if(childWidgets[i]){ QSplitter* childSplitter = dynamic_cast(childWidgets[i]); if(childSplitter){ ViewPane* pane = updateAreaDetectionInfos(childSplitter, currentEdge, infos); if(!firstPane){ firstPane = pane; } } else { ViewPane* pane = dynamic_cast(childWidgets[i]); if(pane){ AreaDetectionInfo info; info.pane = pane; // calculate scores for area matching static const int offset = 100000000; int width = pane->width(); int height = pane->height(); info.scores[View::CENTER] = (4 - currentEdge.count()) * offset + width * height; if(currentEdge.test(LEFT) && !currentEdge.test(RIGHT)){ info.scores[View::LEFT] = offset + height; info.scores[View::LEFT_TOP] = offset + height; info.scores[View::LEFT_BOTTOM] = offset + height; if(currentEdge.test(TOP) && !currentEdge.test(BOTTOM)){ info.scores[View::LEFT_TOP] += 100; } else if(currentEdge.test(BOTTOM) && !currentEdge.test(TOP)){ info.scores[View::LEFT_BOTTOM] += 100; } } if(currentEdge.test(RIGHT) && !currentEdge.test(LEFT)){ info.scores[View::RIGHT] = offset + height; } if(currentEdge.test(BOTTOM) && !currentEdge.test(TOP)){ info.scores[View::BOTTOM] = offset + width; } infos.push_back(info); if(!firstPane){ firstPane = pane; } } } } } return firstPane; } void ViewAreaImpl::setBestAreaMatchPane(vector& infos, View::LayoutArea area, ViewPane* firstPane) { int topScore = 0; int topIndex = -1; for(int i=0; i < (signed)infos.size(); ++i){ int s = infos[i].scores[area]; if(s > topScore){ topScore = s; topIndex = i; } } if(topIndex >= 0){ areaToPane[area] = infos[topIndex].pane; } else { areaToPane[area] = firstPane; } } bool ViewArea::viewTabsVisible() const { return impl->viewTabsVisible; } void ViewArea::setViewTabsVisible(bool on) { if(impl->viewTabsVisible != on){ impl->setViewTabsVisible(impl->topSplitter, on); impl->viewTabsVisible = on; } } void ViewAreaImpl::setViewTabsVisible(QSplitter* splitter, bool on) { for(int i=0; i < splitter->count(); ++i){ QSplitter* childSplitter = dynamic_cast(splitter->widget(i)); if(childSplitter){ setViewTabsVisible(childSplitter, on); } else { ViewPane* pane = dynamic_cast(splitter->widget(i)); if(pane){ pane->setTabVisible(on); } } } } void ViewAreaImpl::setFullScreen(bool on) { if(self->isWindow()){ if(on){ if(!self->isFullScreen()){ isMaximizedBeforeFullScreen = self->windowState() & Qt::WindowMaximized; self->showFullScreen(); } } else if(self->isFullScreen()){ self->showNormal(); if(isMaximizedBeforeFullScreen){ self->showMaximized(); } } } } bool ViewArea::addView(View* view) { return impl->addView(view); } bool ViewAreaImpl::addView(View* view) { if(view->viewArea() == self){ return false; } if(isBeforeDoingInitialLayout){ if(!defaultViewsToShow){ defaultViewsToShow.reset(new vector()); } defaultViewsToShow->push_back(view); } else { if(needToUpdateDefaultPaneAreas){ detectExistingPaneAreas(); } addView(areaToPane[view->defaultLayoutArea()], view, false); } return true; } void ViewAreaImpl::addView(ViewPane* pane, View* view, bool makeCurrent) { if(view->viewArea()){ view->viewArea()->impl->removeView(view); } int index = pane->addView(view); if(makeCurrent){ pane->setCurrentIndex(index); } view->setViewArea(self); ++numViews; if(numViews == 1){ self->setWindowTitle(view->windowTitle()); } else if(numViews == 2){ self->setWindowTitle("Views"); self->setViewTabsVisible(true); } } bool ViewArea::removeView(View* view) { return impl->removeView(view); } bool ViewAreaImpl::removeView(View* view) { bool removed = false; if(view->viewArea() == self){ ViewPane* pane = 0; for(QWidget* widget = view->parentWidget(); widget; widget = widget->parentWidget()){ if(pane = dynamic_cast(widget)){ break; } } if(pane){ removed = removeView(pane, view, false); } } return removed; } bool ViewAreaImpl::removeView(ViewPane* pane, View* view, bool isMovingInViewArea) { bool removed = false; //! \todo check if the owner view area is same as this if(view->viewArea() == self){ pane->removeView(view); if(pane->count() > 0){ pane->setCurrentIndex(0); } --numViews; removed = true; if(!isMovingInViewArea){ view->hide(); view->setParent(0); removePaneIfEmpty(pane); if(self->isWindow()){ if(numViews == 1){ View* existingView = findFirstView(topSplitter); if(existingView){ self->setWindowTitle(existingView->windowTitle()); } } else if(numViews == 0){ self->deleteLater(); } } } view->setViewArea(0); } return removed; } View* ViewAreaImpl::findFirstView(QSplitter* splitter) { View* view = 0; for(int i=0; i < splitter->count(); ++i){ QSplitter* childSplitter = dynamic_cast(splitter->widget(i)); if(childSplitter){ view = findFirstView(childSplitter); } else { ViewPane* pane = dynamic_cast(splitter->widget(i)); if(pane && pane->count() > 0){ view = pane->view(0); } } if(view){ break; } } return view; } int ViewArea::numViews() const { return impl->numViews; } void ViewAreaImpl::getVisibleViews(vector& out_views, QSplitter* splitter) { getVisibleViewsIter(splitter ? splitter : topSplitter, out_views); } void ViewAreaImpl::getVisibleViewsIter(QSplitter* splitter, vector& out_views) { QList sizes = splitter->sizes(); for(int i=0; i < splitter->count(); ++i){ QSplitter* childSplitter = dynamic_cast(splitter->widget(i)); if(childSplitter){ getVisibleViewsIter(childSplitter, out_views); } else { if(sizes[i] > 0){ ViewPane* pane = dynamic_cast(splitter->widget(i)); if(pane){ View* view = pane->currentView(); if(view){ out_views.push_back(view); } } } } } } void ViewAreaImpl::showViewSizeLabels(QSplitter* splitter) { vector views; getVisibleViews(views, splitter); for(size_t i=0; i < views.size(); ++i){ View* view = views[i]; QLabel* label = 0; if(i < viewSizeLabels.size()){ label = viewSizeLabels[i]; } else { label = new QLabel(self); label->setFrameStyle(QFrame::Box | QFrame::Raised); label->setLineWidth(0); label->setMidLineWidth(1); label->setAutoFillBackground(true); label->setAlignment(Qt::AlignCenter); viewSizeLabels.push_back(label); } label->setText(QString("%1 x %2").arg(view->width()).arg(view->height())); QPoint p = view->viewAreaPos(); QSize s = label->size(); int x = p.x() + view->width() / 2 - s.width() / 2; int y = p.y() + view->height() / 2 - s.height() / 2; label->move(x, y); label->show(); } viewSizeLabelTimer.start(); } void ViewAreaImpl::hideViewSizeLabels() { for(size_t i=0; i < viewSizeLabels.size(); ++i){ viewSizeLabels[i]->hide(); } } void ViewArea::keyPressEvent(QKeyEvent* event) { event->ignore(); switch(event->key()){ case Qt::Key_F12: setViewTabsVisible(!impl->viewTabsVisible); event->accept(); break; } if(isWindow()){ switch(event->key()){ case Qt::Key_F11: impl->setFullScreen(!isFullScreen()); event->accept(); break; } } } void ViewArea::restoreAllViewAreaLayouts(ArchivePtr archive) { ViewAreaImpl* mainViewAreaImpl = MainWindow::instance()->viewArea()->impl; if(archive){ Listing& layouts = *archive->findListing("viewAreas"); if(!layouts.isValid()){ // for the compatibility with the older (1.4 or earlier) versions Archive* layoutOfViews = archive->findSubArchive("layoutOfViews"); if(layoutOfViews->isValid()){ layoutOfViews->inheritSharedInfoFrom(*archive); mainViewAreaImpl->restoreLayout(layoutOfViews); } } else { QDesktopWidget* desktop = QApplication::desktop(); const int numScreens = desktop->screenCount(); for(int i=0; i < layouts.size(); ++i){ Mapping& layout = *layouts[i].toMapping(); Archive* contents = dynamic_cast(layout.get("contents").toMapping()); if(contents){ contents->inheritSharedInfoFrom(*archive); const string type = layout.get("type").toString(); if(type == "embedded"){ mainViewAreaImpl->restoreLayout(contents); mainViewAreaImpl->self->setViewTabsVisible(layout.get("tabs", mainViewAreaImpl->viewTabsVisible)); } else if(type == "independent"){ ViewArea* viewWindow = new ViewArea(); viewWindow->impl->viewTabsVisible = layout.get("tabs", true); viewWindow->impl->restoreLayout(contents); if(viewWindow->impl->numViews == 0){ delete viewWindow; } else { const Listing& geo = *layout.findListing("geometry"); if(geo.isValid() && geo.size() == 4){ // -1 means the primary screen int screen = -1; if(layout.read("screen", screen)){ if(screen >= numScreens){ screen = -1; } } const QRect s = desktop->screenGeometry(screen); const QRect r(geo[0].toInt(), geo[1].toInt(), geo[2].toInt(), geo[3].toInt()); viewWindow->setGeometry(r.translated(s.x(), s.y())); } if(layout.get("fullScreen", false)){ layout.read("maximized", viewWindow->impl->isMaximizedBeforeFullScreen); viewWindow->showFullScreen(); } else { if(layout.get("maximized"), false){ viewWindow->showMaximized(); } else { viewWindow->show(); } } } } } } } } if(isBeforeDoingInitialLayout){ mainViewAreaImpl->resetLayout(); } } void ViewArea::restoreLayout(ArchivePtr archive) { impl->restoreLayout(archive.get()); } void ViewAreaImpl::restoreLayout(Archive* archive) { clearAllPanes(); QWidget* topWidget = restoreViewContainer(*archive, archive); topSplitter = dynamic_cast(topWidget); if(!topSplitter){ topSplitter = new CustomSplitter(this); ViewPane* topPane = dynamic_cast(topWidget); if(!topPane){ topPane = new ViewPane(this); } topSplitter->addWidget(topPane); } vbox->addWidget(topSplitter); needToUpdateDefaultPaneAreas = true; isBeforeDoingInitialLayout = false; defaultViewsToShow.reset(); } void ViewAreaImpl::clearAllPanes() { if(topSplitter){ clearAllPanesSub(topSplitter); delete topSplitter; topSplitter = 0; } numViews = 0; needToUpdateDefaultPaneAreas = true; } void ViewAreaImpl::clearAllPanesSub(QSplitter* splitter) { for(int i=0; i < splitter->count(); ++i){ QSplitter* childSplitter = dynamic_cast(splitter->widget(i)); if(childSplitter){ clearAllPanesSub(childSplitter); } else { ViewPane* pane = dynamic_cast(splitter->widget(i)); if(pane){ while(pane->count() > 0){ int index = pane->count() - 1; View* view = pane->view(index); if(view){ pane->removeView(view); view->hide(); view->setParent(0); view->setViewArea(0); } } } } } } void ViewAreaImpl::getAllViews(vector& out_views) { getAllViewsSub(topSplitter, out_views); } void ViewAreaImpl::getAllViewsSub(QSplitter* splitter, vector& out_views) { for(int i=0; i < splitter->count(); ++i){ QSplitter* childSplitter = dynamic_cast(splitter->widget(i)); if(childSplitter){ getAllViewsSub(childSplitter, out_views); } else { ViewPane* pane = dynamic_cast(splitter->widget(i)); if(pane){ for(int i=0; i < pane->count(); ++i){ View* view = pane->view(i); if(view){ out_views.push_back(view); } } } } } } QWidget* ViewAreaImpl::restoreViewContainer(const Mapping& state, Archive* archive) { QWidget* widget = 0; string type; if(state.read("type", type)){ if(type == "splitter"){ widget = restoreSplitter(state, archive); } else if(type == "pane"){ widget = restorePane(state, archive); } } return widget; } QWidget* ViewAreaImpl::restoreSplitter(const Mapping& state, Archive* archive) { QWidget* widget = 0; QWidget* childWidgets[2] = { 0, 0 }; const Listing& children = *state.findListing("children"); if(children.isValid()){ int numChildren = std::min(children.size(), 2); for(int i=0; i < numChildren; ++i){ if(children[i].isMapping()){ const Mapping& childState = *children[i].toMapping(); childWidgets[i] = restoreViewContainer(childState, archive); } } if(!childWidgets[0] || !childWidgets[1]){ for(int i=0; i < 2; ++i){ if(childWidgets[i]){ widget = childWidgets[i]; break; } } } else { QSplitter* splitter = new CustomSplitter(this); string orientation; if(state.read("orientation", orientation)){ splitter->setOrientation((orientation == "vertical") ? Qt::Vertical : Qt::Horizontal); } splitter->addWidget(childWidgets[0]); splitter->addWidget(childWidgets[1]); const Listing& sizes = *state.findListing("sizes"); if(sizes.isValid() && sizes.size() == 2){ QList s; int size; for(int i=0; i < 2; ++i){ if(sizes[i].read(size)){ s.push_back(size); } } splitter->setSizes(s); } widget = splitter; } } return widget; } ViewPane* ViewAreaImpl::restorePane(const Mapping& state, Archive* archive) { ViewPane* pane = 0; const Listing& views = *state.findListing("views"); if(views.isValid() && !views.empty()){ pane = new ViewPane(this); int currentId = 0; string currentName; if(!state.read("current", currentId)){ state.read("current", currentName); } for(int i=0; i < views.size(); ++i){ const ValueNode& node = views[i]; View* view = 0; int id; bool isCurrent = false; if(node.read(id)){ view = archive->findView(id); if(view){ isCurrent = (id == currentId); } } else if(node.isString()){ // for the Choreonoid version 1.4 or earlier view = ViewManager::getOrCreateViewOfDefaultName(node.toString()); if(view){ if(view->name() == currentName){ isCurrent = true; } } } if(view){ addView(pane, view, isCurrent); } } if(pane->count() == 0){ delete pane; pane = 0; } } return pane; } void ViewArea::storeAllViewAreaLayouts(ArchivePtr archive) { ListingPtr layouts = new Listing(); for(size_t i=0; i < viewAreas.size(); ++i){ ArchivePtr layout = new Archive(); layout->inheritSharedInfoFrom(*archive); viewAreas[i]->storeLayout(layout); layouts->append(layout); } if(!layouts->empty()){ archive->insert("viewAreas", layouts); } } void ViewArea::storeLayout(ArchivePtr archive) { impl->storeLayout(archive.get()); } void ViewAreaImpl::storeLayout(Archive* archive) { QDesktopWidget* desktop = QApplication::desktop(); const int primaryScreen = desktop->primaryScreen(); try { MappingPtr state = storeSplitterState(topSplitter, archive); if(state){ if(!self->isWindow()){ archive->write("type", "embedded"); } else { archive->write("type", "independent"); const int screen = desktop->screenNumber(self->pos()); if(screen != primaryScreen){ archive->write("screen", screen); } const QRect s = desktop->screenGeometry(screen); const QRect r = self->geometry().translated(-s.x(), -s.y()); Listing* geometry = archive->createFlowStyleListing("geometry"); geometry->append(r.x()); geometry->append(r.y()); geometry->append(r.width()); geometry->append(r.height()); if(self->isFullScreen()){ archive->write("fullScreen", true); archive->write("maximized", isMaximizedBeforeFullScreen); } else { archive->write("fullScreen", false); archive->write("maximized", self->isMaximized()); } } archive->write("tabs", viewTabsVisible); archive->insert("contents", state); } } catch(const ValueNode::Exception& ex){ MessageView::instance()->putln(ex.message()); } } MappingPtr ViewAreaImpl::storeSplitterState(QSplitter* splitter, Archive* archive) { MappingPtr state = new Mapping; ListingPtr children = new Listing; for(int i=0; i < splitter->count(); ++i){ QSplitter* childSplitter = dynamic_cast(splitter->widget(i)); if(childSplitter){ MappingPtr childState = storeSplitterState(childSplitter, archive); if(childState){ children->append(childState); } } else { ViewPane* pane = dynamic_cast(splitter->widget(i)); if(pane && pane->count() > 0){ MappingPtr childState = storePaneState(pane, archive); if(childState){ children->append(childState); } } } } const int numChildren = children->size(); if(numChildren == 0){ state.reset(); } else if(numChildren == 1){ state = children->at(0)->toMapping(); } else if(numChildren == 2){ state->write("type", "splitter"); state->write("orientation", (splitter->orientation() == Qt::Vertical) ? "vertical" : "horizontal"); Listing* sizeSeq = state->createFlowStyleListing("sizes"); QList sizes = splitter->sizes(); for(int i=0; i < sizes.size(); ++i){ sizeSeq->append(sizes[i]); } state->insert("children", children); } return state; } MappingPtr ViewAreaImpl::storePaneState(ViewPane* pane, Archive* archive) { MappingPtr state = new Mapping(); state->write("type", "pane"); Listing* views = state->createFlowStyleListing("views"); const int n = pane->count(); for(int i=0; i < n; ++i){ View* view = pane->view(i); int id = archive->getViewId(view); if(id >= 0){ views->append(id); if(i == pane->currentIndex()){ state->write("current", id); } } } if(views->empty()){ state.reset(); } return state; } void ViewArea::resetAllViewAreaLayouts() { ViewArea* mainViewArea = MainWindow::instance()->viewArea(); mainViewArea->impl->resetLayout(); //! \todo close all the independent view windows } void ViewArea::resetLayout() { impl->resetLayout(); } void ViewAreaImpl::resetLayout() { if(isBeforeDoingInitialLayout){ isBeforeDoingInitialLayout = false; createDefaultPanes(); if(defaultViewsToShow){ for(size_t i=0; i < defaultViewsToShow->size(); ++i){ addView((*defaultViewsToShow)[i]); } defaultViewsToShow.reset(); } } else { vector views; getAllViews(views); clearAllPanes(); createDefaultPanes(); for(size_t i=0; i < views.size(); ++i){ addView(views[i]); } } } bool ViewAreaImpl::viewTabMousePressEvent(ViewPane* pane, QMouseEvent* event) { if(event->button() == Qt::LeftButton){ tabDragStartPosition = event->pos(); } else if(event->button() == Qt::RightButton){ if(View* view = pane->currentView()){ viewMenuManager.setNewPopupMenu(self); view->onAttachedMenuRequest(viewMenuManager); if(viewMenuManager.numItems() > 0){ viewMenuManager.addSeparator(); } viewMenuManager.addItem(_("Separate the view")) ->sigTriggered().connect(boost::bind(&ViewAreaImpl::separateView, this, view)); viewMenuManager.popupMenu()->popup(event->globalPos()); } } return false; } bool ViewAreaImpl::viewTabMouseMoveEvent(ViewPane* pane, QMouseEvent* event) { if(!isViewDragging){ if(event->buttons() & Qt::LeftButton){ if((event->pos() - tabDragStartPosition).manhattanLength() > QApplication::startDragDistance()){ if(!pane->tabBar()->geometry().contains(event->pos())){ if(draggedView = pane->currentView()){ isViewDragging = true; dragSrcPane = pane; QWidget* toplevel = pane; while(toplevel->parentWidget()){ toplevel = toplevel->parentWidget(); } QSize s = toplevel->frameGeometry().size(); draggedViewWindowSize.setWidth(draggedView->width() + s.width() - toplevel->width()); draggedViewWindowSize.setHeight(draggedView->height() + s.height() - toplevel->height()); QApplication::setOverrideCursor(Qt::ClosedHandCursor); } } } } } else { ViewArea* prevViewArea = dragDestViewArea; dragDestViewArea = 0; dragDestPane = 0; // find a window other than the rubber band QPoint p = event->globalPos(); QWidget* window = 0; for(int i=0; i < 3; ++i){ window = QApplication::topLevelAt(p); if(window && !dynamic_cast(window)){ break; } p += QPoint(-1, -1); } if(window){ dragDestViewArea = dynamic_cast(window); if(!dragDestViewArea){ if(MainWindow* mainWindow = dynamic_cast(window)){ ViewArea* viewArea = mainWindow->viewArea(); if(viewArea->rect().contains(viewArea->mapFromGlobal(event->globalPos()))){ dragDestViewArea = viewArea; } } } } if(dragDestViewArea){ QWidget* pointed = dragDestViewArea->childAt(dragDestViewArea->mapFromGlobal(event->globalPos())); while(pointed){ dragDestPane = dynamic_cast(pointed); if(dragDestPane){ dragView(event); break; } pointed = pointed->parentWidget(); } } else { dragViewOutside(event->globalPos()); } if(prevViewArea != dragDestViewArea){ if(prevViewArea){ prevViewArea->impl->rubberBand->hide(); } else { rubberBand->hide(); } } } return false; } bool ViewAreaImpl::viewTabMouseReleaseEvent(ViewPane* pane, QMouseEvent *event) { if(isViewDragging){ bool isMovingInViewArea = (self == dragDestViewArea); removeView(dragSrcPane, draggedView, isMovingInViewArea); if(!dragDestPane){ rubberBand->hide(); dropViewOutside(event->globalPos()); } else { ViewAreaImpl* destImpl = dragDestViewArea->impl; destImpl->rubberBand->hide(); destImpl->needToUpdateDefaultPaneAreas = true; if(isViewDraggingOnOuterEdge){ destImpl->dropViewToOuterEdge(draggedView); } else { destImpl->dropViewInsidePane(dragDestPane, draggedView, dropEdge); } } if(isMovingInViewArea){ removePaneIfEmpty(dragSrcPane); } QApplication::restoreOverrideCursor(); } isViewDragging = false; draggedView = 0; dragDestViewArea = 0; dragDestPane = 0; return false; } void ViewAreaImpl::showRectangle(QRect r) { rubberBand->setParent(self); rubberBand->setGeometry(r); rubberBand->show(); } void ViewAreaImpl::dragView(QMouseEvent* event) { dropEdge = LEFT; QPoint p = dragDestViewArea->mapFromGlobal(event->globalPos()); const int w = dragDestViewArea->width(); const int h = dragDestViewArea->height(); int distance[4]; distance[LEFT] = p.x(); distance[TOP] = p.y(); distance[RIGHT] = w - p.x(); distance[BOTTOM] = h - p.y(); for(int i=TOP; i <= BOTTOM; ++i){ if(distance[dropEdge] > distance[i]){ dropEdge = i; } } if(distance[dropEdge] < 8){ isViewDraggingOnOuterEdge = true; dragViewOnOuterEdge(); } else { isViewDraggingOnOuterEdge = false; dragViewInsidePane(dragDestPane->mapFromGlobal(event->globalPos())); } } void ViewAreaImpl::dragViewInsidePane(const QPoint& posInDestPane) { dropEdge = LEFT; const int w = dragDestPane->width(); const int h = dragDestPane->height(); int distance[4]; distance[LEFT] = posInDestPane.x(); distance[TOP] = posInDestPane.y(); distance[RIGHT] = w - posInDestPane.x(); distance[BOTTOM] = h - posInDestPane.y(); for(int i=TOP; i <= BOTTOM; ++i){ if(distance[dropEdge] > distance[i]){ dropEdge = i; } } QRect r; if(SPLIT_DISTANCE_THRESHOLD < distance[dropEdge]){ r.setRect(0, 0, w, h); dropEdge = OVER; } else if(dropEdge == LEFT){ r.setRect(0, 0, w / 2, h); } else if(dropEdge == TOP){ r.setRect(0, 0, w, h /2); } else if(dropEdge == RIGHT){ r.setRect(w / 2, 0, w / 2, h); } else if(dropEdge == BOTTOM){ r.setRect(0, h / 2, w, h / 2); } r.translate(dragDestViewArea->mapFromGlobal(dragDestPane->mapToGlobal(QPoint(0, 0)))); dragDestViewArea->impl->showRectangle(r); } void ViewAreaImpl::dropViewInsidePane(ViewPane* pane, View* view, int dropEdge) { if(dropEdge == OVER){ addView(pane, view, true); } else { QSize destSize = pane->size(); QSplitter* parentSplitter = static_cast(pane->parentWidget()); if(parentSplitter->count() >= 2){ QList sizes = parentSplitter->sizes(); QSplitter* newSplitter = new CustomSplitter(this, parentSplitter); parentSplitter->insertWidget(parentSplitter->indexOf(pane), newSplitter); newSplitter->addWidget(pane); parentSplitter->setSizes(sizes); parentSplitter = newSplitter; } ViewPane* newViewPane = new ViewPane(this, parentSplitter); if(dropEdge == LEFT){ parentSplitter->setOrientation(Qt::Horizontal); parentSplitter->insertWidget(0, newViewPane); } else if(dropEdge == RIGHT){ parentSplitter->setOrientation(Qt::Horizontal); parentSplitter->insertWidget(1, newViewPane); } else if(dropEdge == TOP){ parentSplitter->setOrientation(Qt::Vertical); parentSplitter->insertWidget(0, newViewPane); } else { parentSplitter->setOrientation(Qt::Vertical); parentSplitter->insertWidget(1, newViewPane); } addView(newViewPane, view, true); int half; if(parentSplitter->orientation() == Qt::Horizontal){ half = destSize.height() / 2; } else { half = destSize.width() / 2; } QList sizes; sizes << half << half; parentSplitter->setSizes(sizes); } } void ViewAreaImpl::dragViewOnOuterEdge() { QRect r; int w = dragDestViewArea->width(); int h = dragDestViewArea->height(); if(dropEdge == LEFT){ r.setRect(0, 0, w / 2, h); } else if(dropEdge == TOP){ r.setRect(0, 0, w, h /2); } else if(dropEdge == RIGHT){ r.setRect(w / 2, 0, w / 2, h); } else if(dropEdge == BOTTOM){ r.setRect(0, h / 2, w, h / 2); } dragDestViewArea->impl->showRectangle(r); } void ViewAreaImpl::dropViewToOuterEdge(View* view) { QSize size = topSplitter->size(); if(topSplitter->count() >= 2){ QSplitter* newTopSplitter = new CustomSplitter(this, self); newTopSplitter->addWidget(topSplitter); topSplitter = newTopSplitter; vbox->addWidget(topSplitter); } ViewPane* newViewPane = new ViewPane(this, topSplitter); if(dropEdge == LEFT){ topSplitter->setOrientation(Qt::Horizontal); topSplitter->insertWidget(0, newViewPane); } else if(dropEdge == RIGHT){ topSplitter->setOrientation(Qt::Horizontal); topSplitter->addWidget(newViewPane); } else if(dropEdge == TOP){ topSplitter->setOrientation(Qt::Vertical); topSplitter->insertWidget(0, newViewPane); } else { topSplitter->setOrientation(Qt::Vertical); topSplitter->addWidget(newViewPane); } addView(newViewPane, view, true); int half; if(topSplitter->orientation() == Qt::Horizontal){ half = size.height() / 2; } else { half = size.width() / 2; } QList sizes; sizes << half << half; topSplitter->setSizes(sizes); } void ViewAreaImpl::dragViewOutside(const QPoint& pos) { rubberBand->setParent(0); rubberBand->setGeometry(QRect(pos, draggedViewWindowSize)); rubberBand->show(); } void ViewAreaImpl::dropViewOutside(const QPoint& pos) { ViewArea* viewWindow = new ViewArea(); viewWindow->setSingleView(draggedView); viewWindow->move(pos); viewWindow->resize(draggedViewWindowSize); viewWindow->show(); } void ViewAreaImpl::separateView(View* view) { QPoint pos = view->mapToGlobal(QPoint(0, 0)); removeView(view); ViewArea* viewWindow = new ViewArea(); viewWindow->setSingleView(view); viewWindow->setGeometry(pos.x(), pos.y(), view->width(), view->height()); viewWindow->show(); } void ViewAreaImpl::removePaneIfEmpty(ViewPane* pane) { if(pane->count() == 0){ removePaneSub(pane, 0); needToUpdateDefaultPaneAreas = true; } } void ViewAreaImpl::removePaneSub(QWidget* widgetToRemove, QWidget* widgetToRaise) { if(QSplitter* splitter = dynamic_cast(widgetToRemove->parentWidget())){ QList sizes; if(widgetToRaise){ sizes = splitter->sizes(); splitter->insertWidget(splitter->indexOf(widgetToRemove), widgetToRaise); } widgetToRemove->hide(); widgetToRemove->setParent(0); widgetToRemove->deleteLater(); if(splitter->count() >= 2){ splitter->setSizes(sizes); } else if(splitter->count() == 1){ removePaneSub(splitter, splitter->widget(0)); } else { removePaneSub(splitter, 0); } } } void ViewAreaImpl::clearEmptyPanes() { QWidget* widget = clearEmptyPanesSub(topSplitter); if(widget != topSplitter){ if(widget){ if(QSplitter* splitter = dynamic_cast(widget)){ splitter->setParent(self); topSplitter->hide(); topSplitter->deleteLater(); vbox->addWidget(splitter); topSplitter = splitter; } } } } QWidget* ViewAreaImpl::clearEmptyPanesSub(QSplitter* splitter) { QList sizes = splitter->sizes(); int i = 0; while(i < splitter->count()){ if(QSplitter* childSplitter = dynamic_cast(splitter->widget(i))){ QWidget* widget = clearEmptyPanesSub(childSplitter); if(widget == childSplitter){ ++i; } else { if(widget){ splitter->insertWidget(i++, widget); } // "delete childSplitter" causes a crash childSplitter->hide(); childSplitter->setParent(0); childSplitter->deleteLater(); } } else if(ViewPane* pane = dynamic_cast(splitter->widget(i))){ if(pane->count() > 0){ ++i; } else { // "delete pane" causes a crash pane->hide(); pane->setParent(0); pane->deleteLater(); needToUpdateDefaultPaneAreas = true; } } } QWidget* validWidget = 0; if(splitter->count() >= 2){ splitter->setSizes(sizes); validWidget = splitter; } else if(splitter->count() == 1){ validWidget = splitter->widget(0); needToUpdateDefaultPaneAreas = true; } return validWidget; } choreonoid-1.5.0/src/Base/SceneView.cpp0000664000000000000000000001720012741425367016416 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "SceneView.h" #include "ViewManager.h" #include "ItemTreeView.h" #include "Separator.h" #include "RootItem.h" #include "Buttons.h" #include "CheckBox.h" #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace { vector instances; Connection sigItemAddedConnection; } namespace cnoid { class SceneViewImpl { public: SceneView* self; SceneWidget* sceneWidget; SgGroup* scene; struct SceneInfo { Item* item; SceneProvider* provider; SgNodePtr scene; bool isShown; Connection sigDetachedFromRootConnection; Connection sigCheckToggledConnection; SceneInfo(Item* item, SceneProvider* provider) : item(item), provider(provider) { isShown = false; } ~SceneInfo(){ sigDetachedFromRootConnection.disconnect(); sigCheckToggledConnection.disconnect(); } }; list sceneInfos; ItemTreeView* itemTreeView; CheckBox dedicatedCheckCheck; int dedicatedCheckId; SceneViewImpl(SceneView* self); ~SceneViewImpl(); void onSceneProviderItemAdded(Item* item, SceneProvider* provider); void onSceneProviderItemDetachedFromRoot(list::iterator infoIter); void showScene(list::iterator infoIter, bool show); void onDedicatedCheckToggled(bool on); bool storeState(Archive& archive); bool restoreState(const Archive& archive); void restoreDedicatedItemChecks(const Archive& archive); }; } SceneView* SceneView::instance() { if(instances.empty()){ return 0; } return instances.front(); } void SceneView::initializeClass(ExtensionManager* ext) { if(instances.empty()){ ext->viewManager().registerClass( "SceneView", N_("Scene"), ViewManager::MULTI_DEFAULT); sigItemAddedConnection = RootItem::mainInstance()->sigItemAdded().connect( boost::bind(&SceneView::onItemAdded, _1)); } } namespace { void finalizeClass() { sigItemAddedConnection.disconnect(); } } SceneView::SceneView() { impl = new SceneViewImpl(this); } SceneViewImpl::SceneViewImpl(SceneView* self) : self(self) { self->setDefaultLayoutArea(View::RIGHT); sceneWidget = new SceneWidget; scene = sceneWidget->scene(); QVBoxLayout* vbox = new QVBoxLayout; vbox->addWidget(sceneWidget); self->setLayout(vbox); vbox = sceneWidget->configDialogVBox(); vbox->addWidget(new HSeparator); QHBoxLayout* hbox = new QHBoxLayout; dedicatedCheckCheck.setText(_("Use dedicated item tree view checks to select the target items")); dedicatedCheckCheck.sigToggled().connect( boost::bind(&SceneViewImpl::onDedicatedCheckToggled, this, _1)); hbox->addWidget(&dedicatedCheckCheck); hbox->addStretch(); vbox->addLayout(hbox); itemTreeView = ItemTreeView::instance(); dedicatedCheckId = -1; if(!instances.empty()){ SceneViewImpl* mainImpl = instances.front()->impl; list::iterator p; for(p = mainImpl->sceneInfos.begin(); p != mainImpl->sceneInfos.end(); ++p){ SceneInfo& info = *p; onSceneProviderItemAdded(info.item, info.provider); } } instances.push_back(self); } SceneView::~SceneView() { delete impl; } SceneViewImpl::~SceneViewImpl() { if(dedicatedCheckId >= 0){ itemTreeView->releaseCheckColumn(dedicatedCheckId); } instances.erase(std::find(instances.begin(), instances.end(), self)); if(instances.empty()){ finalizeClass(); } } void SceneView::onActivated() { } void SceneView::onDeactivated() { } SceneWidget* SceneView::sceneWidget() { return impl->sceneWidget; } SgGroup* SceneView::scene() { return impl->scene; } void SceneView::onItemAdded(Item* item) { if(SceneProvider* provider = dynamic_cast(item)){ for(size_t i=0; i < instances.size(); ++i){ instances[i]->impl->onSceneProviderItemAdded(item, provider); } } } void SceneViewImpl::onSceneProviderItemAdded(Item* item, SceneProvider* provider) { sceneInfos.push_back(SceneInfo(item, provider)); list::iterator infoIter = sceneInfos.end(); --infoIter; SceneInfo& info = *infoIter; info.sigDetachedFromRootConnection = item->sigDetachedFromRoot().connect( boost::bind(&SceneViewImpl::onSceneProviderItemDetachedFromRoot, this, infoIter)); int checkId = dedicatedCheckCheck.isChecked() ? dedicatedCheckId : 0; info.sigCheckToggledConnection = itemTreeView->sigCheckToggled(item, checkId).connect( boost::bind(&SceneViewImpl::showScene, this, infoIter, _1)); if(itemTreeView->isItemChecked(item, checkId)){ showScene(infoIter, true); } } void SceneViewImpl::onSceneProviderItemDetachedFromRoot(list::iterator infoIter) { showScene(infoIter, false); sceneInfos.erase(infoIter); } void SceneViewImpl::showScene(list::iterator infoIter, bool show) { if(infoIter->isShown && !show){ if(infoIter->scene){ scene->removeChild(infoIter->scene, true); } infoIter->isShown = false; } else if(!infoIter->isShown && show){ if(!infoIter->scene){ infoIter->scene = infoIter->provider->getScene(); } if(infoIter->scene){ scene->addChild(infoIter->scene, true); infoIter->isShown = true; } } } void SceneViewImpl::onDedicatedCheckToggled(bool on) { int checkId = 0; if(on){ if(dedicatedCheckId < 0){ dedicatedCheckId = itemTreeView->addCheckColumn(); itemTreeView->setCheckColumnToolTip(dedicatedCheckId, self->windowTitle()); } itemTreeView->showCheckColumn(dedicatedCheckId, true); checkId = dedicatedCheckId; } else { if(dedicatedCheckId >= 0){ itemTreeView->showCheckColumn(dedicatedCheckId, false); } } for(list::iterator p = sceneInfos.begin(); p != sceneInfos.end(); ++p){ p->sigCheckToggledConnection.disconnect(); p->sigCheckToggledConnection = itemTreeView->sigCheckToggled(p->item, checkId).connect( boost::bind(&SceneViewImpl::showScene, this, p, _1)); showScene(p, itemTreeView->isItemChecked(p->item, checkId)); } } QWidget* SceneView::indicatorOnInfoBar() { return impl->sceneWidget->indicator(); } bool SceneView::storeState(Archive& archive) { return impl->storeState(archive); } bool SceneViewImpl::storeState(Archive& archive) { bool result = true; result &= sceneWidget->storeState(archive); archive.write("dedicatedItemTreeViewChecks", dedicatedCheckCheck.isChecked()); if(dedicatedCheckCheck.isChecked()){ itemTreeView->storeCheckColumnState(dedicatedCheckId, archive); } return result; } bool SceneView::restoreState(const Archive& archive) { return impl->restoreState(archive); } bool SceneViewImpl::restoreState(const Archive& archive) { bool result = sceneWidget->restoreState(archive); dedicatedCheckCheck.setChecked(archive.get("dedicatedItemTreeViewChecks", dedicatedCheckCheck.isChecked())); archive.addPostProcess(boost::bind(&SceneViewImpl::restoreDedicatedItemChecks, this, boost::ref(archive))); return result; } void SceneViewImpl::restoreDedicatedItemChecks(const Archive& archive) { itemTreeView->restoreCheckColumnState(dedicatedCheckId, archive); } choreonoid-1.5.0/src/Base/SelectionListEditor.cpp0000664000000000000000000000120412741425367020453 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "SelectionListEditor.h" using namespace cnoid; SelectionListEditor::SelectionListEditor(QWidget* widget) : QComboBox(widget) { } QStringList SelectionListEditor::labels() const { QStringList labelList; labelList << QString::number(currentIndex()); for(int i=1; i < count(); ++i){ labelList << itemText(i); } return labelList; } void SelectionListEditor::setLabels(QStringList labels) { if(labels.count() >= 2){ for(int i=1; i < labels.count(); ++i){ addItem(labels[i]); } setCurrentIndex(labels[0].toInt()); } } choreonoid-1.5.0/src/Base/PluginManager.h0000664000000000000000000000236612741425367016733 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_PLUGIN_MANAGER_H #define CNOID_BASE_PLUGIN_MANAGER_H #include #include "exportdecl.h" namespace cnoid { class Plugin; class ExtensionManager; class PluginManagerImpl; class CNOID_EXPORT PluginManager { public: static void initialize(ExtensionManager* ext); static PluginManager* instance(); static void finalize(); ~PluginManager(); void doStartupLoading(const char* pluginPathList); void scanPluginFilesInPathList(const std::string& pathList); void scanPluginFilesInDirectoyOfExecFile(); void scanPluginFiles(const std::string& pathString); void clearUnusedPlugins(); void loadPlugins(); bool finalizePlugins(); int numPlugins() const; const std::string& pluginPath(int index) const; const std::string& pluginName(int index) const; enum PluginStatus { NOT_LOADED, LOADED, ACTIVE, FINALIZED, INVALID, CONFLICT }; int pluginStatus(int index) const; Plugin* findPlugin(const std::string& name); bool loadPlugin(int index); bool unloadPlugin(int index); const char* guessActualPluginName(const std::string& name); private: PluginManager(ExtensionManager* ext); PluginManagerImpl* impl; }; } #endif choreonoid-1.5.0/src/Base/GraphViewBase.h0000664000000000000000000000202612741425367016662 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_GRAPH_VIEW_BASE_H #define CNOID_BASE_GRAPH_VIEW_BASE_H #include "GraphWidget.h" #include #include #include namespace cnoid { class GraphViewBaseImpl; class GraphViewBase : public View { public: GraphViewBase(); ~GraphViewBase(); virtual bool storeState(Archive& archive); virtual bool restoreState(const Archive& archive); virtual QWidget* indicatorOnInfoBar(); protected: virtual int currentNumParts(const ItemList<>& items) const; virtual ItemList<> extractTargetItems(const ItemList<>& items) const = 0; virtual void addGraphDataHandlers(Item* item, int partIndex, std::vector& out_handlers) = 0; virtual void updateGraphDataHandler(Item* item, GraphDataHandlerPtr handler) = 0; void updateSelections(); void notifyUpdateByEditing(Item* item); QVBoxLayout* leftVBox() const; private: GraphViewBaseImpl* impl; friend class GraphViewBaseImpl; }; } #endif choreonoid-1.5.0/src/Base/ItemPath.cpp0000664000000000000000000000155212741425367016244 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "ItemPath.h" #include "Item.h" #include "RootItem.h" using namespace std; using namespace boost; using namespace cnoid; ItemPath::ItemPath(const std::string& path) : path(path) { Tokenizer pathElements(path, Separator("\\", "/", "")); pathBegin = pathElements.begin(); pathEnd = pathElements.end(); if(pathBegin != pathEnd && (*pathBegin).empty()){ pathBegin++; isAbsolute_ = true; } else { isAbsolute_ = false; } pathLeaf = pathBegin; for(iterator it = pathBegin; it != pathEnd; ++it){ pathLeaf = it; } } std::string ItemPath::folder() { std::string path; iterator it = pathBegin; while(true){ path.append(*it++); if(it == pathLeaf){ break; } path.append("/"); } return path; } choreonoid-1.5.0/src/Base/PositionDragger.cpp0000664000000000000000000002532612741425367017636 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "PositionDragger.h" #include "TranslationDragger.h" #include "RotationDragger.h" #include "SceneDragProjector.h" #include #include #include using namespace std; using namespace cnoid; namespace cnoid { class PositionDraggerImpl { public: PositionDragger* self; TranslationDraggerPtr translationDragger; RotationDraggerPtr rotationDragger; SceneDragProjector dragProjector; int draggableAxes; bool isContentsDragEnabled; bool isDraggerAlwaysShown; bool isDraggerAlwaysHidden; bool isDraggerShown; bool isUndoEnabled; std::deque history; Signal sigDraggableAxesChanged; Signal sigDragStarted; Signal sigPositionDragged; Signal sigDragFinished; PositionDraggerImpl(PositionDragger* self); PositionDraggerImpl(PositionDragger* self, const PositionDraggerImpl& org); PositionDraggerImpl(PositionDragger* self, const PositionDraggerImpl& org, SgCloneMap& cloneMap); void initializeDraggers(); void onSubDraggerDragStarted(); void onSubDraggerDragged(); void storeCurrentPositionToHistory(); void showDragMarkers(bool on); }; } PositionDragger::PositionDragger() { impl = new PositionDraggerImpl(this); } PositionDraggerImpl::PositionDraggerImpl(PositionDragger* self) : self(self) { translationDragger = new TranslationDragger; rotationDragger = new RotationDragger; draggableAxes = PositionDragger::TX | PositionDragger::TY | PositionDragger::TZ | PositionDragger::RX | PositionDragger::RY | PositionDragger::RZ; initializeDraggers(); isDraggerAlwaysShown = false; isDraggerAlwaysHidden = false; isContentsDragEnabled = true; isUndoEnabled = false; } PositionDragger::PositionDragger(const PositionDragger& org) : SceneDragger(org) { impl = new PositionDraggerImpl(this, *org.impl); } PositionDraggerImpl::PositionDraggerImpl(PositionDragger* self, const PositionDraggerImpl& org) : self(self) { translationDragger = new TranslationDragger(*org.translationDragger); rotationDragger = new RotationDragger(*org.rotationDragger); draggableAxes = org.draggableAxes; initializeDraggers(); isDraggerAlwaysShown = org.isDraggerAlwaysShown; isDraggerAlwaysHidden = org.isDraggerAlwaysHidden; isContentsDragEnabled = org.isContentsDragEnabled; isUndoEnabled = org.isUndoEnabled; } PositionDragger::PositionDragger(const PositionDragger& org, SgCloneMap& cloneMap) : SceneDragger(org, cloneMap) { impl = new PositionDraggerImpl(this, *org.impl, cloneMap); } PositionDraggerImpl::PositionDraggerImpl(PositionDragger* self, const PositionDraggerImpl& org, SgCloneMap& cloneMap) : self(self) { translationDragger = new TranslationDragger(*org.translationDragger, cloneMap); rotationDragger = new RotationDragger(*org.rotationDragger, cloneMap); draggableAxes = org.draggableAxes; initializeDraggers(); isDraggerAlwaysShown = org.isDraggerAlwaysShown; isDraggerAlwaysHidden = org.isDraggerAlwaysHidden; isContentsDragEnabled = org.isContentsDragEnabled; isUndoEnabled = org.isUndoEnabled; } void PositionDraggerImpl::initializeDraggers() { translationDragger->sigTranslationStarted().connect( boost::bind(&PositionDraggerImpl::onSubDraggerDragStarted, this)); translationDragger->sigTranslationDragged().connect( boost::bind(&PositionDraggerImpl::onSubDraggerDragged, this)); translationDragger->sigTranslationFinished().connect(boost::ref(sigDragFinished)); rotationDragger->sigRotationStarted().connect( boost::bind(&PositionDraggerImpl::onSubDraggerDragStarted, this)); rotationDragger->sigRotationDragged().connect( boost::bind(&PositionDraggerImpl::onSubDraggerDragged, this)); rotationDragger->sigRotationFinished().connect(boost::ref(sigDragFinished)); } void PositionDragger::setDraggableAxes(int axisSet) { if(axisSet != impl->draggableAxes){ int translationAxes = axisSet & (TX | TY | TZ); impl->translationDragger->setDraggableAxes(translationAxes); int rotationAxes = (axisSet & (RX | RY | RZ)) >> 3; impl->rotationDragger->setDraggableAxes(rotationAxes); impl->draggableAxes = axisSet; impl->sigDraggableAxesChanged(axisSet); } } int PositionDragger::draggableAxes() const { return impl->draggableAxes; } SignalProxy PositionDragger::sigDraggableAxesChanged() { return impl->sigDraggableAxesChanged; } SgObject* PositionDragger::clone(SgCloneMap& cloneMap) const { return new PositionDragger(*this, cloneMap); } TranslationDragger* PositionDragger::translationDragger() { return impl->translationDragger; } RotationDragger* PositionDragger::rotationDragger() { return impl->rotationDragger; } SignalProxy PositionDragger::sigDragStarted() { return impl->sigDragStarted; } SignalProxy PositionDragger::sigPositionDragged() { return impl->sigPositionDragged; } SignalProxy PositionDragger::sigDragFinished() { return impl->sigDragFinished; } void PositionDragger::setRadius(double r, double translationAxisRatio) { impl->translationDragger->setRadius(r * translationAxisRatio); impl->rotationDragger->setRadius(r); } void PositionDragger::adjustSize(const BoundingBox& bb) { if(!bb.empty()){ Vector3 s = bb.size() / 2.0; std::sort(s.data(), s.data() + 3); double a = Vector2(s[0], s[1]).norm() * 1.1; double r = std::max(a, s[2] * 1.2); setRadius(r); } } void PositionDragger::adjustSize() { BoundingBox bb; for(int i=0; i < numChildren(); ++i){ SgNode* node = child(i); if(node != impl->translationDragger && node != impl->rotationDragger){ bb.expandBy(node->boundingBox()); } } adjustSize(bb); } void PositionDragger::setContentsDragEnabled(bool on) { impl->isContentsDragEnabled = on; } bool PositionDragger::isContentsDragEnabled() const { return impl->isContentsDragEnabled; } void PositionDragger::setDraggerAlwaysShown(bool on) { if(on){ impl->isDraggerAlwaysHidden = false; } bool changed = (on != impl->isDraggerAlwaysShown); impl->isDraggerAlwaysShown = on; if(on && changed){ impl->showDragMarkers(true); } } bool PositionDragger::isDraggerAlwaysShown() const { return impl->isDraggerAlwaysShown; } void PositionDragger::setDraggerAlwaysHidden(bool on) { if(on){ impl->isDraggerAlwaysShown = false; } bool changed = (on != impl->isDraggerAlwaysHidden); impl->isDraggerAlwaysHidden = on; if(on && changed){ impl->showDragMarkers(false); } } bool PositionDragger::isDraggerAlwaysHidden() const { return impl->isDraggerAlwaysHidden; } void PositionDraggerImpl::showDragMarkers(bool on) { if(isDraggerAlwaysHidden){ on = false; } else if(isDraggerAlwaysShown){ on = true; } if(on){ self->addChildOnce(translationDragger, true); self->addChildOnce(rotationDragger, true); } else { self->removeChild(translationDragger, true); self->removeChild(rotationDragger, true); } } bool PositionDragger::isDragging() const { return (impl->translationDragger->isDragging() || impl->rotationDragger->isDragging() || impl->dragProjector.isDragging()); } Affine3 PositionDragger::draggedPosition() const { if(impl->rotationDragger->isDragging()){ return impl->rotationDragger->draggedPosition(); } else if(impl->translationDragger->isDragging()){ return impl->translationDragger->draggedPosition(); } else if(impl->dragProjector.isDragging()){ return impl->dragProjector.position(); } else { return T(); } } void PositionDraggerImpl::onSubDraggerDragStarted() { storeCurrentPositionToHistory(); sigDragStarted(); } void PositionDraggerImpl::onSubDraggerDragged() { if(self->isContainerMode()){ if(isContentsDragEnabled){ self->setPosition(self->draggedPosition()); self->notifyUpdate(); sigPositionDragged(); } } else { sigPositionDragged(); } } bool PositionDragger::onButtonPressEvent(const SceneWidgetEvent& event) { if(isContainerMode() && impl->isContentsDragEnabled){ if(!impl->isDraggerAlwaysShown){ impl->showDragMarkers(true); } impl->dragProjector.setInitialPosition(T()); impl->dragProjector.setTranslationAlongViewPlane(); if(impl->dragProjector.startTranslation(event)){ storeCurrentPositionToHistory(); impl->sigDragStarted(); return true; } } return false; } bool PositionDragger::onButtonReleaseEvent(const SceneWidgetEvent& event) { if(isContainerMode() && impl->isContentsDragEnabled){ if(impl->dragProjector.isDragging()){ impl->sigDragFinished(); impl->dragProjector.resetDragMode(); return true; } } return false; } bool PositionDragger::onPointerMoveEvent(const SceneWidgetEvent& event) { if(isContainerMode() && impl->isContentsDragEnabled){ if(impl->dragProjector.drag(event)){ setPosition(impl->dragProjector.position()); notifyUpdate(); impl->sigPositionDragged(); return true; } } return false; } void PositionDragger::onPointerLeaveEvent(const SceneWidgetEvent& event) { if(isContainerMode() && impl->isContentsDragEnabled){ impl->dragProjector.resetDragMode(); } } void PositionDragger::onFocusChanged(const SceneWidgetEvent& event, bool on) { if(isContainerMode()){ impl->showDragMarkers(on || impl->isDraggerAlwaysShown); } } void PositionDragger::onSceneModeChanged(const SceneWidgetEvent& event) { if(!event.sceneWidget()->isEditMode()){ impl->showDragMarkers(false); } } void PositionDragger::storeCurrentPositionToHistory() { impl->storeCurrentPositionToHistory(); } void PositionDraggerImpl::storeCurrentPositionToHistory() { if(isUndoEnabled){ history.push_back(self->position()); if(history.size() > 10){ history.pop_front(); } } } void PositionDragger::setUndoEnabled(bool on) { impl->isUndoEnabled = on; } bool PositionDragger::isUndoEnabled() const { return impl->isUndoEnabled; } bool PositionDragger::onUndoRequest() { if(!impl->history.empty()){ const Affine3& T = impl->history.back(); setPosition(T); impl->history.pop_back(); notifyUpdate(); } return true; } bool PositionDragger::onRedoRequest() { return true; } choreonoid-1.5.0/src/Base/ItemPropertyView.h0000664000000000000000000000102112741425367017463 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_ITEM_PROPERTY_VIEW_H #define CNOID_BASE_ITEM_PROPERTY_VIEW_H #include namespace cnoid { class ItemPropertyViewImpl; class ItemPropertyView : public View { public: static void initializeClass(ExtensionManager* ext); ItemPropertyView(); ~ItemPropertyView(); virtual void onAttachedMenuRequest(MenuManager& menuManager); protected: void keyPressEvent(QKeyEvent* event); private: ItemPropertyViewImpl* impl; }; } #endif choreonoid-1.5.0/src/Base/ViewManager.cpp0000664000000000000000000006667012741425367016752 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "ViewManager.h" #include "MenuManager.h" #include "MainWindow.h" #include "ViewArea.h" #include "MessageView.h" #include "Dialog.h" #include "Archive.h" #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace { MainWindow* mainWindow = 0; Menu* showViewMenu = 0; Menu* createViewMenu = 0; Menu* deleteViewMenu = 0; Signal sigViewCreated_; Signal sigViewActivated_; Signal sigViewDeactivated_; Signal sigViewRemoved_; class ViewInfo; typedef boost::shared_ptr ViewInfoPtr; class InstanceInfo; typedef boost::shared_ptr InstanceInfoPtr; typedef list InstanceInfoList; class InstanceInfo { public: View* view; ViewInfo* viewInfo; InstanceInfoList::iterator iterInViewInfo; InstanceInfoList::iterator iterInViewManager; InstanceInfo(ViewInfo* viewInfo, View* view) : view(view), viewInfo(viewInfo) { } void remove(); ~InstanceInfo() { if(view){ delete view; } } }; class ViewInfo : public ViewClass { public: const std::type_info& view_type_info; string className_; string textDomain; string translatedClassName; string defaultInstanceName; string translatedDefaultInstanceName; // temporary. ViewManager::InstantiationType itype; ViewManager::FactoryBase* factory; InstanceInfoList instances; InstanceInfoList& instancesInViewManager; virtual const std::string& className() const { return className_; } ViewInfo(ViewManagerImpl* managerImpl, const type_info& view_type_info, const string& className, const string& defaultInstanceName, const string& textDomain, ViewManager::InstantiationType itype, ViewManager::FactoryBase* factory); ~ViewInfo(){ delete factory; } bool hasDefaultInstance() const { return itype == ViewManager::SINGLE_DEFAULT || itype == ViewManager::MULTI_DEFAULT; } bool isSingleton() const { return itype == ViewManager::SINGLE_DEFAULT || itype == ViewManager::SINGLE_OPTIONAL; } bool checkIfDefaultInstance(View* view){ return hasDefaultInstance() && !instances.empty() && (instances.front()->view == view); } bool checkIfPrimalInstance(View* view){ return !instances.empty() && (instances.front()->view == view); } private: View* createView() { View* view = factory->create(); InstanceInfoPtr instance = boost::make_shared(this, view); instances.push_back(instance); instance->iterInViewInfo = instances.end(); --instance->iterInViewInfo; instancesInViewManager.push_back(instance); instance->iterInViewManager = instancesInViewManager.end(); --instance->iterInViewManager; view->sigActivated().connect(boost::bind(boost::ref(sigViewActivated_), view)); view->sigDeactivated().connect(boost::bind(boost::ref(sigViewDeactivated_), view)); return view; } public: View* getOrCreateView(bool doMountCreatedView = false){ if(instances.empty()){ View* view = createView(); view->setName(defaultInstanceName); view->setWindowTitle(translatedDefaultInstanceName.c_str()); sigViewCreated_(view); if(doMountCreatedView){ mainWindow->viewArea()->addView(view); } } return instances.front()->view; } View* createView(const string& name, bool setTranslatedNameToWindowTitle = false){ if(name.empty()){ return 0; } View* view = createView(); view->setName(name); if(setTranslatedNameToWindowTitle){ view->setWindowTitle(dgettext(textDomain.c_str(), name.c_str())); } sigViewCreated_(view); return view; } View* findView(const string& name){ if(name.empty()){ return instances.empty() ? 0 : instances.front()->view; } else { for(InstanceInfoList::iterator p = instances.begin(); p != instances.end(); ++p){ if((*p)->view->name() == name){ return (*p)->view; } } return 0; } } View* getOrCreateView(const string& name, bool doMountCreatedView = false){ View* view = findView(name); if(!view){ view = createView(name); sigViewCreated_(view); if(doMountCreatedView){ mainWindow->viewArea()->addView(view); } } return view; } }; struct compare_type_info { bool operator ()(const type_info* a, const type_info* b) const { return a->before(*b); } }; typedef std::map TypeToViewInfoMap; TypeToViewInfoMap typeToViewInfoMap; typedef map ClassNameToViewInfoMap; typedef boost::shared_ptr ClassNameToViewInfoMapPtr; typedef map ModuleNameToClassNameToViewInfoMap; ModuleNameToClassNameToViewInfoMap moduleNameToClassNameToViewInfoMap; } namespace cnoid { class ViewManagerImpl { public: const string& moduleName; const string& textDomain; MenuManager& menuManager; ClassNameToViewInfoMapPtr classNameToViewInfoMap; InstanceInfoList instances; ViewManagerImpl(ExtensionManager* ext); ~ViewManagerImpl(); static void notifySigRemoved(View* view){ view->notifySigRemoved(); } }; } ViewInfo::ViewInfo (ViewManagerImpl* managerImpl, const type_info& view_type_info, const string& className, const string& defaultInstanceName, const string& textDomain, ViewManager::InstantiationType itype, ViewManager::FactoryBase* factory) : view_type_info(view_type_info), className_(className), textDomain(textDomain), defaultInstanceName(defaultInstanceName), itype(itype), factory(factory), instancesInViewManager(managerImpl->instances) { translatedClassName = dgettext(textDomain.c_str(), className_.c_str()); translatedDefaultInstanceName = dgettext(textDomain.c_str(), defaultInstanceName.c_str()); } namespace { void InstanceInfo::remove() { if(view){ ViewManagerImpl::notifySigRemoved(view); sigViewRemoved_(view); delete view; view = 0; } viewInfo->instances.erase(iterInViewInfo); iterInViewInfo = viewInfo->instances.end(); viewInfo->instancesInViewManager.erase(iterInViewManager); //iterInViewManager = viewInfo->instancesInViewManager.end(); } class ViewCreationDialog : public Dialog { public: QLineEdit nameEdit; ViewCreationDialog(ViewInfoPtr viewInfo) { QVBoxLayout* vbox = new QVBoxLayout(); QHBoxLayout* hbox = new QHBoxLayout(); hbox->addWidget(new QLabel(_("Name:"))); hbox->addWidget(&nameEdit); vbox->addLayout(hbox); QDialogButtonBox* buttonBox = new QDialogButtonBox(this); QPushButton* createButton = new QPushButton(_("&Create")); createButton->setDefault(true); buttonBox->addButton(createButton, QDialogButtonBox::AcceptRole); connect(buttonBox,SIGNAL(accepted()), this, SLOT(accept())); QPushButton* cancelButton = new QPushButton(_("&Cancel")); buttonBox->addButton(cancelButton, QDialogButtonBox::RejectRole); connect(buttonBox,SIGNAL(rejected()), this, SLOT(reject())); vbox->addWidget(buttonBox); setLayout(vbox); setWindowTitle(QString(_("Create %1")).arg(viewInfo->translatedClassName.c_str())); if(viewInfo->instances.empty()){ nameEdit.setText(viewInfo->translatedDefaultInstanceName.c_str()); } else { nameEdit.setText( QString("%1 %2") .arg(viewInfo->translatedDefaultInstanceName.c_str()) .arg(viewInfo->instances.size() + 1)); } } }; void onShowViewToggled(ViewInfoPtr viewInfo, View* view, bool on) { if(on){ if(!view){ view = viewInfo->getOrCreateView(); } mainWindow->viewArea()->addView(view); view->bringToFront(); } else { if(view->viewArea()){ view->viewArea()->removeView(view); } } } void onCreateViewTriggered(ViewInfoPtr viewInfo) { ViewCreationDialog dialog(viewInfo); while(dialog.exec() == QDialog::Accepted){ string name = dialog.nameEdit.text().toStdString(); if(name.empty()){ showWarningDialog(_("Please specify the name of the new view.")); } else { View* view = viewInfo->createView(name); mainWindow->viewArea()->addView(view); view->bringToFront(); break; } } } void onDeleteViewTriggered(InstanceInfoPtr instance) { instance->remove(); } void deleteAllInvisibleViews() { for(TypeToViewInfoMap::iterator p = typeToViewInfoMap.begin(); p != typeToViewInfoMap.end(); ++p){ ViewInfo& info = *p->second; InstanceInfoList::iterator q = info.instances.begin(); while(q != info.instances.end()){ InstanceInfoPtr& instance = (*q++); if(!instance->view->viewArea()){ instance->remove(); } } } } void onViewMenuAboutToShow(Menu* menu) { menu->clear(); bool needSeparator = false; ModuleNameToClassNameToViewInfoMap::iterator p; if(menu == deleteViewMenu){ Action* action = new Action(menu); action->setText(_("Delete All Invisible Views")); action->sigTriggered().connect(boost::bind(deleteAllInvisibleViews)); menu->addAction(action); needSeparator = true; } for(p = moduleNameToClassNameToViewInfoMap.begin(); p != moduleNameToClassNameToViewInfoMap.end(); ++p){ if(needSeparator){ QAction* separator = new QAction(menu); separator->setSeparator(true); menu->addAction(separator); needSeparator = false; } const std::string& moduleName = p->first; ClassNameToViewInfoMap& viewInfoMap = *p->second; ClassNameToViewInfoMap::iterator q; for(q = viewInfoMap.begin(); q != viewInfoMap.end(); ++q){ ViewInfoPtr& viewInfo = q->second; InstanceInfoList& instances = viewInfo->instances; if(menu == showViewMenu){ View* view = 0; if(instances.empty()){ Action* action = new Action(menu); action->setText(viewInfo->translatedDefaultInstanceName.c_str()); action->setCheckable(true); action->sigToggled().connect(boost::bind(onShowViewToggled, viewInfo, view, _1)); menu->addAction(action); } else { for(InstanceInfoList::iterator p = instances.begin(); p != instances.end(); ++p){ InstanceInfoPtr& instance = (*p); view = instance->view; Action* action = new Action(menu); action->setText(view->windowTitle()); action->setCheckable(true); action->setChecked(view->viewArea()); action->sigToggled().connect(boost::bind(onShowViewToggled, viewInfo, view, _1)); menu->addAction(action); } } } else if(menu == createViewMenu){ if((viewInfo->itype == ViewManager::SINGLE_OPTIONAL && viewInfo->instances.empty()) || (viewInfo->itype == ViewManager::MULTI_DEFAULT || viewInfo->itype == ViewManager::MULTI_OPTIONAL)){ Action* action = new Action(menu); action->setText(viewInfo->translatedDefaultInstanceName.c_str()); action->sigTriggered().connect(boost::bind(onCreateViewTriggered, viewInfo)); menu->addAction(action); } } else if(menu == deleteViewMenu){ InstanceInfoList::iterator p = instances.begin(); if(viewInfo->hasDefaultInstance() && p != instances.end()){ ++p; } while(p != instances.end()){ InstanceInfoPtr& instance = (*p++); Action* action = new Action(menu); action->setText(instance->view->windowTitle()); action->sigTriggered().connect(boost::bind(onDeleteViewTriggered, instance)); menu->addAction(action); } } needSeparator = true; } } } } void ViewManager::initializeClass(ExtensionManager* ext) { static bool initialized = false; if(!initialized){ mainWindow = MainWindow::instance(); MenuManager& mm = ext->menuManager(); QWidget* viewMenu = mm.setPath("/View").current(); QAction* showViewAction = mm.findItem("Show View"); showViewMenu = new Menu(viewMenu); showViewMenu->sigAboutToShow().connect(boost::bind(onViewMenuAboutToShow, showViewMenu)); showViewAction->setMenu(showViewMenu); QAction* createViewAction = mm.setCurrent(viewMenu).findItem("Create View"); createViewMenu = new Menu(viewMenu); createViewMenu->sigAboutToShow().connect(boost::bind(onViewMenuAboutToShow, createViewMenu)); createViewAction->setMenu(createViewMenu); QAction* deleteViewAction = mm.setCurrent(viewMenu).findItem("Delete View"); deleteViewMenu = new Menu(viewMenu); deleteViewMenu->sigAboutToShow().connect(boost::bind(onViewMenuAboutToShow, deleteViewMenu)); deleteViewAction->setMenu(deleteViewMenu); initialized = true; } } ViewManager::ViewManager(ExtensionManager* ext) { impl = new ViewManagerImpl(ext); } ViewManagerImpl::ViewManagerImpl(ExtensionManager* ext) : moduleName(ext->name()), textDomain(ext->textDomain()), menuManager(ext->menuManager()) { classNameToViewInfoMap = boost::make_shared(); moduleNameToClassNameToViewInfoMap[moduleName] = classNameToViewInfoMap; } ViewManager::~ViewManager() { // This must be done before deleting impl because // ViewManager's functions may be callsed when a view is destroyed. while(!impl->instances.empty()){ InstanceInfoPtr& instance = *(impl->instances.rbegin()); instance->remove(); }; delete impl; } ViewManagerImpl::~ViewManagerImpl() { ClassNameToViewInfoMap::iterator p; for(p = classNameToViewInfoMap->begin(); p != classNameToViewInfoMap->end(); ++p){ ViewInfoPtr& info = p->second; typeToViewInfoMap.erase(&info->view_type_info); } moduleNameToClassNameToViewInfoMap.erase(moduleName); showViewMenu->clear(); createViewMenu->clear(); } View* ViewManager::registerClassSub (const type_info& view_type_info, const std::string& className, const std::string& defaultInstanceName, ViewManager::InstantiationType itype, FactoryBase* factory) { ViewInfoPtr info = boost::make_shared( impl, view_type_info, className, defaultInstanceName, impl->textDomain, itype, factory); (*impl->classNameToViewInfoMap)[className] = info; typeToViewInfoMap[&view_type_info] = info; if(itype == ViewManager::SINGLE_DEFAULT || itype == ViewManager::MULTI_DEFAULT){ View* view = info->getOrCreateView(); mainWindow->viewArea()->addView(view); return view; } return 0; } ViewClass* ViewManager::viewClass(const std::type_info& view_type_info) { ViewClass* viewClass = 0; TypeToViewInfoMap::iterator p = typeToViewInfoMap.find(&view_type_info); if(p != typeToViewInfoMap.end()){ viewClass = p->second.get(); } return viewClass; } namespace { ViewInfo* findViewInfo(const std::string& moduleName, const std::string& className) { ViewInfo* info = 0; ModuleNameToClassNameToViewInfoMap::iterator p = moduleNameToClassNameToViewInfoMap.find(moduleName); if(p != moduleNameToClassNameToViewInfoMap.end()){ ClassNameToViewInfoMap& infoMap = *p->second; ClassNameToViewInfoMap::iterator q = infoMap.find(className); if(q != infoMap.end()){ info = q->second.get(); } } return info; } } View* ViewManager::getOrCreateView(const std::string& moduleName, const std::string& className) { ViewInfo* info = findViewInfo(moduleName, className); if(info){ return info->getOrCreateView(); } return 0; } View* ViewManager::getOrCreateView(const std::string& moduleName, const std::string& className, const std::string& instanceName) { ViewInfo* info = findViewInfo(moduleName, className); if(info){ return info->getOrCreateView(instanceName); } return 0; } /** This is implemented for the compatibility to version 1.4 or earlier. This is only used for loading the view layout configuration created by those verions. */ View* ViewManager::getOrCreateViewOfDefaultName(const std::string& defaultName) { for(TypeToViewInfoMap::iterator p = typeToViewInfoMap.begin(); p != typeToViewInfoMap.end(); ++p){ ViewInfo& info = *p->second; if(info.defaultInstanceName == defaultName){ return info.getOrCreateView(); } } return 0; } std::vector ViewManager::allViews() { std::vector views; for(TypeToViewInfoMap::iterator p = typeToViewInfoMap.begin(); p != typeToViewInfoMap.end(); ++p){ InstanceInfoList& instances = p->second->instances; for(InstanceInfoList::iterator p = instances.begin(); p != instances.end(); ++p){ views.push_back((*p)->view); } } return views; } std::vector ViewManager::activeViews() { std::vector views; for(TypeToViewInfoMap::iterator p = typeToViewInfoMap.begin(); p != typeToViewInfoMap.end(); ++p){ InstanceInfoList& instances = p->second->instances; for(InstanceInfoList::iterator p = instances.begin(); p != instances.end(); ++p){ View* view = (*p)->view; if(view->isActive()){ views.push_back(view); } } } return views; } View* ViewManager::getOrCreateSpecificTypeView (const std::type_info& view_type_info, const std::string& instanceName, bool doMountCreatedView) { TypeToViewInfoMap::iterator p = typeToViewInfoMap.find(&view_type_info); if(p != typeToViewInfoMap.end()){ ViewInfo& info = *p->second; if(instanceName.empty()){ return info.getOrCreateView(doMountCreatedView); } else { return info.getOrCreateView(instanceName, doMountCreatedView); } } return 0; } View* ViewManager::findSpecificTypeView(const std::type_info& view_type_info, const std::string& instanceName) { TypeToViewInfoMap::iterator p = typeToViewInfoMap.find(&view_type_info); if(p != typeToViewInfoMap.end()){ ViewInfo& info = *p->second; return info.findView(instanceName); } return 0; } bool ViewManager::isPrimalInstance(View* view) { TypeToViewInfoMap::iterator p = typeToViewInfoMap.find(&typeid(*view)); if(p != typeToViewInfoMap.end()){ ViewInfo& info = *p->second; return info.checkIfPrimalInstance(view); } return false; } namespace { ArchivePtr storeView(Archive& parentArchive, const string& moduleName, ViewInfo& viewInfo, View* view) { ArchivePtr archive; ArchivePtr state = new Archive(); state->inheritSharedInfoFrom(parentArchive); if(view->storeState(*state)){ archive = new Archive(); archive->inheritSharedInfoFrom(parentArchive); archive->write("id", state->getViewId(view)); if(!viewInfo.checkIfDefaultInstance(view)){ archive->write("name", view->name(), DOUBLE_QUOTED); } archive->write("plugin", moduleName); archive->write("class", viewInfo.className_); if(view->viewArea()){ archive->write("mounted", true); } if(!state->empty()){ archive->insert("state", state); } } return archive; } } bool ViewManager::storeViewStates(ArchivePtr archive, const std::string& key) { // assign view ids first int id = 0; ModuleNameToClassNameToViewInfoMap::iterator p; for(p = moduleNameToClassNameToViewInfoMap.begin(); p != moduleNameToClassNameToViewInfoMap.end(); ++p){ ClassNameToViewInfoMap& viewInfoMap = *p->second; for(ClassNameToViewInfoMap::iterator q = viewInfoMap.begin(); q != viewInfoMap.end(); ++q){ ViewInfoPtr& viewInfo = q->second; InstanceInfoList& instances = viewInfo->instances; for(InstanceInfoList::iterator p = instances.begin(); p != instances.end(); ++p){ archive->registerViewId((*p)->view, id++); } } } ListingPtr viewList = new Listing(); for(p = moduleNameToClassNameToViewInfoMap.begin(); p != moduleNameToClassNameToViewInfoMap.end(); ++p){ const std::string& moduleName = p->first; ClassNameToViewInfoMap& viewInfoMap = *p->second; for(ClassNameToViewInfoMap::iterator q = viewInfoMap.begin(); q != viewInfoMap.end(); ++q){ ViewInfoPtr& viewInfo = q->second; InstanceInfoList& instances = viewInfo->instances; for(InstanceInfoList::iterator p = instances.begin(); p != instances.end(); ++p){ View* view = (*p)->view; ArchivePtr viewArchive = storeView(*archive, moduleName, *viewInfo, view); if(viewArchive){ viewList->append(viewArchive); } } } } if(!viewList->empty()){ archive->insert(key, viewList); return true; } return false; } namespace { struct ViewState { View* view; ArchivePtr state; ViewState(View* view, ArchivePtr state) : view(view), state(state) { } }; } ViewManager::ViewStateInfo::ViewStateInfo() { data = 0; } ViewManager::ViewStateInfo::~ViewStateInfo() { if(data){ delete reinterpret_cast< vector* >(data); } } void ViewManager::restoreViews(ArchivePtr archive, const std::string& key, ViewManager::ViewStateInfo& out_viewStateInfo) { MessageView* mv = MessageView::instance(); typedef map > ViewsMap; ViewsMap remainingViewsMap; Listing* viewList = archive->findListing(key); if(viewList->isValid() && !viewList->empty()){ vector* viewsToRestoreState = new vector(); out_viewStateInfo.data = viewsToRestoreState; int id; string moduleName; string className; string instanceName; for(int i=0; i < viewList->size(); ++i){ Archive* viewArchive = dynamic_cast(viewList->at(i)->toMapping()); if(viewArchive){ bool isHeaderValid = viewArchive->read("id", id) && viewArchive->read("plugin", moduleName) && viewArchive->read("class", className); if(isHeaderValid){ View* view = 0; if(!viewArchive->read("name", instanceName)){ view = getOrCreateView(moduleName, className); } else { // get one of the view instances having the instance name, or create a new instance. // Different instances are assigned even if there are instances with the same name in the archive ViewInfo* info = findViewInfo(moduleName, className); if(info){ vector* remainingViews; ViewsMap::iterator p = remainingViewsMap.find(info); if(p != remainingViewsMap.end()){ remainingViews = &p->second; } else { remainingViews = &remainingViewsMap[info]; InstanceInfoList& instances = info->instances; remainingViews->reserve(instances.size()); InstanceInfoList::iterator q = instances.begin(); if(info->hasDefaultInstance() && q != instances.end()){ ++q; } while(q != instances.end()){ remainingViews->push_back((*q++)->view); } } for(vector::iterator q = remainingViews->begin(); q != remainingViews->end(); ++q){ if((*q)->name() == instanceName){ view = *q; remainingViews->erase(q); break; } } if(!view){ if(!info->isSingleton() || info->instances.empty()){ view = info->createView(instanceName, true); } else { mv->putln(MessageView::ERROR, boost::format(_("A singleton view \"%1%\" of the %2% type cannot be created because its singleton instance has already been created.")) % instanceName % info->className()); } } } } if(view){ archive->registerViewId(view, id); ArchivePtr state = viewArchive->findSubArchive("state"); if(state->isValid()){ state->inheritSharedInfoFrom(*archive); viewsToRestoreState->push_back(ViewState(view, state)); } if(viewArchive->get("mounted", false)){ mainWindow->viewArea()->addView(view); } } } } } } } bool ViewManager::restoreViewStates(ViewStateInfo& info) { if(info.data){ vector* viewsToRestoreState = reinterpret_cast*>(info.data); for(size_t i=0; i < viewsToRestoreState->size(); ++i){ ViewState& vs = (*viewsToRestoreState)[i]; vs.view->restoreState(*vs.state); } return true; } return false; } SignalProxy ViewManager::sigViewCreated() { return sigViewCreated_; } SignalProxy ViewManager::sigViewActivated() { return sigViewActivated_; } SignalProxy ViewManager::sigViewDeactivated() { return sigViewDeactivated_; } SignalProxy ViewManager::sigViewRemoved() { return sigViewRemoved_; } choreonoid-1.5.0/src/Base/Plugin.cpp0000664000000000000000000000471312741425367015771 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "Plugin.h" #include "Item.h" #include "ToolBar.h" #include "View.h" #include "Licenses.h" #include using namespace std; using namespace boost; using namespace cnoid; namespace cnoid { class PluginImpl { public: PluginImpl(const char* name); string name; bool isUnloadable; vector requisites; vector subsequences; vector oldNames; int activationPriority; }; } Plugin::Plugin(const char* name) : ExtensionManager(name, true) { impl = new PluginImpl(name); } PluginImpl::PluginImpl(const char* name) : name(name) { isUnloadable = false; activationPriority = std::numeric_limits::max(); } Plugin::~Plugin() { delete impl; } const char* Plugin::name() { return impl->name.c_str(); } bool Plugin::initialize() { return true; } bool Plugin::finalize() { return true; } bool Plugin::isUnloadable() const { return impl->isUnloadable; } void Plugin::setUnloadable(bool on) { impl->isUnloadable = on; } /** When the plugin depends on some other plugins, please specify the plugins to depend with this function in the constructor. */ void Plugin::require(const char* pluginName) { impl->requisites.push_back(pluginName); } #ifdef CNOID_BACKWARD_COMPATIBILITY /** Deprecated. Please use require() instead of this function. */ void Plugin::depend(const char* pluginName) { require(pluginName); } #endif void Plugin::precede(const char* pluginName) { impl->subsequences.push_back(pluginName); } const char* Plugin::requisite(int index) const { return impl->requisites[index].c_str(); } int Plugin::numRequisites() const { return impl->requisites.size(); } const char* Plugin::subsequence(int index) const { return impl->subsequences[index].c_str(); } int Plugin::numSubsequences() const { return impl->subsequences.size(); } void Plugin::addOldName(const char* name) { impl->oldNames.push_back(name); } const char* Plugin::oldName(int index) const { return impl->oldNames[index].c_str(); } int Plugin::numOldNames() const { return impl->oldNames.size(); } const char* Plugin::description() const { return ""; } const char* Plugin::LGPLtext() { return cnoid::LGPLtext(); } int Plugin::activationPriority() const { return impl->activationPriority; } void Plugin::setActivationPriority(int priority) { impl->activationPriority = priority; } choreonoid-1.5.0/src/Base/CheckBox.h0000664000000000000000000000137012741425367015662 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_CHECK_BOX_H #define CNOID_BASE_CHECK_BOX_H #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT CheckBox : public QCheckBox { Q_OBJECT public: CheckBox(QWidget* parent = 0); CheckBox(const QString& text, QWidget* parent = 0); SignalProxy sigStateChanged() { return sigStateChanged_; } SignalProxy sigToggled() { return sigToggled_; } private Q_SLOTS: void onStateChanged(int state); void onToggled(bool checked); private: Signal sigStateChanged_; Signal sigToggled_; void initialize(); }; } #endif choreonoid-1.5.0/src/Base/SceneDragProjector.h0000664000000000000000000000316312741425367017721 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_SCENE_DRAG_PROJECTOR_H #define CNOID_BASE_SCENE_DRAG_PROJECTOR_H #include "SceneWidgetEditable.h" #include "exportdecl.h" namespace cnoid { class SceneDragProjectorImpl; class CNOID_EXPORT SceneDragProjector { public: SceneDragProjector(); virtual ~SceneDragProjector(); enum DragMode { DRAG_NONE, DRAG_ROTATION, DRAG_TRANSLATION }; int dragMode() const; bool isDragging() const; void resetDragMode(); void setInitialPosition(const Affine3& T); void setInitialTranslation(const Vector3& p); void setInitialRotation(const Matrix3& R); const Affine3& initialPosition() const; // for 1-D rotation void setRotationAxis(const Vector3& axis); const Vector3& rotationAxis() const; // for 1-D translation void setTranslationAxis(const Vector3& axis); const Vector3& translationAxis() const; // for 2-D translation void setTranslationPlaneNormal(const Vector3& normal); void setTranslationAlongViewPlane(); bool startRotation(const SceneWidgetEvent& event); bool startTranslation(const SceneWidgetEvent& event); bool drag(const SceneWidgetEvent& event); bool dragRotation(const SceneWidgetEvent& event); bool dragTranslation(const SceneWidgetEvent& event); const Vector3& projectedPoint() const; const Affine3& position() const; const Matrix3& rotationMatrix() const; double rotationAngle() const; const AngleAxis& rotationAngleAxis() const; const Vector3& translation() const; private: SceneDragProjectorImpl* impl; }; } #endif choreonoid-1.5.0/src/Base/ScrollBar.cpp0000664000000000000000000000172712741425367016420 0ustar rootroot/** @author Shin'ichiro NAKAOKA */ #include "ScrollBar.h" using namespace cnoid; ScrollBar::ScrollBar(QWidget* parent) : QScrollBar(parent) { initialize(); } ScrollBar::ScrollBar(Qt::Orientation orientation, QWidget* parent) : QScrollBar(orientation, parent) { initialize(); } void ScrollBar::initialize() { connect(this, SIGNAL(valueChanged(int)), this, SLOT(onValueChanged(int))); } void ScrollBar::onValueChanged(int value) { sigValueChanged_(value); } DoubleScrollBar::DoubleScrollBar(QWidget* parent) : QScrollBar(parent) { initialize(); } DoubleScrollBar::DoubleScrollBar(Qt::Orientation orientation, QWidget* parent) : QScrollBar(orientation, parent) { initialize(); } void DoubleScrollBar::initialize() { resolution = 10000.0; connect(this, SIGNAL(valueChanged(int)), this, SLOT(onValueChanged(int))); } void DoubleScrollBar::onValueChanged(int value) { sigValueChanged_(value / resolution); } choreonoid-1.5.0/src/Base/MultiValueSeqItem.h0000664000000000000000000000066612741425367017562 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_GUIBASE_MULTI_VALUE_SEQ_ITEM_H_INCLUDED #define CNOID_GUIBASE_MULTI_VALUE_SEQ_ITEM_H_INCLUDED #include "MultiSeqItem.h" #include namespace cnoid { typedef MultiSeqItem MultiValueSeqItem; typedef MultiValueSeqItem::Ptr MultiValueSeqItemPtr; template<> void MultiSeqItem::initializeClass(ExtensionManager* ext); } #endif choreonoid-1.5.0/src/Base/MultiPointSetItem.cpp0000664000000000000000000006073312741425367020136 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "MultiPointSetItem.h" #include "SceneWidgetEditable.h" #include "SceneWidget.h" #include "MenuManager.h" #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { class SceneMultiPointSet : public SgPosTransform, public SceneWidgetEditable { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW; weak_ref_ptr weakMultiPointSetItem; bool isEditable; SgGroupPtr pointSetGroup; SgGroupPtr attentionPointMarkerGroup; Signal sigOffsetTransformChanged; Signal sigAttentionPointsChanged; RectRegionMarkerPtr regionMarker; ScopedConnection eraserModeMenuItemConnection; SceneMultiPointSet(MultiPointSetItemImpl* multiPointSetItem); int numAttentionPoints() const; Vector3 attentionPoint(int index) const; void clearAttentionPoints(bool doNotify); void addAttentionPoint(const Vector3& point, bool doNotify); void setAttentionPoint(const Vector3& p, bool doNotify); bool removeAttentionPoint(const Vector3& point, double distanceThresh, bool doNotify); void notifyAttentionPointChange(); virtual bool onButtonPressEvent(const SceneWidgetEvent& event); virtual bool onPointerMoveEvent(const SceneWidgetEvent& event); virtual void onContextMenuRequest(const SceneWidgetEvent& event, MenuManager& menuManager); void onContextMenuRequestInEraserMode(const SceneWidgetEvent& event, MenuManager& menuManager); void onRegionFixed(const PolyhedralRegion& region); }; typedef ref_ptr SceneMultiPointSetPtr; } namespace cnoid { class MultiPointSetItemImpl { public: MultiPointSetItem* self; struct PointSetItemInfo : public Referenced { int index; ScopedConnection pointSetUpdateConnection; }; typedef ref_ptr PointSetItemInfoPtr; typedef map ItemInfoMap; ItemInfoMap itemInfoMap; ItemList pointSetItems; ItemList selectedPointSetItems; ItemList activePointSetItems; SceneMultiPointSetPtr scene; Selection renderingMode; double pointSize; double voxelSize; string directory; ScopedConnection itemSelectionChangedConnection; ScopedConnection subTreeChangedConnection; Signal sigPointSetItemAdded; Signal sigPointSetItemUpdated; MappingPtr outputArchive; ListingPtr outputFileListing; bool isAutoSaveMode; filesystem::path autoSaveFilePath; MultiPointSetItemImpl(MultiPointSetItem* self); MultiPointSetItemImpl(MultiPointSetItem* self, const MultiPointSetItemImpl& org); void initialize(); void onItemSelectionChanged(ItemList items); void onSubTreeChanged(); void onPointSetUpdated(PointSetItem* item); void setRenderingMode(int mode); void setPointSize(double size); void setVoxelSize(double size); void selectSinglePointSetItem(int index); bool onRenderingModePropertyChanged(int mode); bool onTopTranslationPropertyChanged(const std::string& value); bool onTopRotationPropertyChanged(const std::string& value); static bool loadItem(MultiPointSetItem* item, const std::string& filename); bool load(const std::string& filename); static bool saveItem(MultiPointSetItem* item, const std::string& filename); bool save(const std::string& filename); bool outputPointSetItem(int index); bool writeOutputArchive(const std::string& filename); bool startAutomaticSave(const std::string& filename); void saveAdditionalPointSet(int index); }; } void MultiPointSetItem::initializeClass(ExtensionManager* ext) { static bool initialized = false; if(!initialized){ ItemManager& im = ext->itemManager(); im.registerClass(N_("MultiPointSetItem")); im.addCreationPanel(); im.addLoaderAndSaver( _("Multi Point Sets"), "MULTI-PCD-SET", "yaml", boost::bind(&MultiPointSetItemImpl::loadItem, _1, _2), boost::bind(&MultiPointSetItemImpl::saveItem, _1, _2), ItemManager::PRIORITY_DEFAULT); initialized = true; } } MultiPointSetItem::MultiPointSetItem() { impl = new MultiPointSetItemImpl(this); } MultiPointSetItemImpl::MultiPointSetItemImpl(MultiPointSetItem* self) : self(self) { initialize(); renderingMode.select(PointSetItem::POINT); } MultiPointSetItem::MultiPointSetItem(const MultiPointSetItem& org) : Item(org) { impl = new MultiPointSetItemImpl(this, *org.impl); } MultiPointSetItemImpl::MultiPointSetItemImpl(MultiPointSetItem* self, const MultiPointSetItemImpl& org) : self(self) { initialize(); renderingMode.select(org.renderingMode.which()); } void MultiPointSetItemImpl::initialize() { scene = new SceneMultiPointSet(this); renderingMode.setSymbol(PointSetItem::POINT, N_("Point")); renderingMode.setSymbol(PointSetItem::VOXEL, N_("Voxel")); itemSelectionChangedConnection.reset( ItemTreeView::instance()->sigSelectionChanged().connect( boost::bind(&MultiPointSetItemImpl::onItemSelectionChanged, this, _1))); subTreeChangedConnection.reset( self->sigSubTreeChanged().connect( boost::bind(&MultiPointSetItemImpl::onSubTreeChanged, this))); isAutoSaveMode = false; } MultiPointSetItem::~MultiPointSetItem() { delete impl; } SgNode* MultiPointSetItem::getScene() { return impl->scene; } void MultiPointSetItemImpl::onItemSelectionChanged(ItemList items) { bool changed = false; selectedPointSetItems.clear(); for(size_t i=0; i < items.size(); ++i){ PointSetItem* item = items[i]; if(item->isOwnedBy(self)){ selectedPointSetItems.push_back(item); } } if(!selectedPointSetItems.empty()){ if(selectedPointSetItems != activePointSetItems){ activePointSetItems = selectedPointSetItems; changed = true; } } else { ItemList::iterator p = activePointSetItems.begin(); while(p != activePointSetItems.end()){ if((*p)->isOwnedBy(self)){ ++p; } else { p = activePointSetItems.erase(p); changed = true; } } } if(changed){ scene->pointSetGroup->clearChildren(); for(size_t i=0; i < activePointSetItems.size(); ++i){ scene->pointSetGroup->addChild(activePointSetItems[i]->getScene()); } scene->notifyUpdate(SgUpdate::ADDED | SgUpdate::REMOVED); } } void MultiPointSetItemImpl::onSubTreeChanged() { pointSetItems.extractChildItems(self); ItemInfoMap prevMap(itemInfoMap); itemInfoMap.clear(); for(size_t i=0; i < pointSetItems.size(); ++i){ PointSetItem* item = pointSetItems[i]; ItemInfoMap::iterator p = prevMap.find(item); if(p != prevMap.end()){ p->second->index = i; itemInfoMap.insert(*p); } else { item->setPointSize(pointSize); item->setVoxelSize(voxelSize); item->setRenderingMode(renderingMode.which()); PointSetItemInfo* info = new PointSetItemInfo; info->index = i; info->pointSetUpdateConnection.reset( item->pointSet()->sigUpdated().connect( boost::bind(&MultiPointSetItemImpl::onPointSetUpdated, this, item))); itemInfoMap.insert(ItemInfoMap::value_type(item, info)); sigPointSetItemAdded(i); if(isAutoSaveMode){ saveAdditionalPointSet(i); } } } } void MultiPointSetItemImpl::onPointSetUpdated(PointSetItem* item) { ItemInfoMap::iterator p = itemInfoMap.find(item); if(p != itemInfoMap.end()){ int index = p->second->index; sigPointSetItemUpdated(index); } } void MultiPointSetItem::setRenderingMode(int mode) { impl->setRenderingMode(mode); } void MultiPointSetItemImpl::setRenderingMode(int mode) { renderingMode.select(mode); for(size_t i=0; i < pointSetItems.size(); ++i){ pointSetItems[i]->setRenderingMode(mode); } } int MultiPointSetItem::renderingMode() const { return impl->renderingMode.which(); } double MultiPointSetItem::pointSize() const { return impl->pointSize; } void MultiPointSetItem::setPointSize(double size) { impl->setPointSize(size); } void MultiPointSetItemImpl::setPointSize(double size) { pointSize = size; for(size_t i=0; i < pointSetItems.size(); ++i){ pointSetItems[i]->setPointSize(size); } } double MultiPointSetItem::voxelSize() const { return impl->voxelSize; } void MultiPointSetItem::setVoxelSize(double size) { impl->setVoxelSize(size); } void MultiPointSetItemImpl::setVoxelSize(double size) { voxelSize = size; for(size_t i=0; i < pointSetItems.size(); ++i){ pointSetItems[i]->setVoxelSize(size); } } int MultiPointSetItem::numPointSetItems() const { return impl->pointSetItems.size(); } PointSetItem* MultiPointSetItem::pointSetItem(int index) { return impl->pointSetItems[index]; } const PointSetItem* MultiPointSetItem::pointSetItem(int index) const { return impl->pointSetItems[index]; } int MultiPointSetItem::numActivePointSetItems() const { return impl->activePointSetItems.size(); } PointSetItem* MultiPointSetItem::activePointSetItem(int index) { return impl->activePointSetItems[index]; } void MultiPointSetItem::selectSinglePointSetItem(int index) { impl->selectSinglePointSetItem(index); } void MultiPointSetItemImpl::selectSinglePointSetItem(int index) { if(index < 0 || index >= pointSetItems.size()){ return; } itemSelectionChangedConnection.block(); ItemTreeView* view = ItemTreeView::instance(); for(size_t i=0; i < selectedPointSetItems.size(); ++i){ view->unselectItem(selectedPointSetItems[i]); } PointSetItem* item = pointSetItems[index]; view->selectItem(item); itemSelectionChangedConnection.unblock(); ItemList items; items.push_back(item); onItemSelectionChanged(items); } SignalProxy MultiPointSetItem::sigPointSetItemAdded() { return impl->sigPointSetItemAdded; } SignalProxy MultiPointSetItem::sigPointSetUpdated() { return impl->sigPointSetItemUpdated; } const Affine3& MultiPointSetItem::topOffsetTransform() const { return impl->scene->T(); } void MultiPointSetItem::setTopOffsetTransform(const Affine3& T) { impl->scene->setPosition(T); } SignalProxy MultiPointSetItem::sigTopOffsetTransformChanged() { return impl->scene->sigOffsetTransformChanged; } void MultiPointSetItem::notifyTopOffsetTransformChange() { impl->scene->sigOffsetTransformChanged(impl->scene->T()); impl->scene->notifyUpdate(); Item::notifyUpdate(); } Affine3 MultiPointSetItem::offsetTransform(int index) const { return topOffsetTransform() * pointSetItem(index)->offsetTransform(); } SgPointSetPtr MultiPointSetItem::getTransformedPointSet(int index) const { SgPointSetPtr transformed = new SgPointSet(); SgVertexArray& points = *transformed->getOrCreateVertices(); const SgVertexArray* orgPoints = pointSetItem(index)->pointSet()->vertices(); if(orgPoints){ const int n = orgPoints->size(); points.resize(n); const Affine3f T = offsetTransform(index).cast(); for(int i=0; i < n; ++i){ points[i] = T * (*orgPoints)[i]; } } return transformed; } int MultiPointSetItem::numAttentionPoints() const { return impl->scene->numAttentionPoints(); } Vector3 MultiPointSetItem::attentionPoint(int index) const { return impl->scene->attentionPoint(index); } void MultiPointSetItem::clearAttentionPoints() { return impl->scene->clearAttentionPoints(false); } void MultiPointSetItem::addAttentionPoint(const Vector3& p) { impl->scene->addAttentionPoint(p, false); } SignalProxy MultiPointSetItem::sigAttentionPointsChanged() { return impl->scene->sigAttentionPointsChanged; } void MultiPointSetItem::notifyAttentionPointChange() { impl->scene->notifyAttentionPointChange(); } Item* MultiPointSetItem::doDuplicate() const { return new MultiPointSetItem(*this); } void MultiPointSetItem::doPutProperties(PutPropertyFunction& putProperty) { putProperty(_("Auto save"), false); putProperty(_("Directory"), ""); putProperty(_("Num point sets"), numPointSetItems()); putProperty(_("Rendering mode"), impl->renderingMode, boost::bind(&MultiPointSetItemImpl::onRenderingModePropertyChanged, impl, _1)); putProperty.decimals(1).min(0.0)(_("Point size"), pointSize(), boost::bind(&MultiPointSetItem::setPointSize, this, _1), true); putProperty.decimals(4)(_("Voxel size"), voxelSize(), boost::bind(&MultiPointSetItem::setVoxelSize, this, _1), true); putProperty(_("Top translation"), str(Vector3(topOffsetTransform().translation())), boost::bind(&MultiPointSetItemImpl::onTopTranslationPropertyChanged, impl, _1)); Vector3 rpy(rpyFromRot(topOffsetTransform().linear())); putProperty("Top RPY", str(TO_DEGREE * rpy), boost::bind(&MultiPointSetItemImpl::onTopRotationPropertyChanged, impl, _1)); } bool MultiPointSetItemImpl::onRenderingModePropertyChanged(int mode) { if(mode != renderingMode.which()){ if(renderingMode.select(mode)){ setRenderingMode(mode); return true; } } return false; } bool MultiPointSetItemImpl::onTopTranslationPropertyChanged(const std::string& value) { Vector3 p; if(toVector3(value, p)){ scene->setTranslation(p); self->notifyTopOffsetTransformChange(); return true; } return false; } bool MultiPointSetItemImpl::onTopRotationPropertyChanged(const std::string& value) { Vector3 rpy; if(toVector3(value, rpy)){ scene->setRotation(rotFromRpy(TO_RADIAN * rpy)); self->notifyTopOffsetTransformChange(); return true; } return false; } bool MultiPointSetItem::store(Archive& archive) { archive.write("autoSave", false); if(!impl->directory.empty()){ archive.writeRelocatablePath("directory", impl->directory); } archive.write("renderingMode", impl->renderingMode.selectedSymbol()); archive.write("pointSize", pointSize()); archive.write("voxelSize", voxelSize()); return true; } bool MultiPointSetItem::restore(const Archive& archive) { archive.get("autoSave", false); string directory; if(archive.readRelocatablePath("directory", directory)){ } string symbol; if(archive.read("renderingMode", symbol)){ impl->onRenderingModePropertyChanged(impl->renderingMode.index(symbol)); } setPointSize(archive.get("pointSize", pointSize())); setVoxelSize(archive.get("voxelSize", voxelSize())); return true; } SceneMultiPointSet::SceneMultiPointSet(MultiPointSetItemImpl* multiPointSetItem) : weakMultiPointSetItem(multiPointSetItem->self) { pointSetGroup = new SgGroup; addChild(pointSetGroup); attentionPointMarkerGroup = new SgGroup; addChild(attentionPointMarkerGroup); regionMarker = new RectRegionMarker; regionMarker->setEditModeCursor(QCursor(QPixmap(":/Base/icons/eraser-cursor.png"), 3, 2)); regionMarker->sigRegionFixed().connect( boost::bind(&SceneMultiPointSet::onRegionFixed, this, _1)); regionMarker->sigContextMenuRequest().connect( boost::bind(&SceneMultiPointSet::onContextMenuRequestInEraserMode, this, _1, _2)); isEditable = true; } int SceneMultiPointSet::numAttentionPoints() const { return attentionPointMarkerGroup->numChildren(); } Vector3 SceneMultiPointSet::attentionPoint(int index) const { if(index < numAttentionPoints()){ CrossMarker* marker = dynamic_cast(attentionPointMarkerGroup->child(index)); if(marker){ return T() * marker->translation(); } } return Vector3::Zero(); } void SceneMultiPointSet::clearAttentionPoints(bool doNotify) { if(!attentionPointMarkerGroup->empty()){ attentionPointMarkerGroup->clearChildren(); if(doNotify){ notifyAttentionPointChange(); } } } void SceneMultiPointSet::addAttentionPoint(const Vector3& point, bool doNotify) { Vector3f color(1.0f, 1.0f, 0.0f); CrossMarker* marker = new CrossMarker(0.02, color); marker->setTranslation(T().inverse() * point); attentionPointMarkerGroup->addChild(marker); if(doNotify){ notifyAttentionPointChange(); } } void SceneMultiPointSet::setAttentionPoint(const Vector3& p, bool doNotify) { clearAttentionPoints(false); addAttentionPoint(p, doNotify); } bool SceneMultiPointSet::removeAttentionPoint(const Vector3& point, double distanceThresh, bool doNotify) { bool removed = false; SgGroup::iterator iter = attentionPointMarkerGroup->begin(); while(iter != attentionPointMarkerGroup->end()){ CrossMarker* marker = dynamic_cast(iter->get()); if(point.isApprox(marker->translation(), distanceThresh)){ iter = attentionPointMarkerGroup->erase(iter); removed = true; } else { ++iter; } } if(removed && doNotify){ notifyAttentionPointChange(); } return removed; } void SceneMultiPointSet::notifyAttentionPointChange() { attentionPointMarkerGroup->notifyUpdate(); sigAttentionPointsChanged(); } bool SceneMultiPointSet::onButtonPressEvent(const SceneWidgetEvent& event) { if(!isEditable){ return false; } bool processed = false; if(event.button() == Qt::LeftButton){ if(event.modifiers() & Qt::ControlModifier){ if(!removeAttentionPoint(event.point(), 0.01, true)){ addAttentionPoint(event.point(), true); } } else { setAttentionPoint(event.point(), true); } processed = true; } return processed; } bool SceneMultiPointSet::onPointerMoveEvent(const SceneWidgetEvent& event) { return false; } void SceneMultiPointSet::onContextMenuRequest(const SceneWidgetEvent& event, MenuManager& menuManager) { menuManager.addItem(_("PointSet: Clear Attention Points"))->sigTriggered().connect( boost::bind(&SceneMultiPointSet::clearAttentionPoints, this, true)); if(!regionMarker->isEditing()){ eraserModeMenuItemConnection.reset( menuManager.addItem(_("PointSet: Start Eraser Mode"))->sigTriggered().connect( boost::bind(&RectRegionMarker::startEditing, regionMarker.get(), event.sceneWidget()))); } } void SceneMultiPointSet::onContextMenuRequestInEraserMode(const SceneWidgetEvent& event, MenuManager& menuManager) { eraserModeMenuItemConnection.reset( menuManager.addItem(_("PointSet: Exit Eraser Mode"))->sigTriggered().connect( boost::bind(&RectRegionMarker::finishEditing, regionMarker.get()))); } void SceneMultiPointSet::onRegionFixed(const PolyhedralRegion& region) { MultiPointSetItem* item = weakMultiPointSetItem.lock(); if(item){ int n = item->numActivePointSetItems(); for(int i=0; i < n; ++i){ item->activePointSetItem(i)->removePoints(region); } } } bool MultiPointSetItemImpl::loadItem(MultiPointSetItem* item, const std::string& filename) { return item->impl->load(filename); } bool MultiPointSetItemImpl::load(const std::string& filename) { YAMLReader reader; if(reader.load(filename)){ const Mapping& archive = *reader.document()->toMapping(); const Listing& files = *archive.findListing("files"); if(files.isValid()){ filesystem::path directory = filesystem::path(filename).parent_path(); for(int i=0; i < files.size(); ++i){ const Mapping& info = *files[i].toMapping(); string filename; if(info.read("file", filename)){ filesystem::path filePath(filename); PointSetItemPtr childItem = new PointSetItem(); if(childItem->load(getPathString(directory / filePath), "PCD-FILE")){ childItem->setName(getBasename(filename)); Affine3 T; if(read(info, "offsetTransform", T)){ childItem->setOffsetTransform(T); } self->addSubItem(childItem); } } } } } return true; } bool MultiPointSetItemImpl::saveItem(MultiPointSetItem* item, const std::string& filename) { return item->impl->save(filename); } bool MultiPointSetItemImpl::save(const std::string& filename) { outputArchive = new Mapping(); outputArchive->setDoubleFormat("%.9g"); outputArchive->write("type", "MultiPointSet"); outputArchive->write("fileFormat", "PCD"); outputFileListing = outputArchive->createListing("files"); const int n = self->numPointSetItems(); for(int i=0; i < n; ++i){ outputPointSetItem(i); } return writeOutputArchive(filename); } bool MultiPointSetItemImpl::outputPointSetItem(int index) { bool result = false; PointSetItem* item = self->pointSetItem(index); if(outputFileListing && !item->name().empty()){ string filename = item->name() + ".pcd"; string filepath = getPathString(autoSaveFilePath.parent_path() / filesystem::path(filename)); // result = item->save(filepath, "PCD-FILE"); try { cnoid::savePCD(item->pointSet(), filepath, item->offsetTransform()); MappingPtr info = new Mapping(); info->write("file", filename); write(*info, "offsetTransform", item->offsetTransform()); outputFileListing->insert(index, info); result = true; } catch (boost::exception& ex) { if(std::string const * message = boost::get_error_info(ex)){ mvout() << *message << endl; } } } return result; } bool MultiPointSetItemImpl::writeOutputArchive(const std::string& filename) { if(outputArchive && !outputFileListing->empty()){ YAMLWriter writer(filename); writer.setKeyOrderPreservationMode(true); writer.putComment("Multi point set data format version 1.0 defined by Choreonoid\n"); writer.putNode(outputArchive); return true; } return false; } bool MultiPointSetItem::startAutomaticSave(const std::string& filename) { return impl->startAutomaticSave(filename); } bool MultiPointSetItemImpl::startAutomaticSave(const std::string& filename) { isAutoSaveMode = false; autoSaveFilePath = cnoid::getAbsolutePath(filesystem::path(filename)); if(!autoSaveFilePath.filename().empty()){ if(self->numPointSetItems() == 0){ isAutoSaveMode = true; } else { try { if(filesystem::create_directories(autoSaveFilePath.parent_path())){ if(save(getPathString(autoSaveFilePath))){ isAutoSaveMode = true; } } } catch(const boost::filesystem::filesystem_error& ex){ mvout() << ex.what() << endl; } } } return isAutoSaveMode; } void MultiPointSetItemImpl::saveAdditionalPointSet(int index) { bool result = false; if(!outputArchive){ try { if(filesystem::create_directories(autoSaveFilePath.parent_path())){ save(getPathString(autoSaveFilePath)); } } catch(const boost::filesystem::filesystem_error& ex){ mvout() << ex.what() << endl; } } else { if(outputPointSetItem(index)){ writeOutputArchive(getPathString(autoSaveFilePath)); } } } void MultiPointSetItem::stopAutomaticSave() { impl->outputArchive.reset(); impl->outputFileListing.reset(); impl->isAutoSaveMode = false; } choreonoid-1.5.0/src/Base/FloatingNumberBox.cpp0000664000000000000000000000125312741425367020114 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "FloatingNumberBox.h" using namespace cnoid; FloatingNumberBox::FloatingNumberBox(QWidget* parent) : QLineEdit(parent) { connect(this, SIGNAL(editingFinished()), this, SLOT(onEditingFinishded())); oldText = value_.string().c_str(); } void FloatingNumberBox::onEditingFinishded() { if(value_.set(text().toStdString())){ sigValueChanged_(value_.value()); oldText = text(); } else { setText(oldText); } } void FloatingNumberBox::setValue(double v) { value_ = v; setText(value_.string().c_str()); } double FloatingNumberBox::value() const { return value_.value(); } choreonoid-1.5.0/src/Base/AppConfig.cpp0000664000000000000000000000673712741425367016411 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "AppConfig.h" #include "MessageView.h" #include #include #include #include #include "gettext.h" using namespace std; namespace filesystem = boost::filesystem; using boost::format; using namespace cnoid; using boost::filesystem::path; namespace { string application; string organization; path configDirPath; path filePath; path fullPath; boost::shared_ptr pYAMLReader; }; bool AppConfig::initialize(const std::string& application_, const std::string& organization_) { application = application_; organization = organization_; #ifdef WIN32 const char* appdata = getenv("APPDATA"); if(appdata){ configDirPath = filesystem::path(appdata) / organization_; } #else const char* home = getenv("HOME"); if(home){ configDirPath = filesystem::path(home) / ".config" / organization_; } #endif filePath = application + ".conf"; if(!configDirPath.empty()){ fullPath = configDirPath / filePath; std::string fullPathString = getPathString(fullPath); load(fullPathString); } return !fullPath.empty(); } /** \note A pointer returned by archive() must be replaced with a new one when a new config is loaed. */ Mapping* AppConfig::archive() { if(pYAMLReader && pYAMLReader->numDocuments()){ return pYAMLReader->document()->toMapping(); } static MappingPtr appArchive(new Mapping); return appArchive.get(); } bool AppConfig::flush() { if(configDirPath.empty()){ return false; } if(!filesystem::exists(fullPath)){ if(filesystem::exists(configDirPath)){ if(!filesystem::is_directory(configDirPath)){ const char* m = "\"%1%\" is not a directory.\n" "It should be directory to contain the config file.\n" "The configuration cannot be stored into the file system"; showWarningDialog(format(_(m)) % configDirPath.string()); return false; } } else { filesystem::create_directories(configDirPath); } } return save(fullPath.string()); } bool AppConfig::save(const std::string& filename) { try { YAMLWriter writer(filename); writer.setKeyOrderPreservationMode(true); writer.putNode(archive()); } catch(const ValueNode::Exception& ex){ showWarningDialog(ex.message()); return false; } return true; } /** \note A pointer returned by archive() must be replaced after calling this function because a new YAMLReader instance is created in it. */ bool AppConfig::load(const std::string& filename) { YAMLReader* pyaml = new YAMLReader(); if(filesystem::exists(filesystem::path(filename))){ try { if(pyaml->load(filename)){ if(pyaml->numDocuments() != 1 || !pyaml->document()->isMapping()){ pyaml->clearDocuments(); } } } catch (const ValueNode::Exception& ex){ ostream& os = MessageView::mainInstance()->cout(); os << format("Application config file \"%1%\" cannot be loaded (%2%).") % filename % ex.message() << endl; pyaml->clearDocuments(); delete pyaml; return false; } } pYAMLReader = boost::shared_ptr(pyaml); return true; } choreonoid-1.5.0/src/Base/SceneWidget.h0000664000000000000000000001103112741425367016370 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_SCENE_WIDGET_H #define CNOID_BASE_SCENE_WIDGET_H #include #include #include #include #include "exportdecl.h" namespace cnoid { class SceneWidgetImpl; class SceneRenderer; class Archive; class MenuManager; class SceneWidgetEvent; class SceneWidgetEditable; class SceneWidgetRoot; class Menu; class InteractiveCameraTransform; class CNOID_EXPORT SceneWidget : public QWidget { public: static SignalProxy sigSceneWidgetCreated(); SceneWidget(); ~SceneWidget(); static void forEachInstance(SgNode* node, boost::function function); SceneWidgetRoot* sceneRoot(); SgGroup* scene(); SceneRenderer& renderer(); SignalProxy sigStateChanged() const; void setEditMode(bool on); bool isEditMode() const; const SceneWidgetEvent& latestEvent() const; enum ViewpointControlMode { THIRD_PERSON_MODE, FIRST_PERSON_MODE }; void setViewpointControlMode(ViewpointControlMode mode); ViewpointControlMode viewpointControlMode() const; SgPosTransform* builtinCameraTransform(void); SgPerspectiveCamera* builtinPerspectiveCamera() const; SgOrthographicCamera* builtinOrthographicCamera() const; bool isBuiltinCameraCurrent() const; InteractiveCameraTransform* findOwnerInteractiveCameraTransform(int cameraIndex); void startBuiltinCameraViewChange(const Vector3& center); void rotateBuiltinCameraView(double dPitch, double dYaw); void translateBuiltinCameraView(const Vector3& dp_local); bool unproject(double x, double y, double z, Vector3& out_projected) const; void viewAll(); enum PolygonMode { FILL_MODE, LINE_MODE, POINT_MODE }; void setPolygonMode(PolygonMode mode); PolygonMode polygonMode() const; void setCollisionLinesVisible(bool on); bool collisionLinesVisible() const; void setHeadLightIntensity(double value); void setWorldLightIntensity(double value); void setWorldLightAmbient(double value); void setFloorGridSpan(double value); void setFloorGridInterval(double value); void setLineWidth(double value); void setPointSize(double value); void setNormalLength(double value); void setHeadLightEnabled(bool on); void setHeadLightLightingFromBack(bool on); void setWorldLight(bool on); void setAdditionalLights(bool on); void setFloorGrid(bool on); void setNormalVisualization(bool on); void setCoordinateAxes(bool on); void setShowFPS(bool on); void setNewDisplayListDoubleRenderingEnabled(bool on); void setUseBufferForPicking(bool on); void setBackgroundColor(const Vector3& color); void setColor(const Vector4& color); void setCameraPosition(const Vector3& eye, const Vector3& direction, const Vector3& up); void setFieldOfView(double value); void setHeight(double value); void setNear(double value); void setFar(double value); bool setSceneFocus(const SgNodePath& path); /** @return cursor id which is passed to releaseCursor() */ //int setCursor(const QCursor cursor); //void releaseCursor(int cursorId); void setCursor(const QCursor cursor); Menu* contextMenu(); void showContextMenu(); SignalProxy sigContextMenuRequest(); void installEventFilter(SceneWidgetEditable* filter); SceneWidgetEditable* activeEventFilter(); void removeEventFilter(SceneWidgetEditable* filter); void showConfigDialog(); QVBoxLayout* configDialogVBox(); bool saveImage(const std::string& filename); QImage getImage(); void setScreenSize(int width, int height); void updateIndicator(const std::string& text); QWidget* indicator(); bool storeState(Archive& archive); bool restoreState(const Archive& archive); SignalProxy sigWidgetFocusChanged(); SignalProxy sigAboutToBeDestroyed(); #ifdef ENABLE_SIMULATION_PROFILING std::vector profilingNames; std::vector profilingTimes; double worldTimeStep; #endif private: SceneWidgetImpl* impl; }; class CNOID_EXPORT SceneWidgetRoot : public SgGroup { public: SceneWidget* sceneWidget() { return sceneWidget_; } private: SceneWidgetRoot(SceneWidget* sceneWidget); SceneWidget* sceneWidget_; SgGroupPtr systemGroup; friend class SceneWidgetImpl; }; typedef ref_ptr SceneWidgetRootPtr; } #endif choreonoid-1.5.0/src/Base/ExtensionManager.cpp0000664000000000000000000001372012741425367020000 0ustar rootroot/** @author Shin'ichiro NAKAOKA */ #include "ExtensionManager.h" #include "ItemManager.h" #include "ViewManager.h" #include "MenuManager.h" #include "OptionManager.h" #include "ProjectManager.h" #include "Plugin.h" #include "Item.h" #include "View.h" #include "ToolBar.h" #include "MainWindow.h" #include "TimeSyncItemEngine.h" #include "LazyCaller.h" #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace cnoid { class ExtensionManagerImpl { public: ExtensionManagerImpl(ExtensionManager* self, const std::string& moduleName); ~ExtensionManagerImpl(); void setVersion(const std::string& version, bool isPlugin); void deleteManagedObjects();; ExtensionManager* self; scoped_ptr menuManager; scoped_ptr itemManager; scoped_ptr timeSyncItemEngineManger; scoped_ptr viewManager; string moduleName; string textDomain; stack pointerHolders; Signal sigSystemUpdated; Signal sigReleaseRequest; }; } namespace { set extensionManagerImpls; void emitSigSystemUpdated() { set::iterator p = extensionManagerImpls.begin(); while(p != extensionManagerImpls.end()){ (*p)->sigSystemUpdated(); ++p; } } LazyCaller emitSigSystemUpdatedLater(emitSigSystemUpdated); } ExtensionManager::ExtensionManager(const std::string& moduleName, bool isPlugin) { impl = new ExtensionManagerImpl(this, moduleName); impl->setVersion(CNOID_FULL_VERSION_STRING, isPlugin); } ExtensionManager::ExtensionManager(const std::string& moduleName, const std::string& version, bool isPlugin) { impl = new ExtensionManagerImpl(this, moduleName); impl->setVersion(version, isPlugin); } ExtensionManagerImpl::ExtensionManagerImpl(ExtensionManager* self, const std::string& moduleName) : self(self), moduleName(moduleName) { extensionManagerImpls.insert(this); } ExtensionManager::~ExtensionManager() { delete impl; } ExtensionManagerImpl::~ExtensionManagerImpl() { if(itemManager){ itemManager->detachAllManagedTypeItemsFromRoot(); } ProjectManager::instance()->resetArchivers(moduleName); deleteManagedObjects(); sigReleaseRequest(); extensionManagerImpls.erase(this); } const std::string& ExtensionManager::name() const { return impl->moduleName; } const std::string& ExtensionManager::textDomain() const { return impl->textDomain; } ItemManager& ExtensionManager::itemManager() { if(!impl->itemManager){ impl->itemManager.reset(new ItemManager(impl->moduleName, menuManager())); impl->itemManager->bindTextDomain(impl->textDomain); } return *impl->itemManager; } TimeSyncItemEngineManager& ExtensionManager::timeSyncItemEngineManger() { if(!impl->timeSyncItemEngineManger){ impl->timeSyncItemEngineManger.reset(new TimeSyncItemEngineManager(impl->moduleName)); } return *impl->timeSyncItemEngineManger; } ViewManager& ExtensionManager::viewManager() { if(!impl->viewManager){ impl->viewManager.reset(new ViewManager(this)); } return *impl->viewManager; } MenuManager& ExtensionManager::menuManager() { if(!impl->menuManager){ impl->menuManager.reset(new MenuManager(MainWindow::instance()->menuBar())); impl->menuManager->bindTextDomain(impl->textDomain); } return *impl->menuManager; } OptionManager& ExtensionManager::optionManager() { static OptionManager optionManager; return optionManager; } void ExtensionManagerImpl::setVersion(const std::string& version, bool isPlugin) { vector v; boost::algorithm::split(v, version, boost::is_any_of(".")); textDomain = string("Cnoid") + moduleName; if(isPlugin){ textDomain += "Plugin"; } if(!v.empty()){ textDomain += "-"; textDomain += v[0]; if(v.size() >= 2){ textDomain += string(".") + v[1]; } } bindGettextDomain(textDomain.c_str()); #if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0) && CNOID_ENABLE_GETTEXT bind_textdomain_codeset(textDomain.c_str(), "utf-8"); #endif } ExtensionManager::PtrHolderBase::~PtrHolderBase() { } void ExtensionManager::manageSub(PtrHolderBase* holder) { impl->pointerHolders.push(holder); } void ExtensionManager::addToolBar(ToolBar* toolBar) { #if QT_VERSION < QT_VERSION_CHECK(5, 0, 0) toolBar->setWindowTitle(dgettext(impl->textDomain.c_str(), toolBar->objectName().toAscii())); #else toolBar->setWindowTitle(dgettext(impl->textDomain.c_str(), toolBar->objectName().toUtf8())); #endif manage(toolBar); MainWindow::instance()->addToolBar(toolBar); } void ExtensionManagerImpl::deleteManagedObjects() { while(!pointerHolders.empty()){ ExtensionManager::PtrHolderBase* holder = pointerHolders.top(); delete holder; pointerHolders.pop(); } } SignalProxy ExtensionManager::sigSystemUpdated() { return impl->sigSystemUpdated; } void ExtensionManager::notifySystemUpdate() { emitSigSystemUpdatedLater(); } SignalProxy ExtensionManager::sigReleaseRequest() { return impl->sigReleaseRequest; } void ExtensionManager::setProjectArchiver( const std::string& name, boost::function storeFunction, boost::function restoreFunction) { ProjectManager::instance()->setArchiver(impl->moduleName, name, storeFunction, restoreFunction); } void ExtensionManager::setProjectArchiver( boost::function storeFunction, boost::function restoreFunction) { ProjectManager::instance()->setArchiver(impl->moduleName, "", storeFunction, restoreFunction); } choreonoid-1.5.0/src/Base/MultiPointSetItem.h0000664000000000000000000000430212741425367017571 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_PCL_PLUGIN_MULTI_POINT_SET_ITEM_H #define CNOID_PCL_PLUGIN_MULTI_POINT_SET_ITEM_H #include #include "exportdecl.h" namespace cnoid { class MultiPointSetItemImpl; class CNOID_EXPORT MultiPointSetItem : public Item, public SceneProvider { public: static void initializeClass(ExtensionManager* ext); MultiPointSetItem(); MultiPointSetItem(const MultiPointSetItem& org); virtual ~MultiPointSetItem(); void setRenderingMode(int mode); int renderingMode() const; void setPointSize(double size); double pointSize() const; double voxelSize() const; void setVoxelSize(double size); int numPointSetItems() const; PointSetItem* pointSetItem(int index); const PointSetItem* pointSetItem(int index) const; int numActivePointSetItems() const; PointSetItem* activePointSetItem(int index); const PointSetItem* activePointSetItem(int index) const; void selectSinglePointSetItem(int index); SignalProxy sigPointSetItemAdded(); SignalProxy sigPointSetUpdated(); const Affine3& topOffsetTransform() const; void setTopOffsetTransform(const Affine3& T); SignalProxy sigTopOffsetTransformChanged(); void notifyTopOffsetTransformChange(); Affine3 offsetTransform(int index) const; SgPointSetPtr getTransformedPointSet(int index) const; int numAttentionPoints() const; Vector3 attentionPoint(int index) const; void clearAttentionPoints(); void addAttentionPoint(const Vector3& p); SignalProxy sigAttentionPointsChanged(); void notifyAttentionPointChange(); virtual SgNode* getScene(); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); bool startAutomaticSave(const std::string& filename); void stopAutomaticSave(); protected: virtual Item* doDuplicate() const; virtual void doPutProperties(PutPropertyFunction& putProperty); private: friend class MultiPointSetItemImpl; MultiPointSetItemImpl* impl; void initialize(); }; typedef ref_ptr MultiPointSetItemPtr; } #endif choreonoid-1.5.0/src/Base/TreeWidget.h0000664000000000000000000000627412741425367016247 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_TREE_WIDGET_H #define CNOID_BASE_TREE_WIDGET_H #include #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT TreeWidget : public QTreeWidget { Q_OBJECT public: TreeWidget(QWidget* parent = 0); virtual ~TreeWidget(); void setHeaderSectionResizeMode(int column, QHeaderView::ResizeMode mode); void setVerticalGridLineShown(bool on); SignalProxy sigCurrentItemChanged() { return sigCurrentItemChanged_; } /* SignalProxy sigItemActivated() { return sigItemActivated_; } */ SignalProxy sigItemActivated() { return sigItemActivated_; } SignalProxy sigItemChanged() { return sigItemChanged_; } SignalProxy sigItemClicked() { return sigItemClicked_; } SignalProxy sigItemCollapsed() { return sigItemCollapsed_; } SignalProxy sigItemDoubleClicked() { return sigItemDoubleClicked_; } SignalProxy sigItemEntered() { return sigItemEntered_; } SignalProxy sigItemExpanded() { return sigItemExpanded_; } SignalProxy sigItemPressed() { return sigItemPressed_; } SignalProxy sigItemSelectionChanged() { return sigItemSelectionChanged_; } protected: virtual void paintEvent(QPaintEvent* event); virtual void scrollContentsBy(int dx, int dy); private Q_SLOTS: void onCurrentItemChanged(QTreeWidgetItem* current, QTreeWidgetItem* previous); void onItemActivated(QTreeWidgetItem* item, int column); void onItemChanged(QTreeWidgetItem* item, int column); void onItemClicked(QTreeWidgetItem* item, int column); void onItemCollapsed(QTreeWidgetItem* item); void onItemDoubleClicked(QTreeWidgetItem* item, int column); void onItemEntered(QTreeWidgetItem* item, int column); void onItemExpanded(QTreeWidgetItem* item); void onItemPressed(QTreeWidgetItem* item, int column); void onItemSelectionChanged(void); private: Signal sigCurrentItemChanged_; Signal sigItemActivated_; Signal sigItemChanged_; Signal sigItemClicked_; Signal sigItemCollapsed_; Signal sigItemDoubleClicked_; Signal sigItemEntered_; Signal sigItemExpanded_; Signal sigItemPressed_; Signal sigItemSelectionChanged_; int gridColorRGB; bool isVerticalGridLineShown; }; } #endif choreonoid-1.5.0/src/Base/Dialog.cpp0000664000000000000000000000205612741425367015730 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "Dialog.h" #include "MainWindow.h" using namespace cnoid; /** This constructor sets MainWindwo::instance() to the parent widget of this dialog */ Dialog::Dialog() : QDialog(MainWindow::instance()) { #if defined(__APPLE__) && defined(__MACH__) // This is needed to show the dialog over the main window on OS X. setWindowFlags(windowFlags() | Qt::Tool); #endif initialize(); } Dialog::Dialog(QWidget* parent, Qt::WindowFlags f) : QDialog(parent, f) { initialize(); } void Dialog::initialize() { connect(this, SIGNAL(accepted()), this, SLOT(onSigAccepted())); connect(this, SIGNAL(finished(int)), this, SLOT(onSigFinished(int))); connect(this, SIGNAL(rejected()), this, SLOT(onSigRejected())); } void Dialog::onAccepted() { } void Dialog::onRejected() { } void Dialog::onSigAccepted() { onAccepted(); sigAccepted_(); } void Dialog::onSigFinished(int result) { sigFinished_(result); } void Dialog::onSigRejected() { onRejected(); sigRejected_(); } choreonoid-1.5.0/src/Base/GLSceneRenderer.cpp0000664000000000000000000022474412741425367017512 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "GLSceneRenderer.h" #include #include #include #include #include #include #ifdef _WIN32 #include #endif #include #ifdef _WIN32 #include #endif #include #include #include #include #include //#define DO_DEPTH_BUFFER_TYPE_TEST #ifdef DO_DEPTH_BUFFER_TYPE_TEST #include QElapsedTimer timer; #endif using namespace std; using namespace cnoid; namespace { const bool USE_DISPLAY_LISTS = true; const bool USE_VBO = false; const bool USE_INDEXING = false; const bool SHOW_IMAGE_FOR_PICKING = false; const float MinLineWidthForPicking = 5.0f; typedef vector > Affine3Array; struct TransparentShapeInfo { EIGEN_MAKE_ALIGNED_OPERATOR_NEW SgShape* shape; unsigned int pickId; Affine3 V; // view matrix }; typedef boost::shared_ptr TransparentShapeInfoPtr; /* A set of variables associated with a scene node */ class ShapeCache : public Referenced { public: GLuint listID; GLuint listIDforPicking; bool useIDforPicking; GLuint bufferNames[4]; GLuint size; vector transparentShapes; ShapeCache() { listID = 0; useIDforPicking = false; listIDforPicking = 0; for(int i=0; i < 4; ++i){ bufferNames[i] = GL_INVALID_VALUE; } } ~ShapeCache() { if(listID){ glDeleteLists(listID, 1); } if(listIDforPicking){ glDeleteLists(listIDforPicking, 1); } for(int i=0; i < 4; ++i){ if(bufferNames[i] != GL_INVALID_VALUE){ glDeleteBuffers(1, &bufferNames[i]); } } } GLuint& vertexBufferName() { return bufferNames[0]; } GLuint& normalBufferName() { return bufferNames[1]; } GLuint& indexBufferName() { return bufferNames[2]; } GLuint& texCoordBufferName() { return bufferNames[3]; } }; typedef ref_ptr ShapeCachePtr; class TextureCache : public Referenced { public: bool isBound; bool isImageUpdateNeeded; GLuint textureName; int width; int height; int numComponents; TextureCache(){ isBound = false; isImageUpdateNeeded = true; width = 0; height = 0; numComponents = 0; } bool isSameSizeAs(const Image& image){ return (width == image.width() && height == image.height() && numComponents == image.numComponents()); } ~TextureCache(){ if(isBound){ glDeleteTextures(1, &textureName); } } }; typedef ref_ptr TextureCachePtr; struct PreproNode { PreproNode() : parent(0), child(0), next(0) { } ~PreproNode() { if(child) delete child; if(next) delete next; } enum { GROUP, TRANSFORM, PREPROCESSED, LIGHT, FOG, CAMERA }; boost::variant node; SgNode* base; PreproNode* parent; PreproNode* child; PreproNode* next; template void setNode(T* n){ node = n; base = n; } }; class PreproTreeExtractor : public SceneVisitor { PreproNode* node; bool found; public: PreproNode* apply(SgNode* node); virtual void visitGroup(SgGroup* group); virtual void visitTransform(SgTransform* transform); virtual void visitShape(SgShape* shape); virtual void visitPointSet(SgPointSet* pointSet); virtual void visitLineSet(SgLineSet* lineSet); virtual void visitPreprocessed(SgPreprocessed* preprocessed); virtual void visitLight(SgLight* light); virtual void visitFog(SgFog* fog); virtual void visitCamera(SgCamera* camera); }; } PreproNode* PreproTreeExtractor::apply(SgNode* snode) { node = 0; found = false; snode->accept(*this); return node; } void PreproTreeExtractor::visitGroup(SgGroup* group) { bool foundInSubTree = false; PreproNode* self = new PreproNode(); self->setNode(group); for(SgGroup::const_reverse_iterator p = group->rbegin(); p != group->rend(); ++p){ node = 0; found = false; (*p)->accept(*this); if(node){ if(found){ node->parent = self; node->next = self->child; self->child = node; foundInSubTree = true; } else { delete node; } } } found = foundInSubTree; if(found){ node = self; } else { delete self; node = 0; } } void PreproTreeExtractor::visitTransform(SgTransform* transform) { visitGroup(transform); if(node){ node->setNode(transform); } } void PreproTreeExtractor::visitShape(SgShape* shape) { } void PreproTreeExtractor::visitPointSet(SgPointSet* shape) { } void PreproTreeExtractor::visitLineSet(SgLineSet* shape) { } void PreproTreeExtractor::visitPreprocessed(SgPreprocessed* preprocessed) { node = new PreproNode(); node->setNode(preprocessed); found = true; } void PreproTreeExtractor::visitLight(SgLight* light) { node = new PreproNode(); node->setNode(light); found = true; } void PreproTreeExtractor::visitFog(SgFog* fog) { node = new PreproNode(); node->setNode(fog); found = true; } void PreproTreeExtractor::visitCamera(SgCamera* camera) { node = new PreproNode(); node->setNode(camera); found = true; } namespace cnoid { class GLSceneRendererImpl { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW GLSceneRendererImpl(GLSceneRenderer* self, SgGroup* sceneRoot); ~GLSceneRendererImpl(); GLSceneRenderer* self; Signal sigRenderingRequest; SgGroupPtr sceneRoot; SgGroupPtr scene; SgNodePath indexedEntities; Affine3Array Vstack; // stack of the model/view matrices typedef vector > ColorArray; struct Buf { EIGEN_MAKE_ALIGNED_OPERATOR_NEW SgVertexArray vertices; SgIndexArray triangles; SgNormalArray normals; ColorArray colors; SgTexCoordArray texCoords; }; boost::scoped_ptr buf; struct SgObjectPtrHash { std::size_t operator()(const SgObjectPtr& p) const { return boost::hash_value(p.get()); } }; typedef boost::unordered_map CacheMap; CacheMap cacheMaps[2]; bool doUnusedCacheCheck; bool isCheckingUnusedCaches; bool hasValidNextCacheMap; bool isCacheClearRequested; int currentCacheMapIndex; CacheMap* currentCacheMap; CacheMap* nextCacheMap; ShapeCache* currentShapeCache; int currentShapeCacheTopViewMatrixIndex; bool doPreprocessedNodeTreeExtraction; boost::scoped_ptr preproTree; Array4i viewport; struct CameraInfo { EIGEN_MAKE_ALIGNED_OPERATOR_NEW CameraInfo() : camera(0), M(Affine3::Identity()), node(0) { } CameraInfo(SgCamera* camera, const Affine3& M, PreproNode* node) : camera(camera), M(M), node(node) { } SgCamera* camera; // I want to use 'T' here, but that causes a compile error (c2327) for VC++2010. // 'T' is also used as a template parameter in a template code of Eigen, // and it seems that the name of a template parameter and this member conflicts. // So I changed the name to 'M'. // This behavior of VC++ seems stupid!!! Affine3 M; PreproNode* node; }; typedef vector > CameraInfoArray; CameraInfoArray cameras1; CameraInfoArray cameras2; CameraInfoArray* cameras; CameraInfoArray* prevCameras; bool camerasChanged; bool currentCameraRemoved; int currentCameraIndex; SgCamera* currentCamera; vector cameraPaths; Signal sigCamerasChanged; Signal sigCurrentCameraChanged; GLfloat aspectRatio; // width / height; Affine3 lastViewMatrix; Matrix4 lastProjectionMatrix; Affine3 tmpCurrentCameraPosition; Affine3 tmpCurrentModelTransform; struct LightInfo { EIGEN_MAKE_ALIGNED_OPERATOR_NEW LightInfo() : light(0) { } LightInfo(SgLight* light, const Affine3& M) : light(light), M(M) { } SgLight* light; Affine3 M; }; vector > lights; int numSystemLights; int prevNumLights; bool isFogEnabled; bool isCurrentFogUpdated; SgFogPtr prevFog; SgFogPtr currentFog; ScopedConnection currentFogConnection; Vector3f bgColor; SgLightPtr headLight; bool isHeadLightLightingFromBackEnabled; std::set defaultLights; bool additionalLightsEnabled; GLSceneRenderer::PolygonMode polygonMode; bool defaultLighting; bool defaultSmoothShading; bool isTextureEnabled; SgMaterialPtr defaultMaterial; Vector4f defaultColor; GLfloat defaultPointSize; GLfloat defaultLineWidth; GLuint defaultTextureName; bool doNormalVisualization; double normalLength; bool isCompiling; bool isNewDisplayListDoubleRenderingEnabled; bool isNewDisplayListCreated; bool isPicking; GLdouble pickX; GLdouble pickY; typedef boost::shared_ptr SgNodePathPtr; SgNodePath currentNodePath; vector pickingNodePathList; SgNodePath pickedNodePath; Vector3 pickedPoint; vector transparentShapeInfos; // OpenGL states enum StateFlag { CURRENT_COLOR, COLOR_MATERIAL, DIFFUSE_COLOR, AMBIENT_COLOR, EMISSION_COLOR, SPECULAR_COLOR, SHININESS, CULL_FACE, CCW, LIGHTING, LIGHT_MODEL_TWO_SIDE, BLEND, DEPTH_MASK, POINT_SIZE, LINE_WIDTH, NUM_STATE_FLAGS }; boost::dynamic_bitset<> stateFlag; Vector4f currentColor; Vector4f diffuseColor; Vector4f ambientColor; Vector4f emissionColor; Vector4f specularColor; float shininess; float lastAlpha; bool isColorMaterialEnabled; bool isCullFaceEnabled; bool isCCW; bool isLightingEnabled; bool isLightModelTwoSide; bool isBlendEnabled; bool isDepthMaskEnabled; float pointSize; float lineWidth; void addEntity(SgNode* node); void removeEntity(SgNode* node); void onSceneGraphUpdated(const SgUpdate& update); void updateCameraPaths(); void setCurrentCamera(int index, bool doRenderingRequest); bool setCurrentCamera(SgCamera* camera); bool initializeGL(); void setViewport(int x, int y, int width, int height); void beginRendering(bool doRenderingCommands); void extractPreproNodes(); void extractPreproNodesIter(PreproNode* node, const Affine3& T); void renderCamera(); void getViewVolume( const SgOrthographicCamera& camera, GLfloat& out_left, GLfloat& out_right, GLfloat& out_bottom, GLfloat& out_top) const; void renderLights(); void renderLight(const SgLight* light, GLint id, const Affine3& T); void renderFog(); void onCurrentFogNodeUdpated(); void endRendering(); void render(); bool pick(int x, int y); inline void setPickColor(unsigned int id); inline unsigned int pushPickName(SgNode* node, bool doSetColor = true); void popPickName(); void visitInvariantGroup(SgInvariantGroup* group); void visitShape(SgShape* shape); void visitPointSet(SgPointSet* pointSet); void renderPlot(SgPlot* plot, SgVertexArray& expandedVertices, GLenum primitiveMode); void visitLineSet(SgLineSet* lineSet); void renderMaterial(const SgMaterial* material); bool renderTexture(SgTexture* texture, bool withMaterial); void putMeshData(SgMesh* mesh); void renderMesh(SgMesh* mesh, bool hasTexture); void renderTransparentShapes(); void writeVertexBuffers(SgMesh* mesh, ShapeCache* cache, bool hasTexture); void visitOutlineGroup(SgOutlineGroup* outline); void clearGLState(); void setColor(const Vector4f& color); void enableColorMaterial(bool on); void setDiffuseColor(const Vector4f& color); void setAmbientColor(const Vector4f& color); void setEmissionColor(const Vector4f& color); void setSpecularColor(const Vector4f& color); void setShininess(float shininess); void enableCullFace(bool on); void setFrontCCW(bool on); void enableLighting(bool on); void setLightModelTwoSide(bool on); void enableBlend(bool on); void enableDepthMask(bool on); void setPointSize(float size); void setLineWidth(float width); void getCurrentCameraTransform(Affine3& T); Vector4f createColorWithAlpha(const Vector3f& c3){ Vector4f c4; c4.head<3>() = c3; c4[3] = lastAlpha; return c4; } }; } GLSceneRenderer::GLSceneRenderer() { SgGroup* sceneRoot = new SgGroup; sceneRoot->setName("Root"); impl = new GLSceneRendererImpl(this, sceneRoot); } GLSceneRenderer::GLSceneRenderer(SgGroup* sceneRoot) { impl = new GLSceneRendererImpl(this, sceneRoot); } GLSceneRendererImpl::GLSceneRendererImpl(GLSceneRenderer* self, SgGroup* sceneRoot) : self(self), sceneRoot(sceneRoot) { sceneRoot->sigUpdated().connect(boost::bind(&GLSceneRendererImpl::onSceneGraphUpdated, this, _1)); Vstack.reserve(16); buf.reset(new Buf); doUnusedCacheCheck = true; currentCacheMapIndex = 0; hasValidNextCacheMap = false; isCacheClearRequested = false; currentCacheMap = &cacheMaps[0]; nextCacheMap = &cacheMaps[1]; doPreprocessedNodeTreeExtraction = true; bgColor << 0.1f, 0.1f, 0.3f; // dark blue aspectRatio = 1.0f; cameras = &cameras1; prevCameras = &cameras2; currentCameraIndex = -1; currentCamera = 0; lastViewMatrix.setIdentity(); lastProjectionMatrix.setIdentity(); numSystemLights = 2; prevNumLights = 0; headLight = new SgDirectionalLight(); headLight->setAmbientIntensity(0.0f); isHeadLightLightingFromBackEnabled = false; additionalLightsEnabled = true; scene = new SgGroup(); sceneRoot->addChild(scene); polygonMode = GLSceneRenderer::FILL_MODE; defaultLighting = true; defaultSmoothShading = true; defaultColor << 1.0f, 1.0f, 1.0f, 1.0f; defaultMaterial = new SgMaterial; defaultMaterial->setDiffuseColor(Vector3f(1.0f, 1.0f, 1.0f)); isTextureEnabled = true; defaultPointSize = 1.0f; defaultLineWidth = 1.0f; isFogEnabled = true; doNormalVisualization = false; normalLength = 0.0; isCompiling = false; isNewDisplayListDoubleRenderingEnabled = false; isNewDisplayListCreated = false; isPicking = false; pickedPoint.setZero(); stateFlag.resize(NUM_STATE_FLAGS, false); clearGLState(); } GLSceneRenderer::~GLSceneRenderer() { delete impl; } GLSceneRendererImpl::~GLSceneRendererImpl() { } SgGroup* GLSceneRenderer::sceneRoot() { return impl->sceneRoot; } SgGroup* GLSceneRenderer::scene() { return impl->scene; } void GLSceneRenderer::clearScene() { impl->scene->clearChildren(true); } void GLSceneRendererImpl::onSceneGraphUpdated(const SgUpdate& update) { if(update.action() & (SgUpdate::ADDED | SgUpdate::REMOVED)){ doPreprocessedNodeTreeExtraction = true; } if(SgImage* image = dynamic_cast(update.path().front())){ CacheMap* cacheMap = hasValidNextCacheMap ? nextCacheMap : currentCacheMap; CacheMap::iterator p = cacheMap->find(image); if(p != cacheMap->end()){ TextureCache* cache = static_cast(p->second.get()); cache->isImageUpdateNeeded = true; } } sigRenderingRequest(); } SignalProxy GLSceneRenderer::sigRenderingRequest() { return impl->sigRenderingRequest; } SignalProxy GLSceneRenderer::sigCamerasChanged() const { return impl->sigCamerasChanged; } int GLSceneRenderer::numCameras() const { return impl->cameras->size(); } SgCamera* GLSceneRenderer::camera(int index) { return dynamic_cast(cameraPath(index).back()); } const std::vector& GLSceneRenderer::cameraPath(int index) const { if(impl->cameraPaths.empty()){ impl->updateCameraPaths(); } return impl->cameraPaths[index]; } void GLSceneRendererImpl::updateCameraPaths() { vector tmpPath; const int n = cameras->size(); cameraPaths.resize(n); for(int i=0; i < n; ++i){ CameraInfo& info = (*cameras)[i]; tmpPath.clear(); PreproNode* node = info.node; while(node){ tmpPath.push_back(node->base); node = node->parent; } if(!tmpPath.empty()){ tmpPath.pop_back(); // remove the root node vector& path = cameraPaths[i]; path.resize(tmpPath.size()); std::copy(tmpPath.rbegin(), tmpPath.rend(), path.begin()); } } } void GLSceneRenderer::setCurrentCamera(int index) { impl->setCurrentCamera(index, true); } void GLSceneRendererImpl::setCurrentCamera(int index, bool doRenderingRequest) { SgCamera* newCamera = 0; if(index >= 0 && index < cameras->size()){ newCamera = (*cameras)[index].camera; } if(newCamera && newCamera != currentCamera){ currentCameraIndex = index; currentCamera = newCamera; sigCurrentCameraChanged(); if(doRenderingRequest){ sigRenderingRequest(); } } } bool GLSceneRenderer::setCurrentCamera(SgCamera* camera) { return impl->setCurrentCamera(camera); } bool GLSceneRendererImpl::setCurrentCamera(SgCamera* camera) { if(camera != currentCamera){ for(size_t i=0; i < cameras->size(); ++i){ if((*cameras)[i].camera == camera){ setCurrentCamera(i, true); return true; } } } return false; } SgCamera* GLSceneRenderer::currentCamera() const { return impl->currentCamera; } int GLSceneRenderer::currentCameraIndex() const { return impl->currentCameraIndex; } SignalProxy GLSceneRenderer::sigCurrentCameraChanged() { return impl->sigCurrentCameraChanged; } bool GLSceneRenderer::setSwapInterval(int interval) { #ifdef _WIN32 if(!wglGetProcAddress("wglGetExtensionsStringEXT")) return false; if( strstr(wglGetExtensionsStringEXT(), "WGL_EXT_swap_control" ) == 0 ) return false; return wglSwapIntervalEXT(interval); #endif return false; } int GLSceneRenderer::getSwapInterval() const { #ifdef _WIN32 return wglGetSwapIntervalEXT(); #endif return -1; } bool GLSceneRenderer::initializeGL() { return impl->initializeGL(); } bool GLSceneRendererImpl::initializeGL() { GLenum err = glewInit(); if(err != GLEW_OK){ return false; } isCullFaceEnabled = false; if(isCullFaceEnabled){ glEnable(GL_CULL_FACE); GLint twoSide = 0; isLightModelTwoSide = false; glLightModeliv(GL_LIGHT_MODEL_TWO_SIDE, &twoSide); } else { glDisable(GL_CULL_FACE); GLint twoSide = 1; isLightModelTwoSide = true; glLightModeliv(GL_LIGHT_MODEL_TWO_SIDE, &twoSide); } glEnable(GL_DEPTH_TEST); glEnable(GL_NORMALIZE); setFrontCCW(true); glDisable(GL_FOG); isCurrentFogUpdated = false; glGenTextures(1, &defaultTextureName); return true; } void GLSceneRenderer::setViewport(int x, int y, int width, int height) { impl->setViewport(x, y, width, height); } void GLSceneRendererImpl::setViewport(int x, int y, int width, int height) { if (height > 0) aspectRatio = (double)width / height; viewport << x, y, width, height; glViewport(x, y, width, height); } Array4i GLSceneRenderer::viewport() const { return impl->viewport; } void GLSceneRenderer::getViewport(int& out_x, int& out_y, int& out_width, int& out_height) const { out_x = impl->viewport[0]; out_y = impl->viewport[1]; out_width = impl->viewport[2]; out_height = impl->viewport[3]; } double GLSceneRenderer::aspectRatio() const { return impl->aspectRatio; } void GLSceneRenderer::requestToClearCache() { impl->isCacheClearRequested = true; } void GLSceneRenderer::initializeRendering() { impl->beginRendering(false); } void GLSceneRenderer::beginRendering() { impl->beginRendering(true); } void GLSceneRendererImpl::beginRendering(bool doRenderingCommands) { isCheckingUnusedCaches = isPicking ? false : doUnusedCacheCheck; if(isCacheClearRequested){ cacheMaps[0].clear(); cacheMaps[1].clear(); hasValidNextCacheMap = false; isCheckingUnusedCaches = false; isCacheClearRequested = false; } if(hasValidNextCacheMap){ currentCacheMapIndex = 1 - currentCacheMapIndex; currentCacheMap = &cacheMaps[currentCacheMapIndex]; nextCacheMap = &cacheMaps[1 - currentCacheMapIndex]; hasValidNextCacheMap = false; } currentShapeCache = 0; if(doRenderingCommands){ if(isPicking){ currentNodePath.clear(); pickingNodePathList.clear(); glClearColor(0.0f, 0.0f, 0.0f, 1.0f); } else { glClearColor(bgColor[0], bgColor[1], bgColor[2], 1.0f); } glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); } extractPreproNodes(); if(doRenderingCommands && currentCamera){ renderCamera(); if(!isPicking){ renderLights(); renderFog(); } if(isPicking){ glPolygonMode(GL_FRONT_AND_BACK, GL_FILL); } else { switch(polygonMode){ case GLSceneRenderer::FILL_MODE: glPolygonMode(GL_FRONT_AND_BACK, GL_FILL); break; case GLSceneRenderer::LINE_MODE: glPolygonMode(GL_FRONT_AND_BACK, GL_LINE); break; case GLSceneRenderer::POINT_MODE: glPolygonMode(GL_FRONT_AND_BACK, GL_POINT); break; } } if(defaultSmoothShading){ glShadeModel(GL_SMOOTH); } else { glShadeModel(GL_FLAT); } isNewDisplayListCreated = false; clearGLState(); setColor(defaultColor); setPointSize(defaultPointSize); //glEnable(GL_POINT_SMOOTH); setLineWidth(defaultLineWidth); //glEnable(GL_LINE_SMOOTH); transparentShapeInfos.clear(); } } void GLSceneRenderer::extractPreprocessedNodes() { impl->extractPreproNodes(); } void GLSceneRendererImpl::extractPreproNodes() { if(doPreprocessedNodeTreeExtraction){ PreproTreeExtractor extractor; preproTree.reset(extractor.apply(self->sceneRoot())); doPreprocessedNodeTreeExtraction = false; } std::swap(cameras, prevCameras); cameras->clear(); camerasChanged = false; currentCameraRemoved = true; lights.clear(); currentFog = 0; if(preproTree){ extractPreproNodesIter(preproTree.get(), Affine3::Identity()); } if(!camerasChanged){ if(cameras->size() != prevCameras->size()){ camerasChanged = true; } } if(camerasChanged){ if(currentCameraRemoved){ currentCameraIndex = 0; } cameraPaths.clear(); sigCamerasChanged(); } setCurrentCamera(currentCameraIndex, false); } void GLSceneRendererImpl::extractPreproNodesIter(PreproNode* node, const Affine3& T) { switch(node->node.which()){ case PreproNode::GROUP: for(PreproNode* childNode = node->child; childNode; childNode = childNode->next){ extractPreproNodesIter(childNode, T); } break; case PreproNode::TRANSFORM: { SgTransform* transform = boost::get(node->node); Affine3 T1; transform->getTransform(T1); const Affine3 T2 = T * T1; for(PreproNode* childNode = node->child; childNode; childNode = childNode->next){ extractPreproNodesIter(childNode, T2); } } break; case PreproNode::PREPROCESSED: // call additional functions break; case PreproNode::LIGHT: { SgLight* light = boost::get(node->node); if(additionalLightsEnabled || defaultLights.find(light) != defaultLights.end()){ lights.push_back(LightInfo(light, T)); } break; } case PreproNode::FOG: { SgFog* fog = boost::get(node->node); currentFog = fog; break; } case PreproNode::CAMERA: { SgCamera* camera = boost::get(node->node); size_t index = cameras->size(); if(!camerasChanged){ if(index >= prevCameras->size() || camera != (*prevCameras)[index].camera){ camerasChanged = true; } } if(camera == currentCamera){ currentCameraRemoved = false; currentCameraIndex = cameras->size(); } cameras->push_back(CameraInfo(camera, T, node)); } break; default: break; } } void GLSceneRendererImpl::renderCamera() { glMatrixMode(GL_PROJECTION); glLoadIdentity(); // set projection if(SgPerspectiveCamera* camera = dynamic_cast(currentCamera)){ gluPerspective(degree(camera->fovy(aspectRatio)), aspectRatio, camera->nearClipDistance(), camera->farClipDistance()); } else if(SgOrthographicCamera* camera = dynamic_cast(currentCamera)){ GLfloat left, right, bottom, top; getViewVolume(*camera, left, right, bottom, top); glOrtho(left, right, bottom, top, camera->nearClipDistance(), camera->farClipDistance()); } else { gluPerspective(40.0f, aspectRatio, 0.01, 1.0e4); } GLdouble P[16]; glGetDoublev(GL_PROJECTION_MATRIX, P); lastProjectionMatrix = Eigen::Map >(P); glMatrixMode(GL_MODELVIEW); glLoadIdentity(); // Render headlight if(!isPicking && defaultLighting){ glEnable(GL_LIGHTING); if(!headLight->on()){ glDisable(GL_LIGHT0); glDisable(GL_LIGHT1); } else { static const Affine3 I = Affine3::Identity(); renderLight(headLight, GL_LIGHT0, I); if(isHeadLightLightingFromBackEnabled){ if(SgDirectionalLight* directionalHeadLight = dynamic_cast(headLight.get())){ SgDirectionalLight lightFromBack(*directionalHeadLight); lightFromBack.setDirection(-directionalHeadLight->direction()); renderLight(&lightFromBack, GL_LIGHT1, I); } } } } else { glDisable(GL_LIGHTING); } Vstack.clear(); Vstack.push_back((*cameras)[currentCameraIndex].M.inverse(Eigen::Isometry)); const Affine3& V = Vstack.back(); lastViewMatrix = V; glLoadMatrixd(V.data()); } void GLSceneRendererImpl::getViewVolume (const SgOrthographicCamera& camera, GLfloat& out_left, GLfloat& out_right, GLfloat& out_bottom, GLfloat& out_top) const { GLfloat h = camera.height(); out_top = h / 2.0f; out_bottom = -h / 2.0f; GLfloat w = h * aspectRatio; out_left = -w / 2.0f; out_right = w / 2.0f; } void GLSceneRendererImpl::renderLights() { GLint maxLights; glGetIntegerv(GL_MAX_LIGHTS, &maxLights); maxLights -= numSystemLights; if(lights.size() > maxLights){ lights.resize(maxLights); } for(size_t i=0; i < lights.size(); ++i){ const LightInfo& info = lights[i]; const GLint id = GL_LIGHT0 + numSystemLights + i; renderLight(info.light, id, info.M); } for(size_t i = lights.size(); i < prevNumLights; ++i){ const GLint lightID = GL_LIGHT0 + numSystemLights + i; glDisable(lightID); } prevNumLights = lights.size(); } void GLSceneRendererImpl::renderLight(const SgLight* light, GLint id, const Affine3& T) { bool isValid = false; if(light->on()){ if(const SgDirectionalLight* dirLight = dynamic_cast(light)){ isValid = true; Vector4f pos; pos << (T.linear() * -dirLight->direction()).cast(), 0.0f; glLightfv(id, GL_POSITION, pos.data()); /* glLightf(id, GL_CONSTANT_ATTENUATION, 0.0f); glLightf(id, GL_LINEAR_ATTENUATION, 0.0f); glLightf(id, GL_QUADRATIC_ATTENUATION, 0.0f); */ } else if(const SgPointLight* pointLight = dynamic_cast(light)){ isValid = true; Vector4f pos; pos << T.translation().cast(), 1.0f; glLightfv(id, GL_POSITION, pos.data()); glLightf(id, GL_CONSTANT_ATTENUATION, pointLight->constantAttenuation()); glLightf(id, GL_LINEAR_ATTENUATION, pointLight->linearAttenuation()); glLightf(id, GL_QUADRATIC_ATTENUATION, pointLight->quadraticAttenuation()); if(const SgSpotLight* spotLight = dynamic_cast(pointLight)){ Vector3f direction = (T.linear() * spotLight->direction()).cast(); glLightfv(id, GL_SPOT_DIRECTION, direction.data()); glLightf(id, GL_SPOT_CUTOFF, degree(spotLight->cutOffAngle())); glLightf(id, GL_SPOT_EXPONENT, 0.5f); } else { glLightf(id, GL_SPOT_CUTOFF, 180.0f); } } } if(!isValid){ glDisable(id); } else { Vector4f diffuse; diffuse << (light->intensity() * light->color()), 1.0f; glLightfv(id, GL_DIFFUSE, diffuse.data()); glLightfv(id, GL_SPECULAR, diffuse.data()); Vector4f ambient; ambient << (light->ambientIntensity() * light->color()), 1.0f; glLightfv(id, GL_AMBIENT, ambient.data()); glEnable(id); } } void GLSceneRendererImpl::renderFog() { if(!isFogEnabled){ currentFog = 0; } if(currentFog != prevFog){ isCurrentFogUpdated = true; if(!currentFog){ currentFogConnection.disconnect(); } else { currentFogConnection.reset( currentFog->sigUpdated().connect( boost::bind(&GLSceneRendererImpl::onCurrentFogNodeUdpated, this))); } } if(isCurrentFogUpdated){ if(!currentFog){ glDisable(GL_FOG); } else { glEnable(GL_FOG); GLfloat color[4]; const Vector3f& c = currentFog->color(); color[0] = c[0]; color[1] = c[1]; color[2] = c[2]; color[3] = 1.0f; glFogfv(GL_FOG_COLOR, color); glFogi(GL_FOG_MODE, GL_LINEAR); glFogi(GL_FOG_HINT, GL_FASTEST); glFogf(GL_FOG_START, 0.0f); glFogf(GL_FOG_END, currentFog->visibilityRange()); } } isCurrentFogUpdated = false; prevFog = currentFog; } void GLSceneRendererImpl::onCurrentFogNodeUdpated() { isCurrentFogUpdated = true; } void GLSceneRenderer::endRendering() { impl->endRendering(); } void GLSceneRendererImpl::endRendering() { if(isCheckingUnusedCaches){ currentCacheMap->clear(); hasValidNextCacheMap = true; } if(isNewDisplayListDoubleRenderingEnabled && isNewDisplayListCreated){ scene->notifyUpdate(); } } void GLSceneRenderer::render() { impl->render(); } void GLSceneRendererImpl::render() { beginRendering(true); sceneRoot->accept(*self); if(!transparentShapeInfos.empty()){ renderTransparentShapes(); } endRendering(); } void GLSceneRenderer::flush() { glFlush(); } bool GLSceneRenderer::pick(int x, int y) { return impl->pick(x, y); } /* http://stackoverflow.com/questions/4040616/opengl-gl-select-or-manual-collision-detection http://content.gpwiki.org/index.php/OpenGL_Selection_Using_Unique_Color_IDs http://www.opengl-tutorial.org/miscellaneous/clicking-on-objects/picking-with-an-opengl-hack/ http://www.codeproject.com/Articles/35139/Interactive-Techniques-in-Three-dimensional-Scenes#_OpenGL_Picking_by http://en.wikibooks.org/wiki/OpenGL_Programming/Object_selection Use a Framebuffer object? */ bool GLSceneRendererImpl::pick(int x, int y) { glPushAttrib(GL_ENABLE_BIT); //glDisable(GL_LIGHTING); // disable this later in 'renderCamera()' glDisable(GL_BLEND); glDisable(GL_MULTISAMPLE); glDisable(GL_TEXTURE_2D); glDisable(GL_DITHER); glDisable(GL_FOG); if(!SHOW_IMAGE_FOR_PICKING){ glScissor(x, y, 1, 1); glEnable(GL_SCISSOR_TEST); } isPicking = true; render(); isPicking = false; glPopAttrib(); GLfloat color[4]; glReadPixels(x, y, 1, 1, GL_RGBA, GL_FLOAT, color); if(SHOW_IMAGE_FOR_PICKING){ color[2] = 0.0f; } unsigned int id = (color[0] * 255) + ((int)(color[1] * 255) << 8) + ((int)(color[2] * 255) << 16) - 1; pickedNodePath.clear(); if(0 < id && id < pickingNodePathList.size()){ pickedNodePath = *pickingNodePathList[id]; GLfloat depth; glReadPixels(x, y, 1, 1, GL_DEPTH_COMPONENT, GL_FLOAT, &depth); GLdouble ox, oy, oz; gluUnProject(x, y, depth, lastViewMatrix.matrix().data(), lastProjectionMatrix.data(), viewport.data(), &ox, &oy, &oz); pickedPoint << ox, oy, oz; } return !pickedNodePath.empty(); } const std::vector& GLSceneRenderer::pickedNodePath() const { return impl->pickedNodePath; } const Vector3& GLSceneRenderer::pickedPoint() const { return impl->pickedPoint; } inline void GLSceneRendererImpl::setPickColor(unsigned int id) { float r = (id & 0xff) / 255.0; float g = ((id >> 8) & 0xff) / 255.0; float b = ((id >> 16) & 0xff) / 255.0; if(SHOW_IMAGE_FOR_PICKING){ b = 1.0f; } glColor4f(r, g, b, 1.0f); currentColor << r, g, b, 1.0f; } /** @return id of the current object */ inline unsigned int GLSceneRendererImpl::pushPickName(SgNode* node, bool doSetColor) { unsigned int id = 0; if(isPicking && !isCompiling){ id = pickingNodePathList.size() + 1; currentNodePath.push_back(node); pickingNodePathList.push_back(boost::make_shared(currentNodePath)); if(doSetColor){ setPickColor(id); } } return id; } inline void GLSceneRendererImpl::popPickName() { if(isPicking && !isCompiling){ currentNodePath.pop_back(); } } void GLSceneRenderer::visitGroup(SgGroup* group) { impl->pushPickName(group); SceneVisitor::visitGroup(group); impl->popPickName(); } void GLSceneRenderer::visitInvariantGroup(SgInvariantGroup* group) { impl->visitInvariantGroup(group); } void GLSceneRendererImpl::visitInvariantGroup(SgInvariantGroup* group) { if(!USE_DISPLAY_LISTS || isCompiling){ self->visitGroup(group); } else { ShapeCache* cache; CacheMap::iterator p = currentCacheMap->find(group); if(p == currentCacheMap->end()){ cache = new ShapeCache(); currentCacheMap->insert(CacheMap::value_type(group, cache)); } else { cache = static_cast(p->second.get()); } if(!cache->listID && !isPicking){ currentShapeCache = cache; currentShapeCacheTopViewMatrixIndex = Vstack.size() - 1; cache->listID = glGenLists(1); if(cache->listID){ glNewList(cache->listID, GL_COMPILE); isCompiling = true; clearGLState(); self->visitGroup(group); isCompiling = false; if(stateFlag[LIGHTING] || stateFlag[CURRENT_COLOR]){ cache->useIDforPicking = true; } glEndList(); isNewDisplayListCreated = true; } } GLuint listID = cache->listID; if(listID){ if(isPicking && cache->useIDforPicking){ if(!cache->listIDforPicking){ currentShapeCache = cache; currentShapeCacheTopViewMatrixIndex = Vstack.size() - 1; cache->listIDforPicking = glGenLists(1); if(cache->listIDforPicking){ glNewList(cache->listIDforPicking, GL_COMPILE); isCompiling = true; clearGLState(); self->visitGroup(group); isCompiling = false; glEndList(); } } listID = cache->listIDforPicking; } if(listID){ const unsigned int pickId = pushPickName(group); glPushAttrib(GL_ENABLE_BIT); glCallList(listID); glPopAttrib(); clearGLState(); popPickName(); const vector& transparentShapes = cache->transparentShapes; if(!transparentShapes.empty()){ const Affine3& V = Vstack.back(); for(size_t i=0; i < transparentShapes.size(); ++i){ const TransparentShapeInfo& src = *transparentShapes[i]; TransparentShapeInfoPtr info = make_shared_aligned(); info->shape = src.shape; info->pickId = pickId; info->V = V * src.V; transparentShapeInfos.push_back(info); } } } if(isCheckingUnusedCaches){ nextCacheMap->insert(CacheMap::value_type(group, cache)); } } } currentShapeCache = 0; } void GLSceneRenderer::visitTransform(SgTransform* transform) { Affine3 T; transform->getTransform(T); Affine3Array& Vstack = impl->Vstack; Vstack.push_back(Vstack.back() * T); glPushMatrix(); glMultMatrixd(T.data()); /* if(isNotRotationMatrix){ glPushAttrib(GL_ENABLE_BIT); glEnable(GL_NORMALIZE); } */ visitGroup(transform); /* if(isNotRotationMatrix){ glPopAttrib(); } */ glPopMatrix(); Vstack.pop_back(); } void GLSceneRendererImpl::visitShape(SgShape* shape) { SgMesh* mesh = shape->mesh(); if(mesh){ if(mesh->hasVertices()){ SgMaterial* material = shape->material(); SgTexture* texture = isTextureEnabled ? shape->texture() : 0; if((material && material->transparency() > 0.0) /* || (texture && texture->constImage().hasAlphaComponent()) */){ // A transparent shape is rendered later TransparentShapeInfoPtr info = make_shared_aligned(); info->shape = shape; if(isCompiling){ info->V = Vstack[currentShapeCacheTopViewMatrixIndex].inverse() * Vstack.back(); currentShapeCache->transparentShapes.push_back(info); } else { info->V = Vstack.back(); info->pickId = pushPickName(shape, false); popPickName(); transparentShapeInfos.push_back(info); } } else { pushPickName(shape); bool hasTexture = false; if(!isPicking){ renderMaterial(material); if(texture && mesh->hasTexCoords()){ hasTexture = renderTexture(texture, material); } } renderMesh(mesh, hasTexture); popPickName(); } } } } void GLSceneRenderer::visitUnpickableGroup(SgUnpickableGroup* group) { if(!impl->isPicking){ visitGroup(group); } } void GLSceneRenderer::visitShape(SgShape* shape) { impl->visitShape(shape); } void GLSceneRendererImpl::renderMaterial(const SgMaterial* material) { if(!material){ material = defaultMaterial; } float alpha = 1.0 - material->transparency(); Vector4f color; color << material->diffuseColor(), alpha; setDiffuseColor(color); color.head<3>() *= material->ambientIntensity(); setAmbientColor(color); color << material->emissiveColor(), alpha; setEmissionColor(color); color << material->specularColor(), alpha; setSpecularColor(color); float shininess = (127.0 * material->shininess()) + 1.0; setShininess(shininess); lastAlpha = alpha; } bool GLSceneRendererImpl::renderTexture(SgTexture* texture, bool withMaterial) { SgImage* sgImage = texture->image(); if(!sgImage || sgImage->empty()){ return false; } const Image& image = sgImage->constImage(); const int width = image.width(); const int height = image.height(); bool doLoadTexImage = false; bool doReloadTexImage = false; CacheMap::iterator p = currentCacheMap->find(sgImage); TextureCache* cache; if(p != currentCacheMap->end()){ cache = static_cast(p->second.get()); } else { cache = new TextureCache; currentCacheMap->insert(CacheMap::value_type(sgImage, cache)); } if(cache->isBound){ glBindTexture(GL_TEXTURE_2D, cache->textureName); if(cache->isImageUpdateNeeded){ doLoadTexImage = true; doReloadTexImage = cache->isSameSizeAs(image); } } else { glGenTextures(1, &cache->textureName); glBindTexture(GL_TEXTURE_2D, cache->textureName); cache->isBound = true; doLoadTexImage = true; } if(isCheckingUnusedCaches){ nextCacheMap->insert(CacheMap::value_type(sgImage, cache)); } cache->width = width; cache->height = height; cache->numComponents = image.numComponents(); cache->isImageUpdateNeeded = false; const bool useMipmap = isCompiling; if(doLoadTexImage){ GLint internalFormat = GL_RGB; GLenum format = GL_RGB; switch(image.numComponents()){ case 1 : internalFormat = GL_LUMINANCE; format = GL_LUMINANCE; break; case 2 : internalFormat = GL_LUMINANCE_ALPHA; format = GL_LUMINANCE_ALPHA; break; case 3 : internalFormat = GL_RGB; format = GL_RGB; break; case 4 : internalFormat = GL_RGBA; format = GL_RGBA; break; default : return false; } if(image.numComponents() == 3){ glPixelStorei(GL_UNPACK_ALIGNMENT, 1); } else { glPixelStorei(GL_UNPACK_ALIGNMENT, image.numComponents()); } if(useMipmap){ gluBuild2DMipmaps( GL_TEXTURE_2D, internalFormat, width, height, format, GL_UNSIGNED_BYTE, image.pixels()); } else { if(doReloadTexImage){ glTexSubImage2D( GL_TEXTURE_2D, 0, 0, 0, width, height, format, GL_UNSIGNED_BYTE, image.pixels()); } else { // gluScaleImage(...); glTexImage2D(GL_TEXTURE_2D, 0, internalFormat, width, height, 0, format, GL_UNSIGNED_BYTE, image.pixels()); } } } if(useMipmap){ glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR); } else { glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); } glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, texture->repeatS() ? GL_REPEAT : GL_CLAMP); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, texture->repeatT() ? GL_REPEAT : GL_CLAMP); glTexEnvi(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, withMaterial ? GL_MODULATE : GL_REPLACE); if(SgTextureTransform* tt = texture->textureTransform()){ glMatrixMode(GL_TEXTURE); glLoadIdentity(); glTranslated(-tt->center()[0], -tt->center()[1], 0.0 ); glScaled(tt->scale()[0], tt->scale()[1], 0.0 ); glRotated(tt->rotation(), 0.0, 0.0, 1.0 ); glTranslated(tt->center()[0], tt->center()[1], 0.0 ); glTranslated(tt->translation()[0], tt->translation()[1], 0.0 ); glMatrixMode(GL_MODELVIEW); } else { glMatrixMode(GL_TEXTURE); glLoadIdentity(); glMatrixMode(GL_MODELVIEW); } return true; } /** \todo sort the shape nodes by the distance from the viewpoint */ void GLSceneRendererImpl::renderTransparentShapes() { glMatrixMode(GL_MODELVIEW); glPushMatrix();; if(!isPicking){ enableBlend(true); } const int n = transparentShapeInfos.size(); for(int i=0; i < n; ++i){ TransparentShapeInfo& info = *transparentShapeInfos[i]; glMatrixMode(GL_MODELVIEW); glLoadMatrixd(info.V.data()); SgShape* shape = info.shape; bool hasTexture = false; if(isPicking){ setPickColor(info.pickId); } else { renderMaterial(shape->material()); SgTexture* texture = isTextureEnabled ? shape->texture() : 0; if(texture && shape->mesh()->hasTexCoords()){ hasTexture = renderTexture(texture, shape->material()); } } renderMesh(shape->mesh(), hasTexture); } if(!isPicking){ enableBlend(false); } transparentShapeInfos.clear(); glPopMatrix(); } void GLSceneRendererImpl::putMeshData(SgMesh* mesh) { if(!mesh->hasColors()){ return; } if(mesh->hasVertices()){ cout << "vertices: \n"; SgVertexArray& vertices = *mesh->vertices(); for(size_t i=0; i < vertices.size(); ++i){ const Vector3f& v = vertices[i]; cout << "(" << v.x() << ", " << v.y() << ", " << v.z() << "), "; } cout << "\n"; } if(!mesh->triangleVertices().empty()){ cout << "triangles: \n"; const int n = mesh->numTriangles(); for(int i=0; i < n; ++i){ SgMesh::TriangleRef t = mesh->triangle(i); cout << "(" << t[0] << ", " << t[1] << ", " << t[2] << "), "; } cout << "\n"; } if(mesh->hasNormals()){ cout << "normals: \n"; SgNormalArray& normals = *mesh->normals(); for(size_t i=0; i < normals.size(); ++i){ const Vector3f& v = normals[i]; cout << "(" << v.x() << ", " << v.y() << ", " << v.z() << "), "; } cout << "\n"; SgIndexArray& indices = mesh->normalIndices(); if(!indices.empty()){ cout << "normalIndices: \n"; for(size_t i=0; i < indices.size(); ++i){ cout << indices[i] << ", "; } cout << "\n"; } } if(mesh->hasColors()){ cout << "colors: \n"; SgColorArray& colors = *mesh->colors(); for(size_t i=0; i < colors.size(); ++i){ const Vector3f& c = colors[i]; cout << "(" << c.x() << ", " << c.y() << ", " << c.z() << "), "; } cout << "\n"; SgIndexArray& indices = mesh->colorIndices(); if(!indices.empty()){ cout << "colorIndices: \n"; for(size_t i=0; i < indices.size(); ++i){ cout << indices[i] << ", "; } cout << "\n"; } } cout << endl; } void GLSceneRendererImpl::renderMesh(SgMesh* mesh, bool hasTexture) { if(false){ putMeshData(mesh); } const bool ENABLE_CULLING = true; if(ENABLE_CULLING){ enableCullFace(mesh->isSolid()); setLightModelTwoSide(!mesh->isSolid()); } else { enableCullFace(false); setLightModelTwoSide(true); } glPushClientAttrib(GL_CLIENT_VERTEX_ARRAY_BIT); if(!USE_VBO){ writeVertexBuffers(mesh, 0, hasTexture); } else { ShapeCache* cache; CacheMap::iterator it = currentCacheMap->find(mesh); if(it != currentCacheMap->end()){ cache = static_cast(it->second.get()); } else { it = currentCacheMap->insert(CacheMap::value_type(mesh, new ShapeCache)).first; cache = static_cast(it->second.get()); writeVertexBuffers(mesh, cache, hasTexture); } if(isCheckingUnusedCaches){ nextCacheMap->insert(*it); } if(cache->vertexBufferName() != GL_INVALID_VALUE){ glEnableClientState(GL_VERTEX_ARRAY); glBindBuffer(GL_ARRAY_BUFFER, cache->vertexBufferName()); glVertexPointer(3, GL_FLOAT, 0, 0); if(cache->normalBufferName() != GL_INVALID_VALUE){ glEnableClientState(GL_NORMAL_ARRAY); glBindBuffer(GL_ARRAY_BUFFER, cache->normalBufferName()); glNormalPointer(GL_FLOAT, 0, 0); } if(cache->texCoordBufferName() != GL_INVALID_VALUE){ glEnableClientState(GL_TEXTURE_COORD_ARRAY); glBindBuffer(GL_ARRAY_BUFFER, cache->texCoordBufferName()); glTexCoordPointer(2, GL_FLOAT, 0, 0); glEnable(GL_TEXTURE_2D); } if(USE_INDEXING){ if(cache->indexBufferName() != GL_INVALID_VALUE){ glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, cache->indexBufferName()); glDrawElements(GL_TRIANGLES, cache->size, GL_UNSIGNED_INT, 0); } } else { glDrawArrays(GL_TRIANGLES, 0, cache->size); } if(cache->texCoordBufferName() != GL_INVALID_VALUE){ glDisable(GL_TEXTURE_2D); } } } glPopClientAttrib(); } void GLSceneRendererImpl::writeVertexBuffers(SgMesh* mesh, ShapeCache* cache, bool hasTexture) { SgVertexArray& orgVertices = *mesh->vertices(); SgIndexArray& orgTriangleVertices = mesh->triangleVertices(); const size_t numTriangles = mesh->numTriangles(); const size_t totalNumVertices = orgTriangleVertices.size(); const bool hasNormals = mesh->hasNormals() && !isPicking; const bool hasColors = mesh->hasColors() && !isPicking; SgVertexArray* vertices = 0; SgNormalArray* normals = 0; SgIndexArray* triangleVertices = 0; ColorArray* colors = 0; SgTexCoordArray* texCoords = 0; if(USE_INDEXING){ vertices = &orgVertices; triangleVertices = &orgTriangleVertices; if(hasNormals){ if(mesh->normalIndices().empty() && mesh->normals()->size() == orgVertices.size()){ normals = mesh->normals(); } else { normals = &buf->normals; normals->resize(orgVertices.size()); } } if(hasTexture){ if(mesh->texCoordIndices().empty() && mesh->texCoords()->size() == orgVertices.size()){ texCoords = mesh->texCoords(); } else { texCoords = &buf->texCoords; texCoords->resize(orgVertices.size()); } } } else { vertices = &buf->vertices; vertices->clear(); vertices->reserve(totalNumVertices); if(hasNormals){ normals = &buf->normals; normals->clear(); normals->reserve(totalNumVertices); } if(hasColors){ colors = &buf->colors; colors->clear(); colors->reserve(totalNumVertices); } if(hasTexture){ texCoords = &buf->texCoords; texCoords->clear(); texCoords->reserve(totalNumVertices); } } int faceVertexIndex = 0; int numFaceVertices = 0; for(size_t i=0; i < numTriangles; ++i){ for(size_t j=0; j < 3; ++j){ const int orgVertexIndex = orgTriangleVertices[faceVertexIndex]; if(!USE_INDEXING){ vertices->push_back(orgVertices[orgVertexIndex]); } if(hasNormals){ if(mesh->normalIndices().empty()){ if(!USE_INDEXING){ normals->push_back(mesh->normals()->at(orgVertexIndex)); } } else { const int normalIndex = mesh->normalIndices()[faceVertexIndex]; if(USE_INDEXING){ normals->at(orgVertexIndex) = mesh->normals()->at(normalIndex); } else { normals->push_back(mesh->normals()->at(normalIndex)); } } } if(hasColors){ if(mesh->colorIndices().empty()){ if(!USE_INDEXING){ colors->push_back(createColorWithAlpha(mesh->colors()->at(faceVertexIndex))); } } else { const int colorIndex = mesh->colorIndices()[faceVertexIndex]; if(USE_INDEXING){ colors->at(orgVertexIndex) = createColorWithAlpha(mesh->colors()->at(colorIndex)); } else { colors->push_back(createColorWithAlpha(mesh->colors()->at(colorIndex))); } } } if(hasTexture){ if(mesh->texCoordIndices().empty()){ if(!USE_INDEXING){ texCoords->push_back(mesh->texCoords()->at(orgVertexIndex)); } }else{ const int texCoordIndex = mesh->texCoordIndices()[faceVertexIndex]; if(USE_INDEXING){ texCoords->at(orgVertexIndex) = mesh->texCoords()->at(texCoordIndex); } else { texCoords->push_back(mesh->texCoords()->at(texCoordIndex)); } } } ++faceVertexIndex; } } if(USE_VBO){ if(cache->vertexBufferName() == GL_INVALID_VALUE){ glGenBuffers(1, &cache->vertexBufferName()); glBindBuffer(GL_ARRAY_BUFFER, cache->vertexBufferName()); glBufferData(GL_ARRAY_BUFFER, vertices->size() * sizeof(Vector3f), vertices->data(), GL_STATIC_DRAW); } } else { glEnableClientState(GL_VERTEX_ARRAY); glVertexPointer(3, GL_FLOAT, 0, vertices->data()); } if(normals){ if(USE_VBO){ if(cache->normalBufferName() == GL_INVALID_VALUE){ glGenBuffers(1, &cache->normalBufferName()); glBindBuffer(GL_ARRAY_BUFFER, cache->normalBufferName()); glBufferData(GL_ARRAY_BUFFER, normals->size() * sizeof(Vector3f), normals->data(), GL_STATIC_DRAW); } } else { glEnableClientState(GL_NORMAL_ARRAY); glNormalPointer(GL_FLOAT, 0, normals->data()); } } bool useColorArray = false; if(colors){ if(!USE_VBO){ glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE); glEnable(GL_COLOR_MATERIAL); glEnableClientState(GL_COLOR_ARRAY); glColorPointer(4, GL_FLOAT, 0, &colors[0][0]); useColorArray = true; } } if(hasTexture){ if(USE_VBO){ if(cache->texCoordBufferName() == GL_INVALID_VALUE){ glGenBuffers(1, &cache->texCoordBufferName()); glBindBuffer(GL_ARRAY_BUFFER, cache->texCoordBufferName()); glBufferData(GL_ARRAY_BUFFER, texCoords->size() * sizeof(Vector2f), texCoords->data(), GL_STATIC_DRAW); } } else { glEnableClientState(GL_TEXTURE_COORD_ARRAY); glTexCoordPointer(2, GL_FLOAT, 0, texCoords->data()); } glEnable(GL_TEXTURE_2D); } if(USE_VBO){ if(!triangleVertices){ cache->size = vertices->size(); } else if(cache->indexBufferName() == GL_INVALID_VALUE){ glGenBuffers(1, &cache->indexBufferName()); glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, cache->indexBufferName()); glBufferData(GL_ELEMENT_ARRAY_BUFFER, triangleVertices->size(), &triangleVertices->front(), GL_STATIC_DRAW); cache->size = triangleVertices->size(); } } else { if(USE_INDEXING){ glDrawElements(GL_TRIANGLES, triangleVertices->size(), GL_UNSIGNED_INT, &triangleVertices->front()); } else { glDrawArrays(GL_TRIANGLES, 0, vertices->size()); } } if(useColorArray){ glDisable(GL_COLOR_MATERIAL); stateFlag.set(CURRENT_COLOR); } if(hasTexture){ glDisable(GL_TEXTURE_2D); } if(doNormalVisualization && !isPicking){ enableLighting(false); if(!USE_INDEXING){ vector lines; for(size_t i=0; i < vertices->size(); ++i){ const Vector3f& v = (*vertices)[i]; lines.push_back(v); lines.push_back(v + (*normals)[i] * normalLength); } glDisableClientState(GL_NORMAL_ARRAY); glVertexPointer(3, GL_FLOAT, 0, lines.front().data()); setColor(Vector4f(0.0f, 1.0f, 0.0f, 1.0f)); glDrawArrays(GL_LINES, 0, lines.size()); } enableLighting(true); } } void GLSceneRenderer::visitPointSet(SgPointSet* pointSet) { impl->visitPointSet(pointSet); } void GLSceneRendererImpl::visitPointSet(SgPointSet* pointSet) { if(!pointSet->hasVertices()){ return; } const double s = pointSet->pointSize(); if(s > 0.0){ setPointSize(s); } renderPlot(pointSet, *pointSet->vertices(), (GLenum)GL_POINTS); if(s > 0.0){ setPointSize(s); } } void GLSceneRendererImpl::renderPlot(SgPlot* plot, SgVertexArray& expandedVertices, GLenum primitiveMode) { glPushClientAttrib(GL_CLIENT_VERTEX_ARRAY_BIT); glEnableClientState(GL_VERTEX_ARRAY); glVertexPointer(3, GL_FLOAT, 0, expandedVertices.data()); SgMaterial* material = plot->material() ? plot->material() : defaultMaterial.get(); if(!plot->hasNormals()){ enableLighting(false); //glDisableClientState(GL_NORMAL_ARRAY); lastAlpha = 1.0; if(!plot->hasColors()){ setColor(createColorWithAlpha(material->diffuseColor())); } } else if(!isPicking){ enableCullFace(false); setLightModelTwoSide(true); renderMaterial(material); const SgNormalArray& orgNormals = *plot->normals(); SgNormalArray& normals = buf->normals; const SgIndexArray& normalIndices = plot->normalIndices(); if(normalIndices.empty()){ normals = orgNormals; } else { normals.clear(); normals.reserve(normalIndices.size()); for(int i=0; i < normalIndices.size(); ++i){ normals.push_back(orgNormals[normalIndices[i]]); } } glEnableClientState(GL_NORMAL_ARRAY); glNormalPointer(GL_FLOAT, 0, normals.data()); } bool isColorMaterialEnabled = false; if(plot->hasColors() && !isPicking){ const SgColorArray& orgColors = *plot->colors(); ColorArray& colors = buf->colors; colors.clear(); colors.reserve(expandedVertices.size()); const SgIndexArray& colorIndices = plot->colorIndices(); if(colorIndices.empty()){ for(int i=0; i < orgColors.size(); ++i){ colors.push_back(createColorWithAlpha(orgColors[i])); } } else { for(int i=0; i < colorIndices.size(); ++i){ colors.push_back(createColorWithAlpha(orgColors[colorIndices[i]])); } } if(plot->hasNormals()){ glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE); glEnable(GL_COLOR_MATERIAL); isColorMaterialEnabled = true; } glEnableClientState(GL_COLOR_ARRAY); glColorPointer(4, GL_FLOAT, 0, &colors[0][0]); stateFlag.set(CURRENT_COLOR); //setColor(colors.back()); // set the last color } pushPickName(plot); glDrawArrays(primitiveMode, 0, expandedVertices.size()); popPickName(); if(plot->hasNormals()){ if(isColorMaterialEnabled){ glDisable(GL_COLOR_MATERIAL); } } else { enableLighting(true); } glPopClientAttrib(); } void GLSceneRenderer::visitLineSet(SgLineSet* lineSet) { impl->visitLineSet(lineSet); } void GLSceneRendererImpl::visitLineSet(SgLineSet* lineSet) { const int n = lineSet->numLines(); if(!lineSet->hasVertices() || (n <= 0)){ return; } const SgVertexArray& orgVertices = *lineSet->vertices(); SgVertexArray& vertices = buf->vertices; vertices.clear(); vertices.reserve(n * 2); for(int i=0; i < n; ++i){ SgLineSet::LineRef line = lineSet->line(i); vertices.push_back(orgVertices[line[0]]); vertices.push_back(orgVertices[line[1]]); } const double w = lineSet->lineWidth(); if(w > 0.0){ setLineWidth(w); } renderPlot(lineSet, vertices, GL_LINES); if(w > 0.0){ setLineWidth(defaultLineWidth); } } void GLSceneRenderer::visitPreprocessed(SgPreprocessed* preprocessed) { } void GLSceneRenderer::visitLight(SgLight* light) { } void GLSceneRenderer::visitOverlay(SgOverlay* overlay) { if(isPicking()){ return; } glPushAttrib(GL_LIGHTING_BIT); glDisable(GL_LIGHTING); glMatrixMode(GL_MODELVIEW); glPushMatrix(); glLoadIdentity(); SgOverlay::ViewVolume v; v.left = -1.0; v.right = 1.0; v.bottom = -1.0; v.top = 1.0; v.zNear = 1.0; v.zFar = -1.0; overlay->calcViewVolume(impl->viewport[2], impl->viewport[3], v); glMatrixMode(GL_PROJECTION); glPushMatrix(); glLoadIdentity(); glOrtho(v.left, v.right, v.bottom, v.top, v.zNear, v.zFar); visitGroup(overlay); glMatrixMode(GL_PROJECTION); glPopMatrix(); glMatrixMode(GL_MODELVIEW); glPopMatrix(); glPopAttrib(); } bool GLSceneRenderer::isPicking() { return impl->isPicking; } void GLSceneRendererImpl::clearGLState() { stateFlag.reset(); //! \todo get the current state from a GL context diffuseColor << 0.0f, 0.0f, 0.0f, 0.0f; ambientColor << 0.0f, 0.0f, 0.0f, 0.0f; emissionColor << 0.0f, 0.0f, 0.0f, 0.0f; specularColor << 0.0f, 0.0f, 0.0f, 0.0f; shininess = 0.0f; lastAlpha = 1.0f; isColorMaterialEnabled = false; isCullFaceEnabled = true; isCCW = false; isLightingEnabled = true; isLightModelTwoSide = false; isBlendEnabled = true; isDepthMaskEnabled = true; pointSize = defaultPointSize; lineWidth = defaultLineWidth; } void GLSceneRendererImpl::setColor(const Vector4f& color) { if(!isPicking){ if(!stateFlag[CURRENT_COLOR] || color != currentColor){ glColor4f(color[0], color[1], color[2], color[3]); currentColor = color; stateFlag.set(CURRENT_COLOR); } } } void GLSceneRenderer::setColor(const Vector4f& color) { impl->setColor(color); } void GLSceneRendererImpl::enableColorMaterial(bool on) { if(!isPicking){ if(!stateFlag[COLOR_MATERIAL] || isColorMaterialEnabled != on){ if(on){ glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE); glEnable(GL_COLOR_MATERIAL); } else { glDisable(GL_COLOR_MATERIAL); } isColorMaterialEnabled = on; stateFlag.set(COLOR_MATERIAL); } } } void GLSceneRenderer::enableColorMaterial(bool on) { impl->enableColorMaterial(on); } void GLSceneRendererImpl::setDiffuseColor(const Vector4f& color) { if(!stateFlag[DIFFUSE_COLOR] || diffuseColor != color){ glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, color.data()); diffuseColor = color; stateFlag.set(DIFFUSE_COLOR); } } void GLSceneRenderer::setDiffuseColor(const Vector4f& color) { impl->setDiffuseColor(color); } void GLSceneRendererImpl::setAmbientColor(const Vector4f& color) { if(!stateFlag[AMBIENT_COLOR] || ambientColor != color){ glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, color.data()); ambientColor = color; stateFlag.set(AMBIENT_COLOR); } } void GLSceneRenderer::setAmbientColor(const Vector4f& color) { impl->setAmbientColor(color); } void GLSceneRendererImpl::setEmissionColor(const Vector4f& color) { if(!stateFlag[EMISSION_COLOR] || emissionColor != color){ glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, color.data()); emissionColor = color; stateFlag.set(EMISSION_COLOR); } } void GLSceneRenderer::setEmissionColor(const Vector4f& color) { impl->setEmissionColor(color); } void GLSceneRendererImpl::setSpecularColor(const Vector4f& color) { if(!stateFlag[SPECULAR_COLOR] || specularColor != color){ glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, color.data()); specularColor = color; stateFlag.set(SPECULAR_COLOR); } } void GLSceneRenderer::setSpecularColor(const Vector4f& color) { impl->setSpecularColor(color); } void GLSceneRendererImpl::setShininess(float s) { if(!stateFlag[SHININESS] || shininess != s){ glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, s); shininess = s; stateFlag.set(SHININESS); } } void GLSceneRenderer::setShininess(float s) { impl->setShininess(s); } void GLSceneRendererImpl::enableCullFace(bool on) { if(!stateFlag[CULL_FACE] || isCullFaceEnabled != on){ if(on){ glEnable(GL_CULL_FACE); } else { glDisable(GL_CULL_FACE); } isCullFaceEnabled = on; stateFlag.set(CULL_FACE); } } void GLSceneRenderer::enableCullFace(bool on) { impl->enableCullFace(on); } void GLSceneRendererImpl::setFrontCCW(bool on) { if(!stateFlag[CCW] || isCCW != on){ if(on){ glFrontFace(GL_CCW); } else { glFrontFace(GL_CW); } isCCW = on; stateFlag.set(CCW); } } void GLSceneRenderer::setFrontCCW(bool on) { impl->setFrontCCW(on); } /** Lighting should not be enabled in rendering code which may be rendered with displaylists. */ void GLSceneRendererImpl::enableLighting(bool on) { if(isPicking || !defaultLighting){ return; } if(!stateFlag[LIGHTING] || isLightingEnabled != on){ if(on){ glEnable(GL_LIGHTING); } else { glDisable(GL_LIGHTING); } isLightingEnabled = on; stateFlag.set(LIGHTING); } } void GLSceneRenderer::enableLighting(bool on) { impl->enableLighting(on); } void GLSceneRendererImpl::setLightModelTwoSide(bool on) { if(!stateFlag[LIGHT_MODEL_TWO_SIDE] || isLightModelTwoSide != on){ glLightModeli(GL_LIGHT_MODEL_TWO_SIDE, on ? GL_TRUE : GL_FALSE); isLightModelTwoSide = on; stateFlag.set(LIGHT_MODEL_TWO_SIDE); } } void GLSceneRenderer::setLightModelTwoSide(bool on) { impl->setLightModelTwoSide(on); } void GLSceneRendererImpl::enableBlend(bool on) { if(isPicking){ return; } if(!stateFlag[BLEND] || isBlendEnabled != on){ if(on){ glEnable(GL_BLEND); glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); enableDepthMask(false); } else { glDisable(GL_BLEND); enableDepthMask(true); } isBlendEnabled = on; stateFlag.set(BLEND); } } void GLSceneRenderer::enableBlend(bool on) { impl->enableBlend(on); } void GLSceneRendererImpl::enableDepthMask(bool on) { if(!stateFlag[DEPTH_MASK] || isDepthMaskEnabled != on){ glDepthMask(on); isDepthMaskEnabled = on; stateFlag.set(DEPTH_MASK); } } void GLSceneRenderer::enableDepthMask(bool on) { impl->enableDepthMask(on); } void GLSceneRendererImpl::setPointSize(float size) { if(!stateFlag[POINT_SIZE] || pointSize != size){ if(isPicking){ glPointSize(std::max(size, MinLineWidthForPicking)); } else { glPointSize(size); } pointSize = size; stateFlag.set(POINT_SIZE); } } void GLSceneRenderer::setPointSize(float size) { impl->setPointSize(size); } void GLSceneRendererImpl::setLineWidth(float width) { if(!stateFlag[LINE_WIDTH] || lineWidth != width){ if(isPicking){ glLineWidth(std::max(width, MinLineWidthForPicking)); } else { glLineWidth(width); } lineWidth = width; stateFlag.set(LINE_WIDTH); } } void GLSceneRenderer::setLineWidth(float width) { impl->setLineWidth(width); } SgObject* SgCustomGLNode::clone(SgCloneMap& cloneMap) const { return new SgCustomGLNode(*this, cloneMap); } void SgCustomGLNode::accept(SceneVisitor& visitor) { GLSceneRenderer* renderer = dynamic_cast(&visitor); if(renderer){ renderer->impl->pushPickName(this); render(*renderer); renderer->impl->popPickName(); renderer->impl->clearGLState(); } else { visitor.visitGroup(this); } } void SgCustomGLNode::render(GLSceneRenderer& renderer) { if(renderingFunction){ renderingFunction(renderer); } } void SgCustomGLNode::setRenderingFunction(RenderingFunction f) { renderingFunction = f; } const Vector3f& GLSceneRenderer::backgroundColor() const { return impl->bgColor; } void GLSceneRenderer::setBackgroundColor(const Vector3f& color) { impl->bgColor = color; } SgLight* GLSceneRenderer::headLight() { return impl->headLight; } void GLSceneRenderer::setHeadLight(SgLight* light) { impl->headLight = light; } void GLSceneRenderer::setHeadLightLightingFromBackEnabled(bool on) { impl->isHeadLightLightingFromBackEnabled = on; } void GLSceneRenderer::setAsDefaultLight(SgLight* light) { impl->defaultLights.insert(light); } void GLSceneRenderer::unsetDefaultLight(SgLight* light) { impl->defaultLights.erase(light); } void GLSceneRenderer::enableAdditionalLights(bool on) { impl->additionalLightsEnabled = on; } void GLSceneRenderer::setPolygonMode(PolygonMode mode) { impl->polygonMode = mode; } void GLSceneRenderer::setDefaultLighting(bool on) { if(on != impl->defaultLighting){ impl->defaultLighting = on; requestToClearCache(); } } void GLSceneRenderer::setDefaultSmoothShading(bool on) { impl->defaultSmoothShading = on; } SgMaterial* GLSceneRenderer::defaultMaterial() { return impl->defaultMaterial; } void GLSceneRenderer::setDefaultColor(const Vector4f& color) { impl->defaultColor = color; } void GLSceneRenderer::enableTexture(bool on) { if(on != impl->isTextureEnabled){ impl->isTextureEnabled = on; requestToClearCache(); } } void GLSceneRenderer::setDefaultPointSize(double size) { if(size != impl->defaultPointSize){ impl->defaultPointSize = size; requestToClearCache(); } } void GLSceneRenderer::setDefaultLineWidth(double width) { if(width != impl->defaultLineWidth){ impl->defaultLineWidth = width; requestToClearCache(); } } void GLSceneRenderer::enableFog(bool on) { if(on != impl->isFogEnabled){ impl->isFogEnabled = on; impl->isCurrentFogUpdated = true; requestToClearCache(); } } SgFog* GLSceneRenderer::currentFog() { return impl->currentFog; } void GLSceneRenderer::showNormalVectors(double length) { bool doNormalVisualization = (length > 0.0); if(doNormalVisualization != impl->doNormalVisualization || length != impl->normalLength){ impl->doNormalVisualization = doNormalVisualization; impl->normalLength = length; requestToClearCache(); } } void GLSceneRenderer::setNewDisplayListDoubleRenderingEnabled(bool on) { impl->isNewDisplayListDoubleRenderingEnabled = on; } void GLSceneRenderer::enableUnusedCacheCheck(bool on) { if(!on){ impl->nextCacheMap->clear(); } impl->doUnusedCacheCheck = on; } const Affine3& GLSceneRenderer::currentModelTransform() const { impl->tmpCurrentModelTransform = impl->lastViewMatrix.inverse() * impl->Vstack.back(); return impl->tmpCurrentModelTransform; } const Affine3& GLSceneRenderer::currentCameraPosition() const { impl->tmpCurrentCameraPosition = impl->lastViewMatrix.inverse(); return impl->tmpCurrentCameraPosition; } const Matrix4& GLSceneRenderer::projectionMatrix() const { return impl->lastProjectionMatrix; } void GLSceneRenderer::getViewFrustum (const SgPerspectiveCamera& camera, double& left, double& right, double& bottom, double& top) const { top = camera.nearClipDistance() * tan(camera.fovy(impl->aspectRatio) / 2.0); bottom = -top; right = top * impl->aspectRatio; left = -right; } void GLSceneRenderer::getViewVolume (const SgOrthographicCamera& camera, double& out_left, double& out_right, double& out_bottom, double& out_top) const { GLfloat left, right, bottom, top; impl->getViewVolume(camera, left, right, bottom, top); out_left = left; out_right = right; out_bottom = bottom; out_top = top; } void GLSceneRenderer::visitOutlineGroup(SgOutlineGroup* outline) { impl->visitOutlineGroup(outline); } void GLSceneRendererImpl::visitOutlineGroup(SgOutlineGroup* outlineGroup) { glClearStencil(0); glClear(GL_STENCIL_BUFFER_BIT); glEnable(GL_STENCIL_TEST); glStencilFunc(GL_ALWAYS, 1, -1); glStencilOp(GL_KEEP, GL_KEEP, GL_REPLACE); for(SgGroup::const_iterator p = outlineGroup->begin(); p != outlineGroup->end(); ++p){ (*p)->accept(*self); } glStencilFunc(GL_NOTEQUAL, 1, -1); glStencilOp(GL_KEEP, GL_KEEP, GL_REPLACE); glPushAttrib(GL_POLYGON_BIT); glLineWidth(outlineGroup->lineWidth()*2+1); glPolygonMode(GL_FRONT, GL_LINE); setColor(outlineGroup->color()); enableColorMaterial(true); for(SgGroup::const_iterator p = outlineGroup->begin(); p != outlineGroup->end(); ++p){ (*p)->accept(*self); } enableColorMaterial(false); setLineWidth(lineWidth); glPopAttrib(); glDisable(GL_STENCIL_TEST); clearGLState(); } choreonoid-1.5.0/src/Base/View.cpp0000664000000000000000000001322612741425367015444 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "View.h" #include "ViewArea.h" #include "ViewManager.h" #include "App.h" #include "AppConfig.h" #include #include #include using namespace std; using namespace cnoid; namespace cnoid { class ViewImpl { public: bool isActive; mutable ViewArea* viewArea; Signal sigActivated; Signal sigDeactivated; Signal sigResized; Signal sigRemoved; View::LayoutArea defaultLayoutArea; bool isFontSizeZoomKeysEnabled; int fontZoom; ViewImpl(); void zoomFontSize(int zoom, const QList& widgets); }; } View::View() { impl = new ViewImpl(); } ViewImpl::ViewImpl() { isActive = false; viewArea = 0; defaultLayoutArea = View::CENTER; isFontSizeZoomKeysEnabled = false; fontZoom = 0; } View::~View() { if(impl->isActive){ onDeactivated(); } if(impl->viewArea){ impl->viewArea->removeView(this); } View* focusView = lastFocusView(); if(this == focusView){ App::clearFocusView(); } delete impl; } ViewClass* View::viewClass() const { return ViewManager::viewClass(typeid(*this)); } void View::setViewArea(ViewArea* area) { impl->viewArea = area; } ViewArea* View::viewArea() const { return impl->viewArea; } bool View::isActive() const { return impl->isActive; } void View::showEvent(QShowEvent* event) { if(!impl->isActive){ impl->isActive = true; onActivated(); impl->sigActivated(); } } void View::hideEvent(QHideEvent* event) { if(impl->isActive){ impl->isActive = false; onDeactivated(); impl->sigDeactivated(); } } /** Virtual function which is called when the view becomes visible on the main window. @note In the current implementation, this function may be continuously called two or three times when the perspective changes, and the number of calles does not necessarily corresponds to the number of 'onDeactivated()' calles. @todo improve the behavior written as note */ void View::onActivated() { } void View::onDeactivated() { if(impl->isFontSizeZoomKeysEnabled){ AppConfig::archive()->openMapping(viewClass()->className())->write("fontZoom", impl->fontZoom); } } void View::setName(const std::string& name) { setObjectName(name.c_str()); setWindowTitle(name.c_str()); } SignalProxy View::sigActivated() { return impl->sigActivated; } SignalProxy View::sigDeactivated() { return impl->sigDeactivated; } SignalProxy View::sigResized() { return impl->sigResized; } void View::resizeEvent(QResizeEvent* event) { QWidget::resizeEvent(event); impl->sigResized(); } SignalProxy View::sigRemoved() { return impl->sigRemoved; } void View::notifySigRemoved() { impl->sigRemoved(); } void View::bringToFront() { if(impl->viewArea){ QTabWidget* tab = 0; for(QWidget* widget = parentWidget(); widget; widget = widget->parentWidget()){ if(tab = dynamic_cast(widget)){ tab->setCurrentWidget(this); } } } } void View::setDefaultLayoutArea(LayoutArea area) { impl->defaultLayoutArea = area; } View::LayoutArea View::defaultLayoutArea() const { return impl->defaultLayoutArea; } void View::setLayout(QLayout* layout) { const int margin = 0; layout->setContentsMargins(margin, margin, margin, margin); QWidget::setLayout(layout); } QPoint View::viewAreaPos() const { QPoint p(0, 0); const QWidget* widget = this; while(widget && widget != impl->viewArea){ QWidget* parent = widget->parentWidget(); if(parent){ p = widget->mapTo(parent, p); widget = parent; } else { break; } } return p; } QWidget* View::indicatorOnInfoBar() { return 0; } void View::enableFontSizeZoomKeys(bool on) { impl->isFontSizeZoomKeysEnabled = on; if(on){ MappingPtr config = AppConfig::archive()->openMapping(viewClass()->className()); int storedZoom; if(config->read("fontZoom", storedZoom)){ zoomFontSize(storedZoom); } } } void View::keyPressEvent(QKeyEvent* event) { bool processed = false; if(impl->isFontSizeZoomKeysEnabled){ if(event->modifiers() & Qt::ControlModifier){ switch(event->key()){ case Qt::Key_Plus: case Qt::Key_Semicolon: zoomFontSize(1); processed = true; break; case Qt::Key_Minus: zoomFontSize(-1); processed = true; break; defaut: break; } } } if(!processed){ QWidget::keyPressEvent(event); } } void View::zoomFontSize(int zoom) { impl->zoomFontSize(zoom, findChildren()); impl->fontZoom += zoom; } void ViewImpl::zoomFontSize(int zoom, const QList& widgets) { int n = widgets.size(); for(int i=0; i < n; ++i){ QWidget* widget = widgets[i]; QFont font = widget->font(); font.setPointSize(font.pointSize() + zoom); widget->setFont(font); // The following recursive iteration is disabled because // it makes doubled zooming for some composite widgets // zoomFontSizeSub(zoom, widget->findChildren()); } } void View::onAttachedMenuRequest(MenuManager& menuManager) { } bool View::storeState(Archive& archive) { return true; } bool View::restoreState(const Archive& archive) { return true; } choreonoid-1.5.0/src/Base/PutPropertyFunction.h0000664000000000000000000001035712741425367020224 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_PUT_PROPERTY_FUNCTION_H #define CNOID_BASE_PUT_PROPERTY_FUNCTION_H #include #include #include "exportdecl.h" namespace cnoid { typedef std::vector FileDialogFilter; struct FilePath { std::string fileName; FileDialogFilter filters; std::string directory; FilePath(const std::string& name) { fileName = name; } FilePath(const std::string& name, const FileDialogFilter& filters_, const std::string& dir="") { fileName = name; filters = filters_; directory = dir; } }; #ifndef WIN32 #define DLLSFX string("(*.so)") #else #define DLLSFX string("(*.dll)") #endif class PutPropertyFunction { public: virtual ~PutPropertyFunction() { } virtual PutPropertyFunction& decimals(int d) = 0; virtual PutPropertyFunction& min(double min) = 0; virtual PutPropertyFunction& max(double max) = 0; virtual PutPropertyFunction& min(int min) = 0; virtual PutPropertyFunction& max(int max) = 0; virtual PutPropertyFunction& reset() = 0; // bool virtual void operator()(const std::string& name, bool value) = 0; virtual void operator()(const std::string& name, bool value, const boost::function& changeFunc) = 0; virtual void operator()(const std::string& name, bool value, const boost::function& changeFunc, bool forceUpdate) = 0; // int virtual void operator()(const std::string& name, int value) = 0; virtual void operator()(const std::string& name, int value, const boost::function& changeFunc) = 0; virtual void operator()(const std::string& name, int value, const boost::function& changeFunc, bool forceUpdate) = 0; // double virtual void operator()(const std::string& name, double value) = 0; virtual void operator()(const std::string& name, double value, const boost::function& changeFunc) = 0; virtual void operator()(const std::string& name, double value, const boost::function& func, bool forceUpdate) = 0; // string virtual void operator()(const std::string& name, const std::string& value) = 0; virtual void operator()(const std::string& name, const std::string& value, const boost::function& changeFunc) = 0; virtual void operator()(const std::string& name, const std::string& value, const boost::function& changeFunc, bool forceUpdate) = 0; // selection virtual void operator()(const std::string& name, const Selection& selection) = 0; virtual void operator()(const std::string& name, const Selection& selection, const boost::function& changeFunc) = 0; virtual void operator()(const std::string& name, const Selection& selection, const boost::function& changeFunc, bool forceUpdate) = 0; // FilePath virtual void operator()(const std::string& name, const FilePath& filePath) = 0; virtual void operator()(const std::string& name, const FilePath& filePath, const boost::function& changeFunc) = 0; virtual void operator()(const std::string& name, const FilePath& filePath, const boost::function& changeFunc, bool forceUpdate) = 0; }; template class ChangeProperty { ValueType& variable; public: ChangeProperty(ValueType& variable) : variable(variable) { } bool operator()(const ValueType& value){ variable = value; return true; } }; template <> class ChangeProperty { Selection& selection; public: ChangeProperty(Selection& variable) : selection(variable) { } bool operator()(int value){ selection.select(value); return true; } }; template ChangeProperty changeProperty(ValueType& variable) { return ChangeProperty(variable); } } #endif choreonoid-1.5.0/src/Base/ItemTreeView.cpp0000664000000000000000000010266112741425367017105 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "ItemTreeView.h" #include "Item.h" #include "RootItem.h" #include "ItemManager.h" #include "ViewManager.h" #include "MenuManager.h" #include "AppConfig.h" #include "Archive.h" #include "TreeWidget.h" #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace { ItemTreeView* itemTreeView = 0; typedef Signal SigCheckToggled; typedef boost::shared_ptr SigCheckToggledPtr; // Item of the item tree view class ItvItem : public QTreeWidgetItem { public: ItvItem(Item* item, ItemTreeViewImpl* itemTreeViewImpl); virtual ~ItvItem(); virtual QVariant data(int column, int role) const; virtual void setData(int column, int role, const QVariant& value); SigCheckToggled* sigCheckToggled(int id){ if(id < sigCheckToggledList.size()){ return sigCheckToggledList[id].get(); } return 0; } SigCheckToggled& getOrCreateSigCheckToggled(int id){ if(id >= sigCheckToggledList.size()){ sigCheckToggledList.resize(id + 1); } if(!sigCheckToggledList[id]){ sigCheckToggledList[id] = boost::make_shared(); } return *sigCheckToggledList[id]; } ItemPtr item; ItemTreeViewImpl* itemTreeViewImpl; bool isExpandedBeforeRemoving; private: vector sigCheckToggledList; }; // Preserved as custom data in an item class ItvItemRef : public Referenced { public: ItvItemRef(ItvItem* itvItem) : itvItem(itvItem) { } ItvItem* itvItem; }; class CheckColumn : public Referenced { public: ItemList<> checkedItemList; bool needToUpdateCheckedItemList; Signal sigCheckToggled; QString tooltip; CheckColumn() { needToUpdateCheckedItemList = true; } }; typedef ref_ptr CheckColumnPtr; } namespace cnoid { class ItemTreeViewImpl : public TreeWidget { public: ItemTreeViewImpl(ItemTreeView* self, RootItem* rootItem, bool showRoot); ~ItemTreeViewImpl(); ItemTreeView* self; RootItemPtr rootItem; int isProceccingSlotForRootItemSignals; ConnectionSet connectionsFromRootItem; vector checkColumns; Signal sigCheckToggledForInvalidId; Signal sigCheckToggledForInvalidItem; Signal&)> sigSelectionChanged; Signal&)> sigSelectionOrTreeChanged; ItemList<> emptyItemList; ItemList<> selectedItemList; ItemList copiedItemList; Menu* popupMenu; MenuManager menuManager; bool isDropping; int fontPointSizeDiff; int addCheckColumn(); void initializeCheckState(QTreeWidgetItem* item, int column); void updateCheckColumnToolTipIter(QTreeWidgetItem* item, int column, const QString& tooltip); void showCheckColumn(int id, bool on); void releaseCheckColumn(int id); virtual void mousePressEvent(QMouseEvent* event); virtual void keyPressEvent(QKeyEvent* event); ItvItem* getItvItem(Item* item); ItvItem* getOrCreateItvItem(Item* item); void onSubTreeAddedOrMoved(Item* item); void insertItem(QTreeWidgetItem* parentTwItem, Item* item, Item* nextItem); void onSubTreeRemoved(Item* item, bool isMoving); void onTreeChanged(); void onItemAssigned(Item* assigned, Item* srcItem); virtual void dropEvent(QDropEvent* event); void onRowsAboutToBeRemoved(const QModelIndex& parent, int start, int end); void onRowsInserted(const QModelIndex& parent, int start, int end); virtual bool dropMimeData(QTreeWidgetItem* parent, int index, const QMimeData* data, Qt::DropAction action); void onSelectionChanged(); bool isItemSelected(Item* item); bool selectItem(Item* item, bool select); bool isItemChecked(Item* item, int id); bool checkItem(Item* item, bool checked, int id); bool extractSelectedItemsOfSubTreeTraverse(Item* item, ItemList<>* io_items); ItemList<>& checkedItems(int id); void extractCheckedItems(QTreeWidgetItem* twItem, int column, ItemList<>& checkdItems); void forEachTopItems(const ItemList<>& orgItemList, boost::function callback); void cutSelectedItems(); void copySelectedItems(); void copySelectedItemsSub(Item* item, ItemPtr& duplicated, set& items); void copySelectedItemsWithChildren(); void addCopiedItemToCopiedItemList(Item* item); void pasteItems(); void moveCutItemsToCopiedItemList(Item* item); void checkSelectedItems(bool on); void toggleSelectedItemChecks(); bool storeState(Archive& archive); void storeItemIds(Archive& archive, const char* key, const ItemList<>& items); bool restoreState(const Archive& archive); bool restoreItemStates(const Archive& archive, const char* key, boost::function stateChangeFunc); void storeExpandedItems(Archive& archive); void storeExpandedItemsSub(QTreeWidgetItem* parentTwItem, Archive& archive, ListingPtr& expanded); void restoreExpandedItems(const Archive& archive); void zoomFontSize(int pointSizeDiff); }; } ItvItem::ItvItem(Item* item, ItemTreeViewImpl* itemTreeViewImpl) : item(item), itemTreeViewImpl(itemTreeViewImpl) { setFlags(Qt::ItemIsEnabled | Qt::ItemIsSelectable | Qt::ItemIsUserCheckable | Qt::ItemIsDropEnabled); if(!item->isSubItem()){ setFlags(flags() | Qt::ItemIsEditable | Qt::ItemIsDragEnabled); } setToolTip(0, QString()); vector& checkColumns = itemTreeViewImpl->checkColumns; const int n = checkColumns.size(); for(size_t i=0; i < n; ++i){ setCheckState(i + 1, Qt::Unchecked); setToolTip(i + 1, checkColumns[i]->tooltip); } ItvItemRef* ref = new ItvItemRef(this); item->setCustomData(0, ref); isExpandedBeforeRemoving = false; } ItvItem::~ItvItem() { item->clearCustomData(0); } QVariant ItvItem::data(int column, int role) const { if((role == Qt::DisplayRole || role == Qt::EditRole) && column == 0){ return item->name().c_str(); } return QTreeWidgetItem::data(column, role); } void ItvItem::setData(int column, int role, const QVariant& value) { QTreeWidgetItem::setData(column, role, value); if(column == 0){ if(role == Qt::DisplayRole || role == Qt::EditRole){ if(value.type() == QVariant::String){ if(!value.toString().isEmpty()){ item->setName(value.toString().toStdString()); } } } } else if(column >= 1 && role == Qt::CheckStateRole){ const int id = column - 1; if(id < itemTreeViewImpl->checkColumns.size()){ CheckColumnPtr& cc = itemTreeViewImpl->checkColumns[id]; cc->needToUpdateCheckedItemList = true; const bool checked = ((Qt::CheckState)value.toInt() == Qt::Checked); cc->sigCheckToggled(item.get(), checked); SigCheckToggled* sig = sigCheckToggled(id); if(sig){ (*sig)(checked); } } } } void ItemTreeView::initializeClass(ExtensionManager* ext) { itemTreeView = ext->viewManager().registerClass( "ItemTreeView", N_("Items"), ViewManager::SINGLE_DEFAULT); } ItemTreeView* ItemTreeView::instance() { return itemTreeView; } ItemTreeView* ItemTreeView::mainInstance() { return itemTreeView; } ItemTreeView::ItemTreeView() { construct(RootItem::instance(), false); } ItemTreeView::ItemTreeView(RootItem* rootItem, bool showRoot) { construct(rootItem, showRoot); } void ItemTreeView::construct(RootItem* rootItem, bool showRoot) { setDefaultLayoutArea(View::LEFT); setSizePolicy(QSizePolicy::Ignored, QSizePolicy::Ignored); impl = new ItemTreeViewImpl(this, rootItem, showRoot); QVBoxLayout* layout = new QVBoxLayout(); layout->addWidget(impl); setLayout(layout); } ItemTreeViewImpl::ItemTreeViewImpl(ItemTreeView* self, RootItem* rootItem, bool showRoot) : self(self), rootItem(rootItem) { using boost::bind; isProceccingSlotForRootItemSignals = 0; isDropping = false; setColumnCount(1); #if QT_VERSION < QT_VERSION_CHECK(5, 0, 0) header()->setResizeMode(0, QHeaderView::Stretch); header()->setMinimumSectionSize(0); #else header()->setSectionResizeMode(0, QHeaderView::Stretch); //header()->setMinimumSectionSize(0); #endif // default check column addCheckColumn(); header()->setStretchLastSection(false); header()->swapSections(0, 1); setWordWrap(true); setFrameShape(QFrame::NoFrame); setHeaderHidden(true); setIndentation(12); setSelectionMode(QAbstractItemView::ExtendedSelection); setDragDropMode(QAbstractItemView::InternalMove); sigItemSelectionChanged().connect(bind(&ItemTreeViewImpl::onSelectionChanged, this)); connectionsFromRootItem.add( rootItem->sigSubTreeAdded().connect(bind(&ItemTreeViewImpl::onSubTreeAddedOrMoved, this, _1))); connectionsFromRootItem.add( rootItem->sigSubTreeMoved().connect(bind(&ItemTreeViewImpl::onSubTreeAddedOrMoved, this, _1))); connectionsFromRootItem.add( rootItem->sigSubTreeRemoved().connect(bind(&ItemTreeViewImpl::onSubTreeRemoved, this, _1, _2))); connectionsFromRootItem.add( rootItem->sigTreeChanged().connect(bind(&ItemTreeViewImpl::onTreeChanged, this))); connectionsFromRootItem.add( rootItem->sigItemAssigned().connect(bind(&ItemTreeViewImpl::onItemAssigned, this, _1, _2))); QObject::connect(model(), SIGNAL(rowsAboutToBeRemoved(const QModelIndex&, int, int)), self, SLOT(onRowsAboutToBeRemoved(const QModelIndex&, int, int))); QObject::connect(model(), SIGNAL(rowsInserted(const QModelIndex&, int, int)), self, SLOT(onRowsInserted(const QModelIndex&, int, int))); popupMenu = new Menu(this); menuManager.setTopMenu(popupMenu); menuManager.addItem(_("Cut")) ->sigTriggered().connect(bind(&ItemTreeViewImpl::cutSelectedItems, this)); menuManager.addItem(_("Copy (single)")) ->sigTriggered().connect(bind(&ItemTreeViewImpl::copySelectedItems, this)); menuManager.addItem(_("Copy (sub tree)")) ->sigTriggered().connect(bind(&ItemTreeViewImpl::copySelectedItemsWithChildren, this)); menuManager.addItem(_("Paste")) ->sigTriggered().connect(bind(&ItemTreeViewImpl::pasteItems, this)); menuManager.addSeparator(); menuManager.addItem(_("Check")) ->sigTriggered().connect(bind(&ItemTreeViewImpl::checkSelectedItems, this, true)); menuManager.addItem(_("Uncheck")) ->sigTriggered().connect(bind(&ItemTreeViewImpl::checkSelectedItems, this, false)); menuManager.addItem(_("Toggle checks")) ->sigTriggered().connect(bind(&ItemTreeViewImpl::toggleSelectedItemChecks, this)); menuManager.addSeparator(); menuManager.addItem(_("Select all")) ->sigTriggered().connect(bind(&ItemTreeView::selectAllItems, self)); menuManager.addItem(_("Clear selection")) ->sigTriggered().connect(bind(&ItemTreeView::clearSelection, self)); fontPointSizeDiff = 0; MappingPtr config = AppConfig::archive()->openMapping("ItemTreeView"); int storedFontPointSizeDiff; if(config->read("fontZoom", storedFontPointSizeDiff)){ zoomFontSize(storedFontPointSizeDiff); } } ItemTreeView::~ItemTreeView() { } ItemTreeViewImpl::~ItemTreeViewImpl() { // On Windows + VC++, boost::signal::trackable, the super class of // ItemTreeViewImpl, does not seem to work correctly, and the connection // is not disconnected and the program aborted by segmentation fault. // So the following explicit disconnection code is added. //connectionClassUnregistered.disconnect(); } int ItemTreeView::addCheckColumn() { return impl->addCheckColumn(); } int ItemTreeViewImpl::addCheckColumn() { //! \todo The released columns should be reused int id = checkColumns.size(); const int n = id + 1; checkColumns.resize(n); setColumnCount(n + 1); checkColumns[id] = new CheckColumn; #if QT_VERSION < QT_VERSION_CHECK(5, 0, 0) header()->setResizeMode(id + 1, QHeaderView::ResizeToContents); #else header()->setSectionResizeMode(id + 1, QHeaderView::ResizeToContents); #endif initializeCheckState(invisibleRootItem(), id + 1); return id; } void ItemTreeViewImpl::initializeCheckState(QTreeWidgetItem* item, int column) { item->setCheckState(column, Qt::Unchecked); const int n = item->childCount(); for(int i=0; i < n; ++i){ initializeCheckState(item->child(i), column); } } void ItemTreeView::setCheckColumnToolTip(int id, const QString& whatsThis) { if(id > 0 && id < impl->checkColumns.size()){ impl->checkColumns[id]->tooltip = whatsThis; updateCheckColumnToolTip(id); } } void ItemTreeView::updateCheckColumnToolTip(int id) { if(id > 0 && id < impl->checkColumns.size()){ impl->updateCheckColumnToolTipIter( impl->invisibleRootItem(), id + 1, impl->checkColumns[id]->tooltip); } } void ItemTreeViewImpl::updateCheckColumnToolTipIter(QTreeWidgetItem* item, int column, const QString& tooltip) { item->setToolTip(column, tooltip); const int n = item->childCount(); for(int i=0; i < n; ++i){ updateCheckColumnToolTipIter(item->child(i), column, tooltip); } } void ItemTreeView::showCheckColumn(int id, bool on) { impl->showCheckColumn(id, on); } void ItemTreeViewImpl::showCheckColumn(int id, bool on) { if(id > 0 && id < checkColumns.size()){ if(!on){ header()->hideSection(id + 1); } else { CheckColumnPtr& cc = checkColumns[id]; if(cc){ header()->showSection(id + 1); } } } } void ItemTreeView::releaseCheckColumn(int id) { impl->releaseCheckColumn(id); } void ItemTreeViewImpl::releaseCheckColumn(int id) { //! todo Release the column actually // just hide the column currently showCheckColumn(id, false); } RootItem* ItemTreeView::rootItem() { return impl->rootItem.get(); } void ItemTreeView::showRoot(bool show) { } void ItemTreeViewImpl::mousePressEvent(QMouseEvent* event) { TreeWidget::mousePressEvent(event); if(event->button() == Qt::RightButton){ popupMenu->popup(event->globalPos()); } } void ItemTreeViewImpl::keyPressEvent(QKeyEvent* event) { bool processed = true; switch(event->key()){ case Qt::Key_Escape: self->clearSelection(); break; case Qt::Key_Delete: cutSelectedItems(); break; default: processed = false; break; } if(!processed && (event->modifiers() & Qt::ControlModifier)){ processed = true; switch(event->key()){ case Qt::Key_A: self->selectAllItems(); break; case Qt::Key_R: ItemManager::reloadItems(selectedItemList); break; case Qt::Key_Plus: case Qt::Key_Semicolon: zoomFontSize(1); break; case Qt::Key_Minus: zoomFontSize(-1); break; defaut: processed = false; break; } } if(!processed){ TreeWidget::keyPressEvent(event); } } ItvItem* ItemTreeViewImpl::getItvItem(Item* item) { ItvItem* itvItem = 0; ItvItemRef* ref = dynamic_cast(item->customData(0)); if(ref){ itvItem = ref->itvItem; } return itvItem; } ItvItem* ItemTreeViewImpl::getOrCreateItvItem(Item* item) { ItvItem* itvItem = getItvItem(item); if(!itvItem){ itvItem = new ItvItem(item, this); } return itvItem; } void ItemTreeViewImpl::onSubTreeAddedOrMoved(Item* item) { isProceccingSlotForRootItemSignals++; Item* parentItem = item->parentItem(); if(parentItem){ if(parentItem == rootItem){ insertItem(invisibleRootItem(), item, item->nextItem()); } else { ItvItem* parentItvItem = getItvItem(parentItem); if(parentItvItem){ insertItem(parentItvItem, item, item->nextItem()); } } } isProceccingSlotForRootItemSignals--; } void ItemTreeViewImpl::insertItem(QTreeWidgetItem* parentTwItem, Item* item, Item* nextItem) { ItvItem* itvItem = getOrCreateItvItem(item); bool inserted = false; if(nextItem){ ItvItem* nextItvItem = getItvItem(nextItem); if(nextItvItem){ int index = parentTwItem->indexOfChild(nextItvItem); parentTwItem->insertChild(index, itvItem); inserted = true; } } if(!inserted){ parentTwItem->addChild(itvItem); } if(!parentTwItem->isExpanded()){ if(!item->isSubItem()){ parentTwItem->setExpanded(true); } } for(Item* childItem = item->childItem(); childItem; childItem = childItem->nextItem()){ insertItem(itvItem, childItem, 0); } } void ItemTreeViewImpl::onSubTreeRemoved(Item* item, bool isMoving) { isProceccingSlotForRootItemSignals++; ItvItem* itvItem = getItvItem(item); if(itvItem){ QTreeWidgetItem* parentTwItem = itvItem->parent(); if(parentTwItem){ parentTwItem->removeChild(itvItem); } else { takeTopLevelItem(indexOfTopLevelItem(itvItem)); } delete itvItem; } isProceccingSlotForRootItemSignals--; } void ItemTreeViewImpl::dropEvent(QDropEvent* event) { isDropping = true; TreeWidget::dropEvent(event); isDropping = false; } void ItemTreeView::onRowsAboutToBeRemoved(const QModelIndex& parent, int start, int end) { if(impl->isProceccingSlotForRootItemSignals == 0){ impl->onRowsAboutToBeRemoved(parent, start, end); } } void ItemTreeViewImpl::onRowsAboutToBeRemoved(const QModelIndex& parent, int start, int end) { connectionsFromRootItem.block(); QTreeWidgetItem* parentTwItem = itemFromIndex(parent); if(!parentTwItem){ parentTwItem = invisibleRootItem(); } for(int i=start; i <= end; ++i){ ItvItem* itvItem = dynamic_cast(parentTwItem->child(i)); if(itvItem){ itvItem->isExpandedBeforeRemoving = itvItem->isExpanded(); if(!isDropping){ ItemPtr& item = itvItem->item; if(!item->isSubItem()){ item->detachFromParentItem(); } } } } connectionsFromRootItem.unblock(); } void ItemTreeView::onRowsInserted(const QModelIndex& parent, int start, int end) { if(impl->isProceccingSlotForRootItemSignals == 0){ impl->onRowsInserted(parent, start, end); } } void ItemTreeViewImpl::onRowsInserted(const QModelIndex& parent, int start, int end) { connectionsFromRootItem.block(); QTreeWidgetItem* parentTwItem = itemFromIndex(parent); if(parentTwItem){ parentTwItem->setExpanded(true); } else { parentTwItem = invisibleRootItem(); } ItvItem* parentItvItem = dynamic_cast(parentTwItem); Item* parentItem = parentItvItem ? parentItvItem->item.get() : rootItem.get(); ItemPtr nextItem = 0; if(end + 1 < parentTwItem->childCount()){ ItvItem* nextItvItem = dynamic_cast(parentTwItem->child(end + 1)); if(nextItvItem){ nextItem = nextItvItem->item; } } for(int i=start; i <= end; ++i){ ItvItem* itvItem = dynamic_cast(parentTwItem->child(i)); if(itvItem){ ItemPtr& item = itvItem->item; if(!item->isSubItem()){ parentItem->insertChildItem(item, nextItem, true); } if(itvItem->isExpandedBeforeRemoving){ itvItem->setExpanded(true); } } } connectionsFromRootItem.unblock(); } void ItemTreeViewImpl::onTreeChanged() { } void ItemTreeViewImpl::onItemAssigned(Item* assigned, Item* srcItem) { ItvItem* itvItem = getItvItem(assigned); ItvItem* srcItvItem = getItvItem(srcItem); if(itvItem && srcItvItem){ for(size_t i=0; i < checkColumns.size(); ++i){ itvItem->setCheckState(i + 1, srcItvItem->checkState(i + 1)); } QModelIndex index = indexFromItem(itvItem); QModelIndex srcIndex = indexFromItem(srcItvItem); selectionModel()->select( index, srcItvItem->isSelected() ? QItemSelectionModel::Select : QItemSelectionModel::Deselect); } } bool ItemTreeViewImpl::dropMimeData(QTreeWidgetItem* parent, int index, const QMimeData* data, Qt::DropAction action) { return TreeWidget::dropMimeData(parent, index, data, action); } void ItemTreeViewImpl::onSelectionChanged() { selectedItemList.clear(); QList selected = selectedItems(); for(int i=0; i < selected.size(); ++i){ ItvItem* itvItem = dynamic_cast(selected[i]); if(itvItem){ selectedItemList.push_back(itvItem->item.get()); } } sigSelectionChanged(selectedItemList); sigSelectionOrTreeChanged(selectedItemList); } bool ItemTreeView::isItemSelected(Item* item) { return impl->isItemSelected(item); } bool ItemTreeViewImpl::isItemSelected(Item* item) { ItvItem* itvItem = getItvItem(item); if(itvItem){ return itvItem->isSelected(); } return false; } bool ItemTreeView::selectItem(Item* item, bool select) { return impl->selectItem(item, select); } void ItemTreeView::unselectItem(Item* item) { impl->selectItem(item, false); } bool ItemTreeViewImpl::selectItem(Item* item, bool select) { ItvItem* itvItem = getItvItem(item); if(itvItem){ QModelIndex index = indexFromItem(itvItem); selectionModel()->select(index, (select ? QItemSelectionModel::Select : QItemSelectionModel::Deselect)); return select; } return false; } void ItemTreeView::selectAllItems() { impl->selectAll(); } void ItemTreeView::clearSelection() { impl->selectionModel()->clearSelection(); } bool ItemTreeView::isItemChecked(ItemPtr item, int id) { return impl->isItemChecked(item.get(), id); } bool ItemTreeViewImpl::isItemChecked(Item* item, int id) { ItvItem* itvItem = getItvItem(item); if(itvItem){ return (itvItem->checkState(id + 1) == Qt::Checked); } return false; } bool ItemTreeView::checkItem(ItemPtr item, bool checked, int id) { return impl->checkItem(item.get(), checked, id); } bool ItemTreeViewImpl::checkItem(Item* item, bool checked, int id) { ItvItem* itvItem = getItvItem(item); if(itvItem){ itvItem->setCheckState(id + 1, (checked ? Qt::Checked : Qt::Unchecked)); return checked; } return false; } SignalProxy&)> ItemTreeView::sigSelectionChanged() { return impl->sigSelectionChanged; } SignalProxy&)> ItemTreeView::sigSelectionOrTreeChanged() { return impl->sigSelectionOrTreeChanged; } SignalProxy ItemTreeView::sigCheckToggled(int id) { if(id < impl->checkColumns.size()){ return impl->checkColumns[id]->sigCheckToggled; } return impl->sigCheckToggledForInvalidId; // or throw exception } SignalProxy ItemTreeView::sigCheckToggled(Item* targetItem, int id) { if(id < impl->checkColumns.size()){ return impl->getOrCreateItvItem(targetItem)->getOrCreateSigCheckToggled(id); } return impl->sigCheckToggledForInvalidItem; } ItemList<>& ItemTreeView::allSelectedItems() { return impl->selectedItemList; } void ItemTreeView::extractSelectedItemsOfSubTree(ItemPtr topItem, ItemList<>& io_items) { topItem->traverse(boost::bind(&ItemTreeViewImpl::extractSelectedItemsOfSubTreeTraverse, impl, _1, &io_items)); } bool ItemTreeViewImpl::extractSelectedItemsOfSubTreeTraverse(Item* item, ItemList<>* io_items) { ItvItem* itvItem = getItvItem(item); if(itvItem && itvItem->isSelected()){ io_items->push_back(item); } return false; } ItemList<>& ItemTreeView::allCheckedItems(int id) { return impl->checkedItems(id); } ItemList<>& ItemTreeViewImpl::checkedItems(int id) { if(id >= 0 && id < checkColumns.size()){ CheckColumnPtr& cc = checkColumns[id]; if(cc){ if(cc->needToUpdateCheckedItemList){ cc->checkedItemList.clear(); extractCheckedItems(invisibleRootItem(), id + 1, cc->checkedItemList); cc->needToUpdateCheckedItemList = false; } return cc->checkedItemList; } } emptyItemList.clear(); return emptyItemList; } void ItemTreeViewImpl::extractCheckedItems(QTreeWidgetItem* twItem, int column, ItemList<>& checkedItemList) { ItvItem* itvItem = dynamic_cast(twItem); if(itvItem){ if(itvItem->checkState(column) == Qt::Checked){ checkedItemList.push_back(itvItem->item.get()); } } int n = twItem->childCount(); for(int i=0; i < n; ++i){ extractCheckedItems(twItem->child(i), column, checkedItemList); } } void ItemTreeViewImpl::forEachTopItems(const ItemList<>& items, boost::function callback) { set itemSet; for(size_t i=0; i < items.size(); ++i){ itemSet.insert(items.get(i)); } for(size_t i=0; i < items.size(); ++i){ Item* item = items.get(i); bool isChild = false; Item* parentItem = item->parentItem(); while(parentItem){ set::iterator p = itemSet.find(parentItem); if(p != itemSet.end()){ isChild = true; break; } parentItem = parentItem->parentItem(); } if(!isChild){ callback(item); } } } void ItemTreeViewImpl::cutSelectedItems() { copiedItemList.clear(); ItemList<> selected = selectedItemList; forEachTopItems(selected, boost::bind(&ItemTreeViewImpl::moveCutItemsToCopiedItemList, this, _1)); } void ItemTreeView::cutSelectedItems() { impl->cutSelectedItems(); } void ItemTreeViewImpl::copySelectedItems() { copiedItemList.clear(); set items; for(size_t i=0; i < selectedItemList.size(); ++i){ items.insert(selectedItemList.get(i)); } for(size_t i=0; i < selectedItemList.size(); ++i){ Item* item = selectedItemList.get(i); bool isChild = false; Item* parentItem = item->parentItem(); while(parentItem){ set::iterator p = items.find(parentItem); if(p != items.end()){ isChild = true; break; } parentItem = parentItem->parentItem(); } if(!isChild){ ItemPtr duplicated = item->duplicate(); if(!duplicated){ //! \todo Put warning message. The item is probably a singleton item. } else { copiedItemList.push_back(duplicated); copySelectedItemsSub(item, duplicated, items); } } } } void ItemTreeViewImpl::copySelectedItemsSub(Item* item, ItemPtr& duplicated, set& items) { for(Item* childItem = item->childItem(); childItem; childItem = childItem->nextItem()){ set::iterator p = items.find(childItem); if(p != items.end()){ ItemPtr duplicatedChild; if(childItem->isSubItem()){ duplicatedChild = duplicated->findChildItem(childItem->name()); } else { duplicatedChild = childItem->duplicate(); if(duplicatedChild){ duplicated->addChildItem(duplicatedChild); } } if(duplicatedChild){ copySelectedItemsSub(childItem, duplicatedChild, items); } } } } void ItemTreeViewImpl::copySelectedItemsWithChildren() { copiedItemList.clear(); forEachTopItems(selectedItemList, boost::bind(&ItemTreeViewImpl::addCopiedItemToCopiedItemList, this, _1)); } void ItemTreeViewImpl::addCopiedItemToCopiedItemList(Item* item) { ItemPtr duplicated = item->duplicateAll(); if(duplicated){ copiedItemList.push_back(duplicated); } } void ItemTreeViewImpl::pasteItems() { if(!copiedItemList.empty()){ ItemPtr parentItem; if(selectedItemList.empty()){ parentItem = rootItem; } else if(selectedItemList.size() == 1){ parentItem = selectedItemList.front(); } if(parentItem){ for(size_t i=0; i < copiedItemList.size(); ++i){ ItemPtr org = copiedItemList[i]; ItemPtr duplicated = org->duplicateAll(); if(duplicated){ copiedItemList[i] = duplicated; } parentItem->addChildItem(org, true); // paste the original items } } } } void ItemTreeViewImpl::moveCutItemsToCopiedItemList(Item* item) { if(!item->isSubItem()){ copiedItemList.push_back(item); item->detachFromParentItem(); } } void ItemTreeViewImpl::checkSelectedItems(bool on) { for(size_t i=0; i < selectedItemList.size(); ++i){ checkItem(selectedItemList[i].get(), on, 0); } } void ItemTreeViewImpl::toggleSelectedItemChecks() { for(size_t i=0; i < selectedItemList.size(); ++i){ Item* item = selectedItemList[i].get(); checkItem(item, !isItemChecked(item, 0), 0); } } bool ItemTreeView::storeState(Archive& archive) { return impl->storeState(archive); } bool ItemTreeViewImpl::storeState(Archive& archive) { storeItemIds(archive, "selected", selectedItemList); storeItemIds(archive, "checked", checkedItems(0)); storeExpandedItems(archive); return true; } void ItemTreeView::storeCheckColumnState(int id, Archive& archive) { impl->storeItemIds(archive, "checked", impl->checkedItems(id)); } void ItemTreeViewImpl::storeItemIds(Archive& archive, const char* key, const ItemList<>& items) { ListingPtr idseq = new Listing(); idseq->setFlowStyle(true); for(size_t i=0; i < items.size(); ++i){ ValueNodePtr id = archive.getItemId(items[i]); if(id){ idseq->append(id); } } if(!idseq->empty()){ archive.insert(key, idseq); } } bool ItemTreeView::restoreState(const Archive& archive) { archive.addPostProcess(boost::bind(&ItemTreeViewImpl::restoreState, impl, boost::ref(archive))); return true; } bool ItemTreeViewImpl::restoreState(const Archive& archive) { restoreItemStates(archive, "checked", boost::bind(&ItemTreeView::checkItem, self, _1, true, 0)); restoreItemStates(archive, "selected", boost::bind(&ItemTreeView::selectItem, self, _1, true)); restoreExpandedItems(archive); return true; } bool ItemTreeView::restoreCheckColumnState(int id, const Archive& archive) { return impl->restoreItemStates(archive, "checked", boost::bind(&ItemTreeView::checkItem, this, _1, true, id)); } bool ItemTreeViewImpl::restoreItemStates (const Archive& archive, const char* key, boost::function stateChangeFunc) { bool completed = false; const Listing& idseq = *archive.findListing(key); if(idseq.isValid()){ completed = true; for(int i=0; i < idseq.size(); ++i){ ValueNode* id = idseq.at(i); if(!id){ completed = false; } else { Item* item = archive.findItem(id); if(item){ stateChangeFunc(item); } else { completed = false; } } } } return completed; } void ItemTreeViewImpl::storeExpandedItems(Archive& archive) { ListingPtr expanded = new Listing(); expanded->setFlowStyle(true); storeExpandedItemsSub(invisibleRootItem(), archive, expanded); if(!expanded->empty()){ archive.insert("expanded", expanded); } } void ItemTreeViewImpl::storeExpandedItemsSub(QTreeWidgetItem* parentTwItem, Archive& archive, ListingPtr& expanded) { int n = parentTwItem->childCount(); for(int i=0; i < n; ++i){ ItvItem* itvItem = dynamic_cast(parentTwItem->child(i)); if(itvItem){ if(itvItem->isExpanded()){ ValueNodePtr id = archive.getItemId(itvItem->item); if(id){ expanded->append(id); } } if(itvItem->childCount() > 0){ storeExpandedItemsSub(itvItem, archive, expanded); } } } } void ItemTreeViewImpl::restoreExpandedItems(const Archive& archive) { const Listing& expanded = *archive.findListing("expanded"); if(expanded.isValid()){ collapseAll(); for(int i=0; i < expanded.size(); ++i){ Item* item = archive.findItem(expanded.at(i)); if(item){ ItvItem* itvItem = getItvItem(item); if(itvItem){ itvItem->setExpanded(true); } } } } } void ItemTreeViewImpl::zoomFontSize(int pointSizeDiff) { QFont font = TreeWidget::font(); font.setPointSize(font.pointSize() + pointSizeDiff); setFont(font); fontPointSizeDiff += pointSizeDiff; AppConfig::archive()->openMapping("ItemTreeView")->write("fontZoom", fontPointSizeDiff); } choreonoid-1.5.0/src/Base/AbstractSeqItem.h0000664000000000000000000000213212741425367017224 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_ABSTRACT_SEQ_ITEM_H #define CNOID_BASE_ABSTRACT_SEQ_ITEM_H #include "Item.h" #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT AbstractSeqItem : public Item { public: AbstractSeqItem(); AbstractSeqItem(const AbstractSeqItem& org); virtual ~AbstractSeqItem(); virtual AbstractSeqPtr abstractSeq() = 0; protected: virtual void doPutProperties(PutPropertyFunction& putProperty); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); }; typedef ref_ptr AbstractSeqItemPtr; class CNOID_EXPORT AbstractMultiSeqItem : public AbstractSeqItem { public: AbstractMultiSeqItem(); AbstractMultiSeqItem(const AbstractMultiSeqItem& org); virtual ~AbstractMultiSeqItem(); virtual AbstractSeqPtr abstractSeq(); virtual AbstractMultiSeqPtr abstractMultiSeq() = 0; protected: virtual void doPutProperties(PutPropertyFunction& putProperty); }; typedef ref_ptr AbstractMultiSeqItemPtr; } #endif choreonoid-1.5.0/src/Base/Vector3SeqItem.cpp0000664000000000000000000000233312741425367017344 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "Vector3SeqItem.h" #include "ItemManager.h" #include "gettext.h" using namespace cnoid; void Vector3SeqItem::initializeClass(ExtensionManager* ext) { ext->itemManager().registerClass(N_("Vector3SeqItem")); } Vector3SeqItem::Vector3SeqItem() : seq_(boost::make_shared()) { } Vector3SeqItem::Vector3SeqItem(Vector3SeqPtr seq) : seq_(seq) { setName(seq->seqContentName()); } Vector3SeqItem::Vector3SeqItem(const Vector3SeqItem& org) : AbstractSeqItem(org), seq_(boost::make_shared(*org.seq_)) { } Vector3SeqItem::Vector3SeqItem(const Vector3SeqItem& org, Vector3SeqPtr cloneSeq) : AbstractSeqItem(org), seq_(cloneSeq) { } Vector3SeqItem::~Vector3SeqItem() { } AbstractSeqPtr Vector3SeqItem::abstractSeq() { return seq_; } bool Vector3SeqItem::loadPlainFormat(const std::string& filename) { bool loaded = seq_->loadPlainFormat(filename); notifyUpdate(); return loaded; } bool Vector3SeqItem::saveAsPlainFormat(const std::string& filename) { return seq_->saveAsPlainFormat(filename); } Item* Vector3SeqItem::doDuplicate() const { return new Vector3SeqItem(*this); } choreonoid-1.5.0/src/Base/Menu.cpp0000664000000000000000000000273212741425367015436 0ustar rootroot/** @author Shin'ichiro NAKAOKA */ #include "Menu.h" using namespace boost; using namespace cnoid; Menu::Menu(QWidget* parent) : QMenu(parent) { initialize(); } Menu::Menu(const QString& title, QWidget* parent) : QMenu(title, parent) { initialize(); } void Menu::initialize() { sigTriggered_ = 0; sigAboutToShow_ = 0; sigAboutToHide_ = 0; } Menu::~Menu() { if(sigTriggered_){ delete sigTriggered_; } if(sigAboutToShow_){ delete sigAboutToShow_; } if(sigAboutToHide_){ delete sigAboutToHide_; } } SignalProxy Menu::sigTriggered() { if(!sigTriggered_){ sigTriggered_ = new Signal(); connect(this, SIGNAL(triggered(QAction*)), this, SLOT(onTriggered(QAction*))); } return *sigTriggered_; } void Menu::onTriggered(QAction* action) { (*sigTriggered_)(action); } SignalProxy Menu::sigAboutToShow() { if(!sigAboutToShow_){ sigAboutToShow_ = new Signal(); connect(this, SIGNAL(aboutToShow()), this, SLOT(onAboutToShow())); } return *sigAboutToShow_; } void Menu::onAboutToShow() { (*sigAboutToShow_)(); } SignalProxy Menu::sigAboutToHide() { if(!sigAboutToHide_){ sigAboutToHide_ = new Signal(); connect(this, SIGNAL(aboutToHide()), this, SLOT(onAboutToHide())); } return *sigAboutToHide_; } void Menu::onAboutToHide() { (*sigAboutToHide_)(); } choreonoid-1.5.0/src/Base/TimeSyncItemEngine.cpp0000664000000000000000000000550012741425367020226 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "TimeSyncItemEngine.h" #include "ItemTreeView.h" #include "TimeBar.h" #include "LazyCaller.h" #include #include using namespace std; using namespace boost; using namespace cnoid; namespace { double currentTime; typedef boost::function TimeSyncItemEngineFactory; typedef vector FactoryArray; typedef map FactoryArrayMap; FactoryArrayMap allFactories; vector engines; Connection connectionOfSelectionOrTreeChanged; Connection connectionOfTimeChanged; LazyCaller updateLater; bool setTime(double time) { bool isActive = false; currentTime = time; for(size_t i=0; i < engines.size(); ++i){ isActive |= engines[i]->onTimeChanged(time); } return isActive; } void update() { setTime(currentTime); } void onItemSelectionOrTreeChanged(const ItemList<>& selectedItems) { engines.clear(); for(size_t i=0; i < selectedItems.size(); ++i){ Item* sourceItem = selectedItems.get(i); for(FactoryArrayMap::iterator p = allFactories.begin(); p != allFactories.end(); ++p){ FactoryArray& factories = p->second; for(FactoryArray::iterator q = factories.begin(); q != factories.end(); ++q){ TimeSyncItemEngineFactory& factoryFunc = *q; TimeSyncItemEnginePtr engine = factoryFunc(sourceItem); if(engine){ engines.push_back(engine); } } } } setTime(currentTime); } void reset() { onItemSelectionOrTreeChanged(ItemTreeView::mainInstance()->selectedItems()); } } TimeSyncItemEngine::~TimeSyncItemEngine() { } bool TimeSyncItemEngine::onTimeChanged(double time) { return false; } void TimeSyncItemEngine::notifyUpdate() { updateLater(); } void TimeSyncItemEngineManager::initialize() { static bool initialized = false; if(!initialized){ currentTime = 0.0; connectionOfSelectionOrTreeChanged = ItemTreeView::mainInstance()->sigSelectionOrTreeChanged().connect(onItemSelectionOrTreeChanged); connectionOfTimeChanged = TimeBar::instance()->sigTimeChanged().connect(setTime); updateLater.setFunction(update); updateLater.setPriority(LazyCaller::PRIORITY_LOW); initialized = true; } } TimeSyncItemEngineManager::TimeSyncItemEngineManager(const std::string& moduleName) : moduleName(moduleName) { } TimeSyncItemEngineManager::~TimeSyncItemEngineManager() { allFactories.erase(moduleName); engines.clear(); } void TimeSyncItemEngineManager::addEngineFactory(boost::function factory) { allFactories[moduleName].push_back(factory); } choreonoid-1.5.0/src/Base/MultiSE3SeqGraphView.cpp0000664000000000000000000001357412741425367020433 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "MultiSE3SeqGraphView.h" #include "ViewManager.h" #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; void MultiSE3SeqGraphView::initializeClass(ExtensionManager* ext) { ext->viewManager().registerClass( "MultiSE3SeqGraphView", N_("Multi SE3 Seq"), ViewManager::SINGLE_OPTIONAL); } MultiSE3SeqGraphView::MultiSE3SeqGraphView() { setDefaultLayoutArea(View::BOTTOM); setSizePolicy(QSizePolicy::Ignored, QSizePolicy::Ignored); static const char* xyzLabels[] = { "X", "Y", "Z" }; static const char* rpyLabels[] = { "R", "P", "Y" }; QVBoxLayout* vbox = new QVBoxLayout();; vbox->setSpacing(0); setupElementToggleSet(vbox, xyzToggles, xyzLabels, true); setupElementToggleSet(vbox, rpyToggles, rpyLabels, false); leftVBox()->insertLayout(0, vbox); } void MultiSE3SeqGraphView::setupElementToggleSet (QBoxLayout* box, ToggleToolButton toggles[], const char* labels[], bool isActive) { for(int i=0; i < 3; ++i){ toggles[i].setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred); box->addWidget(&toggles[i]); toggles[i].setChecked(isActive); toggles[i].setText(labels[i]); toggleConnections.add( toggles[i].sigToggled().connect( boost::bind(&MultiSE3SeqGraphView::updateSelections, this))); } } MultiSE3SeqGraphView::~MultiSE3SeqGraphView() { } int MultiSE3SeqGraphView::currentNumParts(const ItemList<>& items) const { MultiSE3SeqItem* item = static_cast(items.front().get()); return item->seq()->numParts(); } ItemList<> MultiSE3SeqGraphView::extractTargetItems(const ItemList<>& items) const { return ItemList(items); } void MultiSE3SeqGraphView::addGraphDataHandlers(Item* item, int partIndex, std::vector& out_handlers) { MultiSE3SeqItem* seqItem = static_cast(item); MultiSE3SeqPtr seq = seqItem->seq(); if(partIndex < seq->numParts()){ for(int i=0; i < 2; ++i){ ToggleToolButton* toggles = (i == 0) ? xyzToggles : rpyToggles; for(int j=0; j < 3; ++j){ if(toggles[j].isChecked()){ GraphDataHandlerPtr handler(new GraphDataHandler()); handler->setLabel(boost::lexical_cast(partIndex)); handler->setFrameProperties(seq->numFrames(), seq->frameRate()); handler->setDataRequestCallback( boost::bind(&MultiSE3SeqGraphView::onDataRequest, this, seq, partIndex, i, j, _1, _2, _3)); handler->setDataModifiedCallback( boost::bind(&MultiSE3SeqGraphView::onDataModified, this, seqItem, partIndex, i, j, _1, _2, _3)); out_handlers.push_back(handler); } } } } } void MultiSE3SeqGraphView::updateGraphDataHandler(Item* item, GraphDataHandlerPtr handler) { MultiSE3SeqPtr seq = static_cast(item)->seq(); handler->setFrameProperties(seq->numFrames(), seq->frameRate()); handler->update(); } void MultiSE3SeqGraphView::onDataRequest (MultiSE3SeqPtr seq, int partIndex, int type, int axis, int frame, int size, double* out_values) { MultiSE3Seq::Part part = seq->part(partIndex); if(type == 0){ // xyz for(int i=0; i < size; ++i){ out_values[i] = part[frame + i].translation()[axis]; } } else { // rpy //! \todo eliminate the redundant calculations when more than one axes are plot at the same time for(int i=0; i < size; ++i){ const SE3& p = part[frame + i]; out_values[i] = rpyFromRot(Matrix3(p.rotation()))[axis]; } } } void MultiSE3SeqGraphView::onDataModified (MultiSE3SeqItem* item, int partIndex, int type, int axis, int frame, int size, double* values) { MultiSE3Seq::Part part = item->seq()->part(partIndex); if(type == 0){ // xyz for(int i=0; i < size; ++i){ SE3& p = part[frame + i]; p.translation()[axis] = values[i]; } } else { // rpy //! \todo make the following code more efficient for(int i=0; i < size; ++i){ SE3& p = part[frame + i]; Vector3 rpy(rpyFromRot(Matrix3(p.rotation()))); rpy[axis] = values[i]; p.rotation() = rotFromRpy(rpy); } } GraphViewBase::notifyUpdateByEditing(item); } bool MultiSE3SeqGraphView::storeState(Archive& archive) { if(GraphViewBase::storeState(archive)){ Listing& visibleElements = *archive.createFlowStyleListing("visibleElements"); for(int i=0; i < 3; ++i){ if(xyzToggles[i].isChecked()){ visibleElements.append(i); } } for(int i=0; i < 3; ++i){ if(rpyToggles[i].isChecked()){ visibleElements.append(i+3); } } return true; } return false; } bool MultiSE3SeqGraphView::restoreState(const Archive& archive) { if(GraphViewBase::restoreState(archive)){ const Listing& visibleElements = *archive.findListing("visibleElements"); if(visibleElements.isValid()){ toggleConnections.block(); for(int i=0; i < 3; ++i){ xyzToggles[i].setChecked(false); rpyToggles[i].setChecked(false); } for(int i=0; i < visibleElements.size(); ++i){ int index = visibleElements[i].toInt(); if(index < 3){ xyzToggles[index].setChecked(true); } else { rpyToggles[index-3].setChecked(true); } } toggleConnections.unblock(); } return true; } return false; } choreonoid-1.5.0/src/Base/Buttons.cpp0000664000000000000000000000443112741425367016166 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "Buttons.h" using namespace cnoid; PushButton::PushButton(QWidget* parent) : QPushButton(parent) { initialize(); } PushButton::PushButton(const QString& text, QWidget* parent) : QPushButton(text, parent) { initialize(); } PushButton::PushButton(const QIcon & icon, const QString & text, QWidget* parent) : QPushButton(icon, text, parent) { initialize(); } void PushButton::initialize() { connect(this, SIGNAL(clicked(bool)), this, SLOT(onClicked(bool))); connect(this, SIGNAL(toggled(bool)), this, SLOT(onToggled(bool))); } void PushButton::onClicked(bool checked) { sigClicked_(checked); } void PushButton::onToggled(bool checked) { sigToggled_(checked); } ToggleButton::ToggleButton(QWidget* parent) : PushButton(parent) { setCheckable(true); } ToggleButton::ToggleButton(const QString& text, QWidget* parent) : PushButton(text, parent) { setCheckable(true); } ToggleButton::ToggleButton(const QIcon& icon, const QString& text, QWidget* parent) : PushButton(icon, text, parent) { setCheckable(true); } RadioButton::RadioButton(QWidget* parent) : QRadioButton(parent) { initialize(); } RadioButton::RadioButton(const QString& text, QWidget* parent) : QRadioButton(text, parent) { initialize(); } void RadioButton::initialize() { connect(this, SIGNAL(toggled(bool)), this, SLOT(onToggled(bool))); } void RadioButton::onToggled(bool checked) { sigToggled_(checked); } ToolButton::ToolButton(QWidget* parent) : QToolButton(parent) { initialize(); } /* ToolButton::ToolButton(const QString& text, QWidget* parent) : QToolButton(text, parent) { initialize(); } ToolButton::ToolButton(const QIcon & icon, const QString & text, QWidget* parent) : QToolButton(icon, text, parent) { initialize(); } */ void ToolButton::initialize() { connect(this, SIGNAL(clicked(bool)), this, SLOT(onClicked(bool))); connect(this, SIGNAL(toggled(bool)), this, SLOT(onToggled(bool))); } void ToolButton::onClicked(bool checked) { sigClicked_(checked); } void ToolButton::onToggled(bool checked) { sigToggled_(checked); } ToggleToolButton::ToggleToolButton(QWidget* parent) : ToolButton(parent) { setCheckable(true); } choreonoid-1.5.0/src/Base/Slider.cpp0000664000000000000000000000072512741425367015754 0ustar rootroot/** @author Shin'ichiro NAKAOKA */ #include "Slider.h" using namespace cnoid; Slider::Slider(QWidget* parent) : QSlider(parent) { initialize(); } Slider::Slider(Qt::Orientation orientation, QWidget* parent) : QSlider(orientation, parent) { initialize(); } void Slider::initialize() { connect(this, SIGNAL(valueChanged(int)), this, SLOT(onValueChanged(int))); } void Slider::onValueChanged(int value) { sigValueChanged_(value); } choreonoid-1.5.0/src/Base/AbstractSeqItem.cpp0000664000000000000000000000455012741425367017565 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "AbstractSeqItem.h" #include "Archive.h" #include "PutPropertyFunction.h" #include #include "gettext.h" using namespace cnoid; AbstractSeqItem::AbstractSeqItem() { } AbstractSeqItem::AbstractSeqItem(const AbstractSeqItem& org) : Item(org) { } AbstractSeqItem::~AbstractSeqItem() { } static bool setPropertyNumFrames(AbstractSeqItem* item, int numFrames) { if(numFrames >= 0){ item->abstractSeq()->setNumFrames(numFrames); item->suggestFileUpdate(); return true; } return false; } static bool setPropertyTimeLength(AbstractSeqItem* item, double timeLength) { if(timeLength >= 0){ item->abstractSeq()->setTimeLength(timeLength); item->suggestFileUpdate(); return true; } return false; } void AbstractSeqItem::doPutProperties(PutPropertyFunction& putProperty) { AbstractSeqPtr seq = abstractSeq(); putProperty(_("Frame rate"), seq->getFrameRate()); putProperty(_("Offset time"), seq->getOffsetTime()); putProperty(_("Number of frames"), seq->getNumFrames(), boost::bind(setPropertyNumFrames, this, _1)); putProperty(_("Time length"), seq->getTimeLength(), boost::bind(setPropertyTimeLength, this, _1)); putProperty.decimals(3)(_("Time step"), seq->getTimeStep()); } bool AbstractSeqItem::store(Archive& archive) { if(overwrite()){ archive.writeRelocatablePath("filename", filePath()); archive.write("format", fileFormat()); return true; } return false; } bool AbstractSeqItem::restore(const Archive& archive) { std::string filename, formatId; if(archive.readRelocatablePath("filename", filename) && archive.read("format", formatId)){ if(load(filename, formatId)){ return true; } } return false; } AbstractMultiSeqItem::AbstractMultiSeqItem() { } AbstractMultiSeqItem::AbstractMultiSeqItem(const AbstractMultiSeqItem& org) : AbstractSeqItem(org) { } AbstractMultiSeqItem::~AbstractMultiSeqItem() { } AbstractSeqPtr AbstractMultiSeqItem::abstractSeq() { return abstractMultiSeq(); } void AbstractMultiSeqItem::doPutProperties(PutPropertyFunction& putProperty) { AbstractMultiSeqPtr seq = abstractMultiSeq(); AbstractSeqItem::doPutProperties(putProperty); putProperty(_("Num parts"), seq->getNumParts()); } choreonoid-1.5.0/src/Base/ScriptItem.cpp0000664000000000000000000000215612741425367016615 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "ScriptItem.h" #include using namespace std; using namespace boost; using namespace cnoid; ScriptItem::ScriptItem() { } ScriptItem::ScriptItem(const ScriptItem& org) : AbstractTextItem(org) { } ScriptItem::~ScriptItem() { } const std::string& ScriptItem::textFilename() const { return scriptFilename(); } std::string ScriptItem::identityName() const { const string& name_ = name(); const string fname = getFilename(filesystem::path(scriptFilename())); if(name_.empty()){ return fname; } if(fname == name_){ return name_; } else { return name_ + " (" + fname + ")"; } } bool ScriptItem::setBackgroundMode(bool on) { return on ? false : true; } bool ScriptItem::isBackgroundMode() const { return false; } bool ScriptItem::isRunning() const { return false; } bool ScriptItem::executeCode(const char* code) { return false; } bool ScriptItem::waitToFinish(double timeout) { return false; } std::string ScriptItem::resultString() const { return string(); } choreonoid-1.5.0/src/Base/TranslationDragger.h0000664000000000000000000000373312741425367017773 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_TRANSLATION_DRAGGER_H #define CNOID_BASE_TRANSLATION_DRAGGER_H #include "SceneDragger.h" #include "SceneDragProjector.h" #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT TranslationDragger : public SceneDragger { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW; TranslationDragger(bool setDefaultAxes = true); TranslationDragger(const TranslationDragger& org); TranslationDragger(const TranslationDragger& org, SgCloneMap& cloneMap); virtual SgObject* clone(SgCloneMap& cloneMap) const; enum Axis { TX = 1, TY = 2, TZ = 4 }; void setDraggableAxes(int axisSet); int draggableAxes() const { return draggableAxes_; } void addCustomAxis(int axis, SgNode* node); void clearCustomAxes(); double radius() const; void setRadius(double r); SignalProxy sigTranslationStarted() { return sigTranslationStarted_; } SignalProxy sigTranslationDragged() { return sigTranslationDragged_; } SignalProxy sigTranslationFinished() { return sigTranslationFinished_; } virtual bool isDragging() const; virtual Affine3 draggedPosition() const; const Vector3& draggedTranslation() const; virtual bool onButtonPressEvent(const SceneWidgetEvent& event); virtual bool onButtonReleaseEvent(const SceneWidgetEvent& event); virtual bool onPointerMoveEvent(const SceneWidgetEvent& event); virtual void onPointerLeaveEvent(const SceneWidgetEvent& event); private: int draggableAxes_; SgScaleTransformPtr defaultAxesScale; SgGroupPtr customAxes; SgMaterialPtr axisMaterials[3]; SceneDragProjector dragProjector; double axisCylinderNormalizedRadius; Signal sigTranslationStarted_; Signal sigTranslationDragged_; Signal sigTranslationFinished_; }; typedef ref_ptr TranslationDraggerPtr; } #endif choreonoid-1.5.0/src/Base/Process.cpp0000664000000000000000000000133412741425367016145 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "Process.h" #ifdef Q_OS_UNIX #include "unistd.h" #endif using namespace cnoid; Process::Process(QObject* parent) : QProcess(parent) { connect(this, SIGNAL(readyReadStandardOutput()), this, SLOT(onReadyReadStandardOutput())); } void Process::onReadyReadStandardOutput() { sigReadyReadStandardOutput_(); } void Process::start(const QString& program, const QStringList& arguments, OpenMode mode) { QProcess::start(program, arguments, mode); #ifdef Q_OS_UNIX setpgid(pid(), 0); #endif } void Process::start(const QString& program, OpenMode mode) { QProcess::start(program, mode); #ifdef Q_OS_UNIX setpgid(pid(), 0); #endif } choreonoid-1.5.0/src/Base/SpinBox.h0000664000000000000000000000231312741425367015554 0ustar rootroot/** @author Shin'ichiro NAKAOKA */ #ifndef CNOID_BASE_SPINBOX_H #define CNOID_BASE_SPINBOX_H #include #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT SpinBox : public QSpinBox { Q_OBJECT public: SpinBox(QWidget* parent = 0); SignalProxy sigValueChanged() { return sigValueChanged_; } SignalProxy sigEditingFinished() { return sigEditingFinished_; } private Q_SLOTS: void onValueChanged(int value); void onEditingFinishded(); private: Signal sigValueChanged_; Signal sigEditingFinished_; }; class CNOID_EXPORT DoubleSpinBox : public QDoubleSpinBox { Q_OBJECT public: DoubleSpinBox(QWidget* parent = 0); SignalProxy sigValueChanged() { return sigValueChanged_; } SignalProxy sigEditingFinished() { return sigEditingFinished_; } private Q_SLOTS: void onValueChanged(double value); void onEditingFinishded(); private: Signal sigValueChanged_; Signal sigEditingFinished_; }; } #endif choreonoid-1.5.0/src/Base/View.h0000664000000000000000000000420112741425367015102 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_VIEW_H #define CNOID_BASE_VIEW_H #include #include #include "exportdecl.h" namespace cnoid { class ExtensionManager; class Archive; class MenuManager; class ViewArea; class ViewAreaImpl; class ViewManagerImpl; class ViewImpl; class CNOID_EXPORT ViewClass { public: virtual const std::string& className() const = 0; }; class CNOID_EXPORT View : public QWidget { public: View(); virtual ~View(); ViewClass* viewClass() const; void setName(const std::string& name); std::string name() const { return objectName().toStdString(); } ViewArea* viewArea() const; bool isActive() const; void bringToFront(); SignalProxy sigActivated(); SignalProxy sigDeactivated(); SignalProxy sigResized(); SignalProxy sigRemoved(); enum LayoutArea { LEFT = 0, LEFT_TOP = 0, LEFT_BOTTOM = 1, CENTER = 2, RIGHT = 3, BOTTOM = 4, NUM_AREAS }; void setDefaultLayoutArea(LayoutArea area); LayoutArea defaultLayoutArea() const; void setLayout(QLayout* layout); QPoint viewAreaPos() const; virtual QWidget* indicatorOnInfoBar(); void enableFontSizeZoomKeys(bool on); static View* lastFocusView(); static SignalProxy sigFocusChanged(); virtual bool storeState(Archive& archive); virtual bool restoreState(const Archive& archive); protected: void zoomFontSize(int zoom); virtual void onActivated(); virtual void onDeactivated(); virtual void onAttachedMenuRequest(MenuManager& menuManager); virtual void keyPressEvent(QKeyEvent* event); virtual void resizeEvent(QResizeEvent* event); private: // Qt events (make hidden) virtual void showEvent(QShowEvent* event); virtual void hideEvent(QHideEvent* event); ViewImpl* impl; void setViewArea(ViewArea* area); void notifySigRemoved(); friend class ViewAreaImpl; friend class ViewManagerImpl; }; } #endif choreonoid-1.5.0/src/Base/TreeView.h0000664000000000000000000000406012741425367015725 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_TREE_VIEW_H #define CNOID_BASE_TREE_VIEW_H #include "ItemSelectionModel.h" #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT TreeView : public QTreeView { Q_OBJECT public: TreeView(QWidget* parent = 0); virtual void setModel(QAbstractItemModel* model); ItemSelectionModel* itemSelectionModel() const; SignalProxy sigCollapsed() { return sigCollapsed_; } SignalProxy sigExpanded() { return sigExpanded_; } SignalProxy sigActivated() { return sigActivated_; } SignalProxy sigClicked() { return sigClicked_; } SignalProxy sigDoubleClicked() { return sigDoubleClicked_; } SignalProxy sigEntered() { return sigEntered_; } SignalProxy sigPressed() { return sigPressed_; } SignalProxy sigViewportEntered() { return sigViewportEntered_; } private Q_SLOTS: void onCollapsed(const QModelIndex& index); void onExpanded(const QModelIndex& index); void onActivated(const QModelIndex& index); void onClicked(const QModelIndex& index); void onDoubleClicked(const QModelIndex& index); void onEntered(const QModelIndex& index); void onPressed(const QModelIndex& index); void onViewportEntered(void); private: Signal sigCollapsed_; Signal sigExpanded_; Signal sigActivated_; Signal sigClicked_; Signal sigDoubleClicked_; Signal sigEntered_; Signal sigPressed_; Signal sigViewportEntered_; }; } #endif choreonoid-1.5.0/src/Base/icons/0000775000000000000000000000000012741425367015135 5ustar rootrootchoreonoid-1.5.0/src/Base/icons/setup.png0000664000000000000000000000225012741425367017002 0ustar rootroot‰PNG  IHDRàw=ĝsBIT|dˆ pHYsììu85tEXtSoftwarewww.inkscape.org›î<%IDATH‰ĠHgçyß÷l´ħfF1…ú³M[ü••Òµ˘ml”iì`Eğ•MJa]÷G)Ü`û£ 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public: SocketNotifier(int socket, Type type, QObject* parent = 0); SignalProxy sigActivated() { return sigActivated_; } private Q_SLOTS: void onActivated(int socket); private: Signal sigActivated_; }; } #endif choreonoid-1.5.0/src/Base/MessageView.h0000664000000000000000000000664312741425367016423 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_MESSAGE_VIEW_H #define CNOID_BASE_MESSAGE_VIEW_H #include #include #include #include #include #include "exportdecl.h" namespace cnoid { class MessageViewImpl; class CNOID_EXPORT MessageView : public View { public: static void initializeClass(ExtensionManager* ext); static MessageView* mainInstance(); static MessageView* instance(); MessageView(); ~MessageView(); #if defined(_WIN32) && defined(ERROR) #undef ERROR #endif enum MessageType { NORMAL, ERROR, WARNING, HIGHLIGHT }; void put(const char* message); void put(const std::string& message); void put(const boost::format& message); void put(const QString& message); void put(int type, const char* message); void put(int type, const std::string& message); void put(int type, const boost::format& message); void put(int type, const QString& message); void putln(); void putln(const char* message); void putln(const std::string& message); void putln(const boost::format& message); void putln(const QString& message); void putln(int type, const char* message); void putln(int type, const std::string& message); void putln(int type, const boost::format& message); void putln(int type, const QString& message); void notify(const char* message); void notify(const std::string& message); void notify(const boost::format& message); void notify(const QString& message); /* int start(const char* message); int start(const std::string& message); int start(const boost::format& message); int start(const QString& message); void progress(int id, const char* message); void progress(int id, const std::string& message); void progress(int id, const boost::format& message); void progress(int id, const QString& message); void finish(int id, const char* message); void finish(int id, const std::string& message); void finish(int id, const boost::format& message); void finish(int id, const QString& message); */ int currentColumn(); void flush(); void clear(); std::ostream& cout(bool doFlush = false); void beginStdioRedirect(); void endStdioRedirect(); SignalProxy sigMessage(); static bool isFlushing(); static SignalProxy sigFlushFinished(); protected: virtual bool event(QEvent* e); private: MessageViewImpl* impl; }; #ifndef CNOID_BASE_MVOUT_DECLARED #define CNOID_BASE_MVOUT_DECLARED CNOID_EXPORT std::ostream& mvout(bool doFlush = false); #endif CNOID_EXPORT void showMessageBox(const std::string& message); CNOID_EXPORT void showMessageBox(const boost::format& message); CNOID_EXPORT void showMessageBox(const char* message); CNOID_EXPORT void showMessageBox(const QString& message); CNOID_EXPORT void showWarningDialog(const std::string& message); CNOID_EXPORT void showWarningDialog(const boost::format& message); CNOID_EXPORT void showWarningDialog(const char* message); CNOID_EXPORT void showWarningDialog(const QString& message); CNOID_EXPORT bool showConfirmDialog(const char* caption, const char* message); CNOID_EXPORT bool showConfirmDialog(const std::string& caption, const std::string& message); CNOID_EXPORT bool showConfirmDialog(const QString& caption, const QString& message); } #endif choreonoid-1.5.0/src/Base/ToolBar.h0000664000000000000000000000535712741425367015547 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_TOOL_BAR_H #define CNOID_BASE_TOOL_BAR_H #include "Buttons.h" #include "Action.h" #include #include #include #include "exportdecl.h" namespace cnoid { class Archive; class ExtensionManager; class ToolBarArea; class MainWindow; class CNOID_EXPORT ToolBar : public QWidget { Q_OBJECT public: ToolBar(const QString& title); virtual ~ToolBar(); ToolButton* addButton(const QString& text, const QString& tooltip = QString()); ToolButton* addButton(const QIcon& icon, const QString& tooltip = QString()); ToolButton* addButton(const char* const* xpm, const QString& tooltip = QString()); ToolButton* addToggleButton(const QString& text, const QString& tooltip = QString()); ToolButton* addToggleButton(const QIcon& icon, const QString& tooltip = QString()); ToolButton* addToggleButton(const char* const* xpm, const QString& tooltip = QString()); void requestNewRadioGroup(); QButtonGroup* currentRadioGroup(); ToolButton* addRadioButton(const QString& text, const QString& tooltip = QString()); ToolButton* addRadioButton(const QIcon& icon, const QString& tooltip = QString()); ToolButton* addRadioButton(const char* const* xpm, const QString& tooltip = QString()); void addAction(QAction* action); void addWidget(QWidget* widget); QLabel* addLabel(const QString& text); QLabel* addImage(const QString& filename); QWidget* addSeparator(int spacing = 0); void addSpacing(int size); void setVisibleByDefault(bool on); bool isVisibleByDefault() const { return isVisibleByDefault_; } void setStretchable(bool on); bool isStretchable() const { return isStretchable_; } virtual int stretchableDefaultWidth() const; ToolBarArea* toolBarArea() { return toolBarArea_; } class LayoutPriorityCmp { public: bool operator() (ToolBar* bar1, ToolBar* bar2) { return (bar1->layoutPriority < bar2->layoutPriority); } }; virtual bool storeState(Archive& archive); virtual bool restoreState(const Archive& archive); public Q_SLOTS: void setEnabled(bool on); void changeIconSize(const QSize& iconSize); private: QHBoxLayout* hbox; QWidget* handle; QButtonGroup* radioGroup; bool isNewRadioGroupRequested; MainWindow* mainWindow; ToolBarArea* toolBarArea_; bool isVisibleByDefault_; int defaultOrderIndex; // used for layouting tool bars on a ToolBarArea bool isStretchable_; int desiredX; int layoutPriority; void setRadioButton(ToolButton* button); friend class ToolBarAreaImpl; void changeIconSizeSub(QLayout* layout, const QSize& iconSize); }; } #endif choreonoid-1.5.0/src/Base/MultiValueSeqGraphView.h0000664000000000000000000000172512741425367020555 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_MULTI_VALUE_SEQ_GRAPH_VIEW_H_INCLUDED #define CNOID_BASE_MULTI_VALUE_SEQ_GRAPH_VIEW_H_INCLUDED #include "GraphViewBase.h" #include "MultiValueSeqItem.h" namespace cnoid { class MultiValueSeqGraphView : public GraphViewBase { public: static void initializeClass(ExtensionManager* ext); MultiValueSeqGraphView(); ~MultiValueSeqGraphView(); private: virtual int currentNumParts(const ItemList<>& items) const; virtual ItemList extractTargetItems(const ItemList<>& items) const; void addGraphDataHandlers(Item* item, int partIndex, std::vector& out_handlers); void updateGraphDataHandler(Item* item, GraphDataHandlerPtr handler); void onDataRequest(MultiValueSeqPtr seq, int partIndex, int frame, int size, double* out_values); void onDataModified(MultiValueSeqItem* item, int partIndex, int frame, int size, double* values); }; } #endif choreonoid-1.5.0/src/Base/ScrollBar.h0000664000000000000000000000503712741425367016063 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_SCROLLBAR_H #define CNOID_BASE_SCROLLBAR_H #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT ScrollBar : public QScrollBar { Q_OBJECT public: ScrollBar(QWidget* parent = 0); ScrollBar(Qt::Orientation orientation, QWidget* parent = 0); SignalProxy sigValueChanged() { return sigValueChanged_; } private Q_SLOTS: void onValueChanged(int value); private: Signal sigValueChanged_; void initialize(); }; class CNOID_EXPORT DoubleScrollBar : public QScrollBar { Q_OBJECT public: DoubleScrollBar(QWidget* parent = 0); DoubleScrollBar(Qt::Orientation orientation, QWidget* parent = 0); double getMaximum() const { return QScrollBar::maximum() / resolution; } double getMinimum() const { return QScrollBar::minimum() / resolution; } double getPageStep() const { return QScrollBar::pageStep() / resolution; } double getSingleStep() const { return QScrollBar::singleStep() / resolution; } double getValue() const { return value() / resolution; } void setRange(double min, double max) { QScrollBar::setRange(min * resolution, max * resolution); } void setPageStep(double step) { QScrollBar::setPageStep(step * resolution); } void setSingleStep(double step) { QScrollBar::setSingleStep(step * resolution); } void setValue(double value) { QScrollBar::setValue(value * resolution); } SignalProxy sigValueChanged() { return sigValueChanged_; } private Q_SLOTS: void onValueChanged(int value); private: Signal sigValueChanged_; double resolution; void initialize(); // Original int version functions are disabled int maximum() const { return QScrollBar::maximum(); } int minimum() const { return QScrollBar::minimum(); } int pageStep() const { return QScrollBar::pageStep(); } int singleStep() const { return QScrollBar::singleStep(); } int value() const { return QScrollBar::value(); } void setMaximum(int max) { QScrollBar::setMaximum(max); } void setMinimum(int min) { QScrollBar::setMinimum(min); } void setPageStep(int step) { QScrollBar::setPageStep(step); } void setRange(int min, int max) { QScrollBar::setRange(min, max); } void setSingleStep(int step) { QScrollBar::setSingleStep(step); } void setValue(int value) { QScrollBar::setValue(value); } }; } #endif choreonoid-1.5.0/src/Base/DescriptionDialog.h0000664000000000000000000000065512741425367017604 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_GUIBASE_DESCRIPTION_DIALOG_H_INCLUDED #define CNOID_GUIBASE_DESCRIPTION_DIALOG_H_INCLUDED #include "Dialog.h" #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT DescriptionDialog : public Dialog { public: DescriptionDialog(); void setDescription(const QString& text); private: QPlainTextEdit textEdit; }; } #endif choreonoid-1.5.0/src/Base/ExtCommandItem.cpp0000664000000000000000000001064312741425367017410 0ustar rootroot/*! @file @author Shin'ichiro Nakaoka */ #include "ExtCommandItem.h" #include "ItemManager.h" #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace filesystem = boost::filesystem; void ExtCommandItem::initializeClass(ExtensionManager* ext) { static bool initialized = false; if(!initialized){ ItemManager& im = ext->itemManager(); im.registerClass(N_("ExtCommandItem")); im.addCreationPanel(); initialized = true; } } ExtCommandItem::ExtCommandItem() { waitingTimeAfterStarted_ = 0.0; signalReadyStandardOutputConnected = false; doCheckExistingProcess = false; doExecuteOnLoading = true; process.sigReadyReadStandardOutput().connect( boost::bind(&ExtCommandItem::onReadyReadServerProcessOutput, this)); } ExtCommandItem::ExtCommandItem(const ExtCommandItem& org) : Item(org) { command_ = org.command_; waitingTimeAfterStarted_ = org.waitingTimeAfterStarted_; signalReadyStandardOutputConnected = false; doCheckExistingProcess = org.doCheckExistingProcess; doExecuteOnLoading = org.doExecuteOnLoading; process.sigReadyReadStandardOutput().connect( boost::bind(&ExtCommandItem::onReadyReadServerProcessOutput, this)); } ExtCommandItem::~ExtCommandItem() { } void ExtCommandItem::onDisconnectedFromRoot() { terminate(); } Item* ExtCommandItem::doDuplicate() const { return new ExtCommandItem(*this); } void ExtCommandItem::setCommand(const std::string& command) { terminate(); command_ = command; if(name().empty()){ setName(command); } } void ExtCommandItem::setWaitingTimeAfterStarted(double time) { waitingTimeAfterStarted_ = time; } bool ExtCommandItem::execute() { bool result = false; MessageView* mv = MessageView::instance(); if(!command_.empty()){ terminate(); string actualCommand(command_); #ifdef _WIN32 if(filesystem::path(actualCommand).extension() != ".exe"){ actualCommand += ".exe"; } // quote the command string to support a path including spaces process.start(QString("\"") + actualCommand.c_str() + "\""); #else process.start(actualCommand.c_str()); #endif if(process.waitForStarted()){ mv->putln(fmt(_("External command \"%1%\" has been executed by item \"%2%\".")) % actualCommand % name()); if(waitingTimeAfterStarted_ > 0.0){ msleep(waitingTimeAfterStarted_ * 1000.0); } result = true; } else { mv->put(fmt(_("External command \"%1%\" cannot be executed.")) % actualCommand); if(!boost::filesystem::exists(actualCommand)){ mv->putln(_(" The command does not exist.")); } else { mv->putln(""); } } } return result; } bool ExtCommandItem::terminate() { if(process.state() != QProcess::NotRunning){ process.kill(); return process.waitForFinished(100); } return false; } void ExtCommandItem::onReadyReadServerProcessOutput() { MessageView::instance()->put(QString(process.readAll())); } void ExtCommandItem::doPutProperties(PutPropertyFunction& putProperty) { putProperty(_("Command"), command_, boost::bind(&ExtCommandItem::setCommand, this, _1), true); putProperty(_("Execute on loading"), doExecuteOnLoading, changeProperty(doExecuteOnLoading)); putProperty(_("Waiting time after started"), waitingTimeAfterStarted_, changeProperty(waitingTimeAfterStarted_)); } bool ExtCommandItem::store(Archive& archive) { //archive.writeRelocatablePath("command", command_); archive.write("command", command_); archive.write("executeOnLoading", doExecuteOnLoading); archive.write("waitingTimeAfterStarted", waitingTimeAfterStarted_); return true; } bool ExtCommandItem::restore(const Archive& archive) { //archive.readRelocatablePath("command", command_); archive.read("command", command_); archive.read("waitingTimeAfterStarted", waitingTimeAfterStarted_); if(archive.read("executeOnLoading", doExecuteOnLoading)){ if(doExecuteOnLoading){ execute(); } } return true; } choreonoid-1.5.0/src/Base/CaptureBar.h0000664000000000000000000000074612741425367016232 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_CAPTURE_BAR_H_INCLUDED #define CNOID_BASE_CAPTURE_BAR_H_INCLUDED #include namespace cnoid { class View; class CaptureBar : public ToolBar { public: static void initialize(ExtensionManager* ext); static CaptureBar* instance(); virtual ~CaptureBar(); private: CaptureBar(); virtual void mouseMoveEvent(QMouseEvent* event); virtual void mousePressEvent(QMouseEvent* event); }; } #endif choreonoid-1.5.0/src/Base/SceneWidgetEditable.h0000664000000000000000000000462612741425367020036 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_SCENE_WIDGET_EDITABLE_H #define CNOID_BASE_SCENE_WIDGET_EDITABLE_H #include #include "exportdecl.h" namespace cnoid { class SceneWidget; class MenuManager; class CNOID_EXPORT SceneWidgetEvent { public: SceneWidgetEvent(const SceneWidgetEvent& org); const Vector3& point() const { return point_; } const SgNodePath& nodePath() const { return nodePath_; } // OpenGL viewport coordinate double x() const { return x_; } double y() const { return y_; } /** @return a Qt::Key value */ int key() const { return key_; } /** @return a Qt::MouseButton value */ int button() const { return button_; } /** @return a Qt::KeyboardModifiers value */ int modifiers() const { return modifiers_; } double wheelSteps() const { return wheelSteps_; } const SgNodePath& cameraPath() const { return cameraPath_; } const Affine3& currentCameraPosition() const; SceneWidget* sceneWidget() const { return sceneWidget_; } void updateIndicator(const std::string& message) const; private: int key_; int button_; int modifiers_; Vector3 point_; double x_; double y_; double wheelSteps_; SgNodePath nodePath_; SgNodePath cameraPath_; mutable SceneWidget* sceneWidget_; SceneWidgetEvent(); SceneWidgetEvent& operator=(const SceneWidgetEvent& org); // disabled friend class SceneWidgetImpl; }; class CNOID_EXPORT SceneWidgetEditable { public: virtual bool onKeyPressEvent(const SceneWidgetEvent& event); virtual bool onKeyReleaseEvent(const SceneWidgetEvent& event); virtual bool onButtonPressEvent(const SceneWidgetEvent& event); virtual bool onButtonReleaseEvent(const SceneWidgetEvent& event); virtual bool onDoubleClickEvent(const SceneWidgetEvent& event); virtual bool onPointerMoveEvent(const SceneWidgetEvent& event); virtual void onPointerLeaveEvent(const SceneWidgetEvent& event); virtual bool onScrollEvent(const SceneWidgetEvent& event); virtual void onFocusChanged(const SceneWidgetEvent& event, bool on); virtual void onContextMenuRequest(const SceneWidgetEvent& event, MenuManager& menuManager); virtual void onSceneModeChanged(const SceneWidgetEvent& event); virtual bool onUndoRequest(); virtual bool onRedoRequest(); }; } #endif choreonoid-1.5.0/src/Base/MovieRecorder.cpp0000664000000000000000000010226112741425367017275 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "MovieRecorder.h" #include "ExtensionManager.h" #include "ViewManager.h" #include "MenuManager.h" #include "ViewArea.h" #include "MessageView.h" #include "AppConfig.h" #include "MainWindow.h" #include "SceneView.h" #include "ToolBar.h" #include "TimeBar.h" #include "Archive.h" #include "SpinBox.h" #include "Buttons.h" #include "ButtonGroup.h" #include "LineEdit.h" #include "CheckBox.h" #include "ComboBox.h" #include "Dialog.h" #include "Separator.h" #include "Timer.h" #include "LazyCaller.h" #include #include #include #include #include #include #include #include #include #include #ifdef Q_OS_LINUX #include #include const bool ENABLE_MOUSE_CURSOR_CAPTURE = true; #else const bool ENABLE_MOUSE_CURSOR_CAPTURE = false; #endif #include "gettext.h" using namespace std; using namespace cnoid; namespace filesystem = boost::filesystem; namespace { enum RecordinMode { OFFLINE_MODE, ONLINE_MODE, DIRECT_MODE, N_RECORDING_MODES }; MovieRecorder* movieRecorder = 0; class MovieRecorderBar : public ToolBar { public: MovieRecorderImpl* recorder; ToolButton* recordingToggle; ToolButton* viewMarkerToggle; bool isFlashed; MovieRecorderBar(MovieRecorderImpl* recorder); void flashRecordingToggle(bool setNormal){ if(isFlashed || setNormal){ recordingToggle->setText(_("O")); isFlashed = false; } else { recordingToggle->setText(_("*")); isFlashed = true; } } void setRecordingToggle(bool on){ recordingToggle->blockSignals(true); recordingToggle->setChecked(on); recordingToggle->blockSignals(false); } void changeViewMarkerToggleState(bool on){ viewMarkerToggle->blockSignals(true); viewMarkerToggle->setChecked(on); viewMarkerToggle->blockSignals(false); } }; class ConfigDialog : public Dialog { public: MovieRecorderImpl* recorder; ScopedConnectionSet viewManagerConnections; LazyCaller updateViewComboLater; vector activeViews; ComboBox targetViewCombo; CheckBox viewMarkerCheck; RadioButton modeRadioButtons[N_RECORDING_MODES]; LineEdit directoryEntry; PushButton directoryButton; LineEdit basenameEntry; CheckBox startTimeCheck; DoubleSpinBox startTimeSpin; CheckBox finishTimeCheck; DoubleSpinBox finishTimeSpin; DoubleSpinBox fpsSpin; CheckBox imageSizeCheck; SpinBox imageWidthSpin; SpinBox imageHeightSpin; CheckBox mouseCursorCheck; ToggleButton recordingToggle; double startTime() const { return startTimeCheck.isChecked() ? startTimeSpin.value() : 0.0; } double finishTime() const { return finishTimeCheck.isChecked() ? finishTimeSpin.value() : std::numeric_limits::max(); } double frameRate() const { return fpsSpin.value(); } double timeStep() const { return 1.0 / fpsSpin.value(); } void setViewMarkerCheck(bool on){ viewMarkerCheck.blockSignals(true); viewMarkerCheck.setChecked(on); viewMarkerCheck.blockSignals(false); } void checkRecordingModeRadio(int mode){ RadioButton& radio = modeRadioButtons[mode]; radio.blockSignals(true); radio.setChecked(true); radio.blockSignals(false); } void setRecordingToggle(bool on){ recordingToggle.blockSignals(true); recordingToggle.setChecked(on); recordingToggle.blockSignals(false); } ConfigDialog(MovieRecorderImpl* recorder); virtual void showEvent(QShowEvent* event); virtual void hideEvent(QHideEvent* event); void updateViewCombo(); void onTargetViewIndexChanged(int index); void onRecordingModeRadioClicked(int mode); void showDirectorySelectionDialog(); bool store(Mapping& archive); void restore(const Mapping& archive); }; class ViewMarker : public QWidget { public: MovieRecorderImpl* recorder; QPen pen; ViewMarker(MovieRecorderImpl* recorder); void setTargetView(View* view); virtual void paintEvent(QPaintEvent* event); }; } namespace cnoid { class MovieRecorderImpl { public: Selection recordingMode; bool isRecording; bool isBeforeFirstFrameCapture; bool requestStopRecording; int frame; double nextFrameTime; double timeStep; double startTime; double finishTime; string targetViewName; View* targetView; ScopedConnectionSet targetViewConnections; MessageView* mv; char* startMessage; ConfigDialog* dialog; MovieRecorderBar* toolBar; TimeBar* timeBar; ConnectionSet timeBarConnections; Timer directModeTimer; ViewMarker* viewMarker; bool isViewMarkerEnabled; Timer flashTimer; typedef boost::variant ImageVariant; class CapturedImage : public Referenced { public: ImageVariant image; int frame; }; typedef ref_ptr CapturedImagePtr; deque capturedImages; vector tmpImageBuf; boost::thread imageOutputThread; boost::mutex imageQueueMutex; boost::condition_variable imageQueueCondition; boost::format filenameFormat; MovieRecorderImpl(ExtensionManager* ext); ~MovieRecorderImpl(); void setTargetView(View* view); void onTargetViewResized(View* view); void onTargetViewRemoved(View* view); void setTargetView(const std::string& name); void onViewCreated(View* view); void setRecordingMode(const std::string& symbol); void activateRecording(bool on, bool isActivatedByDialog); bool setupViewAndFilenameFormat(); bool doOfflineModeRecording(); void setupOnlineModeRecording(); void onPlaybackStarted(double time); void startOnlineModeRecording(); bool onTimeChanged(double time); void onPlaybackStopped(bool isStoppedManually); void startDirectModeRecording(); void onDirectModeTimerTimeout(); void captureViewImage(bool waitForPrevOutput); void drawMouseCursorImage(QPainter& painter); void captureSceneWidgets(QWidget* widget, QPixmap& pixmap); void startImageOutput(); void outputImages(); void onImageOutputFailed(std::string message); void stopRecording(bool isFinished); void onViewMarkerToggled(bool on); bool showViewMarker(); void startFlash(); void onFlashTimeout(); void stopFlash(); bool store(Mapping& archive); void restore(const Mapping& archive); }; } void MovieRecorder::initialize(ExtensionManager* ext) { if(!movieRecorder){ movieRecorder = ext->manage(new MovieRecorder(ext)); MenuManager& mm = ext->menuManager(); mm.setPath("/Tools"); mm.addItem(_("Movie Recorder")) ->sigTriggered().connect(boost::bind(&QDialog::show, movieRecorder->impl->dialog)); } } MovieRecorder* MovieRecorder::instance() { return movieRecorder; } MovieRecorder::MovieRecorder(ExtensionManager* ext) { impl = new MovieRecorderImpl(ext); } MovieRecorderImpl::MovieRecorderImpl(ExtensionManager* ext) : recordingMode(N_RECORDING_MODES, CNOID_GETTEXT_DOMAIN_NAME), mv(MessageView::instance()) { recordingMode.setSymbol(OFFLINE_MODE, N_("Offline")); recordingMode.setSymbol(ONLINE_MODE, N_("Online")); recordingMode.setSymbol(DIRECT_MODE, N_("Direct")); dialog = new ConfigDialog(this); toolBar = new MovieRecorderBar(this); ext->addToolBar(toolBar); timeBar = TimeBar::instance(); targetView = 0; isRecording = false; isBeforeFirstFrameCapture = false; requestStopRecording = false; directModeTimer.sigTimeout().connect( boost::bind(&MovieRecorderImpl::onDirectModeTimerTimeout, this)); startMessage = _("Recording of %1% has been started with the %2% mode."); viewMarker = 0; isViewMarkerEnabled = false; flashTimer.setInterval(500); flashTimer.sigTimeout().connect( boost::bind(&MovieRecorderImpl::onFlashTimeout, this)); Mapping& config = *AppConfig::archive()->findMapping("MovieRecorder"); if(config.isValid()){ restore(config); } } ConfigDialog::ConfigDialog(MovieRecorderImpl* recorder) : recorder(recorder), updateViewComboLater(boost::bind(&ConfigDialog::updateViewCombo, this)) { setWindowTitle(_("Movie Recorder")); QVBoxLayout* vbox = new QVBoxLayout(); setLayout(vbox); QHBoxLayout* hbox = new QHBoxLayout(); hbox->addWidget(new QLabel(_("Target view:"))); targetViewCombo.sigCurrentIndexChanged().connect( boost::bind(&ConfigDialog::onTargetViewIndexChanged, this, _1)); hbox->addWidget(&targetViewCombo); viewMarkerCheck.setText(_("Show the marker")); viewMarkerCheck.sigToggled().connect( boost::bind(&MovieRecorderImpl::onViewMarkerToggled, recorder, _1)); hbox->addWidget(&viewMarkerCheck); hbox->addStretch(); vbox->addLayout(hbox); hbox = new QHBoxLayout(); hbox->addWidget(new QLabel(_("Recording mode: "))); ButtonGroup* modeGroup = new ButtonGroup(); for(int i=0; i < N_RECORDING_MODES; ++i){ RadioButton* radio = &modeRadioButtons[i]; radio->setText(recorder->recordingMode.label(i)); modeGroup->addButton(radio, i); hbox->addWidget(radio); } modeRadioButtons[0].setChecked(true); modeGroup->sigButtonClicked().connect( boost::bind(&ConfigDialog::onRecordingModeRadioClicked, this, _1)); hbox->addStretch(); vbox->addLayout(hbox); hbox = new QHBoxLayout(); hbox->addWidget(new QLabel(_("Directory"))); hbox->addWidget(&directoryEntry); QIcon folderIcon = QIcon::fromTheme("folder"); if(folderIcon.isNull()){ directoryButton.setText(_("Select")); } else { directoryButton.setIcon(folderIcon); } directoryButton.sigClicked().connect( boost::bind(&ConfigDialog::showDirectorySelectionDialog, this)); hbox->addWidget(&directoryButton); vbox->addLayout(hbox); hbox = new QHBoxLayout(); hbox->addWidget(new QLabel(_("Basename"))); basenameEntry.setText("scene"); hbox->addWidget(&basenameEntry); hbox->addStretch(); vbox->addLayout(hbox); hbox = new QHBoxLayout(); hbox->addWidget(new QLabel(_("Frame rate"))); fpsSpin.setDecimals(1); fpsSpin.setRange(1.0, 9999.9); fpsSpin.setValue(30.0); fpsSpin.setSingleStep(0.1); hbox->addWidget(&fpsSpin); hbox->addWidget(new QLabel(_("[fps]"))); hbox->addStretch(); vbox->addLayout(hbox); hbox = new QHBoxLayout(); startTimeCheck.setText(_("Start time")); hbox->addWidget(&startTimeCheck); startTimeSpin.setDecimals(2); startTimeSpin.setRange(0.00, 9999.99); startTimeSpin.setSingleStep(0.1); hbox->addWidget(&startTimeSpin); hbox->addWidget(new QLabel(_("[s]"))); hbox->addSpacing(4); finishTimeCheck.setText(_("Finish time")); hbox->addWidget(&finishTimeCheck); finishTimeSpin.setDecimals(2); finishTimeSpin.setRange(0.00, 9999.99); finishTimeSpin.setSingleStep(0.1); hbox->addWidget(&finishTimeSpin); hbox->addWidget(new QLabel(_("[s]"))); hbox->addStretch(); vbox->addLayout(hbox); hbox = new QHBoxLayout(); imageSizeCheck.setText(_("Image size")); hbox->addWidget(&imageSizeCheck); imageWidthSpin.setRange(1, 9999); imageWidthSpin.setValue(640); hbox->addWidget(&imageWidthSpin); hbox->addWidget(new QLabel("x")); imageHeightSpin.setRange(1, 9999); imageHeightSpin.setValue(480); hbox->addWidget(&imageHeightSpin); hbox->addStretch(); vbox->addLayout(hbox); if(ENABLE_MOUSE_CURSOR_CAPTURE){ hbox = new QHBoxLayout(); mouseCursorCheck.setText(_("Capture the mouse cursor")); hbox->addWidget(&mouseCursorCheck); hbox->addStretch(); vbox->addLayout(hbox); } vbox->addWidget(new HSeparator()); QDialogButtonBox* buttonBox = new QDialogButtonBox(this); recordingToggle.setText(_("&Record")); recordingToggle.setDefault(true); recordingToggle.sigToggled().connect( boost::bind(&MovieRecorderImpl::activateRecording, recorder, _1, true)); buttonBox->addButton(&recordingToggle, QDialogButtonBox::ActionRole); vbox->addWidget(buttonBox); } MovieRecorderBar::MovieRecorderBar(MovieRecorderImpl* recorder) : ToolBar(N_("MovieRecorderBar")), recorder(recorder) { recordingToggle = addToggleButton("O", _("Toggle Recording")); recordingToggle->sigToggled().connect( boost::bind(&MovieRecorderImpl::activateRecording, recorder, _1, false)); viewMarkerToggle = addToggleButton("[ ]", _("Toggle Target View Marker")); viewMarkerToggle->sigToggled().connect( boost::bind(&MovieRecorderImpl::onViewMarkerToggled, recorder, _1)); addButton(QIcon(":/Base/icons/setup.png"), _("Show the config dialog")) ->sigClicked().connect(boost::bind(&QDialog::show, recorder->dialog)); } MovieRecorder::~MovieRecorder() { delete impl; } MovieRecorderImpl::~MovieRecorderImpl() { timeBarConnections.disconnect(); store(*AppConfig::archive()->openMapping("MovieRecorder")); delete dialog; if(viewMarker){ delete viewMarker; } } void ConfigDialog::showEvent(QShowEvent* event) { updateViewCombo(); viewManagerConnections.disconnect(); viewManagerConnections.add( ViewManager::sigViewActivated().connect( boost::bind(boost::ref(updateViewComboLater)))); viewManagerConnections.add( ViewManager::sigViewDeactivated().connect( boost::bind(boost::ref(updateViewComboLater)))); Dialog::showEvent(event); } void ConfigDialog::hideEvent(QHideEvent* event) { viewManagerConnections.disconnect(); updateViewComboLater.cancel(); Dialog::hideEvent(event); } void ConfigDialog::updateViewCombo() { activeViews = ViewManager::activeViews(); targetViewCombo.blockSignals(true); targetViewCombo.clear(); targetViewCombo.addItem("None"); bool selected = false; for(size_t i=0; i < activeViews.size(); ++i){ View* view = activeViews[i]; targetViewCombo.addItem(view->name().c_str()); if(!selected){ if((recorder->targetView && (view == recorder->targetView)) || view->name() == recorder->targetViewName){ targetViewCombo.setCurrentIndex(i + 1); selected = true; } } } targetViewCombo.blockSignals(false); } void ConfigDialog::onTargetViewIndexChanged(int index) { if(index == 0){ recorder->setTargetView(0); } else { int viewIndex = index - 1; if(viewIndex < activeViews.size()){ recorder->setTargetView(activeViews[viewIndex]); } } } void MovieRecorderImpl::setTargetView(View* view) { if(view != targetView){ if(isRecording){ stopRecording(false); } targetViewConnections.disconnect(); targetViewName.clear(); targetView = view; dialog->updateViewCombo(); if(targetView){ targetViewName = targetView->name(); targetViewConnections.add( targetView->sigResized().connect( boost::bind(&MovieRecorderImpl::onTargetViewResized, this, targetView))); targetViewConnections.add( targetView->sigRemoved().connect( boost::bind(&MovieRecorderImpl::onTargetViewRemoved, this, targetView))); } showViewMarker(); } } void MovieRecorderImpl::onTargetViewResized(View* view) { if(targetView == view){ showViewMarker(); } } void MovieRecorderImpl::onTargetViewRemoved(View* view) { if(targetView == view){ setTargetView(0); } } void MovieRecorderImpl::setTargetView(const std::string& name) { if(name != targetViewName){ targetViewName = name; if(!isRecording){ vector views = ViewManager::allViews(); for(size_t i=0; i name() == name){ setTargetView(view); break; } } if(!targetView){ targetViewConnections.add( ViewManager::sigViewCreated().connect( boost::bind(&MovieRecorderImpl::onViewCreated, this, _1))); } } } } void MovieRecorderImpl::onViewCreated(View* view) { if(view->name() == targetViewName){ setTargetView(view); } } void MovieRecorderImpl::setRecordingMode(const std::string& symbol) { recordingMode.select(symbol); dialog->checkRecordingModeRadio(recordingMode.which()); } void ConfigDialog::onRecordingModeRadioClicked(int mode) { recorder->recordingMode.select(mode); } void ConfigDialog::showDirectorySelectionDialog() { QString directory = QFileDialog::getExistingDirectory( MainWindow::instance(), _("Select Directory"), directoryEntry.text(), 0); if(!directory.isNull()){ directoryEntry.setText(directory); } } void MovieRecorderImpl::activateRecording(bool on, bool isActivatedByDialog) { if(isActivatedByDialog){ toolBar->setRecordingToggle(on); } else { dialog->setRecordingToggle(on); } if(!on){ stopRecording(false); } else { if(isRecording){ return; } if(setupViewAndFilenameFormat()){ frame = 0; requestStopRecording = false; timeStep = dialog->timeStep(); startTime = dialog->startTime(); finishTime = dialog->finishTime(); switch(recordingMode.which()){ case OFFLINE_MODE: if(doOfflineModeRecording()){ if(isActivatedByDialog){ dialog->hide(); } } break; case ONLINE_MODE: setupOnlineModeRecording(); break; case DIRECT_MODE: startDirectModeRecording(); break; default: isRecording = false; break; } } } } bool MovieRecorderImpl::setupViewAndFilenameFormat() { if(!targetView){ showWarningDialog(_("Target view is not specified.")); return false; } filesystem::path directory(dialog->directoryEntry.string()); filesystem::path basename(dialog->basenameEntry.string() + "%08u.png"); if(directory.empty()){ showWarningDialog(_("Please set a directory to output image files.")); return false; } else { if(filesystem::exists(directory)){ if(!filesystem::is_directory(directory)){ showWarningDialog(fmt(_("%1% is not a directory.")) % directory); return false; } } else { filesystem::create_directories(directory); } } filenameFormat = boost::format((directory / basename).string()); if(dialog->imageSizeCheck.isChecked()){ int width = dialog->imageWidthSpin.value(); int height = dialog->imageHeightSpin.value(); QSize s = targetView->size(); int x = (s.width() - width) / 2; int y = (s.height() - height) / 2; targetView->setGeometry(x, y, width, height); } boost::unique_lock lock(imageQueueMutex); capturedImages.clear(); return true; } bool MovieRecorderImpl::doOfflineModeRecording() { double time = startTime; bool doContinue = true; isRecording = true; startFlash(); startImageOutput(); mv->putln(boost::format(startMessage) % targetView->name() % recordingMode.selectedLabel()); while(time <= finishTime && doContinue){ doContinue = timeBar->setTime(time); MessageView::instance()->flush(); if(requestStopRecording){ break; } captureViewImage(true); time += timeStep; frame++; } stopRecording(!requestStopRecording); bool result = !requestStopRecording; requestStopRecording = false; return result; } void MovieRecorderImpl::setupOnlineModeRecording() { timeBarConnections.disconnect(); isBeforeFirstFrameCapture = true; nextFrameTime = startTime; if(timeBar->isDoingPlayback()){ startOnlineModeRecording(); } else { timeBarConnections.add( timeBar->sigPlaybackStarted().connect( boost::bind(&MovieRecorderImpl::onPlaybackStarted, this, _1))); mv->putln(boost::format(_("The online mode recording for %1% is ready.")) % targetView->name()); } } void MovieRecorderImpl::onPlaybackStarted(double time) { startOnlineModeRecording(); } void MovieRecorderImpl::startOnlineModeRecording() { timeBarConnections.disconnect(); timeBarConnections.add( timeBar->sigTimeChanged().connect( boost::bind(&MovieRecorderImpl::onTimeChanged, this, _1))); timeBarConnections.add( timeBar->sigPlaybackStopped().connect( boost::bind(&MovieRecorderImpl::onPlaybackStopped, this, _2))); isRecording = true; startImageOutput(); mv->putln(boost::format(startMessage) % targetView->name() % recordingMode.selectedLabel()); } bool MovieRecorderImpl::onTimeChanged(double time) { if(isRecording){ if(isBeforeFirstFrameCapture){ if(time >= startTime){ isBeforeFirstFrameCapture = false; startFlash(); } } if(time > finishTime){ stopRecording(true); } else { while(time >= nextFrameTime){ captureViewImage(false); ++frame; nextFrameTime += timeStep; } } } return false; } void MovieRecorderImpl::onPlaybackStopped(bool isStoppedManually) { stopRecording(!isStoppedManually); } void MovieRecorderImpl::startDirectModeRecording() { isRecording = true; startFlash(); startImageOutput(); directModeTimer.setInterval(1000 / dialog->frameRate()); directModeTimer.start(); mv->putln(boost::format(startMessage) % targetView->name() % recordingMode.selectedLabel()); } void MovieRecorderImpl::onDirectModeTimerTimeout() { captureViewImage(false); ++frame; } void MovieRecorderImpl::captureViewImage(bool waitForPrevOutput) { CapturedImagePtr captured = new CapturedImage(); captured->frame = frame; if(SceneView* sceneView = dynamic_cast(targetView)){ captured->image = sceneView->sceneWidget()->getImage(); if(dialog->mouseCursorCheck.isChecked()){ QPainter painter(&boost::get(captured->image)); drawMouseCursorImage(painter); } } else { captured->image = QPixmap(); QPixmap& pixmap = boost::get(captured->image); pixmap.grabWidget(targetView); captureSceneWidgets(targetView, pixmap); if(dialog->mouseCursorCheck.isChecked()){ QPainter painter(&pixmap); drawMouseCursorImage(painter); } } { boost::unique_lock lock(imageQueueMutex); if(waitForPrevOutput){ while(!capturedImages.empty()){ imageQueueCondition.wait(lock); } } capturedImages.push_back(captured); } imageQueueCondition.notify_all(); } void MovieRecorderImpl::drawMouseCursorImage(QPainter& painter) { #ifdef Q_OS_LINUX XFixesCursorImage* cursor = XFixesGetCursorImage(QX11Info::display()); if(cursor){ if(cursor->pixels){ QImage cursorImage; if(sizeof(long) == 4){ cursorImage = QImage((uchar*)cursor->pixels, cursor->width, cursor->height, QImage::Format_ARGB32); } else { tmpImageBuf.resize(cursor->width * cursor->height); for(int i = 0; i < tmpImageBuf.size(); ++i){ tmpImageBuf[i] = (quint32)cursor->pixels[i]; } cursorImage = QImage((uchar*)(&tmpImageBuf.front()), cursor->width, cursor->height, QImage::Format_ARGB32); } QPoint mousePos = QCursor::pos() - targetView->mapToGlobal(QPoint(0, 0)); mousePos -= QPoint(cursor->xhot, cursor->yhot); painter.drawImage(mousePos, cursorImage); } XFree(cursor); } #endif } void MovieRecorderImpl::captureSceneWidgets(QWidget* widget, QPixmap& pixmap) { const QObjectList objs = widget->children(); for(int i=0; i < objs.size(); ++i){ if(QWidget* widget = dynamic_cast(objs[i])){ if(SceneWidget* sceneWidget = dynamic_cast(widget)){ QPainter painter(&pixmap); QImage image = sceneWidget->getImage(); QPoint pos = sceneWidget->mapTo(targetView, QPoint(0, 0)); painter.drawImage(pos, image); } captureSceneWidgets(widget, pixmap); } } } void MovieRecorderImpl::startImageOutput() { if(!imageOutputThread.joinable()){ imageOutputThread = boost::thread( boost::bind(&MovieRecorderImpl::outputImages, this)); } } void MovieRecorderImpl::outputImages() { while(true){ CapturedImagePtr captured; { boost::unique_lock lock(imageQueueMutex); while(isRecording && capturedImages.empty()){ imageQueueCondition.wait(lock); } if(capturedImages.empty() && !isRecording){ break; } captured = capturedImages.front(); capturedImages.pop_front(); } imageQueueCondition.notify_all(); bool saved = false; string filename = str(filenameFormat % captured->frame); if(captured->image.which() == 0){ QPixmap& pixmap = boost::get(captured->image); saved = pixmap.save(filename.c_str()); } else { QImage& image = boost::get(captured->image); saved = image.save(filename.c_str()); } if(!saved){ string message = str(fmt(_("Saving an image to \"%1%\" failed.")) % filename); callLater(boost::bind(&MovieRecorderImpl::onImageOutputFailed, this, message)); { boost::unique_lock lock(imageQueueMutex); capturedImages.clear(); } imageQueueCondition.notify_all(); break; } } } void MovieRecorderImpl::onImageOutputFailed(std::string message) { showWarningDialog(message); stopRecording(false); } void MovieRecorderImpl::stopRecording(bool isFinished) { directModeTimer.stop(); if(isRecording){ stopFlash(); int numRemainingImages = 0; { boost::unique_lock lock(imageQueueMutex); numRemainingImages = capturedImages.size(); } if(numRemainingImages > 1){ QProgressDialog progress(_("Outputting sequential image files..."), _("Abort Output"), 0, numRemainingImages, MainWindow::instance()); progress.setWindowTitle(_("Movie Recorder's Output Status")); progress.setWindowModality(Qt::WindowModal); while(true){ int index; { boost::unique_lock lock(imageQueueMutex); index = numRemainingImages - capturedImages.size(); } progress.setValue(index); if(progress.wasCanceled()){ boost::unique_lock lock(imageQueueMutex); capturedImages.clear(); break; } if(index < numRemainingImages){ boost::this_thread::sleep(boost::posix_time::milliseconds(10)); } else { break; } } } isRecording = false; requestStopRecording = true; imageQueueCondition.notify_all(); imageOutputThread.join(); if(isFinished){ mv->putln(boost::format(_("Recording of %1% has been finished.")) % targetView->name()); } else { mv->putln(boost::format(_("Recording of %1% has been stopped.")) % targetView->name()); } } timeBarConnections.disconnect(); toolBar->setRecordingToggle(false); dialog->setRecordingToggle(false); } void MovieRecorderImpl::onViewMarkerToggled(bool on) { toolBar->changeViewMarkerToggleState(on); dialog->setViewMarkerCheck(on); isViewMarkerEnabled = on; if(on){ if(!targetView){ if(!targetViewName.empty()){ setTargetView(targetViewName); } } showViewMarker(); } else { if(viewMarker){ viewMarker->hide(); } } } bool MovieRecorderImpl::showViewMarker() { if(isViewMarkerEnabled && targetView && targetView->isActive()){ if(!viewMarker){ viewMarker = new ViewMarker(this); } viewMarker->setTargetView(targetView); viewMarker->show(); return true; } return false; } void MovieRecorderImpl::startFlash() { showViewMarker(); flashTimer.start(); } void MovieRecorderImpl::onFlashTimeout() { toolBar->flashRecordingToggle(false); if(isViewMarkerEnabled && viewMarker){ if(viewMarker->isVisible()){ viewMarker->hide(); } else { viewMarker->show(); } } } void MovieRecorderImpl::stopFlash() { flashTimer.stop(); toolBar->flashRecordingToggle(true); if(isViewMarkerEnabled && viewMarker){ viewMarker->show(); } } ViewMarker::ViewMarker(MovieRecorderImpl* recorder) : recorder(recorder) { setWindowFlags(Qt::Widget | Qt::FramelessWindowHint); setAttribute(Qt::WA_NoSystemBackground); setAttribute(Qt::WA_PaintOnScreen); setAttribute(Qt::WA_TransparentForMouseEvents); pen.setStyle(Qt::SolidLine); pen.setColor(QColor(Qt::red)); pen.setWidthF(8.0); } void ViewMarker::setTargetView(View* view) { ViewArea* viewArea = view->viewArea(); setParent(viewArea); QPoint p = view->viewAreaPos(); setGeometry(p.x(), p.y(), view->width(), view->height()); QRegion rect(view->rect()); setMask(rect.xored(QRegion(4, 4, view->width() - 8, view->height() - 8))); } void ViewMarker::paintEvent(QPaintEvent* event) { QPainter painter(this); painter.setPen(pen); painter.setBrush(Qt::NoBrush); painter.drawRect(0, 0, width(), height()); } bool MovieRecorderImpl::store(Mapping& archive) { if(targetView){ archive.write("target", targetView->name()); } archive.write("recordingMode", recordingMode.selectedSymbol()); return dialog->store(archive); } bool ConfigDialog::store(Mapping& archive) { archive.write("showViewMarker", viewMarkerCheck.isChecked()); archive.write("directory", directoryEntry.string()); archive.write("basename", basenameEntry.string()); archive.write("checkStartTime", startTimeCheck.isChecked()); archive.write("startTime", startTimeSpin.value()); archive.write("checkFinishTime", finishTimeCheck.isChecked()); archive.write("finishTime", finishTimeSpin.value()); archive.write("fps", fpsSpin.value()); archive.write("setSize", imageSizeCheck.isChecked()); archive.write("width", imageWidthSpin.value()); archive.write("height", imageHeightSpin.value()); archive.write("mouseCursor", mouseCursorCheck.isChecked()); return true; } void MovieRecorderImpl::restore(const Mapping& archive) { string symbol; if(archive.read("target", symbol)){ setTargetView(symbol); } if(archive.read("recordingMode", symbol)){ setRecordingMode(symbol); } dialog->restore(archive); } void ConfigDialog::restore(const Mapping& archive) { viewMarkerCheck.setChecked(archive.get("showViewMarker", viewMarkerCheck.isChecked())); directoryEntry.setText(archive.get("directory", directoryEntry.string())); basenameEntry.setText(archive.get("basename", basenameEntry.string())); startTimeCheck.setChecked(archive.get("checkStartTime", startTimeCheck.isChecked())); startTimeSpin.setValue(archive.get("startTime", startTimeSpin.value())); finishTimeCheck.setChecked(archive.get("checkFinishTime", finishTimeCheck.isChecked())); finishTimeSpin.setValue(archive.get("finishTime", finishTimeSpin.value())); fpsSpin.setValue(archive.get("fps", fpsSpin.value())); imageSizeCheck.setChecked(archive.get("setSize", imageSizeCheck.isChecked())); imageWidthSpin.setValue(archive.get("width", imageWidthSpin.value())); imageHeightSpin.setValue(archive.get("height", imageHeightSpin.value())); mouseCursorCheck.setChecked(archive.get("mouseCursor", mouseCursorCheck.isChecked())); } choreonoid-1.5.0/src/Base/ItemManager.cpp0000664000000000000000000013256112741425367016727 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "ItemManager.h" #include "Item.h" #include "RootItem.h" #include "ItemTreeView.h" #include "MenuManager.h" #include "AppConfig.h" #include "MainWindow.h" #include "MessageView.h" #include "CheckBox.h" #include "ParametricPathProcessor.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace cnoid { class ItemManagerImpl { public: ItemManagerImpl(const string& moduleName, MenuManager& menuManager); ~ItemManagerImpl(); typedef list CreationPanelFilterList; typedef set< pair > CreationPanelFilterSet; class CreationPanelBase : public QDialog { public: CreationPanelBase(const QString& title, ItemPtr protoItem, bool isSingleton); void addPanel(ItemCreationPanel* panel); ItemPtr createItem(ItemPtr parentItem); CreationPanelFilterList preFilters; CreationPanelFilterList postFilters; private: QVBoxLayout* panelLayout; ItemPtr protoItem; bool isSingleton; }; struct Saver; typedef boost::shared_ptr SaverPtr; struct Loader; typedef boost::shared_ptr LoaderPtr; struct ClassInfo { ClassInfo() { creationPanelBase = 0; } ~ClassInfo() { delete creationPanelBase; } string moduleName; string className; string name; // without the 'Item' suffix boost::function factory; CreationPanelBase* creationPanelBase; list loaders; list savers; ItemPtr singletonInstance; bool isSingleton; }; typedef boost::shared_ptr ClassInfoPtr; typedef map ClassInfoMap; class Loader : public QObject { public: string typeId; string formatId; string caption; int priority; ItemManager::FileFunctionBasePtr loadingFunction; boost::weak_ptr classInfo; vector extensions; }; struct Saver { string typeId; string formatId; string caption; int priority; vector extensions; ItemManager::FileFunctionBasePtr savingFunction; }; string moduleName; string textDomain; MenuManager& menuManager; ClassInfoMap classNameToClassInfoMap; set registeredTypeIds; set registeredCreationPanels; CreationPanelFilterSet registeredCreationPanelFilters; set registeredLoaders; set registeredSavers; QSignalMapper* mapperForNewItemActivated; QSignalMapper* mapperForLoadSpecificTypeItemActivated; void detachManagedTypeItems(Item* parentItem); void registerClass( boost::function& factory, Item* singletonInstance, const string& typeId, const string& className); void addCreationPanel(const std::string& typeId, ItemCreationPanel* panel); void addCreationPanelFilter( const std::string& typeId, ItemManager::CreationPanelFilterBasePtr filter, bool afterInitializionByPanels); CreationPanelBase* getOrCreateCreationPanelBase(const string& typeId); void addLoader (const std::string& typeId, const std::string& caption, const std::string& formatId, const std::string& extensions, const ItemManager::FileFunctionBasePtr function, int priority); static bool load(Item* item, const std::string& filename, Item* parentItem, const std::string& formatId); static bool load(LoaderPtr loader, Item* item, const std::string& filename, Item* parentItem); void addSaver (const string& typeId, const string& caption, const string& formatId, const string& extensions, ItemManager::FileFunctionBasePtr function, int priority); static bool save(Item* item, bool useDialogToGetFilename, bool doExport, std::string filename, const std::string& formatId); static SaverPtr getSaverAndFilenameFromSaveDialog( list& savers, bool doExport, const string& itemLabel, const string& formatId, string& io_filename); static SaverPtr determineSaver(list& savers, const string& filename, const string& formatId); static bool overwrite(Item* item, bool forceOverwrite, const std::string& formatId); static void onNewItemActivated(CreationPanelBase* base); void onLoadItemActivated(); static void onLoadSpecificTypeItemActivated(LoaderPtr loader); void onReloadSelectedItemsActivated(); void onSaveSelectedItemsActivated(); void onSaveSelectedItemsAsActivated(); void onSaveAllItemsActivated(); void onExportSelectedItemsActivated(); }; } namespace { class DefaultCreationPanel : public ItemCreationPanel { QLineEdit* nameEntry; public: DefaultCreationPanel(QWidget* parent) : ItemCreationPanel(parent) { QHBoxLayout* layout = new QHBoxLayout(); layout->addWidget(new QLabel(_("Name:"))); nameEntry = new QLineEdit(); layout->addWidget(nameEntry); setLayout(layout); } virtual bool initializePanel(Item* protoItem) { nameEntry->setText(protoItem->name().c_str()); return true; } virtual bool initializeItem(Item* protoItem) { protoItem->setName(nameEntry->text().toStdString()); return true; } }; MessageView* messageView = 0; bool isStaticMembersInitialized = false; typedef map ClassInfoMap; ClassInfoMap typeIdToClassInfoMap; typedef map ModuleNameToItemManagerImplMap; ModuleNameToItemManagerImplMap moduleNameToItemManagerImplMap; typedef map CreationPanelBaseMap; CreationPanelBaseMap creationPanelBaseMap; typedef map LoaderMap; LoaderMap extToLoaderMap; QWidget* importMenu; void expandExtensionsToVector(const string& extensions, vector& out_extensions) { typedef tokenizer< char_separator > tokenizer; char_separator sep(";"); tokenizer tokens(extensions, sep); for(tokenizer::iterator it = tokens.begin(); it != tokens.end(); ++it){ out_extensions.push_back(*it); } } } ItemManager::ItemManager(const std::string& moduleName, MenuManager& menuManager) { impl = new ItemManagerImpl(moduleName, menuManager); } ItemManagerImpl::ItemManagerImpl(const string& moduleName, MenuManager& menuManager) : moduleName(moduleName), menuManager(menuManager) { using boost::bind; if(!isStaticMembersInitialized){ menuManager.setPath("/File").setPath(N_("New ...")); menuManager.setPath("/File"); menuManager.addItem(_("Open Item")) ->sigTriggered().connect(bind(&ItemManagerImpl::onLoadItemActivated, this)); menuManager.setPath(N_("Open ...")); menuManager.setPath("/File"); menuManager.addItem(_("Reload Selected Items")) ->sigTriggered().connect(bind(&ItemManagerImpl::onReloadSelectedItemsActivated, this)); menuManager.addSeparator(); menuManager.addItem(_("Save Selected Items")) ->sigTriggered().connect(bind(&ItemManagerImpl::onSaveSelectedItemsActivated, this)); menuManager.addItem(_("Save Selected Items As")) ->sigTriggered().connect(bind(&ItemManagerImpl::onSaveSelectedItemsAsActivated, this)); menuManager.addItem(_("Save All Items")) ->sigTriggered().connect(bind(&ItemManagerImpl::onSaveAllItemsActivated, this)); menuManager.addSeparator(); menuManager.setPath(N_("Import ...")); importMenu = menuManager.current(); menuManager.setPath("/File"); menuManager.addItem(_("Export Selected Items")) ->sigTriggered().connect(bind(&ItemManagerImpl::onExportSelectedItemsActivated, this)); menuManager.addSeparator(); messageView = MessageView::mainInstance(); isStaticMembersInitialized = true; } moduleNameToItemManagerImplMap[moduleName] = this; } void ItemManager::addMenuItemToImport(const std::string& caption, boost::function slot) { impl->menuManager.setCurrent(importMenu).addItem(caption.c_str())->sigTriggered().connect(slot); } ItemManager::~ItemManager() { delete impl; } ItemManagerImpl::~ItemManagerImpl() { // unregister creation panels for(set::iterator it = registeredCreationPanels.begin(); it != registeredCreationPanels.end(); ++it){ ItemCreationPanel* panel = *it; delete panel; } // unregister loaders for(set::iterator it = registeredLoaders.begin(); it != registeredLoaders.end(); ++it){ LoaderPtr loader = *it; for(size_t i=0; i < loader->extensions.size(); ++i){ const string& ext = loader->extensions[i]; LoaderMap::iterator p = extToLoaderMap.find(ext); if(p != extToLoaderMap.end()){ if(p->second == loader){ extToLoaderMap.erase(ext); } } } ClassInfoMap::iterator p = typeIdToClassInfoMap.find(loader->typeId); if(p != typeIdToClassInfoMap.end()){ list& loaders = p->second->loaders; list::iterator q = loaders.begin(); while(q != loaders.end()){ if(loader == *q){ q = loaders.erase(q); } else { q++; } } } } // unregister savers for(set::iterator it = registeredSavers.begin(); it != registeredSavers.end(); ++it){ SaverPtr saver = *it; ClassInfoMap::iterator p = typeIdToClassInfoMap.find(saver->typeId); if(p != typeIdToClassInfoMap.end()){ list& savers = p->second->savers; list::iterator q = savers.begin(); while(q != savers.end()){ if(saver == *q){ q = savers.erase(q); } else { q++; } } } } // unregister item class identifiers, CreationPanelBases and savers for(set::iterator q = registeredTypeIds.begin(); q != registeredTypeIds.end(); ++q){ const string& id = *q; Item::sigClassUnregistered_(id.c_str()); CreationPanelBaseMap::iterator s = creationPanelBaseMap.find(id); if(s != creationPanelBaseMap.end()){ CreationPanelBase* base = s->second; delete base; creationPanelBaseMap.erase(s); } typeIdToClassInfoMap.erase(id); } // unregister creation panel filters for(CreationPanelFilterSet::iterator p = registeredCreationPanelFilters.begin(); p != registeredCreationPanelFilters.end(); ++p){ ClassInfoMap::iterator q = typeIdToClassInfoMap.find(p->first); if(q != typeIdToClassInfoMap.end()){ ClassInfoPtr& classInfo = q->second; classInfo->creationPanelBase->preFilters.remove(p->second); classInfo->creationPanelBase->postFilters.remove(p->second); } } moduleNameToItemManagerImplMap.erase(moduleName); } void ItemManager::detachAllManagedTypeItemsFromRoot() { impl->detachManagedTypeItems(RootItem::instance()); } void ItemManagerImpl::detachManagedTypeItems(Item* parentItem) { Item* item = parentItem->childItem(); while(item){ Item* nextItem = item->nextItem(); set::iterator p = registeredTypeIds.find(typeid(*item).name()); if(p != registeredTypeIds.end()){ item->detachFromParentItem(); } else { detachManagedTypeItems(item); } item = nextItem; } } void ItemManager::bindTextDomain(const std::string& domain) { impl->textDomain = domain; } void ItemManager::registerClassSub (boost::function factory, Item* singletonInstance, const std::string& typeId, const std::string& className) { impl->registerClass(factory, singletonInstance, typeId, className); } void ItemManagerImpl::registerClass (boost::function& factory, Item* singletonInstance, const string& typeId, const string& className) { pair ret = classNameToClassInfoMap.insert(make_pair(className, ClassInfoPtr())); ClassInfoPtr& info = ret.first->second; if(ret.second){ info = boost::make_shared(); info->moduleName = moduleName; info->className = className; // set the class name without the "Item" suffix QString name(className.c_str()); name.replace(QRegExp("Item$"), ""); info->name = name.toStdString(); } if(singletonInstance){ if(singletonInstance->name().empty()){ singletonInstance->setName(info->name); } info->singletonInstance = singletonInstance; info->isSingleton = true; } else { info->factory = factory; info->isSingleton = false; } registeredTypeIds.insert(typeId); typeIdToClassInfoMap[typeId] = info; } bool ItemManager::getClassIdentifier(ItemPtr item, std::string& out_moduleName, std::string& out_className) { bool result; ClassInfoMap::iterator p = typeIdToClassInfoMap.find(typeid(*item).name()); if(p != typeIdToClassInfoMap.end()){ ItemManagerImpl::ClassInfoPtr& info = p->second; out_moduleName = info->moduleName; out_className = info->className; result = true; } else { out_moduleName.clear(); out_className = typeid(*item).name(); result = false; } return result; } Item* ItemManager::getSingletonInstance(const std::string& typeId) { ClassInfoMap::iterator p = typeIdToClassInfoMap.find(typeId); if(p != typeIdToClassInfoMap.end()){ ItemManagerImpl::ClassInfoPtr& info = p->second; if(info->isSingleton){ return info->singletonInstance; } } return 0; } ItemPtr ItemManager::create(const std::string& moduleName, const std::string& className) { ItemPtr item; ModuleNameToItemManagerImplMap::iterator p = moduleNameToItemManagerImplMap.find(moduleName); if(p != moduleNameToItemManagerImplMap.end()){ ClassInfoMap& classNameToClassInfoMap = p->second->classNameToClassInfoMap; ClassInfoMap::iterator q = classNameToClassInfoMap.find(className); if(q != classNameToClassInfoMap.end()){ ItemManagerImpl::ClassInfoPtr& info = q->second; if(info->isSingleton){ if(info->singletonInstance->parentItem()){ //! \todo put a warning message to notify that the instance of this singleton class has been in the item tree } else { item = info->singletonInstance; } } else { if(info->factory){ item = info->factory(); } } } } return item; } void ItemManager::addCreationPanelSub(const std::string& typeId, ItemCreationPanel* panel) { impl->addCreationPanel(typeId, panel); } void ItemManagerImpl::addCreationPanel(const std::string& typeId, ItemCreationPanel* panel) { CreationPanelBase* base = getOrCreateCreationPanelBase(typeId); if(panel){ base->addPanel(panel); } else { base->addPanel(new DefaultCreationPanel(base)); } registeredCreationPanels.insert(panel); } void ItemManager::addCreationPanelFilterSub (const std::string& typeId, CreationPanelFilterBasePtr filter, bool afterInitializionByPanels) { impl->addCreationPanelFilter(typeId, filter, afterInitializionByPanels); } void ItemManagerImpl::addCreationPanelFilter (const std::string& typeId, ItemManager::CreationPanelFilterBasePtr filter, bool afterInitializionByPanels) { CreationPanelBase* base = getOrCreateCreationPanelBase(typeId); if(!afterInitializionByPanels){ base->preFilters.push_back(filter); } else { base->postFilters.push_back(filter); } registeredCreationPanelFilters.insert(make_pair(typeId, filter)); } ItemManagerImpl::CreationPanelBase* ItemManagerImpl::getOrCreateCreationPanelBase(const string& typeId) { CreationPanelBase* base = 0; ClassInfoMap::iterator p = typeIdToClassInfoMap.find(typeId); if(p != typeIdToClassInfoMap.end()){ ClassInfoPtr& info = p->second; base = info->creationPanelBase; if(!base){ QString className(info->className.c_str()); QString translatedClassName(dgettext(textDomain.c_str(), info->className.c_str())); QString translatedName(translatedClassName); translatedName.replace(QRegExp(_("Item$")), ""); QString title(QString(_("Create New %1")).arg(translatedClassName)); ItemPtr protoItem; if(info->isSingleton){ protoItem = info->singletonInstance; } else { protoItem = info->factory(); protoItem->setName(info->name); } base = new CreationPanelBase(title, protoItem, info->isSingleton); base->hide(); menuManager.setPath("/File/New ...").addItem(translatedName) ->sigTriggered().connect(boost::bind(ItemManagerImpl::onNewItemActivated, base)); info->creationPanelBase = base; } } return base; } void ItemManagerImpl::onNewItemActivated(CreationPanelBase* base) { ItemTreeView* itemTreeView = ItemTreeView::mainInstance(); ItemList parentItems = itemTreeView->selectedItems(); if(parentItems.empty()){ parentItems.push_back(itemTreeView->rootItem()); } for(size_t i=0; i < parentItems.size(); ++i){ ItemPtr parentItem = parentItems[i]; ItemPtr newItem = base->createItem(parentItem); if(newItem){ parentItem->addChildItem(newItem, true); } } } ItemManagerImpl::CreationPanelBase::CreationPanelBase(const QString& title, ItemPtr protoItem, bool isSingleton) : QDialog(MainWindow::instance()), protoItem(protoItem), isSingleton(isSingleton) { setWindowTitle(title); QPushButton* createButton = new QPushButton(_("&Create")); createButton->setDefault(true); QPushButton* cancelButton = new QPushButton(_("&Cancel")); QDialogButtonBox* buttonBox = new QDialogButtonBox(this); buttonBox->addButton(createButton, QDialogButtonBox::AcceptRole); buttonBox->addButton(cancelButton, QDialogButtonBox::RejectRole); connect(buttonBox,SIGNAL(accepted()), this, SLOT(accept())); connect(buttonBox,SIGNAL(rejected()), this, SLOT(reject())); QVBoxLayout* topLayout = new QVBoxLayout(); panelLayout = new QVBoxLayout(); topLayout->addLayout(panelLayout); topLayout->addWidget(buttonBox); setLayout(topLayout); } void ItemManagerImpl::CreationPanelBase::addPanel(ItemCreationPanel* panel) { panelLayout->addWidget(panel); } ItemPtr ItemManagerImpl::CreationPanelBase::createItem(ItemPtr parentItem) { if(isSingleton){ if(protoItem->parentItem()){ return 0; } } vector panels; int n = panelLayout->count(); for(int i=0; i < n; ++i){ ItemCreationPanel* panel = dynamic_cast(panelLayout->itemAt(i)->widget()); if(panel){ panels.push_back(panel); } } bool result = true; for(CreationPanelFilterList::iterator p = preFilters.begin(); p != preFilters.end(); ++p){ ItemManager::CreationPanelFilterBasePtr filter = *p; if(!(*filter)(protoItem.get(), parentItem.get())){ result = false; break; } } if(result){ for(size_t i=0; i < panels.size(); ++i){ if(!panels[i]->initializePanel(protoItem.get())){ result = false; break; } } } if(result){ if(exec() == QDialog::Accepted){ for(size_t i=0; i < panels.size(); ++i){ if(!panels[i]->initializeItem(protoItem.get())){ result = false; break; } } if(result){ for(CreationPanelFilterList::iterator p = postFilters.begin(); p != postFilters.end(); ++p){ ItemManager::CreationPanelFilterBasePtr filter = *p; if(!(*filter)(protoItem.get(), parentItem.get())){ result = false; break; } } } } else { result = false; } } ItemPtr newItem; if(result){ if(isSingleton){ newItem = protoItem; } else { newItem = protoItem->duplicate(); } } return newItem; } ItemCreationPanel* ItemCreationPanel::findPanelOnTheSameDialog(const std::string& name) { QBoxLayout* layout = dynamic_cast(parentWidget()); if(layout){ int n = layout->count(); for(int i=0; i < n; ++i){ ItemCreationPanel* panel = dynamic_cast(layout->itemAt(i)->widget()); if(panel){ if(panel->objectName().toStdString() == name){ return panel; } } } } return 0; } void ItemManager::addLoaderSub (const std::string& typeId, const std::string& caption, const std::string& formatId, const std::string& extensions, FileFunctionBasePtr function, int priority) { impl->addLoader(typeId, caption, formatId, extensions, function, priority); } void ItemManagerImpl::addLoader (const std::string& typeId, const std::string& caption, const std::string& formatId, const std::string& extensions, ItemManager::FileFunctionBasePtr function, int priority) { ClassInfoMap::iterator p = typeIdToClassInfoMap.find(typeId); if(p != typeIdToClassInfoMap.end()){ ClassInfoPtr& classInfo = p->second; LoaderPtr loader = boost::make_shared(); loader->typeId = typeId; loader->caption = caption; loader->formatId = formatId; loader->priority = priority; loader->loadingFunction = function; loader->classInfo = classInfo; expandExtensionsToVector(extensions, loader->extensions); for(size_t i=0; i < loader->extensions.size(); ++i){ const string& ext = loader->extensions[i]; extToLoaderMap[ext] = loader; } bool isImporter = (priority <= ItemManager::PRIORITY_CONVERSION); if(!isImporter){ menuManager.setPath("/File/Open ..."); } else { menuManager.setPath("/File/Import ..."); } menuManager.addItem(caption.c_str()) ->sigTriggered().connect( boost::bind(&ItemManagerImpl::onLoadSpecificTypeItemActivated, loader)); registeredLoaders.insert(loader); // insert loader to a proper position of the list considering priorities list& loaders = classInfo->loaders; list::iterator it = loaders.begin(); while(true){ if(it == loaders.end()){ loaders.push_back(loader); break; } LoaderPtr loader2 = *it; if(loader->priority > loader2->priority){ loaders.insert(it, loader); break; } ++it; } } } bool ItemManager::load(Item* item, const std::string& filename, Item* parentItem, const std::string& formatId) { return ItemManagerImpl::load(item, filename, parentItem, formatId); } bool ItemManagerImpl::load(Item* item, const std::string& filename, Item* parentItem, const std::string& formatId) { ParametricPathProcessor* pathProcessor = ParametricPathProcessor::instance(); optional expanded = pathProcessor->expand(filename); if(!expanded){ messageView->putln(pathProcessor->errorMessage()); return false; } filesystem::path filepath = cnoid::getAbsolutePath(*expanded); string pathString = cnoid::getPathString(filepath); const string& typeId = typeid(*item).name(); ClassInfoMap::iterator p = typeIdToClassInfoMap.find(typeId); if(p == typeIdToClassInfoMap.end()){ messageView->putln(fmt(_("\"%1%\" cannot be loaded because item type \"%2%\" is not registered.")) % pathString % typeId); return false; } ClassInfoPtr& classInfo = p->second; list& loaders = classInfo->loaders; bool loaded = false; LoaderPtr targetLoader; if(!formatId.empty()){ for(list::iterator p = loaders.begin(); p != loaders.end(); ++p){ LoaderPtr& loader = *p; if(loader->formatId == formatId){ targetLoader = loader; break; } } } else { string extension = filesystem::extension(filepath); if(extension.size() >= 2){ string ext = extension.substr(1); // remove dot for(list::iterator p = loaders.begin(); p != loaders.end(); ++p){ LoaderPtr& loader = *p; for(size_t i=0; i < loader->extensions.size(); ++i){ if(ext == loader->extensions[i]){ targetLoader = loader; break; } } } } } if(!targetLoader){ string message; if(formatId.empty()){ message = str(fmt(_("\"%1%\" cannot be loaded because the file format is unknown.")) % pathString); } else { message = str(fmt(_("\"%1%\" cannot be loaded because file format \"%2%\" is unknown.")) % pathString % formatId); } messageView->putln(message); } else { if(load(targetLoader, item, pathString, parentItem)){ loaded = true; } } return loaded; } bool ItemManagerImpl::load(LoaderPtr loader, Item* item, const std::string& filename_, Item* parentItem) { bool loaded = false; if(loader->loadingFunction){ string filename(toActualPathName(filename_)); format f(fmt(_("Loading %1% \"%2%\""))); messageView->notify(str(fmt(_("Loading %1% \"%2%\"")) % loader->caption % filename)); messageView->flush(); if(!parentItem){ parentItem = RootItem::mainInstance(); } ostream& os = messageView->cout(true); loaded = (*loader->loadingFunction)(item, filename, os, parentItem); os.flush(); if(!loaded){ messageView->put(MessageView::HIGHLIGHT, _(" -> failed.\n")); } else { if(item->name().empty()){ item->setName(filesystem::basename(filesystem::path(filename))); } item->updateFileInformation(filename, loader->formatId); messageView->put(_(" -> ok!\n")); } messageView->flush(); } return loaded; } void ItemManagerImpl::onLoadItemActivated() { } void ItemManagerImpl::onLoadSpecificTypeItemActivated(LoaderPtr loader) { ItemPtr item; ClassInfoPtr classInfo = loader->classInfo.lock(); if(classInfo->isSingleton){ item = classInfo->singletonInstance; if(item->parentItem()){ showWarningDialog(format(_("The singleton instance of %1% is already loaded.")) % classInfo->className); return; } } QFileDialog dialog(MainWindow::instance()); //dialog.setOption(QFileDialog::DontUseNativeDialog); dialog.setWindowTitle(str(fmt(_("Load %1%")) % loader->caption).c_str()); dialog.setViewMode(QFileDialog::List); dialog.setLabelText(QFileDialog::Accept, _("Open")); dialog.setLabelText(QFileDialog::Reject, _("Cancel")); dialog.setDirectory(AppConfig::archive()->get ("currentFileDialogDirectory", shareDirectory()).c_str()); static const char* checkConfigKey = "defaultChecked"; bool isCheckedByDefault = false; CheckBox checkCheckBox(_("Check the item(s) in ItemTreeView")); QGridLayout* layout = dynamic_cast(dialog.layout()); if(layout){ Mapping* conf = AppConfig::archive()->findMapping("ItemTreeView"); if(conf->isValid()){ conf = conf->findMapping(checkConfigKey); if(conf->isValid()){ conf = conf->findMapping(classInfo->moduleName); if(conf->isValid() && conf->read(classInfo->className, isCheckedByDefault)){ checkCheckBox.setChecked(isCheckedByDefault); } } } layout->addWidget(&checkCheckBox, 4, 0, 1, 3); } QStringList filters; if(!loader->extensions.empty()){ string filterText = loader->caption + " ("; for(size_t i=0; i < loader->extensions.size(); ++i){ if(i > 0){ filterText += " "; } string extension = string("*.") + loader->extensions[i]; filterText += extension; } filterText += ")"; filters << filterText.c_str(); } filters << _("Any files (*)"); dialog.setNameFilters(filters); if(classInfo->isSingleton){ dialog.setFileMode(QFileDialog::ExistingFile); } else { dialog.setFileMode(QFileDialog::ExistingFiles); } if(dialog.exec()){ Mapping* config = AppConfig::archive(); config->writePath( "currentFileDialogDirectory", dialog.directory().absolutePath().toStdString()); if(checkCheckBox.isChecked() != isCheckedByDefault){ Mapping* checkConfig = config ->openMapping("ItemTreeView") ->openMapping(checkConfigKey) ->openMapping(classInfo->moduleName); checkConfig->write(classInfo->className, checkCheckBox.isChecked()); AppConfig::flush(); } QStringList filenames = dialog.selectedFiles(); ItemTreeView* itemTreeView = ItemTreeView::instance(); Item* parentItem = itemTreeView->selectedItem(); if(!parentItem){ parentItem = RootItem::instance(); } for(int i=0; i < filenames.size(); ++i){ if(!classInfo->isSingleton){ item = classInfo->factory(); } string filename = getNativePathString(filesystem::path(filenames[i].toStdString())); if(load(loader, item.get(), filename, parentItem)){ parentItem->addChildItem(item, true); if(checkCheckBox.isChecked()){ itemTreeView->checkItem(item); } } } } } void ItemManager::addSaverSub(const std::string& typeId, const std::string& caption, const std::string& formatId, const std::string& extensions, FileFunctionBasePtr function, int priority) { impl->addSaver(typeId, caption, formatId, extensions, function, priority); } void ItemManagerImpl::addSaver (const string& typeId, const string& caption, const string& formatId, const string& extensions, ItemManager::FileFunctionBasePtr function, int priority) { ClassInfoMap::iterator p = typeIdToClassInfoMap.find(typeId); if(p != typeIdToClassInfoMap.end()){ SaverPtr saver = boost::make_shared(); saver->typeId = typeId; saver->formatId = formatId; saver->caption = caption; saver->priority = priority; saver->savingFunction = function; expandExtensionsToVector(extensions, saver->extensions); // insert saver to a proper position of the list considering priorities list& savers = p->second->savers; list::iterator it = savers.begin(); while(true){ if(it == savers.end()){ savers.push_back(saver); break; } SaverPtr saver2 = *it; if(saver->priority > saver2->priority){ savers.insert(it, saver); break; } ++it; } registeredSavers.insert(saver); } } bool ItemManager::save(Item* item, const std::string& filename, const std::string& formatId) { return ItemManagerImpl::save(item, false, false, filename, formatId); } bool ItemManagerImpl::save (Item* item, bool useDialogToGetFilename, bool doExport, std::string filename, const std::string& formatId) { item->setTemporal(false); ClassInfoMap::iterator p = typeIdToClassInfoMap.find(typeid(*item).name()); if(p == typeIdToClassInfoMap.end()){ return false; } ClassInfoPtr& classInfo = p->second; bool saved = false; bool tryToSave = false; string itemLabel = classInfo->className + " \"" + item->name() + "\""; list& savers = classInfo->savers; SaverPtr targetSaver; if(useDialogToGetFilename){ targetSaver = getSaverAndFilenameFromSaveDialog(savers, doExport, itemLabel, formatId, filename); } else { targetSaver = determineSaver(savers, filename, formatId); } if(targetSaver && targetSaver->savingFunction){ tryToSave = true; if(!doExport){ messageView->put(str(fmt(_("Saving %1% to \"%2%\"")) % itemLabel % filename)); } else { messageView->put(str(fmt(_("Exporting %1% into \"%2%\"")) % itemLabel % filename)); } Item* parentItem = item->parentItem(); if(!parentItem){ parentItem = RootItem::mainInstance(); } ostream& os = messageView->cout(true); saved = (*targetSaver->savingFunction)(item, filename, os, parentItem); os.flush(); if(!saved){ messageView->put(MessageView::HIGHLIGHT, _(" -> failed.\n")); } else { bool isExporter = (targetSaver->priority <= ItemManager::PRIORITY_CONVERSION); if(!isExporter){ item->updateFileInformation(filename, targetSaver->formatId); } messageView->put(_(" -> ok!\n")); } } if(!tryToSave){ string actualFormatId = targetSaver ? targetSaver->formatId : formatId; if(actualFormatId.empty()){ if(!doExport){ messageView->put(str(fmt(_("%1% cannot be saved.\n")) % itemLabel)); } else { messageView->put(str(fmt(_("%1% cannot be exported.\n")) % itemLabel)); } } else { if(!doExport){ messageView->put(str(fmt(_("%1% cannot be saved as the %2% format.\n")) % itemLabel % actualFormatId)); } else { messageView->put(str(fmt(_("%1% cannot be exported into the %2% format.\n")) % itemLabel % actualFormatId)); } } } return saved; } ItemManagerImpl::SaverPtr ItemManagerImpl::getSaverAndFilenameFromSaveDialog (list& savers, bool doExport, const string& itemLabel, const string& formatId, string& io_filename) { QFileDialog dialog(MainWindow::instance()); dialog.setWindowTitle(str(fmt(_("Save %1% as")) % itemLabel).c_str()); dialog.setFileMode(QFileDialog::AnyFile); dialog.setAcceptMode(QFileDialog::AcceptSave); dialog.setViewMode(QFileDialog::List); dialog.setLabelText(QFileDialog::Accept, _("Save")); dialog.setLabelText(QFileDialog::Reject, _("Cancel")); if(!io_filename.empty()){ dialog.selectFile(io_filename.c_str()); io_filename.clear(); } QStringList filters; vector activeSavers; for(list::iterator p = savers.begin(); p != savers.end(); ++p){ SaverPtr& saver = *p; bool isExporter = (saver->priority <= ItemManager::PRIORITY_CONVERSION); if((doExport && !isExporter) || (!doExport && isExporter)){ continue; } if(!formatId.empty() && saver->formatId != formatId){ continue; } string filterText = saver->caption + " ("; if(saver->extensions.empty()){ filterText += "*"; } else { for(size_t i=0; i < saver->extensions.size(); ++i){ if(i > 0){ filterText += " "; } string extension = string("*.") + saver->extensions[i]; filterText += extension; } } filterText += ")"; filters << filterText.c_str(); activeSavers.push_back(saver); } dialog.setNameFilters(filters); SaverPtr targetSaver; if(filters.size() > 0){ dialog.setDirectory(AppConfig::archive()->get ("currentFileDialogDirectory", shareDirectory()).c_str()); if(dialog.exec() == QFileDialog::Accepted){ AppConfig::archive()->writePath( "currentFileDialogDirectory", dialog.directory().absolutePath().toStdString()); io_filename = dialog.selectedFiles()[0].toStdString(); if(!io_filename.empty()){ int saverIndex = -1; QString selectedFilter = dialog.selectedNameFilter(); for(int i=0; i < filters.size(); ++i){ if(filters[i] == selectedFilter){ saverIndex = i; break; } } if(saverIndex >= 0){ targetSaver = activeSavers[saverIndex]; // add a lacking extension automatically if(!targetSaver->extensions.empty()){ string ext = filesystem::extension(filesystem::path(io_filename)); bool extLacking = true; if(!ext.empty()){ ext = ext.substr(1); // remove the first dot for(size_t i=0; i < targetSaver->extensions.size(); ++i){ if(ext == targetSaver->extensions[i]){ extLacking = false; break; } } } if(extLacking){ io_filename += "."; io_filename += targetSaver->extensions.front(); } } } } } } return targetSaver; } ItemManagerImpl::SaverPtr ItemManagerImpl::determineSaver (list& savers, const string& filename, const string& formatId) { SaverPtr targetSaver; if(!formatId.empty()){ for(list::iterator p = savers.begin(); p != savers.end(); ++p){ SaverPtr& saver = *p; if(saver->formatId == formatId){ targetSaver = saver; break; } } } else { string extension = filesystem::extension(filesystem::path(filename)); for(list::iterator p = savers.begin(); p != savers.end(); ++p){ SaverPtr& saver = *p; for(size_t i=0; i < saver->extensions.size(); ++i){ if(saver->extensions[i] == extension){ targetSaver = saver; break; } } } if(!targetSaver && !savers.empty()){ targetSaver = savers.front(); } } return targetSaver; } bool ItemManager::overwrite(Item* item, bool forceOverwrite, const std::string& formatId) { return ItemManagerImpl::overwrite(item, forceOverwrite, formatId); } bool ItemManagerImpl::overwrite(Item* item, bool forceOverwrite, const std::string& formatId) { item->setTemporal(false); bool needToOverwrite = forceOverwrite; string filename(item->filePath()); string lastFormatId(item->fileFormat()); string defaultFilenameOnDialog; if(filename.empty()){ defaultFilenameOnDialog = item->name(); } if(!formatId.empty() && formatId != lastFormatId){ needToOverwrite = true; } else { if(!filename.empty()){ filesystem::path fpath(filename); if(!filesystem::exists(fpath) || filesystem::last_write_time(fpath) > item->fileModificationTime()){ needToOverwrite = true; filename.clear(); } } } if(!needToOverwrite && !item->isConsistentWithFile()){ needToOverwrite = true; } bool synchronized = !needToOverwrite; if(!synchronized){ if(!filename.empty() && formatId.empty()){ synchronized = save(item, false, false, filename, lastFormatId); } if(!synchronized){ synchronized = save(item, true, false, defaultFilenameOnDialog, formatId); } } return synchronized; } void ItemManagerImpl::onReloadSelectedItemsActivated() { ItemManager::reloadItems(ItemTreeView::mainInstance()->selectedItems()); } void ItemManager::reloadItems(const ItemList<>& items) { for(size_t i=0; i < items.size(); ++i){ Item* item = items.get(i); if(item->parentItem() && !item->isSubItem() && !item->filePath().empty() && !item->fileFormat().empty()){ ItemPtr reloaded = item->duplicate(); if(reloaded){ if(reloaded->load(item->filePath(), item->parentItem(), item->fileFormat())){ item->parentItem()->insertChildItem(reloaded, item); // move children to the reload item ItemPtr child = item->childItem(); while(child){ ItemPtr nextChild = child->nextItem(); if(!child->isSubItem()){ child->detachFromParentItem(); reloaded->addChildItem(child); } child = nextChild; } reloaded->assign(item); item->detachFromParentItem(); } } } } } void ItemManagerImpl::onSaveSelectedItemsActivated() { const ItemList<>& selectedItems = ItemTreeView::mainInstance()->selectedItems(); for(size_t i=0; i < selectedItems.size(); ++i){ overwrite(selectedItems.get(i), true, ""); } } void ItemManagerImpl::onSaveSelectedItemsAsActivated() { const ItemList<>& selectedItems = ItemTreeView::mainInstance()->selectedItems(); for(size_t i=0; i < selectedItems.size(); ++i){ string formatId; save(selectedItems.get(i), true, false, selectedItems[i]->headItem()->name(), formatId); } } void ItemManagerImpl::onSaveAllItemsActivated() { } void ItemManagerImpl::onExportSelectedItemsActivated() { const ItemList<>& selectedItems = ItemTreeView::mainInstance()->selectedItems(); for(size_t i=0; i < selectedItems.size(); ++i){ string formatId; save(selectedItems.get(i), true, true, selectedItems[i]->headItem()->name(), formatId); } } namespace cnoid { QString makeFilterString(const std::string& caption, const std::string& extensions_) { vector extensions; expandExtensionsToVector(extensions_, extensions); QString filter; if(!extensions.empty()){ filter = caption.c_str(); filter += " ("; for(size_t i=0; i < extensions.size(); ++i){ if(i > 0){ filter += " "; } filter += "*."; filter += extensions[i].c_str(); } filter += ")"; } filter += _(";;Any files (*)"); return filter; } std::string getOpenFileName(const std::string& caption, const std::string& extensions) { QString qfilename = QFileDialog::getOpenFileName( MainWindow::instance(), caption.c_str(), AppConfig::archive()->get("currentFileDialogDirectory", shareDirectory()).c_str(), makeFilterString(caption, extensions)); string filename = qfilename.toStdString(); if(!filename.empty()){ AppConfig::archive()->writePath( "currentFileDialogDirectory", filesystem::path(filename).parent_path().string()); } return filename; } std::vector getOpenFileNames(const std::string& caption, const std::string& extensions) { QStringList qfilenames = QFileDialog::getOpenFileNames( MainWindow::instance(), caption.c_str(), AppConfig::archive()->get("currentFileDialogDirectory", shareDirectory()).c_str(), makeFilterString(caption, extensions)); std::vector filenames; if(!qfilenames.empty()){ for(int i=0; i < qfilenames.size(); ++i){ filenames.push_back(qfilenames[i].toStdString()); } AppConfig::archive()->writePath( "currentFileDialogDirectory", filesystem::path(filenames[0]).parent_path().string()); } return filenames; } } choreonoid-1.5.0/src/Base/Dialog.h0000664000000000000000000000156412741425367015400 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_DIALOG_H #define CNOID_BASE_DIALOG_H #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT Dialog : public QDialog { Q_OBJECT public: Dialog(); Dialog(QWidget* parent, Qt::WindowFlags f = 0); SignalProxy sigAccepted() { return sigAccepted_; } SignalProxy sigFinished() { return sigFinished_; } SignalProxy sigRejected() { return sigRejected_; } protected: virtual void onAccepted(); virtual void onRejected(); private Q_SLOTS: void onSigAccepted(); void onSigFinished(int result); void onSigRejected(); private: Signal sigAccepted_; Signal sigFinished_; Signal sigRejected_; void initialize(); }; } #endif choreonoid-1.5.0/src/Base/Separator.h0000664000000000000000000000132612741425367016135 0ustar rootroot/** @author Shin'ichiro NAKAOKA */ #ifndef CNOID_BASE_SEPARATOR_H #define CNOID_BASE_SEPARATOR_H #include #include namespace cnoid { class VSeparator : public QFrame { public: inline VSeparator(QWidget* parent = 0) : QFrame(parent) { setFrameStyle(QFrame::VLine | QFrame::Sunken); } }; class HSeparator : public QFrame { public: inline HSeparator(QWidget* parent = 0) : QFrame(parent) { setFrameStyle(QFrame::HLine | QFrame::Sunken); } }; class HSeparatorBox : public QHBoxLayout { public: HSeparatorBox(QWidget* titleWidget) { addWidget(new HSeparator(), 1); addWidget(titleWidget); addWidget(new HSeparator(), 1); } }; } #endif choreonoid-1.5.0/src/Base/Base.qrc0000664000000000000000000000143712741425367015410 0ustar rootroot icons/setup.png icons/projectsave.png icons/play.png icons/resume.png icons/stop.png icons/refresh.png icons/script.png icons/sceneedit.png icons/walkthrough.png icons/viewfitting.png icons/perspective.png icons/floorgrid.png icons/collisionlines.png icons/wireframe.png icons/scenecapture.png icons/graph.png icons/velocitygraph.png icons/accgraph.png icons/eraser-cursor.png ../../LICENSE choreonoid-1.5.0/src/Base/InteractiveCameraTransform.h0000664000000000000000000000133012741425367021452 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_INTERACTIVE_CAMERA_TRANSFORM_H #define CNOID_BASE_INTERACTIVE_CAMERA_TRANSFORM_H #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT InteractiveCameraTransform : public SgPosTransform { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW; InteractiveCameraTransform(); InteractiveCameraTransform(const InteractiveCameraTransform& org); InteractiveCameraTransform(const InteractiveCameraTransform& org, SgCloneMap& cloneMap); virtual SgObject* clone(SgCloneMap& cloneMap) const; virtual void onPositionUpdatedInteractively(); }; typedef ref_ptr InteractiveCameraTransformPtr; } #endif choreonoid-1.5.0/src/Base/SceneBar.cpp0000664000000000000000000002646012741425367016220 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "SceneBar.h" #include "SceneWidget.h" #include "GLSceneRenderer.h" #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; using boost::format; namespace { SceneBar* sceneBar; // "tool" menu commands void putSceneStatistics(); } namespace cnoid { class SceneBarImpl { public: SceneBar* self; SceneWidget* targetSceneWidget; SceneRenderer* targetRenderer; struct SceneWidgetInfo { Connection connectionToSigFocusChanged; Connection connectionToSigAboutToBeDestroyed; ~SceneWidgetInfo(){ connectionToSigAboutToBeDestroyed.disconnect(); connectionToSigAboutToBeDestroyed.disconnect(); } }; typedef map InfoMap; InfoMap sceneWidgetInfos; Connection sceneWidgetStateConnection; ConnectionSet rendererStateConnections; ToolButton* editModeToggle; ToolButton* firstPersonModeToggle; ComboBox* cameraCombo; ToolButton* collisionLineToggle; ToolButton* wireframeToggle; SceneBarImpl(SceneBar* self); void onSceneWidgetCreated(SceneWidget* sceneWidget); void onSceneWidgetFocusChanged(SceneWidget* sceneWidget, bool isFocused); void onSceneWidgetAboutToBeDestroyed(SceneWidget* sceneWidget); void setTargetSceneWidget(SceneWidget* sceneWidget); void onSceneWidgetStateChanged(); void onEditModeButtonToggled(bool on); void onFirstPersonModeButtonToggled(bool on); void onSceneRendererCamerasChanged(); void onSceneRendererCurrentCameraChanged(); void onCameraComboCurrentIndexChanged(int index); void onCollisionLineButtonToggled(bool on); void onWireframeButtonToggled(bool on); }; } SceneBar* SceneBar::instance() { assert(sceneBar); return sceneBar; } void SceneBar::initialize(ExtensionManager* ext) { if(!sceneBar){ sceneBar = new SceneBar(); ext->addToolBar(sceneBar); ext->menuManager().setPath("/Tools").addItem(N_("Put scene statistics")) ->sigTriggered().connect(putSceneStatistics); } } SceneBar::SceneBar() : ToolBar(N_("SceneBar")) { impl = new SceneBarImpl(this); } SceneBarImpl::SceneBarImpl(SceneBar* self) : self(self) { self->setVisibleByDefault(true); self->setEnabled(false); targetSceneWidget = 0; targetRenderer = 0; editModeToggle = self->addToggleButton( QIcon(":/Base/icons/sceneedit.png"), _("Switch to the edit mode")); editModeToggle->sigToggled().connect( boost::bind(&SceneBarImpl::onEditModeButtonToggled, this, _1)); firstPersonModeToggle = self->addToggleButton( QIcon(":/Base/icons/walkthrough.png"), _("First-person viewpoint control mode")); firstPersonModeToggle->sigToggled().connect( boost::bind(&SceneBarImpl::onFirstPersonModeButtonToggled, this, _1)); cameraCombo = new ComboBox(); cameraCombo->setToolTip(_("Select a camera")); cameraCombo->setMinimumContentsLength(6); cameraCombo->setSizeAdjustPolicy(QComboBox::AdjustToMinimumContentsLengthWithIcon); cameraCombo->sigCurrentIndexChanged().connect( boost::bind(&SceneBarImpl::onCameraComboCurrentIndexChanged, this, _1)); self->addWidget(cameraCombo); self->addButton(QIcon(":/Base/icons/viewfitting.png"), _("Move the camera to look at the objects")) ->sigClicked().connect(boost::bind(&SceneWidget::viewAll, boost::ref(targetSceneWidget))); collisionLineToggle = self->addToggleButton( QIcon(":/Base/icons/collisionlines.png"), _("Toggle the collision line visibility")); collisionLineToggle->sigToggled().connect( boost::bind(&SceneBarImpl::onCollisionLineButtonToggled, this, _1)); wireframeToggle = self->addToggleButton( QIcon(":/Base/icons/wireframe.png"), _("Toggle the wireframe mode")); wireframeToggle->sigToggled().connect( boost::bind(&SceneBarImpl::onWireframeButtonToggled, this, _1)); self->addButton(QIcon(":/Base/icons/setup.png"), _("Show the config dialog")) ->sigClicked().connect(boost::bind(&SceneWidget::showConfigDialog, boost::ref(targetSceneWidget))); SceneWidget::sigSceneWidgetCreated().connect(boost::bind(&SceneBarImpl::onSceneWidgetCreated, this, _1)); } void SceneBarImpl::onSceneWidgetCreated(SceneWidget* sceneWidget) { SceneWidgetInfo& info = sceneWidgetInfos[sceneWidget]; info.connectionToSigFocusChanged = sceneWidget->sigWidgetFocusChanged().connect( boost::bind(&SceneBarImpl::onSceneWidgetFocusChanged, this, sceneWidget, _1)); info.connectionToSigAboutToBeDestroyed = sceneWidget->sigAboutToBeDestroyed().connect( boost::bind(&SceneBarImpl::onSceneWidgetAboutToBeDestroyed, this, sceneWidget)); if(!targetSceneWidget){ setTargetSceneWidget(sceneWidget); } } void SceneBarImpl::onSceneWidgetFocusChanged(SceneWidget* sceneWidget, bool isFocused) { if(isFocused){ if(sceneWidget != targetSceneWidget){ setTargetSceneWidget(sceneWidget); } } } void SceneBarImpl::onSceneWidgetAboutToBeDestroyed(SceneWidget* sceneWidget) { if(sceneWidget == targetSceneWidget){ setTargetSceneWidget(0); } sceneWidgetInfos.erase(sceneWidget); } SceneWidget* SceneBar::targetSceneWidget() { return impl->targetSceneWidget; } void SceneBarImpl::setTargetSceneWidget(SceneWidget* sceneWidget) { sceneWidgetStateConnection.disconnect(); rendererStateConnections.disconnect(); targetSceneWidget = sceneWidget; if(!sceneWidget){ targetRenderer = 0; self->setEnabled(false); } else { targetRenderer = &sceneWidget->renderer(); onSceneWidgetStateChanged(); sceneWidgetStateConnection = sceneWidget->sigStateChanged().connect( boost::bind(&SceneBarImpl::onSceneWidgetStateChanged, this)); onSceneRendererCamerasChanged(); rendererStateConnections.add( targetRenderer->sigCamerasChanged().connect( boost::bind(&SceneBarImpl::onSceneRendererCamerasChanged, this))); rendererStateConnections.add( targetRenderer->sigCurrentCameraChanged().connect( boost::bind(&SceneBarImpl::onSceneRendererCurrentCameraChanged, this))); self->setEnabled(true); } } void SceneBarImpl::onSceneWidgetStateChanged() { editModeToggle->blockSignals(true); editModeToggle->setChecked(targetSceneWidget->isEditMode()); editModeToggle->blockSignals(false); firstPersonModeToggle->blockSignals(true); firstPersonModeToggle->setChecked(targetSceneWidget->viewpointControlMode() != SceneWidget::THIRD_PERSON_MODE); firstPersonModeToggle->blockSignals(false); collisionLineToggle->blockSignals(true); collisionLineToggle->setChecked(targetSceneWidget->collisionLinesVisible()); collisionLineToggle->blockSignals(false); wireframeToggle->blockSignals(true); wireframeToggle->setChecked(targetSceneWidget->polygonMode() != SceneWidget::FILL_MODE); wireframeToggle->blockSignals(false); } void SceneBarImpl::onEditModeButtonToggled(bool on) { sceneWidgetStateConnection.block(); targetSceneWidget->setEditMode(on); sceneWidgetStateConnection.unblock(); } void SceneBarImpl::onFirstPersonModeButtonToggled(bool on) { sceneWidgetStateConnection.block(); targetSceneWidget->setViewpointControlMode(on ? SceneWidget::FIRST_PERSON_MODE : SceneWidget::THIRD_PERSON_MODE); sceneWidgetStateConnection.unblock(); } void SceneBarImpl::onCollisionLineButtonToggled(bool on) { sceneWidgetStateConnection.block(); targetSceneWidget->setCollisionLinesVisible(on); sceneWidgetStateConnection.unblock(); } void SceneBarImpl::onWireframeButtonToggled(bool on) { sceneWidgetStateConnection.block(); targetSceneWidget->setPolygonMode(on ? SceneWidget::LINE_MODE : SceneWidget::FILL_MODE); sceneWidgetStateConnection.unblock(); } void SceneBarImpl::onSceneRendererCamerasChanged() { cameraCombo->blockSignals(true); vector pathStrings; cameraCombo->clear(); const int n = targetRenderer->numCameras(); for(int i=0; i < n; ++i){ targetRenderer->getSimplifiedCameraPathStrings(i, pathStrings); string label; if(pathStrings.empty()){ label = str(boost::format(_("Camera %1%")) % i); } else if(pathStrings.size() == 1){ label = pathStrings.front(); } else { label = pathStrings.back() + " - " + pathStrings.front(); } cameraCombo->addItem(label.c_str()); } cameraCombo->setCurrentIndex(targetRenderer->currentCameraIndex()); cameraCombo->blockSignals(false); } void SceneBarImpl::onSceneRendererCurrentCameraChanged() { cameraCombo->blockSignals(true); cameraCombo->setCurrentIndex(targetRenderer->currentCameraIndex()); cameraCombo->blockSignals(false); } void SceneBarImpl::onCameraComboCurrentIndexChanged(int index) { rendererStateConnections.block(); targetRenderer->setCurrentCamera(index); rendererStateConnections.unblock(); } namespace { class SceneCounter : public SceneVisitor { public: int numVertices; int numTriangles; void count(SgNode* node) { numVertices = 0; numTriangles = 0; node->accept(*this); } virtual void visitShape(SgShape* shape) { SgMesh* mesh = shape->mesh(); if(mesh){ if(mesh->hasVertices()){ numVertices += mesh->vertices()->size(); } numTriangles += mesh->numTriangles(); } } virtual void visitPointSet(SgPointSet* pointSet){ if(pointSet->hasVertices()){ numVertices += pointSet->vertices()->size(); } } }; void putSceneStatistics() { ostream& os = MessageView::instance()->cout(); os << _("Scene statistics:") << endl; int numSceneItems = 0; int totalNumVertics = 0; int totalNumTriangles = 0; SceneCounter counter; ItemList<> selected = ItemTreeView::instance()->selectedItems(); for(size_t i=0; i < selected.size(); ++i){ Item* item = selected[i]; SceneProvider* provider = dynamic_cast(item); if(provider){ SgNodePtr scene = provider->getScene(); if(scene){ os << format(_(" Scene \"%1%\":")) % item->name() << endl; counter.count(scene); os << format(_(" Vertices: %1%\n")) % counter.numVertices; os << format(_(" Triangles: %1%")) % counter.numTriangles << endl; totalNumVertics += counter.numVertices; totalNumTriangles += counter.numTriangles; ++numSceneItems; } } } if(!numSceneItems){ os << _("No valid scene item is selected.") << endl; } else { os << format(_("The total number of %1% scene items:\n")) % numSceneItems; os << format(_(" Vertices: %1%\n")) % totalNumVertics; os << format(_(" Triangles: %1%")) % totalNumTriangles << endl; } } } choreonoid-1.5.0/src/Base/LazyCaller.cpp0000664000000000000000000001432112741425367016571 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "LazyCaller.h" #include #include #include #include #include #include #include using namespace std; using namespace cnoid; namespace { inline int toQtPriority(int priority) { if(priority <= LazyCaller::PRIORITY_HIGH){ return Qt::HighEventPriority; } else if(priority >= LazyCaller::PRIORITY_LOW){ return Qt::LowEventPriority; } else { return Qt::NormalEventPriority; } } class SyncInfo { public: QSemaphore semaphore; bool completed; SyncInfo() { completed = false; } }; typedef boost::shared_ptr SyncInfoPtr; class CallEvent : public QEvent { public: CallEvent(const boost::function& function) : QEvent(QEvent::User), function(function) { } CallEvent(const boost::function& function, SyncInfoPtr& syncInfo) : QEvent(QEvent::User), function(function), syncInfo(syncInfo) { } CallEvent(const CallEvent& org) : QEvent(QEvent::User), function(org.function), syncInfo(org.syncInfo) { } ~CallEvent() { if(syncInfo){ syncInfo->semaphore.release(); // wake up the caller process } } boost::function function; SyncInfoPtr syncInfo; }; class CallEventHandler : public QObject { public: CallEventHandler() { mainThreadId = QThread::currentThreadId(); } virtual bool event(QEvent* e); Qt::HANDLE mainThreadId; }; CallEventHandler callEventHandler; } namespace cnoid { class LazyCallerImpl : public QObject { public: LazyCaller* self; boost::function function; int priority; bool isConservative; LazyCallerImpl(LazyCaller* self); LazyCallerImpl(LazyCaller* self, const boost::function& function, int priority); virtual bool event(QEvent* e); }; class QueuedCallerImpl : public QObject { public: QueuedCaller* self; ~QueuedCallerImpl(); virtual bool event(QEvent* e); }; } bool cnoid::isRunningInMainThread() { return (QThread::currentThreadId() == callEventHandler.mainThreadId); } void cnoid::callLater(const boost::function& function, int priority) { CallEvent* event = new CallEvent(function); QCoreApplication::postEvent(&callEventHandler, event, toQtPriority(priority)); } void cnoid::callFromMainThread(const boost::function& function, int priority) { if(QThread::currentThreadId() == callEventHandler.mainThreadId){ function(); } else { CallEvent* event = new CallEvent(function); QCoreApplication::postEvent(&callEventHandler, event, toQtPriority(priority)); } } bool cnoid::callSynchronously(const boost::function& function, int priority) { if(QThread::currentThreadId() == callEventHandler.mainThreadId){ function(); //callLater(function, priority); return true; } else { SyncInfoPtr syncInfo = boost::make_shared(); QCoreApplication::postEvent( &callEventHandler, new CallEvent(function, syncInfo), toQtPriority(priority)); syncInfo->semaphore.acquire(); // wait for finish return syncInfo->completed; } } bool CallEventHandler::event(QEvent* e) { CallEvent* callEvent = dynamic_cast(e); if(callEvent){ callEvent->function(); if(callEvent->syncInfo){ callEvent->syncInfo->completed = true; } return true; } return false; } LazyCaller::LazyCaller() { isPending_ = false; impl = new LazyCallerImpl(this); } LazyCallerImpl::LazyCallerImpl(LazyCaller* self) : self(self) { priority = LazyCaller::PRIORITY_HIGH; isConservative = false; } LazyCaller::LazyCaller(const boost::function& function, int priority) { isPending_ = false; impl = new LazyCallerImpl(this, function, priority); } LazyCallerImpl::LazyCallerImpl(LazyCaller* self, const boost::function& function, int priority) : self(self), function(function), priority(priority) { isConservative = false; } LazyCaller::LazyCaller(const LazyCaller& org) { isPending_ = false; impl = new LazyCallerImpl(this, org.impl->function, org.impl->priority); impl->isConservative = org.impl->isConservative; } LazyCaller::~LazyCaller() { cancel(); delete impl; } void LazyCaller::setFunction(const boost::function& function) { impl->function = function; } void LazyCaller::setPriority(int priority) { impl->priority = priority; } void LazyCaller::setConservative(bool on) { impl->isConservative = on; } void LazyCaller::cancel() { if(isPending_){ QCoreApplication::removePostedEvents(impl); isPending_ = false; } } void LazyCaller::flush() { if(isPending_){ QCoreApplication::removePostedEvents(impl); isPending_ = false; } impl->function(); } void LazyCaller::postCallEvent() { CallEvent* event = new CallEvent(impl->function); QCoreApplication::postEvent(impl, event, toQtPriority(impl->priority)); } bool LazyCallerImpl::event(QEvent* e) { CallEvent* callEvent = dynamic_cast(e); if(callEvent){ if(isConservative){ callEvent->function(); self->isPending_ = false; } else { self->isPending_ = false; callEvent->function(); } return true; } return false; } QueuedCaller::QueuedCaller() { impl = new QueuedCallerImpl(); } QueuedCaller::~QueuedCaller() { cancel(); delete impl; } QueuedCallerImpl::~QueuedCallerImpl() { } void QueuedCaller::callLater(const boost::function& function, int priority) { CallEvent* event = new CallEvent(function); QCoreApplication::postEvent(impl, event, toQtPriority(priority)); } bool QueuedCallerImpl::event(QEvent* e) { CallEvent* callEvent = dynamic_cast(e); if(callEvent){ callEvent->function(); return true; } return false; } void QueuedCaller::cancel() { QCoreApplication::removePostedEvents(impl); } choreonoid-1.5.0/src/Base/MultiSE3SeqItem.cpp0000664000000000000000000000105412741425367017423 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "MultiSE3SeqItem.h" #include "MultiSeqItemCreationPanel.h" #include "ItemManager.h" #include "gettext.h" using namespace cnoid; template<> void MultiSeqItem::initializeClass(ExtensionManager* ext) { ext->itemManager().registerClass(N_("MultiSE3SeqItem")); ext->itemManager().addCreationPanel( new MultiSeqItemCreationPanel(_("Number of SE3 values in a frame"))); } #ifdef WIN32 template class MultiSeqItem; #endif choreonoid-1.5.0/src/Base/SceneDragger.cpp0000664000000000000000000000244012741425367017057 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "SceneDragger.h" #include #include using namespace std; using namespace cnoid; namespace { const char* axisNames[3] = { "x", "y", "z" }; } SceneDragger::SceneDragger() { isContainerMode_ = false; } SceneDragger::SceneDragger(const SceneDragger& org) : SgPosTransform(org) { isContainerMode_ = org.isContainerMode_; } SceneDragger::SceneDragger(const SceneDragger& org, SgCloneMap& cloneMap) : SgPosTransform(org, cloneMap) { isContainerMode_ = org.isContainerMode_; } void SceneDragger::setContainerMode(bool on) { isContainerMode_ = on; } bool SceneDragger::detectAxisFromNodePath (const SgNodePath& path, SgNode* topNode, int& out_axis, int& out_indexOfTopNode) { for(size_t i=0; i < path.size(); ++i){ const SgNode* node = path[i]; if(node == topNode){ out_indexOfTopNode = i; } if(out_indexOfTopNode >= 0){ const string& name = node->name(); if(!name.empty()){ for(int j=0; j < 3; ++j){ if(name == axisNames[j]){ out_axis = j; return true; } } } } } return false; } choreonoid-1.5.0/src/Base/TextEditView.h0000664000000000000000000000062412741425367016562 0ustar rootroot/** @author Shizuko Hattori */ #ifndef CNOID_BASE_TEXT_EDIT_VIEW_H #define CNOID_BASE_TEXT_EDIT_VIEW_H #include #include namespace cnoid { class TextEditViewImpl; class TextEditView : public View { public: static void initializeClass(ExtensionManager* ext); TextEditView(); virtual ~TextEditView(); private: TextEditViewImpl* impl; }; } #endif choreonoid-1.5.0/src/Base/MultiAffine3SeqItem.cpp0000664000000000000000000000111012741425367020275 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "MultiAffine3SeqItem.h" #include "MultiSeqItemCreationPanel.h" #include "ItemManager.h" #include "gettext.h" using namespace cnoid; template<> void MultiSeqItem::initializeClass(ExtensionManager* ext) { ext->itemManager().registerClass(N_("MultiAffine3SeqItem")); ext->itemManager().addCreationPanel( new MultiSeqItemCreationPanel(_("Number of Affine3 values in a frame"))); } #ifdef WIN32 template class MultiSeqItem; #endif choreonoid-1.5.0/src/Base/ItemSelectionModel.h0000664000000000000000000000345212741425367017724 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_ITEM_SELECTION_MODEL_H #define CNOID_BASE_ITEM_SELECTION_MODEL_H #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT ItemSelectionModel : public QItemSelectionModel { Q_OBJECT public: ItemSelectionModel(QAbstractItemModel* model); ItemSelectionModel(QAbstractItemModel* model, QObject* parent); SignalProxy sigCurrentChanged() { return sigCurrentChanged_; } SignalProxy sigCurrentColumnChanged() { return sigCurrentColumnChanged_; } SignalProxy sigCurrentRowChanged() { return sigCurrentRowChanged_; } SignalProxy sigSelectionChanged() { return sigSelectionChanged_; } private Q_SLOTS: void onCurrentChanged(const QModelIndex& index, const QModelIndex& previous); void onCurrentColumnChanged(const QModelIndex& index, const QModelIndex& previous); void onCurrentRowChanged(const QModelIndex& index, const QModelIndex& previous); void onSelectionChanged(const QItemSelection& selected, const QItemSelection& deselected); private: Signal sigCurrentChanged_; Signal sigCurrentColumnChanged_; Signal sigCurrentRowChanged_; Signal sigSelectionChanged_; void initialize(); }; } #endif choreonoid-1.5.0/src/Base/Slider.h0000664000000000000000000000111612741425367015414 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_SLIDER_H #define CNOID_BASE_SLIDER_H #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT Slider : public QSlider { Q_OBJECT public: Slider(QWidget* parent = 0); Slider(Qt::Orientation orientation, QWidget* parent = 0); SignalProxy sigValueChanged() { return sigValueChanged_; } private Q_SLOTS: void onValueChanged(int value); private: Signal sigValueChanged_; void initialize(); }; } #endif choreonoid-1.5.0/src/Base/po/0000775000000000000000000000000012741425367014440 5ustar rootrootchoreonoid-1.5.0/src/Base/po/ja.po0000664000000000000000000010432212741425367015374 0ustar rootroot# Japanese translations for PACKAGE package. # Copyright (C) 2011 THE PACKAGE'S COPYRIGHT HOLDER # This file is distributed under the same license as the PACKAGE package. # nakaoka , 2011. # msgid "" msgstr "" "Project-Id-Version: PACKAGE VERSION\n" "Report-Msgid-Bugs-To: \n" "POT-Creation-Date: 2016-07-05 00:40+0900\n" "PO-Revision-Date: 2011-11-12 11:42+0000\n" "Last-Translator: nakaoka \n" "Language-Team: Japanese\n" "Language: ja\n" "MIME-Version: 1.0\n" "Content-Type: text/plain; charset=UTF-8\n" "Content-Transfer-Encoding: 8bit\n" "Plural-Forms: nplurals=1; plural=0;\n" #: AbstractSeqItem.cpp:59 MovieRecorder.cpp:381 #: MultiSeqItemCreationPanel.cpp:46 msgid "Frame rate" msgstr "ƒ•ƒĴƒĵƒ ƒĴƒĵƒˆ" #: AbstractSeqItem.cpp:60 msgid "Offset time" msgstr "‚ރ•‚ğƒƒƒˆĉ™‚é–“" #: AbstractSeqItem.cpp:61 msgid "Number of frames" msgstr "ƒ•ƒĴƒĵƒ ĉ•°" #: AbstractSeqItem.cpp:62 MultiSeqItemCreationPanel.cpp:39 msgid "Time length" msgstr "ĉ™‚é–“é•·" #: AbstractSeqItem.cpp:63 msgid "Time step" msgstr "‚ż‚¤ƒ ‚ıƒ†ƒƒƒ—" #: AbstractSeqItem.cpp:119 msgid "Num parts" msgstr "ƒ‘ƒĵƒˆĉ•°" #: App.cpp:231 App.cpp:385 msgid "About Choreonoid" msgstr "Choreonoid Ğ¤„Ĥ" #: App.cpp:235 msgid "Vertical Sync" msgstr "ċž‚ç›´ċŒĉœŸ" #: Archive.cpp:111 msgid "${%1} of \"%2\" cannot be expanded !" msgstr "\"%2\"${%1}Żċħ•é–‹§›‚“ïĵ" #: CaptureBar.cpp:92 msgid "Save the image of %1" msgstr "%1ç”ğċƒ‚’保ċ­˜" #: CaptureBar.cpp:96 ItemManager.cpp:1135 ProjectManager.cpp:507 #: TextEditView.cpp:119 msgid "Save" msgstr "保ċ­˜" #: CaptureBar.cpp:97 ItemManager.cpp:913 ItemManager.cpp:1136 #: ItemPropertyView.cpp:273 PluginManager.cpp:653 ProjectManager.cpp:483 #: ProjectManager.cpp:508 TaskView.cpp:269 msgid "Cancel" msgstr "‚­ƒ£ƒ³‚ğƒĞ" #: CaptureBar.cpp:100 ItemManager.cpp:950 ItemPropertyView.cpp:281 #: PluginManager.cpp:657 ProjectManager.cpp:487 ProjectManager.cpp:512 msgid "Any files (*)" msgstr "ċ…¨Ĥƒ•‚Ħ‚¤ƒĞ (*)" #: CaptureBar.cpp:127 msgid "The image of %1 cannot be saved into \"%2\"." msgstr "%1ç”ğċƒ‚’\"%2\"Ğ保ċ­˜§›‚“§—Ÿ€‚" #: CaptureBar.cpp:171 msgid "Capture Bar" msgstr "‚­ƒ£ƒ—ƒƒ£ƒƒĵ" #: CaptureBar.cpp:173 msgid "Include Tab" msgstr "‚żƒ–‚’ċĞ‚‚‹" #: CaptureBar.cpp:192 msgid "CaptureBar" msgstr "‚­ƒ£ƒ—ƒƒ£ƒƒĵ" #: CaptureBar.cpp:194 msgid "Capture the image of a view or toolbar" msgstr "ƒ“ƒƒĵ‚„ƒ„ƒĵƒĞƒƒĵç”ğċƒ‚’‚­ƒ£ƒ—ƒƒ£—™" #: DescriptionDialog.cpp:28 SceneWidget.cpp:3084 msgid "&Ok" msgstr "äş†è§£(&O)" #: ExtCommandItem.cpp:25 msgid "ExtCommandItem" msgstr "ċ¤–部‚³ƒžƒ³ƒ‰‚˘‚¤ƒ†ƒ " #: ExtCommandItem.cpp:112 msgid "External command \"%1%\" has been executed by item \"%2%\"." msgstr "ċ¤–部‚³ƒžƒ³ƒ‰\"%1%\"Œ‚˘‚¤ƒ†ƒ \"%2%\"Ğ‚ˆ£ĤċŸèĦŒ•‚Œ—Ÿ€‚" #: ExtCommandItem.cpp:122 msgid "External command \"%1%\" cannot be executed." msgstr "ċ¤–部‚³ƒžƒ³ƒ‰\"%1%\"‚’ċŸèĦŒ§›‚“€‚" #: ExtCommandItem.cpp:124 msgid " The command does not exist." msgstr "‚³ƒžƒ³ƒ‰Œċ­˜ċœ¨—›‚“€‚" #: ExtCommandItem.cpp:152 msgid "Command" msgstr "‚³ƒžƒ³ƒ‰" #: ExtCommandItem.cpp:154 msgid "Execute on loading" msgstr "ƒ­ƒĵƒ‰ĉ™‚ĞċŸèĦŒ" #: ExtCommandItem.cpp:156 msgid "Waiting time after started" msgstr "開ċ§‹ċŒċ…Ħĉ™‚é–“" #: FileBar.cpp:33 msgid "FileBar" msgstr "ƒ•‚Ħ‚¤ƒĞƒƒĵ" #: FileBar.cpp:37 msgid "Save the project" msgstr "ƒ—ƒ­‚¸‚§‚Żƒˆ‚’保ċ­˜" #: FolderItem.cpp:53 msgid "FolderItem" msgstr "ƒ•‚݃Ѓ€‚˘‚¤ƒ†ƒ " #: GraphBar.cpp:107 msgid "GraphBar" msgstr "‚°ƒİƒ•ƒƒĵ" #: GraphBar.cpp:122 msgid "Plot trajectories of the target data on the graph view" msgstr "ċŻèħĦƒ‡ƒĵ‚żèğŒé“‚’‚°ƒİƒ•ƒ“ƒƒĵĞƒ—ƒ­ƒƒƒˆ" #: GraphBar.cpp:129 msgid "Plot velocity trajectories" msgstr "速ċşĤèğŒé“ƒ—ƒ­ƒƒƒˆ" #: GraphBar.cpp:135 msgid "Plot acceleration trajectories" msgstr "ċŠ é€ŸċşĤèğŒé“ƒ—ƒ­ƒƒƒˆ" #: GraphBar.cpp:143 MovieRecorder.cpp:460 SceneBar.cpp:147 TimeBar.cpp:330 msgid "Show the config dialog" msgstr "設ċšƒ€‚¤‚˘ƒ­‚°èĦ¨ç¤ş" #: GraphBar.cpp:158 msgid "Graph Config" msgstr "‚°ƒİƒ•è¨­ċš" #: GraphBar.cpp:164 msgid "Line width" msgstr "線ċı…" #: GraphBar.cpp:176 msgid "y-range, 10^" msgstr "yèğ¸çŻ„ċ›²" #: GraphBar.cpp:187 msgid "Show limit values" msgstr "ƒŞƒŸƒƒƒˆċ€¤èĦ¨ç¤ş" #: GraphBar.cpp:196 msgid "Show grid" msgstr "‚°ƒŞƒƒƒ‰èĦ¨ç¤ş" #: GraphBar.cpp:211 msgid "Show rulers" msgstr "ċšèĤèĦ¨ç¤ş" #: GraphBar.cpp:221 msgid "Edit mode" msgstr "編集ƒ˘ƒĵƒ‰" #: GraphBar.cpp:230 msgid "Free line" msgstr "ƒ•ƒŞƒĵƒİ‚¤ƒ³ç·¨é›†ƒ˘ƒĵƒ‰" #: GraphBar.cpp:237 msgid "Line edit" msgstr "ƒİ‚¤ƒ³ç·¨é›†ƒ˘ƒĵƒ‰" #: GraphBar.cpp:246 msgid "Control points" msgstr "ċˆĥċĦç‚ıèĦ¨ç¤ş" #: GraphBar.cpp:252 msgid "Step" msgstr "‚ıƒ†ƒƒƒ—" #: GraphBar.cpp:260 msgid "Offset" msgstr "‚ރ•‚ğƒƒƒˆ" #: GraphBar.cpp:271 msgid "Time bar sync" msgstr "‚ż‚¤ƒ ƒƒĵ¨ċŒĉœŸ" #: GraphBar.cpp:278 msgid "off" msgstr "‚ރ•" #: GraphBar.cpp:279 msgid "cont." msgstr "連çĥš" #: GraphBar.cpp:280 msgid "page" msgstr "ƒšƒĵ‚¸" #: GraphWidget.cpp:1149 #, c-format msgid "Graph: Position = (%1$.5f, %2$.5f)" msgstr "‚°ƒİƒ•ä½ç½ = (%1$.5f, %2$.5f)" #: ImageView.cpp:28 msgid "Image" msgstr "ç”ğċƒ" #: Item.cpp:795 MultiSeqItemCreationPanel.cpp:27 msgid "Name" msgstr "ċċ‰" #: Item.cpp:799 msgid "Class" msgstr "‚Żƒİ‚ı" #: Item.cpp:804 MainWindow.cpp:242 PointSetItem.cpp:519 SceneItem.cpp:142 msgid "File" msgstr "ƒ•‚Ħ‚¤ƒĞ" #: Item.cpp:807 msgid "Num children" msgstr "ċ°‚˘‚¤ƒ†ƒ ĉ•°" #: Item.cpp:808 msgid "Sub item?" msgstr "‚µƒ–‚˘‚¤ƒ†ƒ ïĵŸ" #: Item.cpp:809 msgid "Temporal" msgstr "一ĉ™‚çš„" #: Item.cpp:810 msgid "Refs" msgstr "ċ‚ç…§ĉ•°" #: ItemManager.cpp:174 ViewManager.cpp:259 msgid "Name:" msgstr "ċċ‰" #: ItemManager.cpp:235 msgid "New ..." msgstr "ĉ–°èĤ" #: ItemManager.cpp:238 msgid "Open Item" msgstr "‚˘‚¤ƒ†ƒ èŞ­żèĵż" #: ItemManager.cpp:240 msgid "Open ..." msgstr "èŞ­żèĵż" #: ItemManager.cpp:242 msgid "Reload Selected Items" msgstr "選ĉŠž‚˘‚¤ƒ†ƒ ċ†èŞ­żèĵż" #: ItemManager.cpp:247 msgid "Save Selected Items" msgstr "選ĉŠž‚˘‚¤ƒ†ƒ äżċ­˜" #: ItemManager.cpp:249 msgid "Save Selected Items As" msgstr "ċċ‰‚’ä𘁑Ĥ選ĉŠž‚˘‚¤ƒ†ƒ ‚’保ċ­˜" #: ItemManager.cpp:251 msgid "Save All Items" msgstr "ċ…¨Ĥ‚˘‚¤ƒ†ƒ ‚’保ċ­˜" #: ItemManager.cpp:256 msgid "Import ..." msgstr "‚¤ƒ³ƒƒĵƒˆ" #: ItemManager.cpp:260 msgid "Export Selected Items" msgstr "選ĉŠž‚˘‚¤ƒ†ƒ ‚¨‚Ż‚ıƒƒĵƒˆ" #: ItemManager.cpp:551 msgid "Item$" msgstr "‚˘‚¤ƒ†ƒ $" #: ItemManager.cpp:552 msgid "Create New %1" msgstr "ĉ–°—„%1ç”Ÿĉˆ" #: ItemManager.cpp:597 ViewManager.cpp:265 msgid "&Create" msgstr "生ĉˆ(&C)" #: ItemManager.cpp:600 PathVariableEditor.cpp:105 ViewManager.cpp:270 msgid "&Cancel" msgstr "‚­ƒ£ƒ³‚ğƒĞ(&C)" #: ItemManager.cpp:800 msgid "\"%1%\" cannot be loaded because item type \"%2%\" is not registered." msgstr "\"%1%\" Ż\"%2%\"‚ż‚¤ƒ—ŒĉœŞç™ğ録Ÿ‚èŞ­żèĵ‚›‚“€‚" #: ItemManager.cpp:837 msgid "\"%1%\" cannot be loaded because the file format is unknown." msgstr "\"%1%\" Żƒ•‚݃ĵƒžƒƒƒˆŒä¸ĉ˜ŽŞŸ‚èŞ­żèĵ‚›‚“€‚" #: ItemManager.cpp:840 msgid "\"%1%\" cannot be loaded because file format \"%2%\" is unknown." msgstr "\"%1%\" Żƒ•‚݃ĵƒžƒƒƒˆ\"%2%\"Œä¸ĉ˜ŽŞŸ‚èŞ­żèĵ‚›‚“€‚" #: ItemManager.cpp:862 ItemManager.cpp:863 msgid "Loading %1% \"%2%\"" msgstr "%1% \"%2%\" ‚’èŞ­żèĵżä¸­" #: ItemManager.cpp:875 ItemManager.cpp:1096 msgid " -> failed.\n" msgstr " -> ċ¤ħĉ•—.\n" #: ItemManager.cpp:881 ItemManager.cpp:1102 msgid " -> ok!\n" msgstr " -> ċŒäş†!\n" #: ItemManager.cpp:902 msgid "The singleton instance of %1% is already loaded." msgstr "%1%‚·ƒ³‚°ƒĞƒˆƒ³‚¤ƒ³‚ı‚żƒ³‚ıŻĉ—˘ĞèŞ­żèĵ‚ŒĤ„™€‚" #: ItemManager.cpp:910 msgid "Load %1%" msgstr "%1% èŞ­żèĵż" #: ItemManager.cpp:912 PluginManager.cpp:652 ProjectManager.cpp:482 msgid "Open" msgstr "èŞ­żèĵż" #: ItemManager.cpp:920 msgid "Check the item(s) in ItemTreeView" msgstr "‚˘‚¤ƒ†ƒ ƒ„ƒŞƒĵƒ“ƒƒĵƒ‚§ƒƒ‚Ż‚’ċ…‚Œ‚‹" #: ItemManager.cpp:1081 msgid "Saving %1% to \"%2%\"" msgstr "%1% ‚’ \"%2%\" Ğ保ċ­˜ä¸­" #: ItemManager.cpp:1083 msgid "Exporting %1% into \"%2%\"" msgstr "%1% ‚’ \"%2%\" Ğ‚¨‚Ż‚ıƒƒĵƒˆä¸­" #: ItemManager.cpp:1110 msgid "%1% cannot be saved.\n" msgstr "%1% Żäżċ­˜§›‚“€‚\n" #: ItemManager.cpp:1112 msgid "%1% cannot be exported.\n" msgstr "%1% Ż‚¨‚Ż‚ıƒƒĵƒˆ§›‚“€‚\n" #: ItemManager.cpp:1116 msgid "%1% cannot be saved as the %2% format.\n" msgstr "%1% Żƒ•‚݃ĵƒžƒƒƒˆ%2%¨—Ĥ保ċ­˜§›‚“€‚\n" #: ItemManager.cpp:1118 msgid "%1% cannot be exported into the %2% format.\n" msgstr "%1% Żƒ•‚݃ĵƒžƒƒƒˆ%2%¨—Ĥ‚¨‚Ż‚ıƒƒĵƒˆ§›‚“€‚\n" #: ItemManager.cpp:1131 msgid "Save %1% as" msgstr "ċċ‰‚’ä𘁑Ĥ%1%‚’保ċ­˜" #: ItemManager.cpp:1412 msgid ";;Any files (*)" msgstr ";;ċ…¨Ĥƒ•‚Ħ‚¤ƒĞ (*)" #: ItemPropertyView.cpp:269 msgid "Select File" msgstr "ƒ•‚Ħ‚¤ƒĞ‚’選ĉŠž" #: ItemPropertyView.cpp:272 MovieRecorder.cpp:364 msgid "Select" msgstr "選ĉŠž" #: ItemPropertyView.cpp:554 msgid "Property" msgstr "ƒ—ƒ­ƒ‘ƒ†‚£" #: ItemPropertyView.cpp:746 msgid "Update" msgstr "ĉ›´ĉ–°" #: ItemPropertyView.cpp:748 msgid "Reset Column Sizes" msgstr "‚³ƒİƒ ‚µ‚¤‚şƒŞ‚ğƒƒƒˆ" #: ItemTreeArchiver.cpp:95 msgid "Not all items were stored correctly." msgstr "ĉ­£ċ¸¸Ğ保ċ­˜§Ş„‚˘‚¤ƒ†ƒ Œ‚‚Š™€‚" #: ItemTreeArchiver.cpp:108 msgid "\"%1%\" cannot be stored. Its type is not registered." msgstr "\"%1%\" Żƒ•‚݃ĵƒžƒƒƒˆŒä¸ĉ˜ŽŞŸ‚èŞ­żèĵ‚›‚“€‚" #: ItemTreeArchiver.cpp:119 msgid "Storing %1% \"%2%\"" msgstr "%1% \"%2%\"‚’ĉ›¸ċ‡ş—中" #: ItemTreeArchiver.cpp:126 msgid "\"%1%\" cannot be stored." msgstr "\"%1%\" Żĉ›¸ċ‡ş—ċ‡şĉ›‚“€‚" #: ItemTreeArchiver.cpp:211 msgid "Sub item \"%1%\" is not found. Its children cannot be restored." msgstr "" "‚µƒ–‚˘‚¤ƒ†ƒ \"%1%\"ŒèĤ‹¤‹‚‰Ş„Ÿ‚€ċ°‚˘‚¤ƒ†ƒ èŞ­żèĵżŒ§›‚“€‚" #: ItemTreeArchiver.cpp:217 msgid "Archive is broken." msgstr "‚˘ƒĵ‚Ğ‚¤ƒ–Œċ£Š‚ŒĤ„™€‚" #: ItemTreeArchiver.cpp:237 msgid "%1%Plugin is not loaded." msgstr "%1%PluginŒèŞ­żèĵ‚ŒĤ„›‚“€‚" #: ItemTreeArchiver.cpp:243 msgid "%1% of %2%Plugin is not a registered item type." msgstr "%2%Plugin%1%ŻĉœŞç™ğ録‚ż‚¤ƒ—§‚‚‹Ÿ‚èŞ­żèĵż§›‚“€‚" #: ItemTreeArchiver.cpp:256 msgid "Restoring %1% \"%2%\"" msgstr "%1% \"%2%\" ‚’èŞ­żèĵżä¸­" #: ItemTreeArchiver.cpp:262 msgid "The 'data' key does not have mapping-type data" msgstr "'data'‚­ƒĵŒƒžƒƒƒ”ƒ³‚°ċž‹ƒ‡ƒĵ‚ż‚’ĉœ‰—Ĥ„›‚“€‚" #: ItemTreeArchiver.cpp:283 msgid "\"%1%\" cannot be restored." msgstr "\"%1%\" ‚’èŞ­żèĵ‚€“¨Œ§›‚“€‚" #: ItemTreeView.cpp:248 msgid "Items" msgstr "‚˘‚¤ƒ†ƒ " #: ItemTreeView.cpp:341 msgid "Cut" msgstr "‚Ѓƒƒˆ" #: ItemTreeView.cpp:343 msgid "Copy (single)" msgstr "‚³ƒ”ƒĵïĵˆċ˜ç‹Ĵïĵ‰" #: ItemTreeView.cpp:345 msgid "Copy (sub tree)" msgstr "‚³ƒ”ƒĵïĵˆ‚µƒ–ƒ„ƒŞƒĵïĵ‰" #: ItemTreeView.cpp:347 msgid "Paste" msgstr "ƒšƒĵ‚ıƒˆ" #: ItemTreeView.cpp:351 msgid "Check" msgstr "ƒ‚§ƒƒ‚Ż" #: ItemTreeView.cpp:353 msgid "Uncheck" msgstr "‚˘ƒ³ƒ‚§ƒƒ‚Ż" #: ItemTreeView.cpp:355 msgid "Toggle checks" msgstr "ƒ‚§ƒƒ‚Żċèğ˘" #: ItemTreeView.cpp:359 msgid "Select all" msgstr "ċ…¨Ĥ選ĉŠž" #: ItemTreeView.cpp:361 msgid "Clear selection" msgstr "選ĉŠžè§£é™¤" #: Licenses.cpp:8 msgid "" "This program is free software; you can redistribute it and/or modify it " "under the terms of the GNU Lesser General Public License as published by the " "Free Software Foundation; either version 2.1 of the License, or (at your " "option) any later version.\n" "\n" "This package is distributed in the hope that it will be useful, but WITHOUT " "ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or " "FITNESS FOR A PARTICULAR PURPOSE.See the GNU Lesser General Public License " "for more details.\n" msgstr "" #: MainWindow.cpp:242 msgid "Exit" msgstr "終了" #: MainWindow.cpp:245 msgid "Edit" msgstr "編集" #: MainWindow.cpp:247 msgid "View" msgstr "èĦ¨ç¤ş" #: MainWindow.cpp:249 msgid "Show Toolbar" msgstr "ƒ„ƒĵƒĞƒƒĵèĦ¨ç¤ş" #: MainWindow.cpp:253 msgid "Show View" msgstr "ƒ“ƒƒĵèĦ¨ç¤ş" #: MainWindow.cpp:254 msgid "Create View" msgstr "ƒ“ƒƒĵç”Ÿĉˆ" #: MainWindow.cpp:255 msgid "Delete View" msgstr "ƒ“ƒƒĵĉĥˆċŽğ" #: MainWindow.cpp:257 msgid "Show View Tabs" msgstr "ƒ“ƒƒĵ‚żƒ–èĦ¨ç¤ş" #: MainWindow.cpp:263 msgid "Show Status Bar" msgstr "‚ıƒ†ƒĵ‚ż‚ıƒƒĵèĦ¨ç¤ş" #: MainWindow.cpp:269 msgid "Full Screen" msgstr "ƒ•ƒĞ‚ı‚ŻƒŞƒĵƒ³" #: MainWindow.cpp:273 msgid "Layout" msgstr "ƒĴ‚¤‚˘‚Ĥƒˆ" #: MainWindow.cpp:275 msgid "Store Last Toolbar Layout" msgstr "終了ĉ™‚ƒĴ‚¤‚˘‚Ĥƒˆ‚’保ċ­˜" #: MainWindow.cpp:278 msgid "Reset Layout" msgstr "ƒĴ‚¤‚˘‚ĤƒˆƒŞ‚ğƒƒƒˆ" #: MainWindow.cpp:280 msgid "Tools" msgstr "ƒ„ƒĵƒĞ" #: MainWindow.cpp:281 msgid "Filters" msgstr "ƒ•‚£ƒĞ‚ż" #: MainWindow.cpp:282 msgid "Options" msgstr "‚ރ—‚·ƒ§ƒ³" #: MainWindow.cpp:283 msgid "Help" msgstr "ƒ˜ƒĞƒ—" #: MessageView.cpp:183 MessageView.cpp:1033 msgid "Message" msgstr "ƒĦƒƒ‚ğƒĵ‚¸" #: MessageView.cpp:1056 TextEditView.cpp:208 TextEditView.cpp:264 msgid "Warning" msgstr "è­Ĥċ‘Š" #: MovieRecorder.cpp:70 msgid "O" msgstr "" #: MovieRecorder.cpp:73 msgid "*" msgstr "" #: MovieRecorder.cpp:263 MovieRecorder.cpp:323 msgid "Movie Recorder" msgstr "ċ‹•ç”ğƒĴ‚³ƒĵƒ€" #: MovieRecorder.cpp:286 msgid "Offline" msgstr "‚ރ•ƒİ‚¤ƒ³" #: MovieRecorder.cpp:287 msgid "Online" msgstr "‚ރ³ƒİ‚¤ƒ³" #: MovieRecorder.cpp:288 msgid "Direct" msgstr "ƒ€‚¤ƒĴ‚Żƒˆ" #: MovieRecorder.cpp:304 msgid "Recording of %1% has been started with the %2% mode." msgstr "%2%ƒ˘ƒĵƒ‰Ğ‚ˆ‚‹%1%éŒ²ç”ğ‚’é–‹ċ§‹——Ÿ€‚" #: MovieRecorder.cpp:329 msgid "Target view:" msgstr "ċŻèħĦƒ“ƒƒĵ" #: MovieRecorder.cpp:335 msgid "Show the marker" msgstr "ƒžƒĵ‚ĞèĦ¨ç¤ş" #: MovieRecorder.cpp:344 msgid "Recording mode: " msgstr "録ç”ğƒ˘ƒĵƒ‰" #: MovieRecorder.cpp:359 MultiPointSetItem.cpp:515 msgid "Directory" msgstr "ƒ‡‚£ƒĴ‚ŻƒˆƒŞ" #: MovieRecorder.cpp:374 msgid "Basename" msgstr "ƒ™ƒĵ‚ıƒ•‚Ħ‚¤ƒĞċ" #: MovieRecorder.cpp:387 msgid "[fps]" msgstr "" #: MovieRecorder.cpp:392 msgid "Start time" msgstr "開ċ§‹ĉ™‚ċˆğ" #: MovieRecorder.cpp:398 MovieRecorder.cpp:407 msgid "[s]" msgstr "[秒]" #: MovieRecorder.cpp:401 msgid "Finish time" msgstr "終了ĉ™‚ċˆğ" #: MovieRecorder.cpp:412 msgid "Image size" msgstr "ç”ğċƒ‚µ‚¤‚ş" #: MovieRecorder.cpp:428 msgid "Capture the mouse cursor" msgstr "ƒž‚Ĥ‚ı‚Ѓĵ‚½ƒĞ‚‚‚­ƒ£ƒ—ƒƒ£™‚‹" #: MovieRecorder.cpp:437 msgid "&Record" msgstr "録ç”ğ(&R)" #: MovieRecorder.cpp:448 msgid "MovieRecorderBar" msgstr "ċ‹•ç”ğƒĴ‚³ƒĵƒ€ƒƒĵ" #: MovieRecorder.cpp:452 msgid "Toggle Recording" msgstr "録ç”ğ" #: MovieRecorder.cpp:456 msgid "Toggle Target View Marker" msgstr "ċŻèħĦƒ“ƒƒĵƒžƒĵ‚Ğ‚’èĦ¨ç¤ş" #: MovieRecorder.cpp:636 msgid "Select Directory" msgstr "ƒ‡‚£ƒĴ‚ŻƒˆƒŞé¸ĉŠž" #: MovieRecorder.cpp:698 msgid "Target view is not specified." msgstr "ċŻèħĦƒ“ƒƒĵŒĉŒ‡ċš•‚ŒĤ„›‚“€‚" #: MovieRecorder.cpp:706 msgid "Please set a directory to output image files." msgstr "ç”ğċƒƒ•‚Ħ‚¤ƒĞ‚’ċ‡şċŠ›™‚‹ƒ‡‚£ƒĴ‚ŻƒˆƒŞ‚’ĉŒ‡ċš—Ĥ •„€‚" #: MovieRecorder.cpp:712 msgid "%1% is not a directory." msgstr "%1% Żƒ‡‚£ƒĴ‚ŻƒˆƒŞ§Ż‚‚Š›‚“€‚" #: MovieRecorder.cpp:788 msgid "The online mode recording for %1% is ready." msgstr "‚ރ³ƒİ‚¤ƒ³ƒ˘ƒĵƒ‰Ğ‚ˆ‚‹%1%éŒ²ç”ğ‚’ċ…ĉİŸ—Ĥ„™€‚" #: MovieRecorder.cpp:989 msgid "Saving an image to \"%1%\" failed." msgstr "ç”ğċƒ‚’\"%1%\"Ğ保ċ­˜" #: MovieRecorder.cpp:1023 msgid "Outputting sequential image files..." msgstr "é€£ç•Şç”ğċƒƒ•‚Ħ‚¤ƒĞ‚’ċ‡şċŠ›ä¸­â€Ĥ" #: MovieRecorder.cpp:1023 msgid "Abort Output" msgstr "ċ‡şċŠ›ä¸­ĉ­˘" #: MovieRecorder.cpp:1024 msgid "Movie Recorder's Output Status" msgstr "ċ‹•ç”ğƒĴ‚³ƒĵƒ€ċ‡şċŠ›çŠĥĉ³" #: MovieRecorder.cpp:1053 msgid "Recording of %1% has been finished." msgstr "%1%éŒ²ç”ğŒçµ‚了——Ÿ€‚" #: MovieRecorder.cpp:1055 msgid "Recording of %1% has been stopped." msgstr "%1%éŒ²ç”ğ‚’ċœĉ­˘——Ÿ€‚" #: MultiAffine3SeqItem.cpp:15 msgid "MultiAffine3SeqItem" msgstr "" #: MultiAffine3SeqItem.cpp:18 msgid "Number of Affine3 values in a frame" msgstr "ċ„ƒ•ƒĴƒĵƒ ‚Ÿ‚ŠAffine3èĦŒċˆ—ĉ•°" #: MultiPointSetItem.cpp:133 msgid "MultiPointSetItem" msgstr "ƒžƒĞƒƒ‚¤ƒ³ƒˆ‚ğƒƒƒˆ‚˘‚¤ƒ†ƒ " #: MultiPointSetItem.cpp:136 msgid "Multi Point Sets" msgstr "ƒžƒĞƒƒ‚¤ƒ³ƒˆ‚ğƒƒƒˆ" #: MultiPointSetItem.cpp:179 PointSetItem.cpp:617 msgid "Point" msgstr "ç‚ı" #: MultiPointSetItem.cpp:180 PointSetItem.cpp:618 msgid "Voxel" msgstr "ƒœ‚Ż‚ğƒĞ" #: MultiPointSetItem.cpp:514 msgid "Auto save" msgstr "è‡Şċ‹•äżċ­˜" #: MultiPointSetItem.cpp:516 msgid "Num point sets" msgstr "ç‚ıç¤ĉ•°" #: MultiPointSetItem.cpp:517 PointSetItem.cpp:520 msgid "Rendering mode" msgstr "ĉç”ğƒ˘ƒĵƒ‰" #: MultiPointSetItem.cpp:519 PointSetItem.cpp:522 msgid "Point size" msgstr "ƒ‡ƒ•‚݃Ѓˆç‚ı‚µ‚¤‚ş" #: MultiPointSetItem.cpp:521 PointSetItem.cpp:524 msgid "Voxel size" msgstr "ƒœ‚Ż‚ğƒĞ‚µ‚¤‚ş" #: MultiPointSetItem.cpp:523 msgid "Top translation" msgstr "ĉœ€ä¸Šä½ä¸Ĥ進" #: MultiPointSetItem.cpp:725 PointSetItem.cpp:897 msgid "PointSet: Clear Attention Points" msgstr "PointSet: ĉ³¨èĤ–ç‚ı‚ŻƒŞ‚˘" #: MultiPointSetItem.cpp:730 PointSetItem.cpp:902 msgid "PointSet: Start Eraser Mode" msgstr "PointSet: ĉĥˆċŽğƒ˘ƒĵƒ‰é–‹ċ§‹" #: MultiPointSetItem.cpp:739 PointSetItem.cpp:912 msgid "PointSet: Exit Eraser Mode" msgstr "PointSet: ĉĥˆċŽğƒ˘ƒĵƒ‰çµ‚了" #: MultiSE3SeqGraphView.cpp:19 msgid "Multi SE3 Seq" msgstr "SE3èğŒé“" #: MultiSE3SeqItem.cpp:15 msgid "MultiSE3SeqItem" msgstr "" #: MultiSE3SeqItem.cpp:18 msgid "Number of SE3 values in a frame" msgstr "ƒ•ƒĴƒĵƒ ‚Ÿ‚ŠSE3èĤç´ ĉ•°" #: MultiValueSeqGraphView.cpp:18 msgid "Multi Value Seq" msgstr "èğŒé“" #: MultiValueSeqItem.cpp:38 msgid "MultiValueSeqItem" msgstr "" #: MultiValueSeqItem.cpp:41 msgid "Number of values in a frame" msgstr "ƒ•ƒĴƒĵƒ ‚Ÿ‚ŠèĤç´ ĉ•°" #: MultiValueSeqItem.cpp:44 msgid "Plain Format of a Multi Value Sequence" msgstr "複ĉ•°ĉ•°ċ€¤ċˆ—ƒ—ƒĴ‚¤ƒ³ƒ•‚݃ĵƒžƒƒƒˆ" #: ParametricPathProcessor.cpp:230 msgid "%1% of \"%2%\" cannot be expanded !" msgstr "\"%2\"%1Żċħ•é–‹§›‚“ïĵ" #: PathVariableEditor.cpp:61 ProjectManager.cpp:128 msgid "Project File Options" msgstr "ƒ—ƒ­‚¸‚§‚Żƒˆƒ•‚Ħ‚¤ƒĞ‚ރ—‚·ƒ§ƒ³" #: PathVariableEditor.cpp:62 msgid "Edit Path Variables" msgstr "ƒ‘‚ıċ¤‰ĉ•°è¨­ċš" #: PathVariableEditor.cpp:72 msgid "Path Variables" msgstr "ƒ‘‚ıċ¤‰ĉ•°" #: PathVariableEditor.cpp:80 PathVariableEditor.cpp:94 msgid "Variable" msgstr "ċ¤‰ĉ•°" #: PathVariableEditor.cpp:81 msgid "Path" msgstr "ƒ‘‚ı" #: PathVariableEditor.cpp:98 msgid "Append" msgstr "èż½ċŠ " #: PathVariableEditor.cpp:103 msgid "&Apply" msgstr "éİ用(&A)" #: PluginManager.cpp:202 msgid "Load Plugin" msgstr "ƒ—ƒİ‚°‚¤ƒ³èŞ­żèĵż" #: PluginManager.cpp:205 msgid "Startup Plugin Loading" msgstr "èµ·ċ‹•ĉ™‚ƒ—ƒİ‚°‚¤ƒ³èŞ­żèĵż" #: PluginManager.cpp:438 msgid "" "%1%-plugin cannot be initialized because required plugin(s) %2% are not " "found." msgstr "" "ċż…èĤŞƒ—ƒİ‚°‚¤ƒ³%2%ŒèĤ‹¤‹‚‰Ş„Ÿ‚€%1%ƒ—ƒİ‚°‚¤ƒ³ċˆĉœŸċŒ–Œ§›‚“€‚" #: PluginManager.cpp:465 PluginManager.cpp:554 msgid "Plugin file \"%1%\" has already been activated." msgstr "ƒ—ƒİ‚°‚¤ƒ³ƒ•‚Ħ‚¤ƒĞ\"%1%\"Żĉ—˘ĞèŞ­żèĵ‚ŒĤ„™€‚" #: PluginManager.cpp:468 msgid "Detecting plugin file \"%1%\"" msgstr "ƒ—ƒİ‚°‚¤ƒ³ƒ•‚Ħ‚¤ƒĞ\"%1%\"‚’ĉ¤œċ‡ş——Ÿ€‚" #: PluginManager.cpp:488 msgid "The plugin entry function \"getChoreonoidPlugin\" is not found.\n" msgstr "ƒ—ƒİ‚°‚¤ƒ³‚¨ƒ³ƒˆƒŞé–˘ĉ•° \"getChoreonoidPlugin\" ŒèĤ‹¤‹‚Š›‚“€‚\n" #: PluginManager.cpp:498 msgid "The plugin object cannot be created." msgstr "ƒ—ƒİ‚°‚¤ƒ³‚ރ–‚¸‚§‚ŻƒˆŒç”Ÿĉˆ§›‚“€‚" #: PluginManager.cpp:529 msgid "Plugin file \"%1%\" conflicts with \"%2%\"." msgstr "“ƒ—ƒİ‚°‚¤ƒ³Ż\"%1%\"¨çĞĥċˆ—Ĥ„™€‚" #: PluginManager.cpp:538 PluginManager.cpp:637 msgid "Loading the plugin failed." msgstr "ƒ—ƒİ‚°‚¤ƒ³èŞ­żèĵżŒ§›‚“§—Ÿ€‚" #: PluginManager.cpp:594 msgid "The plugin object cannot be intialized." msgstr "ƒ—ƒİ‚°‚¤ƒ³‚ރ–‚¸‚§‚ŻƒˆċˆĉœŸċŒ–Œ§›‚“€‚" #: PluginManager.cpp:616 msgid "About Plugins" msgstr "ƒ—ƒİ‚°‚¤ƒ³Ğ¤„Ĥ" #: PluginManager.cpp:617 PluginManager.cpp:690 msgid "About %1% Plugin" msgstr "%1%ƒ—ƒİ‚°‚¤ƒ³Ğ¤„Ĥ" #: PluginManager.cpp:629 msgid "%1%-plugin has been activated." msgstr "%1%ƒ—ƒİ‚°‚¤ƒ³ŒèŞ­żèĵ‚Œ—Ÿ€‚" #: PluginManager.cpp:649 msgid "Load plugins" msgstr "ƒ—ƒİ‚°‚¤ƒ³èŞ­żèĵż" #: PluginManager.cpp:656 msgid "Plugin files (*.%1)" msgstr "ƒ—ƒİ‚°‚¤ƒ³ƒ•‚Ħ‚¤ƒĞ (*.%1)" #: PluginManager.cpp:761 msgid "Plugin %1% cannot be finalized." msgstr "ƒ—ƒİ‚°‚¤ƒ³ %1% ‚’終了§›‚“€‚" #: PluginManager.cpp:793 msgid "Plugin dll %1% has been unloaded." msgstr "ƒ—ƒİ‚°‚¤ƒ³ %1% DLLŒè§£ĉ”•‚Œ—Ÿ€‚" #: PointSetItem.cpp:143 msgid "PointSetItem" msgstr "ƒ‚¤ƒ³ƒˆ‚ğƒƒƒˆ‚˘‚¤ƒ†ƒ " #: PointSetItem.cpp:146 msgid "Point Cloud (PCD)" msgstr "ƒ‚¤ƒ³ƒˆ‚Żƒİ‚Ĥƒ‰(PCD)" #: PointSetItem.cpp:526 msgid "Editable" msgstr "編集ċŻèƒ½" #: PointSetItem.cpp:528 msgid "Num points" msgstr "ƒ‚¤ƒ³ƒˆĉ•°" #: PointSetItem.cpp:529 SceneItem.cpp:143 msgid "Translation" msgstr "ä¸Ĥ進" #: ProjectManager.cpp:120 msgid "Open Project" msgstr "ƒ—ƒ­‚¸‚§‚ŻƒˆèŞ­żèĵż" #: ProjectManager.cpp:122 msgid "Save Project" msgstr "ƒ—ƒ­‚¸‚§‚Żƒˆäżċ­˜" #: ProjectManager.cpp:124 msgid "Save Project As" msgstr "ċċ‰‚’ä𘁑Ĥƒ—ƒ­‚¸‚§‚Żƒˆ‚’保ċ­˜" #: ProjectManager.cpp:130 msgid "Perspective" msgstr "ƒĴ‚¤‚˘‚Ĥƒˆ" #: ProjectManager.cpp:134 msgid "Use HOME relative directories" msgstr "HOME相ċŻƒ‡‚£ƒĴ‚ŻƒˆƒŞ‚’ä½żç”¨" #: ProjectManager.cpp:181 msgid "" "The state of the \"%1%\" %2% was not completely restored.\n" "%3%" msgstr "" "\"%1%\" %2% çŠĥĉ…‹ŻċŒċ…¨ĞŻċ–ċ—§›‚“§—Ÿ€‚\n" "%3%" #: ProjectManager.cpp:204 msgid "Loading project file \"%1%\" ..." msgstr "ƒ—ƒ­‚¸‚§‚Żƒˆƒ•‚Ħ‚¤ƒĞ\"%1%\"‚’èŞ­żèĵżä¸­â€Ĥ" #: ProjectManager.cpp:217 msgid "The project file is empty.\n" msgstr "çİşƒ—ƒ­‚¸‚§‚Żƒˆƒ•‚Ħ‚¤ƒĞ§™€‚\n" #: ProjectManager.cpp:298 msgid "%1% / %2% item(s) are loaded." msgstr "%1% / %2% ‚˘‚¤ƒ†ƒ ŒèŞ­ż“‚Œ—Ÿ€‚" #: ProjectManager.cpp:301 msgid "%1% item(s) are not correctly loaded." msgstr "%1% ‚˘‚¤ƒ†ƒ Œĉ­£ċ¸¸ĞèŞ­żèĵ‚Œ›‚“§—Ÿ€‚" #: ProjectManager.cpp:318 msgid "Project \"%1%\" has successfully been loaded." msgstr "ƒ—ƒ­‚¸‚§‚Żƒˆ \"%1%\" èŞ­żèĵżĞĉˆċŠŸ——Ÿ€‚" #: ProjectManager.cpp:320 msgid "Project \"%1%\" has been loaded." msgstr "ƒ—ƒ­‚¸‚§‚Żƒˆ \"%1%\" ‚’èŞ­żèĵż—Ÿ€‚" #: ProjectManager.cpp:329 msgid "Project \"%1%\" cannot be loaded." msgstr "ƒ—ƒ­‚¸‚§‚Żƒˆ \"%1%\" ŻèŞ­żèĵ‚›‚“§—Ÿ€‚" #: ProjectManager.cpp:373 msgid "Saving a project to \"%1%\" ...\n" msgstr "ƒ—ƒ­‚¸‚§‚Żƒˆ‚’\"%1%\"Ğ保ċ­˜ä¸­â€Ĥ\n" #: ProjectManager.cpp:439 msgid "Saving a project file has been finished.\n" msgstr "ƒ—ƒ­‚¸‚§‚Żƒˆƒ•‚Ħ‚¤ƒĞäżċ­˜Œçµ‚了——Ÿ€‚\n" #: ProjectManager.cpp:443 msgid "Saving a project file failed.\n" msgstr "ƒ—ƒ­‚¸‚§‚Żƒˆƒ•‚Ħ‚¤ƒĞŒäżċ­˜§›‚“§—Ÿ€‚\n" #: ProjectManager.cpp:479 msgid "Open a Choreonoid project file" msgstr "Choreonoidƒ—ƒ­‚¸‚§‚Żƒˆƒ•‚Ħ‚¤ƒĞèŞ­żèĵż" #: ProjectManager.cpp:486 ProjectManager.cpp:511 msgid "Project files (*.cnoid)" msgstr "ƒ—ƒ­‚¸‚§‚Żƒˆƒ•‚Ħ‚¤ƒĞ (*.cnoid)" #: ProjectManager.cpp:503 msgid "Save a choreonoid project file" msgstr "Choreonoid ƒ—ƒ­‚¸‚§‚Żƒˆƒ•‚Ħ‚¤ƒĞäżċ­˜" #: RootItem.cpp:52 msgid "RootItem" msgstr "ƒĞƒĵƒˆ‚˘‚¤ƒ†ƒ " #: SceneBar.cpp:94 msgid "Put scene statistics" msgstr "‚·ƒĵƒ³çµħ計ĉƒ…ċ ħèĦ¨ç¤ş" #: SceneBar.cpp:101 msgid "SceneBar" msgstr "‚·ƒĵƒ³ƒƒĵ" #: SceneBar.cpp:117 msgid "Switch to the edit mode" msgstr "編集ƒ˘ƒĵƒ‰¸ċˆ‡‚Šĉ›żˆ" #: SceneBar.cpp:122 msgid "First-person viewpoint control mode" msgstr "一人称èĤ–ç‚ıċˆĥċĦ" #: SceneBar.cpp:127 msgid "Select a camera" msgstr "‚ЃĦƒİé¸ĉŠž" #: SceneBar.cpp:134 msgid "Move the camera to look at the objects" msgstr "ċ…¨Ĥç‰İ体ŒèĤ‹ˆ‚‹‚ˆ†ĞèĤ–ç‚ı‚’ç§ğċ‹•" #: SceneBar.cpp:138 msgid "Toggle the collision line visibility" msgstr "ċı²ĉ¸‰ç·šèĦ¨ç¤ş" #: SceneBar.cpp:143 msgid "Toggle the wireframe mode" msgstr "ƒŻ‚¤ƒ¤ƒ•ƒĴƒĵƒ èĦ¨ç¤ş" #: SceneBar.cpp:295 msgid "Camera %1%" msgstr "‚ЃĦƒİ %1%" #: SceneBar.cpp:359 msgid "Scene statistics:" msgstr "‚·ƒĵƒ³çµħ計ĉƒ…ċ ħ:" #: SceneBar.cpp:373 msgid " Scene \"%1%\":" msgstr " ‚·ƒĵƒ³ \"%1%\":" #: SceneBar.cpp:375 msgid " Vertices: %1%\n" msgstr " 頂ç‚ı: %1%\n" #: SceneBar.cpp:376 msgid " Triangles: %1%" msgstr " ƒˆƒİ‚¤‚˘ƒ³‚°ƒĞ: %1%" #: SceneBar.cpp:385 msgid "No valid scene item is selected." msgstr "ĉœ‰ċŠıŞ‚·ƒĵƒ³‚˘‚¤ƒ†ƒ Œé¸ĉŠž•‚ŒĤ„›‚“€‚" #: SceneBar.cpp:387 msgid "The total number of %1% scene items:\n" msgstr "%1%‚·ƒĵƒ³‚˘‚¤ƒ†ƒ ç·ĉ•°: \n" #: SceneBar.cpp:388 msgid " Vertices: %1%\n" msgstr " 頂ç‚ı: %1%\n" #: SceneBar.cpp:389 msgid " Triangles: %1%" msgstr " ƒˆƒİ‚¤‚˘ƒ³‚°ƒĞ: %1%" #: SceneItem.cpp:58 msgid "The VRML file does not have any valid entity." msgstr "VRMLƒ•‚Ħ‚¤ƒĞĞĉœ‰ċŠıŞċŸĉ…‹ŒċĞ‚ŒĤ„›‚“€‚" #: SceneItem.cpp:71 msgid "The STL file cannot be loaded." msgstr "STLƒ•‚Ħ‚¤ƒĞŻèŞ­żèĵ‚›‚“§—Ÿ€‚" #: SceneItem.cpp:85 msgid "SceneItem" msgstr "‚·ƒĵƒ³‚˘‚¤ƒ†ƒ " #: SceneView.cpp:83 msgid "Scene" msgstr "‚·ƒĵƒ³" #: SceneView.cpp:121 msgid "Use dedicated item tree view checks to select the target items" msgstr "ċŻèħĦ‚˘‚¤ƒ†ƒ é¸ĉŠžç”¨ċ°‚用ƒ‚§ƒƒ‚Ż‚’‚˘‚¤ƒ†ƒ ƒ„ƒŞƒĵƒ“ƒƒĵĞèż½ċŠ " #: SceneWidget.cpp:888 msgid "FPS Test Result" msgstr "ƒ•ƒĴƒĵƒ ƒĴƒĵƒˆƒ†‚ıƒˆçµĉžœ" #: SceneWidget.cpp:889 msgid "FPS: %1 frames / %2 [s] = %3" msgstr "ƒ•ƒĴƒĵƒ ƒĴƒĵƒˆ: %1 ƒ•ƒĴƒĵƒ  / %2 [秒] = %3 [fps]" #: SceneWidget.cpp:1452 #, c-format msgid "Global Position = (%.3f %.3f %.3f)" msgstr "‚°ƒ­ƒĵƒƒĞċş§ĉ¨™ä½ç½ = (%.3f %.3f %.3f)" #: SceneWidget.cpp:1876 msgid "Edit Mode" msgstr "編集ƒ˘ƒĵƒ‰" #: SceneWidget.cpp:1918 msgid "View Mode" msgstr "閲èĤ§ƒ˘ƒĵƒ‰" #: SceneWidget.cpp:1978 msgid "Background Color" msgstr "背ĉ™Żè‰²" #: SceneWidget.cpp:1991 msgid "Floor Grid Color" msgstr "ċşŠ‚°ƒŞƒƒƒ‰è‰²" #: SceneWidget.cpp:2004 msgid "Default Color" msgstr "ƒ‡ƒ•‚݃Ѓˆè‰²" #: SceneWidget.cpp:2830 msgid "Scene Config" msgstr "‚·ƒĵƒ³è¨­ċš" #: SceneWidget.cpp:2836 msgid "Default Camera" msgstr "ƒ‡ƒ•‚݃Ѓˆ‚ЃĦƒİ" #: SceneWidget.cpp:2838 msgid "Field of view" msgstr "èĤ–野角" #: SceneWidget.cpp:2848 msgid "Clipping depth" msgstr "‚ŻƒŞƒƒƒ”ƒ³‚°ĉ·ħċşĤ" #: SceneWidget.cpp:2850 msgid "Near" msgstr "èż‘éš£" #: SceneWidget.cpp:2857 msgid "Far" msgstr "遠ĉ–ı" #: SceneWidget.cpp:2869 msgid "Light" msgstr "ƒİ‚¤ƒˆ" #: SceneWidget.cpp:2871 msgid "Lighiting" msgstr "照ĉ˜Ž" #: SceneWidget.cpp:2876 msgid "Smooth shading" msgstr "‚ıƒ ƒĵ‚ş‚·‚§ƒĵƒ‡‚£ƒ³‚°" #: SceneWidget.cpp:2884 msgid "Head light" msgstr "ƒ˜ƒƒƒ‰ƒİ‚¤ƒˆ" #: SceneWidget.cpp:2889 SceneWidget.cpp:2909 msgid "Intensity" msgstr "照ċşĤ" #: SceneWidget.cpp:2897 msgid "Back lighting" msgstr "è£é˘ç…§ċ°„" #: SceneWidget.cpp:2904 msgid "World light" msgstr "ƒŻƒĵƒĞƒ‰ƒİ‚¤ƒˆ" #: SceneWidget.cpp:2917 msgid "Ambient" msgstr "環ċ˘ƒċ…‰" #: SceneWidget.cpp:2928 msgid "Additional lights" msgstr "èż½ċŠ ƒİ‚¤ƒˆ" #: SceneWidget.cpp:2936 msgid "Fog" msgstr "ƒ•‚İ‚°" #: SceneWidget.cpp:2943 msgid "Background" msgstr "背ĉ™Ż" #: SceneWidget.cpp:2945 msgid "Background color" msgstr "背ĉ™Żè‰²" #: SceneWidget.cpp:2958 msgid "Span" msgstr "長•" #: SceneWidget.cpp:2968 msgid "Interval" msgstr "間隔" #: SceneWidget.cpp:2977 msgid "Color" msgstr "色" #: SceneWidget.cpp:2983 msgid "Show the floor grid" msgstr "ċşŠ‚°ƒŞƒƒƒ‰ç·šèĦ¨ç¤ş" #: SceneWidget.cpp:2984 msgid "Show the xz plane grid" msgstr "xzċı³é˘‚°ƒŞƒƒƒ‰ç·šèĦ¨ç¤ş" #: SceneWidget.cpp:2985 msgid "Show the yz plane grid" msgstr "ｙｚċı³é˘‚°ƒŞƒƒƒ‰ç·šèĦ¨ç¤ş" #: SceneWidget.cpp:2992 msgid "Texture" msgstr "ƒ†‚Ż‚ıƒƒ£" #: SceneWidget.cpp:3000 msgid "Default color" msgstr "ƒ‡ƒ•‚݃Ѓˆè‰²" #: SceneWidget.cpp:3004 msgid "Default line width" msgstr "ƒ‡ƒ•‚݃Ѓˆç·šċı…" #: SceneWidget.cpp:3012 msgid "Default point size" msgstr "ƒ‡ƒ•‚݃Ѓˆç‚ı‚µ‚¤‚ş" #: SceneWidget.cpp:3023 msgid "Do point rendering in the wireframe mode" msgstr "ƒŻ‚¤ƒ¤ƒ•ƒĴƒĵƒ ƒ˘ƒĵƒ‰§ƒ‚¤ƒ³ƒˆƒĴƒ³ƒ€ƒŞƒ³‚°‚’èĦŒ†" #: SceneWidget.cpp:3032 msgid "Normal Visualization" msgstr "ĉ³•ç·šèĦ¨ç¤ş" #: SceneWidget.cpp:3049 msgid "Coordinate axes" msgstr "ċş§ĉ¨™èğ¸" #: SceneWidget.cpp:3055 msgid "Show FPS" msgstr "ƒ•ƒĴƒĵƒ ƒĴƒĵƒˆèĦ¨ç¤ş" #: SceneWidget.cpp:3060 msgid "Test" msgstr "ƒ†‚ıƒˆ" #: SceneWidget.cpp:3067 msgid "Do double rendering when a new display list is created." msgstr "ĉ–°èĤƒ‡‚£‚ıƒ—ƒĴ‚¤ƒŞ‚ıƒˆç”Ÿĉˆĉ™‚Ğ二重ĞƒĴƒ³ƒ€ƒŞƒ³‚°‚’èĦŒ†" #: SceneWidget.cpp:3074 msgid "Use an OpenGL pixel buffer for picking" msgstr "ƒ”ƒƒ‚­ƒ³‚°ĞOpenGLƒ”‚Ż‚ğƒĞƒƒƒƒ•‚Ħ‚’ä½ż†" #: ScriptBar.cpp:26 msgid "ScriptBar" msgstr "‚ı‚ŻƒŞƒ—ƒˆƒƒĵ" #: ScriptBar.cpp:30 msgid "Execute scripts" msgstr "‚ı‚ŻƒŞƒ—ƒˆċŸèĦŒ" #: TaskView.cpp:201 msgid "Task" msgstr "‚ż‚ı‚Ż" #: TaskView.cpp:246 msgid "Select a task type" msgstr "‚ż‚ı‚Żé¸ĉŠž" #: TaskView.cpp:252 msgid "Option Menu" msgstr "‚ރ—‚·ƒ§ƒ³ƒĦƒ‹ƒƒĵ" #: TaskView.cpp:257 msgid "Return to the current phase" msgstr "ċ…ƒƒ•‚§ƒĵ‚şĞċİċ¸°" #: TaskView.cpp:262 msgid "Go to the config phase" msgstr "設ċšƒ•‚§ƒĵ‚şĞç§ğċ‹•" #: TaskView.cpp:266 msgid "Go back to the previous phase" msgstr "ċ‰ƒ•‚§ƒĵ‚şĞĉˆğ‚‹" #: TaskView.cpp:270 msgid "Cancel waiting for the command to finish" msgstr "‚³ƒžƒ³ƒ‰ċŒäş†ċ…Ħ‚­ƒ£ƒ³‚ğƒĞ" #: TaskView.cpp:274 msgid "Phase index" msgstr "ƒ•‚§ƒĵ‚ş‚¤ƒ³ƒ‡ƒƒ‚Ż‚ı" #: TaskView.cpp:282 msgid "V" msgstr "↓" #: TaskView.cpp:284 msgid "Execute the default command of the current phase" msgstr "ĉœĴƒ•‚§ƒĵ‚şƒ‡ƒ•‚݃Ѓˆ‚³ƒžƒ³ƒ‰‚’ċŸèĦŒ" #: TaskView.cpp:287 msgid "Auto" msgstr "è‡Şċ‹•" #: TaskView.cpp:288 msgid "Automatic mode" msgstr "è‡Şċ‹•ƒ˘ƒĵƒ‰" #: TaskView.cpp:291 msgid "Skip to the next phase" msgstr "ĉĴĦƒ•‚§ƒĵ‚şĞç§ğċ‹•" #: TaskView.cpp:431 msgid "Task sequencer '%1' has been activated." msgstr "‚ż‚ı‚Ż‚·ƒĵ‚ħƒ³‚µ '%1' Œĉ´ğĉ€§ċŒ–•‚Œ—Ÿ€‚" #: TaskView.cpp:433 msgid "Task sequencer '%1' has been deactivated." msgstr "‚ż‚ı‚Ż‚·ƒĵ‚ħƒ³‚µ '%1' Œéžĉ´ğĉ€§ċŒ–•‚Œ—Ÿ€‚" #: TaskView.cpp:478 msgid "Task \"%1%\" has been added." msgstr "‚ż‚ı‚Ż \"%1%\" Œèż½ċŠ •‚Œ—Ÿ€‚" #: TaskView.cpp:499 msgid "" "Task \"%1%\" cannot be updated now because it is wating for a command to " "finish." msgstr "" "‚ż‚ı‚Ż \"%1%\" Żçċœ¨‚³ƒžƒ³ƒ‰çµ‚了ċ…Ħ‚’èĦŒ£Ĥ„‚‹Ÿ‚ĉ›´ĉ–°§›‚“€‚" #: TaskView.cpp:533 msgid "Task \"%1%\" has been updated with the new one." msgstr "‚ż‚ı‚Ż \"%1%\" Œĉ›´ĉ–°•‚Œ—Ÿ€‚" #: TaskView.cpp:1425 msgid "Retry" msgstr "ƒŞƒˆƒİ‚¤" #: TaskView.cpp:1427 msgid "Vertical Layout" msgstr "ç¸Ĥ配ç½" #: TextEditView.cpp:77 msgid "Text Editor" msgstr "ƒ†‚­‚ıƒˆ‚¨ƒ‡‚£‚ż" #: TextEditView.cpp:209 msgid "" "The document has been modified.\n" " Do you want to save your changes?" msgstr "ċ¤‰ĉ›´ċ†…ċı‚’保ċ­˜—™‹ïĵŸ" #: TextEditView.cpp:237 msgid "unselected" msgstr "‚˘‚¤ƒ†ƒ Œé¸ĉŠž•‚ŒĤ›‚“€‚" #: TextEditView.cpp:265 msgid "" "The file has been modified outside of text editor.\n" "Do you want to reload it?" msgstr "" "ċ¤–部‚¨ƒ‡‚£‚żĞ‚ˆ£Ĥ€ċ†…ċıŒċ¤‰ĉ›´•‚Œ—Ÿ€‚\n" "ƒ•‚Ħ‚¤ƒĞ‚’èŞ­żèĵżç›´—™‹ïĵŸ" #: TimeBar.cpp:64 msgid "Time Bar Config" msgstr "‚ż‚¤ƒ ƒƒĵè¨­ċš" #: TimeBar.cpp:70 msgid "Internal frame rate" msgstr "ċ†…部ƒ•ƒĴƒĵƒ ƒĴƒĵƒˆ" #: TimeBar.cpp:78 msgid "Playback frame rate" msgstr "ċ†ç”Ÿƒ•ƒĴƒĵƒ ƒĴƒĵƒˆ" #: TimeBar.cpp:87 msgid "Idle loop driven mode" msgstr "‚˘‚¤ƒ‰ƒĞƒĞƒĵƒ—駆ċ‹•ƒ˘ƒĵƒ‰" #: TimeBar.cpp:93 msgid "Playback speed scale" msgstr "ċ†ç”Ÿ‚ıƒ”ƒĵƒ‰ċ€çŽ‡" #: TimeBar.cpp:104 msgid "Sync with ongoing updates" msgstr "進èĦŒä¸­ĉ›´ĉ–°ĞċŒĉœŸ" #: TimeBar.cpp:111 msgid "Automatically expand the time range" msgstr "ĉ™‚間範ċ›²è‡Şċ‹•ĉ‹Ħċĵµ" #: TimeBar.cpp:157 msgid "&OK" msgstr "&OK" #: TimeBar.cpp:270 msgid "TimeBar" msgstr "‚ż‚¤ƒ ƒƒĵ" #: TimeBar.cpp:296 msgid "Start animation" msgstr "‚˘ƒ‹ƒĦƒĵ‚·ƒ§ƒ³é–‹ċ§‹" #: TimeBar.cpp:299 TimeBar.cpp:674 msgid "Resume animation" msgstr "‚˘ƒ‹ƒĦƒĵ‚·ƒ§ƒ³ċ†ç”Ÿƒğċœĉ­˘" #: TimeBar.cpp:303 msgid "Refresh state at the current time" msgstr "çċœ¨ĉ™‚ċˆğ§çŠĥĉ…‹‚’ĉ›´ĉ–°" #: TimeBar.cpp:646 msgid "Stop animation" msgstr "‚˘ƒ‹ƒĦƒĵ‚·ƒ§ƒ³ċœĉ­˘" #: Vector3SeqItem.cpp:14 msgid "Vector3SeqItem" msgstr "ïĵ“ĉĴĦċ…ƒƒ™‚Ż‚żċˆ—‚˘‚¤ƒ†ƒ " #: ViewArea.cpp:1411 msgid "Separate the view" msgstr "ƒ“ƒƒĵċˆ†é›˘" #: ViewManager.cpp:277 msgid "Create %1" msgstr "%1ç”Ÿĉˆ" #: ViewManager.cpp:313 msgid "Please specify the name of the new view." msgstr "作ĉˆ™‚‹ƒ“ƒƒĵċċ‰‚’ĉŒ‡ċš—Ĥ •„€‚" #: ViewManager.cpp:351 msgid "Delete All Invisible Views" msgstr "ċ…¨ĤéžèĦ¨ç¤şƒ“ƒƒĵ‚’ĉĥˆċŽğ" #: ViewManager.cpp:807 msgid "" "A singleton view \"%1%\" of the %2% type cannot be created because its " "singleton instance has already been created." msgstr "" "\"%2%\"‚ż‚¤ƒ—‚·ƒ³‚°ƒĞƒˆƒ³ƒ“ƒƒĵ\"%1%\"Żĉ—˘Ğ‚·ƒ³‚°ƒĞƒˆƒ³‚¤ƒ³‚ı‚żƒ³‚ıŒ" "生ĉˆ•‚ŒĤ„™€‚" #: VirtualJoystickView.cpp:106 msgid "Virtual Joystick" msgstr "äğĉƒ³‚¸ƒ§‚¤‚ıƒ†‚£ƒƒ‚Ż" choreonoid-1.5.0/src/Base/GraphViewBase.cpp0000664000000000000000000002006712741425367017222 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "GraphViewBase.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace { const bool TRACE_FUNCTIONS = false; struct ItemInfo { GraphViewBaseImpl* base; ItemPtr item; //ConnectionSet connections; std::vector handlers; ItemInfo(GraphViewBaseImpl* base) : base(base) { } ~ItemInfo(); }; class PartItem : public QTreeWidgetItem { public: int index; }; class TreeWidgetEx : public TreeWidget { public: QSize modifiedSizeHint(QSize size) const { int width = sizeHintForColumn(0) * 3 / 2; width += verticalScrollBar()->sizeHint().width(); size.setWidth(width); return size; } virtual QSize sizeHint() const { return modifiedSizeHint(QTreeWidget::sizeHint()); } virtual QSize minimumSizeHint() const { return modifiedSizeHint(QTreeWidget::minimumSizeHint()); } }; } namespace cnoid { class GraphViewBaseImpl { public: GraphViewBaseImpl(GraphViewBase* self); ~GraphViewBaseImpl(); GraphViewBase* self; QVBoxLayout* leftvbox; GraphWidget graph; TreeWidgetEx treeWidget; Connection itemSelectionChangedConnection; Connection partSelectionChangedConnection; list itemInfos; map itemToConnectionSetMap; void onItemSelectionChanged(const ItemList<>& items); void onItemDetachedFromRoot(std::list::iterator itemInfoIter); void updatePartList(); void updateSelections(); void onItemUpdated(std::list::iterator itemInfoIter); void notifyUpdateByEditing(Item* item); }; } namespace { ItemInfo::~ItemInfo() { map::iterator p = base->itemToConnectionSetMap.find(item.get()); if(p != base->itemToConnectionSetMap.end()){ p->second.disconnect(); base->itemToConnectionSetMap.erase(p); } } } GraphViewBase::GraphViewBase() { impl = new GraphViewBaseImpl(this); } GraphViewBaseImpl::GraphViewBaseImpl(GraphViewBase* self) : self(self), graph(self) { treeWidget.setColumnCount(1); treeWidget.setHeaderHidden(true); treeWidget.setRootIsDecorated(false); treeWidget.setSelectionBehavior(QAbstractItemView::SelectRows); QHeaderView* header = treeWidget.header(); header->setMinimumSectionSize(0); header->setStretchLastSection(false); #if QT_VERSION < QT_VERSION_CHECK(5, 0, 0) header->setResizeMode(0, QHeaderView::ResizeToContents); #else header->setSectionResizeMode(0, QHeaderView::ResizeToContents); #endif treeWidget.setSelectionMode(QAbstractItemView::ExtendedSelection); treeWidget.setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); treeWidget.setVerticalScrollMode(QAbstractItemView::ScrollPerPixel); treeWidget.setSizePolicy(QSizePolicy::Minimum, QSizePolicy::Expanding); leftvbox = new QVBoxLayout(); leftvbox->setSpacing(0); leftvbox->addWidget(&treeWidget); QHBoxLayout* hbox = new QHBoxLayout(); hbox->setSpacing(0); hbox->addLayout(leftvbox, 1); hbox->addWidget(&graph, 9999); self->setLayout(hbox); itemSelectionChangedConnection = ItemTreeView::mainInstance()->sigSelectionChanged().connect( boost::bind(&GraphViewBaseImpl::onItemSelectionChanged, this, _1)); partSelectionChangedConnection = treeWidget.sigItemSelectionChanged().connect( boost::bind(&GraphViewBaseImpl::updateSelections, this)); } GraphViewBase::~GraphViewBase() { delete impl; } GraphViewBaseImpl::~GraphViewBaseImpl() { itemSelectionChangedConnection.disconnect(); partSelectionChangedConnection.disconnect(); } QVBoxLayout* GraphViewBase::leftVBox() const { return impl->leftvbox; } QWidget* GraphViewBase::indicatorOnInfoBar() { return &impl->graph.statusLabel(); } void GraphViewBaseImpl::onItemSelectionChanged(const ItemList<>& allItems) { ItemList<> items = self->extractTargetItems(allItems); if(items.empty()){ return; } if(itemInfos.size() == items.size()){ bool unchanged = true; int i=0; for(list::iterator it = itemInfos.begin(); it != itemInfos.end(); ++it){ if(it->item != items[i++]){ unchanged = false; break; } } if(unchanged){ return; } } itemInfos.clear(); for(size_t i=0; i < items.size(); ++i){ itemInfos.push_back(ItemInfo(this)); list::iterator it = --itemInfos.end(); it->item = items[i]; ConnectionSet& connections = itemToConnectionSetMap[it->item.get()]; connections.add(it->item->sigUpdated().connect( boost::bind(&GraphViewBaseImpl::onItemUpdated, this, it))); connections.add(it->item->sigDetachedFromRoot().connect( boost::bind(&GraphViewBaseImpl::onItemDetachedFromRoot, this, it))); } updatePartList(); } void GraphViewBaseImpl::onItemDetachedFromRoot(std::list::iterator itemInfoIter) { itemInfos.erase(itemInfoIter); updatePartList(); } int GraphViewBase::currentNumParts(const ItemList<>& items) const { return 0; } void GraphViewBaseImpl::updatePartList() { treeWidget.clear(); int numParts = 0; if(!itemInfos.empty()){ ItemList items; for(list::iterator p = itemInfos.begin(); p != itemInfos.end(); ++p){ items.push_back(p->item.get()); } numParts = self->currentNumParts(items); } for(int i=0; i < numParts; ++i){ PartItem* partItem = new PartItem(); partItem->setText(0, QString::number(i)); partItem->setTextAlignment(0, Qt::AlignHCenter); partItem->index = i; treeWidget.addTopLevelItem(partItem); } treeWidget.header()->updateGeometry(); treeWidget.updateGeometry(); updateSelections(); } void GraphViewBase::updateSelections() { impl->updateSelections(); } void GraphViewBaseImpl::updateSelections() { if(TRACE_FUNCTIONS){ cout << "GraphViewBaseImpl::updateSelections()" << endl; } graph.clearDataHandlers(); vector tmpHandlers; for(list::iterator it = itemInfos.begin(); it != itemInfos.end(); ++it){ Item* item = it->item.get(); QList selected = treeWidget.selectedItems(); for(size_t i=0; i < selected.size(); ++i){ PartItem* part = static_cast(selected[i]); tmpHandlers.clear(); self->addGraphDataHandlers(item, part->index, tmpHandlers); if(!tmpHandlers.empty()){ for(int i=0; i < tmpHandlers.size(); ++i){ graph.addDataHandler(tmpHandlers[i]); it->handlers.push_back(tmpHandlers[i]); } } } } } void GraphViewBaseImpl::onItemUpdated(std::list::iterator itemInfoIter) { if(TRACE_FUNCTIONS){ cout << "GraphViewBaseImpl::onItemUpdated()" << endl; } for(size_t i=0; i < itemInfoIter->handlers.size(); ++i){ self->updateGraphDataHandler(itemInfoIter->item.get(), itemInfoIter->handlers[i]); } } void GraphViewBase::notifyUpdateByEditing(Item* item) { impl->notifyUpdateByEditing(item); } void GraphViewBaseImpl::notifyUpdateByEditing(Item* item) { map::iterator p = itemToConnectionSetMap.find(item); if(p != itemToConnectionSetMap.end()){ p->second.block(); item->notifyUpdate(); p->second.unblock(); } } bool GraphViewBase::storeState(Archive& archive) { return impl->graph.storeState(archive); } bool GraphViewBase::restoreState(const Archive& archive) { return impl->graph.restoreState(archive); } choreonoid-1.5.0/src/Base/Licenses.h0000664000000000000000000000025312741425367015740 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_LICENSES_H_INCLUDED #define CNOID_BASE_LICENSES_H_INCLUDED namespace cnoid { const char* LGPLtext(); } #endif choreonoid-1.5.0/src/Base/ItemList.h0000664000000000000000000000412712741425367015731 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_ITEM_LIST_H #define CNOID_BASE_ITEM_LIST_H #include "Item.h" #include namespace cnoid { template class ItemList : public PolymorphicPointerArray > { typedef PolymorphicPointerArray > ArrayBase; public: ItemList() { } template ItemList(const ItemList& rhs) : ArrayBase(rhs) { } template SubType* get(int index) const { return dynamic_cast(ArrayBase::operator[](index).get()); } ItemType* get(int index) const { return ArrayBase::operator[](index).get(); } bool extractChildItems(ItemPtr item) { ArrayBase::clear(); extractChildItemsSub(item->childItem()); return !ArrayBase::empty(); } ItemType* toSingle(bool allowFromMultiElements = false) const { return (ArrayBase::size() == 1 || (allowFromMultiElements && !ArrayBase::empty())) ? ArrayBase::front().get() : 0; } bool extractSubItems(ItemPtr item){ ArrayBase::clear(); for(Item* child = item->childItem(); child; child = child->nextItem()){ if(child->isSubItem()){ ItemType* targetItem = dynamic_cast(child); if(targetItem){ ArrayBase::push_back(targetItem); } } } return !ArrayBase::empty(); } ItemType* find(const std::string& name){ for(size_t i=0; i < ArrayBase::size(); ++i){ if((*this)[i]->name() == name){ return (*this)[i]; } } return 0; } private: void extractChildItemsSub(Item* item){ if(item){ ItemType* targetItem = dynamic_cast(item); if(targetItem){ ArrayBase::push_back(targetItem); } extractChildItemsSub(item->childItem()); extractChildItemsSub(item->nextItem()); } } }; } #endif choreonoid-1.5.0/src/Base/ParametricPathProcessor.cpp0000664000000000000000000001567112741425367021344 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "ParametricPathProcessor.h" #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { QRegExp regexVar("^\\$\\{(\\w+)\\}"); } namespace cnoid { class ParametricPathProcessorImpl { public: MappingPtr variables; QString topDirString; QString shareDirString; QString homeDirString; filesystem::path baseDirPath; filesystem::path topDirPath; filesystem::path shareDirPath; filesystem::path homeDirPath; bool isBaseDirInHome; string errorMessage; ParametricPathProcessorImpl(); bool findSubDirectoryOfDirectoryVariable( const filesystem::path& path, std::string& out_varName, filesystem::path& out_relativePath); bool replaceDirectoryVariable(QString& io_pathString, const string& varname, int pos, int len); }; } ParametricPathProcessor* ParametricPathProcessor::instance() { static ParametricPathProcessor* instance_ = new ParametricPathProcessor(); return instance_; } ParametricPathProcessor::ParametricPathProcessor() { impl = new ParametricPathProcessorImpl(); } ParametricPathProcessorImpl::ParametricPathProcessorImpl() { isBaseDirInHome = false; const std::string& top = executableTopDirectory(); topDirPath = top; topDirString = top.c_str(); const std::string& share = shareDirectory(); shareDirPath = share; shareDirString = share.c_str(); char* home = getenv("HOME"); if(home){ homeDirPath = filesystem::path(home); homeDirString = home; } } ParametricPathProcessor::~ParametricPathProcessor() { delete impl; } void ParametricPathProcessor::setVariables(Mapping* variables) { impl->variables = variables; } void ParametricPathProcessor::setBaseDirectory(const std::string& directory) { impl->baseDirPath = directory; filesystem::path relativePath; impl->isBaseDirInHome = findSubDirectory(impl->homeDirPath, impl->baseDirPath, relativePath); } /** \todo Use integated nested map whose node is a single path element to be more efficient. */ std::string ParametricPathProcessor::parameterize(const std::string& orgPathString) const { filesystem::path orgPath(orgPathString); // In the case where the path is originally relative one if(!orgPath.is_complete()){ return getGenericPathString(orgPath); } else { filesystem::path relativePath; if(!impl->baseDirPath.empty() && findSubDirectory(impl->baseDirPath, orgPath, relativePath)){ return getGenericPathString(relativePath); } else { string varName; if(impl->findSubDirectoryOfDirectoryVariable(orgPath, varName, relativePath)){ return str(format("${%1%}/%2%") % varName % getGenericPathString(relativePath)); } else if(findSubDirectory(impl->shareDirPath, orgPath, relativePath)){ return string("${SHARE}/") + getGenericPathString(relativePath); } else if(findSubDirectory(impl->topDirPath, orgPath, relativePath)){ return string("${PROGRAM_TOP}/") + getGenericPathString(relativePath); } else if(!impl->isBaseDirInHome && findSubDirectory(impl->homeDirPath, orgPath, relativePath)){ return string("${HOME}/") + getGenericPathString(relativePath); } else if(!impl->baseDirPath.empty() && findRelativePath(impl->baseDirPath, orgPath, relativePath)){ return getGenericPathString(relativePath); } } } return getGenericPathString(orgPath); } /** \todo Introduce a tree structure to improve the efficiency of searching matched directories */ bool ParametricPathProcessorImpl::findSubDirectoryOfDirectoryVariable (const filesystem::path& path, std::string& out_varName, filesystem::path& out_relativePath) { out_relativePath.clear(); int maxMatchSize = 0; filesystem::path relativePath; Mapping::const_iterator p; for(p = variables->begin(); p != variables->end(); ++p){ Listing* paths = p->second->toListing(); if(paths){ for(int i=0; i < paths->size(); ++i){ filesystem::path dirPath(paths->at(i)->toString()); int n = findSubDirectory(dirPath, path, relativePath); if(n > maxMatchSize){ maxMatchSize = n; out_relativePath = relativePath; out_varName = fromUTF8(p->first); } } } } return (maxMatchSize > 0); } boost::optional ParametricPathProcessor::expand(const std::string& pathString) const { filesystem::path path; QString qpath(pathString.c_str()); // expand variables in the path int pos = regexVar.indexIn(qpath); if(pos == -1){ path = pathString; } else { int len = regexVar.matchedLength(); if(regexVar.captureCount() > 0){ QString varname = regexVar.cap(1); if(varname == "SHARE"){ qpath.replace(pos, len, impl->shareDirString); } else if(varname == "PROGRAM_TOP"){ qpath.replace(pos, len, impl->topDirString); } else if(varname == "HOME"){ qpath.replace(pos, len, impl->homeDirString); } else { if(!impl->replaceDirectoryVariable(qpath, varname.toStdString(), pos, len)){ return boost::none; } } } path = qpath.toStdString(); } if(checkAbsolute(path) || impl->baseDirPath.empty()){ return getNativePathString(path); } else { filesystem::path fullPath = impl->baseDirPath / path; if(!path.empty() && (*path.begin() == "..")){ filesystem::path compact; makePathCompact(fullPath, compact); return getNativePathString(compact); } else { return getNativePathString(fullPath); } } } bool ParametricPathProcessorImpl::replaceDirectoryVariable (QString& io_pathString, const string& varname, int pos, int len) { Listing* paths = variables->findListing(varname); if(paths){ for(int i=0; i < paths->size(); ++i){ string vpath; QString replaced(io_pathString); replaced.replace(pos, len, paths->at(i)->toString().c_str()); filesystem::file_status fstatus = filesystem::status(filesystem::path(replaced.toStdString())); if(filesystem::is_directory(fstatus) || filesystem::exists(fstatus)) { io_pathString = replaced; return true; } } } errorMessage = str(format(_("%1% of \"%2%\" cannot be expanded !")) % varname % io_pathString.toStdString()); return false; } const std::string& ParametricPathProcessor::errorMessage() const { return impl->errorMessage; } choreonoid-1.5.0/src/Base/TranslationDragger.cpp0000664000000000000000000001300112741425367020313 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "TranslationDragger.h" #include #include #include #include #include using namespace std; using namespace cnoid; namespace { const char* axisNames[3] = { "x", "y", "z" }; } TranslationDragger::TranslationDragger(bool setDefaultAxes) { draggableAxes_ = TX | TY | TZ; axisCylinderNormalizedRadius = 0.04; defaultAxesScale = new SgScaleTransform; customAxes = new SgGroup; for(int i=0; i < 3; ++i){ SgMaterial* material = new SgMaterial; Vector3f color(0.2f, 0.2f, 0.2f); color[i] = 1.0f; material->setDiffuseColor(Vector3f::Zero()); material->setEmissiveColor(color); material->setAmbientIntensity(0.0f); material->setTransparency(0.6f); axisMaterials[i] = material; } if(setDefaultAxes){ MeshGenerator meshGenerator; SgMeshPtr mesh = meshGenerator.generateArrow(1.8, 0.08, 0.1, 2.5); for(int i=0; i < 3; ++i){ SgShape* shape = new SgShape; shape->setMesh(mesh); shape->setMaterial(axisMaterials[i]); SgPosTransform* arrow = new SgPosTransform; arrow->addChild(shape); if(i == 0){ arrow->setRotation(AngleAxis(-PI / 2.0, Vector3::UnitZ())); } else if(i == 2){ arrow->setRotation(AngleAxis( PI / 2.0, Vector3::UnitX())); } SgInvariantGroup* invariant = new SgInvariantGroup; invariant->setName(axisNames[i]); invariant->addChild(arrow); SgSwitch* axis = new SgSwitch; axis->addChild(invariant); defaultAxesScale->addChild(axis); } addChild(defaultAxesScale); } } TranslationDragger::TranslationDragger(const TranslationDragger& org) : SceneDragger(org) { draggableAxes_ = org.draggableAxes_; defaultAxesScale = new SgScaleTransform; defaultAxesScale->setScale(org.defaultAxesScale->scale()); org.defaultAxesScale->copyChildrenTo(defaultAxesScale); addChild(defaultAxesScale); axisCylinderNormalizedRadius = org.axisCylinderNormalizedRadius; } TranslationDragger::TranslationDragger(const TranslationDragger& org, SgCloneMap& cloneMap) : SceneDragger(org, cloneMap) { draggableAxes_ = org.draggableAxes_; defaultAxesScale = getChild(0); axisCylinderNormalizedRadius = org.axisCylinderNormalizedRadius; } SgObject* TranslationDragger::clone(SgCloneMap& cloneMap) const { return new TranslationDragger(*this, cloneMap); } void TranslationDragger::setDraggableAxes(int axisSet) { if(axisSet != draggableAxes_){ for(int i=0; i < 3; ++i){ SgSwitch* axis = dynamic_cast(defaultAxesScale->child(i)); if(axis){ axis->setTurnedOn(axisSet & (1 << i)); } } draggableAxes_ = axisSet; defaultAxesScale->notifyUpdate(); } } void TranslationDragger::addCustomAxis(int axis, SgNode* node) { SgInvariantGroup* invariant = new SgInvariantGroup; invariant->setName(axisNames[axis]); invariant->addChild(node); customAxes->addChild(invariant); addChildOnce(customAxes); } void TranslationDragger::clearCustomAxes() { customAxes->clearChildren(); } double TranslationDragger::radius() const { return defaultAxesScale->scale().x(); } void TranslationDragger::setRadius(double r) { defaultAxesScale->setScale(r); } bool TranslationDragger::isDragging() const { return dragProjector.isDragging(); } const Vector3& TranslationDragger::draggedTranslation() const { return dragProjector.translation(); } Affine3 TranslationDragger::draggedPosition() const { return dragProjector.position(); } bool TranslationDragger::onButtonPressEvent(const SceneWidgetEvent& event) { int axis; int indexOfTopNode; const SgNodePath& path = event.nodePath(); if(detectAxisFromNodePath(path, this, axis, indexOfTopNode)){ SgNodePath::const_iterator axisIter = path.begin() + indexOfTopNode + 1; const Affine3 T_global = calcTotalTransform(path.begin(), axisIter); dragProjector.setInitialPosition(T_global); const Affine3 T_axis = calcTotalTransform(axisIter, path.end()); const Vector3 p_local = (T_global * T_axis).inverse() * event.point(); if(p_local.norm() < 2.0 * axisCylinderNormalizedRadius){ dragProjector.setTranslationAlongViewPlane(); } else { dragProjector.setTranslationAxis(T_global.linear().col(axis)); } if(dragProjector.startTranslation(event)){ sigTranslationStarted_(); return true; } } return false; } bool TranslationDragger::onButtonReleaseEvent(const SceneWidgetEvent& event) { if(dragProjector.isDragging()){ sigTranslationFinished_(); dragProjector.resetDragMode(); return true; } return false; } bool TranslationDragger::onPointerMoveEvent(const SceneWidgetEvent& event) { if(dragProjector.dragTranslation(event)){ if(isContainerMode()){ setPosition(dragProjector.position()); notifyUpdate(); } sigTranslationDragged_(); return true; } return false; } void TranslationDragger::onPointerLeaveEvent(const SceneWidgetEvent& event) { if(dragProjector.isDragging()){ sigTranslationFinished_(); dragProjector.resetDragMode(); } } choreonoid-1.5.0/src/Base/ImageView.h0000664000000000000000000000120712741425367016050 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_IMAGE_VIEW_H_INCLUDED #define CNOID_BASE_IMAGE_VIEW_H_INCLUDED #include #include "exportdecl.h" class QImage; namespace cnoid { class Image; class ImageViewImpl; class CNOID_EXPORT ImageView : public View { public: static void initializeClass(ExtensionManager* ext); ImageView(); ~ImageView(); void setPixmap(const QPixmap& pixmap); void setImage(const Image& image); void setImage(const QImage& image); void setScalingEnabled(bool on); bool isScalingEnabled() const; private: ImageViewImpl* impl; }; } #endif choreonoid-1.5.0/src/Base/Buttons.h0000664000000000000000000000424712741425367015640 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_BUTTONS_H #define CNOID_BASE_BUTTONS_H #include #include #include #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT PushButton : public QPushButton { Q_OBJECT public: PushButton(QWidget* parent = 0); PushButton(const QString& text, QWidget* parent = 0); PushButton(const QIcon& icon, const QString& text, QWidget* parent = 0); SignalProxy sigClicked() { return sigClicked_; } SignalProxy sigToggled() { return sigToggled_; } private Q_SLOTS: void onClicked(bool checked); void onToggled(bool checked); private: Signal sigClicked_; Signal sigToggled_; void initialize(); }; class CNOID_EXPORT ToggleButton : public PushButton { public: ToggleButton(QWidget* parent = 0); ToggleButton(const QString& text, QWidget* parent = 0); ToggleButton(const QIcon& icon, const QString& text, QWidget* parent = 0); }; class CNOID_EXPORT RadioButton : public QRadioButton { Q_OBJECT public: RadioButton(QWidget* parent = 0); RadioButton(const QString & text, QWidget* parent = 0); SignalProxy sigToggled() { return sigToggled_; } private Q_SLOTS: void onToggled(bool checked); private: Signal sigToggled_; void initialize(); }; class CNOID_EXPORT ToolButton : public QToolButton { Q_OBJECT public: ToolButton(QWidget* parent = 0); SignalProxy sigClicked() { return sigClicked_; } SignalProxy sigToggled() { return sigToggled_; } private Q_SLOTS: void onClicked(bool checked); void onToggled(bool checked); private: Signal sigClicked_; Signal sigToggled_; void initialize(); }; class CNOID_EXPORT ToggleToolButton : public ToolButton { public: ToggleToolButton(QWidget* parent = 0); //ToggleButton(const QString& text, QWidget* parent = 0); //ToggleButton(const QIcon& icon, const QString& text, QWidget* parent = 0); }; } #endif choreonoid-1.5.0/src/Base/MultiValueSeqGraphView.cpp0000664000000000000000000000527412741425367021113 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "MultiValueSeqGraphView.h" #include "ViewManager.h" #include #include #include "gettext.h" using namespace std; using namespace cnoid; void MultiValueSeqGraphView::initializeClass(ExtensionManager* ext) { ext->viewManager().registerClass( "MultiValueSeqGraphView", N_("Multi Value Seq"), ViewManager::SINGLE_OPTIONAL); } MultiValueSeqGraphView::MultiValueSeqGraphView() { setDefaultLayoutArea(View::BOTTOM); } MultiValueSeqGraphView::~MultiValueSeqGraphView() { } int MultiValueSeqGraphView::currentNumParts(const ItemList<>& items) const { MultiValueSeqItem* item = static_cast(items.front().get()); return item->seq()->numParts(); } ItemList<> MultiValueSeqGraphView::extractTargetItems(const ItemList<>& items) const { return ItemList(items); } void MultiValueSeqGraphView::addGraphDataHandlers(Item* item, int partIndex, std::vector& out_handlers) { MultiValueSeqItem* seqItem = static_cast(item); MultiValueSeqPtr seq = seqItem->seq(); if(partIndex < seq->numParts()){ GraphDataHandlerPtr handler(new GraphDataHandler()); handler->setID(partIndex); handler->setLabel(boost::lexical_cast(partIndex)); //handler->setValueLimits(llimit, ulimit); //handler->setVelocityLimits(lvlimit, uvlimit); handler->setFrameProperties(seq->numFrames(), seq->frameRate()); handler->setDataRequestCallback( boost::bind(&MultiValueSeqGraphView::onDataRequest, this, seq, partIndex, _1, _2, _3)); handler->setDataModifiedCallback( boost::bind(&MultiValueSeqGraphView::onDataModified, this, seqItem, partIndex, _1, _2, _3)); out_handlers.push_back(handler); } } void MultiValueSeqGraphView::updateGraphDataHandler(Item* item, GraphDataHandlerPtr handler) { MultiValueSeqPtr seq = static_cast(item)->seq(); handler->setFrameProperties(seq->numFrames(), seq->frameRate()); handler->update(); } void MultiValueSeqGraphView::onDataRequest (MultiValueSeqPtr seq, int partIndex, int frame, int size, double* out_values) { MultiValueSeq::Part part = seq->part(partIndex); for(int i=0; i < size; ++i){ out_values[i] = part[frame + i]; } } void MultiValueSeqGraphView::onDataModified (MultiValueSeqItem* item, int partIndex, int frame, int size, double* values) { MultiValueSeq::Part part = item->seq()->part(partIndex); for(int i=0; i < size; ++i){ part[frame + i] = values[i]; } GraphViewBase::notifyUpdateByEditing(item); } choreonoid-1.5.0/src/Base/LazySignal.h0000664000000000000000000000212612741425367016251 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_LAZY_SIGNAL_H #define CNOID_BASE_LAZY_SIGNAL_H #include "LazyCaller.h" #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT LazySignalBase : public LazyCaller { public: void request(); void requestBlocking(Connection connection){ connectionsToBlock.push_back(connection); } protected: LazySignalBase(); LazySignalBase(boost::function emitFunction, int priority); boost::function emitFunction; std::vector connectionsToBlock; virtual void defaultEmitFunction() = 0; private: bool doEmit(); }; template class LazySignal : public LazySignalBase { public: LazySignal() { } LazySignal(boost::function emitFunction, int priority = LazyCaller::PRIORITY_HIGH) : LazySignalBase(emitFunction, priority) { } SignalType& signal() { return signal_; } protected: virtual void defaultEmitFunction() { signal_(); } private: SignalType signal_; }; } #endif choreonoid-1.5.0/src/Base/MovieRecorder.h0000664000000000000000000000071412741425367016742 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_MOVIE_RECORDER_H #define CNOID_BASE_MOVIE_RECORDER_H #include "exportdecl.h" namespace cnoid { class ExtensionManager; class MovieRecorderImpl; class CNOID_EXPORT MovieRecorder { public: static void initialize(ExtensionManager* ext); static MovieRecorder* instance(); ~MovieRecorder(); private: MovieRecorder(ExtensionManager* ext); MovieRecorderImpl* impl; }; } #endif choreonoid-1.5.0/src/Base/InteractiveCameraTransform.cpp0000664000000000000000000000120112741425367022002 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "InteractiveCameraTransform.h" using namespace cnoid; InteractiveCameraTransform::InteractiveCameraTransform() { } InteractiveCameraTransform::InteractiveCameraTransform(const InteractiveCameraTransform& org) { } InteractiveCameraTransform::InteractiveCameraTransform(const InteractiveCameraTransform& org, SgCloneMap& cloneMap) : SgPosTransform(org, cloneMap) { } SgObject* InteractiveCameraTransform::clone(SgCloneMap& cloneMap) const { return new InteractiveCameraTransform(*this, cloneMap); } void InteractiveCameraTransform::onPositionUpdatedInteractively() { } choreonoid-1.5.0/src/Base/ItemPath.h0000664000000000000000000000172112741425367015707 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_ITEM_PATH_H #define CNOID_BASE_ITEM_PATH_H #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT ItemPath { typedef boost::escaped_list_separator Separator; typedef boost::tokenizer Tokenizer; public: typedef Tokenizer::iterator iterator; typedef iterator Iterator; ItemPath(const std::string& path); inline bool isAbsolute() { return isAbsolute_; } inline bool isRelative() { return !isAbsolute_; } inline iterator begin() { return pathBegin; } inline iterator end() { return pathEnd; } std::string folder(); inline std::string leaf() { return *pathLeaf; } private: std::string path; Tokenizer::iterator pathBegin; Tokenizer::iterator pathLeaf; Tokenizer::iterator pathEnd; bool isAbsolute_; }; } #endif choreonoid-1.5.0/src/Base/SceneProjector.cpp0000664000000000000000000001124012741425367017451 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "SceneProjector.h" #include "SceneWidget.h" using namespace cnoid; SceneProjector::~SceneProjector() { } ScenePlaneProjector::ScenePlaneProjector() { normal_ << 1.0, 0.0, 0.0; d_ = 0.0; } ScenePlaneProjector::ScenePlaneProjector(const Vector3& normal, const Vector3& point) { setPlane(normal, point); } void ScenePlaneProjector::setPlane(const Vector3& normal, const Vector3& point) { normal_ = normal; d_ = -normal.dot(point); } bool ScenePlaneProjector::project(const SceneWidgetEvent& event, Vector3& out_projected) const { Vector3 nearPoint, farPoint; SceneWidget* sceneWidget = event.sceneWidget(); if(sceneWidget->unproject(event.x(), event.y(), 0.0, nearPoint) && sceneWidget->unproject(event.x(), event.y(), 1.0, farPoint)){ return calcPlaneLineIntersection(nearPoint, farPoint, out_projected); } return false; } bool ScenePlaneProjector::calcPlaneLineIntersection (const Vector3& lineStart, const Vector3& lineEnd, Vector3& out_isect) const { const Vector3& n = normal_; const double dx = lineEnd.x() - lineStart.x(); const double dy = lineEnd.y() - lineStart.y(); const double dz = lineEnd.z() - lineStart.z(); const double denominator = (n.x() * dx + n.y() * dy + n.z() * dz); if(!denominator) { return false; } const double c = (n.x() * lineStart.x() + n.y() * lineStart.y() + n.z() * lineStart.z() + d_) / denominator; out_isect.x() = lineStart.x() - dx * c; out_isect.y() = lineStart.y() - dy * c; out_isect.z() = lineStart.z() - dz * c; return true; } SceneCylinderProjector::SceneCylinderProjector() { center_ << 0.0, 0.0, 0.0; radius_ = 1.0; height_ = 1.0; rotation_.setIdentity(); } SceneCylinderProjector::SceneCylinderProjector (const Vector3& center, double radius, double height, const Quat& rotation) { setCylinder(center, radius, height, rotation); rotation_ = rotation; } void SceneCylinderProjector::setCylinder (const Vector3& center, double radius, double height, const Quat& rotation) { center_ = center; radius_ = radius; height_ = height; rotation_ = rotation; } bool SceneCylinderProjector::project(const SceneWidgetEvent& event, Vector3& out_projected) const { Vector3 nearPoint, farPoint; SceneWidget* sceneWidget = event.sceneWidget(); if(sceneWidget->unproject(event.x(), event.y(), 0.0, nearPoint) && sceneWidget->unproject(event.x(), event.y(), 1.0, farPoint)){ Vector3 isectBack; return calcCylinderLineIntersection(nearPoint, farPoint, out_projected, isectBack); } return false; } bool SceneCylinderProjector::calcUnitCylinderLineIntersection (const Vector3& lineStart, const Vector3& lineEnd, Vector3& out_isectFront, Vector3& out_isectBack) const { const Vector3 dir = (lineEnd - lineStart).normalized(); const double a = dir[0] * dir[0] + dir[1] * dir[1]; const double b = 2.0 * (lineStart[0] * dir[0] + lineStart[1] * dir[1]); const double c = lineStart[0] * lineStart[0] + lineStart[1] * lineStart[1] - 1.0; const double d = b * b - 4.0 * a * c; if(d < 0.0){ return false; } const double dSqroot = sqrt(d); double t0, t1; if(b > 0.0){ t0 = -(2.0 * c) / (dSqroot + b); t1 = -(dSqroot + b) / (2.0 * a); } else { t0 = (2.0 * c) / (dSqroot - b); t1 = (dSqroot - b) / (2.0 * a); } out_isectFront = lineStart + dir * t0; out_isectBack = lineStart + dir * t1; return true; } bool SceneCylinderProjector::calcCylinderLineIntersection (const Vector3d& lineStart, const Vector3& lineEnd, Vector3& out_isectFront, Vector3& out_isectBack) const { // Compute matrix transformation that takes the cylinder to a unit cylinder with Z-axis as it's axis and // (0,0,0) as it's center. const double rinv = 1.0 / radius_; const Affine3 toUnitCylInZ = rotation_.inverse() * Eigen::Scaling(rinv, rinv, rinv) * Translation3(-center_); // Transform the lineStart and lineEnd into the unit cylinder space. const Vector3 unitCylLineStart = toUnitCylInZ * lineStart; const Vector3 unitCylLineEnd = toUnitCylInZ * lineEnd; // Intersect line with unit cylinder. Vector3 unitCylIsectFront, unitCylIsectBack; if(!calcUnitCylinderLineIntersection(unitCylLineStart, unitCylLineEnd, unitCylIsectFront, unitCylIsectBack)){ return false; } // Transform back from unit cylinder space. const Affine3 invToUnitCylInZ = toUnitCylInZ.inverse(); out_isectFront = invToUnitCylInZ * unitCylIsectFront; out_isectBack = invToUnitCylInZ * unitCylIsectBack; return true; } choreonoid-1.5.0/src/Base/ScriptBar.h0000664000000000000000000000056512741425367016072 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_SCRIPT_BAR_H_INCLUDED #define CNOID_BASE_SCRIPT_BAR_H_INCLUDED #include namespace cnoid { class ScriptBar : public ToolBar { public: static void initialize(ExtensionManager* ext); private: ScriptBar(); virtual ~ScriptBar(); void executeCheckedScriptItems(); }; } #endif choreonoid-1.5.0/src/Base/SelectionListEditor.h0000664000000000000000000000075412741425367020131 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include #include "exportdecl.h" namespace cnoid { /** This class is used for providing combo-box selection values in the tree views or table views. */ class CNOID_EXPORT SelectionListEditor : public QComboBox { Q_OBJECT Q_PROPERTY(QStringList labels READ labels WRITE setLabels USER true); public: SelectionListEditor(QWidget* widget = 0); QStringList labels() const; void setLabels(QStringList labels); }; } choreonoid-1.5.0/src/Base/FloatingNumberBox.h0000664000000000000000000000131212741425367017555 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_FLOATING_NUMBER_BOX_H #define CNOID_BASE_FLOATING_NUMBER_BOX_H #include #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT FloatingNumberBox : public QLineEdit { Q_OBJECT public: FloatingNumberBox(QWidget* parent = 0); SignalProxy sigValueChanged() { return sigValueChanged_; } void setValue(double v); double value() const; private Q_SLOTS: void onEditingFinishded(); private: Signal sigValueChanged_; QString oldText; FloatingNumberString value_; }; } #endif choreonoid-1.5.0/src/Base/MultiSeqItemCreationPanel.h0000664000000000000000000000127112741425367021223 0ustar rootroot/** @file @author Shin'ichiro NAKAOKA */ #ifndef CNOID_GUIBASE_MULTI_SEQ_ITEM_CREATION_PANEL_H_INCLUDED #define CNOID_GUIBASE_MULTI_SEQ_ITEM_CREATION_PANEL_H_INCLUDED #include "SpinBox.h" #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT MultiSeqItemCreationPanel : public ItemCreationPanel { public: MultiSeqItemCreationPanel(const QString& numSeqsCaption); virtual bool initializePanel(Item* protoItem); virtual bool initializeItem(Item* protoItem); private: QLineEdit* nameEntry; SpinBox* numSeqsSpin; DoubleSpinBox* timeLengthSpin; DoubleSpinBox* frameRateSpin; }; } #endif choreonoid-1.5.0/src/Base/PathVariableEditor.cpp0000664000000000000000000001265412741425367020247 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "PathVariableEditor.h" #include "AppConfig.h" #include "MainWindow.h" #include "MenuManager.h" #include "Buttons.h" #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace cnoid; namespace { class PathVariableItem : public QTableWidgetItem { public: QString path; PathVariableItem(const QString& path) : path(path) { setFlags(Qt::ItemIsEnabled|Qt::ItemIsEditable); } virtual QVariant data(int role) const { if(role == Qt::DisplayRole || role == Qt::EditRole){ return path; } return QTableWidgetItem::data(role); } virtual void setData(int role, const QVariant& value) { bool accepted = false; if(role == Qt::EditRole && value.type() == QVariant::String){ path = value.toString(); } else { QTableWidgetItem::setData(role, value); } } }; } void PathVariableEditor::initialize(ExtensionManager* ext) { static bool initialized = false; if(!initialized){ PathVariableEditor* editor = new PathVariableEditor(); MenuManager& mm = ext->menuManager(); mm.setPath("/File").setPath(N_("Project File Options")); mm.addItem(_("Edit Path Variables")) ->sigTriggered().connect(boost::bind(&PathVariableEditor::initAndShow, editor)); initialized = true; } } PathVariableEditor::PathVariableEditor() : QDialog(MainWindow::instance()) { setWindowTitle(_("Path Variables")); QVBoxLayout* vbox = new QVBoxLayout(); tableWidget = new QTableWidget(this); tableWidget->setColumnCount(2); tableWidget->setSelectionBehavior(QAbstractItemView::SelectRows); tableWidget->setSelectionMode(QAbstractItemView::NoSelection); tableWidget->setHorizontalHeaderItem(0, new QTableWidgetItem(_("Variable"))); tableWidget->setHorizontalHeaderItem(1, new QTableWidgetItem(_("Path"))); tableWidget->horizontalHeader()->setStretchLastSection(true); tableWidget->verticalHeader()->hide(); #if QT_VERSION < QT_VERSION_CHECK(5, 0, 0) tableWidget->verticalHeader()->setResizeMode(QHeaderView::ResizeToContents); #else tableWidget->verticalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents); #endif vbox->addWidget(tableWidget, 1); QHBoxLayout* hbox = new QHBoxLayout(); QLabel* label = new QLabel(_("Variable")); hbox->addWidget(label); newVariableEntry = new QLineEdit(); hbox->addWidget(newVariableEntry); PushButton* button = new PushButton(_("Append")); hbox->addWidget(button); button->sigClicked().connect(boost::bind(&PathVariableEditor::onAppendActivated, this)); vbox->addLayout(hbox); QPushButton* createButton = new QPushButton(_("&Apply")); createButton->setDefault(true); QPushButton* cancelButton = new QPushButton(_("&Cancel")); QDialogButtonBox* buttonBox = new QDialogButtonBox(this); buttonBox->addButton(createButton, QDialogButtonBox::AcceptRole); buttonBox->addButton(cancelButton, QDialogButtonBox::RejectRole); connect(buttonBox,SIGNAL(accepted()), this, SLOT(accept())); connect(buttonBox,SIGNAL(rejected()), this, SLOT(reject())); vbox->addWidget(buttonBox); setLayout(vbox); } void PathVariableEditor::initAndShow() { readPathVariablesFromArchive(); if(exec() == QDialog::Accepted){ writePathVariablesToArchive(); } } void PathVariableEditor::readPathVariablesFromArchive() { MappingPtr pathVars = AppConfig::archive()->openMapping("pathVariables"); tableWidget->setRowCount(0); for(Mapping::const_iterator p = pathVars->begin(); p != pathVars->end(); ++p){ if(p->second->isListing()){ const std::string& name = p->first; if(!name.empty()){ Listing* paths = p->second->toListing(); for(int i=0; i < paths->size(); ++i){ if(paths->at(i)->isString()){ appendPathVariable(name.c_str(), paths->at(i)->toString().c_str()); } } } } } } void PathVariableEditor::appendPathVariable(const QString& name, const QString& path) { int row = tableWidget->rowCount(); tableWidget->setRowCount(row + 1); QTableWidgetItem* nameItem = new QTableWidgetItem(name); nameItem->setFlags(Qt::ItemIsEnabled); tableWidget->setItem(row, 0, nameItem); PathVariableItem* pathSetItem = new PathVariableItem(path); tableWidget->setItem(row, 1, pathSetItem); } void PathVariableEditor::writePathVariablesToArchive() { MappingPtr pathVars = AppConfig::archive()->openMapping("pathVariables"); pathVars->clear(); int n = tableWidget->rowCount(); for(int i=0; i < n; ++i){ PathVariableItem* item = dynamic_cast(tableWidget->item(i, 1)); if(item){ string name = tableWidget->item(i, 0)->text().toStdString(); if(!name.empty() && !item->path.isEmpty()){ Listing* listing = pathVars->openListing(name); boost::filesystem::path path(item->path.toStdString()); listing->append(getGenericPathString(path), DOUBLE_QUOTED); } } } } void PathVariableEditor::onAppendActivated() { appendPathVariable(newVariableEntry->text(), ""); } choreonoid-1.5.0/src/Base/PointSetItem.h0000664000000000000000000000440212741425367016557 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_POINT_SET_ITEM_H #define CNOID_BASE_POINT_SET_ITEM_H #include #include #include #include #include "exportdecl.h" namespace cnoid { class SgPointSet; class PointSetItemImpl; class CNOID_EXPORT PointSetItem : public Item, public SceneProvider { public: static void initializeClass(ExtensionManager* ext); PointSetItem(); PointSetItem(const PointSetItem& org); virtual ~PointSetItem(); virtual void setName(const std::string& name); virtual SgNode* getScene(); const SgPointSet* pointSet() const; SgPointSet* pointSet(); virtual void notifyUpdate(); const Affine3& offsetTransform() const; void setOffsetTransform(const Affine3& T); SignalProxy sigOffsetTransformChanged(); void notifyOffsetTransformChange(); SgPointSet* getTransformedPointSet() const; enum RenderingMode { POINT, VOXEL, N_RENDERING_MODES }; void setRenderingMode(int mode); int renderingMode() const; void setPointSize(double size); double pointSize() const; double voxelSize() const; void setVoxelSize(double size); void setEditable(bool on); bool isEditable() const; int numAttentionPoints() const; Vector3 attentionPoint(int index) const; void clearAttentionPoints(); void addAttentionPoint(const Vector3& p); SignalProxy sigAttentionPointsChanged(); void notifyAttentionPointChange(); boost::optional attentionPoint() const; // deprecated SignalProxy sigAttentionPointChanged(); // deprecated void clearAttentionPoint(); // deprecated void setAttentionPoint(const Vector3& p); // deprecated void removePoints(const PolyhedralRegion& region); SignalProxy sigPointsInRegionRemoved(); virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); protected: virtual Item* doDuplicate() const; virtual void doPutProperties(PutPropertyFunction& putProperty); private: PointSetItemImpl* impl; void initialize(); }; typedef ref_ptr PointSetItemPtr; } #endif choreonoid-1.5.0/src/Base/FolderItem.cpp0000664000000000000000000000142012741425367016555 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "FolderItem.h" #include "ItemManager.h" #include "gettext.h" using namespace cnoid; FolderItem::FolderItem() { } FolderItem::FolderItem(const FolderItem& org) : Item(org) { } FolderItem::~FolderItem() { } Item* FolderItem::doDuplicate() const { return new FolderItem(*this); } bool FolderItem::store(Archive& archive) { return true; } bool FolderItem::restore(const Archive& archive) { return true; } void FolderItem::initializeClass(ExtensionManager* ext) { static bool initialized = false; if(!initialized){ ItemManager& im = ext->itemManager(); im.registerClass(N_("FolderItem")); im.addCreationPanel(); initialized = true; } } choreonoid-1.5.0/src/Base/Timer.cpp0000664000000000000000000000037212741425367015610 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "Timer.h" using namespace cnoid; Timer::Timer(QObject* parent) : QTimer(parent) { connect(this, SIGNAL(timeout()), this, SLOT(onTimeout())); } void Timer::onTimeout() { sigTimeout_(); } choreonoid-1.5.0/src/Base/PathVariableEditor.h0000664000000000000000000000124712741425367017710 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_PATH_VARIABLE_EDITOR_H_INCLUDED #define CNOID_BASE_PATH_VARIABLE_EDITOR_H_INCLUDED #include #include #include namespace cnoid { class ExtensionManager; class PathVariableEditor : public QDialog { public: static void initialize(ExtensionManager* ext); private: QTableWidget* tableWidget; QLineEdit* newVariableEntry; PathVariableEditor(); void initAndShow(); void readPathVariablesFromArchive(); void appendPathVariable(const QString& name, const QString& paths); void writePathVariablesToArchive(); void onAppendActivated(); }; } #endif choreonoid-1.5.0/src/Base/SceneDragProjector.cpp0000664000000000000000000001664712741425367020267 0ustar rootroot/** \file \author Shin'ichiro Nakaoka */ #include "SceneDragProjector.h" #include "SceneProjector.h" #include #include #include using namespace std; using namespace boost; using namespace cnoid; namespace { enum TranslationMode { TRANSLATION_1D, TRANSLATION_2D, TRANSLATION_VIEW_PLANE }; } namespace cnoid { class SceneDragProjectorImpl { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW int dragMode; Affine3 initialPosition; Vector3 initialPoint; Affine3 position; Vector3 projectedPoint; Vector3 rotationAxis; Vector3 rotationBaseX; Vector3 rotationBaseY; AngleAxis rotationAngleAxis; Matrix3 rotationMatrix; double rotationAngle; TranslationMode translationMode; Vector3 translationAxis; Vector3 translationPlaneNormal; Vector3 translation; boost::shared_ptr projector; SceneDragProjectorImpl(); bool startRotation(const SceneWidgetEvent& event); bool dragRotation(const SceneWidgetEvent& event); bool startTranslation(const SceneWidgetEvent& event); bool dragTranslation(const SceneWidgetEvent& event); }; } SceneDragProjector::SceneDragProjector() { impl = new SceneDragProjectorImpl; } SceneDragProjectorImpl::SceneDragProjectorImpl() { dragMode = SceneDragProjector::DRAG_NONE; initialPosition = Affine3::Identity(); } SceneDragProjector::~SceneDragProjector() { delete impl; } void SceneDragProjector::resetDragMode() { impl->dragMode = DRAG_NONE; } bool SceneDragProjector::isDragging() const { return (impl->dragMode != DRAG_NONE); } void SceneDragProjector::setInitialPosition(const Affine3& T) { impl->initialPosition = T; impl->position = T; } void SceneDragProjector::setInitialTranslation(const Vector3& p) { impl->initialPosition.translation() = p; } void SceneDragProjector::setInitialRotation(const Matrix3& R) { impl->initialPosition.linear() = R; } const Affine3& SceneDragProjector::initialPosition() const { return impl->initialPosition; } void SceneDragProjector::setRotationAxis(const Vector3& axis) { impl->rotationAxis = axis.normalized(); } const Vector3& SceneDragProjector::rotationAxis() const { return impl->rotationAxis; } bool SceneDragProjector::startRotation(const SceneWidgetEvent& event) { return impl->startRotation(event); } bool SceneDragProjectorImpl::startRotation(const SceneWidgetEvent& event) { initialPoint = event.point(); const Vector3 p = initialPosition.translation(); const Vector3 arm = initialPoint - (rotationAxis.dot(initialPoint - p) * rotationAxis + p); const double armLength = arm.norm(); if(armLength < 1.0e-6){ dragMode = SceneDragProjector::DRAG_NONE; return false; } rotationBaseX = arm.normalized(); rotationBaseY = rotationAxis.cross(rotationBaseX); const Affine3 C = event.currentCameraPosition(); if(fabs(rotationAxis.dot(SgCamera::direction(C))) > 0.4){ projector.reset(new ScenePlaneProjector(rotationAxis, initialPoint)); } else { Quat rotation; rotation.setFromTwoVectors(Vector3::UnitZ(), rotationAxis); projector.reset( new SceneCylinderProjector(p, armLength, numeric_limits::max(), rotation)); } dragMode = SceneDragProjector::DRAG_ROTATION; return true; } bool SceneDragProjector::dragRotation(const SceneWidgetEvent& event) { return impl->dragRotation(event); } bool SceneDragProjectorImpl::dragRotation(const SceneWidgetEvent& event) { if(dragMode == SceneDragProjector::DRAG_ROTATION){ if(projector->project(event, projectedPoint)){ const Vector3 r = projectedPoint - initialPosition.translation(); rotationAngle = atan2(r.dot(rotationBaseY), r.dot(rotationBaseX)); rotationAngleAxis = AngleAxis(rotationAngle, rotationAxis); rotationMatrix = rotationAngleAxis; position.linear() = rotationMatrix * initialPosition.linear(); normalizeRotation(position); return true; } } return false; } int SceneDragProjector::dragMode() const { return impl->dragMode; } bool SceneDragProjector::drag(const SceneWidgetEvent& event) { switch(impl->dragMode){ case DRAG_ROTATION: return impl->dragRotation(event); case DRAG_TRANSLATION: return impl->dragTranslation(event); default: return false; } } double SceneDragProjector::rotationAngle() const { return impl->rotationAngle; } const AngleAxis& SceneDragProjector::rotationAngleAxis() const { return impl->rotationAngleAxis; } const Matrix3& SceneDragProjector::rotationMatrix() const { return impl->rotationMatrix; } const Vector3& SceneDragProjector::projectedPoint() const { return impl->projectedPoint; } const Affine3& SceneDragProjector::position() const { return impl->position; } void SceneDragProjector::setTranslationAxis(const Vector3& axis) { impl->translationAxis = axis; impl->translationMode = TRANSLATION_1D; } const Vector3& SceneDragProjector::translationAxis() const { return impl->translationAxis; } void SceneDragProjector::setTranslationPlaneNormal(const Vector3& normal) { impl->translationPlaneNormal = normal; impl->translationMode = TRANSLATION_2D; } void SceneDragProjector::setTranslationAlongViewPlane() { impl->translationMode = TRANSLATION_VIEW_PLANE; } bool SceneDragProjector::startTranslation(const SceneWidgetEvent& event) { return impl->startTranslation(event); } bool SceneDragProjectorImpl::startTranslation(const SceneWidgetEvent& event) { initialPoint = event.point(); switch(translationMode){ case TRANSLATION_1D: { const Affine3& C = event.currentCameraPosition(); const Vector3 eye = C.translation(); const Vector3 center = SgCamera::direction(C) + eye; const Vector3 z = (eye - center).normalized(); const Vector3& a = translationAxis; if(fabs(a.dot(z)) > 0.99){ return false; } const Vector3 normal = (AngleAxis(M_PI / 2.0, z) * a).cross(a).normalized(); projector.reset(new ScenePlaneProjector(normal, initialPoint)); break; } case TRANSLATION_2D: { projector.reset(new ScenePlaneProjector(translationPlaneNormal, initialPoint)); break; } case TRANSLATION_VIEW_PLANE: { const Affine3& C = event.currentCameraPosition(); projector.reset(new ScenePlaneProjector(-SgCamera::direction(C), initialPoint)); break; } default: dragMode = SceneDragProjector::DRAG_NONE; return false; } dragMode = SceneDragProjector::DRAG_TRANSLATION; return true; } bool SceneDragProjector::dragTranslation(const SceneWidgetEvent& event) { return impl->dragTranslation(event); } bool SceneDragProjectorImpl::dragTranslation(const SceneWidgetEvent& event) { if(dragMode == SceneDragProjector::DRAG_TRANSLATION){ if(projector->project(event, projectedPoint)){ translation = projectedPoint - initialPoint; if(translationMode == TRANSLATION_1D){ translation = translationAxis.dot(translation) * translationAxis; } position.translation() = initialPosition.translation() + translation; return true; } } return false; } const Vector3& SceneDragProjector::translation() const { return impl->translation; } choreonoid-1.5.0/src/Base/TextEditView.cpp0000664000000000000000000002100412741425367017110 0ustar rootroot/** @author Shizuko Hattori */ #include "TextEditView.h" #include "TextEdit.h" #include "MainWindow.h" #include "ViewManager.h" #include "ItemTreeView.h" #include "AbstractTextItem.h" #include "Buttons.h" #include "Timer.h" #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace cnoid; namespace filesystem = boost::filesystem; #define FILE_CHECK_TIME 1000 //msec namespace cnoid { class TextEditViewImpl { public: TextEditViewImpl(TextEditView* self); ~TextEditViewImpl(); TextEditView* self; PlainTextEdit textEdit; private: ConnectionSet connections; Connection connectionOfCurrentBodyItemDetachedFromRoot; AbstractTextItemPtr currentTextItem_; ItemList selectedTextItems_; bool viewActive; QLabel fileNameLabel; QLabel lineLabel; Timer timer; std::time_t fileTimeStamp; uintmax_t fileSize; QAction *actionUndo, *actionRedo, *actionCut, *actionCopy, *actionPaste; void onItemSelectionChanged(const ItemList& textItems); void onTextItemDetachedFromRoot(); void open(); void maybeSave(); void save(); void setCurrentFileName(); void timeOut(); void cursorPositionChanged(); void onActivated(bool on); }; } void TextEditView::initializeClass(ExtensionManager* ext) { ext->viewManager().registerClass( "TextEditView", N_("Text Editor"), ViewManager::SINGLE_OPTIONAL); } TextEditView::TextEditView() { impl = new TextEditViewImpl(this); } TextEditView::~TextEditView() { delete impl; } TextEditViewImpl::TextEditViewImpl(TextEditView* self) : self(self) { self->setDefaultLayoutArea(View::CENTER); actionUndo = new QAction(&textEdit); actionUndo->setShortcut(QKeySequence::Undo); QObject::connect(actionUndo, SIGNAL(triggered()), &textEdit, SLOT(undo())); actionRedo = new QAction(&textEdit); actionRedo->setShortcut(QKeySequence::Redo); QObject::connect(actionRedo, SIGNAL(triggered()), &textEdit, SLOT(redo())); actionCut = new QAction(&textEdit); actionCut->setShortcut(QKeySequence::Cut); QObject::connect(actionCut, SIGNAL(triggered()), &textEdit, SLOT(cut())); actionCopy = new QAction(&textEdit); actionCopy->setShortcut(QKeySequence::Copy); QObject::connect(actionCopy, SIGNAL(triggered()), &textEdit, SLOT(copy())); actionPaste = new QAction(&textEdit); actionPaste->setShortcut(QKeySequence::Paste); QObject::connect(actionPaste, SIGNAL(triggered()), &textEdit, SLOT(paste())); QVBoxLayout* vbox = new QVBoxLayout(); QHBoxLayout* hbox = new QHBoxLayout(); setCurrentFileName(); fileNameLabel.setSizePolicy(QSizePolicy(QSizePolicy::Ignored, QSizePolicy::Preferred)); hbox->addWidget(&fileNameLabel, 10); PushButton* saveButton = new PushButton(_("Save")); saveButton->sigClicked().connect(boost::bind(&TextEditViewImpl::save, this)); hbox->addWidget(saveButton); vbox->addLayout(hbox); vbox->addWidget(&textEdit); lineLabel.setAlignment(Qt::AlignBottom | Qt::AlignRight); vbox->addWidget(&lineLabel); self->setLayout(vbox); textEdit.sigCursorPositionChanged().connect( boost::bind(&TextEditViewImpl::cursorPositionChanged, this)); connections.add( ItemTreeView::mainInstance()->sigSelectionChanged().connect( boost::bind(&TextEditViewImpl::onItemSelectionChanged, this, _1))); timer.setSingleShot(true); connections.add( timer.sigTimeout().connect( boost::bind(&TextEditViewImpl::timeOut, this))); self->sigActivated().connect(boost::bind(&TextEditViewImpl::onActivated, this, true)); self->sigDeactivated().connect(boost::bind(&TextEditViewImpl::onActivated, this ,false)); viewActive = false; } TextEditViewImpl::~TextEditViewImpl() { connections.disconnect(); connectionOfCurrentBodyItemDetachedFromRoot.disconnect(); } void TextEditViewImpl::onItemSelectionChanged(const ItemList& textItems) { if(selectedTextItems_ != textItems) selectedTextItems_ = textItems; else return; AbstractTextItemPtr firstItem = textItems.toSingle(); if(firstItem && firstItem != currentTextItem_){ if(currentTextItem_) maybeSave(); currentTextItem_ = firstItem; connectionOfCurrentBodyItemDetachedFromRoot.disconnect(); connectionOfCurrentBodyItemDetachedFromRoot = currentTextItem_->sigDetachedFromRoot().connect( boost::bind(&TextEditViewImpl::onTextItemDetachedFromRoot, this)); open(); } } void TextEditViewImpl::onTextItemDetachedFromRoot() { maybeSave(); textEdit.clear(); currentTextItem_ = 0; setCurrentFileName(); connectionOfCurrentBodyItemDetachedFromRoot.disconnect(); } void TextEditViewImpl::open() { timer.stop(); QString fileName(currentTextItem_->textFilename().c_str()); if (!QFile::exists(fileName)) return; QFile file(fileName); if (!file.open(QFile::ReadWrite)) return; QByteArray data = file.readAll(); QString str = QString::fromLocal8Bit(data); textEdit.setPlainText(str); setCurrentFileName(); } void TextEditViewImpl::maybeSave() { if (!textEdit.document()->isModified()) return; timer.stop(); QMessageBox::StandardButton ret; ret = QMessageBox::warning(MainWindow::instance(), _("Warning"), _("The document has been modified.\n Do you want to save your changes?"), QMessageBox::Yes | QMessageBox::No ); if (ret == QMessageBox::Yes) return save(); else if (ret == QMessageBox::No) return; } void TextEditViewImpl::save() { timer.stop(); if(!currentTextItem_) return; QString fileName(currentTextItem_->textFilename().c_str()); if(fileName.isEmpty()) return; QTextDocumentWriter writer(fileName); writer.setFormat("plaintext"); bool success = writer.write(textEdit.document()); if (success) setCurrentFileName(); } void TextEditViewImpl::setCurrentFileName() { if(!currentTextItem_){ fileNameLabel.setText(_("unselected")); textEdit.setReadOnly(true); timer.stop(); }else{ QString fileName(currentTextItem_->textFilename().c_str()); fileNameLabel.setText(fileName); textEdit.setReadOnly(false); textEdit.document()->setModified(false); filesystem::path fpath(currentTextItem_->textFilename()); fileTimeStamp = filesystem::last_write_time(fpath); fileSize = filesystem::file_size(fpath); if(viewActive) timer.start(FILE_CHECK_TIME); } } void TextEditViewImpl::timeOut() { if(currentTextItem_){ std::string filename = currentTextItem_->textFilename(); if(!filename.empty()){ filesystem::path fpath(filename); if(filesystem::exists(fpath)){ if( filesystem::last_write_time(fpath) != fileTimeStamp || filesystem::file_size(fpath) != fileSize ){ QMessageBox::StandardButton ret; ret = QMessageBox::warning(MainWindow::instance(), _("Warning"), _("The file has been modified outside of text editor.\nDo you want to reload it?"), QMessageBox::Yes | QMessageBox::No ); if (ret == QMessageBox::Yes){ textEdit.clear(); open(); }else if (ret == QMessageBox::No){ fileTimeStamp = filesystem::last_write_time(fpath); fileSize = filesystem::file_size(fpath); textEdit.document()->setModified(true); } } } } } if(viewActive) timer.start(FILE_CHECK_TIME); } void TextEditViewImpl::cursorPositionChanged() { QTextCursor cur = textEdit.textCursor(); std::stringstream s; s << cur.blockNumber()+1 << " : " << cur.columnNumber()+1 << " "; lineLabel.setText(QString(s.str().c_str())); } void TextEditViewImpl::onActivated(bool on) { viewActive = on; if(currentTextItem_ && on) timer.start(FILE_CHECK_TIME); else timer.stop(); } choreonoid-1.5.0/src/Base/ActionGroup.h0000664000000000000000000000124112741425367016423 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_ACTION_GROUP_H #define CNOID_BASE_ACTION_GROUP_H #include #include #include "exportdecl.h" namespace cnoid { class CNOID_EXPORT ActionGroup : public QActionGroup { Q_OBJECT public: ActionGroup(QObject* parent); ~ActionGroup(); SignalProxy sigHovered(); SignalProxy sigTriggered(); private Q_SLOTS: void onHovered(QAction* action); void onTriggered(QAction* action); private: Signal* sigHovered_; Signal* sigTriggered_; }; } #endif choreonoid-1.5.0/src/Base/PointSetItem.cpp0000664000000000000000000006166712741425367017132 0ustar rootroot/** @file @author Shin'ichiro Nakaoka */ #include "PointSetItem.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; namespace { class ScenePointSet; class ScenePointSet : public SgPosTransform, public SceneWidgetEditable { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW; weak_ref_ptr weakPointSetItem; SgPointSetPtr orgPointSet; SgPointSetPtr visiblePointSet; SgShapePtr voxels; float voxelSize; SgInvariantGroupPtr invariant; Selection renderingMode; RectRegionMarkerPtr regionMarker; ScopedConnection eraserModeMenuItemConnection; bool isEditable_; Signal sigOffsetTransformChanged; Signal sigAttentionPointsChanged; SgGroupPtr attentionPointMarkerGroup; ScenePointSet(PointSetItemImpl* pointSetItem); void setPointSize(double size); void setVoxelSize(double size); int numAttentionPoints() const; Vector3 attentionPoint(int index) const; void clearAttentionPoints(bool doNotify); void addAttentionPoint(const Vector3& point, bool doNotify); void setAttentionPoint(const Vector3& p, bool doNotify); bool removeAttentionPoint(const Vector3& point, double distanceThresh, bool doNotify); void notifyAttentionPointChange(); void updateVisualization(bool updateContents); void updateVisiblePointSet(); void updateVoxels(); bool isEditable() const { return isEditable_; } void setEditable(bool on) { isEditable_ = on; } virtual bool onButtonPressEvent(const SceneWidgetEvent& event); virtual bool onPointerMoveEvent(const SceneWidgetEvent& event); virtual void onContextMenuRequest(const SceneWidgetEvent& event, MenuManager& menuManager); void onContextMenuRequestInEraserMode(const SceneWidgetEvent& event, MenuManager& menuManager); void onRegionFixed(const PolyhedralRegion& region); }; typedef ref_ptr ScenePointSetPtr; } namespace cnoid { class PointSetItemImpl { public: PointSetItem* self; SgPointSetPtr pointSet; ScenePointSetPtr scene; ScopedConnection pointSetUpdateConnection; Signal sigPointsInRegionRemoved; PointSetItemImpl(PointSetItem* self); PointSetItemImpl(PointSetItem* self, const PointSetItemImpl& org); void setRenderingMode(int mode); bool onEditableChanged(bool on); void removePoints(const PolyhedralRegion& region); template void removeSubElements(ElementContainer& elements, SgIndexArray& indices, const vector& indicesToRemove); bool onRenderingModePropertyChanged(int mode); bool onTranslationPropertyChanged(const std::string& value); bool onRotationPropertyChanged(const std::string& value); }; } static bool loadPCD(PointSetItem* item, const std::string& filename, std::ostream& os) { try { cnoid::loadPCD(item->pointSet(), filename); os << item->pointSet()->vertices()->size() << " points have been loaded."; item->pointSet()->notifyUpdate(); return true; } catch (boost::exception& ex) { if(std::string const * message = boost::get_error_info(ex)){ os << *message; } } return false; } static bool saveAsPCD(PointSetItem* item, const std::string& filename, std::ostream& os) { try { cnoid::savePCD(item->pointSet(), filename, item->offsetTransform()); return true; } catch (boost::exception& ex) { if(std::string const * message = boost::get_error_info(ex)){ os << *message; } } return false; } void PointSetItem::initializeClass(ExtensionManager* ext) { static bool initialized = false; if(!initialized){ ItemManager& im = ext->itemManager(); im.registerClass(N_("PointSetItem")); im.addCreationPanel(); im.addLoaderAndSaver( _("Point Cloud (PCD)"), "PCD-FILE", "pcd", boost::bind(::loadPCD, _1, _2, _3), boost::bind(::saveAsPCD, _1, _2, _3), ItemManager::PRIORITY_CONVERSION); initialized = true; } } PointSetItem::PointSetItem() { impl = new PointSetItemImpl(this); initialize(); } PointSetItemImpl::PointSetItemImpl(PointSetItem* self) : self(self) { pointSet = new SgPointSet; scene = new ScenePointSet(this); } PointSetItem::PointSetItem(const PointSetItem& org) : Item(org) { impl = new PointSetItemImpl(this, *org.impl); initialize(); } PointSetItemImpl::PointSetItemImpl(PointSetItem* self, const PointSetItemImpl& org) : self(self) { pointSet = new SgPointSet(*org.pointSet); scene = new ScenePointSet(this); scene->T() = org.scene->T(); } void PointSetItem::initialize() { impl->pointSetUpdateConnection.reset( impl->pointSet->sigUpdated().connect( boost::bind(&PointSetItem::notifyUpdate, this))); } PointSetItem::~PointSetItem() { delete impl; } Item* PointSetItem::doDuplicate() const { return new PointSetItem(*this); } void PointSetItem::setName(const std::string& name) { impl->scene->setName(name); impl->pointSet->setName(name); Item::setName(name); } SgNode* PointSetItem::getScene() { return impl->scene; } void PointSetItem::notifyUpdate() { impl->scene->updateVisualization(true); Item::notifyUpdate(); } const SgPointSet* PointSetItem::pointSet() const { return impl->pointSet; } SgPointSet* PointSetItem::pointSet() { return impl->pointSet; } const Affine3& PointSetItem::offsetTransform() const { return impl->scene->T(); } void PointSetItem::setOffsetTransform(const Affine3& T) { impl->scene->setPosition(T); } SignalProxy PointSetItem::sigOffsetTransformChanged() { return impl->scene->sigOffsetTransformChanged; } void PointSetItem::notifyOffsetTransformChange() { impl->scene->sigOffsetTransformChanged(impl->scene->T()); impl->scene->notifyUpdate(); Item::notifyUpdate(); } SgPointSet* PointSetItem::getTransformedPointSet() const { SgPointSet* transformed = new SgPointSet(); SgVertexArray& points = *transformed->getOrCreateVertices(); SgVertexArray* orgPoints = impl->pointSet->vertices(); if(orgPoints){ const int n = orgPoints->size(); points.resize(n); const Affine3f T = offsetTransform().cast(); for(int i=0; i < n; ++i){ points[i] = T * (*orgPoints)[i]; } } return transformed; } void PointSetItem::setRenderingMode(int mode) { impl->setRenderingMode(mode); } void PointSetItemImpl::setRenderingMode(int mode) { scene->renderingMode.select(mode); } int PointSetItem::renderingMode() const { return impl->scene->renderingMode.which(); } double PointSetItem::pointSize() const { return impl->scene->visiblePointSet->pointSize(); } void PointSetItem::setPointSize(double size) { impl->scene->setPointSize(size); } double PointSetItem::voxelSize() const { return impl->scene->voxelSize; } void PointSetItem::setVoxelSize(double size) { impl->scene->setVoxelSize(size); } void PointSetItem::setEditable(bool on) { impl->scene->setEditable(on); } bool PointSetItem::isEditable() const { return impl->scene->isEditable(); } bool PointSetItemImpl::onEditableChanged(bool on) { scene->setEditable(on); return true; } int PointSetItem::numAttentionPoints() const { return impl->scene->numAttentionPoints(); } Vector3 PointSetItem::attentionPoint(int index) const { return impl->scene->attentionPoint(index); } void PointSetItem::clearAttentionPoints() { impl->scene->clearAttentionPoints(false); } void PointSetItem::addAttentionPoint(const Vector3& p) { impl->scene->addAttentionPoint(p, false); } SignalProxy PointSetItem::sigAttentionPointsChanged() { return impl->scene->sigAttentionPointsChanged; } boost::optional PointSetItem::attentionPoint() const { if(numAttentionPoints() == 1){ return attentionPoint(0); } return boost::none; } void PointSetItem::clearAttentionPoint() { impl->scene->clearAttentionPoints(false); } void PointSetItem::setAttentionPoint(const Vector3& p) { impl->scene->setAttentionPoint(p, false); } SignalProxy PointSetItem::sigAttentionPointChanged() { return impl->scene->sigAttentionPointsChanged; } void PointSetItem::notifyAttentionPointChange() { impl->scene->notifyAttentionPointChange(); } SignalProxy PointSetItem::sigPointsInRegionRemoved() { return impl->sigPointsInRegionRemoved; } void PointSetItem::removePoints(const PolyhedralRegion& region) { impl->removePoints(region); } void PointSetItemImpl::removePoints(const PolyhedralRegion& region) { vector indicesToRemove; const Affine3 T = scene->T(); SgVertexArray orgPoints(*pointSet->vertices()); const int numOrgPoints = orgPoints.size(); for(int i=0; i < numOrgPoints; ++i){ if(region.checkInside(T * orgPoints[i].cast())){ indicesToRemove.push_back(i); } } if(!indicesToRemove.empty()){ SgVertexArray& points = *pointSet->vertices(); points.clear(); int j = 0; int nextIndexToRemove = indicesToRemove[j++]; for(int i=0; i < numOrgPoints; ++i){ if(i == nextIndexToRemove){ if(j < indicesToRemove.size()){ nextIndexToRemove = indicesToRemove[j++]; } } else { points.push_back(orgPoints[i]); } } if(pointSet->hasNormals()){ removeSubElements(*pointSet->normals(), pointSet->normalIndices(), indicesToRemove); } if(pointSet->hasColors()){ removeSubElements(*pointSet->colors(), pointSet->colorIndices(), indicesToRemove); } pointSet->notifyUpdate(); } sigPointsInRegionRemoved(region); } template void PointSetItemImpl::removeSubElements(ElementContainer& elements, SgIndexArray& indices, const vector& indicesToRemove) { const ElementContainer orgElements(elements); const int numOrgElements = orgElements.size(); elements.clear(); if(indices.empty()){ int j = 0; int nextIndexToRemove = indicesToRemove[j++]; for(int i=0; i < numOrgElements; ++i){ if(i == nextIndexToRemove){ if(j < indicesToRemove.size()){ nextIndexToRemove = indicesToRemove[j++]; } } else { elements.push_back(orgElements[i]); } } } else { const SgIndexArray orgIndices(indices); const int numOrgIndices = orgIndices.size(); indices.clear(); dynamic_bitset<> elementValidness(numOrgElements); int j = 0; int nextIndexToRemove = indicesToRemove[j++]; for(int i=0; i < numOrgIndices; ++i){ if(i == nextIndexToRemove){ if(j < indicesToRemove.size()){ nextIndexToRemove = indicesToRemove[j++]; } } else { int index = orgIndices[i]; elementValidness.set(index); indices.push_back(index); } } vector indexMap(numOrgElements); int newIndex = 0; for(int i=0; i < numOrgElements; ++i){ if(elementValidness.test(i)){ elements.push_back(orgElements[i]); ++newIndex; } indexMap[i] = newIndex; } for(size_t i=0; i < indices.size(); ++i){ indices[i] = indexMap[i]; } } } void PointSetItem::doPutProperties(PutPropertyFunction& putProperty) { ScenePointSet* scene = impl->scene; putProperty(_("File"), getFilename(filePath())); putProperty(_("Rendering mode"), scene->renderingMode, boost::bind(&PointSetItemImpl::onRenderingModePropertyChanged, impl, _1)); putProperty.decimals(1).min(0.0)(_("Point size"), pointSize(), boost::bind(&ScenePointSet::setPointSize, scene, _1), true); putProperty.decimals(4)(_("Voxel size"), voxelSize(), boost::bind(&ScenePointSet::setVoxelSize, scene, _1), true); putProperty(_("Editable"), isEditable(), boost::bind(&PointSetItemImpl::onEditableChanged, impl, _1)); const SgVertexArray* points = impl->pointSet->vertices(); putProperty(_("Num points"), static_cast(points ? points->size() : 0)); putProperty(_("Translation"), str(Vector3(offsetTransform().translation())), boost::bind(&PointSetItemImpl::onTranslationPropertyChanged, impl, _1)); Vector3 rpy(rpyFromRot(offsetTransform().linear())); putProperty("RPY", str(TO_DEGREE * rpy), boost::bind(&PointSetItemImpl::onRotationPropertyChanged, impl, _1)); } bool PointSetItemImpl::onRenderingModePropertyChanged(int mode) { if(mode != scene->renderingMode.which()){ if(scene->renderingMode.select(mode)){ setRenderingMode(mode); return true; } } return false; } bool PointSetItemImpl::onTranslationPropertyChanged(const std::string& value) { Vector3 p; if(toVector3(value, p)){ scene->setTranslation(p); self->notifyOffsetTransformChange(); return true; } return false; } bool PointSetItemImpl::onRotationPropertyChanged(const std::string& value) { Vector3 rpy; if(toVector3(value, rpy)){ scene->setRotation(rotFromRpy(TO_RADIAN * rpy)); self->notifyOffsetTransformChange(); return true; } return false; } bool PointSetItem::store(Archive& archive) { ScenePointSet* scene = impl->scene; if(!filePath().empty()){ archive.writeRelocatablePath("file", filePath()); archive.write("format", fileFormat()); } archive.write("renderingMode", scene->renderingMode.selectedSymbol()); archive.write("pointSize", pointSize()); archive.write("voxelSize", scene->voxelSize); archive.write("isEditable", isEditable()); return true; } bool PointSetItem::restore(const Archive& archive) { ScenePointSet* scene = impl->scene; string symbol; if(archive.read("renderingMode", symbol)){ impl->setRenderingMode(scene->renderingMode.index(symbol)); } scene->setPointSize(archive.get("pointSize", pointSize())); scene->setVoxelSize(archive.get("voxelSize", voxelSize())); setEditable(archive.get("isEditable", isEditable())); std::string filename, formatId; if(archive.readRelocatablePath("file", filename) && archive.read("format", formatId)){ return load(filename, archive.currentParentItem(), formatId); } return true; } ScenePointSet::ScenePointSet(PointSetItemImpl* pointSetItemImpl) : weakPointSetItem(pointSetItemImpl->self), orgPointSet(pointSetItemImpl->pointSet), renderingMode(PointSetItem::N_RENDERING_MODES) { visiblePointSet = new SgPointSet; voxels = new SgShape; voxels->getOrCreateMaterial(); voxelSize = 0.01f; renderingMode.setSymbol(PointSetItem::POINT, N_("Point")); renderingMode.setSymbol(PointSetItem::VOXEL, N_("Voxel")); renderingMode.select(PointSetItem::POINT); regionMarker = new RectRegionMarker; regionMarker->setEditModeCursor(QCursor(QPixmap(":/Base/icons/eraser-cursor.png"), 3, 2)); regionMarker->sigRegionFixed().connect( boost::bind(&ScenePointSet::onRegionFixed, this, _1)); regionMarker->sigContextMenuRequest().connect( boost::bind(&ScenePointSet::onContextMenuRequestInEraserMode, this, _1, _2)); isEditable_ = false; } void ScenePointSet::setPointSize(double size) { if(size != visiblePointSet->pointSize()){ visiblePointSet->setPointSize(size); if(renderingMode.is(PointSetItem::POINT) && invariant){ updateVisualization(false); } } } void ScenePointSet::setVoxelSize(double size) { if(size != voxelSize){ voxelSize = size; if(renderingMode.is(PointSetItem::VOXEL) && invariant){ updateVisualization(true); } } } int ScenePointSet::numAttentionPoints() const { return attentionPointMarkerGroup ? attentionPointMarkerGroup->numChildren() : 0; } Vector3 ScenePointSet::attentionPoint(int index) const { if(index < numAttentionPoints()){ CrossMarker* marker = dynamic_cast(attentionPointMarkerGroup->child(index)); if(marker){ return T() * marker->translation(); } } return Vector3::Zero(); } void ScenePointSet::clearAttentionPoints(bool doNotify) { if(attentionPointMarkerGroup){ if(!attentionPointMarkerGroup->empty()){ attentionPointMarkerGroup->clearChildren(); if(doNotify){ notifyAttentionPointChange(); } } } } void ScenePointSet::addAttentionPoint(const Vector3& point, bool doNotify) { if(!attentionPointMarkerGroup){ attentionPointMarkerGroup = new SgGroup; addChild(attentionPointMarkerGroup); } Vector3f color(1.0f, 1.0f, 0.0f); CrossMarker* marker = new CrossMarker(0.02, color); marker->setTranslation(T().inverse() * point); attentionPointMarkerGroup->addChild(marker); if(doNotify){ notifyAttentionPointChange(); } } void ScenePointSet::setAttentionPoint(const Vector3& p, bool doNotify) { clearAttentionPoints(false); addAttentionPoint(p, doNotify); } bool ScenePointSet::removeAttentionPoint(const Vector3& point, double distanceThresh, bool doNotify) { bool removed = false; if(attentionPointMarkerGroup){ SgGroup::iterator iter = attentionPointMarkerGroup->begin(); while(iter != attentionPointMarkerGroup->end()){ CrossMarker* marker = dynamic_cast(iter->get()); if(point.isApprox(marker->translation(), distanceThresh)){ iter = attentionPointMarkerGroup->erase(iter); removed = true; } else { ++iter; } } if(removed){ if(doNotify){ notifyAttentionPointChange(); } } } return removed; } void ScenePointSet::notifyAttentionPointChange() { if(attentionPointMarkerGroup){ attentionPointMarkerGroup->notifyUpdate(); } sigAttentionPointsChanged(); } void ScenePointSet::updateVisualization(bool updateContents) { if(invariant){ removeChild(invariant); invariant->removeChild(visiblePointSet); invariant->removeChild(voxels); } invariant = new SgInvariantGroup; if(renderingMode.is(PointSetItem::POINT)){ if(updateContents){ updateVisiblePointSet(); } invariant->addChild(visiblePointSet); } else { if(updateContents){ updateVoxels(); } invariant->addChild(voxels); } addChild(invariant, true); clearAttentionPoints(true); } void ScenePointSet::updateVisiblePointSet() { visiblePointSet->setVertices(orgPointSet->vertices()); visiblePointSet->setNormals(orgPointSet->normals()); visiblePointSet->normalIndices() = orgPointSet->normalIndices(); visiblePointSet->setColors(orgPointSet->colors()); visiblePointSet->colorIndices() = orgPointSet->colorIndices(); } void ScenePointSet::updateVoxels() { SgMeshPtr mesh; if(orgPointSet->hasVertices()){ mesh = new SgMesh; mesh->setSolid(true); const SgVertexArray& points = *orgPointSet->vertices(); const int n = points.size(); SgVertexArray& vertices = *mesh->getOrCreateVertices(); vertices.reserve(n * 8); SgNormalArray& normals = *mesh->setNormals(new SgNormalArray(6)); normals[0] << 1.0f, 0.0f, 0.0f; normals[1] << -1.0f, 0.0f, 0.0f; normals[2] << 0.0f, 1.0f, 0.0f; normals[3] << 0.0f, -1.0f, 0.0f; normals[4] << 0.0f, 0.0f, 1.0f; normals[5] << 0.0f, 0.0f, -1.0f; SgIndexArray& normalIndices = mesh->normalIndices(); normalIndices.reserve(12 * 3 * n); mesh->reserveNumTriangles(n * 12); const float s = voxelSize / 2.0; for(int i=0; i < n; ++i){ const int top = vertices.size(); const Vector3f& p = points[i]; const float x0 = p.x() + s; const float x1 = p.x() - s; const float y0 = p.y() + s; const float y1 = p.y() - s; const float z0 = p.z() + s; const float z1 = p.z() - s; vertices.push_back(Vector3f(x0, y0, z0)); vertices.push_back(Vector3f(x1, y0, z0)); vertices.push_back(Vector3f(x1, y1, z0)); vertices.push_back(Vector3f(x0, y1, z0)); vertices.push_back(Vector3f(x0, y0, z1)); vertices.push_back(Vector3f(x1, y0, z1)); vertices.push_back(Vector3f(x1, y1, z1)); vertices.push_back(Vector3f(x0, y1, z1)); static const int boxTriangles[][3] = { { 0, 1, 2 }, { 0, 2, 3 }, // +Z { 0, 5, 1 }, { 0, 4, 5 }, // +Y { 1, 5, 2 }, { 2, 5, 6 }, // -X { 2, 6, 3 }, { 3, 6, 7 }, // -Y { 0, 3, 4 }, { 3, 7, 4 }, // +X { 4, 6, 5 }, { 4, 7, 6 } // -Z }; static const int boxNormalIndices[] = { 4, 4, 2, 2, 1, 1, 3, 3, 0, 0, 5, 5 }; for(int j=0; j < 12; ++j){ const int* tri = boxTriangles[j]; mesh->addTriangle(top + tri[0], top + tri[1], top + tri[2]); const int normalIndex = boxNormalIndices[j]; normalIndices.push_back(normalIndex); normalIndices.push_back(normalIndex); normalIndices.push_back(normalIndex); } } if(orgPointSet->hasColors()){ SgColorArray& colors = *mesh->setColors(orgPointSet->colors()); const int m = colors.size(); const SgIndexArray& orgColorIndices = orgPointSet->colorIndices(); SgIndexArray& colorIndices = mesh->colorIndices(); if(orgColorIndices.empty()){ colorIndices.reserve(m * 36); for(int i=0; i < m; ++i){ for(int j=0; j < 36; ++j){ colorIndices.push_back(i); } } } else { const int l = orgColorIndices.size(); colorIndices.reserve(l * 36); for(int i=0; i < l; ++i){ const int index = orgColorIndices[l]; for(int j=0; j < 36; ++j){ colorIndices.push_back(index); } } } } } voxels->setMesh(mesh); } bool ScenePointSet::onButtonPressEvent(const SceneWidgetEvent& event) { if(!isEditable_){ return false; } bool processed = false; if(event.button() == Qt::LeftButton){ if(event.modifiers() & Qt::ControlModifier){ if(!removeAttentionPoint(event.point(), 0.01, true)){ addAttentionPoint(event.point(), true); } } else { setAttentionPoint(event.point(), true); } processed = true; } return processed; } bool ScenePointSet::onPointerMoveEvent(const SceneWidgetEvent& event) { return false; } void ScenePointSet::onContextMenuRequest(const SceneWidgetEvent& event, MenuManager& menuManager) { if(isEditable_){ menuManager.addItem(_("PointSet: Clear Attention Points"))->sigTriggered().connect( boost::bind(&ScenePointSet::clearAttentionPoints, this, true)); if(!regionMarker->isEditing()){ eraserModeMenuItemConnection.reset( menuManager.addItem(_("PointSet: Start Eraser Mode"))->sigTriggered().connect( boost::bind(&RectRegionMarker::startEditing, regionMarker.get(), event.sceneWidget()))); } } } void ScenePointSet::onContextMenuRequestInEraserMode(const SceneWidgetEvent& event, MenuManager& menuManager) { eraserModeMenuItemConnection.reset( menuManager.addItem(_("PointSet: Exit Eraser Mode"))->sigTriggered().connect( boost::bind(&RectRegionMarker::finishEditing, regionMarker.get()))); } void ScenePointSet::onRegionFixed(const PolyhedralRegion& region) { PointSetItem* item = weakPointSetItem.lock(); if(item){ item->removePoints(region); } } choreonoid-1.5.0/src/Base/RootItem.h0000664000000000000000000000327012741425367015737 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_ROOT_ITEM_H #define CNOID_BASE_ROOT_ITEM_H #include "Item.h" #include "ItemList.h" #include "exportdecl.h" namespace cnoid { class Project; class Item; class RootItemImpl; /** @if jp ‚˘‚¤ƒ†ƒ ĉœ¨ĉ§‹é€ ƒĞƒĵƒˆ¨Ş‚‹‚Żƒİ‚ı€‚ @endif */ class CNOID_EXPORT RootItem : public Item { public: static void initializeClass(ExtensionManager* ext); static RootItem* instance(); static RootItem* mainInstance(); // obsolete RootItem(); RootItem(const RootItem& org); virtual ~RootItem(); SignalProxy sigDestroyed(); SignalProxy sigSubTreeAdded(); SignalProxy sigItemAdded(); SignalProxy sigSubTreeMoved(); SignalProxy sigItemMoved(); SignalProxy sigSubTreeRemoving(); SignalProxy sigSubTreeRemoved(); SignalProxy sigTreeChanged(); SignalProxy sigItemAssigned(); protected: virtual Item* doDuplicate() const; virtual bool store(Archive& archive); virtual bool restore(const Archive& archive); private: void initializeInstance(); friend class Item; void notifyEventOnSubTreeAdded(Item* item); void notifyEventOnSubTreeMoved(Item* item); void notifyEventOnSubTreeRemoving(Item* item, bool isMoving); void notifyEventOnSubTreeRemoved(Item* item, bool isMoving); void emitSigItemAssinged(Item* assigned, Item* srcItem); friend class RootItemImpl; RootItemImpl* impl; }; typedef ref_ptr RootItemPtr; } #endif choreonoid-1.5.0/src/Base/ToolBarArea.h0000664000000000000000000000237012741425367016330 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_TOOL_BAR_AREA_H #define CNOID_BASE_TOOL_BAR_AREA_H #include #include #include #include "exportdecl.h" namespace cnoid { class ToolBar; class ToolBarAreaImpl; class Menu; class Mapping; class CNOID_EXPORT ToolBarArea : public QWidget { public: ToolBarArea(QWidget* parent); ~ToolBarArea(); void getAllToolBars(std::vector& out_toolBars); void getVisibleToolBars(std::vector& out_toolBars); void setInitialLayout(MappingPtr archive); void doInitialLayout(); void restoreLayout(MappingPtr archive); void resetLayout(MappingPtr archive); void removeLayout(MappingPtr archive); void storeLayout(MappingPtr archive); bool addToolBar(ToolBar* toolBar); void removeToolBar(ToolBar* toolBar); void setVisibilityMenuItems(Menu* menu); // called from ToolBar void dragToolBar(ToolBar* toolBar, const QPoint& globalPos); protected: virtual void resizeEvent(QResizeEvent* event); virtual bool event(QEvent* event); //virtual QSize sizeHint() const; //virtual QSize minimumSizeHint () const; private: ToolBarAreaImpl* impl; friend class MainWindowImpl; }; } #endif choreonoid-1.5.0/src/Base/AppUtil.cpp0000664000000000000000000000022612741425367016104 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "AppUtil.h" #include "gettext.h" using namespace std; using namespace boost; using namespace cnoid; choreonoid-1.5.0/src/Base/python/0000775000000000000000000000000012741425367015343 5ustar rootrootchoreonoid-1.5.0/src/Base/python/PyBase.h0000664000000000000000000000265112741425367016703 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #ifndef CNOID_BASE_PYBASE_H #define CNOID_BASE_PYBASE_H #include "../ItemList.h" #include #include "exportdecl.h" namespace cnoid { CNOID_EXPORT boost::python::list getPyNarrowedItemList(const ItemList<>& orgItemList, boost::python::object itemClass); CNOID_EXPORT boost::python::list getPyNarrowedItemList(boost::python::list orgItemList, const PyTypeObject* itemClass); CNOID_EXPORT boost::python::object getPyNarrowedFirstItem(const ItemList<>& orgItemList, boost::python::object itemClass); template class PyItemList { static boost::python::object itemType; static boost::python::list construct1(boost::python::list items){ return getPyNarrowedItemList(items, boost::python::converter::registered_pytype::get_pytype()); } static boost::python::list construct2(boost::python::list items){ return getPyNarrowedItemList(items, (PyTypeObject*)itemType.ptr()); } public: PyItemList(const char* name){ boost::python::def(name, &PyItemList::construct1); } /** Use this constructor to avoid a compile error for a pure abstract class */ PyItemList(const char* name, boost::python::object itemType_){ itemType = itemType_; boost::python::def(name, &PyItemList::construct2); } }; template boost::python::object PyItemList::itemType; } #endif choreonoid-1.5.0/src/Base/python/exportdecl.h0000664000000000000000000000206112741425367017664 0ustar rootroot#ifndef CNOID_PY_BASE_EXPORTDECL_H_INCLUDED # define CNOID_PY_BASE_EXPORTDECL_H_INCLUDED # if defined _WIN32 || defined __CYGWIN__ # define CNOID_PY_BASE_DLLIMPORT __declspec(dllimport) # define CNOID_PY_BASE_DLLEXPORT __declspec(dllexport) # define CNOID_PY_BASE_DLLLOCAL # else # if __GNUC__ >= 4 # define CNOID_PY_BASE_DLLIMPORT __attribute__ ((visibility("default"))) # define CNOID_PY_BASE_DLLEXPORT __attribute__ ((visibility("default"))) # define CNOID_PY_BASE_DLLLOCAL __attribute__ ((visibility("hidden"))) # else # define CNOID_PY_BASE_DLLIMPORT # define CNOID_PY_BASE_DLLEXPORT # define CNOID_PY_BASE_DLLLOCAL # endif # endif # ifdef CNOID_PY_BASE_STATIC # define CNOID_PY_BASE_DLLAPI # define CNOID_PY_BASE_LOCAL # else # ifdef CnoidPyBase_EXPORTS # define CNOID_PY_BASE_DLLAPI CNOID_PY_BASE_DLLEXPORT # else # define CNOID_PY_BASE_DLLAPI CNOID_PY_BASE_DLLIMPORT # endif # define CNOID_PY_BASE_LOCAL CNOID_PY_BASE_DLLLOCAL # endif #endif #ifdef CNOID_EXPORT # undef CNOID_EXPORT #endif #define CNOID_EXPORT CNOID_PY_BASE_DLLAPI choreonoid-1.5.0/src/Base/python/PyItems.cpp0000664000000000000000000003533512741425367017452 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include "PyBase.h" #include "../Item.h" #include "../RootItem.h" #include "../FolderItem.h" #include "../AbstractTextItem.h" #include "../ScriptItem.h" #include "../ExtCommandItem.h" #include "../MultiValueSeqItem.h" #include "../MultiAffine3SeqItem.h" #include "../MultiSE3SeqItem.h" #include "../Vector3SeqItem.h" #include "../SceneItem.h" #include "../PointSetItem.h" #include "../MultiPointSetItem.h" #include namespace python = boost::python; using namespace boost::python; using namespace cnoid; namespace { template struct ItemList_to_pylist_converter { static PyObject* convert(const ItemList& items){ python::list retval; for(int i=0; i < items.size(); ++i){ retval.append(items[i]); } return python::incref(retval.ptr()); } }; ItemPtr Item_childItem(Item& self) { return self.childItem(); } ItemPtr Item_prevItem(Item& self) { return self.prevItem(); } ItemPtr Item_nextItem(Item& self) { return self.nextItem(); } ItemPtr Item_parentItem(Item& self) { return self.parentItem(); } ItemPtr Item_find(const std::string& path) { return Item::find(path); } RootItemPtr Item_findRootItem(Item& self) { return self.findRootItem(); } ItemPtr Item_findItem(Item& self, const std::string& path) { return self.findItem(path); }; ItemPtr Item_findChildItem(Item& self, const std::string& path) { return self.findChildItem(path); } ItemPtr Item_findSubItem(Item& self, const std::string& path) { return self.findSubItem(path); } ItemPtr Item_headItem(Item& self) { return self.headItem(); } ItemList Item_getDescendantItems1(Item& self){ ItemList items; items.extractChildItems(&self); return items; } python::object Item_getDescendantItems2(Item& self, python::object itemClass){ ItemList items; items.extractChildItems(&self); return getPyNarrowedItemList(items, itemClass); } ItemPtr Item_duplicate(Item& self) { return self.duplicate(); } ItemPtr Item_duplicateAll(Item& self) { return self.duplicateAll(); } BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(Item_addChildItem_overloads, addChildItem, 1, 2) BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(Item_insertChildItem, insertChildItem, 2, 3) BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(Item_setTemporal, setTemporal, 0, 1) BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(Item_load1_overloads, load, 1, 2) BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(Item_load2_overloads, load, 2, 3) BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(Item_save, load, 1, 2) BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(Item_overwrite, overwrite, 0, 2) BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(ScriptItem_waitToFinish, waitToFinish, 0, 1) RootItemPtr RootItem_Instance() { return RootItem::instance(); } SgPosTransformPtr SceneItem_topNode(SceneItem& self){ return self.topNode(); } Affine3 PointSetItem_offsetTransform(const PointSetItem& self){ return self.offsetTransform(); } Vector3 PointSetItem_attentionPoint(PointSetItem& self, int index){ return self.attentionPoint(index); } PointSetItemPtr MultiPointSetItem_pointSetItem(MultiPointSetItem& self, int index) { return self.pointSetItem(index); } PointSetItemPtr MultiPointSetItem_activePointSetItem(MultiPointSetItem& self, int index) { return self.activePointSetItem(index); } } // namespace namespace cnoid { void exportPyItems() { to_python_converter, ItemList_to_pylist_converter >(); to_python_converter, ItemList_to_pylist_converter >(); to_python_converter, ItemList_to_pylist_converter >(); to_python_converter, ItemList_to_pylist_converter >(); to_python_converter, ItemList_to_pylist_converter >(); to_python_converter, ItemList_to_pylist_converter >(); to_python_converter, ItemList_to_pylist_converter >(); to_python_converter, ItemList_to_pylist_converter >(); to_python_converter, ItemList_to_pylist_converter >(); bool (Item::*Item_load1)(const std::string& filename, const std::string& formatId) = &Item::load; bool (Item::*Item_load2)(const std::string& filename, Item* parent, const std::string& formatId) = &Item::load; class_ itemClass("Item", no_init); itemClass .def("find", Item_find).staticmethod("find") .def("name", &Item::name, return_value_policy()) .def("setName", &Item::setName) .def("hasAttribute", &Item::hasAttribute) .def("childItem", Item_childItem) .def("prevItem", Item_prevItem) .def("nextItem", Item_nextItem) .def("parentItem", Item_parentItem) .def("addChildItem", &Item::addChildItem, Item_addChildItem_overloads()) .def("addSubItem", &Item::addSubItem) .def("isSubItem", &Item::isSubItem) .def("detachFromParentItem", &Item::detachFromParentItem) .def("emitSigDetachedFromRootForSubTree", &Item::emitSigDetachedFromRootForSubTree) .def("insertChildItem", &Item::insertChildItem, Item_insertChildItem()) .def("insertSubItem", &Item::insertSubItem) .def("isTemporal", &Item::isTemporal) .def("setTemporal", &Item::setTemporal, Item_setTemporal()) .def("findRootItem", Item_findRootItem) .def("findItem", Item_findItem) .def("findChildItem", Item_findChildItem) .def("findSubItem", Item_findSubItem) .def("headItem", Item_headItem) .def("getDescendantItems", Item_getDescendantItems1) .def("getDescendantItems", Item_getDescendantItems2) .def("duplicate", Item_duplicate) .def("duplicateAll", Item_duplicateAll) .def("assign", &Item::assign) .def("load", Item_load1, Item_load1_overloads()) .def("load", Item_load2, Item_load2_overloads()) .def("save", &Item::save, Item_save()) .def("overwrite", &Item::overwrite, Item_overwrite()) .def("filePath", &Item::filePath, return_value_policy()) .def("fileFormat", &Item::fileFormat, return_value_policy()) .def("clearFileInformation", &Item::clearFileInformation) .def("suggestFileUpdate", &Item::suggestFileUpdate) .def("notifyUpdate", &Item::notifyUpdate) .def("sigNameChanged", &Item::sigNameChanged) .def("sigUpdated", &Item::sigUpdated) .def("sigPositionChanged", &Item::sigPositionChanged) .def("sigDisconnectedFromRoot", &Item::sigDisconnectedFromRoot) .def("sigSubTreeChanged", &Item::sigSubTreeChanged); { scope itemScope = itemClass; enum_("Attribute") .value("SUB_ITEM", Item::SUB_ITEM) .value("TEMPORAL", Item::TEMPORAL) .value("LOAD_ONLY", Item::LOAD_ONLY) .value("NUM_ATTRIBUTES", Item::NUM_ATTRIBUTES); } implicitly_convertible(); PyItemList("ItemList"); class_< RootItem, RootItemPtr, bases >("RootItem") .def("instance", RootItem_Instance).staticmethod("instance"); implicitly_convertible(); PyItemList("RootItemList"); class_< FolderItem, FolderItemPtr, bases >("FolderItem"); implicitly_convertible(); PyItemList("FolderItemList"); class_< AbstractTextItem, AbstractTextItemPtr, bases, boost::noncopyable > ("AbstractTextItem", no_init) .def("textFilename", &AbstractTextItem::textFilename, return_value_policy()); implicitly_convertible(); //PyItemList("AbstractTextItemList"); class_< ScriptItem, ScriptItemPtr, bases, boost::noncopyable > ("ScriptItem", no_init) .def("scriptFilename", &ScriptItem::scriptFilename, return_value_policy()) .def("identityName", &ScriptItem::identityName) .def("setBackgroundMode", &ScriptItem::setBackgroundMode) .def("isBackgroundMode", &ScriptItem::isBackgroundMode) .def("isRunning", &ScriptItem::isRunning) .def("execute", &ScriptItem::execute) .def("waitToFinish", &ScriptItem::waitToFinish, ScriptItem_waitToFinish()) .def("resultString", &ScriptItem::resultString) .def("sigScriptFinished", &ScriptItem::sigScriptFinished) .def("terminate", &ScriptItem::terminate) ; implicitly_convertible(); //PyItemList("ScriptItemList"); class_< ExtCommandItem, ExtCommandItemPtr, bases >("ExtCommandItem") .def("setCommand", &ExtCommandItem::setCommand) .def("command", &ExtCommandItem::command, return_value_policy()) .def("waitingTimeAfterStarted", &ExtCommandItem::waitingTimeAfterStarted) .def("setWaitingTimeAfterStarted", &ExtCommandItem::setWaitingTimeAfterStarted) .def("execute", &ExtCommandItem::execute) .def("terminate", &ExtCommandItem::terminate); implicitly_convertible(); PyItemList("ExtCommandItemList"); // seq items class_< AbstractSeqItem, AbstractSeqItemPtr, bases, boost::noncopyable > abstractSeqItemClass("AbstractSeqItem", no_init); abstractSeqItemClass.def("abstractSeq", &AbstractSeqItem::abstractSeq); implicitly_convertible(); PyItemList("AbstractSeqItemList", abstractSeqItemClass); class_< Vector3SeqItem, Vector3SeqItemPtr, bases >("Vector3SeqItem") .def("seq", &Vector3SeqItem::seq); implicitly_convertible(); PyItemList("Vector3SeqItemList"); // multi seq items class_< AbstractMultiSeqItem, AbstractMultiSeqItemPtr, bases, boost::noncopyable > abstractMultiSeqItemClass("AbstractMultiSeqItem", no_init); abstractMultiSeqItemClass.def("abstractMultiSeq", &AbstractMultiSeqItem::abstractMultiSeq); implicitly_convertible(); //PyItemList("AbstractMultiSeqItemList", abstractMultiSeqItemClass); class_< MultiValueSeqItem, MultiValueSeqItemPtr, bases >("MultiValueSeqItem") .def("abstractMultiSeq", &MultiValueSeqItem::abstractMultiSeq) .def("seq", &MultiValueSeqItem::seq); implicitly_convertible(); PyItemList("MultiValueSeqItemList"); class_< MultiAffine3SeqItem, MultiAffine3SeqItemPtr, bases >("MultiAffine3SeqItem") .def("abstractMultiSeq", &MultiAffine3SeqItem::abstractMultiSeq) .def("seq", &MultiAffine3SeqItem::seq); implicitly_convertible(); PyItemList("MultiAffine3SeqItemList"); class_< MultiSE3SeqItem, MultiSE3SeqItemPtr, bases >("MultiSE3SeqItem") .def("abstractMultiSeq", &MultiSE3SeqItem::abstractMultiSeq) .def("seq", &MultiSE3SeqItem::seq); implicitly_convertible(); PyItemList("MultiSE3SeqItemList"); class_< SceneItem, SceneItemPtr, bases >("SceneItem") .def("topNode", SceneItem_topNode) ; implicitly_convertible(); implicitly_convertible(); class_< PointSetItem, PointSetItemPtr, bases >("PointSetItem") .def("offsetTransform", PointSetItem_offsetTransform) .def("setOffsetTransform", &PointSetItem::setOffsetTransform) .def("sigOffsetTransformChanged", &PointSetItem::sigOffsetTransformChanged) .def("notifyOffsetTransformChange", &PointSetItem::notifyOffsetTransformChange) .def("numAttentionPoints", &PointSetItem::numAttentionPoints) .def("attentionPoint", PointSetItem_attentionPoint) .def("clearAttentionPoints", &PointSetItem::clearAttentionPoints) .def("addAttentionPoint", &PointSetItem::addAttentionPoint) .def("sigAttentionPointsChanged", &PointSetItem::sigAttentionPointsChanged) .def("notifyAttentionPointChange", &PointSetItem::notifyAttentionPointChange) ; implicitly_convertible(); implicitly_convertible(); PyItemList("PointSetItemList"); class_< MultiPointSetItem, MultiPointSetItemPtr, bases >("MultiPointSetItem") .def("numPointSetItems", &MultiPointSetItem::numPointSetItems) .def("pointSetItem", MultiPointSetItem_pointSetItem) .def("numActivePointSetItems", &MultiPointSetItem::numActivePointSetItems) .def("activePointSetItem", MultiPointSetItem_activePointSetItem) .def("sigPointSetItemAdded", &MultiPointSetItem::sigPointSetItemAdded) .def("sigPointSetUpdated", &MultiPointSetItem::sigPointSetUpdated) .def("topOffsetTransform", &MultiPointSetItem::topOffsetTransform, return_value_policy()) .def("setTopOffsetTransform", &MultiPointSetItem::setTopOffsetTransform) .def("sigTopOffsetTransformChanged", &MultiPointSetItem::sigTopOffsetTransformChanged) .def("notifyTopOffsetTransformChange", &MultiPointSetItem::notifyTopOffsetTransformChange) .def("offsetTransform", &MultiPointSetItem::offsetTransform) .def("getTransformedPointSet", &MultiPointSetItem::getTransformedPointSet) .def("numAttentionPoints", &MultiPointSetItem::numAttentionPoints) .def("attentionPoint", &MultiPointSetItem::attentionPoint) .def("clearAttentionPoints", &MultiPointSetItem::clearAttentionPoints) .def("addAttentionPoint", &MultiPointSetItem::addAttentionPoint) .def("sigAttentionPointsChanged", &MultiPointSetItem::sigAttentionPointsChanged) .def("notifyAttentionPointChange", &MultiPointSetItem::notifyAttentionPointChange) .def("startAutomaticSave", &MultiPointSetItem::startAutomaticSave) .def("stopAutomaticSave", &MultiPointSetItem::stopAutomaticSave); ; implicitly_convertible(); implicitly_convertible(); PyItemList("MultiPointSetItemList"); #ifdef _MSC_VER register_ptr_to_python(); register_ptr_to_python(); #endif } } // namespace cnoid choreonoid-1.5.0/src/Base/python/CMakeLists.txt0000664000000000000000000000170112741425367020102 0ustar rootroot # @author Shin'ichiro Nakaoka set(PYTHON_SUFFIX -python2.7) add_cnoid_library(CnoidPyBase SHARED PyBase.cpp) target_link_libraries(CnoidPyBase CnoidBase CnoidPython) apply_common_setting_for_library(CnoidPyBase) add_cnoid_python_module(PyQtCore PyQtCore.cpp ) target_link_libraries(PyQtCore ${QT_LIBRARIES} ${PYTHON_LIBRARIES} ${Boost_PYTHON_LIBRARY} ) if(QT5) qt5_use_modules(PyQtCore Core) endif() add_cnoid_python_module(PyQtGui PyQtGui.cpp ) if(QT5) qt5_use_modules(PyQtGui Widgets) endif() target_link_libraries(PyQtGui ${QT_LIBRARIES} ${PYTHON_LIBRARIES} ${Boost_PYTHON_LIBRARY} ) add_cnoid_python_module(PyBase PyBaseModule.cpp PyQtEx.cpp PyItems.cpp PyMainWindow.cpp PyToolBars.cpp PyViews.cpp PyItemTreeView.cpp PySceneTypes.cpp PyLazyCaller.cpp ) target_link_libraries(PyBase CnoidPyBase) set(headers PyBase.h exportdecl.h ) apply_common_setting_for_python_module(PyBase "${headers}") choreonoid-1.5.0/src/Base/python/PyMainWindow.cpp0000664000000000000000000000222412741425367020434 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include "../MainWindow.h" #include "../ToolBar.h" #include "../ToolBarArea.h" #include "../ViewArea.h" #include using namespace boost::python; using namespace cnoid; namespace cnoid { void exportPyMainWindow() { class_, boost::noncopyable>("MainWindow", no_init) .def("instance", &MainWindow::instance, return_value_policy()).staticmethod("instance") .def("setProjectTitle", &MainWindow::setProjectTitle) //.def("toolBarArea", &MainWindow::toolBarArea) //.def("viewArea", &MainWindow::viewArea) .def("addToolBar", &MainWindow::addToolBar); /* class_, boost::noncopyable>("ToolBarArea", no_init) .def("addToolBar", &ToolBarArea::addToolBar) .def("removeToolBar", &ToolBarArea::removeToolBar); */ /* class_, boost::noncopyable>("ViewArea", no_init) .def("addView", &ViewArea::addView) .def("removeView", &ViewArea::removeView) .def("numViews", &ViewArea::numViews); */ } } choreonoid-1.5.0/src/Base/python/PyLazyCaller.cpp0000664000000000000000000000205512741425367020424 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include "../LazyCaller.h" #include #include using namespace boost; using namespace boost::python; using namespace cnoid; namespace { struct PyFunc { python::object func; PyFunc(python::object f) : func(f) { if(!PyFunction_Check(f.ptr()) && !PyMethod_Check(f.ptr())){ PyErr_SetString(PyExc_TypeError, "Task command must be a function type object"); python::throw_error_already_set(); } } void operator()() { PyGILock lock; try { func(); } catch(python::error_already_set const& ex) { handlePythonException(); } } }; void cnoid_callLater(python::object func) { cnoid::callLater(PyFunc(func)); } void cnoid_callSynchronously(python::object func) { cnoid::callSynchronously(PyFunc(func)); } } // namespace namespace cnoid { void exportLazyCaller() { python::def("callLater", cnoid_callLater); python::def("callSynchronously", cnoid_callSynchronously); } } choreonoid-1.5.0/src/Base/python/PyQtGui.cpp0000664000000000000000000001156712741425367017423 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include #include #include #include using namespace boost; using namespace boost::python; namespace { BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(QAbstractButton_animateClick_overloads, animateClick, 0, 1) } BOOST_PYTHON_MODULE(QtGui) { boost::python::import("cnoid.QtCore"); void (QWidget::*QWidget_setParent1)(QWidget* parent) = &QWidget::setParent; void (QWidget::*QWidget_repaint1)() = &QWidget::repaint; void (QWidget::*QWidget_setFocus1)() = &QWidget::setFocus; void (QWidget::*QWidget_update1)() = &QWidget::update; class_, boost::noncopyable>("QWidget") .def("hasFocus", &QWidget::hasFocus) .def("isActiveWindow", &QWidget::isActiveWindow) .def("isAncestorOf", &QWidget::isAncestorOf) .def("isEnabled", &QWidget::isEnabled) .def("isEnabledTo", &QWidget::isEnabledTo) .def("isFullScreen", &QWidget::isFullScreen) .def("isHidden", &QWidget::isHidden) .def("isMaximized", &QWidget::isMaximized) .def("isMinimized", &QWidget::isMinimized) .def("isModal", &QWidget::isModal) .def("isVisible", &QWidget::isVisible) .def("isVisibleTo", &QWidget::isVisibleTo) .def("isWindow", &QWidget::isWindow) .def("isWindowModified", &QWidget::isWindowModified) .def("parentWidget", &QWidget::parentWidget, return_value_policy()) .def("setParent", QWidget_setParent1) .def("setToolTip", &QWidget::setToolTip) .def("setWhatsThis", &QWidget::setWhatsThis) .def("setWindowIconText", &QWidget::setWindowIconText) .def("toolTip", &QWidget::toolTip) .def("whatsThis", &QWidget::whatsThis) .def("window", &QWidget::window, return_value_policy()) .def("windowFilePath", &QWidget::windowFilePath) .def("windowIconText", &QWidget::windowIconText) .def("windowRole", &QWidget::windowRole) .def("windowTitle", &QWidget::windowTitle) .def("close", &QWidget::close) .def("hide", &QWidget::hide) .def("lower", &QWidget::lower) .def("raise", &QWidget::raise) .def("repaint", QWidget_repaint1) .def("setDisabled", &QWidget::setDisabled) .def("setEnabled", &QWidget::setEnabled) .def("setFocus", QWidget_setFocus1) .def("setHidden", &QWidget::setHidden) .def("setVisible", &QWidget::setVisible) .def("setWindowModified", &QWidget::setWindowModified) .def("setWindowTitle", &QWidget::setWindowTitle) .def("show", &QWidget::show) .def("showFullScreen", &QWidget::showFullScreen) .def("showMaximized", &QWidget::showMaximized) .def("showMinimized", &QWidget::showMinimized) .def("showNormal", &QWidget::showNormal) .def("update", QWidget_update1); class_, boost::noncopyable>("QMainWindow"); //class_ < QButtonGroup, boost::noncopyable >("QButtonGroup", init<>()); class_, boost::noncopyable>("QAbstractButton", no_init) .def("autoExclusive", &QAbstractButton::autoExclusive) .def("autoRepeat", &QAbstractButton::autoRepeat) .def("autoRepeatDelay", &QAbstractButton::autoRepeatDelay) .def("autoRepeatInterval", &QAbstractButton::autoRepeatInterval) //.def("group", &QAbstractButton::group) //.def("icon", &QAbstractButton::icon) //.def("iconSize", &QAbstractButton::iconSize) .def("isCheckable", &QAbstractButton::isCheckable) .def("isChecked", &QAbstractButton::isChecked) .def("isDown", &QAbstractButton::isDown) .def("setAutoExclusive", &QAbstractButton::setAutoExclusive) .def("setAutoRepeat", &QAbstractButton::setAutoRepeat) .def("setAutoRepeatDelay", &QAbstractButton::setAutoRepeatDelay) .def("setAutoRepeatInterval", &QAbstractButton::setAutoRepeatInterval) .def("setCheckable", &QAbstractButton::setCheckable) .def("setDown", &QAbstractButton::setDown) //.def("setIcon", &QAbstractButton::setIcon) //.def("setShortcut", &QAbstractButton::setShortcut) .def("setText", &QAbstractButton::setText) //.def("shortcut", &QAbstractButton::shortcut) .def("text", &QAbstractButton::text) .def("animateClick", &QAbstractButton::animateClick, QAbstractButton_animateClick_overloads()) .def("click", &QAbstractButton::click) .def("setChecked", &QAbstractButton::setChecked) //.def("setIconSize", QAbstractButton::setIconSize) .def("toggle", &QAbstractButton::toggle); class_, boost::noncopyable>("QToolButton") .def("autoRaise", &QToolButton::autoRaise); } choreonoid-1.5.0/src/Base/python/PyItemTreeView.cpp0000664000000000000000000001025012741425367020727 0ustar rootroot/*! * @author Shin'ichiro Nakaoka */ #include "PyBase.h" #include "../ItemTreeView.h" #include "../RootItem.h" #include using namespace boost; using namespace boost::python; using namespace cnoid; namespace { RootItemPtr ItemTreeView_rootItem(ItemTreeView& self) { return self.rootItem(); } python::object ItemTreeView_selectedItems(ItemTreeView& self, python::object itemClass){ return getPyNarrowedItemList(self.selectedItems(), itemClass); } python::object ItemTreeView_selectedItem(ItemTreeView& self, python::object itemClass){ return getPyNarrowedFirstItem(self.selectedItems(), itemClass); } python::object ItemTreeView_selectedSubItems(ItemTreeView& self, ItemPtr topItem, python::object itemClass){ return getPyNarrowedItemList(self.selectedSubItems(topItem), itemClass); } python::object ItemTreeView_selectedSubItem(ItemTreeView& self, ItemPtr topItem, python::object itemClass){ return getPyNarrowedFirstItem(self.selectedSubItems(topItem), itemClass); } BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(ItemTreeView_selectItem_overloads, selectItem, 1, 2) ItemList ItemTreeView_checkedItems1(ItemTreeView& self) { return self.checkedItems(); } ItemList ItemTreeView_checkedItems2(ItemTreeView& self, int id) { return self.checkedItems(id); } /* python::object ItemTreeView_checkedItems3(ItemTreeView& self, python::object itemClass) { return getPyNarrowedItemList(self.checkedItems(), itemClass); } python::object ItemTreeView_checkedItems4(ItemTreeView& self, python::object itemClass, int id) { return getPyNarrowedItemList(self.checkedItems(id), itemClass); } */ BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(ItemTreeView_isItemChecked_overloads, isItemChecked, 1, 2) BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(ItemTreeView_checkItem_overloads, checkItem, 1, 3) SignalProxy (ItemTreeView::*ItemTreeView_sigCheckToggled1)(int) = &ItemTreeView::sigCheckToggled; BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(ItemTreeView_sigCheckToggled1_overloads, sigCheckToggled, 0, 1) SignalProxy (ItemTreeView::*ItemTreeView_sigCheckToggled2)(Item*, int) = &ItemTreeView::sigCheckToggled; BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(ItemTreeView_sigCheckToggled2_overloads, sigCheckToggled, 1, 2) } namespace cnoid { void exportPyItemTreeView() { PySignal&)>("ItemListSignal"); PySignal("ItemBoolSignal"); class_, boost::noncopyable>("ItemTreeView", no_init) .def("instance", &ItemTreeView::instance, return_value_policy()).staticmethod("instance") .def("rootItem", ItemTreeView_rootItem) .def("showRoot", &ItemTreeView::showRoot) .def("selectedItems", &ItemTreeView::selectedItems) .def("selectedItems", ItemTreeView_selectedItems) .def("selectedItem", ItemTreeView_selectedItem) .def("selectedSubItems", ItemTreeView_selectedSubItems) .def("selectedSubItem", ItemTreeView_selectedSubItem) .def("isItemSelected", &ItemTreeView::isItemSelected) .def("selectItem", &ItemTreeView::selectItem, ItemTreeView_selectItem_overloads()) .def("selectAllItems", &ItemTreeView::selectAllItems) .def("clearSelection", &ItemTreeView::clearSelection) .def("checkedItems", ItemTreeView_checkedItems1) .def("checkedItems", ItemTreeView_checkedItems2) //.def("checkedItems", ItemTreeView_checkedItems3) //.def("checkedItems", ItemTreeView_checkedItems4) .def("isItemChecked", &ItemTreeView::isItemChecked, ItemTreeView_isItemChecked_overloads()) .def("checkItem", &ItemTreeView::checkItem, ItemTreeView_checkItem_overloads()) .def("sigSelectionChanged", &ItemTreeView::sigSelectionChanged) .def("sigSelectionOrTreeChanged", &ItemTreeView::sigSelectionOrTreeChanged) .def("sigCheckToggled", ItemTreeView_sigCheckToggled1, ItemTreeView_sigCheckToggled1_overloads()) .def("sigCheckToggled", ItemTreeView_sigCheckToggled2, ItemTreeView_sigCheckToggled2_overloads()) .def("cutSelectedItems", &ItemTreeView::cutSelectedItems) ; } } choreonoid-1.5.0/src/Base/python/PySceneTypes.cpp0000664000000000000000000000330012741425367020436 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include "../SceneDragger.h" #include "../PositionDragger.h" #include using namespace boost; using namespace boost::python; using namespace cnoid; namespace cnoid { void exportPySceneTypes() { object sceneDraggerClass = class_, boost::noncopyable>("SceneDragger", no_init) .def("isContainerMode", &SceneDragger::isContainerMode) .def("setContainerMode", &SceneDragger::setContainerMode) .def("isDragging", &SceneDragger::isDragging) .def("draggedPosition", &SceneDragger::draggedPosition) ; implicitly_convertible(); object positionDraggerClass = class_, boost::noncopyable>("PositionDragger") .def("setDraggableAxes", &PositionDragger::setDraggableAxes) .def("draggableAxes", &PositionDragger::draggableAxes) ; positionDraggerClass.attr("TX") = (int)PositionDragger::TX; positionDraggerClass.attr("TY") = (int)PositionDragger::TY; positionDraggerClass.attr("TZ") = (int)PositionDragger::TZ; positionDraggerClass.attr("TRANSLATION_AXES") = (int)PositionDragger::TRANSLATION_AXES; positionDraggerClass.attr("RX") = (int)PositionDragger::RX; positionDraggerClass.attr("RY") = (int)PositionDragger::RY; positionDraggerClass.attr("RZ") = (int)PositionDragger::RZ; positionDraggerClass.attr("ROTATION_AXES") = (int)PositionDragger::ROTATION_AXES; positionDraggerClass.attr("ALL_AXES") = (int)PositionDragger::ALL_AXES; implicitly_convertible(); } } choreonoid-1.5.0/src/Base/python/PyViews.cpp0000664000000000000000000001345212741425367017462 0ustar rootroot/*! * @author Shin'ichiro Nakaoka */ #include "../MessageView.h" #include "../SceneWidget.h" #include "../SceneView.h" #include "../TaskView.h" #include "../ViewManager.h" #include #include using namespace boost::python; using namespace cnoid; namespace { void (MessageView::*MessageView_put)(const std::string& message) = &MessageView::put; void (MessageView::*MessageView_putln)(const std::string& message) = &MessageView::putln; void (MessageView::*MessageView_notify)(const std::string& message) = &MessageView::notify; } namespace cnoid { template<> boost::python::object pyGetSignalArgObject(View*& view){ return boost::python::object(boost::python::ptr(view)); } void exportPyViews() { PySignal("ViewSignal"); { scope viewScope = class_, boost::noncopyable>("View", no_init) .def("setName", &View::setName) .def("name", &View::name) .def("isActive", &View::isActive) .def("bringToFront", &View::bringToFront) .def("sigActivated", &View::sigActivated) .def("sigDeactivated", &View::sigDeactivated) .def("setDefaultLayoutArea", &View::setDefaultLayoutArea) .def("defaultLayoutArea", &View::defaultLayoutArea) .def("indicatorOnInfoBar", &View::indicatorOnInfoBar, return_value_policy()) .def("enableFontSizeZoomKeys", &View::enableFontSizeZoomKeys) .def("lastFocusView", &View::lastFocusView, return_value_policy()).staticmethod("lastFocusView") .def("sigFocusChanged", &View::sigFocusChanged) ; enum_("LayoutArea") .value("LEFT", View::LEFT) .value("LEFT_TOP", View::LEFT_TOP) .value("LEFT_BOTTOM", View::LEFT_BOTTOM) .value("CENTER", View::CENTER) .value("RIGHT", View::RIGHT) .value("BOTTOM", View::BOTTOM) .value("NUM_AREAS", View::NUM_AREAS); } class_, boost::noncopyable>("MessageView", no_init) .def("instance", &MessageView::instance, return_value_policy()).staticmethod("instance") .def("put", MessageView_put) .def("putln", MessageView_putln) .def("notify", MessageView_notify) .def("flush", &MessageView::flush) .def("clear", &MessageView::clear) .def("beginStdioRedirect", &MessageView::beginStdioRedirect) .def("endStdioRedirect", &MessageView::endStdioRedirect) .def("isFlushing", &MessageView::isFlushing).staticmethod("isFlushing") .def("sigFlushFinished", &MessageView::sigFlushFinished) ; class_("SceneWidget") .def("sigStateChanged", &SceneWidget::sigStateChanged) .def("setEditMode", &SceneWidget::setEditMode) .def("setCollisionLinesVisible", &SceneWidget::setCollisionLinesVisible) .def("collisionLinesVisible", &SceneWidget::collisionLinesVisible, return_value_policy()) .def("setHeadLightIntensity", &SceneWidget::setHeadLightIntensity) .def("setWorldLightIntensity", &SceneWidget::setWorldLightIntensity) .def("setWorldLightAmbient", &SceneWidget::setWorldLightAmbient) .def("setFloorGridSpan", &SceneWidget::setFloorGridSpan) .def("setFloorGridInterval", &SceneWidget::setFloorGridInterval) .def("setLineWidth", &SceneWidget::setLineWidth) .def("setPointSize", &SceneWidget::setPointSize) .def("setNormalLength", &SceneWidget::setNormalLength) .def("setHeadLightEnabled", &SceneWidget::setHeadLightEnabled) .def("setHeadLightLightingFromBack", &SceneWidget::setHeadLightLightingFromBack) .def("setWorldLight", &SceneWidget::setWorldLight) .def("setAdditionalLights", &SceneWidget::setAdditionalLights) .def("setFloorGrid", &SceneWidget::setFloorGrid) .def("setNormalVisualization", &SceneWidget::setNormalVisualization) .def("setCoordinateAxes", &SceneWidget::setCoordinateAxes) .def("setShowFPS", &SceneWidget::setShowFPS) .def("setNewDisplayListDoubleRenderingEnabled", &SceneWidget::setNewDisplayListDoubleRenderingEnabled) .def("setUseBufferForPicking", &SceneWidget::setUseBufferForPicking) .def("setBackgroundColor", &SceneWidget::setBackgroundColor) .def("setColor", &SceneWidget::setBackgroundColor) .def("setCameraPosition", &SceneWidget::setCameraPosition) .def("setFieldOfView", &SceneWidget::setFieldOfView) .def("setHeight", &SceneWidget::setHeight) .def("setNear", &SceneWidget::setNear) .def("setFar", &SceneWidget::setFar) ; class_, boost::noncopyable>("SceneView", no_init) .def("instance", &SceneView::instance, return_value_policy()).staticmethod("instance") .def("sceneWidget", &SceneView::sceneWidget, return_value_policy()) ; class_, boost::noncopyable>("TaskView", no_init) .def("instance", &TaskView::instance, return_value_policy()).staticmethod("instance") ; class_("ViewManager", no_init) .def("sigViewCreated", &ViewManager::sigViewCreated).staticmethod("sigViewCreated") .def("sigViewActivated", &ViewManager::sigViewActivated).staticmethod("sigViewActivated") .def("sigViewDeactivated", &ViewManager::sigViewDeactivated).staticmethod("sigViewDeactivated") .def("sigViewRemoved", &ViewManager::sigViewRemoved).staticmethod("sigViewRemoved") ; } } choreonoid-1.5.0/src/Base/python/PyBaseModule.cpp0000664000000000000000000000127412741425367020404 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include namespace cnoid { void exportPyQtExTypes(); void exportPyItems(); void exportPyMainWindow(); void exportPyToolBars(); void exportPyViews(); void exportPyItemTreeView(); void exportPySceneTypes(); void exportLazyCaller(); BOOST_PYTHON_MODULE(Base) { //! \todo check if this module is imported from the Choreonoid process with PythonPlugin boost::python::import("cnoid.Util"); boost::python::import("cnoid.QtGui"); exportPyQtExTypes(); exportPyItems(); exportPyMainWindow(); exportPyToolBars(); exportPyViews(); exportPyItemTreeView(); exportPySceneTypes(); exportLazyCaller(); } } choreonoid-1.5.0/src/Base/python/PyToolBars.cpp0000664000000000000000000001311312741425367020104 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include #include "../ToolBar.h" #include "../TimeBar.h" using namespace boost::python; using namespace cnoid; namespace { ToolButton* (ToolBar::*ToolBar_addButton1)(const QString& text, const QString& tooltip) = &ToolBar::addButton; ToolButton* (ToolBar::*ToolBar_addButton2)(const QIcon& icon, const QString& tooltip) = &ToolBar::addButton; ToolButton* (ToolBar::*ToolBar_addButton3)(const char* const* xpm, const QString& tooltip) = &ToolBar::addButton; ToolButton* ToolBar_addToggleButton1(ToolBar& self, const QString& text, const QString& tooltip = QString()){ return self.addToggleButton(text, tooltip); } BOOST_PYTHON_FUNCTION_OVERLOADS(ToolBar_addToggleButton1_overloads, ToolBar_addToggleButton1, 2, 3) ToolButton* (ToolBar::*ToolBar_addToggleButton2)(const QIcon& icon, const QString& tooltip) = &ToolBar::addToggleButton; ToolButton* (ToolBar::*ToolBar_addToggleButton3)(const char* const* xpm, const QString& tooltip) = &ToolBar::addToggleButton; ToolButton* (ToolBar::*ToolBar_addRadioButton1)(const QString& text, const QString& tooltip) = &ToolBar::addRadioButton; ToolButton* (ToolBar::*ToolBar_addRadioButton2)(const QIcon& icon, const QString& tooltip) = &ToolBar::addRadioButton; ToolButton* (ToolBar::*ToolBar_addRadioButton3)(const char* const* xpm, const QString& tooltip) = &ToolBar::addRadioButton; BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(TimeBar_stopPlayback_overloads, stopPlayback, 0, 1) } namespace cnoid { void exportPyToolBars() { class_, boost::noncopyable>("ToolBar", init()) .def("addButton", ToolBar_addButton1, return_value_policy()) .def("addButton", ToolBar_addButton2, return_value_policy()) .def("addButton", ToolBar_addButton3, return_value_policy()) .def("addToggleButton", ToolBar_addToggleButton1, ToolBar_addToggleButton1_overloads()[return_value_policy()]) .def("addToggleButton", ToolBar_addToggleButton2, return_value_policy()) .def("addToggleButton", ToolBar_addToggleButton3, return_value_policy()) .def("requestNewRadioGroup", &ToolBar::requestNewRadioGroup) //.def("currentRadioGroup", &ToolBar::currentRadioGroup, return_value_policy()) .def("addRadioButton", ToolBar_addRadioButton1, return_value_policy()) .def("addRadioButton", ToolBar_addRadioButton2, return_value_policy()) .def("addRadioButton", ToolBar_addRadioButton3, return_value_policy()) //.def("addAction", &ToolBar::addAction) .def("addWidget", &ToolBar::addWidget) //.def("addLabel", &ToolBar::addLabel, return_value_policy()) //.def("addImage", &ToolBar::addImage, return_value_policy()) .def("addSeparator", &ToolBar::addSeparator, return_value_policy()) .def("addSpacing", &ToolBar::addSpacing) .def("setVisibleByDefault", &ToolBar::setVisibleByDefault) .def("isVisibleByDefault", &ToolBar::isVisibleByDefault) .def("setStretchable", &ToolBar::setStretchable) .def("isStretchable", &ToolBar::isStretchable, return_value_policy()) //.def("toolBarArea", &ToolBar::toolBarArea, return_value_policy()); ; { scope timeBarScope = class_, boost::noncopyable>("TimeBar", no_init) .def("instance", &TimeBar::instance, return_value_policy()).staticmethod("instance") .def("sigPlaybackInitialized", &TimeBar::sigPlaybackInitialized) .def("sigPlaybackStarted", &TimeBar::sigPlaybackStarted) .def("sigTimeChanged", &TimeBar::sigTimeChanged) .def("sigPlaybackStopped", &TimeBar::sigPlaybackStopped) .def("time", &TimeBar::time) .def("setTime", &TimeBar::setTime) .def("realPlaybackTime", &TimeBar::realPlaybackTime) .def("minTime", &TimeBar::minTime) .def("maxTime", &TimeBar::maxTime) .def("setTimeRange", &TimeBar::setTimeRange) .def("frameRate", &TimeBar::frameRate) .def("setFrameRate", &TimeBar::setFrameRate) .def("timeStep", &TimeBar::timeStep) .def("playbackSpeedScale", &TimeBar::playbackSpeedScale) .def("setPlaybackSpeedScale", &TimeBar::setPlaybackSpeedScale) .def("playbackFrameRate", &TimeBar::playbackFrameRate) .def("setPlaybackFrameRate", &TimeBar::setPlaybackFrameRate) .def("setRepeatMode", &TimeBar::setRepeatMode) .def("startPlayback", &TimeBar::startPlayback) .def("startPlaybackFromFillLevel", &TimeBar::startPlaybackFromFillLevel) .def("stopPlayback", &TimeBar::stopPlayback, TimeBar_stopPlayback_overloads()) .def("isDoingPlayback", &TimeBar::isDoingPlayback) .def("startFillLevelUpdate", &TimeBar::startFillLevelUpdate) .def("updateFillLevel", &TimeBar::updateFillLevel) .def("stopFillLevelUpdate", &TimeBar::stopFillLevelUpdate) .def("setFillLevelSync", &TimeBar::setFillLevelSync) ; PySignal("SigPlaybackInitialized"); PySignal("SigTimeChanged"); } } } choreonoid-1.5.0/src/Base/python/PyQtCore.cpp0000664000000000000000000000516312741425367017562 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include #include #include using namespace boost; using namespace boost::python; namespace { struct QString_to_python_str { static PyObject* convert(QString const& s){ return boost::python::incref( boost::python::object( s.toUtf8().constData()).ptr()); } }; struct QString_from_python_str { QString_from_python_str(){ python::converter::registry::push_back( &convertible, &construct, python::type_id()); } static void* convertible(PyObject* obj_ptr){ if(!PyString_Check(obj_ptr)) return 0; return obj_ptr; } static void construct(PyObject* obj_ptr, python::converter::rvalue_from_python_stage1_data* data){ const char* value = PyString_AsString(obj_ptr); assert(value); void* storage = ((python::converter::rvalue_from_python_storage*)data)->storage.bytes; new (storage) QString(value); data->convertible = storage; } }; void (QTimer::*QTimer_start1)() = &QTimer::start; void (QTimer::*QTimer_start2)(int) = &QTimer::start; } BOOST_PYTHON_MODULE(QtCore) { to_python_converter(); QString_from_python_str(); class_("QObject") .def("blockSignals", &QObject::blockSignals) .def("inherits", &QObject::inherits) .def("isWidgetType", &QObject::isWidgetType) .def("killTimer", &QObject::killTimer) .def("objectName", &QObject::objectName) .def("parent", &QObject::parent, return_value_policy()) .def("setObjectName", &QObject::setObjectName) .def("setParent", &QObject::setParent) .def("startTimer", &QObject::startTimer) .def("deleteLater", &QObject::deleteLater); #if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0) void (*singleShotPtr) (int, const QObject*, const char*) = &QTimer::singleShot; #endif class_("QTimer") .def("interval", &QTimer::interval) .def("isActive", &QTimer::isActive) .def("isSingleShot", &QTimer::isSingleShot) .def("setInterval", &QTimer::setInterval) .def("setSingleShot", &QTimer::setSingleShot) .def("timerId", &QTimer::timerId) .def("start", QTimer_start1) .def("start", QTimer_start2) .def("stop", &QTimer::stop) #if QT_VERSION < QT_VERSION_CHECK(5, 0, 0) .def("singleShot", &QTimer::singleShot) #else .def("singleShot", singleShotPtr) #endif .staticmethod("singleShot"); } choreonoid-1.5.0/src/Base/python/PyQtEx.cpp0000664000000000000000000000137512741425367017247 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include #include "../Buttons.h" #include "../Action.h" #include "../Timer.h" using namespace boost; using namespace boost::python; using namespace cnoid; namespace cnoid { void exportPyQtExTypes() { class_, boost::noncopyable>("ToolButton") .def("sigClicked", &ToolButton::sigClicked) .add_property("clicked", &ToolButton::sigClicked) .def("sigToggled", &ToolButton::sigToggled) .add_property("toggled", &ToolButton::sigToggled) ; class_, boost::noncopyable>("Timer") .def("sigTimeout", &Timer::sigTimeout) .add_property("timeout", &Timer::sigTimeout) ; } } choreonoid-1.5.0/src/Base/python/PyBase.cpp0000664000000000000000000000355212741425367017237 0ustar rootroot/*! @author Shin'ichiro Nakaoka */ #include "PyBase.h" using namespace boost; using namespace boost::python; using namespace cnoid; namespace { void checkIfItemSubclass(PyObject* typeObject) { PyObject* itemType = (PyObject*)python::converter::registered_pytype::get_pytype(); int isSubclass = PyObject_IsSubclass(typeObject, itemType); if(isSubclass <= 0){ PyErr_SetString(PyExc_TypeError, "argument for specifying the item list type must be an Item class"); python::throw_error_already_set(); } } } // namespace namespace cnoid { boost::python::list getPyNarrowedItemList(const ItemList<>& orgItemList, boost::python::object itemClass) { checkIfItemSubclass(itemClass.ptr()); python::list narrowedItemList; for(int i=0; i < orgItemList.size(); ++i){ python::object item(orgItemList[i]); if(PyObject_IsInstance(item.ptr(), itemClass.ptr()) > 0){ narrowedItemList.append(item); } } return narrowedItemList; } boost::python::list getPyNarrowedItemList(boost::python::list orgItemList, const PyTypeObject* itemClass) { checkIfItemSubclass((PyObject*)itemClass); python::list narrowedItemList; const int n = python::len(orgItemList); for(int i=0; i < n; ++i){ python::object item = orgItemList[i]; if(PyObject_IsInstance(item.ptr(), (PyObject*)itemClass) > 0){ narrowedItemList.append(item); } } return narrowedItemList; } boost::python::object getPyNarrowedFirstItem(const ItemList<>& orgItemList, boost::python::object itemClass) { checkIfItemSubclass(itemClass.ptr()); for(int i=0; i < orgItemList.size(); ++i){ python::object item(orgItemList[i]); if(PyObject_IsInstance(item.ptr(), itemClass.ptr()) > 0){ return item; } } return python::object(); } } // namespace cnoid choreonoid-1.5.0/src/Base/ButtonGroup.cpp0000664000000000000000000000047612741425367017025 0ustar rootroot/** @author Shin'ichiro Nakaoka */ #include "ButtonGroup.h" using namespace cnoid; ButtonGroup::ButtonGroup(QObject* parent) : QButtonGroup(parent) { connect(this, SIGNAL(buttonClicked(int)), this, SLOT(onButtonClicked(int))); } void ButtonGroup::onButtonClicked(int id) { sigButtonClicked_(id); } choreonoid-1.5.0/CMakeLists.txt0000664000000000000000000012431312741425367015125 0ustar rootroot cmake_minimum_required(VERSION 2.6) cmake_policy(SET CMP0003 NEW) set(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS true) include(FindPkgConfig) include(CheckIncludeFiles) project(Choreonoid) # set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules/) set(CNOID_MAJOR_VERSION 1) set(CNOID_MINOR_VERSION 5) set(CNOID_PATCH_VERSION 0) set(CNOID_VERSION ${CNOID_MAJOR_VERSION}.${CNOID_MINOR_VERSION}) set(CNOID_FULL_VERSION ${CNOID_MAJOR_VERSION}.${CNOID_MINOR_VERSION}.${CNOID_PATCH_VERSION}) set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib) set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib) set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin) set(CNOID_DIR ${CMAKE_INSTALL_PREFIX}) set(CNOID_SUBDIR choreonoid-${CNOID_VERSION}) set(CNOID_PLUGIN_SUBDIR lib/${CNOID_SUBDIR}) if(WIN32) set(CNOID_HEADER_SUBDIR "include") set(CNOID_SHARE_SUBDIR "share") set(CNOID_DOC_SUBDIR "share/doc") else() set(CNOID_HEADER_SUBDIR "include/${CNOID_SUBDIR}") set(CNOID_SHARE_SUBDIR "share/${CNOID_SUBDIR}") set(CNOID_DOC_SUBDIR "share/doc/${CNOID_SUBDIR}") endif() set(CNOID_SHARE_DIR "${CNOID_DIR}/${CNOID_SHARE_SUBDIR}") set(CNOID_SOURCE_SHARE_DIR "${PROJECT_SOURCE_DIR}/share") option(ENABLE_GUI "Enable GUI components" ON) if(WIN32) set(DEFAULT_INSTALL_SDK OFF) set(DEFAULT_INSTALL_RUNTIME_DEPENDENCIES ON) else() set(DEFAULT_INSTALL_SDK ON) set(DEFAULT_INSTALL_RUNTIME_DEPENDENCIES OFF) endif() option(INSTALL_RUNTIME_DEPENDENCIES "Installing the runtimes of external libraries" ${DEFAULT_INSTALL_RUNTIME_DEPENDENCIES}) option(INSTALL_SDK "Installing SDK files such as header files" ${DEFAULT_INSTALL_SDK}) option(INSTALL_SDK_WITH_EXTLIBS "The SDK installation includes the external libraries" OFF) if(MSVC AND CMAKE_CL_64) add_definitions(-D_WIN64) endif() if(MSVC) set_property(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS_DEBUG _ITERATOR_DEBUG_LEVEL=1) endif() function(install_external_libraries dll_dir lib_dir) set(libraries ${ARGV}) list(REMOVE_AT libraries 0 1) if(INSTALL_RUNTIME_DEPENDENCIES AND MSVC) set(conf general) foreach(library ${libraries}) if(library STREQUAL general) set(conf general) elseif(library STREQUAL optimized) set(conf optimized) elseif(library STREQUAL debug) set(conf debug) else() get_filename_component(filename ${library} NAME_WE) if(conf STREQUAL general) if(EXISTS ${dll_dir}/${filename}.dll) install(PROGRAMS ${dll_dir}/${filename}.dll DESTINATION bin) endif() if(EXISTS ${lib_dir}/${filename}.lib AND INSTALL_SDK_WITH_EXTLIBS) install(PROGRAMS ${lib_dir}/${filename}.lib DESTINATION lib) endif() elseif(conf STREQUAL optimized) if(EXISTS ${dll_dir}/${filename}.dll) install(PROGRAMS ${dll_dir}/${filename}.dll DESTINATION bin CONFIGURATIONS Release RelWithDebInfo MinSizeRel) endif() if(EXISTS ${lib_dir}/${filename}.lib AND INSTALL_SDK_WITH_EXTLIBS) install(PROGRAMS ${lib_dir}/${filename}.lib DESTINATION lib CONFIGURATIONS Release RelWithDebInfo MinSizeRel) endif() elseif(conf STREQUAL debug) if(EXISTS ${dll_dir}/${filename}.dll) install(PROGRAMS ${dll_dir}/${filename}.dll DESTINATION bin CONFIGURATIONS Debug) endif() if(EXISTS ${lib_dir}/${filename}.lib AND INSTALL_SDK_WITH_EXTLIBS) install(PROGRAMS ${lib_dir}/${filename}.lib DESTINATION lib CONFIGURATIONS Debug) endif() endif() endif() endforeach() endif() endfunction() if(NOT CMAKE_BUILD_TYPE) set( CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel." FORCE) endif() if(UNIX) set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -finline-functions") option(ENABLE_GCC_FVISIBILITY_HIDDEN "Use the -fvisibility=hidden option when the sources are compiled" ON) endif() set(ADDITIONAL_CXX_FLAGS_RELEASE ${ADDITIONAL_CXX_FLAGS_RELEASE} CACHE STRING "Additional c++ compiler optimization flags") set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${EXTRA_CXX_FLAGS_RELEASE} ${ADDITIONAL_CXX_FLAGS_RELEASE}") if(MSVC) set(ext_compiler_options "/Ob2 /Ox /Oi /Ot /Oy /GT /GS- /fp:fast") if(CMAKE_CL_64) set(MSVC_ENABLE_SSE OFF CACHE BOOL "Enable SSE instructions on VC++." FORCE) else() option(MSVC_ENABLE_SSE "Enable SSE instructions on VC++." ON) endif() if(MSVC_ENABLE_SSE) set(ext_compiler_options "${ext_compiler_options} /arch:SSE /arch:SSE2 /fp:fast") endif() option(MSVC_ENABLE_AVX "Enable AVX instructions on VC++." OFF) if(MSVC_ENABLE_AVX) set(ext_compiler_options "${ext_compiler_options} /arch:AVX") endif() option(MSVC_ENABLE_AVX2 "Enable AVX2 instructions on VC++." OFF) if(MSVC_ENABLE_AVX2) set(ext_compiler_options "${ext_compiler_options} /arch:AVX2") endif() set(ext_linker_options "") option(MSVC_ENABLE_GLOBAL_OPTIMIZATION "Global optimization with compiler option /GL and linker option /LTCG" ON) if(MSVC_ENABLE_GLOBAL_OPTIMIZATION) set(ext_compiler_options "${ext_compiler_options} /GL") set(ext_linker_options "${ext_linker_options} /LTCG") endif() set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${ext_compiler_options}") set(CMAKE_MODULE_LINKER_FLAGS_RELEASE "${CMAKE_MODULE_LINKER_FLAGS_RELEASE} ${ext_linker_options}") set(CMAKE_SHARED_LINKER_FLAGS_RELEASE "${CMAKE_SHARED_LINKER_FLAGS_RELEASE} ${ext_linker_options}") set(CMAKE_EXE_LINKER_FLAGS_RELEASE "${CMAKE_EXE_LINKER_FLAGS_RELEASE} ${ext_linker_options}") if(MSVC_ENABLE_SSE) set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELWITHDEBINFO} /GS- /fp:fast /arch:SSE2 /arch:SSE2") set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} /fp:fast /arch:SSE2 /arch:SSE2") endif() endif() if(ENABLE_GUI) FIND_PACKAGE(OpenGL) include_directories(${OPENGL_INCLUDE_DIR}) endif() option(ENABLE_INSTALL_RPATH "Enable RPATH setting for installed binary files" ON) if(ENABLE_INSTALL_RPATH) set(CMAKE_SKIP_BUILD_RPATH FALSE) if(APPLE) set(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE) else() set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE) endif() set(CMAKE_INSTALL_RPATH_USE_LINK_PATH FALSE) else() set(CMAKE_SKIP_BUILD_RPATH FALSE) set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE) set(CMAKE_INSTALL_RPATH "") set(CMAKE_INSTALL_RPATH_USE_LINK_PATH FALSE) endif() option(CNOID_ENABLE_BACKWARD_COMPATIBILITY "Enable some backward compatibility" OFF) if(CNOID_ENABLE_BACKWARD_COMPATIBILITY) set_property(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS CNOID_BACKWARD_COMPATIBILITY) endif() # commands if(UNIX) set(RMDIR rm -fr) elseif(WIN32) set(RMDIR rmdir /S/Q) endif() # check "dlfcn.h" for using dlopen() and dlclose() if(UNIX) check_include_files(dlfcn.h HAVE_DLFCN_H) if(NOT HAVE_DLFCN_H) message(FATAL_ERROR "Could not find dlfcn.h") endif() endif() # gettext option(CNOID_ENABLE_GETTEXT "Enable the gettext library and translation messages for the internationalization" ON) if(CNOID_ENABLE_GETTEXT) if(WIN32) # if(CMAKE_CL_64) # FIND_PROGRAM(GETTEXT_MSGFMT_EXECUTABLE msgfmt ${PROJECT_SOURCE_DIR}/thirdparty/windows64/bin) # else() FIND_PROGRAM(GETTEXT_MSGFMT_EXECUTABLE msgfmt ${PROJECT_SOURCE_DIR}/thirdparty/windows/bin) # endif() else() FIND_PROGRAM(GETTEXT_MSGFMT_EXECUTABLE msgfmt) endif() if(NOT GETTEXT_MSGFMT_EXECUTABLE) message(FATAL_ERROR "Could not find the msgfmt command and gettext cannot be enabled.") endif() if(WIN32 AND CMAKE_CL_64) set(GETTEXT_DIR ${PROJECT_SOURCE_DIR}/thirdparty/windows64) else() get_filename_component(GETTEXT_BINARY_DIR ${GETTEXT_MSGFMT_EXECUTABLE} PATH) get_filename_component(GETTEXT_DIR ${GETTEXT_BINARY_DIR} PATH) endif() set(GETTEXT_INCLUDE_DIR ${GETTEXT_DIR}/include) set(GETTEXT_LIBRARY_DIR ${GETTEXT_DIR}/lib) include_directories(${GETTEXT_INCLUDE_DIR}) link_directories(${GETTEXT_LIBRARY_DIR}) if(WIN32) set(GETTEXT_LIBRARIES intl) elseif(APPLE) set(GETTEXT_LIBRARIES intl) #set(GETTEXT_STATIC_LIBRARIES # ${GETTEXT_LIBRARY_DIR}/libintl.a # ${GETTEXT_LIBRARY_DIR}/libiconv.a # System.B # /System/Library/Frameworks/CoreFoundation.framework) else() set(GETTEXT_LIBRARIES "") endif() if(MSVC) #install_external_libraries(${GETTEXT_BINARY_DIR} ${GETTEXT_LIBRARY_DIR} ${GETTEXT_LIBRARIES}) if(CMAKE_CL_64) install(FILES thirdparty/windows64/bin/libintl-8.dll DESTINATION bin) else() install(FILES thirdparty/windows/bin/intl.dll DESTINATION bin) endif() if(INSTALL_SDK) if(CMAKE_CL_64) install(FILES thirdparty/windows64/lib/intl.lib DESTINATION lib) else() install(FILES thirdparty/windows/lib/intl.lib DESTINATION lib) endif() install(FILES "${GETTEXT_INCLUDE_DIR}/libintl.h" DESTINATION ${CNOID_HEADER_SUBDIR}) endif() endif() else() set(GETTEXT_LIBRARIES "") endif() # Python if(WIN32) option(ENABLE_PYTHON "Enable Python functions" OFF) else() option(ENABLE_PYTHON "Enable Python functions" ON) endif() if(ENABLE_PYTHON) find_package(PythonLibs 2.7 REQUIRED) include_directories(${PYTHON_INCLUDE_PATH}) set(CNOID_PYTHON_SUBDIR ${CNOID_PLUGIN_SUBDIR}/python) set(init_py "${PROJECT_BINARY_DIR}/${CNOID_PYTHON_SUBDIR}/cnoid/__init__.py") file(WRITE ${init_py} "") install(FILES ${init_py} DESTINATION ${CNOID_PYTHON_SUBDIR}/cnoid CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel) endif() # boost # set(Boost_NO_SYSTEM_PATHS true) set(Boost_USE_STATIC_LIBS OFF) set(Boost_ADDITIONAL_VERSIONS "1.42" "1.42.0" "1.43" "1.43.0" "1.44" "1.44.0" "1.45" "1.45.0" "1.46" "1.46.0" "1.46.1" "1.47" "1.47.0" "1.48" "1.48.0" "1.49.0" "1.50.0") if(MSVC) find_package(Boost 1.36.0 QUIET OPTIONAL_COMPONENTS bzip2 zlib) endif() set(boost_packages system filesystem program_options regex thread iostreams date_time) if(ENABLE_PYTHON) set(boost_packages ${boost_packages} python) endif() find_package(Boost 1.36.0 REQUIRED COMPONENTS ${boost_packages}) if(NOT Boost_FOUND) set(BOOST_ROOT ${BOOST_ROOT} CACHE PATH "set the directory of the boost root") set(BOOST_LIBRARYDIR ${BOOST_LIBRARYDIR} CACHE PATH "set the directory of the boost library") message(FATAL_ERROR "Boost cannot be found. Please specify the boost top directory to BOOST_ROOT.") endif() if(Boost_VERSION GREATER "104699") find_package(Boost 1.47.0 REQUIRED COMPONENTS chrono) endif() include_directories(${Boost_INCLUDE_DIRS}) link_directories(${Boost_LIBRARY_DIRS}) set_property(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS_RELEASE BOOST_DISABLE_ASSERTS) install_external_libraries(${Boost_LIBRARY_DIRS} ${Boost_LIBRARY_DIRS} ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY} ${Boost_PROGRAM_OPTIONS_LIBRARY} ${Boost_THREAD_LIBRARY} ${Boost_DATE_TIME_LIBRARY} ${Boost_REGEX_LIBRARY} ${Boost_CHRONO_LIBRARY} ${Boost_PYTHON_LIBRARY} ${Boost_IOSTREAMS_LIBRARY} ${Boost_ZLIB_LIBRARY}) if(INSTALL_SDK_WITH_EXTLIBS) foreach(dir ${Boost_INCLUDE_DIRS}) if(EXISTS ${dir}/boost) install(DIRECTORY ${dir}/boost DESTINATION ${CNOID_HEADER_SUBDIR}) endif() endforeach() endif() if(MSVC) set_property(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS BOOST_ALL_DYN_LINK ${BOOST_LIB_DIAGNOSTIC}) #MSVC 2010 problem if(MSVC_VERSION EQUAL 1600) # for VC++2010 Express Edition IF(NOT DEFINED CMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_NO_WARNINGS) SET(CMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_NO_WARNINGS ON) ENDIF() endif() endif() # eigen if(NOT EIGEN_DIR) if(UNIX) pkg_check_modules(EIGEN eigen3) if(EIGEN_FOUND) set(EIGEN_DIR ${EIGEN_INCLUDE_DIRS}) endif() endif() else() set(EIGEN_INCLUDE_DIRS ${EIGEN_DIR}) endif() set(EIGEN_DIR ${EIGEN_DIR} CACHE PATH "The directory of the Eigen library") if(NOT EIGEN_INCLUDE_DIRS) message(FATAL_ERROR "Please specify the Eigen directory to EIGEN_DIR.") else() include_directories(${EIGEN_INCLUDE_DIRS}) endif() set_property(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS EIGEN_NO_DEBUG) #set_property(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS EIGEN_NO_DEBUG EIGEN_DONT_ALIGN) if(MSVC AND INSTALL_SDK_WITH_EXTLIBS) foreach(dir ${EIGEN_INCLUDE_DIRS}) if(EXISTS "${EIGEN_INCLUDE_DIRS}/Eigen") install(DIRECTORY "${EIGEN_INCLUDE_DIRS}/Eigen" DESTINATION ${CNOID_HEADER_SUBDIR}) endif() if(EXISTS "${EIGEN_INCLUDE_DIRS}/unsupported/Eigen") install(DIRECTORY "${EIGEN_INCLUDE_DIRS}/unsupported/Eigen" DESTINATION ${CNOID_HEADER_SUBDIR}) endif() endforeach() endif() ############### # Setup Qt4 # ############### macro(setup_qt4) find_package(Qt4 4.7.0 REQUIRED) set(QT_USE_QTOPENGL TRUE) set(QT_USE_QTNETWORK TRUE) #set(QT_USE_QTTEST TRUE) include(${QT_USE_FILE}) add_definitions(-DQT_NO_KEYWORDS) set(QT5 FALSE) if(MSVC) install_external_libraries(${QT_BINARY_DIR} ${QT_LIBRARY_DIR} ${QT_LIBRARIES}) if(INSTALL_SDK_WITH_EXTLIBS) foreach(dir ${QT_QTCORE_INCLUDE_DIR} ${QT_QTGUI_INCLUDE_DIR} ${QT_QTOPENGL_INCLUDE_DIR} ${QT_QTNETWORK_INCLUDE_DIR}) install(DIRECTORY ${dir} DESTINATION ${CNOID_HEADER_SUBDIR}) endforeach() endif() endif() endmacro() ############### # Setup Qt5 # ############### macro(setup_qt5) if(MSVC) set(PROGRAMFILES "ProgramFiles(X86)") if(CMAKE_CL_64) if(MSVC_VERSION EQUAL 1700) #VS2012 set(CMAKE_LIBRARY_PATH "$ENV{PROGRAMFILES}/Windows\ Kits/8.0/Lib/win8/um/x64") elseif(MSVC_VERSION EQUAL 1800) #VS2013 set(CMAKE_LIBRARY_PATH "$ENV{PROGRAMFILES}/Windows\ Kits/8.1/Lib/win8/um/x64") endif() else() if(MSVC_VERSION EQUAL 1700) set(CMAKE_LIBRARY_PATH "$ENV{PROGRAMFILES}/Windows\ Kits/8.0/Lib/win8/um/x86") elseif(MSVC_VERSION EQUAL 1800) set(CMAKE_LIBRARY_PATH "$ENV{PROGRAMFILES}/Windows\ Kits/8.1/Lib/win8/um/x86") endif() endif() endif() find_package(Qt5Core) find_package(Qt5Widgets) find_package(Qt5OpenGL) find_package(Qt5Network) set(QT5 TRUE) add_definitions(-DQT_NO_KEYWORDS -DQT_NO_OPENGL_ES_2) set(CMAKE_AUTOMOC OFF) set(CMAKE_INCLUDE_CURRENT_DIR ON) if(MSVC) list(APPEND QT_INST_LIBRARIES optimized Qt5Core debug Qt5Cored optimized Qt5Gui debug Qt5Guid optimized Qt5OpenGL debug Qt5OpenGLd optimized Qt5Network debug Qt5Networkd optimized Qt5Widgets debug Qt5Widgetsd optimized libEGL debug libEGLd optimized libGLESv2 debug libGLESv2d optimized icuin51 debug icuin51d optimized icuuc51 debug icuuc51d optimized icudt51 debug icudt51d # for the Qt 5.3 binary package general icuin52 general icuuc52 general icudt52 general icuin53 general icuuc53 general icudt53 general icuin54 general icuuc54 general icudt54 general icuin55 general icuuc55 general icudt55 ) install_external_libraries(${_qt5Core_install_prefix}/bin ${_qt5Core_install_prefix}/lib ${QT_INST_LIBRARIES}) install(DIRECTORY ${_qt5Core_install_prefix}/plugins/platforms DESTINATION bin FILES_MATCHING PATTERN "qwindows*.dll") install(DIRECTORY ${_qt5Core_install_prefix}/plugins/imageformats DESTINATION bin FILES_MATCHING PATTERN "*.dll") if(INSTALL_SDK_WITH_EXTLIBS) foreach(dir ${Qt5Core_INCLUDE_DIRS} ${Qt5Gui_INCLUDE_DIRS} ${Qt5OpenGL_INCLUDE_DIRS} ${Qt5Network_INCLUDE_DIRS}) install(DIRECTORY ${dir} DESTINATION ${CNOID_HEADER_SUBDIR}) endforeach() endif() endif() endmacro() # qt if(ENABLE_GUI) if(NOT MSVC OR MSVC_VERSION LESS 1700) set(DEFAULT_USE_QT5 FALSE) else() set(DEFAULT_USE_QT5 TRUE) endif() option(USE_QT5 "Use Qt5" ${DEFAULT_USE_QT5}) if(USE_QT5) setup_qt5() else() setup_qt4() endif() endif() # CORBA, omniORB option(ENABLE_CORBA "Enable CORBA related modules / plugins" OFF) if(ENABLE_CORBA) if(UNIX) if(NOT OMNIORB_DIR) #pkg_check_modules(OMNIORB omniORB4) pkg_check_modules(OMNIORB omniDynamic4) if(OMNIORB_FOUND) set(OMNIORB_DIR ${OMNIORB_PREFIX}) endif() else() set(OMNIORB_FOUND TRUE) set(OMNIORB_INCLUDE_DIRS ${OMNIORB_DIR}/include) set(OMNIORB_LIBRARY_DIRS ${OMNIORB_DIR}/lib) endif() elseif(MSVC) if(NOT OMNIORB_DIR) if(NOT $ENV{OMNI_ROOT} STREQUAL "") set(OMNIORB_DIR $ENV{OMNI_ROOT}) endif() endif() if(OMNIORB_DIR) set(OMNIORB_FOUND TRUE) set(OMNIORB_INCLUDE_DIRS ${OMNIORB_DIR}/include) set(OMNIORB_LIBRARY_DIRS ${OMNIORB_DIR}/lib/x86_win32) set(OMNIORB_BINARY_DIR ${OMNIORB_DIR}/bin/x86_win32) set(OMNIORB_CFLAGS -D__WIN32__ -D__x86__ ) file(GLOB libomniorb RELATIVE ${OMNIORB_LIBRARY_DIRS} "${OMNIORB_LIBRARY_DIRS}/omniORB???_rt.lib") get_filename_component(libomniorb ${libomniorb} NAME_WE) file(GLOB libomnithread RELATIVE ${OMNIORB_LIBRARY_DIRS} "${OMNIORB_LIBRARY_DIRS}/omnithread??_rt.lib") get_filename_component(libomnithread ${libomnithread} NAME_WE) file(GLOB libomnidynamic RELATIVE ${OMNIORB_LIBRARY_DIRS} "${OMNIORB_LIBRARY_DIRS}/omniDynamic???_rt.lib") get_filename_component(libomnidynamic ${libomnidynamic} NAME_WE) set(OMNIORB_LIBRARIES_RELEASE ${libomniorb} ${libomnithread} ${libomnidynamic}) foreach(library ${OMNIORB_LIBRARIES_RELEASE}) list(APPEND OMNIORB_LIBRARIES optimized ${library} debug ${library}d ) endforeach() file(GLOB libomniorb RELATIVE ${OMNIORB_BINARY_DIR} "${OMNIORB_BINARY_DIR}/omniORB*_rt.dll") get_filename_component(libomniorb ${libomniorb} NAME_WE) file(GLOB libomnithread RELATIVE ${OMNIORB_BINARY_DIR} "${OMNIORB_BINARY_DIR}/omnithread*_rt.dll") get_filename_component(libomnithread ${libomnithread} NAME_WE) file(GLOB libomnidynamic RELATIVE ${OMNIORB_BINARY_DIR} "${OMNIORB_BINARY_DIR}/omniDynamic*_rt.dll") get_filename_component(libomnidynamic ${libomnidynamic} NAME_WE) set(OMNIORB_DLL_BASES ${libomniorb} ${libomnithread} ${libomnidynamic}) if(INSTALL_RUNTIME_DEPENDENCIES) foreach(library ${OMNIORB_DLL_BASES}) install(PROGRAMS "${OMNIORB_BINARY_DIR}/${library}.dll" DESTINATION bin CONFIGURATIONS Release RelWithDebInfo MinSizeRel) install(PROGRAMS "${OMNIORB_BINARY_DIR}/${library}d.dll" DESTINATION bin CONFIGURATIONS Debug) endforeach() endif() endif() endif() include_directories(${OMNIORB_INCLUDE_DIRS}) link_directories(${OMNIORB_LIBRARY_DIRS}) add_definitions(${OMNIORB_CFLAGS}) set(OMNIORB_DIR ${OMNIORB_DIR} CACHE PATH "The top directory of omniORB") set(OMNIORB_CFLAGS ${OMNIORB_CFLAGS} CACHE STRING "Compile flags for omniORB") if(NOT OMNIORB_FOUND) message(FATAL_ERROR "CORBA-related modules require the omniORB library but the library is not found.") endif() function(idl_compile_cpp out_cpp_files out_header_files subdir) set(corba_src_dir ${CMAKE_CURRENT_SOURCE_DIR}/${subdir}) set(corba_dir ${PROJECT_SOURCE_DIR}/include/cnoid/${subdir}) set(idl_names ${ARGV}) list(REMOVE_AT idl_names 0 1 2) set(idl_flags -C ${corba_src_dir} -bcxx -Wbh=.hh -Wbs=Sk.cpp -Wba -Wbd=DynSk.cpp -Wbkeep_inc_path -I${PROJECT_SOURCE_DIR}/include) foreach(idl_include_dir ${IDL_INCLUDE_DIRS}) set(idl_flags ${idl_flags} -I${idl_include_dir}) endforeach() # copy idl files to the system include directory file(MAKE_DIRECTORY ${corba_dir}) foreach(idl_name ${idl_names}) set(idl_file ${corba_src_dir}/${idl_name}.idl) if(UNIX) add_custom_command( OUTPUT ${corba_dir}/${idl_name}.idl COMMAND cp ${idl_file} ${corba_dir} DEPENDS ${idl_file} COMMENT "Copying ${idl_name}.idl to ${corba_dir}" ) elseif(MSVC) file(TO_NATIVE_PATH ${corba_src_dir}/${idl_name}.idl src) file(TO_NATIVE_PATH ${corba_dir} dest) add_custom_command( OUTPUT ${corba_dir}/${idl_name}.idl COMMAND copy ${src} ${dest} DEPENDS ${idl_file} COMMENT "Copying ${idl_name}.idl to ${corba_dir}") endif() set(idl_files ${idl_files} ${corba_dir}/${idl_name}.idl) set(idl_cpp_files ${idl_cpp_files} ${subdir}/${idl_name}Sk.cpp ${subdir}/${idl_name}DynSk.cpp) set(idl_h_files ${idl_h_files} ${PROJECT_SOURCE_DIR}/include/cnoid/${subdir}/${idl_name}.hh) endforeach() # idl compile foreach(idl_name ${idl_names}) if(UNIX) add_custom_command( OUTPUT ${corba_src_dir}/${idl_name}.hh ${corba_dir}/${idl_name}.hh ${corba_src_dir}/${idl_name}DynSk.cpp ${corba_src_dir}/${idl_name}Sk.cpp COMMAND omniidl ${idl_flags} ${corba_dir}/${idl_name}.idl COMMAND cp ${corba_src_dir}/${idl_name}.hh ${corba_dir} DEPENDS ${idl_files} COMMENT "Generating the C++ stubs and skeletons of ${idl_name}.idl" ) elseif(MSVC) file(TO_NATIVE_PATH ${corba_src_dir}/${idl_name}.hh src) file(TO_NATIVE_PATH ${corba_dir} dest) add_custom_command( OUTPUT ${corba_src_dir}/${idl_name}.hh ${corba_dir}/${idl_name}.hh ${corba_src_dir}/${idl_name}Sk.cpp ${corba_src_dir}/${idl_name}DynSk.cpp COMMAND for %%A in \("${OMNIORB_DIR}/bin/x86_win32"\) do %%~sA\\omniidl ${idl_flags} ${corba_dir}/${idl_name}.idl COMMAND copy ${src} ${dest} DEPENDS ${idl_files} COMMENT "Generating the C++ stubs and skeletons of ${idl_name}.idl" ) endif() endforeach() set(${out_cpp_files} ${idl_cpp_files} PARENT_SCOPE) set(${out_header_files} ${idl_h_files} PARENT_SCOPE) set_source_files_properties(${idl_cpp_files} PROPERTIES GENERATED true COMPILE_FLAGS -DOMNI_UNLOADABLE_STUBS) endfunction() if(ENABLE_PYTHON) install(DIRECTORY ${PROJECT_BINARY_DIR}/${CNOID_PYTHON_SUBDIR} DESTINATION ${CNOID_PLUGIN_SUBDIR} FILES_MATCHING PATTERN "*.py") function(idl_compile_python target src_subdir dest_subdir global_scope) set(args ${ARGV}) list(REMOVE_AT args 0 1 2 3) set(is_dependencies FALSE) foreach(arg ${args}) if(arg STREQUAL "DEPENDS") set(is_dependencies TRUE) else() if(is_dependencies) set(dependencies ${dependencies} ${arg}) else() set(idl_names ${idl_names} ${arg}) endif() endif() endforeach() set(package "") set(path ${dest_subdir}) set(dir "dummy") while(path AND dir) get_filename_component(dir ${path} NAME) if(dir) if(package) set(package "${dir}.${package}") else() set(package ${dir}) endif() endif() get_filename_component(path ${path} PATH) endwhile() set(python_dir ${PROJECT_BINARY_DIR}/${CNOID_PYTHON_SUBDIR}) set(output_dir ${python_dir}/${dest_subdir}) file(MAKE_DIRECTORY ${output_dir}) set(idl_flags -bpython -Wbglobal=${global_scope} -Wbpackage=${package} -I${PROJECT_SOURCE_DIR}/include) foreach(idl_include_dir ${IDL_INCLUDE_DIRS}) set(idl_flags ${idl_flags} -I${idl_include_dir}) endforeach() foreach(idl_name ${idl_names}) set(idl_files ${idl_files} ${PROJECT_SOURCE_DIR}/include/cnoid/corba/${src_subdir}/${idl_name}.idl) set(outputs ${outputs} ${output_dir}/${idl_name}_idl.py) endforeach() set(prev_output) foreach(idl_name ${idl_names}) set(idl_file ${PROJECT_SOURCE_DIR}/include/cnoid/corba/${src_subdir}/${idl_name}.idl) if(UNIX) add_custom_command( OUTPUT ${output_dir}/${idl_name}_idl.py COMMAND omniidl ${idl_flags} ${idl_file} DEPENDS ${idl_files} ${dependencies} ${prev_output} # prev_output is necessary to make the compile sequential WORKING_DIRECTORY ${python_dir} ) elseif(MSVC) add_custom_command( OUTPUT ${output_dir}/${idl_name}_idl.py COMMAND for %%A in \("${PYTHON_INCLUDE_PATH}/../bin/x86_win32"\) do %%~sA\\omniidl ${idl_flags} ${idl_file} DEPENDS ${idl_files} ${dependencies} WORKING_DIRECTORY ${python_dir} ) endif() set(prev_output ${output_dir}/${idl_name}_idl.py) endforeach() add_custom_target(${target} ALL DEPENDS ${outputs}) endfunction() endif() endif(ENABLE_CORBA) # doxygen # find_package(Doxygen) set_property(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS_DEBUG CNOID_DEBUG) if(UNIX) option(PUT_ALL_WARNINGS "put all warnings in compile" OFF) if(PUT_ALL_WARNINGS) list(APPEND CMAKE_C_FLAGS "-Wall") list(APPEND CMAKE_CXX_FLAGS "-Wall") endif() option(CHECK_UNRESOLVED_SYMBOLS "check unresolved symbols in the object files when creating shared libraries" OFF) #mark_as_advanced(CHECK_UNRESOLVED_SYMBOLS) if(CHECK_UNRESOLVED_SYMBOLS) if(NOT APPLE) set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl,--unresolved-symbols=ignore-in-shared-libs -Wl,--warn-unresolved-symbols") endif() endif() # The RTTI such as dynamic_cast cannot work well with this option in the older GCC like that of Ubuntu 10.04. # So currently this option should be only enabled for modules which may cause symbol conficts #set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl,-Bsymbolic") elseif(MSVC) set_property(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS _CRT_SECURE_NO_WARNINGS) set_property(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS NOMINMAX _USE_MATH_DEFINES) #list(APPEND CMAKE_CXX_FLAGS "/wd4250 /wd4251 /wd4275") endif() include_directories(${PROJECT_SOURCE_DIR}) include_directories(${PROJECT_SOURCE_DIR}/include) link_directories(${PROJECT_BINARY_DIR}/lib) link_directories(${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR}) #Simulation profiling option(ENABLE_SIMULATION_PROFILING "Enable simulation plofiling" OFF) if(ENABLE_SIMULATION_PROFILING) add_definitions(-DENABLE_SIMULATION_PROFILING) endif() # Document installaiton install(FILES NEWS DESTINATION ${CNOID_DOC_SUBDIR}) install(FILES LICENSE DESTINATION ${CNOID_DOC_SUBDIR}) if(MSVC) if(CMAKE_CL_64) include_directories(${PROJECT_SOURCE_DIR}/thirdparty/windows64/include) link_directories(${PROJECT_SOURCE_DIR}/thirdparty/windows64/lib) else() include_directories(${PROJECT_SOURCE_DIR}/thirdparty/windows/include) link_directories(${PROJECT_SOURCE_DIR}/thirdparty/windows/lib) endif() endif() function(make_header_public) set(header_file ${ARGV0}) if(ARGC EQUAL 1) get_filename_component(header ${header_file} NAME_WE) else() set(header ${ARGV1}) endif() file(RELATIVE_PATH header_path ${PROJECT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/${header_file}) file(WRITE "${PROJECT_SOURCE_DIR}/include/cnoid/${header}" "#include \"${header_path}\"\n") endfunction() function(make_headers_public) foreach(header_file ${ARGV}) make_header_public(${header_file}) endforeach() endfunction() function(add_cnoid_library) add_library(${ARGV}) if(ENABLE_GCC_FVISIBILITY_HIDDEN) get_target_property(compile_flags ${ARGV0} COMPILE_FLAGS) if(NOT compile_flags) set(compile_flags "") endif() if(ARGV1 STREQUAL "STATIC") set(compile_flags "${compile_flags} -fPIC") endif() set_target_properties(${ARGV0} PROPERTIES COMPILE_FLAGS "${compile_flags} -fvisibility=hidden") endif() set_target_properties(${ARGV0} PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin) if(ENABLE_INSTALL_RPATH) if(APPLE) set_target_properties(${ARGV0} PROPERTIES INSTALL_NAME_DIR "@rpath") set_target_properties(${ARGV0} PROPERTIES LINK_FLAGS "-Wl,-rpath,@loader_path") else() set_target_properties(${ARGV0} PROPERTIES INSTALL_RPATH "$ORIGIN") endif() else() if(APPLE) set_target_properties(${ARGV0} PROPERTIES INSTALL_NAME_DIR "") endif() endif() endfunction() function(add_cnoid_plugin) add_library(${ARGV}) if(ENABLE_GCC_FVISIBILITY_HIDDEN) get_target_property(compile_flags ${ARGV0} COMPILE_FLAGS) if(compile_flags) set_target_properties(${ARGV0} PROPERTIES COMPILE_FLAGS "${compile_flags} -fvisibility=hidden") else() set_target_properties(${ARGV0} PROPERTIES COMPILE_FLAGS "-fvisibility=hidden") endif() endif() set_target_properties(${ARGV0} PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR} ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR} RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR}) if(ENABLE_INSTALL_RPATH) if(APPLE) set_target_properties(${ARGV0} PROPERTIES INSTALL_NAME_DIR "@rpath") set_target_properties(${ARGV0} PROPERTIES LINK_FLAGS "-Wl,-rpath,@loader_path,-rpath,@loader_path/..") else() set_target_properties(${ARGV0} PROPERTIES INSTALL_RPATH "$ORIGIN:$ORIGIN/..") endif() else() if(APPLE) set_target_properties(${ARGV0} PROPERTIES INSTALL_NAME_DIR "") else() set_target_properties(${ARGV0} PROPERTIES INSTALL_RPATH "$ORIGIN") endif() endif() endfunction() function(add_cnoid_executable) add_executable(${ARGV}) set_target_properties(${ARGV0} PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin) if(ENABLE_INSTALL_RPATH) if(APPLE) set_target_properties(${ARGV0} PROPERTIES LINK_FLAGS "-Wl,-rpath,@executable_path/../lib") elseif(UNIX) set_target_properties(${ARGV0} PROPERTIES INSTALL_RPATH "$ORIGIN/../lib") endif() endif() apply_common_setting_for_target(${ARGV0}) install(TARGETS ${ARGV0} RUNTIME DESTINATION bin CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel) endfunction() function(apply_common_setting_for_target target) set(headers ${ARGV1}) if(MSVC) if(MSVC_IDE) if(headers) source_group("Header Files" FILES ${headers}) endif() #set_target_properties(${target} PROPERTIES PREFIX "../" IMPORT_PREFIX "../") endif() get_target_property(existing_compile_flags ${target} COMPILE_FLAGS) if(existing_compile_flags STREQUAL existing_compile_flags-NOTFOUND) set(existing_compile_flags "") endif() set_target_properties(${target} PROPERTIES COMPILE_FLAGS "${existing_compile_flags} /MP /wd4250 /wd4251 /wd4275 /wd4819 /wd4800 /wd4018 /wd4244 /wd4267") get_target_property(existing_link_flags ${target} LINK_FLAGS) if(existing_link_flags STREQUAL existing_link_flags-NOTFOUND) set(existing_link_flags "") endif() set_target_properties(${target} PROPERTIES LINK_FLAGS "${existing_link_flags} /NODEFAULTLIB:LIBCMT") set_target_properties(${target} PROPERTIES DEBUG_POSTFIX d) endif() endfunction() function(apply_common_setting_for_library_core target) set(headers ${ARGV1}) set_target_properties(${target} PROPERTIES VERSION ${CNOID_VERSION}) apply_common_setting_for_target(${target} "${headers}") get_target_property(target_type ${target} TYPE) if(target_type STREQUAL STATIC_LIBRARY) if(INSTALL_SDK) install(TARGETS ${target} LIBRARY DESTINATION lib CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel ARCHIVE DESTINATION lib CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel) endif() else() install(TARGETS ${target} RUNTIME DESTINATION bin CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel LIBRARY DESTINATION lib CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel) endif() endfunction() # (target "header1 header2 header3 ...") function(apply_common_setting_for_library target) apply_common_setting_for_library_core(${ARGV}) if(INSTALL_SDK) set(headers ${ARGV1}) if(headers) file(RELATIVE_PATH rel_src_dir ${PROJECT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}) install(FILES ${headers} DESTINATION ${CNOID_HEADER_SUBDIR}/cnoid/${rel_src_dir}) endif() endif() endfunction() function(apply_common_setting_for_ext_library) apply_common_setting_for_library_core(${ARGV}) endfunction() function(apply_common_setting_for_plugin target) set(headers ${ARGV1}) apply_common_setting_for_target(${target} "${headers}") if(INSTALL_SDK) install(TARGETS ${target} RUNTIME DESTINATION ${CNOID_PLUGIN_SUBDIR} CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel LIBRARY DESTINATION ${CNOID_PLUGIN_SUBDIR} CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel ARCHIVE DESTINATION lib CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel) if(headers) file(RELATIVE_PATH header_subdir ${PROJECT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}) install(FILES ${headers} DESTINATION ${CNOID_HEADER_SUBDIR}/cnoid/${header_subdir}) endif() else() install(TARGETS ${target} RUNTIME DESTINATION ${CNOID_PLUGIN_SUBDIR} CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel LIBRARY DESTINATION ${CNOID_PLUGIN_SUBDIR} CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel) endif() endfunction() if(ENABLE_PYTHON) function(add_cnoid_python_module) set(target ${ARGV0}) string(REGEX REPLACE "^Py(.+)$" "\\1" module ${target}) set(sources ${ARGV}) list(REMOVE_AT sources 0) add_library(${target} SHARED ${sources}) if(NOT WIN32) set_target_properties(${target} PROPERTIES COMPILE_DEFINITIONS "BOOST_PYTHON_USE_GCC_SYMBOL_VISIBILITY" ) else() set_target_properties(${target} PROPERTIES SUFFIX .pyd) endif() set_target_properties(${target} PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CNOID_PYTHON_SUBDIR}/cnoid LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CNOID_PYTHON_SUBDIR}/cnoid RUNTIME_OUTPUT_NAME ${module} LIBRARY_OUTPUT_NAME ${module} PREFIX "") install(TARGETS ${target} RUNTIME DESTINATION ${CNOID_PYTHON_SUBDIR}/cnoid CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel LIBRARY DESTINATION ${CNOID_PYTHON_SUBDIR}/cnoid CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel) endfunction() function(apply_common_setting_for_python_module target) set(headers ${ARGV1}) set_target_properties(${target} PROPERTIES VERSION ${CNOID_VERSION}) apply_common_setting_for_target(${target} "${headers}") if(INSTALL_SDK) if(MSVC) install(TARGETS ${target} ARCHIVE DESTINATION lib CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel) endif() if(headers) file(RELATIVE_PATH rel_src_dir ${PROJECT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}) install(FILES ${headers} DESTINATION ${CNOID_HEADER_SUBDIR}/cnoid/${rel_src_dir}) endif() endif() endfunction() endif() #function(make_gettext_mofiles out_mofiles) function(make_gettext_mofiles target out_mofiles) configure_file(${PROJECT_SOURCE_DIR}/src/Util/gettext.h.in ${CMAKE_CURRENT_SOURCE_DIR}/gettext.h) set(${out_mofiles} "") if(NOT CNOID_ENABLE_GETTEXT) return() endif() file(GLOB pofiles ${CMAKE_CURRENT_SOURCE_DIR}/po/*.po) foreach(pofile ${pofiles}) get_filename_component(lang ${pofile} NAME_WE) set(message_location share/locale/${lang}/LC_MESSAGES) #file(MAKE_DIRECTORY ${PROJECT_BINARY_DIR}/${message_location}) #set(mofile ${PROJECT_BINARY_DIR}/${message_location}/${target}-${CNOID_VERSION}.mo) file(MAKE_DIRECTORY ${PROJECT_SOURCE_DIR}/${message_location}) set(mofile ${PROJECT_SOURCE_DIR}/${message_location}/${target}-${CNOID_VERSION}.mo) add_custom_command( OUTPUT ${mofile} COMMAND ${GETTEXT_MSGFMT_EXECUTABLE} -o ${mofile} ${pofile} DEPENDS ${pofile} ) list(APPEND mofiles ${mofile}) install(FILES ${mofile} DESTINATION "share/locale/${lang}/LC_MESSAGES") endforeach() set(${out_mofiles} ${mofiles} PARENT_SCOPE) endfunction() # libyaml if(UNIX) set(USE_EXTERNAL_YAML_DEFAULT ON) elseif(MSVC) set(USE_EXTERNAL_YAML_DEFAULT OFF) endif() option(USE_EXTERNAL_YAML "Use the yaml library installed in an external directory" ${USE_EXTERNAL_YAML_DEFAULT}) if(USE_EXTERNAL_YAML) set(LIBYAML_DIR CACHE PATH "set the top directory of the libyaml") if(LIBYAML_DIR) include_directories(${LIBYAML_DIR}/include) link_directories(${LIBYAML_DIR}/lib) endif() else() add_subdirectory(thirdparty/yaml-0.1.3) include_directories(${Choreonoid_SOURCE_DIR}/thirdparty/yaml-0.1.3/include) endif() # irrxml add_subdirectory(thirdparty/irrxml-1.2) set(IRRXML_INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/thirdparty/irrxml-1.2/src) include_directories(${IRRXML_INCLUDE_DIRS}) # glew library if(ENABLE_GUI) if(UNIX) set(USE_EXTERNAL_GLEW_DEFAULT ON) elseif(MSVC) set(USE_EXTERNAL_GLEW_DEFAULT OFF) endif() option(USE_EXTERNAL_GLEW "Use the GLEW library installed in an external directory" ${USE_EXTERNAL_GLEW_DEFAULT}) if(USE_EXTERNAL_GLEW) set(GLEW_DIR CACHE PATH "set the top directory of the GLEW library") if(GLEW_DIR) include_directories(${GLEW_DIR}/include) link_directories(${GLEW_DIR}/lib) set(GLEW_LIBRARIES GLEW) elseif(UNIX) pkg_check_modules(GLEW glew REQUIRED) include_directories(${GLEW_INCLUDE_DIRS}) link_directories(${GLEW_LIBRARY_DIRS}) endif() else() include_directories(${Choreonoid_SOURCE_DIR}/thirdparty/glew-1.9.0/include) set(GLEW_LIBRARIES glew32) add_subdirectory(thirdparty/glew-1.9.0) endif() endif() if(UNIX) # png find_package(PNG REQUIRED) include_directories(${PNG_INCLUDE_DIR}) # jpeg find_package(JPEG REQUIRED) include_directories(${JPEG_INCLUDE_DIR}) elseif(MSVC) set(PNG_LIBRARY libpng) set(JPEG_LIBRARY jpeg) include_directories(${Choreonoid_SOURCE_DIR}/thirdparty/lpng1232) include_directories(${Choreonoid_SOURCE_DIR}/thirdparty/Jpeg-6b) include_directories(${Choreonoid_SOURCE_DIR}/thirdparty/zlib123) add_subdirectory(thirdparty/lpng1232) add_subdirectory(thirdparty/Jpeg-6b) add_subdirectory(thirdparty/zlib123) endif() add_subdirectory(src) add_subdirectory(include) option(ENABLE_SAMPLES "Enable samples in the sample directory" ON) if(ENABLE_SAMPLES) add_subdirectory(sample) endif() option(ENABLE_EXT "Enable components in the ext directory" ON) if(ENABLE_EXT) add_subdirectory(ext) # additional ext directories set(ADDITIONAL_EXT_DIRECTORIES ${ADDITIONAL_EXT_DIRECTORIES} CACHE FILEPATH "Additional ext directories") if(ADDITIONAL_EXT_DIRECTORIES) foreach(dir ${ADDITIONAL_EXT_DIRECTORIES}) if(EXISTS ${dir}/CMakeLists.txt) add_subdirectory(${dir}) endif() endforeach() endif() endif() configure_file(Doxyfile.in ${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile @ONLY) if(EXISTS ${PROJECT_SOURCE_DIR}/test) if(EXISTS ${PROJECT_SOURCE_DIR}/test/CMakeLists.txt) add_subdirectory(test) endif() endif() # installing share directory files # This must be written not in share directory but in this top CMakeLists.txt # to prevent the share directory from being created in the binary directory set(subdirs model project motion script) foreach(subdir ${subdirs}) get_filename_component(path share/${subdir} ABSOLUTE) if((EXISTS ${path}) AND (IS_DIRECTORY ${path})) install(DIRECTORY share/${subdir} DESTINATION ${CNOID_SHARE_SUBDIR}) endif() endforeach() # CPack include(InstallRequiredSystemLibraries) # InstallRequiredSystemLibraries does not properly support MSVS 14 yet, so do it manually. (CMake3.5) if(INSTALL_RUNTIME_DEPENDENCIES) unset(CMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_DEBUG) unset(CMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_RELEASE) if(DEFINED MSVC_VERSION AND NOT MSVC_VERSION LESS 1900) # Internal: Architecture-appropriate library directory names. if("${CMAKE_VS_PLATFORM_NAME}" STREQUAL "ARM") set(_winsdk_arch8 arm) # what the WDK for Win8+ calls this architecture else() if(CMAKE_SIZEOF_VOID_P MATCHES "8") set(_winsdk_arch8 x64) # what the WDK for Win8+ calls this architecture else() set(_winsdk_arch8 x86) # what the WDK for Win8+ calls this architecture endif() endif() # The CRT is distributed with MSVS. get_filename_component(MSVS_DIR "[HKEY_LOCAL_MACHINE\\SOFTWARE\\Microsoft\\VisualStudio\\14.0;ShellFolder]" ABSOLUTE) # As of MSVC 19 the CRT depends on the 'univeral' CRT (which is part of Windows development kit 10 and above). get_filename_component(WINDOWS_KIT_DIR "[HKEY_LOCAL_MACHINE\\SOFTWARE\\Microsoft\\Windows Kits\\Installed Roots;KitsRoot10]" ABSOLUTE) file(GLOB CMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_DEBUG "${MSVS_DIR}/VC/redist/debug_nonredist/${_winsdk_arch8}/Microsoft.VC140.DebugCRT/*.dll" "${WINDOWS_KIT_DIR}/Redist/ucrt/DLLs/${_winsdk_arch8}/api-ms-win-*.dll" "${WINDOWS_KIT_DIR}/bin/${_winsdk_arch8}/ucrt/*.dll" ) file(GLOB CMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_RELEASE "${MSVS_DIR}/VC/redist/${_winsdk_arch8}/Microsoft.VC140.CRT/*.dll" "${WINDOWS_KIT_DIR}/Redist/ucrt/DLLs/${_winsdk_arch8}/*.dll" ) install(PROGRAMS ${CMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_RELEASE} DESTINATION bin ) endif() endif() set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Choreonoid") set(CPACK_PACKAGE_VENDOR "Shin'ichiro Nakaoka, AIST") #set(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_CURRENT_SOURCE_DIR}/ReadMe.txt") set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE") set(CPACK_PACKAGE_VERSION_MAJOR ${CNOID_MAJOR_VERSION}) set(CPACK_PACKAGE_VERSION_MINOR ${CNOID_MINOR_VERSION}) set(CPACK_PACKAGE_VERSION_PATCH ${CNOID_PATCH_VERSION}) set(CPACK_PACKAGE_INSTALL_DIRECTORY "Choreonoid ${CNOID_VERSION}") set(CPACK_PACKAGE_INSTALL_REGISTORY_KEY "Choreonoid ${CNOID_VERSION}") set(CPACK_GENERATOR NSIS) if(WIN32) set(CPACK_GENERATOR NSIS) set(CPACK_PACKAGE_ICON "${CMAKE_SOURCE_DIR}\\\\src\\\\Choreonoid\\\\icon\\\\choreonoid.ico") set(CPACK_NSIS_INSTALLED_ICON_NAME "bin\\\\choreonoid.exe") set(CPACK_NSIS_DISPLAY_NAME "Choreonoid ${CNOID_VERSION}") set(CPACK_NSIS_CONTACT "choreonoid@m.aist.go.jp") set(CPACK_NSIS_MODIFY_PATH ON) set(CPACK_PACKAGE_EXECUTABLES "choreonoid;Choreonoid") set(CPACK_CREATE_DESKTOP_LINKS choreonoid) set(CPACK_NSIS_URL_INFO_ABOUT "http://choreonoid.org") set(CPACK_NSIS_EXTRA_INSTALL_COMMANDS "!include \\\"FileAssociation.nsh\\\"\n\\\${registerExtension} \\\"\$INSTDIR\\\\bin\\\\choreonoid.exe\\\" \\\".cnoid\\\" \\\"ChoreonoidProject\\\" \nSystem::Call 'shell32.dll::SHChangeNotify(i, i, i, i) v (0x08000000, 0, 0, 0)'") set(CPACK_NSIS_EXTRA_UNINSTALL_COMMANDS "\\\${unregisterExtension} \\\".cnoid\\\" \\\"ChoreonoidProject\\\" \nSystem::Call 'shell32.dll::SHChangeNotify(i, i, i, i) v (0x08000000, 0, 0, 0)'") elseif(UNIX) set(CPACK_GENERATOR DEB) set(CPACK_PACKAGE_FILE_NAME "choreonoid_${CNOID_FULL_VERSION}_i386") set(CPACK_DEBIAN_PACKAGE_DEPENDS "libc6, libgcc1, libstdc++6, libpng12-0, libjpeg62, libyaml-0-2, zlib1g, libboost-filesystem1.42.0, libboost-date-time1.42.0, libboost-program-options1.42.0, libboost-python1.42.0, libboost-regex1.42.0, libboost-system1.42.0, libboost-thread1.42.0, libqtcore4, libqtgui4, libqt4-test, libqt4-opengl") if(INSTALL_SDK) set(CPACK_DEBIAN_PACKAGE_DEPENDS "${CPACK_DEBIAN_PACKAGE_DEPENDS}, libstdc++-dev, libboost-dev, libboost-program-options-dev, libboost-python-dev, libqt4-dev, libqt4-opengl-dev") endif() set(CPACK_DEBIAN_PACKAGE_MAINTAINER "Shin'ichiro Nakaoka") endif() #set(CPACK_INCLUDE_TOPLEVEL_DIRECTORY 1) include(CPack) add_subdirectory(misc) choreonoid-1.5.0/Doxyfile.in0000664000000000000000000017455212741425367014512 0ustar rootroot# Doxyfile 1.5.8 # This file describes the settings to be used by the documentation system # doxygen (www.doxygen.org) for a project # # All text after a hash (#) is considered a comment and will be ignored # The format is: # TAG = value [value, ...] # For lists items can also be appended using: # TAG += value [value, ...] # Values that contain spaces should be placed between quotes (" ") #--------------------------------------------------------------------------- # Project related configuration options #--------------------------------------------------------------------------- # This tag specifies the encoding used for all characters in the config file # that follow. The default is UTF-8 which is also the encoding used for all # text before the first occurrence of this tag. Doxygen uses libiconv (or the # iconv built into libc) for the transcoding. See # http://www.gnu.org/software/libiconv for the list of possible encodings. DOXYFILE_ENCODING = UTF-8 # The PROJECT_NAME tag is a single word (or a sequence of words surrounded # by quotes) that should identify the project. PROJECT_NAME = "Choreonoid" # The PROJECT_NUMBER tag can be used to enter a project or revision number. # This could be handy for archiving the generated documentation or # if some version control system is used. PROJECT_NUMBER = @CNOID_VERSION@ # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) # base path where the generated documentation will be put. # If a relative path is entered, it will be relative to the location # where doxygen was started. If left blank the current directory will be used. OUTPUT_DIRECTORY = . # If the CREATE_SUBDIRS tag is set to YES, then doxygen will create # 4096 sub-directories (in 2 levels) under the output directory of each output # format and will distribute the generated files over these directories. # Enabling this option can be useful when feeding doxygen a huge amount of # source files, where putting all generated files in the same directory would # otherwise cause performance problems for the file system. CREATE_SUBDIRS = NO # The OUTPUT_LANGUAGE tag is used to specify the language in which all # documentation generated by doxygen is written. Doxygen will use this # information to generate all constant output in the proper language. # The default language is English, other supported languages are: # Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional, # Croatian, Czech, Danish, Dutch, Farsi, Finnish, French, German, Greek, # Hungarian, Italian, Japanese, Japanese-en (Japanese with English messages), # Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian, Polish, # Portuguese, Romanian, Russian, Serbian, Serbian-Cyrilic, Slovak, Slovene, # Spanish, Swedish, and Ukrainian. OUTPUT_LANGUAGE = English #OUTPUT_LANGUAGE = Japanese # If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will # include brief member descriptions after the members that are listed in # the file and class documentation (similar to JavaDoc). # Set to NO to disable this. BRIEF_MEMBER_DESC = YES # If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend # the brief description of a member or function before the detailed description. # Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the # brief descriptions will be completely suppressed. REPEAT_BRIEF = YES # This tag implements a quasi-intelligent brief description abbreviator # that is used to form the text in various listings. Each string # in this list, if found as the leading text of the brief description, will be # stripped from the text and the result after processing the whole list, is # used as the annotated text. Otherwise, the brief description is used as-is. # If left blank, the following values are used ("$name" is automatically # replaced with the name of the entity): "The $name class" "The $name widget" # "The $name file" "is" "provides" "specifies" "contains" # "represents" "a" "an" "the" ABBREVIATE_BRIEF = # If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then # Doxygen will generate a detailed section even if there is only a brief # description. ALWAYS_DETAILED_SEC = NO # If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all # inherited members of a class in the documentation of that class as if those # members were ordinary class members. Constructors, destructors and assignment # operators of the base classes will not be shown. INLINE_INHERITED_MEMB = NO # If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full # path before files name in the file list and in the header files. If set # to NO the shortest path that makes the file name unique will be used. FULL_PATH_NAMES = NO # If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag # can be used to strip a user-defined part of the path. Stripping is # only done if one of the specified strings matches the left-hand part of # the path. The tag can be used to show relative paths in the file list. # If left blank the directory from which doxygen is run is used as the # path to strip. STRIP_FROM_PATH = # The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of # the path mentioned in the documentation of a class, which tells # the reader which header file to include in order to use a class. # If left blank only the name of the header file containing the class # definition is used. Otherwise one should specify the include paths that # are normally passed to the compiler using the -I flag. STRIP_FROM_INC_PATH = # If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter # (but less readable) file names. This can be useful is your file systems # doesn't support long names like on DOS, Mac, or CD-ROM. SHORT_NAMES = NO # If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen # will interpret the first line (until the first dot) of a JavaDoc-style # comment as the brief description. If set to NO, the JavaDoc # comments will behave just like regular Qt-style comments # (thus requiring an explicit @brief command for a brief description.) JAVADOC_AUTOBRIEF = NO # If the QT_AUTOBRIEF tag is set to YES then Doxygen will # interpret the first line (until the first dot) of a Qt-style # comment as the brief description. If set to NO, the comments # will behave just like regular Qt-style comments (thus requiring # an explicit \brief command for a brief description.) QT_AUTOBRIEF = NO # The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen # treat a multi-line C++ special comment block (i.e. a block of //! or /// # comments) as a brief description. This used to be the default behaviour. # The new default is to treat a multi-line C++ comment block as a detailed # description. Set this tag to YES if you prefer the old behaviour instead. MULTILINE_CPP_IS_BRIEF = NO # If the INHERIT_DOCS tag is set to YES (the default) then an undocumented # member inherits the documentation from any documented member that it # re-implements. INHERIT_DOCS = YES # If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce # a new page for each member. If set to NO, the documentation of a member will # be part of the file/class/namespace that contains it. SEPARATE_MEMBER_PAGES = NO # The TAB_SIZE tag can be used to set the number of spaces in a tab. # Doxygen uses this value to replace tabs by spaces in code fragments. TAB_SIZE = 8 # This tag can be used to specify a number of aliases that acts # as commands in the documentation. An alias has the form "name=value". # For example adding "sideeffect=\par Side Effects:\n" will allow you to # put the command \sideeffect (or @sideeffect) in the documentation, which # will result in a user-defined paragraph with heading "Side Effects:". # You can put \n's in the value part of an alias to insert newlines. ALIASES = # Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C # sources only. Doxygen will then generate output that is more tailored for C. # For instance, some of the names that are used will be different. The list # of all members will be omitted, etc. OPTIMIZE_OUTPUT_FOR_C = NO # Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java # sources only. Doxygen will then generate output that is more tailored for # Java. For instance, namespaces will be presented as packages, qualified # scopes will look different, etc. OPTIMIZE_OUTPUT_JAVA = NO # Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran # sources only. Doxygen will then generate output that is more tailored for # Fortran. OPTIMIZE_FOR_FORTRAN = NO # Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL # sources. Doxygen will then generate output that is tailored for # VHDL. OPTIMIZE_OUTPUT_VHDL = NO # Doxygen selects the parser to use depending on the extension of the files it parses. # With this tag you can assign which parser to use for a given extension. # Doxygen has a built-in mapping, but you can override or extend it using this tag. # The format is ext=language, where ext is a file extension, and language is one of # the parsers supported by doxygen: IDL, Java, Javascript, C#, C, C++, D, PHP, # Objective-C, Python, Fortran, VHDL, C, C++. For instance to make doxygen treat # .inc files as Fortran files (default is PHP), and .f files as C (default is Fortran), # use: inc=Fortran f=C EXTENSION_MAPPING = # If you use STL classes (i.e. std::string, std::vector, etc.) but do not want # to include (a tag file for) the STL sources as input, then you should # set this tag to YES in order to let doxygen match functions declarations and # definitions whose arguments contain STL classes (e.g. func(std::string); v.s. # func(std::string) {}). This also make the inheritance and collaboration # diagrams that involve STL classes more complete and accurate. BUILTIN_STL_SUPPORT = YES # If you use Microsoft's C++/CLI language, you should set this option to YES to # enable parsing support. CPP_CLI_SUPPORT = NO # Set the SIP_SUPPORT tag to YES if your project consists of sip sources only. # Doxygen will parse them like normal C++ but will assume all classes use public # instead of private inheritance when no explicit protection keyword is present. SIP_SUPPORT = NO # For Microsoft's IDL there are propget and propput attributes to indicate getter # and setter methods for a property. Setting this option to YES (the default) # will make doxygen to replace the get and set methods by a property in the # documentation. This will only work if the methods are indeed getting or # setting a simple type. If this is not the case, or you want to show the # methods anyway, you should set this option to NO. IDL_PROPERTY_SUPPORT = YES # If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC # tag is set to YES, then doxygen will reuse the documentation of the first # member in the group (if any) for the other members of the group. By default # all members of a group must be documented explicitly. DISTRIBUTE_GROUP_DOC = NO # Set the SUBGROUPING tag to YES (the default) to allow class member groups of # the same type (for instance a group of public functions) to be put as a # subgroup of that type (e.g. under the Public Functions section). Set it to # NO to prevent subgrouping. Alternatively, this can be done per class using # the \nosubgrouping command. SUBGROUPING = YES # When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum # is documented as struct, union, or enum with the name of the typedef. So # typedef struct TypeS {} TypeT, will appear in the documentation as a struct # with name TypeT. When disabled the typedef will appear as a member of a file, # namespace, or class. And the struct will be named TypeS. This can typically # be useful for C code in case the coding convention dictates that all compound # types are typedef'ed and only the typedef is referenced, never the tag name. TYPEDEF_HIDES_STRUCT = NO # The SYMBOL_CACHE_SIZE determines the size of the internal cache use to # determine which symbols to keep in memory and which to flush to disk. # When the cache is full, less often used symbols will be written to disk. # For small to medium size projects (<1000 input files) the default value is # probably good enough. For larger projects a too small cache size can cause # doxygen to be busy swapping symbols to and from disk most of the time # causing a significant performance penality. # If the system has enough physical memory increasing the cache will improve the # performance by keeping more symbols in memory. Note that the value works on # a logarithmic scale so increasing the size by one will rougly double the # memory usage. The cache size is given by this formula: # 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0, # corresponding to a cache size of 2^16 = 65536 symbols SYMBOL_CACHE_SIZE = 0 #--------------------------------------------------------------------------- # Build related configuration options #--------------------------------------------------------------------------- # If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in # documentation are documented, even if no documentation was available. # Private class members and static file members will be hidden unless # the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES EXTRACT_ALL = YES # If the EXTRACT_PRIVATE tag is set to YES all private members of a class # will be included in the documentation. EXTRACT_PRIVATE = NO # If the EXTRACT_STATIC tag is set to YES all static members of a file # will be included in the documentation. EXTRACT_STATIC = NO # If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) # defined locally in source files will be included in the documentation. # If set to NO only classes defined in header files are included. EXTRACT_LOCAL_CLASSES = NO # This flag is only useful for Objective-C code. When set to YES local # methods, which are defined in the implementation section but not in # the interface are included in the documentation. # If set to NO (the default) only methods in the interface are included. EXTRACT_LOCAL_METHODS = NO # If this flag is set to YES, the members of anonymous namespaces will be # extracted and appear in the documentation as a namespace called # 'anonymous_namespace{file}', where file will be replaced with the base # name of the file that contains the anonymous namespace. By default # anonymous namespace are hidden. EXTRACT_ANON_NSPACES = NO # If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all # undocumented members of documented classes, files or namespaces. # If set to NO (the default) these members will be included in the # various overviews, but no documentation section is generated. # This option has no effect if EXTRACT_ALL is enabled. HIDE_UNDOC_MEMBERS = NO # If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all # undocumented classes that are normally visible in the class hierarchy. # If set to NO (the default) these classes will be included in the various # overviews. This option has no effect if EXTRACT_ALL is enabled. HIDE_UNDOC_CLASSES = NO # If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all # friend (class|struct|union) declarations. # If set to NO (the default) these declarations will be included in the # documentation. HIDE_FRIEND_COMPOUNDS = NO # If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any # documentation blocks found inside the body of a function. # If set to NO (the default) these blocks will be appended to the # function's detailed documentation block. HIDE_IN_BODY_DOCS = NO # The INTERNAL_DOCS tag determines if documentation # that is typed after a \internal command is included. If the tag is set # to NO (the default) then the documentation will be excluded. # Set it to YES to include the internal documentation. INTERNAL_DOCS = NO # If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate # file names in lower-case letters. If set to YES upper-case letters are also # allowed. This is useful if you have classes or files whose names only differ # in case and if your file system supports case sensitive file names. Windows # and Mac users are advised to set this option to NO. CASE_SENSE_NAMES = YES # If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen # will show members with their full class and namespace scopes in the # documentation. If set to YES the scope will be hidden. HIDE_SCOPE_NAMES = NO # If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen # will put a list of the files that are included by a file in the documentation # of that file. SHOW_INCLUDE_FILES = YES # If the INLINE_INFO tag is set to YES (the default) then a tag [inline] # is inserted in the documentation for inline members. INLINE_INFO = YES # If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen # will sort the (detailed) documentation of file and class members # alphabetically by member name. If set to NO the members will appear in # declaration order. SORT_MEMBER_DOCS = YES # If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the # brief documentation of file, namespace and class members alphabetically # by member name. If set to NO (the default) the members will appear in # declaration order. SORT_BRIEF_DOCS = NO # If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the # hierarchy of group names into alphabetical order. If set to NO (the default) # the group names will appear in their defined order. SORT_GROUP_NAMES = NO # If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be # sorted by fully-qualified names, including namespaces. If set to # NO (the default), the class list will be sorted only by class name, # not including the namespace part. # Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. # Note: This option applies only to the class list, not to the # alphabetical list. SORT_BY_SCOPE_NAME = NO # The GENERATE_TODOLIST tag can be used to enable (YES) or # disable (NO) the todo list. This list is created by putting \todo # commands in the documentation. GENERATE_TODOLIST = YES # The GENERATE_TESTLIST tag can be used to enable (YES) or # disable (NO) the test list. This list is created by putting \test # commands in the documentation. GENERATE_TESTLIST = YES # The GENERATE_BUGLIST tag can be used to enable (YES) or # disable (NO) the bug list. This list is created by putting \bug # commands in the documentation. GENERATE_BUGLIST = YES # The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or # disable (NO) the deprecated list. This list is created by putting # \deprecated commands in the documentation. GENERATE_DEPRECATEDLIST= YES # The ENABLED_SECTIONS tag can be used to enable conditional # documentation sections, marked by \if sectionname ... \endif. ENABLED_SECTIONS = # The MAX_INITIALIZER_LINES tag determines the maximum number of lines # the initial value of a variable or define consists of for it to appear in # the documentation. If the initializer consists of more lines than specified # here it will be hidden. Use a value of 0 to hide initializers completely. # The appearance of the initializer of individual variables and defines in the # documentation can be controlled using \showinitializer or \hideinitializer # command in the documentation regardless of this setting. MAX_INITIALIZER_LINES = 30 # Set the SHOW_USED_FILES tag to NO to disable the list of files generated # at the bottom of the documentation of classes and structs. If set to YES the # list will mention the files that were used to generate the documentation. SHOW_USED_FILES = YES # If the sources in your project are distributed over multiple directories # then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy # in the documentation. The default is NO. SHOW_DIRECTORIES = NO # Set the SHOW_FILES tag to NO to disable the generation of the Files page. # This will remove the Files entry from the Quick Index and from the # Folder Tree View (if specified). The default is YES. SHOW_FILES = YES # Set the SHOW_NAMESPACES tag to NO to disable the generation of the # Namespaces page. # This will remove the Namespaces entry from the Quick Index # and from the Folder Tree View (if specified). The default is YES. SHOW_NAMESPACES = YES # The FILE_VERSION_FILTER tag can be used to specify a program or script that # doxygen should invoke to get the current version for each file (typically from # the version control system). Doxygen will invoke the program by executing (via # popen()) the command , where is the value of # the FILE_VERSION_FILTER tag, and is the name of an input file # provided by doxygen. Whatever the program writes to standard output # is used as the file version. See the manual for examples. FILE_VERSION_FILTER = # The LAYOUT_FILE tag can be used to specify a layout file which will be parsed by # doxygen. The layout file controls the global structure of the generated output files # in an output format independent way. The create the layout file that represents # doxygen's defaults, run doxygen with the -l option. You can optionally specify a # file name after the option, if omitted DoxygenLayout.xml will be used as the name # of the layout file. LAYOUT_FILE = #--------------------------------------------------------------------------- # configuration options related to warning and progress messages #--------------------------------------------------------------------------- # The QUIET tag can be used to turn on/off the messages that are generated # by doxygen. Possible values are YES and NO. If left blank NO is used. QUIET = NO # The WARNINGS tag can be used to turn on/off the warning messages that are # generated by doxygen. Possible values are YES and NO. If left blank # NO is used. WARNINGS = YES # If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings # for undocumented members. If EXTRACT_ALL is set to YES then this flag will # automatically be disabled. WARN_IF_UNDOCUMENTED = YES # If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for # potential errors in the documentation, such as not documenting some # parameters in a documented function, or documenting parameters that # don't exist or using markup commands wrongly. WARN_IF_DOC_ERROR = YES # This WARN_NO_PARAMDOC option can be abled to get warnings for # functions that are documented, but have no documentation for their parameters # or return value. If set to NO (the default) doxygen will only warn about # wrong or incomplete parameter documentation, but not about the absence of # documentation. WARN_NO_PARAMDOC = NO # The WARN_FORMAT tag determines the format of the warning messages that # doxygen can produce. The string should contain the $file, $line, and $text # tags, which will be replaced by the file and line number from which the # warning originated and the warning text. Optionally the format may contain # $version, which will be replaced by the version of the file (if it could # be obtained via FILE_VERSION_FILTER) WARN_FORMAT = "$file:$line: $text" # The WARN_LOGFILE tag can be used to specify a file to which warning # and error messages should be written. If left blank the output is written # to stderr. WARN_LOGFILE = #--------------------------------------------------------------------------- # configuration options related to the input files #--------------------------------------------------------------------------- # The INPUT tag can be used to specify the files and/or directories that contain # documented source files. You may enter file names like "myfile.cpp" or # directories like "/usr/src/myproject". Separate the files or directories # with spaces. INPUT = src/Util src/Base src/Body src/AISTCollisionDetector src/BodyPlugin src/SimpleControllerPlugin src/PoseSeqPlugin src/BalancerPlugin src/ODEPlugin src/BulletPlugin src/Python src/PythonPlugin src/PythonSimScriptPlugin src/MediaPlugin src/Corba src/CorbaPlugin src/OpenRTMPlugin src/OpenHRPPlugin # This tag can be used to specify the character encoding of the source files # that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is # also the default input encoding. Doxygen uses libiconv (or the iconv built # into libc) for the transcoding. See http://www.gnu.org/software/libiconv for # the list of possible encodings. INPUT_ENCODING = UTF-8 # If the value of the INPUT tag contains directories, you can use the # FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp # and *.h) to filter out the source-files in the directories. If left # blank the following patterns are tested: # *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx # *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.py *.f90 FILE_PATTERNS = # The RECURSIVE tag can be used to turn specify whether or not subdirectories # should be searched for input files as well. Possible values are YES and NO. # If left blank NO is used. RECURSIVE = NO # The EXCLUDE tag can be used to specify files and/or directories that should # excluded from the INPUT source files. This way you can easily exclude a # subdirectory from a directory tree whose root is specified with the INPUT tag. EXCLUDE = # The EXCLUDE_SYMLINKS tag can be used select whether or not files or # directories that are symbolic links (a Unix filesystem feature) are excluded # from the input. EXCLUDE_SYMLINKS = NO # If the value of the INPUT tag contains directories, you can use the # EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude # certain files from those directories. Note that the wildcards are matched # against the file with absolute path, so to exclude all test directories # for example use the pattern */test/* EXCLUDE_PATTERNS = */test/* */old/* */.svn/* # The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names # (namespaces, classes, functions, etc.) that should be excluded from the # output. The symbol name can be a fully qualified name, a word, or if the # wildcard * is used, a substring. Examples: ANamespace, AClass, # AClass::ANamespace, ANamespace::*Test EXCLUDE_SYMBOLS = # The EXAMPLE_PATH tag can be used to specify one or more files or # directories that contain example code fragments that are included (see # the \include command). EXAMPLE_PATH = # If the value of the EXAMPLE_PATH tag contains directories, you can use the # EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp # and *.h) to filter out the source-files in the directories. If left # blank all files are included. EXAMPLE_PATTERNS = # If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be # searched for input files to be used with the \include or \dontinclude # commands irrespective of the value of the RECURSIVE tag. # Possible values are YES and NO. If left blank NO is used. EXAMPLE_RECURSIVE = NO # The IMAGE_PATH tag can be used to specify one or more files or # directories that contain image that are included in the documentation (see # the \image command). IMAGE_PATH = # The INPUT_FILTER tag can be used to specify a program that doxygen should # invoke to filter for each input file. Doxygen will invoke the filter program # by executing (via popen()) the command , where # is the value of the INPUT_FILTER tag, and is the name of an # input file. Doxygen will then use the output that the filter program writes # to standard output. # If FILTER_PATTERNS is specified, this tag will be # ignored. INPUT_FILTER = # The FILTER_PATTERNS tag can be used to specify filters on a per file pattern # basis. # Doxygen will compare the file name with each pattern and apply the # filter if there is a match. # The filters are a list of the form: # pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further # info on how filters are used. If FILTER_PATTERNS is empty, INPUT_FILTER # is applied to all files. FILTER_PATTERNS = # If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using # INPUT_FILTER) will be used to filter the input files when producing source # files to browse (i.e. when SOURCE_BROWSER is set to YES). FILTER_SOURCE_FILES = NO #--------------------------------------------------------------------------- # configuration options related to source browsing #--------------------------------------------------------------------------- # If the SOURCE_BROWSER tag is set to YES then a list of source files will # be generated. Documented entities will be cross-referenced with these sources. # Note: To get rid of all source code in the generated output, make sure also # VERBATIM_HEADERS is set to NO. SOURCE_BROWSER = NO # Setting the INLINE_SOURCES tag to YES will include the body # of functions and classes directly in the documentation. INLINE_SOURCES = NO # Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct # doxygen to hide any special comment blocks from generated source code # fragments. Normal C and C++ comments will always remain visible. STRIP_CODE_COMMENTS = YES # If the REFERENCED_BY_RELATION tag is set to YES # then for each documented function all documented # functions referencing it will be listed. REFERENCED_BY_RELATION = NO # If the REFERENCES_RELATION tag is set to YES # then for each documented function all documented entities # called/used by that function will be listed. REFERENCES_RELATION = NO # If the REFERENCES_LINK_SOURCE tag is set to YES (the default) # and SOURCE_BROWSER tag is set to YES, then the hyperlinks from # functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will # link to the source code. # Otherwise they will link to the documentation. REFERENCES_LINK_SOURCE = YES # If the USE_HTAGS tag is set to YES then the references to source code # will point to the HTML generated by the htags(1) tool instead of doxygen # built-in source browser. The htags tool is part of GNU's global source # tagging system (see http://www.gnu.org/software/global/global.html). You # will need version 4.8.6 or higher. USE_HTAGS = NO # If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen # will generate a verbatim copy of the header file for each class for # which an include is specified. Set to NO to disable this. VERBATIM_HEADERS = YES #--------------------------------------------------------------------------- # configuration options related to the alphabetical class index #--------------------------------------------------------------------------- # If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index # of all compounds will be generated. Enable this if the project # contains a lot of classes, structs, unions or interfaces. ALPHABETICAL_INDEX = YES # If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then # the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns # in which this list will be split (can be a number in the range [1..20]) COLS_IN_ALPHA_INDEX = 5 # In case all classes in a project start with a common prefix, all # classes will be put under the same header in the alphabetical index. # The IGNORE_PREFIX tag can be used to specify one or more prefixes that # should be ignored while generating the index headers. IGNORE_PREFIX = #--------------------------------------------------------------------------- # configuration options related to the HTML output #--------------------------------------------------------------------------- # If the GENERATE_HTML tag is set to YES (the default) Doxygen will # generate HTML output. GENERATE_HTML = YES # The HTML_OUTPUT tag is used to specify where the HTML docs will be put. # If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `html' will be used as the default path. HTML_OUTPUT = html # The HTML_FILE_EXTENSION tag can be used to specify the file extension for # each generated HTML page (for example: .htm,.php,.asp). If it is left blank # doxygen will generate files with .html extension. HTML_FILE_EXTENSION = .html # The HTML_HEADER tag can be used to specify a personal HTML header for # each generated HTML page. If it is left blank doxygen will generate a # standard header. HTML_HEADER = # The HTML_FOOTER tag can be used to specify a personal HTML footer for # each generated HTML page. If it is left blank doxygen will generate a # standard footer. HTML_FOOTER = # The HTML_STYLESHEET tag can be used to specify a user-defined cascading # style sheet that is used by each HTML page. It can be used to # fine-tune the look of the HTML output. If the tag is left blank doxygen # will generate a default style sheet. Note that doxygen will try to copy # the style sheet file to the HTML output directory, so don't put your own # stylesheet in the HTML output directory as well, or it will be erased! HTML_STYLESHEET = # If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, # files or namespaces will be aligned in HTML using tables. If set to # NO a bullet list will be used. HTML_ALIGN_MEMBERS = YES # If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML # documentation will contain sections that can be hidden and shown after the # page has loaded. For this to work a browser that supports # JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox # Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari). HTML_DYNAMIC_SECTIONS = NO # If the GENERATE_DOCSET tag is set to YES, additional index files # will be generated that can be used as input for Apple's Xcode 3 # integrated development environment, introduced with OSX 10.5 (Leopard). # To create a documentation set, doxygen will generate a Makefile in the # HTML output directory. Running make will produce the docset in that # directory and running "make install" will install the docset in # ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find # it at startup. # See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html for more information. GENERATE_DOCSET = NO # When GENERATE_DOCSET tag is set to YES, this tag determines the name of the # feed. A documentation feed provides an umbrella under which multiple # documentation sets from a single provider (such as a company or product suite) # can be grouped. DOCSET_FEEDNAME = "Doxygen generated docs" # When GENERATE_DOCSET tag is set to YES, this tag specifies a string that # should uniquely identify the documentation set bundle. This should be a # reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen # will append .docset to the name. DOCSET_BUNDLE_ID = org.doxygen.Project # If the GENERATE_HTMLHELP tag is set to YES, additional index files # will be generated that can be used as input for tools like the # Microsoft HTML help workshop to generate a compiled HTML help file (.chm) # of the generated HTML documentation. GENERATE_HTMLHELP = NO # If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can # be used to specify the file name of the resulting .chm file. You # can add a path in front of the file if the result should not be # written to the html output directory. CHM_FILE = # If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can # be used to specify the location (absolute path including file name) of # the HTML help compiler (hhc.exe). If non-empty doxygen will try to run # the HTML help compiler on the generated index.hhp. HHC_LOCATION = # If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag # controls if a separate .chi index file is generated (YES) or that # it should be included in the master .chm file (NO). GENERATE_CHI = NO # If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING # is used to encode HtmlHelp index (hhk), content (hhc) and project file # content. CHM_INDEX_ENCODING = # If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag # controls whether a binary table of contents is generated (YES) or a # normal table of contents (NO) in the .chm file. BINARY_TOC = NO # The TOC_EXPAND flag can be set to YES to add extra items for group members # to the contents of the HTML help documentation and to the tree view. TOC_EXPAND = NO # If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and QHP_VIRTUAL_FOLDER # are set, an additional index file will be generated that can be used as input for # Qt's qhelpgenerator to generate a Qt Compressed Help (.qch) of the generated # HTML documentation. GENERATE_QHP = NO # If the QHG_LOCATION tag is specified, the QCH_FILE tag can # be used to specify the file name of the resulting .qch file. # The path specified is relative to the HTML output folder. QCH_FILE = # The QHP_NAMESPACE tag specifies the namespace to use when generating # Qt Help Project output. For more information please see # http://doc.trolltech.com/qthelpproject.html#namespace QHP_NAMESPACE = # The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating # Qt Help Project output. For more information please see # http://doc.trolltech.com/qthelpproject.html#virtual-folders QHP_VIRTUAL_FOLDER = doc # If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to add. # For more information please see # http://doc.trolltech.com/qthelpproject.html#custom-filters QHP_CUST_FILTER_NAME = # The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the custom filter to add.For more information please see # Qt Help Project / Custom Filters. QHP_CUST_FILTER_ATTRS = # The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this project's # filter section matches. # Qt Help Project / Filter Attributes. QHP_SECT_FILTER_ATTRS = # If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can # be used to specify the location of Qt's qhelpgenerator. # If non-empty doxygen will try to run qhelpgenerator on the generated # .qhp file. QHG_LOCATION = # The DISABLE_INDEX tag can be used to turn on/off the condensed index at # top of each HTML page. The value NO (the default) enables the index and # the value YES disables it. DISABLE_INDEX = NO # This tag can be used to set the number of enum values (range [1..20]) # that doxygen will group on one line in the generated HTML documentation. ENUM_VALUES_PER_LINE = 4 # The GENERATE_TREEVIEW tag is used to specify whether a tree-like index # structure should be generated to display hierarchical information. # If the tag value is set to FRAME, a side panel will be generated # containing a tree-like index structure (just like the one that # is generated for HTML Help). For this to work a browser that supports # JavaScript, DHTML, CSS and frames is required (for instance Mozilla 1.0+, # Netscape 6.0+, Internet explorer 5.0+, or Konqueror). Windows users are # probably better off using the HTML help feature. Other possible values # for this tag are: HIERARCHIES, which will generate the Groups, Directories, # and Class Hierarchy pages using a tree view instead of an ordered list; # ALL, which combines the behavior of FRAME and HIERARCHIES; and NONE, which # disables this behavior completely. For backwards compatibility with previous # releases of Doxygen, the values YES and NO are equivalent to FRAME and NONE # respectively. GENERATE_TREEVIEW = NONE # If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be # used to set the initial width (in pixels) of the frame in which the tree # is shown. TREEVIEW_WIDTH = 250 # Use this tag to change the font size of Latex formulas included # as images in the HTML documentation. The default is 10. Note that # when you change the font size after a successful doxygen run you need # to manually remove any form_*.png images from the HTML output directory # to force them to be regenerated. FORMULA_FONTSIZE = 10 #--------------------------------------------------------------------------- # configuration options related to the LaTeX output #--------------------------------------------------------------------------- # If the GENERATE_LATEX tag is set to YES (the default) Doxygen will # generate Latex output. GENERATE_LATEX = No # The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. # If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `latex' will be used as the default path. LATEX_OUTPUT = latex # The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be # invoked. If left blank `latex' will be used as the default command name. LATEX_CMD_NAME = latex # The MAKEINDEX_CMD_NAME tag can be used to specify the command name to # generate index for LaTeX. If left blank `makeindex' will be used as the # default command name. MAKEINDEX_CMD_NAME = makeindex # If the COMPACT_LATEX tag is set to YES Doxygen generates more compact # LaTeX documents. This may be useful for small projects and may help to # save some trees in general. COMPACT_LATEX = NO # The PAPER_TYPE tag can be used to set the paper type that is used # by the printer. Possible values are: a4, a4wide, letter, legal and # executive. If left blank a4wide will be used. PAPER_TYPE = a4wide # The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX # packages that should be included in the LaTeX output. EXTRA_PACKAGES = # The LATEX_HEADER tag can be used to specify a personal LaTeX header for # the generated latex document. The header should contain everything until # the first chapter. If it is left blank doxygen will generate a # standard header. Notice: only use this tag if you know what you are doing! LATEX_HEADER = # If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated # is prepared for conversion to pdf (using ps2pdf). The pdf file will # contain links (just like the HTML output) instead of page references # This makes the output suitable for online browsing using a pdf viewer. PDF_HYPERLINKS = YES # If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of # plain latex in the generated Makefile. Set this option to YES to get a # higher quality PDF documentation. USE_PDFLATEX = YES # If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. # command to the generated LaTeX files. This will instruct LaTeX to keep # running if errors occur, instead of asking the user for help. # This option is also used when generating formulas in HTML. LATEX_BATCHMODE = NO # If LATEX_HIDE_INDICES is set to YES then doxygen will not # include the index chapters (such as File Index, Compound Index, etc.) # in the output. LATEX_HIDE_INDICES = NO #--------------------------------------------------------------------------- # configuration options related to the RTF output #--------------------------------------------------------------------------- # If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output # The RTF output is optimized for Word 97 and may not look very pretty with # other RTF readers or editors. GENERATE_RTF = NO # The RTF_OUTPUT tag is used to specify where the RTF docs will be put. # If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `rtf' will be used as the default path. RTF_OUTPUT = rtf # If the COMPACT_RTF tag is set to YES Doxygen generates more compact # RTF documents. This may be useful for small projects and may help to # save some trees in general. COMPACT_RTF = NO # If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated # will contain hyperlink fields. The RTF file will # contain links (just like the HTML output) instead of page references. # This makes the output suitable for online browsing using WORD or other # programs which support those fields. # Note: wordpad (write) and others do not support links. RTF_HYPERLINKS = NO # Load stylesheet definitions from file. Syntax is similar to doxygen's # config file, i.e. a series of assignments. You only have to provide # replacements, missing definitions are set to their default value. RTF_STYLESHEET_FILE = # Set optional variables used in the generation of an rtf document. # Syntax is similar to doxygen's config file. RTF_EXTENSIONS_FILE = #--------------------------------------------------------------------------- # configuration options related to the man page output #--------------------------------------------------------------------------- # If the GENERATE_MAN tag is set to YES (the default) Doxygen will # generate man pages GENERATE_MAN = NO # The MAN_OUTPUT tag is used to specify where the man pages will be put. # If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `man' will be used as the default path. MAN_OUTPUT = man # The MAN_EXTENSION tag determines the extension that is added to # the generated man pages (default is the subroutine's section .3) MAN_EXTENSION = .3 # If the MAN_LINKS tag is set to YES and Doxygen generates man output, # then it will generate one additional man file for each entity # documented in the real man page(s). These additional files # only source the real man page, but without them the man command # would be unable to find the correct page. The default is NO. MAN_LINKS = NO #--------------------------------------------------------------------------- # configuration options related to the XML output #--------------------------------------------------------------------------- # If the GENERATE_XML tag is set to YES Doxygen will # generate an XML file that captures the structure of # the code including all documentation. GENERATE_XML = NO # The XML_OUTPUT tag is used to specify where the XML pages will be put. # If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `xml' will be used as the default path. XML_OUTPUT = xml # The XML_SCHEMA tag can be used to specify an XML schema, # which can be used by a validating XML parser to check the # syntax of the XML files. XML_SCHEMA = # The XML_DTD tag can be used to specify an XML DTD, # which can be used by a validating XML parser to check the # syntax of the XML files. XML_DTD = # If the XML_PROGRAMLISTING tag is set to YES Doxygen will # dump the program listings (including syntax highlighting # and cross-referencing information) to the XML output. Note that # enabling this will significantly increase the size of the XML output. XML_PROGRAMLISTING = YES #--------------------------------------------------------------------------- # configuration options for the AutoGen Definitions output #--------------------------------------------------------------------------- # If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will # generate an AutoGen Definitions (see autogen.sf.net) file # that captures the structure of the code including all # documentation. Note that this feature is still experimental # and incomplete at the moment. GENERATE_AUTOGEN_DEF = NO #--------------------------------------------------------------------------- # configuration options related to the Perl module output #--------------------------------------------------------------------------- # If the GENERATE_PERLMOD tag is set to YES Doxygen will # generate a Perl module file that captures the structure of # the code including all documentation. Note that this # feature is still experimental and incomplete at the # moment. GENERATE_PERLMOD = NO # If the PERLMOD_LATEX tag is set to YES Doxygen will generate # the necessary Makefile rules, Perl scripts and LaTeX code to be able # to generate PDF and DVI output from the Perl module output. PERLMOD_LATEX = NO # If the PERLMOD_PRETTY tag is set to YES the Perl module output will be # nicely formatted so it can be parsed by a human reader. # This is useful # if you want to understand what is going on. # On the other hand, if this # tag is set to NO the size of the Perl module output will be much smaller # and Perl will parse it just the same. PERLMOD_PRETTY = YES # The names of the make variables in the generated doxyrules.make file # are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. # This is useful so different doxyrules.make files included by the same # Makefile don't overwrite each other's variables. PERLMOD_MAKEVAR_PREFIX = #--------------------------------------------------------------------------- # Configuration options related to the preprocessor #--------------------------------------------------------------------------- # If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will # evaluate all C-preprocessor directives found in the sources and include # files. ENABLE_PREPROCESSING = YES # If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro # names in the source code. If set to NO (the default) only conditional # compilation will be performed. Macro expansion can be done in a controlled # way by setting EXPAND_ONLY_PREDEF to YES. MACRO_EXPANSION = NO # If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES # then the macro expansion is limited to the macros specified with the # PREDEFINED and EXPAND_AS_DEFINED tags. EXPAND_ONLY_PREDEF = NO # If the SEARCH_INCLUDES tag is set to YES (the default) the includes files # in the INCLUDE_PATH (see below) will be search if a #include is found. SEARCH_INCLUDES = YES # The INCLUDE_PATH tag can be used to specify one or more directories that # contain include files that are not input files but should be processed by # the preprocessor. INCLUDE_PATH = # You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard # patterns (like *.h and *.hpp) to filter out the header-files in the # directories. If left blank, the patterns specified with FILE_PATTERNS will # be used. INCLUDE_FILE_PATTERNS = # The PREDEFINED tag can be used to specify one or more macro names that # are defined before the preprocessor is started (similar to the -D option of # gcc). The argument of the tag is a list of macros of the form: name # or name=definition (no spaces). If the definition and the = are # omitted =1 is assumed. To prevent a macro definition from being # undefined via #undef or recursively expanded use the := operator # instead of the = operator. PREDEFINED = # If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then # this tag can be used to specify a list of macro names that should be expanded. # The macro definition that is found in the sources will be used. # Use the PREDEFINED tag if you want to use a different macro definition. EXPAND_AS_DEFINED = # If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then # doxygen's preprocessor will remove all function-like macros that are alone # on a line, have an all uppercase name, and do not end with a semicolon. Such # function macros are typically used for boiler-plate code, and will confuse # the parser if not removed. SKIP_FUNCTION_MACROS = YES #--------------------------------------------------------------------------- # Configuration::additions related to external references #--------------------------------------------------------------------------- # The TAGFILES option can be used to specify one or more tagfiles. # Optionally an initial location of the external documentation # can be added for each tagfile. The format of a tag file without # this location is as follows: # # TAGFILES = file1 file2 ... # Adding location for the tag files is done as follows: # # TAGFILES = file1=loc1 "file2 = loc2" ... # where "loc1" and "loc2" can be relative or absolute paths or # URLs. If a location is present for each tag, the installdox tool # does not have to be run to correct the links. # Note that each tag file must have a unique name # (where the name does NOT include the path) # If a tag file is not located in the directory in which doxygen # is run, you must also specify the path to the tagfile here. TAGFILES = # When a file name is specified after GENERATE_TAGFILE, doxygen will create # a tag file that is based on the input files it reads. GENERATE_TAGFILE = # If the ALLEXTERNALS tag is set to YES all external classes will be listed # in the class index. If set to NO only the inherited external classes # will be listed. ALLEXTERNALS = NO # If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed # in the modules index. If set to NO, only the current project's groups will # be listed. EXTERNAL_GROUPS = YES # The PERL_PATH should be the absolute path and name of the perl script # interpreter (i.e. the result of `which perl'). PERL_PATH = /usr/bin/perl #--------------------------------------------------------------------------- # Configuration options related to the dot tool #--------------------------------------------------------------------------- # If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will # generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base # or super classes. Setting the tag to NO turns the diagrams off. Note that # this option is superseded by the HAVE_DOT option below. This is only a # fallback. It is recommended to install and use dot, since it yields more # powerful graphs. CLASS_DIAGRAMS = YES # You can define message sequence charts within doxygen comments using the \msc # command. Doxygen will then run the mscgen tool (see # http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the # documentation. The MSCGEN_PATH tag allows you to specify the directory where # the mscgen tool resides. If left empty the tool is assumed to be found in the # default search path. MSCGEN_PATH = # If set to YES, the inheritance and collaboration graphs will hide # inheritance and usage relations if the target is undocumented # or is not a class. HIDE_UNDOC_RELATIONS = YES # If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is # available from the path. This tool is part of Graphviz, a graph visualization # toolkit from AT&T and Lucent Bell Labs. The other options in this section # have no effect if this option is set to NO (the default) HAVE_DOT = NO # By default doxygen will write a font called FreeSans.ttf to the output # directory and reference it in all dot files that doxygen generates. This # font does not include all possible unicode characters however, so when you need # these (or just want a differently looking font) you can specify the font name # using DOT_FONTNAME. You need need to make sure dot is able to find the font, # which can be done by putting it in a standard location or by setting the # DOTFONTPATH environment variable or by setting DOT_FONTPATH to the directory # containing the font. DOT_FONTNAME = FreeSans # The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs. # The default size is 10pt. DOT_FONTSIZE = 10 # By default doxygen will tell dot to use the output directory to look for the # FreeSans.ttf font (which doxygen will put there itself). If you specify a # different font using DOT_FONTNAME you can set the path where dot # can find it using this tag. DOT_FONTPATH = # If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen # will generate a graph for each documented class showing the direct and # indirect inheritance relations. Setting this tag to YES will force the # the CLASS_DIAGRAMS tag to NO. CLASS_GRAPH = YES # If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen # will generate a graph for each documented class showing the direct and # indirect implementation dependencies (inheritance, containment, and # class references variables) of the class with other documented classes. #COLLABORATION_GRAPH = YES COLLABORATION_GRAPH = YES # If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen # will generate a graph for groups, showing the direct groups dependencies GROUP_GRAPHS = YES # If the UML_LOOK tag is set to YES doxygen will generate inheritance and # collaboration diagrams in a style similar to the OMG's Unified Modeling # Language. UML_LOOK = NO # If set to YES, the inheritance and collaboration graphs will show the # relations between templates and their instances. #TEMPLATE_RELATIONS = NO TEMPLATE_RELATIONS = YES # If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT # tags are set to YES then doxygen will generate a graph for each documented # file showing the direct and indirect include dependencies of the file with # other documented files. INCLUDE_GRAPH = YES # If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and # HAVE_DOT tags are set to YES then doxygen will generate a graph for each # documented header file showing the documented files that directly or # indirectly include this file. INCLUDED_BY_GRAPH = YES # If the CALL_GRAPH and HAVE_DOT options are set to YES then # doxygen will generate a call dependency graph for every global function # or class method. Note that enabling this option will significantly increase # the time of a run. So in most cases it will be better to enable call graphs # for selected functions only using the \callgraph command. CALL_GRAPH = NO # If the CALLER_GRAPH and HAVE_DOT tags are set to YES then # doxygen will generate a caller dependency graph for every global function # or class method. Note that enabling this option will significantly increase # the time of a run. So in most cases it will be better to enable caller # graphs for selected functions only using the \callergraph command. CALLER_GRAPH = NO # If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen # will graphical hierarchy of all classes instead of a textual one. GRAPHICAL_HIERARCHY = YES # If the DIRECTORY_GRAPH, SHOW_DIRECTORIES and HAVE_DOT tags are set to YES # then doxygen will show the dependencies a directory has on other directories # in a graphical way. The dependency relations are determined by the #include # relations between the files in the directories. DIRECTORY_GRAPH = YES # The DOT_IMAGE_FORMAT tag can be used to set the image format of the images # generated by dot. Possible values are png, jpg, or gif # If left blank png will be used. DOT_IMAGE_FORMAT = png # The tag DOT_PATH can be used to specify the path where the dot tool can be # found. If left blank, it is assumed the dot tool can be found in the path. DOT_PATH = # The DOTFILE_DIRS tag can be used to specify one or more directories that # contain dot files that are included in the documentation (see the # \dotfile command). DOTFILE_DIRS = # The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of # nodes that will be shown in the graph. If the number of nodes in a graph # becomes larger than this value, doxygen will truncate the graph, which is # visualized by representing a node as a red box. Note that doxygen if the # number of direct children of the root node in a graph is already larger than # DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note # that the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH. DOT_GRAPH_MAX_NODES = 50 # The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the # graphs generated by dot. A depth value of 3 means that only nodes reachable # from the root by following a path via at most 3 edges will be shown. Nodes # that lay further from the root node will be omitted. Note that setting this # option to 1 or 2 may greatly reduce the computation time needed for large # code bases. Also note that the size of a graph can be further restricted by # DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction. MAX_DOT_GRAPH_DEPTH = 0 # Set the DOT_TRANSPARENT tag to YES to generate images with a transparent # background. This is disabled by default, because dot on Windows does not # seem to support this out of the box. Warning: Depending on the platform used, # enabling this option may lead to badly anti-aliased labels on the edges of # a graph (i.e. they become hard to read). DOT_TRANSPARENT = NO # Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output # files in one run (i.e. multiple -o and -T options on the command line). This # makes dot run faster, but since only newer versions of dot (>1.8.10) # support this, this feature is disabled by default. DOT_MULTI_TARGETS = YES # If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will # generate a legend page explaining the meaning of the various boxes and # arrows in the dot generated graphs. GENERATE_LEGEND = YES # If the DOT_CLEANUP tag is set to YES (the default) Doxygen will # remove the intermediate dot files that are used to generate # the various graphs. DOT_CLEANUP = YES #--------------------------------------------------------------------------- # Options related to the search engine #--------------------------------------------------------------------------- # The SEARCHENGINE tag specifies whether or not a search engine should be # used. If set to NO the values of all tags below this one will be ignored. SEARCHENGINE = NO choreonoid-1.5.0/LICENSE0000664000000000000000000000516112741425367013371 0ustar rootroot Choreonoid - An integrated graphical robotics software framework Copyright (c) 2007-2016 Shin'ichiro Nakaoka Copyright (c) 2007-2016 National Institute of Advanced Industrial Science and Technology (AIST) Choreonoid is software released under the MIT license. Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE --------------------------------------------------------------------------- Third-part libraries bundled with the Choreonoid source distribution: * IJG JPEG Library (http://www.ijg.org/) see thirdparty/Jpeg-6b/README * libpng (http://www.libpng.org/pub/png/libpng.html) see thirdparty/lpng1232/LICENSE * LibYAML (http://pyyaml.org/wiki/LibYAML) MIT license (see thirdparty/yaml-0.1.3/LICENSE) * zlib (http://zlib.net/) see thirdparty/zlib123/README * GLEW (http://glew.sourceforge.net/) see thirdparty/glew-1.9.0/LICENSE.txt * irrXML (http://www.ambiera.com/irrxml/) see thirdparty/irrxml-1.2/readme.txt * OPCODE (http://www.codercorner.com/Opcode.htm) see src/AISTCollisionDetector/Opcode/ReadMe.txt * gettext (http://www.gnu.org/software/gettext/) see thirdparty/windows/include/libintl.h --------------------------------------------------------------------------- Some binary distributions of Choreonoid may include the binaries of the following libraries: * Boost C++ Libraries (http://www.boost.org/) * Qt (http://qt-project.org/) * Eigen (http://eigen.tuxfamily.org/) * Open Dynamics Engine (http://www.ode.org/) * Bullet Physics Library (http://bulletphysics.org/) * omniORB (http://omniorb.sourceforge.net/) * OpenRTM-aist (http://openrtm.org/) choreonoid-1.5.0/include/0000775000000000000000000000000012741425367014004 5ustar rootrootchoreonoid-1.5.0/include/CMakeLists.txt0000664000000000000000000000034312741425367016544 0ustar rootroot if(INSTALL_SDK) file(GLOB public_headers "cnoid/*") foreach(file ${public_headers}) if(NOT IS_DIRECTORY ${file}) install(FILES ${file} DESTINATION ${CNOID_HEADER_SUBDIR}/cnoid) endif() endforeach() endif() choreonoid-1.5.0/include/cnoid/0000775000000000000000000000000012741425367015100 5ustar rootrootchoreonoid-1.5.0/include/cnoid/BodyMotionGenerationBar0000664000000000000000000000006712741425367021552 0ustar rootroot#include "src/PoseSeqPlugin/BodyMotionGenerationBar.h" choreonoid-1.5.0/include/cnoid/CheckBox0000664000000000000000000000003712741425367016511 0ustar rootroot#include "src/Base/CheckBox.h" choreonoid-1.5.0/include/cnoid/SceneRenderer0000664000000000000000000000004412741425367017545 0ustar rootroot#include "src/Util/SceneRenderer.h" choreonoid-1.5.0/include/cnoid/AISTCollisionDetector0000664000000000000000000000007512741425367021133 0ustar rootroot#include "src/AISTCollisionDetector/AISTCollisionDetector.h" choreonoid-1.5.0/include/cnoid/SceneItem0000664000000000000000000000004012741425367016671 0ustar rootroot#include "src/Base/SceneItem.h" choreonoid-1.5.0/include/cnoid/BodyLoader0000664000000000000000000000004112741425367017042 0ustar rootroot#include "src/Body/BodyLoader.h" choreonoid-1.5.0/include/cnoid/PluginManager0000664000000000000000000000004412741425367017552 0ustar rootroot#include "src/Base/PluginManager.h" choreonoid-1.5.0/include/cnoid/TreeView0000664000000000000000000000003712741425367016555 0ustar rootroot#include "src/Base/TreeView.h" choreonoid-1.5.0/include/cnoid/BodyBar0000664000000000000000000000004412741425367016343 0ustar rootroot#include "src/BodyPlugin/BodyBar.h" choreonoid-1.5.0/include/cnoid/CollisionPairInserter0000664000000000000000000000007512741425367021310 0ustar rootroot#include "src/AISTCollisionDetector/CollisionPairInserter.h" choreonoid-1.5.0/include/cnoid/PoseRollView0000664000000000000000000000005412741425367017414 0ustar rootroot#include "src/PoseSeqPlugin/PoseRollView.h" choreonoid-1.5.0/include/cnoid/Jacobian0000664000000000000000000000003712741425367016531 0ustar rootroot#include "src/Body/Jacobian.h" choreonoid-1.5.0/include/cnoid/RangeLimiter0000664000000000000000000000004312741425367017402 0ustar rootroot#include "src/Util/RangeLimiter.h" choreonoid-1.5.0/include/cnoid/BodyClasses0000664000000000000000000000026312741425367017237 0ustar rootroot#include #include #include #include #include #include #include choreonoid-1.5.0/include/cnoid/ValueTree0000664000000000000000000000004012741425367016711 0ustar rootroot#include "src/Util/ValueTree.h" choreonoid-1.5.0/include/cnoid/CompositeIK0000664000000000000000000000004212741425367017205 0ustar rootroot#include "src/Body/CompositeIK.h" choreonoid-1.5.0/include/cnoid/SceneView0000664000000000000000000000004012741425367016705 0ustar rootroot#include "src/Base/SceneView.h" choreonoid-1.5.0/include/cnoid/MessageView0000664000000000000000000000004212741425367017236 0ustar rootroot#include "src/Base/MessageView.h" choreonoid-1.5.0/include/cnoid/SceneMarkers0000664000000000000000000000004312741425367017402 0ustar rootroot#include "src/Util/SceneMarkers.h" choreonoid-1.5.0/include/cnoid/TranslationDragger0000664000000000000000000000005112741425367020611 0ustar rootroot#include "src/Base/TranslationDragger.h" choreonoid-1.5.0/include/cnoid/MainWindow0000664000000000000000000000004112741425367017072 0ustar rootroot#include "src/Base/MainWindow.h" choreonoid-1.5.0/include/cnoid/InteractiveCameraTransform0000664000000000000000000000006112741425367022302 0ustar rootroot#include "src/Base/InteractiveCameraTransform.h" choreonoid-1.5.0/include/cnoid/EigenArchive0000664000000000000000000000004312741425367017351 0ustar rootroot#include "src/Util/EigenArchive.h" choreonoid-1.5.0/include/cnoid/KinematicFaultChecker0000664000000000000000000000006212741425367021206 0ustar rootroot#include "src/BodyPlugin/KinematicFaultChecker.h" choreonoid-1.5.0/include/cnoid/YAMLWriter0000664000000000000000000000004112741425367016755 0ustar rootroot#include "src/Util/YAMLWriter.h" choreonoid-1.5.0/include/cnoid/PolymorphicReferencedArray0000664000000000000000000000006112741425367022307 0ustar rootroot#include "src/Util/PolymorphicReferencedArray.h" choreonoid-1.5.0/include/cnoid/ExtCommandItem0000664000000000000000000000004512741425367017700 0ustar rootroot#include "src/Base/ExtCommandItem.h" choreonoid-1.5.0/include/cnoid/PyBase0000664000000000000000000000004412741425367016204 0ustar rootroot#include "src/Base/python/PyBase.h" choreonoid-1.5.0/include/cnoid/GraphViewBase0000664000000000000000000000004412741425367017510 0ustar rootroot#include "src/Base/GraphViewBase.h" choreonoid-1.5.0/include/cnoid/Plugin0000664000000000000000000000003512741425367016257 0ustar rootroot#include "src/Base/Plugin.h" choreonoid-1.5.0/include/cnoid/SceneDragProjector0000664000000000000000000000005112741425367020542 0ustar rootroot#include "src/Base/SceneDragProjector.h" choreonoid-1.5.0/include/cnoid/Device0000664000000000000000000000003512741425367016220 0ustar rootroot#include "src/Body/Device.h" choreonoid-1.5.0/include/cnoid/KinematicsBar0000664000000000000000000000005212741425367017534 0ustar rootroot#include "src/BodyPlugin/KinematicsBar.h" choreonoid-1.5.0/include/cnoid/Selection0000664000000000000000000000004012741425367016742 0ustar rootroot#include "src/Util/Selection.h" choreonoid-1.5.0/include/cnoid/AbstractTaskSequencer0000664000000000000000000000005412741425367021263 0ustar rootroot#include "src/Util/AbstractTaskSequencer.h" choreonoid-1.5.0/include/cnoid/AbstractSceneLoader0000664000000000000000000000005212741425367020670 0ustar rootroot#include "src/Util/AbstractSceneLoader.h" choreonoid-1.5.0/include/cnoid/Vector3Seq0000664000000000000000000000004112741425367017014 0ustar rootroot#include "src/Util/Vector3Seq.h" choreonoid-1.5.0/include/cnoid/Timeval0000664000000000000000000000003612741425367016423 0ustar rootroot#include "src/Util/Timeval.h" choreonoid-1.5.0/include/cnoid/IdPair0000664000000000000000000000003512741425367016171 0ustar rootroot#include "src/Util/IdPair.h" choreonoid-1.5.0/include/cnoid/AppConfig0000664000000000000000000000004012741425367016663 0ustar rootroot#include "src/Base/AppConfig.h" choreonoid-1.5.0/include/cnoid/MultiVector3Seq0000664000000000000000000000004612741425367020034 0ustar rootroot#include "src/Util/MultiVector3Seq.h" choreonoid-1.5.0/include/cnoid/ParametricPathProcessor0000664000000000000000000000005612741425367021630 0ustar rootroot#include "src/Base/ParametricPathProcessor.h" choreonoid-1.5.0/include/cnoid/SceneShape0000664000000000000000000000004512741425367017040 0ustar rootroot#include "src/Util/SceneDrawables.h" choreonoid-1.5.0/include/cnoid/RootItem0000664000000000000000000000003712741425367016565 0ustar rootroot#include "src/Base/RootItem.h" choreonoid-1.5.0/include/cnoid/Archive0000664000000000000000000000003612741425367016403 0ustar rootroot#include "src/Base/Archive.h" choreonoid-1.5.0/include/cnoid/RateGyroSensor0000664000000000000000000000004512741425367017750 0ustar rootroot#include "src/Body/RateGyroSensor.h" choreonoid-1.5.0/include/cnoid/VRML0000664000000000000000000000003312741425367015577 0ustar rootroot#include "src/Util/VRML.h" choreonoid-1.5.0/include/cnoid/Referenced0000664000000000000000000000004112741425367017060 0ustar rootroot#include "src/Util/Referenced.h" choreonoid-1.5.0/include/cnoid/BodyMotionPoseProvider0000664000000000000000000000005512741425367021450 0ustar rootroot#include "src/Body/BodyMotionPoseProvider.h" choreonoid-1.5.0/include/cnoid/MultiAffine3Seq0000664000000000000000000000004612741425367017762 0ustar rootroot#include "src/Util/MultiAffine3Seq.h" choreonoid-1.5.0/include/cnoid/EasyScanner0000664000000000000000000000004212741425367017232 0ustar rootroot#include "src/Util/EasyScanner.h" choreonoid-1.5.0/include/cnoid/MultiValueSeqItem0000664000000000000000000000005012741425367020375 0ustar rootroot#include "src/Base/MultiValueSeqItem.h" choreonoid-1.5.0/include/cnoid/BasicSensorSimulationHelper0000664000000000000000000000006212741425367022441 0ustar rootroot#include "src/Body/BasicSensorSimulationHelper.h" choreonoid-1.5.0/include/cnoid/Buttons0000664000000000000000000000003612741425367016460 0ustar rootroot#include "src/Base/Buttons.h" choreonoid-1.5.0/include/cnoid/ScriptItem0000664000000000000000000000004112741425367017101 0ustar rootroot#include "src/Base/ScriptItem.h" choreonoid-1.5.0/include/cnoid/PlainSeqFormatLoader0000664000000000000000000000005312741425367021035 0ustar rootroot#include "src/Util/PlainSeqFormatLoader.h" choreonoid-1.5.0/include/cnoid/ExtraBodyStateAccessor0000664000000000000000000000005512741425367021410 0ustar rootroot#include "src/Body/ExtraBodyStateAccessor.h" choreonoid-1.5.0/include/cnoid/LinkSelectionView0000664000000000000000000000005612741425367020422 0ustar rootroot#include "src/BodyPlugin/LinkSelectionView.h" choreonoid-1.5.0/include/cnoid/ItemTreeView0000664000000000000000000000004312741425367017371 0ustar rootroot#include "src/Base/ItemTreeView.h" choreonoid-1.5.0/include/cnoid/Body0000664000000000000000000000003312741425367015714 0ustar rootroot#include "src/Body/Body.h" choreonoid-1.5.0/include/cnoid/Process0000664000000000000000000000003612741425367016440 0ustar rootroot#include "src/Base/Process.h" choreonoid-1.5.0/include/cnoid/Config0000664000000000000000000000003512741425367016226 0ustar rootroot#include "src/Util/Config.h" choreonoid-1.5.0/include/cnoid/MeshGenerator0000664000000000000000000000004412741425367017564 0ustar rootroot#include "src/Util/MeshGenerator.h" choreonoid-1.5.0/include/cnoid/RangeCamera0000664000000000000000000000004212741425367017164 0ustar rootroot#include "src/Body/RangeCamera.h" choreonoid-1.5.0/include/cnoid/MultiSeq0000664000000000000000000000003712741425367016566 0ustar rootroot#include "src/Util/MultiSeq.h" choreonoid-1.5.0/include/cnoid/PythonScriptItemImpl0000664000000000000000000000006312741425367021131 0ustar rootroot#include "src/PythonPlugin/PythonScriptItemImpl.h" choreonoid-1.5.0/include/cnoid/PointLight0000664000000000000000000000004112741425367017077 0ustar rootroot#include "src/Body/PointLight.h" choreonoid-1.5.0/include/cnoid/TimeMeasure0000664000000000000000000000004212741425367017237 0ustar rootroot#include "src/Util/TimeMeasure.h" choreonoid-1.5.0/include/cnoid/ViewManager0000664000000000000000000000004212741425367017224 0ustar rootroot#include "src/Base/ViewManager.h" choreonoid-1.5.0/include/cnoid/BasicSensors0000664000000000000000000000016012741425367017416 0ustar rootroot#include "src/Body/ForceSensor.h" #include "src/Body/RateGyroSensor.h" #include "src/Body/AccelerationSensor.h" choreonoid-1.5.0/include/cnoid/DataMap0000664000000000000000000000003612741425367016331 0ustar rootroot#include "src/Util/DataMap.h" choreonoid-1.5.0/include/cnoid/VRMLToSGConverter0000664000000000000000000000005012741425367020223 0ustar rootroot#include "src/Util/VRMLToSGConverter.h" choreonoid-1.5.0/include/cnoid/AppUtil0000664000000000000000000000003612741425367016400 0ustar rootroot#include "src/Base/AppUtil.h" choreonoid-1.5.0/include/cnoid/InverseKinematics0000664000000000000000000000005012741425367020441 0ustar rootroot#include "src/Body/InverseKinematics.h" choreonoid-1.5.0/include/cnoid/MultiDeviceStateSeq0000664000000000000000000000005212741425367020704 0ustar rootroot#include "src/Body/MultiDeviceStateSeq.h" choreonoid-1.5.0/include/cnoid/Signal0000664000000000000000000000003512741425367016236 0ustar rootroot#include "src/Util/Signal.h" choreonoid-1.5.0/include/cnoid/FolderItem0000664000000000000000000000004112741425367017050 0ustar rootroot#include "src/Base/FolderItem.h" choreonoid-1.5.0/include/cnoid/Image0000664000000000000000000000003412741425367016042 0ustar rootroot#include "src/Util/Image.h" choreonoid-1.5.0/include/cnoid/BodyState0000664000000000000000000000004012741425367016713 0ustar rootroot#include "src/Body/BodyState.h" choreonoid-1.5.0/include/cnoid/ForwardDynamicsABM0000664000000000000000000000005112741425367020433 0ustar rootroot#include "src/Body/ForwardDynamicsABM.h" choreonoid-1.5.0/include/cnoid/SceneDragger0000664000000000000000000000004312741425367017351 0ustar rootroot#include "src/Base/SceneDragger.h" choreonoid-1.5.0/include/cnoid/SimulatorItem0000664000000000000000000000005212741425367017616 0ustar rootroot#include "src/BodyPlugin/SimulatorItem.h" choreonoid-1.5.0/include/cnoid/SceneCollision0000664000000000000000000000004512741425367017733 0ustar rootroot#include "src/Body/SceneCollision.h" choreonoid-1.5.0/include/cnoid/PutPropertyFunction0000664000000000000000000000005212741425367021043 0ustar rootroot#include "src/Base/PutPropertyFunction.h" choreonoid-1.5.0/include/cnoid/Array2D0000664000000000000000000000003612741425367016266 0ustar rootroot#include "src/Util/Array2D.h" choreonoid-1.5.0/include/cnoid/Camera0000664000000000000000000000003512741425367016211 0ustar rootroot#include "src/Body/Camera.h" choreonoid-1.5.0/include/cnoid/ImageWidget0000664000000000000000000000004212741425367017205 0ustar rootroot#include "src/Base/ImageWidget.h" choreonoid-1.5.0/include/cnoid/App0000664000000000000000000000003212741425367015536 0ustar rootroot#include "src/Base/App.h" choreonoid-1.5.0/include/cnoid/TruncatedSVD0000664000000000000000000000004312741425367017326 0ustar rootroot#include "src/Util/TruncatedSVD.h" choreonoid-1.5.0/include/cnoid/Separator0000664000000000000000000000004012741425367016755 0ustar rootroot#include "src/Base/Separator.h" choreonoid-1.5.0/include/cnoid/VRMLBodyLoader0000664000000000000000000000004512741425367017547 0ustar rootroot#include "src/Body/VRMLBodyLoader.h" choreonoid-1.5.0/include/cnoid/DyBody0000664000000000000000000000003512741425367016213 0ustar rootroot#include "src/Body/DyBody.h" choreonoid-1.5.0/include/cnoid/ImageView0000664000000000000000000000004012741425367016672 0ustar rootroot#include "src/Base/ImageView.h" choreonoid-1.5.0/include/cnoid/RangeSensor0000664000000000000000000000004212741425367017245 0ustar rootroot#include "src/Body/RangeSensor.h" choreonoid-1.5.0/include/cnoid/AISTSimulatorItem0000664000000000000000000000005612741425367020303 0ustar rootroot#include "src/BodyPlugin/AISTSimulatorItem.h" choreonoid-1.5.0/include/cnoid/AccelerationSensor0000664000000000000000000000005112741425367020602 0ustar rootroot#include "src/Body/AccelerationSensor.h" choreonoid-1.5.0/include/cnoid/BodyMotionUtil0000664000000000000000000000004512741425367017743 0ustar rootroot#include "src/Body/BodyMotionUtil.h" choreonoid-1.5.0/include/cnoid/PoseProviderToBodyMotionConverter0000664000000000000000000000007012741425367023640 0ustar rootroot#include "src/Body/PoseProviderToBodyMotionConverter.h" choreonoid-1.5.0/include/cnoid/ValueTreeUtil0000664000000000000000000000004412741425367017553 0ustar rootroot#include "src/Util/ValueTreeUtil.h" choreonoid-1.5.0/include/cnoid/ControllerItem0000664000000000000000000000005312741425367017763 0ustar rootroot#include "src/BodyPlugin/ControllerItem.h" choreonoid-1.5.0/include/cnoid/Deque2D0000664000000000000000000000003612741425367016253 0ustar rootroot#include "src/Util/Deque2D.h" choreonoid-1.5.0/include/cnoid/PolygonMeshTriangulator0000664000000000000000000000005612741425367021664 0ustar rootroot#include "src/Util/PolygonMeshTriangulator.h" choreonoid-1.5.0/include/cnoid/ForwardDynamicsCBM0000664000000000000000000000005112741425367020435 0ustar rootroot#include "src/Body/ForwardDynamicsCBM.h" choreonoid-1.5.0/include/cnoid/RotationDragger0000664000000000000000000000004612741425367020116 0ustar rootroot#include "src/Base/RotationDragger.h" choreonoid-1.5.0/include/cnoid/CorbaUtil0000664000000000000000000000004112741425367016702 0ustar rootroot#include "src/Corba/CorbaUtil.h" choreonoid-1.5.0/include/cnoid/GettextUtil0000664000000000000000000000004212741425367017301 0ustar rootroot#include "src/Util/GettextUtil.h" choreonoid-1.5.0/include/cnoid/ImageConverter0000664000000000000000000000004512741425367017734 0ustar rootroot#include "src/Util/ImageConverter.h" choreonoid-1.5.0/include/cnoid/CollisionDetector0000664000000000000000000000005012741425367020443 0ustar rootroot#include "src/Util/CollisionDetector.h" choreonoid-1.5.0/include/cnoid/ProjectManager0000664000000000000000000000004512741425367017723 0ustar rootroot#include "src/Base/ProjectManager.h" choreonoid-1.5.0/include/cnoid/PointSetUtil0000664000000000000000000000004312741425367017423 0ustar rootroot#include "src/Util/PointSetUtil.h" choreonoid-1.5.0/include/cnoid/PythonPlugin0000664000000000000000000000005312741425367017461 0ustar rootroot#include "src/PythonPlugin/PythonPlugin.h" choreonoid-1.5.0/include/cnoid/OptionManager0000664000000000000000000000004412741425367017564 0ustar rootroot#include "src/Base/OptionManager.h" choreonoid-1.5.0/include/cnoid/InfoBar0000664000000000000000000000003612741425367016342 0ustar rootroot#include "src/Base/InfoBar.h" choreonoid-1.5.0/include/cnoid/Sleep0000664000000000000000000000003412741425367016070 0ustar rootroot#include "src/Util/Sleep.h" choreonoid-1.5.0/include/cnoid/PointSetItem0000664000000000000000000000004312741425367017404 0ustar rootroot#include "src/Base/PointSetItem.h" choreonoid-1.5.0/include/cnoid/Light0000664000000000000000000000003412741425367016067 0ustar rootroot#include "src/Body/Light.h" choreonoid-1.5.0/include/cnoid/Timer0000664000000000000000000000003412741425367016100 0ustar rootroot#include "src/Base/Timer.h" choreonoid-1.5.0/include/cnoid/STLSceneLoader0000664000000000000000000000004512741425367017571 0ustar rootroot#include "src/Util/STLSceneLoader.h" choreonoid-1.5.0/include/cnoid/FloatingNumberString0000664000000000000000000000005312741425367021124 0ustar rootroot#include "src/Util/FloatingNumberString.h" choreonoid-1.5.0/include/cnoid/JoystickCapture0000664000000000000000000000004612741425367020146 0ustar rootroot#include "src/Base/JoystickCapture.h" choreonoid-1.5.0/include/cnoid/ButtonGroup0000664000000000000000000000004212741425367017307 0ustar rootroot#include "src/Base/ButtonGroup.h" choreonoid-1.5.0/include/cnoid/MeshExtractor0000664000000000000000000000004412741425367017611 0ustar rootroot#include "src/Util/MeshExtractor.h" choreonoid-1.5.0/include/cnoid/ExtensionManager0000664000000000000000000000004712741425367020273 0ustar rootroot#include "src/Base/ExtensionManager.h" choreonoid-1.5.0/include/cnoid/SimpleController0000664000000000000000000000010112741425367020310 0ustar rootroot#include "src/SimpleControllerPlugin/library/SimpleController.h" choreonoid-1.5.0/include/cnoid/SceneDrawables0000664000000000000000000000004512741425367017704 0ustar rootroot#include "src/Util/SceneDrawables.h" choreonoid-1.5.0/include/cnoid/BodyMotion0000664000000000000000000000004112741425367017101 0ustar rootroot#include "src/Body/BodyMotion.h" choreonoid-1.5.0/include/cnoid/PenetrationBlocker0000664000000000000000000000005112741425367020611 0ustar rootroot#include "src/Body/PenetrationBlocker.h" choreonoid-1.5.0/include/cnoid/ViewArea0000664000000000000000000000003712741425367016526 0ustar rootroot#include "src/Base/ViewArea.h" choreonoid-1.5.0/include/cnoid/Joystick0000664000000000000000000000003712741425367016622 0ustar rootroot#include "src/Util/Joystick.h" choreonoid-1.5.0/include/cnoid/DescriptionDialog0000664000000000000000000000005012741425367020421 0ustar rootroot#include "src/Base/DescriptionDialog.h" choreonoid-1.5.0/include/cnoid/MultiPointSetItem0000664000000000000000000000005012741425367020415 0ustar rootroot#include "src/Base/MultiPointSetItem.h" choreonoid-1.5.0/include/cnoid/EditableSceneBody0000664000000000000000000000005612741425367020331 0ustar rootroot#include "src/BodyPlugin/EditableSceneBody.h" choreonoid-1.5.0/include/cnoid/GraphBar0000664000000000000000000000003712741425367016511 0ustar rootroot#include "src/Base/GraphBar.h" choreonoid-1.5.0/include/cnoid/Dialog0000664000000000000000000000003512741425367016220 0ustar rootroot#include "src/Base/Dialog.h" choreonoid-1.5.0/include/cnoid/Exception0000664000000000000000000000004012741425367016753 0ustar rootroot#include "src/Util/Exception.h" choreonoid-1.5.0/include/cnoid/MenuManager0000664000000000000000000000004212741425367017216 0ustar rootroot#include "src/Base/MenuManager.h" choreonoid-1.5.0/include/cnoid/NullOut0000664000000000000000000000003612741425367016424 0ustar rootroot#include "src/Util/NullOut.h" choreonoid-1.5.0/include/cnoid/Link0000664000000000000000000000003312741425367015714 0ustar rootroot#include "src/Body/Link.h" choreonoid-1.5.0/include/cnoid/SceneVisitor0000664000000000000000000000004312741425367017435 0ustar rootroot#include "src/Util/SceneVisitor.h" choreonoid-1.5.0/include/cnoid/PyUtil0000664000000000000000000000004412741425367016247 0ustar rootroot#include "src/Util/python/PyUtil.h" choreonoid-1.5.0/include/cnoid/YAMLReader0000664000000000000000000000004112741425367016703 0ustar rootroot#include "src/Util/YAMLReader.h" choreonoid-1.5.0/include/cnoid/Triangulator0000664000000000000000000000004312741425367017473 0ustar rootroot#include "src/Util/Triangulator.h" choreonoid-1.5.0/include/cnoid/PolymorphicPointerArray0000664000000000000000000000005612741425367021671 0ustar rootroot#include "src/Util/PolymorphicPointerArray.h" choreonoid-1.5.0/include/cnoid/ScrollBar0000664000000000000000000000004012741425367016700 0ustar rootroot#include "src/Base/ScrollBar.h" choreonoid-1.5.0/include/cnoid/ItemManager0000664000000000000000000000004212741425367017210 0ustar rootroot#include "src/Base/ItemManager.h" choreonoid-1.5.0/include/cnoid/GLSceneRenderer0000664000000000000000000000004612741425367017772 0ustar rootroot#include "src/Base/GLSceneRenderer.h" choreonoid-1.5.0/include/cnoid/LinkTraverse0000664000000000000000000000004312741425367017431 0ustar rootroot#include "src/Body/LinkTraverse.h" choreonoid-1.5.0/include/cnoid/SubSimulatorItem0000664000000000000000000000005512741425367020273 0ustar rootroot#include "src/BodyPlugin/SubSimulatorItem.h" choreonoid-1.5.0/include/cnoid/SocketNotifier0000664000000000000000000000004512741425367017752 0ustar rootroot#include "src/Base/SocketNotifier.h" choreonoid-1.5.0/include/cnoid/MultiDeviceStateSeqItem0000664000000000000000000000006412741425367021526 0ustar rootroot#include "src/BodyPlugin/MultiDeviceStateSeqItem.h" choreonoid-1.5.0/include/cnoid/LinkPath0000664000000000000000000000003712741425367016535 0ustar rootroot#include "src/Body/LinkPath.h" choreonoid-1.5.0/include/cnoid/MultiSeqItem0000664000000000000000000000004312741425367017402 0ustar rootroot#include "src/Base/MultiSeqItem.h" choreonoid-1.5.0/include/cnoid/CollisionData0000664000000000000000000000006512741425367017551 0ustar rootroot#include "src/AISTCollisionDetector/CollisionData.h" choreonoid-1.5.0/include/cnoid/MultiAffine3SeqItem0000664000000000000000000000005212741425367020576 0ustar rootroot#include "src/Base/MultiAffine3SeqItem.h" choreonoid-1.5.0/include/cnoid/AbstractSeqItem0000664000000000000000000000004612741425367020056 0ustar rootroot#include "src/Base/AbstractSeqItem.h" choreonoid-1.5.0/include/cnoid/MultiSE3SeqItem0000664000000000000000000000004612741425367017720 0ustar rootroot#include "src/Base/MultiSE3SeqItem.h" choreonoid-1.5.0/include/cnoid/JointPath0000664000000000000000000000004012741425367016715 0ustar rootroot#include "src/Body/JointPath.h" choreonoid-1.5.0/include/cnoid/DyWorld0000664000000000000000000000003612741425367016406 0ustar rootroot#include "src/Body/DyWorld.h" choreonoid-1.5.0/include/cnoid/RobotAccessItem0000664000000000000000000000006312741425367020050 0ustar rootroot#include "src/RobotAccessPlugin/RobotAccessItem.h" choreonoid-1.5.0/include/cnoid/MultiValueSeq0000664000000000000000000000004412741425367017561 0ustar rootroot#include "src/Util/MultiValueSeq.h" choreonoid-1.5.0/include/cnoid/VRMLBody0000664000000000000000000000003712741425367016421 0ustar rootroot#include "src/Body/VRMLBody.h" choreonoid-1.5.0/include/cnoid/DaeNode0000664000000000000000000000003612741425367016321 0ustar rootroot#include "src/Util/DaeNode.h" choreonoid-1.5.0/include/cnoid/SimulationScriptItem0000664000000000000000000000006112741425367021150 0ustar rootroot#include "src/BodyPlugin/SimulationScriptItem.h" choreonoid-1.5.0/include/cnoid/PythonUtil0000664000000000000000000000004312741425367017137 0ustar rootroot#include "src/Python/PythonUtil.h" choreonoid-1.5.0/include/cnoid/DaeParser0000664000000000000000000000004012741425367016663 0ustar rootroot#include "src/Util/DaeParser.h" choreonoid-1.5.0/include/cnoid/Seq0000664000000000000000000000003212741425367015546 0ustar rootroot#include "src/Util/Seq.h" choreonoid-1.5.0/include/cnoid/Action0000664000000000000000000000003512741425367016236 0ustar rootroot#include "src/Base/Action.h" choreonoid-1.5.0/include/cnoid/ForwardDynamics0000664000000000000000000000004612741425367020117 0ustar rootroot#include "src/Body/ForwardDynamics.h" choreonoid-1.5.0/include/cnoid/SceneWidgetEditable0000664000000000000000000000005212741425367020653 0ustar rootroot#include "src/Base/SceneWidgetEditable.h" choreonoid-1.5.0/include/cnoid/MultiSeqItemCreationPanel0000664000000000000000000000006012741425367022046 0ustar rootroot#include "src/Base/MultiSeqItemCreationPanel.h" choreonoid-1.5.0/include/cnoid/ThreadPool0000664000000000000000000000004112741425367017057 0ustar rootroot#include "src/Util/ThreadPool.h" choreonoid-1.5.0/include/cnoid/LineEdit0000664000000000000000000000003712741425367016520 0ustar rootroot#include "src/Base/LineEdit.h" choreonoid-1.5.0/include/cnoid/GraphWidget0000664000000000000000000000004212741425367017224 0ustar rootroot#include "src/Base/GraphWidget.h" choreonoid-1.5.0/include/cnoid/EigenTypes0000664000000000000000000000004112741425367017072 0ustar rootroot#include "src/Util/EigenTypes.h" choreonoid-1.5.0/include/cnoid/Slider0000664000000000000000000000003512741425367016243 0ustar rootroot#include "src/Base/Slider.h" choreonoid-1.5.0/include/cnoid/AbstractBodyLoader0000664000000000000000000000005112741425367020527 0ustar rootroot#include "src/Body/AbstractBodyLoader.h" choreonoid-1.5.0/include/cnoid/AbstractTextItem0000664000000000000000000000004712741425367020253 0ustar rootroot#include "src/Base/AbstractTextItem.h" choreonoid-1.5.0/include/cnoid/BodyItemUpdater0000664000000000000000000000005412741425367020063 0ustar rootroot#include "src/BodyPlugin/BodyItemUpdater.h" choreonoid-1.5.0/include/cnoid/MeshNormalGenerator0000664000000000000000000000005212741425367020734 0ustar rootroot#include "src/Util/MeshNormalGenerator.h" choreonoid-1.5.0/include/cnoid/SimulationBar0000664000000000000000000000005212741425367017571 0ustar rootroot#include "src/BodyPlugin/SimulationBar.h" choreonoid-1.5.0/include/cnoid/AbstractSeq0000664000000000000000000000004212741425367017233 0ustar rootroot#include "src/Util/AbstractSeq.h" choreonoid-1.5.0/include/cnoid/ContactAttribute0000664000000000000000000000004712741425367020303 0ustar rootroot#include "src/Body/ContactAttribute.h" choreonoid-1.5.0/include/cnoid/ImageIO0000664000000000000000000000003612741425367016274 0ustar rootroot#include "src/Util/ImageIO.h" choreonoid-1.5.0/include/cnoid/SceneDevice0000664000000000000000000000004212741425367017174 0ustar rootroot#include "src/Body/SceneDevice.h" choreonoid-1.5.0/include/cnoid/SensorVisualizerItem0000664000000000000000000000006112741425367021166 0ustar rootroot#include "src/BodyPlugin/SensorVisualizerItem.h" choreonoid-1.5.0/include/cnoid/SceneCameras0000664000000000000000000000004312741425367017351 0ustar rootroot#include "src/Util/SceneCameras.h" choreonoid-1.5.0/include/cnoid/BodyCollisionDetectorUtil0000664000000000000000000000006012741425367022120 0ustar rootroot#include "src/Body/BodyCollisionDetectorUtil.h" choreonoid-1.5.0/include/cnoid/CollisionSeqItem0000664000000000000000000000005512741425367020246 0ustar rootroot#include "src/BodyPlugin/CollisionSeqItem.h" choreonoid-1.5.0/include/cnoid/PinDragIK0000664000000000000000000000004012741425367016565 0ustar rootroot#include "src/Body/PinDragIK.h" choreonoid-1.5.0/include/cnoid/ComboBox0000664000000000000000000000003712741425367016533 0ustar rootroot#include "src/Base/ComboBox.h" choreonoid-1.5.0/include/cnoid/BoundingBox0000664000000000000000000000004212741425367017235 0ustar rootroot#include "src/Util/BoundingBox.h" choreonoid-1.5.0/include/cnoid/ConnectionSet0000664000000000000000000000004412741425367017574 0ustar rootroot#include "src/Util/ConnectionSet.h" choreonoid-1.5.0/include/cnoid/ActionGroup0000664000000000000000000000004212741425367017251 0ustar rootroot#include "src/Base/ActionGroup.h" choreonoid-1.5.0/include/cnoid/GaussianFilter0000664000000000000000000000004512741425367017742 0ustar rootroot#include "src/Util/GaussianFilter.h" choreonoid-1.5.0/include/cnoid/BodyMotionItem0000664000000000000000000000005312741425367017723 0ustar rootroot#include "src/BodyPlugin/BodyMotionItem.h" choreonoid-1.5.0/include/cnoid/DeviceList0000664000000000000000000000004112741425367017051 0ustar rootroot#include "src/Body/DeviceList.h" choreonoid-1.5.0/include/cnoid/SpotLight0000664000000000000000000000004012741425367016732 0ustar rootroot#include "src/Body/SpotLight.h" choreonoid-1.5.0/include/cnoid/ExecutablePath0000664000000000000000000000004512741425367017720 0ustar rootroot#include "src/Util/ExecutablePath.h" choreonoid-1.5.0/include/cnoid/CorbaPlugin0000664000000000000000000000005112741425367017224 0ustar rootroot#include "src/CorbaPlugin/CorbaPlugin.h" choreonoid-1.5.0/include/cnoid/SpinBox0000664000000000000000000000003612741425367016404 0ustar rootroot#include "src/Base/SpinBox.h" choreonoid-1.5.0/include/cnoid/CollisionLinkPair0000664000000000000000000000005012741425367020403 0ustar rootroot#include "src/Body/CollisionLinkPair.h" choreonoid-1.5.0/include/cnoid/SubSimulatorItem.h0000664000000000000000000000005512741425367020521 0ustar rootroot#include "src/BodyPlugin/SubSimulatorItem.h" choreonoid-1.5.0/include/cnoid/ZMPSeq0000664000000000000000000000003512741425367016140 0ustar rootroot#include "src/Body/ZMPSeq.h" choreonoid-1.5.0/include/cnoid/PolyhedralRegion0000664000000000000000000000004712741425367020273 0ustar rootroot#include "src/Util/PolyhedralRegion.h" choreonoid-1.5.0/include/cnoid/SceneUtil0000664000000000000000000000004012741425367016710 0ustar rootroot#include "src/Util/SceneUtil.h" choreonoid-1.5.0/include/cnoid/Splitter0000664000000000000000000000003712741425367016631 0ustar rootroot#include "src/Base/Splitter.h" choreonoid-1.5.0/include/cnoid/TaskView0000664000000000000000000000003712741425367016560 0ustar rootroot#include "src/Base/TaskView.h" choreonoid-1.5.0/include/cnoid/LazySignal0000664000000000000000000000004112741425367017073 0ustar rootroot#include "src/Base/LazySignal.h" choreonoid-1.5.0/include/cnoid/SceneEffects0000664000000000000000000000004312741425367017355 0ustar rootroot#include "src/Util/SceneEffects.h" choreonoid-1.5.0/include/cnoid/ForceSensor0000664000000000000000000000004212741425367017247 0ustar rootroot#include "src/Body/ForceSensor.h" choreonoid-1.5.0/include/cnoid/FloatingNumberBox0000664000000000000000000000005012741425367020403 0ustar rootroot#include "src/Base/FloatingNumberBox.h" choreonoid-1.5.0/include/cnoid/Task0000664000000000000000000000003312741425367015721 0ustar rootroot#include "src/Util/Task.h" choreonoid-1.5.0/include/cnoid/OpenRTMUtil0000664000000000000000000000005312741425367017143 0ustar rootroot#include "src/OpenRTMPlugin/OpenRTMUtil.h" choreonoid-1.5.0/include/cnoid/SceneProjector0000664000000000000000000000004512741425367017747 0ustar rootroot#include "src/Base/SceneProjector.h" choreonoid-1.5.0/include/cnoid/BodyCustomizerInterface0000664000000000000000000000005612741425367021627 0ustar rootroot#include "src/Body/BodyCustomizerInterface.h" choreonoid-1.5.0/include/cnoid/PythonConsoleView0000664000000000000000000000006012741425367020456 0ustar rootroot#include "src/PythonPlugin/PythonConsoleView.h" choreonoid-1.5.0/include/cnoid/ToolBar0000664000000000000000000000003612741425367016364 0ustar rootroot#include "src/Base/ToolBar.h" choreonoid-1.5.0/include/cnoid/SelectionListEditor0000664000000000000000000000005212741425367020750 0ustar rootroot#include "src/Base/SelectionListEditor.h" choreonoid-1.5.0/include/cnoid/SceneBody0000664000000000000000000000004012741425367016670 0ustar rootroot#include "src/Body/SceneBody.h" choreonoid-1.5.0/include/cnoid/View0000664000000000000000000000003312741425367015731 0ustar rootroot#include "src/Base/View.h" choreonoid-1.5.0/include/cnoid/UniformCubicBSpline0000664000000000000000000000005212741425367020662 0ustar rootroot#include "src/Util/UniformCubicBSpline.h" choreonoid-1.5.0/include/cnoid/LeggedBodyHelper0000664000000000000000000000004712741425367020171 0ustar rootroot#include "src/Body/LeggedBodyHelper.h" choreonoid-1.5.0/include/cnoid/Item0000664000000000000000000000003312741425367015715 0ustar rootroot#include "src/Base/Item.h" choreonoid-1.5.0/include/cnoid/Sensor0000664000000000000000000000006412741425367016274 0ustar rootroot// This header is obsolete. #include "BasicSensors" choreonoid-1.5.0/include/cnoid/SceneGraph0000664000000000000000000000004112741425367017035 0ustar rootroot#include "src/Util/SceneGraph.h" choreonoid-1.5.0/include/cnoid/LinkGroup0000664000000000000000000000004012741425367016727 0ustar rootroot#include "src/Body/LinkGroup.h" choreonoid-1.5.0/include/cnoid/Collision0000664000000000000000000000004012741425367016750 0ustar rootroot#include "src/Util/Collision.h" choreonoid-1.5.0/include/cnoid/ColdetModelPair0000664000000000000000000000006712741425367020035 0ustar rootroot#include "src/AISTCollisionDetector/ColdetModelPair.h" choreonoid-1.5.0/include/cnoid/MultiSE3Seq0000664000000000000000000000004212741425367017075 0ustar rootroot#include "src/Util/MultiSE3Seq.h" choreonoid-1.5.0/include/cnoid/TimeSyncItemEngine0000664000000000000000000000005112741425367020517 0ustar rootroot#include "src/Base/TimeSyncItemEngine.h" choreonoid-1.5.0/include/cnoid/UTF80000664000000000000000000000003312741425367015545 0ustar rootroot#include "src/Util/UTF8.h" choreonoid-1.5.0/include/cnoid/PySignal0000664000000000000000000000004612741425367016551 0ustar rootroot#include "src/Util/python/PySignal.h" choreonoid-1.5.0/include/cnoid/VRMLParser0000664000000000000000000000004112741425367016753 0ustar rootroot#include "src/Util/VRMLParser.h" choreonoid-1.5.0/include/cnoid/SceneLights0000664000000000000000000000004212741425367017227 0ustar rootroot#include "src/Util/SceneLights.h" choreonoid-1.5.0/include/cnoid/EigenUtil0000664000000000000000000000004012741425367016702 0ustar rootroot#include "src/Util/EigenUtil.h" choreonoid-1.5.0/include/cnoid/TreeWidget0000664000000000000000000000004112741425367017061 0ustar rootroot#include "src/Base/TreeWidget.h" choreonoid-1.5.0/include/cnoid/LazyCaller0000664000000000000000000000004112741425367017060 0ustar rootroot#include "src/Base/LazyCaller.h" choreonoid-1.5.0/include/cnoid/BodyItem0000664000000000000000000000004512741425367016536 0ustar rootroot#include "src/BodyPlugin/BodyItem.h" choreonoid-1.5.0/include/cnoid/Menu0000664000000000000000000000003312741425367015723 0ustar rootroot#include "src/Base/Menu.h" choreonoid-1.5.0/include/cnoid/ItemList0000664000000000000000000000003712741425367016555 0ustar rootroot#include "src/Base/ItemList.h" choreonoid-1.5.0/include/cnoid/PositionDragger0000664000000000000000000000004612741425367020123 0ustar rootroot#include "src/Base/PositionDragger.h" choreonoid-1.5.0/include/cnoid/RectRegionMarker0000664000000000000000000000004712741425367020227 0ustar rootroot#include "src/Base/RectRegionMarker.h" choreonoid-1.5.0/include/cnoid/TimeBar0000664000000000000000000000003612741425367016345 0ustar rootroot#include "src/Base/TimeBar.h" choreonoid-1.5.0/include/cnoid/CollisionSeq0000664000000000000000000000005112741425367017423 0ustar rootroot#include "src/BodyPlugin/CollisionSeq.h" choreonoid-1.5.0/include/cnoid/PythonExecutor0000664000000000000000000000005512741425367020023 0ustar rootroot#include "src/PythonPlugin/PythonExecutor.h" choreonoid-1.5.0/include/cnoid/PoseProvider0000664000000000000000000000004312741425367017441 0ustar rootroot#include "src/Body/PoseProvider.h" choreonoid-1.5.0/include/cnoid/FileUtil0000664000000000000000000000003712741425367016540 0ustar rootroot#include "src/Util/FileUtil.h" choreonoid-1.5.0/include/cnoid/ConstraintForceSolver0000664000000000000000000000005412741425367021320 0ustar rootroot#include "src/Body/ConstraintForceSolver.h" choreonoid-1.5.0/include/cnoid/SceneWidget0000664000000000000000000000004212741425367017220 0ustar rootroot#include "src/Base/SceneWidget.h" choreonoid-1.5.0/include/cnoid/SceneProvider0000664000000000000000000000004412741425367017571 0ustar rootroot#include "src/Util/SceneProvider.h" choreonoid-1.5.0/include/cnoid/ExtJoystick0000664000000000000000000000004212741425367017277 0ustar rootroot#include "src/Util/ExtJoystick.h" choreonoid-1.5.0/include/cnoid/VRMLWriter0000664000000000000000000000004112741425367016773 0ustar rootroot#include "src/Util/VRMLWriter.h" choreonoid-1.5.0/include/cnoid/ItemPath0000664000000000000000000000003712741425367016536 0ustar rootroot#include "src/Base/ItemPath.h" choreonoid-1.5.0/include/cnoid/Button0000664000000000000000000000013112741425367016271 0ustar rootroot// This header is obsolete. #include "src/Base/Buttons.h" #include "src/Base/CheckBox.h" choreonoid-1.5.0/include/cnoid/PointCloudUtil0000664000000000000000000000005212741425367017736 0ustar rootroot#include "src/PCLPlugin/PointCloudUtil.h" choreonoid-1.5.0/include/cnoid/Vector3SeqItem0000664000000000000000000000004512741425367017637 0ustar rootroot#include "src/Base/Vector3SeqItem.h" choreonoid-1.5.0/include/cnoid/ColdetModel0000664000000000000000000000006312741425367017215 0ustar rootroot#include "src/AISTCollisionDetector/ColdetModel.h" choreonoid-1.5.0/include/cnoid/LinkTreeWidget0000664000000000000000000000005312741425367017702 0ustar rootroot#include "src/BodyPlugin/LinkTreeWidget.h" choreonoid-1.5.0/include/cnoid/WorldItem0000664000000000000000000000004612741425367016731 0ustar rootroot#include "src/BodyPlugin/WorldItem.h" choreonoid-1.5.0/include/cnoid/VRMLBodyWriter0000664000000000000000000000004512741425367017615 0ustar rootroot#include "src/Body/VRMLBodyWriter.h" choreonoid-1.5.0/INSTALL0000664000000000000000000000036312741425367013414 0ustar rootroot Please see the following manuals to get the information on how to compile and install Choreonoid. * http://choreonoid.org/en/manuals/1.5/install/install.html (English) * http://choreonoid.org/ja/manuals/1.5/install/install.html (Japanese) choreonoid-1.5.0/CONTRIBUTORS0000664000000000000000000000125012741425367014237 0ustar rootroot The development of Choreonoid was started by Shin'ichiro Nakaoka. Choreonoid has been developed as part of several research projects done at Humanoid Research Group, Intelligent Systems Research Institute, National Institute of Advanced Industrial Scicence and Technology (AIST). Following people contributed to Choreonoid (alphabetical order): Hervİ Audren Ko Ayusawa Benjamin Chrİtien Rafael Cisneros Isao Hara Kensuke Harada Shizuko Hattori Hirohisa Hirukawa Hisashi Ikari Shuuji Kajita Yohei Kakiuchi Fumio Kanehiro Kunio Kojima Yosuke Matsusaka Shougo Matsushita Mitsuharu Morisawa Thomas Moulard Shin'ichiro Nakaoka Shunichi Nozawa Yu Ohara Tokuo Tsuji Kazuhito Yokoi choreonoid-1.5.0/NEWS0000664000000000000000000001071612741425367013065 0ustar rootrootChoreonoid 1.5.0 released on July 13, 2016 ========================================== Changes since 1.4.0: * Improved the view / toolbar management system * Added GLVisionSimulatorItem, which simulates vision sensors such as cameras, RGBD cameras, and laser range sensors * Added A function to interactively apply force to an object being simulated using mouse dragging * Improved the stabilty the simulation performed by AISTSimulatorItem * Added PhysXPlugin, which enable nVidia PhysX to be used as a physics engine in simulation * Added WorldLogFileItem, which stores all the log data of a virtual world being simulated online * Generalization of collision detectors * Added BodyTrackingCameraItem, which provides a camera that automatically tracks a particular object in a virtual world * Added SensorVisualizerItem, which visualizes the states of sensors such as force sensors in a scene view * Added PointSetItem and MultiPointSetItem, which visualize point cloud data in a scene view * Added the Python scripting function, which enables users to controll Choreonoid with a Python script * The source code of BalancerPlugin became a part of Choreonoid's main source code with the same license * Added samples * Supported both Qt4 and Qt5 * The license was changed from LGPL to the MIT license * Other minor improvements and bug fixes Choreonoid 1.4.0 released on August 29, 2013 ============================================ Changes since 1.3.1: * Improved the OpenRTM plugin to support simulation using RT-components * Added the Bullet plugin, which allows the use of the Bullet physics library as one of the simulation engines * Added the Media plugin for playing movie and audio files * Introduced a new SceneView implementation based on the pure OpenGL API * Supported cameras and lights defined in models on the new SceneView * Supported the simulation of the crawler mechanism * Path variables can be set and used in project files * Added the RIC30 robot model * Added sample projects for the new functions and models * A lot of other minor improvements * A lot of bug fixes * Refactoring the API of the Body library and plugin Choreonoid 1.3.1 released on August 20, 2012 ============================================ Changes since 1.3.0: * Fixed a bug of reloading items * Fixed a bug of the execution file path detection on Mac OS X * Fixed a problem where a filename cannot be specified on file save dialogs on Mac OS X * Fixed a crash caused by ItemPropertyView Choreonoid 1.3.0 released on July 29, 2012 ========================================== Changes since 1.2.0: * Improved the AIST Simulator - Improved the high-gain dynamics mode to be more accurate - Made the integration methods selectable * Improved the support for Mac OS X - Introduced relative path setting for shared libraries to make the binary files relocatable on the file system - Fixed the BalancerPlugin binary to be loadable * Supported Boost C++ libraries version 1.50 * Fixed some other bugs Choreonoid 1.2.0 released on July 20, 2012 ========================================== Changes since 1.1.0: * Supported Mac OS X (Only tested on Lion) * Added a general dynamics simulation function * Improved the robustness of the automatic dynamic balance adjustment * Improved the numerical inverse kinematics to be more robust * SceneView's sequential image output function for creating movies * Online viewer function whose API is same as OpenHRP3 * Forward kinematics dragging for slide joints on SceneView * Added the Corba module and CorbaPlugin which support some CORBA functions * Supported Clang compiler * Ended the use of Boost.multi_array library which caused some problems * Removed the Eigen library source from the source archive * Fixed many other bugs Choreonoid 1.1.0 released on December 30, 2011 ============================================== Changes since 1.0.0: * Supported internationalization - Messages can be translated into other languages - Added Japanese translations - International characters (any characters defined in Unicode) can be used in data and filenames in the Linux distributions based on UTF-8 - Local character encoding (such as shift-jis) can be used in data and filenames in Windows - Added some scripts for handling gettext files * New graphical tool bar icons * New application icon * Fixed a compile error in Visual C++ 2010 * Fixed some other bugs Choreonoid 1.0.0 released on November 8, 2011 ============================================= This is the initial release version. choreonoid-1.5.0/.gitignore0000664000000000000000000000053412741425367014353 0ustar rootroot#*.[oa] *~ \#*\# /core ext/*/ Makefile CMakeFiles/ cmake_install.cmake CMakeCache.txt CPackConfig.cmake CPackSourceConfig.cmake /postinst *.hh moc_*.cxx moc_*.cxx_parameters qrc_*.cxx *.qrc.depends *DynSk.cpp *Sk.cpp /.cproject /.project /.settings/ /install_manifest.txt /bin /lib /share/icon/ /share/locale /Doxyfile gettext.h messages.pot choreonoid-1.5.0/ext/0000775000000000000000000000000012741425367013161 5ustar rootrootchoreonoid-1.5.0/ext/CMakeLists.txt0000664000000000000000000000036412741425367015724 0ustar rootroot# @author Shin'ichiro Nakaoka # if(ENABLE_INSTALL_RPATH) # unset(CMAKE_INSTALL_RPATH) # endif() file(GLOB subdirs "*") foreach(subdir ${subdirs}) if(EXISTS ${subdir}/CMakeLists.txt) add_subdirectory(${subdir}) endif() endforeach() choreonoid-1.5.0/share/0000775000000000000000000000000012741425367013463 5ustar rootrootchoreonoid-1.5.0/share/script/0000775000000000000000000000000012741425367014767 5ustar rootrootchoreonoid-1.5.0/share/script/.gitkeep0000664000000000000000000000000012741425367016406 0ustar rootrootchoreonoid-1.5.0/share/motion/0000775000000000000000000000000012741425367014770 5ustar rootrootchoreonoid-1.5.0/share/motion/SR1/0000775000000000000000000000000012741425367015375 5ustar rootrootchoreonoid-1.5.0/share/motion/SR1/SR1WalkPattern2.pseq0000664000000000000000000004103612741425367021137 0ustar rootroot# Body pose sequence format version 1.0 defined by cnoid-Robotics type: PoseSeq name: "SR1WalkPattern2" targetBody: "SR1" refs: - time: 0 refer: type: Pose name: "" joints: [ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28 ] q: [ 0, -0.036652, 0, 0.07854, -0.041888, 0, 0.174533, -0.003491, 0, -1.570796, 0, 0, 0, 0, -0.036652, 0, 0.07854, -0.041888, 0, 0.174533, -0.003491, 0, -1.570796, 0, 0, 0, 0, 0, 0 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ 9.14417338e-06, 0, 0.707499435 ] rotation: [ 1, 0, -1.38777878e-17, 0, 1, 0, 1.38777878e-17, 0, 1 ] - name: LLEG_ANKLE_R index: 23 translation: [ 0.0004, 0.09, 0.0545000013 ] rotation: [ 1, 0, -6.9388939e-18, 0, 1, 0, 6.9388939e-18, 0, 1 ] isTouching: true partingDirection: [ 0, 0, 1 ] - name: RLEG_ANKLE_R index: 29 translation: [ 0.0004, -0.09, 0.0545000013 ] rotation: [ 1, 0, -1.38777878e-17, 0, 1, 0, 1.38777878e-17, 0, 1 ] isTouching: true partingDirection: [ 0, 0, 1 ] zmp: [ 0.0383559077, -4.46462846e-05, 0 ] isZmpStationaryPoint: true - time: 2.014 refer: type: Pose name: "" joints: [ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28 ] q: [ 0.0192, -0.286, 0, 0.774, -0.488, -0.0192, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 0.0192, -0.286, 0, 0.774, -0.488, -0.0191999886, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 0.0329273, 0.00896968, -0.021747 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ 0.0410137963, -0.0115986578, 0.658514112 ] rotation: [ 1, -2.25514036e-07, -2.64260243e-05, 2.25504108e-07, 1, -3.75706625e-07, 2.64260244e-05, 3.75700666e-07, 1 ] - name: LLEG_ANKLE_R index: 23 translation: [ 0.0001, 0.09, 0.0545018782 ] rotation: [ 1, -2.25514338e-07, -2.64260243e-05, 2.25504108e-07, 1, -3.8713341e-07, 2.64260244e-05, 3.87127451e-07, 1 ] isTouching: true partingDirection: [ 0, 0, 1 ] - name: RLEG_ANKLE_R index: 29 translation: [ 0.000100040593, -0.09, 0.0545018105 ] rotation: [ 1, -2.25514036e-07, -2.64260243e-05, 2.25504108e-07, 1, -3.75706625e-07, 2.64260244e-05, 3.75700666e-07, 1 ] isTouching: true partingDirection: [ 0, 0, 1 ] - time: 5.01 maxTransitionTime: 1.09185091 refer: type: Pose name: "" joints: [ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28 ] q: [ -0.104999768, -0.528008072, -7.39996643e-13, 0.94199581, -0.413961843, 0.104999768, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 0.0294511984, -0.0134389614, -0.161704984 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ 0.0484073025, 0.0609281633, 0.65863289 ] rotation: [ 0.999998426, 0.00175187693, 0.000279766791, -0.00175178489, 0.999998412, -0.000328920249, -0.000280342574, 0.00032842964, 0.999999907 ] - name: RLEG_ANKLE_R index: 29 translation: [ 0.105400796, -0.0897720368, 0.0817468453 ] rotation: [ 0.999998414, 0.00175459084, 0.000305518488, -0.00175449032, 0.999998407, -0.000328965396, -0.000306095201, 0.000328428845, 0.999999899 ] - time: 5.384 refer: type: Pose name: "" joints: [ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28 ] q: [ -0.00448608461, -0.401534749, 0.00171957775, 0.776768438, -0.375334308, 0.00525274291, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 0.0286578, 0.00516945944, -0.153976 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ 0.0917137707, 0.00338640428, 0.658998207 ] rotation: [ 0.999998447, 0.00175921517, 0.000102944872, -0.00175922598, 0.999998447, 0.00010501355, -0.00010275997, -0.00010519449, 0.999999989 ] - name: RLEG_ANKLE_R index: 29 translation: [ 0.119699984, -0.0898000494, 0.054502926 ] rotation: [ 0.999999984, 0.000175910055, 9.94395868e-06, -0.000175910159, 0.999999984, 1.04308412e-05, -9.94212364e-06, -1.04325903e-05, 1 ] isTouching: true partingDirection: [ 0, 0, 1 ] - time: 5.976 maxTransitionTime: 0.374348885 refer: type: Pose name: "" joints: [ 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28 ] q: [ 0.175, -0.00349, 0, -1.57, 0, 0, 0, 0.148998513, -0.364579343, -2.91599666e-11, 0.948889335, -0.584041768, -0.148998513, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 0.0267902229, 0.0251335557, -0.00822491738 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ 0.164052716, -0.0861509702, 0.660077644 ] rotation: [ 0.999969456, -0.0023768393, 0.00744564182, 0.00236189248, 0.999995179, 0.00201560904, -0.0074503967, -0.00199796167, 0.999970249 ] - name: LLEG_ANKLE_R index: 23 translation: [ 0.11991639, 0.0887709504, 0.0859746699 ] rotation: [ 0.99996735, -0.00241665536, 0.00771088611, 0.00240117487, 0.999995085, 0.00201624075, -0.00771572076, -0.00199765974, 0.999968238 ] - time: 6.398 refer: type: Pose name: "" joints: [ 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28 ] q: [ 0.175, -0.00349, 0, -1.57, 0, 0, 0, 0.124963278, -0.575985904, -1.43484567e-11, 0.818976091, -0.243014691, -0.124963278, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 0.0357459943, 0.0185231994, 0.162118714 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ 0.191273203, -0.073778977, 0.659346241 ] rotation: [ 0.999994697, 0.000180070421, 0.00325156181, -0.000182116257, 0.999999786, 0.000628900581, -0.00325144787, -0.000629489409, 0.999994516 ] - name: LLEG_ANKLE_R index: 23 translation: [ 0.30976224, 0.0890762788, 0.0757860533 ] rotation: [ 0.999994776, 0.00018312461, 0.00322724857, -0.000185155171, 0.999999785, 0.000628905046, -0.00322713271, -0.000629499302, 0.999994595 ] - time: 6.612 refer: type: Pose name: "" joints: [ 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28 ] q: [ 0.175, -0.00349, 0, -1.57, 0, 0, 0, -0.0156763399, -0.399297264, 0.00182832101, 0.777137067, -0.378662501, 0.0163983385, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 0.0272585, 0.00958936, 0.163646 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ 0.293887431, 0.00921385189, 0.659007175 ] rotation: [ 0.999998067, 0.00171494306, 0.000962242492, -0.00171495472, 0.999998529, 1.12927148e-05, -0.00096222171, -1.29428952e-05, 0.999999537 ] - name: LLEG_ANKLE_R index: 23 translation: [ 0.3202, 0.0893000001, 0.0545302788 ] rotation: [ 0.999999986, 1.71869214e-05, 0.000166658871, -1.71869363e-05, 1, 8.8516176e-08, -0.000166658869, -9.13805301e-08, 0.999999986 ] isTouching: true partingDirection: [ 0, 0, 1 ] - time: 7.108 maxTransitionTime: 0.422374573 refer: type: Pose name: "" joints: [ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28 ] q: [ -0.095412951, -0.0519395353, -6.98370619e-09, 0.771513118, -0.720073576, 0.0954129506, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 0.0288835472, -0.00295149347, 0.0983995247 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ 0.3480482, 0.0544069056, 0.659003434 ] rotation: [ 0.999998071, 0.0017023544, 0.000979857543, -0.00170235496, 0.999998551, -2.69663113e-07, -0.000979856582, -1.39840275e-06, 0.99999952 ] - name: RLEG_ANKLE_R index: 29 translation: [ 0.167870237, -0.0904142906, 0.0831622385 ] rotation: [ 0.999998515, 0.00165472797, 0.000482138906, -0.00165472844, 0.999998631, 5.65782908e-07, -0.000482137309, -1.36359103e-06, 0.999999884 ] - time: 7.596 refer: type: Pose name: "" joints: [ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28 ] q: [ -0.0979021723, -0.506945536, -2.7412655e-10, 0.945110838, -0.438276356, 0.0979021721, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 0.0382603931, -0.00178616784, -0.142417385 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ 0.365599605, 0.0559847157, 0.658938402 ] rotation: [ 0.999998506, 0.00172273311, 0.000143665743, -0.00172273321, 0.999998516, 5.67663515e-07, -0.000143664552, -8.15160413e-07, 0.99999999 ] - name: RLEG_ANKLE_R index: 29 translation: [ 0.409607545, -0.0908528359, 0.0810125555 ] rotation: [ 0.999998534, 0.00171187827, 3.31433266e-05, -0.00171187829, 0.999998535, 7.57464587e-07, -3.31419813e-05, -8.14200818e-07, 0.999999999 ] - time: 7.914 refer: type: Pose name: "" joints: [ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28 ] q: [ -0.0169010947, -0.417001216, 0, 0.778002257, -0.361000453, 0.0169010947, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 0.0364639243, 0.0117529493, -0.15343923 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ 0.402968348, 0.00937049589, 0.658287222 ] rotation: [ 0.999998516, 0.00172299124, 1.17533925e-05, -0.00172299125, 0.999998516, 1.55179727e-06, -1.17507013e-05, -1.57204596e-06, 1 ] - name: RLEG_ANKLE_R index: 29 translation: [ 0.44, -0.0909, 0.0545023303 ] rotation: [ 0.999998516, 0.00172300117, 1.23413254e-05, -0.00172300119, 0.999998516, 1.55078426e-06, -1.23386351e-05, -1.57204608e-06, 1 ] isTouching: true partingDirection: [ 0, 0, 1 ] - time: 8.33055279 maxTransitionTime: 0.292413166 refer: type: Pose name: "" joints: [ 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28 ] q: [ 0.175, -0.00349, 0, -1.57, 0, 0, 0, 0.131, -0.151, 0, 0.829, -0.678, -0.131, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 0.0318833, 0.0270765, -0.124227 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ 0.467762397, -0.0764253531, 0.659559741 ] rotation: [ 0.999993753, -0.000715937162, 0.00346136851, 0.000708531234, 0.999997458, 0.00214034853, -0.00346289207, -0.00213788267, 0.999991719 ] - name: LLEG_ANKLE_R index: 23 translation: [ 0.33064805, 0.0884124097, 0.0815469107 ] rotation: [ 0.999993753, -0.000715937162, 0.00346136851, 0.000708531234, 0.999997458, 0.00214034853, -0.00346289207, -0.00213788267, 0.999991719 ] - time: 8.812 refer: type: Pose name: "" joints: [ 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28 ] q: [ 0.175, -0.00349, 0, -1.57, 0, 0, 0, 0.158999177, -0.321137473, -4.84161807e-10, 0.92105067, -0.600797094, -0.158999177, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 0.0358771922, 0.0432126957, -0.0237608988 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ 0.484651181, -0.0931540278, 0.660416152 ] rotation: [ 0.99993117, -0.00654075228, 0.00974028576, 0.00651569118, 0.999975386, 0.00260244722, -0.00975706797, -0.0025388034, 0.999949176 ] - name: LLEG_ANKLE_R index: 23 translation: [ 0.420064959, 0.0872800536, 0.0848573843 ] rotation: [ 0.999940196, -0.00640081348, 0.00886759516, 0.00637801559, 0.999976288, 0.00259682075, -0.00888400667, -0.00254010779, 0.99995731 ] - time: 9.332 refer: type: Pose name: "" joints: [ 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28 ] q: [ 0.175, -0.00349, 0, -1.57, 0, 0, 0, 0.0803113235, -0.278364274, 3.99029545e-17, 0.755401115, -0.477036841, -0.0803113235, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 0.0338585995, 0.0400849985, -0.0184752029 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ 0.480572639, -0.0500888102, 0.658960366 ] rotation: [ 0.999999888, -0.000474221818, -3.11021667e-06, 0.000474222024, 0.999999885, 6.68175819e-05, 3.07852996e-06, -6.68190493e-05, 0.999999998 ] - name: LLEG_ANKLE_R index: 23 translation: [ 0.439900001, 0.0884999992, 0.0545052952 ] rotation: [ 0.999999888, -0.000474221818, -3.11021668e-06, 0.000474222024, 0.999999885, 6.68175819e-05, 3.07852997e-06, -6.68190493e-05, 0.999999998 ] isTouching: true partingDirection: [ 0, 0, 1 ] - time: 11.0735023 refer: type: Pose name: "" joints: [ 6, 7, 8, 9, 10, 11, 12, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28 ] q: [ 0.175, -0.00349, 0, -1.57, 0, 0, 0, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 0.0329217, 0.0103245, -0.0237539 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ 0.48087087, -0.0132002071, 0.658908205 ] rotation: [ 0.999999888, -0.000472985437, -2.45811877e-07, 0.000472985437, 0.999999888, 1.10209545e-06, 2.45290574e-07, -1.10221159e-06, 1 ] - time: 13.29 maxTransitionTime: 1.2281353 refer: type: Pose name: "" joints: [ 6, 7, 8, 9, 10, 11, 12, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28 ] q: [ 0.175, -0.00349, 0, -1.57, 0, 0, 0, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 0.000262385431, 7.47716156e-05, -0.000175866745 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ 0.440099998, -0.00159999665, 0.67650093 ] rotation: [ 0.999999864, -0.000468272975, -0.000231005011, 0.000468272609, 0.99999989, -1.63878359e-06, 0.000231005753, 1.53061005e-06, 0.999999973 ] choreonoid-1.5.0/share/motion/SR1/SR1WalkPattern.yaml0000664000000000000000000512131312741425367021051 0ustar rootroot# Body motion data set format version 1.0 defined by cnoid-Robotics type: BodyMotion components: - type: "MultiValueSeq" content: "JointPosition" frameRate: 500 numFrames: 6701 numParts: 29 frames: - [ 0, -0.036, 0, 0.0785, -0.0425, 0, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 0, -0.036, 0, 0.0785, -0.0425, 0, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 0, 0, 0 ] - [ 0, -0.036, 0, 0.0785, -0.0425, 0, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 0, -0.036, 0, 0.0785, -0.0425, 0, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 0, 0, 0 ] - [ 0, -0.036, 0, 0.0785, -0.0425, 0, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 0, -0.036, 0, 0.0785, -0.0425, 0, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 0, 0, 0 ] - [ 1.75e-08, -0.036, 0, 0.0785, -0.0425, -1.75e-08, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 1.75e-08, -0.036, 0, 0.0785, -0.0425, -1.75e-08, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 3.49066e-08, 0, -1.74533e-08 ] - [ 3.49e-08, -0.036, 0, 0.0785, -0.0425, -3.49e-08, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 3.49e-08, -0.036, 0, 0.0785, -0.0425, -3.49e-08, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 5.23599e-08, 0, -3.49066e-08 ] - [ 5.24e-08, -0.036, 0, 0.0785, -0.0425, -5.24e-08, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 5.24e-08, -0.036, 0, 0.0785, -0.0425, -5.24e-08, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 1.0472e-07, 3.49066e-08, -6.98132e-08 ] - [ 8.73e-08, -0.036, 0, 0.0785, -0.0425, -8.73e-08, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 8.73e-08, -0.036, 0, 0.0785, -0.0425, -8.73e-08, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 1.5708e-07, 5.23599e-08, -1.0472e-07 ] - [ 1.4e-07, -0.036, 0, 0.0785, -0.0425, -1.4e-07, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 1.4e-07, -0.036, 0, 0.0785, -0.0425, -1.4e-07, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 2.44346e-07, 6.98132e-08, -1.5708e-07 ] - [ 1.92e-07, -0.0361, 0, 0.0785, -0.0425, -1.92e-07, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 1.92e-07, -0.0361, 0, 0.0785, -0.0425, -1.92e-07, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 3.49066e-07, 1.0472e-07, -2.44346e-07 ] - [ 2.62e-07, -0.0361, 0, 0.0786, -0.0425, -2.62e-07, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 2.62e-07, -0.0361, 0, 0.0786, -0.0425, -2.62e-07, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 4.88692e-07, 1.39626e-07, -3.31613e-07 ] - [ 3.49e-07, -0.0361, 0, 0.0786, -0.0425, -3.49e-07, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 3.49e-07, -0.0361, 0, 0.0786, -0.0425, -3.49e-07, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 6.63225e-07, 1.91986e-07, -4.36332e-07 ] - [ 4.71e-07, -0.0361, 0, 0.0786, -0.0425, -4.71e-07, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 4.71e-07, -0.0361, 0, 0.0786, -0.0425, -4.71e-07, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 8.72665e-07, 2.44346e-07, -5.75959e-07 ] - [ 6.11e-07, -0.0361, 0, 0.0786, -0.0425, -6.11e-07, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 6.11e-07, -0.0361, 0, 0.0786, -0.0425, -6.11e-07, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 1.11701e-06, 3.14159e-07, -7.50492e-07 ] - [ 7.68e-07, -0.0361, 0, 0.0787, -0.0426, -7.68e-07, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 7.68e-07, -0.0361, 0, 0.0787, -0.0426, -7.68e-07, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 1.39626e-06, 4.01426e-07, -9.42478e-07 ] - [ 9.42e-07, -0.0361, 0, 0.0787, -0.0426, -9.42e-07, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 9.42e-07, -0.0361, 0, 0.0787, -0.0426, -9.42e-07, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 1.74533e-06, 4.88692e-07, -1.16937e-06 ] - [ 1.15e-06, -0.0361, 0, 0.0788, -0.0426, -1.15e-06, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 1.15e-06, -0.0361, 0, 0.0788, -0.0426, -1.15e-06, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 2.1293e-06, 6.10865e-07, -1.41372e-06 ] - [ 1.4e-06, -0.0362, 0, 0.0788, -0.0426, -1.4e-06, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 1.4e-06, -0.0362, 0, 0.0788, -0.0426, -1.4e-06, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 2.56563e-06, 7.33038e-07, -1.71042e-06 ] - [ 1.66e-06, -0.0362, 0, 0.0789, -0.0427, -1.66e-06, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 1.66e-06, -0.0362, 0, 0.0789, -0.0427, -1.66e-06, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 3.07178e-06, 8.72665e-07, -2.05949e-06 ] - [ 1.97e-06, -0.0362, 0, 0.0789, -0.0427, -1.97e-06, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 1.97e-06, -0.0362, 0, 0.0789, -0.0427, -1.97e-06, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 3.63028e-06, 1.02974e-06, -2.42601e-06 ] - [ 2.3e-06, -0.0363, 0, 0.079, -0.0427, -2.3e-06, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 2.3e-06, -0.0363, 0, 0.079, -0.0427, -2.3e-06, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 4.2586e-06, 1.20428e-06, -2.84489e-06 ] - [ 2.69e-06, -0.0363, 0, 0.0791, -0.0428, -2.69e-06, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 2.69e-06, -0.0363, 0, 0.0791, -0.0428, -2.69e-06, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 4.95674e-06, 1.41372e-06, -3.31613e-06 ] - [ 3.11e-06, -0.0363, 0, 0.0792, -0.0428, -3.11e-06, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 3.11e-06, -0.0363, 0, 0.0792, -0.0428, -3.11e-06, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 5.72468e-06, 1.62316e-06, -3.82227e-06 ] - [ 3.56e-06, -0.0364, 0, 0.0793, -0.0429, -3.56e-06, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 3.56e-06, -0.0364, 0, 0.0793, -0.0429, -3.56e-06, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 6.56244e-06, 1.8675e-06, -4.39823e-06 ] - [ 4.07e-06, -0.0364, 0, 0.0794, -0.043, -4.07e-06, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 4.07e-06, -0.0364, 0, 0.0794, -0.043, -4.07e-06, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 7.48746e-06, 2.1293e-06, -5.00909e-06 ] - [ 4.61e-06, -0.0365, 0, 0.0795, -0.043, -4.61e-06, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 4.61e-06, -0.0365, 0, 0.0795, -0.043, -4.61e-06, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 8.49975e-06, 2.40855e-06, -5.67232e-06 ] - [ 5.2e-06, -0.0365, 0, 0.0796, -0.0431, -5.2e-06, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 5.2e-06, -0.0365, 0, 0.0796, -0.0431, -5.2e-06, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 9.58186e-06, 2.72271e-06, -6.40536e-06 ] - [ 5.83e-06, -0.0366, 0, 0.0798, -0.0432, -5.83e-06, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 5.83e-06, -0.0366, 0, 0.0798, -0.0432, -5.83e-06, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 1.07687e-05, 3.05433e-06, -7.19076e-06 ] - [ 6.53e-06, -0.0367, 0, 0.0799, -0.0432, -6.53e-06, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 6.53e-06, -0.0367, 0, 0.0799, -0.0432, -6.53e-06, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 1.20253e-05, 3.42085e-06, -8.04597e-06 ] - [ 7.26e-06, -0.0367, 0, 0.0801, -0.0433, -7.26e-06, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 7.26e-06, -0.0367, 0, 0.0801, -0.0433, -7.26e-06, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 1.33867e-05, 3.80482e-06, -8.95354e-06 ] - [ 8.05e-06, -0.0368, 0, 0.0802, -0.0434, -8.05e-06, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 8.05e-06, -0.0368, 0, 0.0802, -0.0434, -8.05e-06, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 1.48528e-05, 4.2237e-06, -9.93092e-06 ] - [ 8.88e-06, -0.0369, 0, 0.0804, -0.0435, -8.88e-06, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 8.88e-06, -0.0369, 0, 0.0804, -0.0435, -8.88e-06, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 1.64061e-05, 4.66003e-06, -1.09781e-05 ] - [ 9.79e-06, -0.037, 0, 0.0806, -0.0436, -9.79e-06, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 9.79e-06, -0.037, 0, 0.0806, -0.0436, -9.79e-06, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 1.80642e-05, 5.13127e-06, -1.20777e-05 ] - [ 1.08e-05, -0.037, 0, 0.0808, -0.0437, -1.08e-05, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 1.08e-05, -0.037, 0, 0.0808, -0.0437, -1.08e-05, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 1.98444e-05, 5.63741e-06, -1.32645e-05 ] - [ 1.18e-05, -0.0371, 0, 0.081, -0.0439, -1.18e-05, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 1.18e-05, -0.0371, 0, 0.081, -0.0439, -1.18e-05, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 2.17119e-05, 6.16101e-06, -1.45211e-05 ] - [ 1.28e-05, -0.0372, 0, 0.0812, -0.044, -1.28e-05, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 1.28e-05, -0.0372, 0, 0.0812, -0.044, -1.28e-05, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 2.37016e-05, 6.71952e-06, -1.58476e-05 ] - [ 1.4e-05, -0.0373, 0, 0.0815, -0.0441, -1.4e-05, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 1.4e-05, -0.0373, 0, 0.0815, -0.0441, -1.4e-05, 0.175, 0.00349, 0, -1.57, 0, 0, 0, 2.5796e-05, 7.33038e-06, -1.72439e-05 ] - [ 1.52e-05, -0.0375, 0, 0.0817, -0.0443, -1.52e-05, 0.175, -0.00349, 0, -1.57, 0, 0, 0, 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-0.00122299876, 0 ] - [ 0.489932542, -0.00122352097, 0 ] - [ 0.489933456, -0.00122404915, 0 ] - [ 0.489934381, -0.00122458334, 0 ] - [ 0.489935317, -0.00122512358, 0 ] - [ 0.489936264, -0.00122566991, 0 ] - [ 0.489937221, -0.00122622237, 0 ] - [ 0.48993819, -0.001226781, 0 ] - [ 0.489939169, -0.00122734585, 0 ] - [ 0.48994016, -0.00122791695, 0 ] - [ 0.489941162, -0.00122849437, 0 ] - [ 0.489942175, -0.00122907813, 0 ] - [ 0.489943199, -0.00122966828, 0 ] - [ 0.489944235, -0.00123026489, 0 ] - [ 0.489945282, -0.00123086798, 0 ] - [ 0.489946342, -0.00123147762, 0 ] - [ 0.489947412, -0.00123209386, 0 ] - [ 0.489948495, -0.00123271673, 0 ] - [ 0.489949223, -0.00123313529, 0 ] choreonoid-1.5.0/share/motion/GR001/0000775000000000000000000000000012741425367015521 5ustar rootrootchoreonoid-1.5.0/share/motion/GR001/SampleMotion1.pseq0000664000000000000000000003071412741425367021110 0ustar rootroot# Body pose sequence format version 1.0 defined by cnoid-Robotics type: PoseSeq name: "SampleMotion1" targetBody: "GR001" refs: - time: 0 refer: type: Pose name: "" joints: [ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ -1.80616593e-19, 0.00197016157, 0.370920524, -0.701176708, -0.330256184, 0.00197016157, -6.05607271e-19, 0.00197016157, -0.370920524, 0.701176708, 0.330256184, 0.00197016157, 0, 0, 0.34906585, 0, -0.34906585, -0.34906585, 0, 0.34906585 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ -0.00206589105, 0.000206960048, 0.154197111 ] rotation: [ 1, 7.25663958e-19, 7.30074269e-16, -4.21994409e-19, 1, 3.56094663e-15, -5.75440303e-16, -3.56007164e-15, 1 ] - name: R_ANKLE_R index: 6 translation: [ 0.0252, -0.0196, 0.0211500007 ] rotation: [ 1, 2.24612932e-19, 3.84078922e-16, 1.03126261e-19, 1, 8.67361738e-19, -2.21312768e-16, 7.62329653e-21, 1 ] isTouching: true partingDirection: [ 0, 0, 1 ] - name: L_ANKLE_R index: 12 translation: [ 0.0252, 0.0196, 0.0211500007 ] rotation: [ 1, -8.37197087e-19, -3.70579372e-16, 1.17298181e-18, 1, 6.37075926e-16, 5.86146799e-16, -6.35548514e-16, 1 ] isTouching: true partingDirection: [ 0, 0, 1 ] zmp: [ 0.0202, -5.67254577e-16, 0 ] isZmpStationaryPoint: true - time: 1.5 maxTransitionTime: 0.541666667 refer: type: Pose name: "" joints: [ 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ 0, 0, -0.172787596, -1.5271631, -0.802851456, 0.172787596, 1.5271631, 0.34906585 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ -0.00170177353, 0.000206686534, 0.154270653 ] rotation: [ 0.989016678, -1.0618018e-05, -0.147803962, 1.05159591e-05, 1, -1.4719432e-06, 0.147803962, -9.85240516e-08, 0.989016678 ] - time: 2.46666667 maxTransitionTime: 0.558333333 refer: type: Pose name: "" joints: [ 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ 0.00263595484, 0.354301838, -0.202445604, -1.65626266, -0.549886095, -0.62066345, 0.667445809, 1.41804495 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ -0.00231165222, 0.000286113927, 0.154157425 ] rotation: [ 0.854382857, 0.344858111, 0.388719458, -0.342913079, 0.936216263, -0.0768747615, -0.390436363, -0.0676165079, 0.918143482 ] - time: 2.99166667 maxTransitionTime: 0.341666667 refer: type: Pose name: "" joints: [ 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ 0.00263653005, 0, 0.205694412, -1.16597616, -0.98031669, -0.212686887, 1.15757596, 0.987788984 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ 0.00557454746, -2.64736876e-05, 0.143289054 ] rotation: [ 0.914441672, 0.00288814826, 0.40470741, -5.23028162e-05, 0.999975372, -0.00701803127, -0.404717712, 0.00639641291, 0.914419302 ] - time: 3.48333333 maxTransitionTime: 0.516666667 refer: type: Pose name: "" joints: [ 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ 0.00263595492, -0.422369679, 0.620629366, -0.667486757, -1.418009, 0.202411496, 1.65622169, 0.549922076 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ 0.0141276682, -0.000322323269, 0.150963912 ] rotation: [ 0.840461288, -0.342483373, 0.419916614, 0.343579605, 0.936061362, 0.0757771775, -0.419020141, 0.0805870002, 0.90439364 ] - time: 4.00833333 maxTransitionTime: 0.341666667 refer: type: Pose name: "" joints: [ 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ 0.00263653005, 0, 0.205694412, -1.16597616, -0.98031669, -0.212686887, 1.15757596, 0.987788984 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ 0.00557454746, -2.64736876e-05, 0.143289054 ] rotation: [ 0.914441672, 0.00288814826, 0.40470741, -5.23028162e-05, 0.999975372, -0.00701803127, -0.404717712, 0.00639641291, 0.914419302 ] - time: 4.49166667 maxTransitionTime: 0.541666667 refer: type: Pose name: "" joints: [ 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ 0, 0, -0.172787596, -1.5271631, -0.802851456, 0.172787596, 1.5271631, 0.34906585 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ -0.00170177353, 0.000206686534, 0.154270653 ] rotation: [ 0.989016678, -1.0618018e-05, -0.147803962, 1.05159591e-05, 1, -1.4719432e-06, 0.147803962, -9.85240516e-08, 0.989016678 ] - time: 5.025 refer: type: Pose name: "" joints: [ 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ 0, 0.326291052, 0.942000489, -0.906487926, -1.25535486, 1.46282615, 0.771257023, 1.18819094 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ -0.00595981699, 0.00698479091, 0.147243988 ] rotation: [ 0.999982472, -0.00179845846, -0.00564107445, 1.07496363e-05, 0.953301255, -0.302021056, 0.00592081567, 0.302015701, 0.953284564 ] - time: 5.525 refer: type: Pose name: "" joints: [ 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ 0, 9.72347334e-05, 0.581302161, -1.03668676, -0.92861256, 1.28636026, 0.834248605, 0.836117661 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ -0.00576741128, -0.000178572423, 0.15122398 ] rotation: [ 0.993234316, 0.00517775005, -0.116011999, -9.85958498e-05, 0.999042755, 0.0437443105, 0.116127444, -0.043436912, 0.992284058 ] - time: 6.01666667 refer: type: Pose name: "" joints: [ 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ 0, 0.326291052, 0.942000489, -0.906487926, -1.25535486, 1.46282615, 0.771257023, 1.18819094 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ -0.00595981699, 0.00698479091, 0.147243988 ] rotation: [ 0.999982472, -0.00179845846, -0.00564107445, 1.07496363e-05, 0.953301255, -0.302021056, 0.00592081567, 0.302015701, 0.953284564 ] - time: 6.54166667 maxTransitionTime: 0.541666667 refer: type: Pose name: "" joints: [ 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ 0, 9.84430804e-06, -0.172753962, -1.52714437, -0.802865108, 0.172826517, 1.52714029, 0.349091167 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ -0.000709439304, 0.0272837379, 0.14415081 ] rotation: [ 0.989019285, -0.000140269134, -0.147786448, 1.26891509e-05, 0.999999626, -0.000864215013, 0.147786514, 0.00085285003, 0.989018917 ] - time: 7.15871683 maxTransitionTime: 0.724353292 refer: type: Pose name: "" joints: [ 0, 1, 2, 3, 4, 5, 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ -0.00448554345, 0.158707861, 0.0575528145, -0.87765158, -0.254806122, 0.0113587088, 0, -0.387463094, -0.888372589, -1.30899694, -1.55159771, -0.750491578, 1.18333323, 0.900589894 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ -0.00218358137, 0.0359159308, 0.154265647 ] rotation: [ 0.999850594, 0.0169426471, 0.0034257387, -0.0172852919, 0.979002044, 0.203116263, 8.75219726e-05, -0.203145131, 0.979148634 ] - name: R_ANKLE_R index: 6 translation: [ -0.0143382891, -0.0216689863, 0.0441276821 ] rotation: [ 0.840607085, 0.0267631026, 0.540983794, -0.208611213, 0.937726404, 0.277759883, -0.499861072, -0.346342211, 0.793842542 ] - time: 7.83107165 maxTransitionTime: 0.328014784 refer: type: Pose name: "" joints: [ 0, 1, 2, 3, 4, 5, 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ -0.130863974, 0.227028823, 0.903551924, -0.934143105, -0.153307758, -0.0196133095, 0, -0.387463094, -0.125452629, -0.916723361, -1.23611023, -1.00903081, 1.10115248, 0.800432771 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ -0.00632375134, 0.0370071214, 0.154259643 ] rotation: [ 0.981132548, -0.13053257, 0.142618974, 0.0973393867, 0.970867715, 0.218954159, -0.167044806, -0.200940609, 0.965255875 ] - name: R_ANKLE_R index: 6 translation: [ 0.043821894, -0.0304316716, 0.0390835821 ] rotation: [ 0.999304947, -0.0337694092, 0.0157876539, 0.0230297452, 0.892288296, 0.450878284, -0.0293130321, -0.450201314, 0.892445809 ] - time: 8.18024868 refer: type: Pose name: "" joints: [ 0, 1, 2, 3, 4, 5, 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ -0.13240401, 0.285252766, 1.26631178, -0.945796389, -0.282969297, 0.0350767145, 0, -0.387463094, 0.483781988, -0.727534958, -0.947549306, -1.50969822, 0.960895056, 0.454597378 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ -0.0069119989, 0.0368694778, 0.154226214 ] rotation: [ 0.97293155, -0.114419492, 0.200779429, 0.0687961848, 0.972838195, 0.221026994, -0.220615694, -0.201231277, 0.954376597 ] - name: R_ANKLE_R index: 6 translation: [ 0.0664605398, -0.030431704, 0.0496545353 ] rotation: [ 0.918242056, -0.0558642713, -0.392059575, 0.226221579, 0.886569969, 0.403506489, 0.325046649, -0.459208964, 0.826723535 ] - time: 9.01615732 maxTransitionTime: 0.529056104 refer: type: Pose name: "" joints: [ 0, 1, 2, 3, 4, 5, 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ -0.000871297291, 0.29927517, 0.52329174, -0.953265731, -0.43274688, 0.298156892, 0, -0.00173207729, 0.349668072, -0.37533689, -0.351464137, -0.370906241, 0.389208423, 0.349380348 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ -0.00287269103, 0.0297707957, 0.144534584 ] rotation: [ 0.999999465, -0.00028591801, 0.000994134096, 0.000284994235, 0.999999528, 0.000929243977, -0.000994399314, -0.000928960157, 0.999999074 ] - name: R_ANKLE_R index: 6 translation: [ 0.0253871799, -0.0193565247, 0.0212777166 ] rotation: [ 0.999998603, -0.000230293824, -0.00165575874, 0.000233684636, 0.999997876, 0.0020479879, 0.00165528359, -0.00204837197, 0.999996532 ] isTouching: true partingDirection: [ 0, 0, 1 ] - time: 9.65102465 maxTransitionTime: 0.677191813 refer: type: Pose name: "" joints: [ 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ 0, 0, 0.34906585, 0, -0.34906585, -0.34906585, 0, 0.34906585 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ -0.00206589105, 0.000206960048, 0.154197111 ] rotation: [ 1, 7.25663958e-19, 7.30074269e-16, -4.21994409e-19, 1, 3.56094663e-15, -5.75440303e-16, -3.56007164e-15, 1 ] choreonoid-1.5.0/share/motion/RIC30/0000775000000000000000000000000012741425367015550 5ustar rootrootchoreonoid-1.5.0/share/motion/RIC30/SampleMotion1.pseq0000664000000000000000000003075612741425367021145 0ustar rootroot# Body pose sequence format version 1.0 defined by cnoid-Robotics type: PoseSeq name: "SampleMotion1" targetBody: "RIC30" refs: - time: 0 refer: type: Pose name: "" joints: [ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ -2.74277156e-14, 0.0259937549, 0.414012653, -0.689377758, -0.275365105, 0.0259937549, -1.31946595e-15, 0.0259864811, -0.414002638, 0.689393486, 0.275390848, 0.0259864811, 0, 0, 0.34906585, -0.174532925, -0.698131701, -0.34906585, 0.174532925, 0.698131701 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ 0.0161870912, -0.00170269015, 0.166422533 ] rotation: [ 1, -2.61060635e-14, -1.38359369e-13, 2.6095448e-14, 1, 7.1127132e-14, 1.38000722e-13, -7.11306014e-14, 1 ] - name: R_ANKLE_R index: 6 translation: [ 0.0251995642, -0.0293999067, 0.0211508251 ] rotation: [ 1, 3.65030029e-15, -4.87946377e-14, -3.66026653e-15, 1, 4.7645915e-14, 4.84057239e-14, -4.76528539e-14, 1 ] isTouching: true partingDirection: [ 0, 0, 1 ] - name: L_ANKLE_R index: 12 translation: [ 0.0251973182, 0.0196009935, 0.0211510241 ] rotation: [ 1, -2.67017551e-14, -2.12041005e-13, 2.66930575e-14, 1, 9.71271674e-14, 2.1166402e-13, -9.71271674e-14, 1 ] isTouching: true partingDirection: [ 0, 0, 1 ] zmp: [ 0.0153995642, -0.00489990671, 0 ] isZmpStationaryPoint: true - time: 1.5 maxTransitionTime: 0.541666667 refer: type: Pose name: "" joints: [ 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ 0, 0, -0.172787596, -1.5271631, -0.802851456, 0.172787596, 1.5271631, 0.34906585 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ -0.00170177353, 0.000206686534, 0.154270653 ] rotation: [ 0.989016678, -1.0618018e-05, -0.147803962, 1.05159591e-05, 1, -1.4719432e-06, 0.147803962, -9.85240516e-08, 0.989016678 ] - time: 2.46666667 maxTransitionTime: 0.558333333 refer: type: Pose name: "" joints: [ 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ 0.00263595484, 0.354301838, -0.202445604, -1.65626266, -0.549886095, -0.62066345, 0.667445809, 1.41804495 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ -0.00231165222, 0.000286113927, 0.154157425 ] rotation: [ 0.854382857, 0.344858111, 0.388719458, -0.342913079, 0.936216263, -0.0768747615, -0.390436363, -0.0676165079, 0.918143482 ] - time: 2.99166667 maxTransitionTime: 0.341666667 refer: type: Pose name: "" joints: [ 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ 0.00263653005, 0, 0.205694412, -1.16597616, -0.98031669, -0.212686887, 1.15757596, 0.987788984 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ 0.00557454746, -2.64736876e-05, 0.143289054 ] rotation: [ 0.914441672, 0.00288814826, 0.40470741, -5.23028162e-05, 0.999975372, -0.00701803127, -0.404717712, 0.00639641291, 0.914419302 ] - time: 3.48333333 maxTransitionTime: 0.516666667 refer: type: Pose name: "" joints: [ 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ 0.00263595492, -0.422369679, 0.620629366, -0.667486757, -1.418009, 0.202411496, 1.65622169, 0.549922076 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ 0.0141276682, -0.000322323269, 0.150963912 ] rotation: [ 0.840461288, -0.342483373, 0.419916614, 0.343579605, 0.936061362, 0.0757771775, -0.419020141, 0.0805870002, 0.90439364 ] - time: 4.00833333 maxTransitionTime: 0.341666667 refer: type: Pose name: "" joints: [ 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ 0.00263653005, 0, 0.205694412, -1.16597616, -0.98031669, -0.212686887, 1.15757596, 0.987788984 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ 0.00557454746, -2.64736876e-05, 0.143289054 ] rotation: [ 0.914441672, 0.00288814826, 0.40470741, -5.23028162e-05, 0.999975372, -0.00701803127, -0.404717712, 0.00639641291, 0.914419302 ] - time: 4.49166667 maxTransitionTime: 0.541666667 refer: type: Pose name: "" joints: [ 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ 0, 0, -0.172787596, -1.5271631, -0.802851456, 0.172787596, 1.5271631, 0.34906585 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ -0.00170177353, 0.000206686534, 0.154270653 ] rotation: [ 0.989016678, -1.0618018e-05, -0.147803962, 1.05159591e-05, 1, -1.4719432e-06, 0.147803962, -9.85240516e-08, 0.989016678 ] - time: 5.025 refer: type: Pose name: "" joints: [ 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ 0, 0.326291052, 0.942000489, -0.906487926, -1.25535486, 1.46282615, 0.771257023, 1.18819094 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ -0.00595981699, 0.00698479091, 0.147243988 ] rotation: [ 0.999982472, -0.00179845846, -0.00564107445, 1.07496363e-05, 0.953301255, -0.302021056, 0.00592081567, 0.302015701, 0.953284564 ] - time: 5.525 refer: type: Pose name: "" joints: [ 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ 0, 9.72347334e-05, 0.581302161, -1.03668676, -0.92861256, 1.28636026, 0.834248605, 0.836117661 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ -0.00576741128, -0.000178572423, 0.15122398 ] rotation: [ 0.993234316, 0.00517775005, -0.116011999, -9.85958498e-05, 0.999042755, 0.0437443105, 0.116127444, -0.043436912, 0.992284058 ] - time: 6.01666667 refer: type: Pose name: "" joints: [ 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ 0, 0.326291052, 0.942000489, -0.906487926, -1.25535486, 1.46282615, 0.771257023, 1.18819094 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ -0.00595981699, 0.00698479091, 0.147243988 ] rotation: [ 0.999982472, -0.00179845846, -0.00564107445, 1.07496363e-05, 0.953301255, -0.302021056, 0.00592081567, 0.302015701, 0.953284564 ] - time: 6.54166667 maxTransitionTime: 0.541666667 refer: type: Pose name: "" joints: [ 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ 0, 9.84430804e-06, -0.172753962, -1.52714437, -0.802865108, 0.172826517, 1.52714029, 0.349091167 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ -0.000709439304, 0.0272837379, 0.14415081 ] rotation: [ 0.989019285, -0.000140269134, -0.147786448, 1.26891509e-05, 0.999999626, -0.000864215013, 0.147786514, 0.00085285003, 0.989018917 ] - time: 7.16 maxTransitionTime: 0.617050163 refer: type: Pose name: "" joints: [ 0, 1, 2, 3, 4, 5, 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ -0.00554108227, 0.186919342, 0.581899756, -1.43832041, -0.723837574, 0.275836214, 0, -0.387463094, -0.888372589, -1.30899694, -1.55159771, -0.750491578, 1.18333323, 0.900589894 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ -0.00218358137, 0.0359159308, 0.154265647 ] rotation: [ 0.999850594, 0.0169426471, 0.0034257387, -0.0172852919, 0.979002044, 0.203116263, 8.75219726e-05, -0.203145131, 0.979148634 ] - name: R_ANKLE_R index: 6 translation: [ -0.0173606784, -0.0294748821, 0.0472732868 ] rotation: [ 0.989970076, 0.0586741794, 0.128516883, -0.0729412725, 0.991331323, 0.109278445, -0.120990988, -0.117556576, 0.985668115 ] - time: 7.83107165 maxTransitionTime: 0.328014784 refer: type: Pose name: "" joints: [ 0, 1, 2, 3, 4, 5, 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ -0.130863974, 0.227028823, 0.903551924, -0.934143105, -0.153307758, -0.0196133095, 0, -0.387463094, -0.125452629, -0.916723361, -1.23611023, -1.00903081, 1.10115248, 0.800432771 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ -0.00632375134, 0.0370071214, 0.154259643 ] rotation: [ 0.981132548, -0.13053257, 0.142618974, 0.0973393867, 0.970867715, 0.218954159, -0.167044806, -0.200940609, 0.965255875 ] - name: R_ANKLE_R index: 6 translation: [ 0.043821894, -0.0304316716, 0.0390835821 ] rotation: [ 0.999304947, -0.0337694092, 0.0157876539, 0.0230297452, 0.892288296, 0.450878284, -0.0293130321, -0.450201314, 0.892445809 ] - time: 8.18024868 refer: type: Pose name: "" joints: [ 0, 1, 2, 3, 4, 5, 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ -0.13240401, 0.285252766, 1.26631178, -0.945796389, -0.282969297, 0.0350767145, 0, -0.387463094, 0.483781988, -0.727534958, -0.947549306, -1.50969822, 0.960895056, 0.454597378 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ -0.0069119989, 0.0368694778, 0.154226214 ] rotation: [ 0.97293155, -0.114419492, 0.200779429, 0.0687961848, 0.972838195, 0.221026994, -0.220615694, -0.201231277, 0.954376597 ] - name: R_ANKLE_R index: 6 translation: [ 0.0664605398, -0.030431704, 0.0496545353 ] rotation: [ 0.918242056, -0.0558642713, -0.392059575, 0.226221579, 0.886569969, 0.403506489, 0.325046649, -0.459208964, 0.826723535 ] - time: 9.02 maxTransitionTime: 0.529056104 refer: type: Pose name: "" joints: [ 0, 1, 2, 3, 4, 5, 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ -0.000948339255, 0.328356452, 0.840267319, -1.15935439, -0.321870665, 0.327238275, 0, -0.000342780255, 0.349668006, -0.372909988, -0.349318065, -0.366752784, 0.385951046, 0.349380314 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ -0.00287260272, 0.0296536997, 0.144535642 ] rotation: [ 0.999999465, -0.000285886612, 0.000994025304, 0.000284963039, 0.999999528, 0.000929142228, -0.000994290464, -0.00092885847, 0.999999074 ] - name: R_ANKLE_R index: 6 translation: [ 0.025199998, -0.0293999966, 0.0212308467 ] rotation: [ 0.999998626, -0.000233388658, -0.00164111574, 0.000236749295, 0.999997875, 0.00204787945, 0.0016406343, -0.00204826517, 0.999996556 ] isTouching: true partingDirection: [ 0, 0, 1 ] - time: 9.65102465 maxTransitionTime: 0.677191813 refer: type: Pose name: "" joints: [ 12, 13, 14, 15, 16, 17, 18, 19 ] q: [ 0, 0, 0.34906585, 0, -0.34906585, -0.34906585, 0, 0.34906585 ] ikLinks: - name: WAIST index: 0 isBaseLink: true translation: [ -0.00206589105, 0.000206960048, 0.154197111 ] rotation: [ 1, 7.25663958e-19, 7.30074269e-16, -4.21994409e-19, 1, 3.56094663e-15, -5.75440303e-16, -3.56007164e-15, 1 ] choreonoid-1.5.0/share/man/0000775000000000000000000000000012741425367014236 5ustar rootrootchoreonoid-1.5.0/share/man/man1/0000775000000000000000000000000012741425367015072 5ustar rootrootchoreonoid-1.5.0/share/man/man1/choreonoid.10000664000000000000000000000117112741425367017305 0ustar rootroot.TH CHOREONOID 1 .SH NAME Choreonoid \- An extensible virtual robot environment built on an integrated GUI framework .SH SYNOPSIS .B choreonoid [OPTIONS] .SH DESCRIPTION Choreonoid is a robotics GUI tool which allows users to handle virtual robots and add various functions cooperating with the existing functions. .SH OPTIONS .TP 5 \-\-project arg load a project file .TP 5 \-\-start\-playback start playback automatically .TP 5 \-\-model arg load a 3d model file .TP 5 \-\-hrpmodel arg load an OpenHRP model file .TP 5 \-h, \-\-help show help message .SH AUTHOR Shin'ichiro Nakaoka and Choreonoid Development Team, AIST. choreonoid-1.5.0/share/project/0000775000000000000000000000000012741425367015131 5ustar rootrootchoreonoid-1.5.0/share/project/FallingBoxes.cnoid0000664000000000000000000003135112741425367020527 0ustar rootrootoptionalPlugins: [ ODE, Bullet, PhysX, AgX ] items: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false collisionDetector: AISTCollisionDetector children: - id: 2 name: "Floor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/floor.wrl" currentBaseLink: "BASE" rootPosition: [ 0, 0, -0.1 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ ] initialRootPosition: [ 0, 0, -0.1 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 3 name: "box1" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box1.body" currentBaseLink: "WAIST" rootPosition: [ 0.0375, 0.15, 1.4159 ] rootAttitude: [ 0.820303, 0.536269, 0.198792, -0.547074, 0.837084, -0.000678, -0.166769, -0.108198, 0.980041 ] jointPositions: [ ] initialRootPosition: [ 0.0375, 0.15, 1.4159 ] initialRootAttitude: [ 0.820303398, 0.536268628, 0.198791956, -0.547074372, 0.837083702, -0.000677909207, -0.166769044, -0.108197909, 0.980041475 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 4 name: "box1" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box1.body" currentBaseLink: "WAIST" rootPosition: [ 0.0108, 0.2371, 1.0699 ] rootAttitude: [ 0.790431, -0.579651, 0.198048, 0.591318, 0.806439, 0.000289, -0.159881, 0.116881, 0.980192 ] jointPositions: [ ] initialRootPosition: [ 0.0108, 0.2371, 1.0699 ] initialRootAttitude: [ 0.790431146, -0.579651269, 0.198047985, 0.591317731, 0.806438623, 0.000288917343, -0.159881015, 0.116880917, 0.980192283 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 5 name: "box1" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box1.body" currentBaseLink: "WAIST" rootPosition: [ -0.0123, 0.15, 0.6871 ] rootAttitude: [ 0.979672, 0.030711, 0.198239, 0.022232, 0.965503, -0.259442, -0.199368, 0.258576, 0.945194 ] jointPositions: [ ] initialRootPosition: [ -0.0123, 0.15, 0.6871 ] initialRootAttitude: [ 0.979672466, 0.0307109713, 0.198238994, 0.0222319713, 0.965502689, -0.259442289, -0.199368006, 0.258575711, 0.945193634 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 6 name: "box1" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box1.body" currentBaseLink: "WAIST" rootPosition: [ 0.0631, 0.159, 2.1828 ] rootAttitude: [ 0.980271, 0.197647, 0.00207, -0, 0.010473, -0.999945, -0.197657, 0.980217, 0.010266 ] jointPositions: [ ] initialRootPosition: [ 0.0631, 0.159, 2.1828 ] initialRootAttitude: [ 0.98027115, 0.197646598, 0.00206956734, -4.02309285e-007, 0.0104727458, -0.999944884, -0.197657433, 0.980217116, 0.0102662155 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 7 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Time bar range" timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: false controllerThreads: false recordCollisionData: false dynamicsMode: Forward dynamics integrationMode: Runge Kutta gravity: [ 0, 0, -9.80665 ] staticFriction: 0.5 slipFriction: 0.5 cullingThresh: 0.01 contactCullingDepth: 0.05 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 30 kinematicWalking: false 2Dmode: false - id: 8 name: "ODESimulator" plugin: ODE class: ODESimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Time bar range" timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: false controllerThreads: false recordCollisionData: false stepMode: Iterative (quick step) gravity: [ 0, 0, -9.80665 ] friction: 1 jointLimitMode: false globalERP: 0.4 globalCFM: 1e-10 numIterations: 50 overRelaxation: 1.3 limitCorrectingVel: true maxCorrectingVel: 1.0e-3 2Dmode: false UseWorldItem'sCollisionDetector: false - id: 9 name: "BulletSimulator" plugin: Bullet class: BulletSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Time bar range" timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: false controllerThreads: false recordCollisionData: false ErrorReductionParameter: 0.2 NumIterations: 10 Restitution: 0 Friction: 0.7 ERP2: 0 SplitImpulsePenetrationThreshold: -0.0001 - id: 10 name: "PhysXSimulator" plugin: PhysX class: PhysXSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Time bar range" timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: false controllerThreads: false recordCollisionData: false staticFriction: 0.5 dynamicFriction: 0.5 Restitution: 0.1 jointLimitMode: false - id: 11 name: "AgXSimulator" plugin: AgX class: AgXSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Time bar range" timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: false controllerThreads: false recordCollisionData: false dynamicsMode: Forward dynamics gravity: [ 0, 0, -9.80665 ] friction: 0.5 restitution: 0.1 frictionModelType: Iterative Projected frictionSolveType: Split numThreads: 1 contactReductionMode: Geometry contactReductionBinResolution: 2 contactReductionThreshold: 4 views: "Items": selected: [ 7 ] checked: [ 1, 2, 3, 4, 5, 6 ] expanded: [ 1, 3, 4, 5, 6 ] "Scene": viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: true defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true floorGrid: false floorGridSpan: 10 floorGridInterval: 0.5 texture: true lineWidth: 1 pointSize: 1 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false useBufferForPicking: true camera: current: Perspective eye: [ 4.14723015, 1.86573005, 1.83317995 ] direction: [ -0.916706264, -0.370027095, -0.150764033 ] up: [ -0.139804274, -0.0564319044, 0.988569856 ] fieldOfView: 0.6978 near: 0.01 far: 10000 orthoHeight: 20 backgroundColor: [ 0.100000001, 0.100000001, 0.300000012 ] gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] "Multi Value Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi SE3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Links": listingMode: "Link List" currentBodyItem: 2 "Body / Link": showRotationMatrix: false "Joint Sliders": showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 2 "Joint Trajectories": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi Affine3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Pose Roll": defaultTransitionTime: 0 updateAll: true autoUpdate: false timeSync: true listingMode: "Part Tree" timeLength: 10 showLipSync: false gridInterval: 1 toolbars: "TimeBar": minTime: 0 maxTime: 5 frameRate: 1000 playbackFrameRate: 100 idleLoopDrivenMode: false currentTime: 0 speedScale: 1 syncToOngoingUpdates: true autoExpansion: true "BodyMotionGenerationBar": balancer: false autoGeneration: false timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: false makeNewBodyItem: true stealthyStepMode: true stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 zmpMaxDistanceFromCenter: 0.02 allLinkPositions: false lipSyncMix: false "BodyBar": stanceWidth: 0.15 "KinematicsBar": mode: FK attitude: false penetrationBlock: true collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true Body: "BodyMotionEngine": updateJointVelocities: false "EditableSceneBody": editableSceneBodies: - bodyItem: 2 showCenterOfMass: false showZmp: false - bodyItem: 3 showCenterOfMass: false showZmp: false - bodyItem: 4 showCenterOfMass: false showZmp: false - bodyItem: 5 showCenterOfMass: false showZmp: false - bodyItem: 6 showCenterOfMass: false showZmp: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false OpenRTM: "OpenRTMPlugin": deleteUnmanagedRTCsOnStartingSimulation: false choreonoid-1.5.0/share/project/RIC30Sample.cnoid0000664000000000000000000002131712741425367020075 0ustar rootrootoptionalPlugins: [ "GRobot" ] items: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: true children: - id: 2 name: "RIC30" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/RIC30/RIC30.yaml" currentBaseLink: "L_ANKLE_R" rootPosition: [ 0.016187, -0.001703, 0.166423 ] rootAttitude: [ 1.000000, -0.000000, -0.000000, 0.000000, 1.000000, 0.000000, 0.000000, -0.000000, 1.000000 ] jointPositions: [ -0.000000, 0.025517, 0.353210, -0.573108, -0.219897, 0.025517, -0.000000, 0.025510, -0.353202, 0.573126, 0.219924, 0.025510, 0.000000, 0.000000, 0.349066, -0.174533, -0.698132, -0.349066, 0.174533, 0.698132 ] initialRootPosition: [ 0.000000, 0.000000, 0.160500 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] initialJointPositions: [ 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000 ] zmp: [ 0.015400, -0.004900, 0.000000 ] selfCollisionDetection: false children: - id: 3 name: "BodyMotionController" plugin: Body class: BodyMotionControllerItem children: - id: 4 name: "SampleMotion1" plugin: PoseSeq class: PoseSeqItem data: filename: "${SHARE}/motion/RIC30/SampleMotion1.pseq" format: POSE-SEQ-YAML barLength: 1 - id: 5 name: "GRobotController" plugin: GRobot class: GRobotControllerItem data: port: /dev/ttyUSB0 - id: 6 name: "Floor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/smallfloor.wrl" currentBaseLink: "" rootPosition: [ 0.000000, 0.000000, -0.010000 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ ] initialRootPosition: [ 0.000000, 0.000000, -0.010000 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false - id: 7 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: false recording: "full" timeRangeMode: "Active control period" timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: false controllerThreads: true recordCollisionData: false dynamicsMode: "High-gain dynamics" integrationMode: "Runge Kutta" gravity: [ 0, 0, -9.80665 ] staticFriction: 1 slipFriction: 1 cullingThresh: 0.005 contactCullingDepth: 0.05 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0005 contactCorrectionVelocityRatio: 30 kinematicWalking: false 2Dmode: false views: "Items": selected: [ ] checked: [ 1, 2 ] expanded: [ 1, 2, 3, 4 ] "Scene": walkthrough: false showCollisions: false wireframe: false defaultHeadLight: true defaultHeadLightIntensity: 0.75 worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true floorGrid: true floorGridSpan: 2 floorGridInterval: 0.05 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false camera: current: Perspective eye: [ 0.492063, 0.150117, 0.159901 ] direction: [ -0.951097, -0.298014, -0.0812513 ] up: [ -0.0775343, -0.0242944, 0.996694 ] fieldOfView: 0.6978 near: 0.01 far: 10000 orthoHeight: 0.323817 backgroundColor: [ 0.1, 0.1, 0.3 ] gridColor: [ 0.9, 0.9, 0.9, 1 ] "Multi Value Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi SE3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Links": listingMode: "Link List" currentBodyItem: 3 bodyItems: - id: 3 selectedLinks: [ 0 ] "Body / Link": showRotationMatrix: false "Joint Sliders": showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 3 "Joint Trajectories": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi Affine3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Pose Roll": currentPoseSeqItem: 5 defaultTransitionTime: 0 updateAll: true autoUpdate: false timeSync: true listingMode: "Part Tree" bodyItems: - id: 3 expandedParts: [ "LEGS", "LOWER-BODY", "Whole Body" ] timeLength: 10 showLipSync: false gridInterval: 1 toolbars: "TimeBar": minTime: 0 maxTime: 15 frameRate: 100 playbackFrameRate: 100 currentTime: 0 speedScale: 1 syncToOngoingUpdates: false "BodyBar": current: 3 stanceWidth: 0.15 "KinematicsBar": mode: AUTO attitude: true penetrationBlock: true collisionLinkHighlight: true snapDistance: 0.025 penetrationBlockDepth: 0.0001 lazyCollisionDetectionMode: true "BodyMotionGenerationBar": autoGenerationForNewBody: true balancer: true autoGeneration: true timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: true makeNewBodyItem: true stealthyStepMode: false stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 zmpMaxDistanceFromCenter: 0.02 allLinkPositions: true lipSyncMix: false timeToStartBalancer: 0 balancerIterations: 2 plainBalancerMode: false boundaryConditionType: position boundarySmootherType: off boundarySmootherTime: 0.5 boundaryCmAdjustment: false boundaryCmAdjustmentTime: 1 waistHeightRelaxation: false gravity: 9.8 dynamicsTimeRatio: 1 Body: "BodyMotionEngine": updateJointVelocities: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false choreonoid-1.5.0/share/project/GR001Sample.cnoid0000664000000000000000000002131612741425367020045 0ustar rootrootoptionalPlugins: [ "GRobot" ] items: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: true children: - id: 2 name: "GR001" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/GR001/GR001.yaml" currentBaseLink: "L_ANKLE_R" rootPosition: [ -0.002066, 0.000207, 0.154197 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, -0.000000, 1.000000, 0.000000, -0.000000, -0.000000, 1.000000 ] jointPositions: [ 0.000000, 0.001970, 0.370928, -0.701190, -0.330262, 0.001970, -0.000000, 0.001970, -0.370928, 0.701190, 0.330262, 0.001970, 0.000000, 0.000000, 0.349066, 0.000000, -0.349066, -0.349066, 0.000000, 0.349066 ] initialRootPosition: [ 0.000000, 0.000000, 0.160500 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] initialJointPositions: [ 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000 ] zmp: [ 0.020200, -0.000000, 0.000000 ] selfCollisionDetection: true children: - id: 3 name: "BodyMotionController" plugin: Body class: BodyMotionControllerItem children: - id: 4 name: "SampleMotion1" plugin: PoseSeq class: PoseSeqItem data: filename: "${SHARE}/motion/GR001/SampleMotion1.pseq" format: POSE-SEQ-YAML barLength: 1 - id: 5 name: "GRobotController" plugin: GRobot class: GRobotControllerItem data: port: /dev/ttyUSB0 - id: 6 name: "Floor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/smallfloor.wrl" currentBaseLink: "" rootPosition: [ 0.000000, 0.000000, -0.010000 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] jointPositions: [ ] initialRootPosition: [ 0.000000, 0.000000, -0.010000 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false - id: 7 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: false recording: "full" timeRangeMode: "Active control period" timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: false controllerThreads: true recordCollisionData: false dynamicsMode: "High-gain dynamics" integrationMode: "Runge Kutta" gravity: [ 0, 0, -9.80665 ] staticFriction: 1 slipFriction: 1 cullingThresh: 0.005 contactCullingDepth: 0.05 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0005 contactCorrectionVelocityRatio: 30 kinematicWalking: false 2Dmode: false views: "Items": selected: [ ] checked: [ 1, 2 ] expanded: [ 1, 2, 3, 4 ] "Scene": walkthrough: false showCollisions: false wireframe: false defaultHeadLight: true defaultHeadLightIntensity: 0.75 worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true floorGrid: true floorGridSpan: 2 floorGridInterval: 0.05 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false camera: current: Perspective eye: [ 0.492063, 0.150117, 0.159901 ] direction: [ -0.951097, -0.298014, -0.0812513 ] up: [ -0.0775343, -0.0242944, 0.996694 ] fieldOfView: 0.6978 near: 0.01 far: 10000 orthoHeight: 0.323817 backgroundColor: [ 0.1, 0.1, 0.3 ] gridColor: [ 0.9, 0.9, 0.9, 1 ] "Multi Value Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi SE3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Links": listingMode: "Link List" currentBodyItem: 3 bodyItems: - id: 3 selectedLinks: [ 0 ] "Body / Link": showRotationMatrix: false "Joint Sliders": showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 3 "Joint Trajectories": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi Affine3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Pose Roll": currentPoseSeqItem: 5 defaultTransitionTime: 0 updateAll: true autoUpdate: false timeSync: true listingMode: "Part Tree" bodyItems: - id: 3 expandedParts: [ "LEGS", "LOWER-BODY", "Whole Body" ] timeLength: 10 showLipSync: false gridInterval: 1 toolbars: "TimeBar": minTime: 0 maxTime: 15 frameRate: 100 playbackFrameRate: 100 currentTime: 0 speedScale: 1 syncToOngoingUpdates: false "BodyBar": current: 3 stanceWidth: 0.15 "KinematicsBar": mode: AUTO attitude: true penetrationBlock: true collisionLinkHighlight: true snapDistance: 0.025 penetrationBlockDepth: 0.0001 lazyCollisionDetectionMode: true "BodyMotionGenerationBar": autoGenerationForNewBody: true balancer: true autoGeneration: true timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: true makeNewBodyItem: true stealthyStepMode: false stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 zmpMaxDistanceFromCenter: 0.02 allLinkPositions: true lipSyncMix: false timeToStartBalancer: 0 balancerIterations: 2 plainBalancerMode: false boundaryConditionType: position boundarySmootherType: off boundarySmootherTime: 0.5 boundaryCmAdjustment: false boundaryCmAdjustmentTime: 1 waistHeightRelaxation: false gravity: 9.8 dynamicsTimeRatio: 1 Body: "BodyMotionEngine": updateJointVelocities: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false choreonoid-1.5.0/share/project/blocks.cnoid0000664000000000000000000006030712741425367017432 0ustar rootrootoptionalPlugins: [ ODE, Bullet, PhysX, AgX ] items: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false collisionDetector: AISTCollisionDetector children: - id: 2 name: "Floor" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/floor.wrl" currentBaseLink: "BASE" rootPosition: [ 0, 0, -0.1 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialRootPosition: [ 0, 0, -0.1 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 3 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ 0, 0, 0.15 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialRootPosition: [ 0, 0, 0.15 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 4 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ 0, 0.3, 0.15 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialRootPosition: [ 0, 0.3, 0.15 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 5 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ 0, 0.6, 0.15 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialRootPosition: [ 0, 0.6, 0.15 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 6 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ 0, 0.9, 0.15 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialRootPosition: [ 0, 0.9, 0.15 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 7 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ 0, 1.2, 0.15 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialRootPosition: [ 0, 1.2, 0.15 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 8 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ 0, 1.5, 0.15 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialRootPosition: [ 0, 1.5, 0.15 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 9 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ 0, 0.15, 0.45 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialRootPosition: [ 0, 0.15, 0.45 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 10 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ 0, 0.45, 0.45 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialRootPosition: [ 0, 0.45, 0.45 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 11 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ 0, 0.75, 0.45 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialRootPosition: [ 0, 0.75, 0.45 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 12 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ 0, 1.05, 0.45 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialRootPosition: [ 0, 1.05, 0.45 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 13 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ 0, 1.35, 0.45 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialRootPosition: [ 0, 1.35, 0.45 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 14 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ 0, 0.3, 0.75 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialRootPosition: [ 0, 0.3, 0.75 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 15 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ 0, 0.6, 0.75 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialRootPosition: [ 0, 0.6, 0.75 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 16 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ 0, 0.9, 0.75 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialRootPosition: [ 0, 0.9, 0.75 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 17 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ 0, 1.2, 0.75 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialRootPosition: [ 0, 1.2, 0.75 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 18 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ 0, 0.45, 1.05 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialRootPosition: [ 0, 0.45, 1.05 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 19 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ 0, 0.75, 1.05 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialRootPosition: [ 0, 0.75, 1.05 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 20 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ 0, 1.05, 1.05 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialRootPosition: [ 0, 1.05, 1.05 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 21 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ 0, 0.6, 1.35 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialRootPosition: [ 0, 0.6, 1.35 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 22 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ 0, 0.9, 1.35 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialRootPosition: [ 0, 0.9, 1.35 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 23 name: "box2" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/box2.wrl" currentBaseLink: "WAIST" rootPosition: [ 0, 0.75, 2 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialRootPosition: [ 0, 0.75, 2 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] zmp: [ 0, 0, 0 ] selfCollisionDetection: false isEditable: true - id: 24 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: false recording: full timeRangeMode: TimeBar range onlyActiveControlPeriod: true timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true dynamicsMode: Forward dynamics integrationMode: Runge Kutta gravity: [ 0, 0, -9.80665 ] staticFriction: 1 slipFriction: 1 cullingThresh: 0.005 contactCullingDepth: 0.05 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 1 kinematicWalking: false 2Dmode: false - id: 25 name: "ODESimulator" plugin: ODE class: ODESimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Active control period" timeLength: 60 allLinkPositionOutputMode: true deviceStateOutput: true controllerThreads: true recordCollisionData: false stepMode: Iterative (quick step) gravity: [ 0, 0, -9.8 ] friction: 0.5 jointLimitMode: false globalERP: 0.4 globalCFM: 1e-10 numIterations: 50 overRelaxation: 1.3 limitCorrectingVel: true maxCorrectingVel: 1.0e-3 2Dmode: false UseWorldItem'sCollisionDetector: false velocityMode: false - id: 26 name: "BulletSimulator" plugin: Bullet class: BulletSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Active control period" timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false ErrorReductionParameter: 0.5 NumIterations: 10 Restitution: 0 Friction: 0.7 ERP2: 0 SplitImpulsePenetrationThreshold: -0.0001 - id: 27 name: "PhysXSimulator" plugin: PhysX class: PhysXSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Active control period" timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false staticFriction: 0.5 dynamicFriction: 0.8 Restitution: 0.1 jointLimitMode: false - id: 28 name: "AgXSimulator" plugin: AgX class: AgXSimulatorItem data: realtimeSync: true recording: "full" timeRangeMode: "Active control period" timeLength: 60 allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false dynamicsMode: Forward dynamics gravity: [ 0, 0, -9.80665 ] friction: 0.5 restitution: 0.1 frictionModelType: Iterative Projected frictionSolveType: Direct numThreads: 1 contactReductionMode: Geometry contactReductionBinResolution: 2 contactReductionThreshold: 4 views: - id: 0 name: "CameraImage" plugin: Base class: ImageView - id: 1 plugin: Base class: ItemPropertyView mounted: true - id: 2 plugin: Base class: ItemTreeView mounted: true state: selected: [ 24 ] checked: [ 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23 ] expanded: [ 1, 2, 3, 4 ] - id: 3 plugin: Base class: MessageView mounted: true - id: 4 plugin: Base class: SceneView mounted: true state: viewpointControlMode: thirdPerson collisionLines: false polygonMode: fill defaultHeadLight: true defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.3 additionalLights: true floorGrid: false floorGridSpan: 10 floorGridInterval: 0.5 texture: true lineWidth: 1 pointSize: 1 normalVisualization: false normalLength: 0.01 coordinateAxes: true showFPS: false enableNewDisplayListDoubleRendering: false useBufferForPicking: true camera: current: Perspective eye: [ 4.05226487, 2.79696515, 1.22373011 ] direction: [ -0.900894541, -0.428144959, -0.0712805792 ] up: [ -0.0643800479, -0.0305962482, 0.997456304 ] fieldOfView: 0.6978 near: 0.01 far: 10000 orthoHeight: 20 backgroundColor: [ 0.100000001, 0.100000001, 0.300000012 ] gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ] dedicatedItemTreeViewChecks: false - id: 5 plugin: Body class: BodyLinkView mounted: true state: showRotationMatrix: false - id: 6 plugin: Body class: JointSliderView state: showAllJoints: true jointId: true name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 4 - id: 7 plugin: Body class: LinkSelectionView mounted: true state: listingMode: "Link List" currentBodyItem: 4 toolbars: "TimeBar": minTime: 0 maxTime: 5 frameRate: 1000 playbackFrameRate: 100 idleLoopDrivenMode: false currentTime: 0 speedScale: 1 syncToOngoingUpdates: false autoExpansion: true "KinematicsBar": mode: FK attitude: false penetrationBlock: true collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true "BodyBar": stanceWidth: 0.15 "BodyMotionGenerationBar": balancer: false autoGeneration: false timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: false makeNewBodyItem: true stealthyStepMode: true stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 zmpMaxDistanceFromCenter: 0.02 allLinkPositions: false lipSyncMix: false timeToStartBalancer: 0 balancerIterations: 2 plainBalancerMode: false boundaryConditionType: position boundarySmootherType: off boundarySmootherTime: 0.5 boundaryCmAdjustment: false boundaryCmAdjustmentTime: 1 waistHeightRelaxation: false gravity: 9.8 dynamicsTimeRatio: 1 Body: "BodyMotionEngine": updateJointVelocities: false "EditableSceneBody": editableSceneBodies: - bodyItem: 2 showCenterOfMass: false showZmp: false - bodyItem: 3 showCenterOfMass: false showZmp: false - bodyItem: 4 showCenterOfMass: false showZmp: false - bodyItem: 5 showCenterOfMass: false showZmp: false - bodyItem: 6 showCenterOfMass: false showZmp: false - bodyItem: 7 showCenterOfMass: false showZmp: false - bodyItem: 8 showCenterOfMass: false showZmp: false - bodyItem: 9 showCenterOfMass: false showZmp: false - bodyItem: 10 showCenterOfMass: false showZmp: false - bodyItem: 11 showCenterOfMass: false showZmp: false - bodyItem: 12 showCenterOfMass: false showZmp: false - bodyItem: 13 showCenterOfMass: false showZmp: false - bodyItem: 14 showCenterOfMass: false showZmp: false - bodyItem: 15 showCenterOfMass: false showZmp: false - bodyItem: 16 showCenterOfMass: false showZmp: false - bodyItem: 17 showCenterOfMass: false showZmp: false - bodyItem: 18 showCenterOfMass: false showZmp: false - bodyItem: 19 showCenterOfMass: false showZmp: false - bodyItem: 20 showCenterOfMass: false showZmp: false - bodyItem: 21 showCenterOfMass: false showZmp: false - bodyItem: 22 showCenterOfMass: false showZmp: false - bodyItem: 23 showCenterOfMass: false showZmp: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false viewAreas: - type: embedded tabs: true contents: type: splitter orientation: horizontal sizes: [ 303, 1477 ] children: - type: splitter orientation: vertical sizes: [ 479, 479 ] children: - type: pane views: [ 2 ] current: 2 - type: pane views: [ 1, 7 ] current: 1 - type: splitter orientation: vertical sizes: [ 684, 274 ] children: - type: splitter orientation: horizontal sizes: [ 454, 1017 ] children: - type: pane views: [ 5 ] current: 5 - type: pane views: [ 4 ] current: 4 - type: pane views: [ 3 ] current: 3 layoutOfToolBars: rows: - - { name: "FileBar", x: 0, priority: 0 } - { name: "TimeBar", x: 47, priority: 0 } - { name: "SceneBar", x: 1228, priority: 0 } - { name: "GraphBar", x: 1483, priority: 0 } - - { name: "SimulationBar", x: 0, priority: 1 } - { name: "BodyBar", x: 0, priority: 0 } - { name: "KinematicsBar", x: 554, priority: 0 } - { name: "BodyMotionGenerationBar", x: 788, priority: 0 } choreonoid-1.5.0/share/project/ClosedLinkSample.cnoid0000664000000000000000000001632312741425367021345 0ustar rootrootitems: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "World" plugin: Body class: WorldItem data: collisionDetection: false children: - id: 2 name: "ClosedLinkSample" plugin: Body class: BodyItem data: modelFile: "${SHARE}/model/misc/ClosedLinkSample.wrl" currentBaseLink: "WAIST" rootPosition: [ 0.000000, 0.000000, 0.150000 ] rootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, -0.000204, 1.000000, 0.000000, -1.000000, -0.000204 ] jointPositions: [ -0.785398, 0.785398, -0.785398 ] initialRootPosition: [ 0.000000, 0.000000, 0.150000 ] initialRootAttitude: [ 1.000000, 0.000000, 0.000000, 0.000000, -0.000204, 1.000000, 0.000000, -1.000000, -0.000204 ] initialJointPositions: [ -0.785398, 0.785398, -0.785398 ] zmp: [ 0.000000, 0.000000, 0.000000 ] selfCollisionDetection: false - id: 3 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem data: realtimeSync: false recordingMode: TimeBar range timeLength: 60 allLinkPositionOutputMode: false dynamicsMode: Forward dynamics gravity: [ 0, 0, -9.80665 ] staticFriction: 1 slipFriction: 1 cullingThresh: 0.02 errorCriterion: 0.001 maxNumIterations: 1000 contactCorrectionDepth: 0.0001 contactCorrectionVelocityRatio: 10 2Dmode: false - id: 4 name: "ODESimulator" plugin: ODE class: ODESimulatorItem data: realtimeSync: false recordingMode: TimeBar range timeLength: 60 allLinkPositionOutputMode: true stepMode: Iterative (quick step) gravity: [ 0, 0, -9.80665 ] friction: 1 jointLimitMode: false globalERP: 0.4 globalCFM: 1e-10 numIterations: 50 overRelaxation: 1.3 limitCorrectingVel: true maxCorrectingVel: 1.0e-3 2Dmode: false - id: 5 name: "BulletSimulator" plugin: Bullet class: BulletSimulatorItem data: realtimeSync: false recordingMode: TimeBar range onlyActiveControlPeriod: true timeLength: 60 allLinkPositionOutputMode: true ErrorReductionParameter: 0.2 NumIterations: 10 Restitution: 0 Friction: 0.7 ERP2: 0 SplitImpulsePenetrationThreshold: -0.0001 views: "Items": selected: [ 3 ] checked: [ 2 ] expanded: [ 1 ] "Scene": mode: view floorGird: true collisions: true shadow: false floorGridSpan: 10 floorGridInterval: 0.5 hiPriorityRendering: false camera: projection: perspetive perspective: [ 40, 1.29272, 0.0030309, 6.18305 ] ortho: [ -1, 1, -1, 1, -1, 1 ] eye: [ 0.0555696, 0.899931, 0.179849 ] center: [ 0.0883989, -0.0990386, 0.148513 ] up: [ 0.00102939, -0.0313191, 0.999509 ] "Multi Value Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi SE3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Links": listingMode: "link list" currentBodyItem: 2 "Body / Link": showRotationMatrix: false "Joint Sliders": showAllJoints: true jointId: false name: true numColumns: 1 spinBox: true slider: true labelOnLeft: true currentBodyItem: 2 "Joint Trajectories": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 "Multi Affine3 Seq": mode: view editMode: freeLine original: true velocity: false acceleration: false limits: true grid: true gridWidth: 0.2 gridHeight: 0.2 lineWidth: 1 rulers: false sync: true controlPointStep: 1 controlPointOffset: 0 controlPointHeighlight: false scrollMode: continuous lower: -10 upper: 10 visibleElements: [ 0, 1, 2 ] "Pose Roll": defaultTransitionTime: 0 updateAll: true autoUpdate: false timeSync: true listingMode: "part tree" timeLength: 10 showLipSync: false gridInterval: 1 toolbars: "TimeBar": minTime: 0 maxTime: 30 frameRate: 500 playbackFrameRate: 100 currentTime: 0 speedScale: 1 "BodyBar": current: 2 stanceWidth: 0.15 "KinematicsBar": mode: AUTO attitude: false penetrationBlock: true collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true "BodyMotionGenerationBar": balancer: false autoGeneration: false timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: false makeNewBodyItem: true stealthyStepMode: true stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 allLinkPositions: false lipSyncMix: false timeToStartBalancer: 0 balancerIterations: 2 plainBalancerMode: false boundaryConditionType: 位罂’保ċ­˜ boundarySmootherType: 4ĉĴĦ boundarySmootherTime: 0.5 boundaryCmAdjustment: false boundaryCmAdjustmentTime: 1 waistHeightRelaxation: false gravity: 9.8 dynamicsTimeRatio: 1 Base: "MovieGenerator": directory: basename: scene begin: 0 fps: 30 width: 640 heiht: 480 Body: "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false "SceneBodyManager": sceneBodies: - bodyItem: 2 editable: true centerOfMass: false zmp: false choreonoid-1.5.0/share/model/0000775000000000000000000000000012741425367014563 5ustar rootrootchoreonoid-1.5.0/share/model/house/0000775000000000000000000000000012741425367015706 5ustar rootrootchoreonoid-1.5.0/share/model/house/floor.main.wrl0000664000000000000000000000720412741425367020503 0ustar rootroot#VRML V2.0 utf8 PROTO Joint [ exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat dh [ 0 0 0 0 ] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS viewpoints } Group { children IS humanoidBody } ] } } DEF longfloor Humanoid { humanoidBody [ DEF WAIST Joint { jointType "fixed" translation 0 2.5 0 rotation 1 0 0 1.57 scale 1 1 1 scaleOrientation 0 0 1 0 children [ DEF BODY Segment { mass 0.5 momentsOfInertia [1 0 0 0 1 0 0 0 1] children[ Inline { url "floor.wrl" } ] } ] } ] joints [ USE WAIST ] segments [ USE BODY ] name "box" version "1.1" } choreonoid-1.5.0/share/model/house/vase.wrl0000664000000000000000000043732512741425367017410 0ustar rootroot#VRML V2.0 utf8 CosmoWorlds V1.0 DEF TARGET_VASE0 Transform { children DEF BudVase Transform { children Shape { appearance Appearance { material DEF GREEN_GLASS Material { ambientIntensity 0.166013 diffuseColor 0.0823529 0.670588 0.113725 specularColor 1 1 1 shininess 1 transparency 0.35 } } geometry IndexedFaceSet { coord Coordinate { point 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-0.393675, -0.705215 -0.589676 -0.393641, -0.797173 -0.457781 -0.393638, -0.864322 -0.313025 -0.393653, -0.86734 -0.19372 -0.458469 ] } solid FALSE creaseAngle 3.14159 } } scale 0.006 0.006 0.006 } } choreonoid-1.5.0/share/model/house/house.main.wrl0000664000000000000000000001010212741425367020474 0ustar rootroot#VRML V2.0 utf8 PROTO Joint [ exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat dh [ 0 0 0 0 ] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS viewpoints } Group { children IS humanoidBody } ] } } DEF longfloor Humanoid { humanoidBody [ DEF WAIST Joint { jointType "fixed" translation 0 2.5 0 rotation 1 0 0 1.57 scale 1 1 1 scaleOrientation 0 0 1 0 children [ DEF BODY Segment { mass 0.5 momentsOfInertia [1 0 0 0 1 0 0 0 1] children[ Inline { url "house.wrl" } ] } DEF Light1 DirectionalLight { ambientIntensity 0.17 direction 1 -1 0 } DEF Light2 DirectionalLight { ambientIntensity 0.2 direction -1 -1 0 } DEF Light3 DirectionalLight { ambientIntensity 0.2 direction 0 -1 1 } DEF Light4 DirectionalLight { ambientIntensity 0.2 direction 0 -1 -1 } DEF Light5 DirectionalLight { ambientIntensity 0 direction 0 1 0 } ] } ] joints [ USE WAIST ] segments [ USE BODY ] name "box" version "1.1" } choreonoid-1.5.0/share/model/house/box.wrl0000664000000000000000000001775412741425367017242 0ustar rootroot#VRML V2.0 utf8 PROTO Joint [ exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField MFFloat lvlimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat uvlimit [] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 exposedField SFFloat gearRatio 1 exposedField SFFloat rotorInertia 0 exposedField SFFloat rotorResistor 0 exposedField SFFloat torqueConst 1 exposedField SFFloat encoderPulse 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS viewpoints } Group { children IS humanoidBody } ] } } PROTO VisionSensor [ exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField MFNode children [ ] exposedField SFFloat fieldOfView 0.785398 exposedField SFString name "" exposedField SFFloat frontClipDistance 0.01 exposedField SFFloat backClipDistance 10.0 exposedField SFString type "NONE" exposedField SFInt32 sensorId -1 exposedField SFInt32 width 320 exposedField SFInt32 height 240 exposedField SFFloat frameRate 30 ] { Transform { rotation IS rotation translation IS translation children IS children } } PROTO ForceSensor [ exposedField SFVec3f maxForce -1 -1 -1 exposedField SFVec3f maxTorque -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO Gyro [ exposedField SFVec3f maxAngularVelocity -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO AccelerationSensor [ exposedField SFVec3f maxAcceleration -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO PressureSensor [ exposedField SFFloat maxPressure -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO PhotoInterrupter [ exposedField SFVec3f transmitter 0 0 0 exposedField SFVec3f receiver 0 0 0 exposedField SFInt32 sensorId -1 ] { Transform{ children [ Transform{ translation IS transmitter } Transform{ translation IS receiver } ] } } PROTO CylinderSensorZ [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 1 0 0 1.5708 children [ DEF SensorY CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisY Transform{ children [ Transform{ rotation 1 0 0 -1.5708 children IS children } ] } ] } ROUTE SensorY.rotation_changed TO AxisY.set_rotation } PROTO CylinderSensorY [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 0 1 0 1.5708 children [ DEF SensorX CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisX Transform{ children [ Transform{ rotation 0 1 0 -1.5708 children IS children } ] } ] } ROUTE SensorX.rotation_changed TO AxisX.set_rotation } PROTO CylinderSensorX [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 0 0 1 -1.5708 children [ DEF SensorZ CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisZ Transform{ children [ Transform{ rotation 0 0 1 1.5708 children IS children } ] } ] } ROUTE SensorZ.rotation_changed TO AxisZ.set_rotation } NavigationInfo { avatarSize 0.5 headlight TRUE type ["EXAMINE", "ANY"] } Background { skyColor 0.4 0.6 0.4 } Viewpoint { position 3 0 0.835 orientation 0.5770 0.5775 0.5775 2.0935 } DEF box2 Humanoid { humanoidBody [ DEF WAIST Joint { jointType "free" translation 0.15 0.15 0.3 rotation 0 1 0 0.2 children [ DEF BODY Segment { mass 0.5 # momentsOfInertia [0.00062 0 0 0 0.0018 0 0 0 0.0012] momentsOfInertia [0.001 0 0 0 0.0018 0 0 0 0.0012] children [ Inline { url "Cassette.wrl" } ] } ] } ] joints [ USE WAIST ] name "box2" segments [ USE BODY ] } choreonoid-1.5.0/share/model/house/Cassette.wrl0000664000000000000000000000206612741425367020213 0ustar rootroot#VRML V2.0 utf8 DEF TARGET_CASSETTE0 Transform { children DEF CASSETTE Transform { children Shape { appearance Appearance { material Material { diffuseColor 0.2 0.7 0.8 specularColor 1 1 1 # shininess 0.8 } texture ImageTexture { url "textures/tape1.front.png" } } geometry IndexedFaceSet { coord Coordinate { point [ -0.085 0.01 0.06, -0.085 -0.01 0.06, 0.085 -0.01 0.06, 0.085 0.01 0.06, -0.085 0.01 -0.06, -0.085 -0.01 -0.06, 0.085 -0.01 -0.06, 0.085 0.01 -0.06 ] } coordIndex [ 0, 1, 2, 3, -1, 0, 4, 5, 1, -1, 0, 3, 7, 4, -1, 1, 5, 6, 2, -1, 3, 2, 6, 7, -1, 4, 7, 6, 5, -1 ] texCoord TextureCoordinate { point [ 1 1, 1 1, 0 1, 0 1, 1 0, 1 0, 0 0, 0 0 ] } texCoordIndex [ 0, 1, 2, 3, -1, 0, 4, 5, 1, -1, 0, 3, 7, 4, -1, 1, 5, 6, 2, -1, 3, 2, 6, 7, -1, 4, 7, 6, 5, -1 ] } } # translation -2.45807 0.533842 3.35385 # rotation 0 1 0 1.97609 } }choreonoid-1.5.0/share/model/house/house.wrl0000664000000000000000000216256512741425367017600 0ustar rootroot#VRML V2.0 utf8 CosmoWorlds V1.0 Transform { children Shape { appearance Appearance { } geometry IndexedFaceSet { coord Coordinate { point [ -1 1 1, -1 -1 1, 1 1 1, 1 -1 1, 1 1 -1, 1 -1 -1, -1 1 -1, -1 -1 -1 ] } color Color { color 0.957219 0.819158 0.530197 } coordIndex [ 4, 5, 7, 6, -1, 6, 7, 1, 0, -1, 2, 3, 5, 4, -1, 6, 0, 2, 4, -1, 1, 7, 5, 3, -1, 0, 1, 3, 2, -1 ] colorIndex [ 0, 0, 0, 0, 0, 0 ] colorPerVertex FALSE creaseAngle 0.5 } } translation 0 1.25 -1.2273 rotation 0 1 0 3.14246 scale 3.85 1.25 0.075 scaleOrientation 0 0 1 0 } Transform { children Shape { appearance Appearance { material Material { ambientIntensity 2 diffuseColor 0.265957 0.194585 0.12832 specularColor 0 0 0 emissiveColor 0 0 0 shininess 0.2 transparency 0 } } geometry IndexedFaceSet { coord Coordinate { point [ -1 1 1, -1 -1 1, 1 1 1, 1 -1 1, 1 1 -1, 1 -1 -1, -1 1 -1, -1 -1 -1, 0.348108 -1 1, 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37, 50, 45, 29, 31, 15, 13, 8, 1, 7, 20, 21, 36, -1, 51, 5, 3, 11, 47, -1, 50, 37, 43, 41, 39, 52, 54, -1, 4, 5, 51, 55, 53, -1, 54, 52, 53, 55, -1 ] colorIndex [ ] colorPerVertex FALSE creaseAngle 0.5 } } translation 7.977 1.25083 7.7268 rotation 0 -1 0 1.5708 scale 5.85 1.25 0.075 } Transform { children Shape { appearance Appearance { material Material { ambientIntensity 0.884706 diffuseColor 0.180851 0.165995 0.136711 specularColor 0 0 0 emissiveColor 0 0 0 shininess 0.2 transparency 0 } } geometry IndexedFaceSet { coord Coordinate { point [ -1 1 1, -1 -1 1, 1 1 1, 1 -1 1, 1 1 -1, 1 -1 -1, -1 1 -1, -1 -1 -1 ] } color NULL coordIndex [ 0, 1, 3, 2, -1, 4, 5, 7, 6, -1, 6, 7, 1, 0, -1, 2, 3, 5, 4, -1, 6, 0, 2, 4, -1, 1, 7, 5, 3, -1 ] colorIndex [ ] colorPerVertex FALSE creaseAngle 0.5 } } translation 5.64 1.25 13.65 rotation 0 0 1 0 scale 2.4 1.25 0.075 } Transform { children Shape { appearance Appearance { material Material { ambientIntensity 0.159574 diffuseColor 0.980519 1 0.776284 specularColor 0 0 0 emissiveColor 0 0 0 shininess 0.2 transparency 0 } } geometry IndexedFaceSet { coord Coordinate { point [ -1 1 1, -1 -1 1, 1 1 1, 1 -1 1, 1 1 -1, 1 -1 -1, -1 1 -1, -1 -1 -1 ] } color NULL coordIndex [ 0, 1, 3, 2, -1, 4, 5, 7, 6, -1, 6, 7, 1, 0, -1, 2, 3, 5, 4, -1, 6, 0, 2, 4, -1, 1, 7, 5, 3, -1 ] colorIndex [ ] colorPerVertex FALSE creaseAngle 0.5 } } translation 3.315 1.25 11.47 rotation 0.57735 -0.57735 0.57735 4.18879 scale 1.25 2.25 0.075 scaleOrientation 0 0 1 0 } Transform { children Shape { appearance Appearance { material Material { } } geometry IndexedFaceSet { coord Coordinate { point [ -1 1 1, -1 -1 1, 1 1 1, 1 -1 1, 1 1 -1, 1 -1 -1, -1 1 -1, -1 -1 -1 ] } color Color { color 1 0.964509 0.770763 } coordIndex [ 0, 1, 3, 2, -1, 4, 5, 7, 6, -1, 6, 7, 1, 0, -1, 2, 3, 5, 4, -1, 6, 0, 2, 4, -1, 1, 7, 5, 3, -1 ] colorIndex [ 0, 0, 0, 0, 0, 0 ] texCoord TextureCoordinate { point [ 0 1, 0 0, 1 1, 1 0 ] } colorPerVertex FALSE texCoordIndex [ 0, 1, 3, 2, -1, 0, 1, 3, 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exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat dh [ 0 0 0 0 ] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS 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}ĉzí_/Yd.L'"E1!’PÓmâNVE=ċYü³+!Ÿ;IĠ0×Ì´½+>ŭÈqŜ^/ĥêBk½wY]eÉ ÏTıe4Ÿé1Z8Ĥ^lxš/jcùÏµùġĠ0ßGï gz£V—ëÙjó9ƒ˙É_§ù,ÍŜù­·ƒ˙*O%Ĥr>…áIENDB`‚choreonoid-1.5.0/share/model/house/table.wrl0000664000000000000000000000334612741425367017531 0ustar rootroot#VRML V2.0 utf8 Transform { children Group { children Transform { children [ Transform { children Shape { appearance Appearance { material Material { } texture ImageTexture { url "textures/wood.4.png" } textureTransform TextureTransform { translation 0 0 rotation 0 scale 1.0139 1.90015 center 0.5 0.5 } } geometry Box { } } translation 2.02399 0.815218 1.0783 rotation 1.84775e-06 1 -1.84775e-06 4.71239 scale 1 0.02 0.6 scaleOrientation 0 0 1 0 } Transform { children Shape { appearance Appearance { material Material { ambientIntensity 0.574468 diffuseColor 1 0.769946 0.418716 specularColor 0 0 0 emissiveColor 0 0 0 shininess 0.414894 transparency 0 } } geometry Cylinder { } } translation 2 0.3952 1.7 rotation 1.84775e-06 1 -1.84775e-06 4.71239 scale 0.15 0.4 0.15 scaleOrientation 2.97959e-08 1 -1.87755e-06 1.5708 } Transform { children Shape { appearance Appearance { material Material { ambientIntensity 0.521277 diffuseColor 1 0.75361 0.353117 specularColor 0 0 0 emissiveColor 0 0 0 shininess 0.414894 transparency 0 } } geometry Cylinder { } } translation 2 0.3952 0.5 rotation 0 0 1 0 scale 0.15 0.4 0.15 scaleOrientation 0 0 1 0 } ] translation 3.12287 0 -0.934591 rotation 0 1 0 4.7022 scale 0.999999 0.999998 0.999999 } } translation 0.81736 -0.000393301 3.09967 rotation 0 1 0 1.57295 scale 1 1 1 scaleOrientation 0 0 1 0 } choreonoid-1.5.0/share/model/house/table.main.wrl0000664000000000000000000000720412741425367020451 0ustar rootroot#VRML V2.0 utf8 PROTO Joint [ exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat dh [ 0 0 0 0 ] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS viewpoints } Group { children IS humanoidBody } ] } } DEF longfloor Humanoid { humanoidBody [ DEF WAIST Joint { jointType "fixed" translation 0 2.5 0 rotation 1 0 0 1.57 scale 1 1 1 scaleOrientation 0 0 1 0 children [ DEF BODY Segment { mass 0.5 momentsOfInertia [1 0 0 0 1 0 0 0 1] children[ Inline { url "table.wrl" } ] } ] } ] joints [ USE WAIST ] segments [ USE BODY ] name "box" version "1.1" } choreonoid-1.5.0/share/model/house/floor.wrl0000664000000000000000000000222412741425367017555 0ustar rootroot#VRML V2.0 utf8 NavigationInfo {headlight TRUE} Transform { children Shape { appearance Appearance { material Material { } texture ImageTexture { url "textures/oak.png" } textureTransform TextureTransform { translation 0 0 rotation 1.5708 scale 8.49757 1.68977 center 0.5 0.5 } } geometry IndexedFaceSet { coord Coordinate { point [ -1 1 1, -1 -1 1, 1 1 1, 1 -1 1, 1 1 -1, 1 -1 -1, -1 1 -1, -1 -1 -1 ] } color Color { color 1 0.748934 0.574181 } coordIndex [ 0, 1, 3, 2, -1, 4, 5, 7, 6, -1, 6, 7, 1, 0, -1, 2, 3, 5, 4, -1, 6, 0, 2, 4, -1, 1, 7, 5, 3, -1 ] colorIndex [ 0, 0, 0, 0, 0, 0 ] texCoord TextureCoordinate { point [ 0 1, 0 0, 1 1, 1 0 ] } colorPerVertex FALSE texCoordIndex [ 0, 1, 3, 2, -1, 0, 1, 3, 2, -1, 0, 1, 3, 2, -1, 0, 1, 3, 2, -1, 0, 1, 3, 2, -1, 0, 1, 3, 2, -1 ] creaseAngle 0.5 } } translation 1.01506 -0.155179 2.59715 rotation -1 0 0 1.5708 scale 5 2.675 0.15 scaleOrientation 0 0 1 0 }choreonoid-1.5.0/share/model/SR1/0000775000000000000000000000000012741425367015170 5ustar rootrootchoreonoid-1.5.0/share/model/SR1/SR1.wrl0000664000000000000000000011632512741425367016333 0ustar rootroot#VRML V2.0 utf8 # Simple robot model "SR1" # This model originates from an OpenHRP sample robot model. # The original model was written by Ichitaro Kohara (YNL, Univ. of Tokyo), # Hirohisa Hirukawa (ETL) and Natsuki Miyata (MEL). # The model was modified by the Choreonoid development team. PROTO Joint [ exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField MFFloat lvlimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat uvlimit [] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 exposedField SFFloat gearRatio 1 exposedField SFFloat rotorInertia 0 exposedField SFFloat rotorResistor 0 exposedField SFFloat torqueConst 1 exposedField SFFloat encoderPulse 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS viewpoints } Group { children IS humanoidBody } ] } } PROTO VisionSensor [ exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField MFNode children [ ] exposedField SFFloat fieldOfView 0.785398 exposedField SFString name "" exposedField SFFloat frontClipDistance 0.01 exposedField SFFloat backClipDistance 10.0 exposedField SFString type "NONE" exposedField SFInt32 sensorId -1 exposedField SFInt32 width 320 exposedField SFInt32 height 240 exposedField SFFloat frameRate 30 ] { Transform { rotation IS rotation translation IS translation children IS children } } PROTO ForceSensor [ exposedField SFVec3f maxForce -1 -1 -1 exposedField SFVec3f maxTorque -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO Gyro [ exposedField SFVec3f maxAngularVelocity -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO AccelerationSensor [ exposedField SFVec3f maxAcceleration -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } DEF SR1 Humanoid { name "SR1" humanoidBody [ DEF WAIST Joint { jointType "free" translation 0 0 0.7135 children [ DEF WaistAccelSensor AccelerationSensor { sensorId 0 } DEF WaistGyro Gyro { sensorId 0 } DEF WAIST_LINK0 Segment { centerOfMass 0 0 0.0375 mass 27.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ Shape { appearance DEF WAIST_APP Appearance { material Material { } } geometry Box { size 0.08 0.08 0.08 } } Transform { translation 0 0 0.0955 children Shape { appearance USE WAIST_APP geometry Box { size 0.05 0.05 0.111 } } } ] } DEF WAIST_P Joint { translation 0 0 0.176 jointType "rotate" jointAxis 0 1 0 jointId 26 children [ DEF WAIST_LINK1 Segment { centerOfMass 0 0 -0.1 mass 6.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ Shape { appearance DEF WAIST_LINK1_APP Appearance { material Material { diffuseColor 0.6 1.0 0.6 } } geometry Cylinder { radius 0.025 height 0.05 } } ] } DEF WAIST_R Joint { jointType "rotate" jointAxis 1 0 0 jointId 27 children [ DEF WAIST_LINK2 Segment { centerOfMass 0.11 0 0.25 mass 30.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ Transform { rotation 0 0 1 1.5708 children Shape { appearance DEF WAIST_LINK2_APP Appearance { material Material { diffuseColor 0.6 0.8 0.6 } } geometry Cylinder { radius 0.025 height 0.05 } } } Transform { translation 0 0 0.1625 children Shape { appearance USE WAIST_LINK2_APP geometry Box { size 0.05 0.05 0.275 } } } ] } # segment WAIST_LINK2 DEF CHEST Joint { jointType "rotate" jointId 28 translation 0 0 0.35 children [ DEF WAIST_LINK3 Segment { centerOfMass 0 0 0 mass 13.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ Transform { rotation 1 0 0 1.5708 children Shape { appearance DEF WAIST_LINK3_APP Appearance { material Material { diffuseColor 0.8 0.8 0.8 } } geometry Cylinder { radius 0.025 height 0.1 } } } Shape { appearance USE WAIST_LINK3_APP geometry Box { size 0.15 0.27 0.05 } } Transform { translation 0 0 0.065 children Shape { appearance Appearance { material Material { diffuseColor 0.5 0.8 0.5 } } geometry Box { size 0.05 0.05 0.03 } } } Transform { translation -0.015 0 0.16 children Shape { appearance Appearance { material Material { diffuseColor 0.5 0.8 0.5 } } geometry Box { size 0.31 0.16 0.16 } } } ] } # segment WAIST_LINK3 DEF LeftCamera VisionSensor { translation 0.15 0.05 0.15 rotation 0.4472 -0.4472 -0.7746 1.8235 name "LeftCamera" type "COLOR_DEPTH" sensorId 0 children [ DEF CAMERA_SHAPE Transform { rotation 1 0 0 -1.5708 children [ Shape { geometry Cylinder { radius 0.02 height 0.025 } appearance Appearance { material Material { diffuseColor 1 0 0 } } } ] } ] } DEF RightCamera VisionSensor { translation 0.15 -0.05 0.15 rotation 0.4472 -0.4472 -0.7746 1.8235 name "RightCamera" type "COLOR_DEPTH" sensorId 1 children [ USE CAMERA_SHAPE ] } #==================== Left Arm ==================== DEF LARM_SHOULDER_P Joint { jointType "rotate" jointAxis 0 1 0 jointId 19 translation 0 0.21 0 children [ DEF LARM_LINK1 Segment { centerOfMass 0.1 0 0 mass 3.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children Transform { translation 0 -0.05 0 children DEF ARM_SHAPE1 Shape { appearance Appearance { material Material { } } geometry Cylinder { radius 0.025 height 0.05 } } } } DEF LARM_SHOULDER_R Joint { jointType "rotate" jointAxis 1 0 0 jointId 20 children [ DEF LARM_LINK2 Segment { centerOfMass 0 0 -0.1 mass 0.6 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF ARM_SHAPE2 Transform { children [ Transform { rotation 0 0 1 1.5708 children Shape { appearance DEF ARM_LINK2_APP Appearance { material Material { diffuseColor 0.8 0.9 0.8 } } geometry Cylinder { radius 0.025 height 0.05 } } } Transform { translation 0 0 -0.1065 children Shape { appearance USE ARM_LINK2_APP geometry Box { size 0.05 0.05 0.163 } } } ] } } # Segment LARM_LINK2 DEF LARM_SHOULDER_Y Joint { jointType "rotate" jointId 21 translation 0 0 -0.263 children [ DEF LARM_LINK3 Segment { centerOfMass 0 0 0 mass 1.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF ARM_SHAPE3 Transform { translation 0 0 0.05 rotation 1 0 0 1.5708 children Shape { appearance Appearance { material Material { } } geometry Cylinder { radius 0.025 height 0.05} } } } # Segment LARM_LINK3 DEF LARM_ELBOW Joint { jointType "rotate" jointAxis 0 1 0 jointId 22 children [ DEF LARM_LINK4 Segment { centerOfMass 0 0 -0.3 mass 0.6 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF ARM_SHAPE4 Transform { children [ Shape { appearance DEF ARM_APP4 Appearance { material Material { diffuseColor 0.8 1.0 0.8 } } geometry Cylinder { radius 0.025 height 0.05 } } Transform { translation 0 0 -0.0985 children Shape { appearance USE ARM_APP4 geometry Box { size 0.05 0.05 0.147 } } } ] } } # Segment LARM_LINK4 DEF LARM_WRIST_Y Joint { jointType "rotate" jointAxis 0 0 1 jointId 23 translation 0 0 -0.247 children [ DEF LARM_LINK5 Segment { centerOfMass 0 0 0.1 mass 0.4 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF ARM_SHAPE5 Transform { translation 0 0 0.05 rotation 1 0 0 1.5708 children Shape { appearance Appearance { material Material { } } geometry Cylinder { radius 0.025 height 0.05 } } } } DEF LARM_WRIST_P Joint { jointType "rotate" jointAxis 0 1 0 jointId 24 children [ DEF LARM_LINK6 Segment { centerOfMass -0.1 0 0 mass 0.4 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF ARM_SHAPE6 Shape { appearance Appearance { material Material { } } geometry Cylinder { radius 0.025 height 0.05 } } } DEF LARM_WRIST_R Joint { jointType "rotate" jointAxis 1 0 0 jointId 25 children [ DEF LARM_LINK7 Segment { centerOfMass 0 0 -0.1 mass 0.4 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF ARM_SHAPE7 Transform { children [ Transform { rotation 0 0 1 1.5708 children Shape { appearance DEF ARM_APP7 Appearance { material Material { diffuseColor 0.7 0.9 0.7 } } geometry Cylinder { radius 0.025 height 0.05 } } } Transform { translation 0 0 -0.1125 children Shape { appearance USE ARM_APP7 geometry Box { size 0.05 0.05 0.175 } } } ] } } # Segment LARM_LINK7 ] } # Joint LARM_WRIST_R ] } # Joint LARM_WRIST_P ] } # Joint LARM_WRIST_Y ] } # Joint LARM_ELBOW ] } # Joint LARM_SHOULDER_Y ] } # Joint LARM_SHOULDER_R ] } # Joint LARM_SHOULDER_P #==================== Right Arm ==================== DEF RARM_SHOULDER_P Joint { jointType "rotate" jointAxis 0 1 0 jointId 6 translation 0 -0.21 0 children [ DEF RARM_LINK1 Segment { centerOfMass 0.1 0 0 mass 3.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children Transform { translation 0 0.05 0 children USE ARM_SHAPE1 } } DEF RARM_SHOULDER_R Joint { jointType "rotate" jointAxis 1 0 0 jointId 7 children [ DEF RARM_LINK2 Segment { centerOfMass 0 0 -0.1 mass 0.6 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ USE ARM_SHAPE2 ] } # Segment RARM_LINK2 DEF RARM_SHOULDER_Y Joint { jointType "rotate" jointId 8 translation 0 0 -0.263 children [ DEF RARM_LINK3 Segment { centerOfMass 0 0 0 mass 1.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children USE ARM_SHAPE3 } DEF RARM_ELBOW Joint { jointType "rotate" jointAxis 0 1 0 jointId 9 children [ DEF RARM_LINK4 Segment { centerOfMass 0 0 -0.3 mass 0.6 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children USE ARM_SHAPE4 } # Segment RARM_LINK4 DEF RARM_WRIST_Y Joint { jointType "rotate" jointAxis 0 0 1 jointId 10 translation 0 0 -0.247 children [ DEF RARM_LINK5 Segment { centerOfMass 0 0 0.1 mass 0.4 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children USE ARM_SHAPE5 } DEF RARM_WRIST_P Joint { jointType "rotate" jointAxis 0 1 0 jointId 11 children [ DEF RARM_LINK6 Segment { centerOfMass -0.1 0 0 mass 0.4 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children USE ARM_SHAPE6 } DEF RARM_WRIST_R Joint { jointType "rotate" jointAxis 1 0 0 jointId 12 children [ DEF RARM_LINK7 Segment { centerOfMass 0 0 -0.1 mass 0.4 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ USE ARM_SHAPE7 ] } # Segment RARM_LINK7 ] } # Joint RARM_WRIST_R ] } # Joint RARM_WRIST_P ] } # Joint RARM_WRIST_Y ] } # Joint RARM_ELBOW ] } # Joint RARM_SHOULDER_Y ] } # Joint RARM_SHOULDER_R ] } # Joint RARM_SHOULDER_P ] } # Joint CHEST ] } # Joint WAIST_R ] } # Joint WAIST_P #==================== Left Leg ==================== DEF LLEG_HIP_R Joint { jointType "rotate" jointAxis 1 0 0 jointId 13 translation 0 0.09 0 children [ DEF LLEG_LINK1 Segment { centerOfMass 0 0.1 0 mass 2.5 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF LEG_SHAPE1 Transform { rotation 0 0 1 1.5708 children Shape { appearance Appearance { material Material { } } geometry Cylinder { radius 0.05 height 0.1 } } } } DEF LLEG_HIP_P Joint { jointType "rotate" jointAxis 0 1 0 jointId 14 children [ DEF LLEG_LINK2 Segment { centerOfMass 0 0 -0.15 mass 2.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF LEG_SHAPE2 Shape { appearance Appearance { material Material { } } geometry Cylinder { radius 0.05 height 0.1 } } } DEF LLEG_HIP_Y Joint { jointType "rotate" jointId 15 translation 0 0 -0.3535 children [ DEF LLEG_LINK3 Segment { centerOfMass 0 0.04 0 mass 5.1 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF LEG_SHAPE3 Transform { children [ Transform { translation 0 0 0.1 rotation 1 0 0 1.5708 children Shape { appearance DEF LEG_APP3 Appearance { material Material { diffuseColor 0.8 0.9 0.8 } } geometry Cylinder { radius 0.05 height 0.1 } } } Transform { translation 0 0 0.22675 children Shape { appearance USE LEG_APP3 geometry Box { size 0.1 0.1 0.1535 } } } ] } } # Segment LLEG_LINK3 DEF LLEG_KNEE Joint { jointType "rotate" jointAxis 0 1 0 jointId 16 children [ DEF LLEG_LINK4 Segment { centerOfMass 0 0 -0.3 mass 7.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF LEG_SHAPE4 Transform { children [ Shape { appearance DEF LEG_APP4 Appearance { material Material { diffuseColor 0.8 1.0 0.8 } } geometry Cylinder { radius 0.05 height 0.1 } } Transform { translation 0 0 -0.15 children Shape { appearance USE LEG_APP4 geometry Box { size 0.1 0.1 0.2 } } } ] } } # Segment LLEG_LINK4 DEF LLEG_ANKLE_P Joint { jointType "rotate" jointAxis 0 1 0 jointId 17 translation 0 0 -0.3 children [ DEF LLEG_LINK5 Segment { centerOfMass -0.15 0 0 mass 2.5 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF LEG_SHAPE5 Shape { appearance Appearance { material Material { } } geometry Cylinder { radius 0.05 height 0.1 } } } DEF LLEG_ANKLE_R Joint { jointType "rotate" jointAxis 1 0 0 jointId 18 children [ DEF LLEG_LINK6 Segment { centerOfMass 0.28 0 -0.2 mass 1.9 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ DEF LeftAnkleForceSensor ForceSensor { translation 0 0 0 rotation 1 0 0 0 sensorId 0 } DEF LEG_SHAPE6 Transform { children [ Transform { translation 0.1 0 0 rotation 0 0 1 1.5708 children Shape { appearance DEF LEG_APP6 Appearance { material Material { diffuseColor 0.0 0.5 0.0 } } geometry Cylinder { radius 0.05 height 0.1 } } } Transform { translation 0.055 0 -0.05 children Shape { appearance USE LEG_APP6 geometry Box { size 0.25 0.14 0.01 } } } ] } ] } # Segment LLEG_LINK6 ] } # Joint LLEG_ANKLE_R ] } # Joint LLEG_ANKLE_P ] } # Joint LLEG_KNEE ] } # Joint LLEG_HIP_Y ] } # Joint LLEG_HIP_P ] } # Joint LLEG_HIP_R #==================== Right Leg ==================== DEF RLEG_HIP_R Joint { jointType "rotate" jointAxis 1 0 0 jointId 0 translation 0 -0.09 0 children [ DEF RLEG_LINK1 Segment { centerOfMass 0 -0.1 0 mass 2.5 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children USE LEG_SHAPE1 } DEF RLEG_HIP_P Joint { jointType "rotate" jointAxis 0 1 0 jointId 1 children [ DEF RLEG_LINK2 Segment { centerOfMass 0 0 -0.15 mass 2.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children USE LEG_SHAPE2 } DEF RLEG_HIP_Y Joint { jointType "rotate" jointId 2 translation 0 0 -0.3535 children [ DEF RLEG_LINK3 Segment { centerOfMass 0 -0.04 0 mass 5.1 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ USE LEG_SHAPE3 ] } DEF RLEG_KNEE Joint { jointType "rotate" jointAxis 0 1 0 jointId 3 children [ DEF RLEG_LINK4 Segment { centerOfMass 0 0 -0.3 mass 7.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ USE LEG_SHAPE4 ] } # Segment RLEG_LINK4 DEF RLEG_ANKLE_P Joint { jointType "rotate" jointAxis 0 1 0 jointId 4 translation 0 0 -0.3 children [ DEF RLEG_LINK5 Segment { centerOfMass -0.15 0 0 mass 2.5 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children USE LEG_SHAPE5 } DEF RLEG_ANKLE_R Joint { jointType "rotate" jointAxis 1 0 0 jointId 5 children [ DEF RLEG_LINK6 Segment { centerOfMass 0.28 0 -0.2 mass 1.9 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ DEF RightAnkleForceSensor ForceSensor { translation 0 0 0 rotation 1 0 0 0 sensorId 1 } USE LEG_SHAPE6 ] } # Segment RLEG_LINK6 ] } # Joint RLEG_ANKLE_R ] } # Joint RLEG_ANKLE_P ] } # Joint RLEG_KNEE ] } # Joint RLEG_HIP_Y ] } # Joint RLEG_HIP_P ] } # Joint RLEG_HIP_R ] } # Joint WAIST ] # List up all the joints' name you use joints [ USE WAIST, USE WAIST_P, USE WAIST_R, USE CHEST, USE LARM_SHOULDER_P, USE LARM_SHOULDER_R, USE LARM_SHOULDER_Y, USE LARM_ELBOW, USE LARM_WRIST_Y, USE LARM_WRIST_P, USE LARM_WRIST_R, USE RARM_SHOULDER_P, USE RARM_SHOULDER_R, USE RARM_SHOULDER_Y, USE RARM_ELBOW, USE RARM_WRIST_Y, USE RARM_WRIST_P, USE RARM_WRIST_R, USE LLEG_HIP_R, USE LLEG_HIP_P, USE LLEG_HIP_Y, USE LLEG_KNEE, USE LLEG_ANKLE_P, USE LLEG_ANKLE_R, USE RLEG_HIP_R, USE RLEG_HIP_P, USE RLEG_HIP_Y, USE RLEG_KNEE, USE RLEG_ANKLE_P, USE RLEG_ANKLE_R ] # List up all the segments' name you use segments [ USE WAIST_LINK0, USE WAIST_LINK1, USE WAIST_LINK2, USE WAIST_LINK3, USE LARM_LINK1, USE LARM_LINK2, USE LARM_LINK3, USE LARM_LINK4, USE LARM_LINK5, USE LARM_LINK6, USE LARM_LINK7, USE RARM_LINK1, USE RARM_LINK2, USE RARM_LINK3, USE RARM_LINK4, USE RARM_LINK5, USE RARM_LINK6, USE RARM_LINK7, USE LLEG_LINK1, USE LLEG_LINK2, USE LLEG_LINK3, USE LLEG_LINK4, USE LLEG_LINK5, USE LLEG_LINK6, USE RLEG_LINK1, USE RLEG_LINK2, USE RLEG_LINK3, USE RLEG_LINK4, USE RLEG_LINK5, USE RLEG_LINK6 ] } choreonoid-1.5.0/share/model/SR1/SR1-2D.wrl0000664000000000000000000012403012741425367016566 0ustar rootroot#VRML V2.0 utf8 # Simple robot model "SR1" # This model originates from an OpenHRP sample robot model. # The original model was written by Ichitaro Kohara (YNL, Univ. of Tokyo), # Hirohisa Hirukawa (ETL) and Natsuki Miyata (MEL). PROTO Joint [ exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField MFFloat lvlimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat uvlimit [] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 exposedField SFFloat gearRatio 1 exposedField SFFloat rotorInertia 0 exposedField SFFloat rotorResistor 0 exposedField SFFloat torqueConst 1 exposedField SFFloat encoderPulse 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS viewpoints } Group { children IS humanoidBody } ] } } PROTO VisionSensor [ exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField MFNode children [ ] exposedField SFFloat fieldOfView 0.785398 exposedField SFString name "" exposedField SFFloat frontClipDistance 0.01 exposedField SFFloat backClipDistance 10.0 exposedField SFString type "NONE" exposedField SFInt32 sensorId -1 exposedField SFInt32 width 320 exposedField SFInt32 height 240 exposedField SFFloat frameRate 30 ] { Transform { rotation IS rotation translation IS translation children IS children } } PROTO ForceSensor [ exposedField SFVec3f maxForce -1 -1 -1 exposedField SFVec3f maxTorque -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO Gyro [ exposedField SFVec3f maxAngularVelocity -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO AccelerationSensor [ exposedField SFVec3f maxAcceleration -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO PressureSensor [ exposedField SFFloat maxPressure -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO PhotoInterrupter [ exposedField SFVec3f transmitter 0 0 0 exposedField SFVec3f receiver 0 0 0 exposedField SFInt32 sensorId -1 ] { Transform{ children [ Transform{ translation IS transmitter } Transform{ translation IS receiver } ] } } PROTO CylinderSensorZ [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 1 0 0 1.5708 children [ DEF SensorY CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisY Transform{ children [ Transform{ rotation 1 0 0 -1.5708 children IS children } ] } ] } ROUTE SensorY.rotation_changed TO AxisY.set_rotation } PROTO CylinderSensorY [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 0 1 0 1.5708 children [ DEF SensorX CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisX Transform{ children [ Transform{ rotation 0 1 0 -1.5708 children IS children } ] } ] } ROUTE SensorX.rotation_changed TO AxisX.set_rotation } PROTO CylinderSensorX [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 0 0 1 -1.5708 children [ DEF SensorZ CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisZ Transform{ children [ Transform{ rotation 0 0 1 1.5708 children IS children } ] } ] } ROUTE SensorZ.rotation_changed TO AxisZ.set_rotation } NavigationInfo { avatarSize 0.5 headlight TRUE type ["EXAMINE", "ANY"] } Background { skyColor 0.4 0.6 0.4 } Viewpoint { position 3 0 0.835 orientation 0.5770 0.5775 0.5775 2.0935 } DEF SR1_2D Humanoid { name "SR1-2D" humanoidBody [ DEF WAIST Joint { jointType "free" translation 0 0 0.7135 children [ DEF gsensor AccelerationSensor { sensorId 0 } DEF gyrometer Gyro { sensorId 0 } DEF WAIST_LINK0 Segment { centerOfMass 0 0 0.0375 mass 27.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ Shape { appearance DEF WAIST_APP Appearance { material Material { } } geometry Box { size 0.08 0.08 0.08 } } Transform { translation 0 0 0.0955 children Shape { appearance USE WAIST_APP geometry Box { size 0.05 0.05 0.111 } } } ] } DEF WAIST_P Joint { translation 0 0 0.176 jointType "rotate" jointAxis 0 1 0 jointId 26 children [ DEF WAIST_LINK1 Segment { centerOfMass 0 0 -0.1 mass 6.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ Shape { appearance DEF WAIST_LINK1_APP Appearance { material Material { diffuseColor 0.6 1.0 0.6 } } geometry Cylinder { radius 0.025 height 0.05 } } ] } DEF WAIST_R Joint { jointType "fixed" jointAxis 1 0 0 jointId 27 children [ DEF WAIST_LINK2 Segment { centerOfMass 0.11 0 0.25 mass 30.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ Transform { rotation 0 0 1 1.5708 children Shape { appearance DEF WAIST_LINK2_APP Appearance { material Material { diffuseColor 0.6 0.8 0.6 } } geometry Cylinder { radius 0.025 height 0.05 } } } Transform { translation 0 0 0.1625 children Shape { appearance USE WAIST_LINK2_APP geometry Box { size 0.05 0.05 0.275 } } } # Transform ] } # segment WAIST_LINK2 DEF CHEST Joint { jointType "fixed" jointId 28 translation 0 0 0.35 children [ DEF WAIST_LINK3 Segment { centerOfMass 0 0 0 mass 13.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ Transform { rotation 1 0 0 1.5708 children Shape { appearance DEF WAIST_LINK3_APP Appearance { material Material { diffuseColor 0.8 0.8 0.8 } } geometry Cylinder { radius 0.025 height 0.1 } } } Shape { appearance USE WAIST_LINK3_APP geometry Box { size 0.15 0.27 0.05 } } Transform { translation 0 0 0.065 children Shape { appearance Appearance { material Material { diffuseColor 0.5 0.8 0.5 } } geometry Box { size 0.05 0.05 0.03 } } } Transform { translation -0.015 0 0.16 children Shape { appearance Appearance { material Material { diffuseColor 0.5 0.8 0.5 } } geometry Box { size 0.31 0.16 0.16 } } # shape } # transform ] } # segment WAIST_LINK3 DEF VISION_SENSOR1 VisionSensor { translation 0.15 0.05 0.15 rotation 0.4472 -0.4472 -0.7746 1.8235 name "LeftCamera" type "DEPTH" sensorId 0 children [ DEF CAMERA_SHAPE Transform { rotation 1 0 0 -1.5708 children [ Shape { geometry Cylinder { radius 0.02 height 0.025 } appearance Appearance { material Material { diffuseColor 1 0 0 } } } ] } ] } DEF VISION_SENSOR2 VisionSensor { translation 0.15 -0.05 0.15 rotation 0.4472 -0.4472 -0.7746 1.8235 name "RightCamera" type "DEPTH" sensorId 1 children [ USE CAMERA_SHAPE ] } #==================== Left Arm ==================== DEF LARM_SHOULDER_P Joint { jointType "rotate" jointAxis 0 1 0 jointId 19 translation 0 0.21 0 children [ DEF LARM_LINK1 Segment { centerOfMass 0.1 0 0 mass 3.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children Transform { translation 0 -0.05 0 children DEF ARM_SHAPE1 Shape { appearance Appearance { material Material { } } geometry Cylinder { radius 0.025 height 0.05 } } } } DEF LARM_SHOULDER_R Joint { jointType "fixed" jointAxis 1 0 0 jointId 20 children [ DEF LARM_LINK2 Segment { centerOfMass 0 0 -0.1 mass 0.6 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF ARM_SHAPE2 Transform { children [ Transform { rotation 0 0 1 1.5708 children Shape { appearance DEF ARM_LINK2_APP Appearance { material Material { diffuseColor 0.8 0.9 0.8 } } geometry Cylinder { radius 0.025 height 0.05 } } } Transform { translation 0 0 -0.1065 children Shape { appearance USE ARM_LINK2_APP geometry Box { size 0.05 0.05 0.163 } } } ] } } # Segment LARM_LINK2 DEF LARM_SHOULDER_Y Joint { jointType "fixed" jointId 21 translation 0 0 -0.263 children [ DEF LARM_LINK3 Segment { centerOfMass 0 0 0 mass 1.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF ARM_SHAPE3 Transform { translation 0 0 0.05 rotation 1 0 0 1.5708 children Shape { appearance Appearance { material Material { } } geometry Cylinder { radius 0.025 height 0.05} } } } # Segment LARM_LINK3 DEF LARM_ELBOW Joint { jointType "rotate" jointAxis 0 1 0 jointId 22 children [ DEF LARM_LINK4 Segment { centerOfMass 0 0 -0.3 mass 0.6 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF ARM_SHAPE4 Transform { children [ Shape { appearance DEF ARM_APP4 Appearance { material Material { diffuseColor 0.8 1.0 0.8 } } geometry Cylinder { radius 0.025 height 0.05 } } Transform { translation 0 0 -0.0985 children Shape { appearance USE ARM_APP4 geometry Box { size 0.05 0.05 0.147 } } } ] } } # Segment LARM_LINK4 DEF LARM_WRIST_Y Joint { jointType "fixed" jointAxis 0 0 1 jointId 23 translation 0 0 -0.247 children [ DEF LARM_LINK5 Segment { centerOfMass 0 0 0.1 mass 0.4 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF ARM_SHAPE5 Transform { translation 0 0 0.05 rotation 1 0 0 1.5708 children Shape { appearance Appearance { material Material { } } geometry Cylinder { radius 0.025 height 0.05 } } } } DEF LARM_WRIST_P Joint { jointType "rotate" jointAxis 0 1 0 jointId 24 children [ DEF LARM_LINK6 Segment { centerOfMass -0.1 0 0 mass 0.4 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF ARM_SHAPE6 Shape { appearance Appearance { material Material { } } geometry Cylinder { radius 0.025 height 0.05 } } } DEF LARM_WRIST_R Joint { jointType "fixed" jointAxis 1 0 0 jointId 25 children [ DEF LARM_LINK7 Segment { centerOfMass 0 0 -0.1 mass 0.4 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF ARM_SHAPE7 Transform { children [ Transform { rotation 0 0 1 1.5708 children Shape { appearance DEF ARM_APP7 Appearance { material Material { diffuseColor 0.7 0.9 0.7 } } geometry Cylinder { radius 0.025 height 0.05 } } } Transform { translation 0 0 -0.1125 children Shape { appearance USE ARM_APP7 geometry Box { size 0.05 0.05 0.175 } } }# Transform ] } } # Segment LARM_LINK7 ] } # Joint LARM_WRIST_R ] } # Joint LARM_WRIST_P ] } # Joint LARM_WRIST_Y ] } # Joint LARM_ELBOW ] } # Joint LARM_SHOULDER_Y ] } # Joint LARM_SHOULDER_R ] } # Joint LARM_SHOULDER_P #==================== Right Arm ==================== DEF RARM_SHOULDER_P Joint { jointType "rotate" jointAxis 0 1 0 jointId 6 translation 0 -0.21 0 children [ DEF RARM_LINK1 Segment { centerOfMass 0.1 0 0 mass 3.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children Transform { translation 0 0.05 0 children USE ARM_SHAPE1 } } DEF RARM_SHOULDER_R Joint { jointType "fixed" jointAxis 1 0 0 jointId 7 children [ DEF RARM_LINK2 Segment { centerOfMass 0 0 -0.1 mass 0.6 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ USE ARM_SHAPE2 ] } # Segment RARM_LINK2 DEF RARM_SHOULDER_Y Joint { jointType "fixed" jointId 8 translation 0 0 -0.263 children [ DEF RARM_LINK3 Segment { centerOfMass 0 0 0 mass 1.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children USE ARM_SHAPE3 } DEF RARM_ELBOW Joint { jointType "rotate" jointAxis 0 1 0 jointId 9 children [ DEF RARM_LINK4 Segment { centerOfMass 0 0 -0.3 mass 0.6 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children USE ARM_SHAPE4 } # Segment RARM_LINK4 DEF RARM_WRIST_Y Joint { jointType "fixed" jointAxis 0 0 1 jointId 10 translation 0 0 -0.247 children [ DEF RARM_LINK5 Segment { centerOfMass 0 0 0.1 mass 0.4 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children USE ARM_SHAPE5 } DEF RARM_WRIST_P Joint { jointType "rotate" jointAxis 0 1 0 jointId 11 children [ DEF RARM_LINK6 Segment { centerOfMass -0.1 0 0 mass 0.4 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children USE ARM_SHAPE6 } DEF RARM_WRIST_R Joint { jointType "fixed" jointAxis 1 0 0 jointId 12 children [ DEF RARM_LINK7 Segment { centerOfMass 0 0 -0.1 mass 0.4 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ USE ARM_SHAPE7 ] } # Segment RARM_LINK7 ] } # Joint RARM_WRIST_R ] } # Joint RARM_WRIST_P ] } # Joint RARM_WRIST_Y ] } # Joint RARM_ELBOW ] } # Joint RARM_SHOULDER_Y ] } # Joint RARM_SHOULDER_R ] } # Joint RARM_SHOULDER_P ] } # Joint CHEST ] } # Joint WAIST_R ] } # Joint WAIST_P #==================== Left Leg ==================== DEF LLEG_HIP_R Joint { jointType "fixed" jointAxis 1 0 0 jointId 13 translation 0 0.09 0 children [ DEF LLEG_LINK1 Segment { centerOfMass 0 0.1 0 mass 2.5 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF LEG_SHAPE1 Transform { rotation 0 0 1 1.5708 children Shape { appearance Appearance { material Material { } } geometry Cylinder { radius 0.05 height 0.1 } } } } DEF LLEG_HIP_P Joint { jointType "rotate" jointAxis 0 1 0 jointId 14 children [ DEF LLEG_LINK2 Segment { centerOfMass 0 0 -0.15 mass 2.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF LEG_SHAPE2 Shape { appearance Appearance { material Material { } } geometry Cylinder { radius 0.05 height 0.1 } } } DEF LLEG_HIP_Y Joint { jointType "fixed" jointId 15 translation 0 0 -0.3535 children [ DEF LLEG_LINK3 Segment { centerOfMass 0 0.04 0 mass 5.1 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF LEG_SHAPE3 Transform { children [ Transform { translation 0 0 0.1 rotation 1 0 0 1.5708 children Shape { appearance DEF LEG_APP3 Appearance { material Material { diffuseColor 0.8 0.9 0.8 } } geometry Cylinder { radius 0.05 height 0.1 } } } Transform { translation 0 0 0.22675 children Shape { appearance USE LEG_APP3 geometry Box { size 0.1 0.1 0.1535 } } } ] } } # Segment LLEG_LINK3 DEF LLEG_KNEE Joint { jointType "rotate" jointAxis 0 1 0 jointId 16 children [ DEF LLEG_LINK4 Segment { centerOfMass 0 0 -0.3 mass 7.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF LEG_SHAPE4 Transform { children [ Shape { appearance DEF LEG_APP4 Appearance { material Material { diffuseColor 0.8 1.0 0.8 } } geometry Cylinder { radius 0.05 height 0.1 } } Transform { translation 0 0 -0.15 children Shape { appearance USE LEG_APP4 geometry Box { size 0.1 0.1 0.2 } } } ] } } # Segment LLEG_LINK4 DEF LLEG_ANKLE_P Joint { jointType "rotate" jointAxis 0 1 0 jointId 17 translation 0 0 -0.3 children [ DEF LLEG_LINK5 Segment { centerOfMass -0.15 0 0 mass 2.5 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF LEG_SHAPE5 Shape { appearance Appearance { material Material { } } geometry Cylinder { radius 0.05 height 0.1 } } } DEF LLEG_ANKLE_R Joint { jointType "fixed" jointAxis 1 0 0 jointId 18 children [ DEF LLEG_LINK6 Segment { centerOfMass 0.28 0 -0.2 mass 1.9 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF LEG_SHAPE6 Transform { children [ Transform { translation 0.1 0 0 rotation 0 0 1 1.5708 children Shape { appearance DEF LEG_APP6 Appearance { material Material { diffuseColor 0.0 0.5 0.0 } } geometry Cylinder { radius 0.05 height 0.1 } } } Transform { translation 0.055 0 -0.05 children Shape { appearance USE LEG_APP6 geometry Box { size 0.25 0.14 0.01 } } # Shape }#Transform ] } } # Segment LLEG_LINK6 ] } # Joint LLEG_ANKLE_R ] } # Joint LLEG_ANKLE_P ] } # Joint LLEG_KNEE ] } # Joint LLEG_HIP_Y ] } # Joint LLEG_HIP_P ] } # Joint LLEG_HIP_R #==================== Right Leg ==================== DEF RLEG_HIP_R Joint { jointType "fixed" jointAxis 1 0 0 jointId 0 translation 0 -0.09 0 children [ DEF RLEG_LINK1 Segment { centerOfMass 0 -0.1 0 mass 2.5 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children USE LEG_SHAPE1 } DEF RLEG_HIP_P Joint { jointType "rotate" jointAxis 0 1 0 jointId 1 children [ DEF RLEG_LINK2 Segment { centerOfMass 0 0 -0.15 mass 2.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children USE LEG_SHAPE2 } DEF RLEG_HIP_Y Joint { jointType "fixed" jointId 2 translation 0 0 -0.3535 children [ DEF RLEG_LINK3 Segment { centerOfMass 0 -0.04 0 mass 5.1 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ USE LEG_SHAPE3 ] } DEF RLEG_KNEE Joint { jointType "rotate" jointAxis 0 1 0 jointId 3 children [ DEF RLEG_LINK4 Segment { centerOfMass 0 0 -0.3 mass 7.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ USE LEG_SHAPE4 ] } # Segment RLEG_LINK4 DEF RLEG_ANKLE_P Joint { jointType "rotate" jointAxis 0 1 0 jointId 4 translation 0 0 -0.3 children [ DEF RLEG_LINK5 Segment { centerOfMass -0.15 0 0 mass 2.5 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children USE LEG_SHAPE5 } DEF RLEG_ANKLE_R Joint { jointType "fixed" jointAxis 1 0 0 jointId 5 children [ DEF RLEG_LINK6 Segment { centerOfMass 0.28 0 -0.2 mass 1.9 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ USE LEG_SHAPE6 ] } # Segment RLEG_LINK6 ] } # Joint RLEG_ANKLE_R ] } # Joint RLEG_ANKLE_P ] } # Joint RLEG_KNEE ] } # Joint RLEG_HIP_Y ] } # Joint RLEG_HIP_P ] } # Joint RLEG_HIP_R ] } # Joint WAIST ] # List up all the joints' name you use joints [ USE WAIST, USE WAIST_P, USE WAIST_R, USE CHEST, USE LARM_SHOULDER_P, USE LARM_SHOULDER_R, USE LARM_SHOULDER_Y, USE LARM_ELBOW, USE LARM_WRIST_Y, USE LARM_WRIST_P, USE LARM_WRIST_R, USE RARM_SHOULDER_P, USE RARM_SHOULDER_R, USE RARM_SHOULDER_Y, USE RARM_ELBOW, USE RARM_WRIST_Y, USE RARM_WRIST_P, USE RARM_WRIST_R, USE LLEG_HIP_R, USE LLEG_HIP_P, USE LLEG_HIP_Y, USE LLEG_KNEE, USE LLEG_ANKLE_P, USE LLEG_ANKLE_R, USE RLEG_HIP_R, USE RLEG_HIP_P, USE RLEG_HIP_Y, USE RLEG_KNEE, USE RLEG_ANKLE_P, USE RLEG_ANKLE_R ] # List up all the segments' name you use segments [ USE WAIST_LINK0, USE WAIST_LINK1, USE WAIST_LINK2, USE WAIST_LINK3, USE LARM_LINK1, USE LARM_LINK2, USE LARM_LINK3, USE LARM_LINK4, USE LARM_LINK5, USE LARM_LINK6, USE LARM_LINK7, USE RARM_LINK1, USE RARM_LINK2, USE RARM_LINK3, USE RARM_LINK4, USE RARM_LINK5, USE RARM_LINK6, USE RARM_LINK7, USE LLEG_LINK1, USE LLEG_LINK2, USE LLEG_LINK3, USE LLEG_LINK4, USE LLEG_LINK5, USE LLEG_LINK6, USE RLEG_LINK1, USE RLEG_LINK2, USE RLEG_LINK3, USE RLEG_LINK4, USE RLEG_LINK5, USE RLEG_LINK6 ] } choreonoid-1.5.0/share/model/SR1/SR1.body0000664000000000000000000004006012741425367016454 0ustar rootrootformat: ChoreonoidBody formatVersion: 1.0 angleUnit: degree name: SR1 rootLink: WAIST links: - name: WAIST jointType: free translation: [ 0, 0, 0.7135 ] centerOfMass: [ 0, 0, 0.0375 ] mass: 27.0 inertia: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] elements: - type: Shape appearance: &WaistAppearance material: { } geometry: { type: Box, size: [ 0.08, 0.08, 0.08 ] } - type: Transform translation: [ 0, 0, 0.0955 ] elements: Shape: appearance: *WaistAppearance geometry: { type: Box, size: [ 0.05, 0.05, 0.111 ] } - type: AccelerationSensor name: WaistAccelSensor id: 0 - type: RateGyroSensor name: WaistGyro id: 0 - name: WAIST_P parent: WAIST translation : [ 0, 0, 0.176 ] jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: 26 centerOfMass: [ 0, 0, -0.1 ] mass: 6.0 inertia: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] elements: Shape: geometry: { type: Cylinder, radius: 0.025, height: 0.05 } appearance: &Appearance1 material: diffuseColor: [ 0.6, 1.0, 0.6 ] - name: WAIST_R parent: WAIST_P jointType: revolute jointAxis: [ 1, 0, 0 ] jointId: 27 childLinks: [ CHEST ] centerOfMass: [ 0.11, 0, 0.25 ] mass: 30.0 inertia: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] elements: - type: Transform rotation: [ 0, 0, 1, 90 ] elements: Shape: geometry: { type: Cylinder, radius: 0.025, height: 0.05 } appearance: &Appearance2 material: diffuseColor: [0.6, 0.8, 0.6 ] - type: Transform translation: [ 0, 0, 0.1625 ] elements: Shape: geometry: { type: Box, size: [ 0.05, 0.05, 0.275 ] } appearance: *Appearance2 - name: CHEST parent: WAIST_R jointType: revolute jointId: 28 translation: [ 0, 0, 0.35 ] centerOfMass: [ 0, 0, 0 ] mass: 13.0 inertia: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] elements: - type: Transform rotation: [ 1, 0, 0, 90 ] elements: Shape: geometry: { type: Cylinder, radius: 0.025, height: 0.1 } appearance: &Appearance3 material: diffuseColor: [ 0.8, 0.8, 0.8 ] - type: Shape geometry: { type: Box, size: [ 0.15, 0.27, 0.05 ] } appearance: *Appearance3 - type: Transform translation: [ 0, 0, 0.065 ] elements: Shape: geometry: { type: Box, size: [ 0.05, 0.05, 0.03 ] } appearance: material: diffuseColor: [ 0.5, 0.8, 0.5 ] - type: Transform translation: [ -0.015, 0, 0.16 ] elements: Shape: geometry: { type: Box, size: [ 0.31, 0.16, 0.16 ] } appearance: material: diffuseColor: [ 0.5, 0.8, 0.5] - type: Transform translation: [ 0.15, 0.05, 0.15 ] rotation: [ 0, 1, 0, -90 ] elements: Camera: name: LeftCamera rotation: [ 0, 0, 1, -90 ] id: 0 format: COLOR_DEPTH nearClipDistance: 0.1 elements: &CameraShape Transform: rotation: [ 1, 0, 0, 90 ] elements: Shape: geometry: { type: Cylinder, radius: 0.02, height: 0.025 } appearance: material: diffuseColor: [ 1, 0, 0 ] - type: Transform translation: [ 0.15, -0.05, 0.15 ] rotation: [ 0, 1, 0, -90 ] elements: Camera: name: RightCamera rotation: [ 0, 0, 1, -90 ] id: 1 format: COLOR_DEPTH nearClipDistance: 0.1 elements: *CameraShape - name: LARM_SHOULDER_P parent: CHEST jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: 19 translation: [ 0, 0.21, 0 ] centerOfMass: [ 0.1, 0, 0 ] mass: 3.0 inertia: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] elements: Transform: translation: [ 0, -0.05, 0 ] elements: &ArmShape1 Shape: geometry: { type: Cylinder, radius: 0.025, height: 0.05 } - name: LARM_SHOULDER_R parent: LARM_SHOULDER_P jointType: revolute jointAxis: [ 1, 0, 0 ] jointId: 20 centerOfMass: [ 0, 0, -0.1 ] mass: 0.6 inertia: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] elements: &ArmShape2 - type: Transform rotation: [ 0, 0, 1, 90 ] elements: Shape: geometry: { type: Cylinder, radius: 0.025, height: 0.05 } appearance: material: diffuseColor: [ 0.8, 0.9, 0.8 ] - type: Transform translation: [ 0, 0, -0.1065 ] elements: Shape: geometry: { type: Box, size: [ 0.05, 0.05, 0.163 ] } appearance: *Appearance2 - name: LARM_SHOULDER_Y parent: LARM_SHOULDER_R jointType: revolute jointId: 21 translation: [ 0, 0, -0.263 ] centerOfMass: [ 0, 0, 0 ] mass: 1.0 inertia: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] elements: &ArmShape3 Transform: translation: [ 0, 0, 0.05 ] rotation: [ 1, 0, 0, 90 ] elements: Shape: geometry: { type: Cylinder, radius: 0.025, height: 0.05 } - name: LARM_ELBOW parent: LARM_SHOULDER_Y jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: 22 centerOfMass: [ 0, 0, -0.3 ] mass: 0.6 inertia: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] elements: &ArmShape4 - type: Shape geometry: { type: Cylinder, radius: 0.025, height: 0.05 } appearance: &Appearance4 material: diffuseColor: [ 0.8, 1.0, 0.8 ] - type: Transform translation: [ 0, 0, -0.0985 ] elements: Shape: geometry: { type: Box, size: [ 0.05, 0.05, 0.147 ] } appearance: *Appearance4 - name: LARM_WRIST_Y parent: LARM_ELBOW jointType: revolute jointAxis: [ 0, 0, 1 ] jointId: 23 translation: [ 0, 0, -0.247 ] centerOfMass: [ 0, 0, 0.1 ] mass: 0.4 inertia: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] elements: &ArmShape5 Transform: translation: [ 0, 0, 0.05 ] rotation: [ 1, 0, 0, 90 ] elements: Shape: geometry: { type: Cylinder, radius: 0.025, height: 0.05 } - name: LARM_WRIST_P parent: LARM_WRIST_Y jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: 24 centerOfMass: [ -0.1, 0, 0 ] mass: 0.4 inertia: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] elements: &ArmShape6 Shape: geometry: { type: Cylinder, radius: 0.025, height: 0.05 } - name: LARM_WRIST_R parent: LARM_WRIST_P jointType: revolute jointAxis: [ 1, 0, 0 ] jointId: 25 centerOfMass: [ 0, 0, -0.1 ] mass: 0.4 inertia: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] forceRange: [ -1000, 1000 ] elements: &ArmShape7 - type: Transform rotation: [ 0, 0, 1, 90 ] elements: Shape: geometry: { type: Cylinder, radius: 0.025, height: 0.05 } appearance: &Appearance7 material: diffuseColor: [ 0.7, 0.9, 0.7 ] - type: Transform translation: [ 0, 0, -0.1125 ] elements: Shape: geometry: { type: Box, size: [ 0.05, 0.05, 0.175 ] } appearance: *Appearance7 - name: RARM_SHOULDER_P parent: CHEST jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: 6 translation: [ 0, -0.21, 0 ] centerOfMass: [ 0.1, 0, 0 ] mass: 3.0 inertia: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] elements: Transform: translation: [ 0, 0.05, 0 ] elements: *ArmShape1 - name: RARM_SHOULDER_R parent: RARM_SHOULDER_P jointType: revolute jointAxis: [ 1, 0, 0 ] jointId: 7 centerOfMass: [ 0, 0, -0.1 ] mass: 0.6 inertia: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] elements: *ArmShape2 - name: RARM_SHOULDER_Y parent: RARM_SHOULDER_R jointType: revolute jointId: 8 translation: [ 0, 0, -0.263 ] centerOfMass: [ 0, 0, 0 ] mass: 1.0 inertia: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] elements: *ArmShape3 - name: RARM_ELBOW parent: RARM_SHOULDER_Y jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: 9 centerOfMass: [ 0, 0, -0.3 ] mass: 0.6 inertia: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] elements: *ArmShape4 - name: RARM_WRIST_Y parent: RARM_ELBOW jointType: revolute jointAxis: [ 0, 0, 1 ] jointId: 10 translation: [ 0, 0, -0.247 ] centerOfMass: [ 0, 0, 0.1 ] mass: 0.4 inertia: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] elements: *ArmShape5 - name: RARM_WRIST_P parent: RARM_WRIST_Y jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: 11 centerOfMass: [ -0.1, 0, 0 ] mass: 0.4 inertia: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] elements: *ArmShape6 - name: RARM_WRIST_R parent: RARM_WRIST_P jointType: revolute jointAxis: [ 1, 0, 0 ] jointId: 12 centerOfMass: [ 0, 0, -0.1 ] mass: 0.4 inertia: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] forceRange: [ -1000, 1000 ] elements: *ArmShape7 - name: LLEG_HIP_R parent: WAIST jointType: revolute jointAxis: [ 1, 0, 0 ] jointId: 13 translation: [ 0, 0.09, 0 ] centerOfMass: [ 0, 0.1, 0 ] mass: 2.5 inertia: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] elements: &LegShape1 Transform: rotation: [ 0, 0, 1, 90 ] elements: Shape: geometry: { type: Cylinder, radius: 0.05, height: 0.1 } - name: LLEG_HIP_P parent: LLEG_HIP_R jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: 14 centerOfMass: 0 0 -0.15 mass: 2.0 inertia: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] elements: &LegShape2 Shape: geometry: { type: Cylinder, radius: 0.05, height: 0.1 } - name: LLEG_HIP_Y parent: LLEG_HIP_P jointType: revolute jointId: 15 translation: [ 0, 0, -0.3535 ] centerOfMass: [ 0, 0.04, 0 ] mass: 5.1 inertia: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] elements: &LegShape3 - type: Transform translation: [ 0, 0, 0.1 ] rotation: [ 1, 0, 0, 90 ] elements: Shape: appearance: &LegApp3 material: diffuseColor: [ 0.8, 0.9, 0.8 ] geometry: { type: Cylinder, radius: 0.05, height: 0.1 } - type: Transform translation: [ 0, 0, 0.22675 ] elements: Shape: appearance: *LegApp3 geometry: { type: Box, size: [ 0.1, 0.1, 0.1535 ] } - name: LLEG_KNEE parent: LLEG_HIP_Y jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: 16 centerOfMass: [ 0, 0, -0.3 ] mass: 7.0 inertia: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] elements: &LegShape4 - type: Shape geometry: { type: Cylinder, radius: 0.05, height: 0.1 } appearance: &LegApp4 material: diffuseColor: [ 0.8, 1.0, 0.8 ] - type: Transform translation: [ 0, 0, -0.15 ] elements: Shape: geometry: { type: Box, size: [ 0.1, 0.1, 0.2 ] } appearance: *LegApp4 - name: LLEG_ANKLE_P parent: LLEG_KNEE jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: 17 translation: [ 0, 0, -0.3 ] centerOfMass: [ -0.15, 0, 0 ] mass: 2.5 inertia: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] elements: &LegShape5 Shape: geometry: { type: Cylinder, radius: 0.05, height: 0.1 } - name: LLEG_ANKLE_R parent: LLEG_ANKLE_P jointType: revolute jointAxis: [ 1, 0, 0 ] jointId: 18 centerOfMass: [ 0.28, 0, -0.2 ] mass: 1.9 inertia: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] elements: - type: ForceSensor name: LeftAnkleForceSensor id: 0 - &LegShape6 type: Group elements: - type: Transform translation: [ 0.1, 0, 0 ] rotation: [ 0, 0, 1, 90 ] elements: Shape: geometry: { type: Cylinder, radius: 0.05, height: 0.1 } appearance: &LegApp6 material: diffuseColor: [ 0.0, 0.5, 0.0 ] - type: Transform translation: [ 0.055, 0, -0.05 ] elements: Shape: geometry: { type: Box, size: [ 0.25, 0.14, 0.01 ] } appearance: *LegApp6 - name: RLEG_HIP_R parent: WAIST jointType: revolute jointAxis: [ 1, 0, 0 ] jointId: 0 translation: [ 0, -0.09, 0 ] centerOfMass: [ 0, -0.1, 0 ] mass: 2.5 inertia: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] elements: *LegShape1 - name: RLEG_HIP_P parent: RLEG_HIP_R jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: 1 centerOfMass: 0 0 -0.15 mass: 2.0 inertia: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] elements: *LegShape2 - name: RLEG_HIP_Y parent: RLEG_HIP_P jointType: revolute jointId: 2 translation: [ 0, 0, -0.3535 ] centerOfMass: [ 0, -0.04, 0 ] mass: 5.1 inertia: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] elements: *LegShape3 - name: RLEG_KNEE parent: RLEG_HIP_Y jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: 3 centerOfMass: [ 0, 0, -0.3 ] mass: 7.0 inertia: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] elements: *LegShape4 - name: RLEG_ANKLE_P parent: RLEG_KNEE jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: 4 translation: [ 0, 0, -0.3 ] centerOfMass: [ -0.15, 0, 0 ] mass: 2.5 inertia: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] elements: *LegShape5 - name: RLEG_ANKLE_R parent: RLEG_ANKLE_P jointType: revolute jointAxis: [ 1, 0, 0 ] jointId: 5 centerOfMass: [ 0.28, 0, -0.2 ] mass: 1.9 inertia: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] elements: - type: ForceSensor name: RightAnkleForceSensor id: 0 - *LegShape6 standardPose: [ 0, -30, 0, 60, -30, 0, 20, -10, 0, -40, 0, 0, 0, 0, -30, 0, 60, -30, 0, 20, 10, 0, -40, 0, 0, 0, 0, 0, 0 ] linkGroup: - name: UPPER-BODY links: - WAIST_P - WAIST_R - CHEST - name: ARMS links: - name: R-ARM links: [ RARM_SHOULDER_P, RARM_SHOULDER_R, RARM_SHOULDER_Y, RARM_ELBOW, RARM_WRIST_Y, RARM_WRIST_P, RARM_WRIST_R ] - name: L-ARM links: [ LARM_SHOULDER_P, LARM_SHOULDER_R, LARM_SHOULDER_Y, LARM_ELBOW, LARM_WRIST_Y, LARM_WRIST_P, LARM_WRIST_R ] - WAIST - name: LEGS links: - name: R-LEG links: [ RLEG_HIP_R, RLEG_HIP_P, RLEG_HIP_Y, RLEG_KNEE, RLEG_ANKLE_P, RLEG_ANKLE_R ] - name: L-LEG links: [ LLEG_HIP_R, LLEG_HIP_P, LLEG_HIP_Y, LLEG_KNEE, LLEG_ANKLE_P, LLEG_ANKLE_R ] footLinks: - link: RLEG_ANKLE_R soleCenter: [ 0.05, 0.0, -0.055 ] - link: LLEG_ANKLE_R soleCenter: [ 0.05, 0.0, -0.055 ] defaultIKsetup: WAIST: [ RLEG_ANKLE_R, LLEG_ANKLE_R ] RLEG_ANKLE_R: [ WAIST ] LLEG_ANKLE_R: [ WAIST ] possibleIkInterpolationLinks: [ WAIST, RLEG_ANKLE_R, LLEG_ANKLE_R ] defaultIkInterpolationLinks: [ WAIST, RLEG_ANKLE_R, LLEG_ANKLE_R ] possileSupportLinks: [ RLEG_ANKLE_R, LLEG_ANKLE_R ] collisionDetection: excludeTreeDepth: 3 excludeLinks: [ ] choreonoid-1.5.0/share/model/SR1/SR1Hand.wrl0000664000000000000000000013765412741425367017136 0ustar rootroot#VRML V2.0 utf8 #-------------------------------------------------------------- # OpenHRP Sample Model # # author Ichitaro Kohara (YNL, Univ. of Tokyo) # version 1.0 (2000.11.08) # modified Hirohisa Hirukawa (ETL) # version 1.1 (2000.11.24) # modified Natsuki Miyata (MEL) # version 1.1 (2000.12.7) #-------------------------------------------------------------- PROTO Joint [ exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField MFFloat lvlimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat uvlimit [] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 exposedField SFFloat gearRatio 1 exposedField SFFloat rotorInertia 0 exposedField SFFloat rotorResistor 0 exposedField SFFloat torqueConst 1 exposedField SFFloat encoderPulse 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS viewpoints } Group { children IS humanoidBody } ] } } PROTO VisionSensor [ exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField MFNode children [ ] exposedField SFFloat fieldOfView 0.785398 exposedField SFString name "" exposedField SFFloat frontClipDistance 0.01 exposedField SFFloat backClipDistance 10.0 exposedField SFString type "NONE" exposedField SFInt32 sensorId -1 exposedField SFInt32 width 320 exposedField SFInt32 height 240 exposedField SFFloat frameRate 30 ] { Transform { rotation IS rotation translation IS translation children IS children } } PROTO ForceSensor [ exposedField SFVec3f maxForce -1 -1 -1 exposedField SFVec3f maxTorque -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO Gyro [ exposedField SFVec3f maxAngularVelocity -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO AccelerationSensor [ exposedField SFVec3f maxAcceleration -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO PressureSensor [ exposedField SFFloat maxPressure -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO PhotoInterrupter [ exposedField SFVec3f transmitter 0 0 0 exposedField SFVec3f receiver 0 0 0 exposedField SFInt32 sensorId -1 ] { Transform{ children [ Transform{ translation IS transmitter } Transform{ translation IS receiver } ] } } PROTO CylinderSensorZ [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 1 0 0 1.5708 children [ DEF SensorY CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisY Transform{ children [ Transform{ rotation 1 0 0 -1.5708 children IS children } ] } ] } ROUTE SensorY.rotation_changed TO AxisY.set_rotation } PROTO CylinderSensorY [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 0 1 0 1.5708 children [ DEF SensorX CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisX Transform{ children [ Transform{ rotation 0 1 0 -1.5708 children IS children } ] } ] } ROUTE SensorX.rotation_changed TO AxisX.set_rotation } PROTO CylinderSensorX [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 0 0 1 -1.5708 children [ DEF SensorZ CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisZ Transform{ children [ Transform{ rotation 0 0 1 1.5708 children IS children } ] } ] } ROUTE SensorZ.rotation_changed TO AxisZ.set_rotation } NavigationInfo { avatarSize 0.5 headlight TRUE type ["EXAMINE", "ANY"] } Background { skyColor 0.4 0.6 0.4 } Viewpoint { position 3 0 0.835 orientation 0.5770 0.5775 0.5775 2.0935 } DEF SampleRobot Humanoid { name "sample" version "1.1" info [ "This is a sample model of OpenHRP." "You can modify and use this model freely." "Author : Ichitaro Kohara, YNL, Univ. of Tokyo" "Date : 2000.11.08" "Modifying Author : Natsuki Miyata, MEL" "Date : 2000.12.08" "Version : 1.1" ] humanoidBody [ DEF WAIST Joint { jointType "free" translation 0 0 0.7235 children [ DEF gsensor AccelerationSensor { sensorId 0 } DEF gyrometer Gyro { sensorId 0 } DEF WAIST_LINK0 Segment { centerOfMass 0 0 0.0375 mass 27.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ Shape { appearance DEF WAIST_APP Appearance { material Material { } } geometry Box { size 0.08 0.08 0.08 } } Transform { translation 0 0 0.0955 children Shape { appearance USE WAIST_APP geometry Box { size 0.05 0.05 0.111 } } } ] } DEF WAIST_P Joint { translation 0 0 0.176 jointType "rotate" jointAxis 0 1 0 jointId 26 children [ DEF WAIST_LINK1 Segment { centerOfMass 0 0 -0.1 mass 6.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ Shape { appearance DEF WAIST_LINK1_APP Appearance { material Material { diffuseColor 0.6 1.0 0.6 } } geometry Cylinder { radius 0.025 height 0.05 } } ] } DEF WAIST_R Joint { jointType "rotate" jointAxis 1 0 0 jointId 27 children [ DEF WAIST_LINK2 Segment { centerOfMass 0.11 0 0.25 mass 30.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ Transform { rotation 0 0 1 1.5708 children Shape { appearance DEF WAIST_LINK2_APP Appearance { material Material { diffuseColor 0.6 0.8 0.6 } } geometry Cylinder { radius 0.025 height 0.05 } } } Transform { translation 0 0 0.1625 children Shape { appearance USE WAIST_LINK2_APP geometry Box { size 0.05 0.05 0.275 } } } # Transform ] } # segment WAIST_LINK2 DEF CHEST Joint { jointType "rotate" jointId 28 translation 0 0 0.35 children [ DEF WAIST_LINK3 Segment { centerOfMass 0 0 0 mass 13.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ Transform { rotation 1 0 0 1.5708 children Shape { appearance DEF WAIST_LINK3_APP Appearance { material Material { diffuseColor 0.8 0.8 0.8 } } geometry Cylinder { radius 0.025 height 0.1 } } } Shape { appearance USE WAIST_LINK3_APP geometry Box { size 0.15 0.27 0.05 } } Transform { translation 0 0 0.065 children Shape { appearance Appearance { material Material { diffuseColor 0.5 0.8 0.5 } } geometry Box { size 0.05 0.05 0.03 } } } Transform { translation -0.015 0 0.16 children Shape { appearance Appearance { material Material { diffuseColor 0.5 0.8 0.5 } } geometry Box { size 0.31 0.16 0.16 } } # shape } # transform ] } # segment WAIST_LINK3 DEF VISION_SENSOR1 VisionSensor { translation 0.15 0.05 0.15 rotation 0.4472 -0.4472 -0.7746 1.8235 name "LeftCamera" type "COLOR" sensorId 0 children [ DEF CAMERA_SHAPE Transform { rotation 1 0 0 -1.5708 children [ Shape { geometry Cylinder { radius 0.02 height 0.018 } appearance Appearance { material Material { diffuseColor 1 0 0 } } } ] } ] } DEF VISION_SENSOR2 VisionSensor { translation 0.15 -0.05 0.15 rotation 0.4472 -0.4472 -0.7746 1.8235 name "RightCamera" type "COLOR" sensorId 1 children [ USE CAMERA_SHAPE ] } #==================== Left Arm ==================== DEF LARM_SHOULDER_P Joint { jointType "rotate" jointAxis 0 1 0 jointId 19 translation 0 0.21 0 children [ DEF LARM_LINK1 Segment { centerOfMass 0.1 0 0 mass 3.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children Transform { translation 0 -0.05 0 children DEF ARM_SHAPE1 Shape { appearance Appearance { material Material { } } geometry Cylinder { radius 0.025 height 0.05 } } } } DEF LARM_SHOULDER_R Joint { jointType "rotate" jointAxis 1 0 0 jointId 20 children [ DEF LARM_LINK2 Segment { centerOfMass 0 0 -0.1 mass 0.6 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF ARM_SHAPE2 Transform { children [ Transform { rotation 0 0 1 1.5708 children Shape { appearance DEF ARM_LINK2_APP Appearance { material Material { diffuseColor 0.8 0.9 0.8 } } geometry Cylinder { radius 0.025 height 0.05 } } } Transform { translation 0 0 -0.1065 children Shape { appearance USE ARM_LINK2_APP geometry Box { size 0.05 0.05 0.163 } } } ] } } # Segment LARM_LINK2 DEF LARM_SHOULDER_Y Joint { jointType "rotate" jointId 21 translation 0 0 -0.263 children [ DEF LARM_LINK3 Segment { centerOfMass 0 0 0 mass 1.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF ARM_SHAPE3 Transform { translation 0 0 0.05 rotation 1 0 0 1.5708 children Shape { appearance Appearance { material Material { } } geometry Cylinder { radius 0.025 height 0.05} } } } # Segment LARM_LINK3 DEF LARM_ELBOW Joint { jointType "rotate" jointAxis 0 1 0 jointId 22 children [ DEF LARM_LINK4 Segment { centerOfMass 0 0 -0.3 mass 0.6 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF ARM_SHAPE4 Transform { children [ Shape { appearance DEF ARM_APP4 Appearance { material Material { diffuseColor 0.8 1.0 0.8 } } geometry Cylinder { radius 0.025 height 0.05 } } Transform { translation 0 0 -0.0985 children Shape { appearance USE ARM_APP4 geometry Box { size 0.05 0.05 0.147 } } } ] } } # Segment LARM_LINK4 DEF LARM_WRIST_Y Joint { jointType "rotate" jointAxis 0 0 1 jointId 23 translation 0 0 -0.247 children [ DEF LARM_LINK5 Segment { centerOfMass 0 0 0.1 mass 0.4 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF ARM_SHAPE5 Transform { translation 0 0 0.05 rotation 1 0 0 1.5708 children Shape { appearance Appearance { material Material { } } geometry Cylinder { radius 0.025 height 0.05 } } } } DEF LARM_WRIST_P Joint { jointType "rotate" jointAxis 0 1 0 jointId 24 children [ DEF LARM_LINK6 Segment { centerOfMass -0.1 0 0 mass 0.4 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ DEF lhsensor ForceSensor { translation 0 0 0 rotation 1 0 0 0 sensorId 2 } DEF ARM_SHAPE6 Shape { appearance Appearance { material Material { } } geometry Cylinder { radius 0.025 height 0.05 } } Transform { rotation 0 0 1 1.5708 children Shape { appearance DEF ARM_APP7 Appearance { material Material { diffuseColor 0.7 0.9 0.7 } } geometry Cylinder { radius 0.025 height 0.05 } } } Transform { translation 0 0.03 -0.1125 children Shape { appearance USE ARM_APP7 geometry Box { size 0.05 0.03 0.175 } } }# Transform ] } DEF LARM_WRIST_R Joint { jointType "rotate" jointAxis 1 0 0 jointId 25 children [ DEF LARM_LINK7 Segment { # centerOfMass 0 0 -0.1 centerOfMass 0 -0.03 -0.1 mass 0.4 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF ARM_SHAPE7 Transform { children [ Transform { translation 0 -0.03 -0.1 children Shape { appearance USE ARM_APP7 geometry Box { size 0.05 0.03 0.15 } } }# Transform ] } } # Segment LARM_LINK7 ] } # Joint LARM_WRIST_R ] } # Joint LARM_WRIST_P ] } # Joint LARM_WRIST_Y ] } # Joint LARM_ELBOW ] } # Joint LARM_SHOULDER_Y ] } # Joint LARM_SHOULDER_R ] } # Joint LARM_SHOULDER_P #==================== Right Arm ==================== DEF RARM_SHOULDER_P Joint { jointType "rotate" jointAxis 0 1 0 jointId 6 translation 0 -0.21 0 children [ DEF RARM_LINK1 Segment { centerOfMass 0.1 0 0 mass 3.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children Transform { translation 0 0.05 0 children USE ARM_SHAPE1 } } DEF RARM_SHOULDER_R Joint { jointType "rotate" jointAxis 1 0 0 jointId 7 children [ DEF RARM_LINK2 Segment { centerOfMass 0 0 -0.1 mass 0.6 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ USE ARM_SHAPE2 ] } # Segment RARM_LINK2 DEF RARM_SHOULDER_Y Joint { jointType "rotate" jointId 8 translation 0 0 -0.263 children [ DEF RARM_LINK3 Segment { centerOfMass 0 0 0 mass 1.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children USE ARM_SHAPE3 } DEF RARM_ELBOW Joint { jointType "rotate" jointAxis 0 1 0 jointId 9 children [ DEF RARM_LINK4 Segment { centerOfMass 0 0 -0.3 mass 0.6 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children USE ARM_SHAPE4 } # Segment RARM_LINK4 DEF RARM_WRIST_Y Joint { jointType "rotate" jointAxis 0 0 1 jointId 10 translation 0 0 -0.247 children [ DEF RARM_LINK5 Segment { centerOfMass 0 0 0.1 mass 0.4 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children USE ARM_SHAPE5 } DEF RARM_WRIST_P Joint { jointType "rotate" jointAxis 0 1 0 jointId 11 children [ DEF RARM_LINK6 Segment { centerOfMass -0.1 0 0 mass 0.4 # momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] momentsOfInertia [ 0.01 0 0 0 0.01 0 0 0 0.01 ] children [ DEF rhsensor ForceSensor { translation 0 0 0 rotation 1 0 0 0 sensorId 3 } Shape { appearance Appearance { material Material { } } geometry Cylinder { radius 0.025 height 0.05 } } Transform { rotation 0 0 1 1.5708 children Shape { appearance DEF ARM_APP7 Appearance { material Material { diffuseColor 0.7 0.9 0.7 } } geometry Cylinder { radius 0.025 height 0.05 } } } Transform { translation 0 -0.03 -0.1125 children Shape { appearance USE ARM_APP7 geometry Box { size 0.05 0.03 0.175 } } }# Transform ] } DEF RARM_WRIST_R Joint { jointType "rotate" jointAxis 1 0 0 jointId 12 children [ DEF RARM_LINK7 Segment { centerOfMass 0 0.03 -0.1 mass 0.4 # momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] momentsOfInertia [ 0.01 0 0 0 0.01 0 0 0 0.01 ] children [ Transform { translation 0 0.03 -0.075 rotation 1 0 0 0.2 children Shape { appearance USE ARM_APP7 geometry Box { size 0.05 0.03 0.09 } } }# Transform Transform { translation 0 0.03 -0.125 rotation 1 0 0 -0.2 children Shape { appearance USE ARM_APP7 geometry Box { size 0.05 0.03 0.09 } } }# Transform ] } # Segment RARM_LINK7 ] } # Joint RARM_WRIST_R ] } # Joint RARM_WRIST_P ] } # Joint RARM_WRIST_Y ] } # Joint RARM_ELBOW ] } # Joint RARM_SHOULDER_Y ] } # Joint RARM_SHOULDER_R ] } # Joint RARM_SHOULDER_P ] } # Joint CHEST ] } # Joint WAIST_R ] } # Joint WAIST_P #==================== Left Leg ==================== DEF LLEG_HIP_R Joint { jointType "rotate" jointAxis 1 0 0 jointId 13 translation 0 0.09 0 children [ DEF LLEG_LINK1 Segment { centerOfMass 0 0.1 0 mass 2.5 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF LEG_SHAPE1 Transform { rotation 0 0 1 1.5708 children Shape { appearance Appearance { material Material { } } geometry Cylinder { radius 0.05 height 0.1 } } } } DEF LLEG_HIP_P Joint { jointType "rotate" jointAxis 0 1 0 jointId 14 children [ DEF LLEG_LINK2 Segment { centerOfMass 0 0 -0.15 mass 2.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF LEG_SHAPE2 Shape { appearance Appearance { material Material { } } geometry Cylinder { radius 0.05 height 0.1 } } } DEF LLEG_HIP_Y Joint { jointType "rotate" jointId 15 translation 0 0 -0.3535 children [ DEF LLEG_LINK3 Segment { centerOfMass 0 0.04 0 mass 5.1 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF LEG_SHAPE3 Transform { children [ Transform { translation 0 0 0.1 rotation 1 0 0 1.5708 children Shape { appearance DEF LEG_APP3 Appearance { material Material { diffuseColor 0.8 0.9 0.8 } } geometry Cylinder { radius 0.05 height 0.1 } } } Transform { translation 0 0 0.22675 children Shape { appearance USE LEG_APP3 geometry Box { size 0.1 0.1 0.1535 } } } ] } } # Segment LLEG_LINK3 DEF LLEG_KNEE Joint { jointType "rotate" jointAxis 0 1 0 jointId 16 children [ DEF LLEG_LINK4 Segment { centerOfMass 0 0 -0.3 mass 7.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF LEG_SHAPE4 Transform { children [ Shape { appearance DEF LEG_APP4 Appearance { material Material { diffuseColor 0.8 1.0 0.8 } } geometry Cylinder { radius 0.05 height 0.1 } } Transform { translation 0 0 -0.15 children Shape { appearance USE LEG_APP4 geometry Box { size 0.1 0.1 0.2 } } } ] } } # Segment LLEG_LINK4 DEF LLEG_ANKLE_P Joint { jointType "rotate" jointAxis 0 1 0 jointId 17 translation 0 0 -0.3 children [ DEF LLEG_LINK5 Segment { centerOfMass -0.15 0 0 mass 2.5 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children DEF LEG_SHAPE5 Shape { appearance Appearance { material Material { } } geometry Cylinder { radius 0.05 height 0.1 } } } DEF LLEG_ANKLE_R Joint { jointType "rotate" jointAxis 1 0 0 jointId 18 children [ DEF LLEG_LINK6 Segment { centerOfMass 0.28 0 -0.2 mass 1.9 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children[ DEF lfsensor ForceSensor { translation 0 0 -0.07 rotation 1 0 0 0 sensorId 0 } DEF LEG_SHAPE6 Transform { children [ Transform { translation 0.1 0 0 rotation 0 0 1 1.5708 children Shape { appearance DEF LEG_APP6 Appearance { material Material { diffuseColor 0.0 0.5 0.0 } } geometry Cylinder { radius 0.05 height 0.1 } } } Transform { translation 0.055 0 -0.06 children Shape { appearance USE LEG_APP6 geometry Box { size 0.25 0.14 0.02 } } # Shape }#Transform ] } ] } # Segment LLEG_LINK6 ] } # Joint LLEG_ANKLE_R ] } # Joint LLEG_ANKLE_P ] } # Joint LLEG_KNEE ] } # Joint LLEG_HIP_Y ] } # Joint LLEG_HIP_P ] } # Joint LLEG_HIP_R #==================== Right Leg ==================== DEF RLEG_HIP_R Joint { jointType "rotate" jointAxis 1 0 0 jointId 0 translation 0 -0.09 0 children [ DEF RLEG_LINK1 Segment { centerOfMass 0 -0.1 0 mass 2.5 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children USE LEG_SHAPE1 } DEF RLEG_HIP_P Joint { jointType "rotate" jointAxis 0 1 0 jointId 1 children [ DEF RLEG_LINK2 Segment { centerOfMass 0 0 -0.15 mass 2.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children USE LEG_SHAPE2 } DEF RLEG_HIP_Y Joint { jointType "rotate" jointId 2 translation 0 0 -0.3535 children [ DEF RLEG_LINK3 Segment { centerOfMass 0 -0.04 0 mass 5.1 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ USE LEG_SHAPE3 ] } DEF RLEG_KNEE Joint { jointType "rotate" jointAxis 0 1 0 jointId 3 children [ DEF RLEG_LINK4 Segment { centerOfMass 0 0 -0.3 mass 7.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ USE LEG_SHAPE4 ] } # Segment RLEG_LINK4 DEF RLEG_ANKLE_P Joint { jointType "rotate" jointAxis 0 1 0 jointId 4 translation 0 0 -0.3 children [ DEF RLEG_LINK5 Segment { centerOfMass -0.15 0 0 mass 2.5 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children USE LEG_SHAPE5 } DEF RLEG_ANKLE_R Joint { jointType "rotate" jointAxis 1 0 0 jointId 5 children [ DEF RLEG_LINK6 Segment { centerOfMass 0.28 0 -0.2 mass 1.9 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ DEF rfsensor ForceSensor { translation 0 0 -0.07 rotation 1 0 0 0 sensorId 1 } USE LEG_SHAPE6 ] } # Segment RLEG_LINK6 ] } # Joint RLEG_ANKLE_R ] } # Joint RLEG_ANKLE_P ] } # Joint RLEG_KNEE ] } # Joint RLEG_HIP_Y ] } # Joint RLEG_HIP_P ] } # Joint RLEG_HIP_R ] } # Joint WAIST ] # List up all the joints' name you use joints [ USE WAIST, USE WAIST_P, USE WAIST_R, USE CHEST, USE LARM_SHOULDER_P, USE LARM_SHOULDER_R, USE LARM_SHOULDER_Y, USE LARM_ELBOW, USE LARM_WRIST_Y, USE LARM_WRIST_P, USE LARM_WRIST_R, USE RARM_SHOULDER_P, USE RARM_SHOULDER_R, USE RARM_SHOULDER_Y, USE RARM_ELBOW, USE RARM_WRIST_Y, USE RARM_WRIST_P, USE RARM_WRIST_R, USE LLEG_HIP_R, USE LLEG_HIP_P, USE LLEG_HIP_Y, USE LLEG_KNEE, USE LLEG_ANKLE_P, USE LLEG_ANKLE_R, USE RLEG_HIP_R, USE RLEG_HIP_P, USE RLEG_HIP_Y, USE RLEG_KNEE, USE RLEG_ANKLE_P, USE RLEG_ANKLE_R ] # List up all the segments' name you use segments [ USE WAIST_LINK0, USE WAIST_LINK1, USE WAIST_LINK2, USE WAIST_LINK3, USE LARM_LINK1, USE LARM_LINK2, USE LARM_LINK3, USE LARM_LINK4, USE LARM_LINK5, USE LARM_LINK6, USE LARM_LINK7, USE RARM_LINK1, USE RARM_LINK2, USE RARM_LINK3, USE RARM_LINK4, USE RARM_LINK5, USE RARM_LINK6, USE RARM_LINK7, USE LLEG_LINK1, USE LLEG_LINK2, USE LLEG_LINK3, USE LLEG_LINK4, USE LLEG_LINK5, USE LLEG_LINK6, USE RLEG_LINK1, USE RLEG_LINK2, USE RLEG_LINK3, USE RLEG_LINK4, USE RLEG_LINK5, USE RLEG_LINK6 ] } choreonoid-1.5.0/share/model/SR1/SR1.yaml0000664000000000000000000000266112741425367016466 0ustar rootroot modelFile: SR1.wrl #modelFile: SR1.body standardPose: [ 0, -30, 0, 60, -30, 0, 20, -10, 0, -40, 0, 0, 0, 0, -30, 0, 60, -30, 0, 20, 10, 0, -40, 0, 0, 0, 0, 0, 0 ] linkGroup: - name: UPPER-BODY links: - WAIST_P - WAIST_R - CHEST - name: ARMS links: - name: R-ARM links: [ RARM_SHOULDER_P, RARM_SHOULDER_R, RARM_SHOULDER_Y, RARM_ELBOW, RARM_WRIST_Y, RARM_WRIST_P, RARM_WRIST_R ] - name: L-ARM links: [ LARM_SHOULDER_P, LARM_SHOULDER_R, LARM_SHOULDER_Y, LARM_ELBOW, LARM_WRIST_Y, LARM_WRIST_P, LARM_WRIST_R ] - WAIST - name: LEGS links: - name: R-LEG links: [ RLEG_HIP_R, RLEG_HIP_P, RLEG_HIP_Y, RLEG_KNEE, RLEG_ANKLE_P, RLEG_ANKLE_R ] - name: L-LEG links: [ LLEG_HIP_R, LLEG_HIP_P, LLEG_HIP_Y, LLEG_KNEE, LLEG_ANKLE_P, LLEG_ANKLE_R ] footLinks: - link: RLEG_ANKLE_R soleCenter: [ 0.05, 0.0, -0.055 ] - link: LLEG_ANKLE_R soleCenter: [ 0.05, 0.0, -0.055 ] defaultIKsetup: WAIST: [ RLEG_ANKLE_R, 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-0.328000 3.299998e-2 0.168999 } Transform { children [ Shape { appearance Appearance { material USE _299 } geometry Box { size 2.800000e-2 5.099999e-2 6.700000e-2 } } ] translation -0.328000 5.750000e-2 0.168999 } Transform { children [ Shape { appearance Appearance { material USE _298 } geometry Cylinder { height 2.400000e-2 radius 3.200000e-2 } } ] rotation 0 0 1 1.570798 translation -0.328000 3.299998e-2 -0.212500 } Transform { children [ Shape { appearance Appearance { material USE _299 } geometry Box { size 2.800000e-2 5.099999e-2 6.700000e-2 } } ] translation -0.328000 5.750000e-2 -0.212500 } ] rotation 0 1 0 3.140000 translation 1.309998 -5e-2 3.528000 } Transform { children [ DEF _18_0 Shape { appearance Appearance { material Material { diffuseColor 1 0.561764 0.343896 shininess 7.999999e-2 specularColor 0.879998 0.300487 0.300487 } } } ] translation 0.914690 -5e-2 1.447499 } choreonoid-1.5.0/share/model/Labo1/Labo1.wrl0000664000000000000000000001473312741425367017215 0ustar rootroot#VRML V2.0 utf8 PROTO Joint [ exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField MFFloat lvlimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat uvlimit [] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 exposedField SFFloat gearRatio 1 exposedField SFFloat rotorInertia 0 exposedField SFFloat rotorResistor 0 exposedField SFFloat torqueConst 1 exposedField SFFloat encoderPulse 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS viewpoints } Group { children IS humanoidBody } ] } } DEF Labo1 Humanoid { humanoidBody [ DEF Base Joint { jointType "fixed" children [ DEF Floor1 Segment { mass 0.5 momentsOfInertia [1 0 0 0 1 0 0 0 1] children [ Transform { translation -0.8 1.48 0 rotation 0 0 1 -1.5708 children [ Transform { translation 0 2 0 rotation 1 0 0 1.5708 children [ Inline { url "floor1.wrl" } ] } ] } ] } DEF Floor2 Segment { mass 1.0 children [ Transform { translation 35 20 0 rotation 0 0 1 -1.5708 children [ Transform { translation 0 2 0 rotation 1 0 0 1.5708 scale 20.0 1.0 20.0 children [ Inline { url "floor2.wrl" } ] } ] } ] } DEF Wall1 Segment { mass 1.0 children [ Transform { translation -0.8 1.48 0 rotation 0 0 1 -1.5708 children [ Transform { translation 0 2 0 rotation 1 0 0 1.5708 children [ Inline { url "wall1.wrl" } ] } ] } ] } DEF Wall2 Segment { mass 1.0 children [ Transform { translation -0.8 1.48 0 rotation 0 0 1 -1.5708 children [ Transform { translation 0 2 0 rotation 1 0 0 1.5708 children [ Inline { url "wall2.wrl" } ] } ] } ] } DEF Rack1 Segment { mass 1.0 children [ Transform { translation -0.8 1.48 0 rotation 0 0 1 -1.5708 children [ Transform { translation 0 2 0 rotation 1 0 0 1.5708 children [ Inline { url "rack1.wrl" } ] } ] } ] } DEF Rack2 Segment { mass 1.0 children [ Transform { translation -0.8 1.48 0 rotation 0 0 1 -1.5708 children [ Transform { translation 0 2 0 rotation 1 0 0 1.5708 children [ Inline { url "rack2.wrl" } ] } ] } ] } DEF Rack3 Segment { mass 1.0 children [ Transform { translation -0.8 1.48 0 rotation 0 0 1 -1.5708 children [ Transform { translation 0 2 0 rotation 1 0 0 1.5708 children [ Inline { url "rack3.wrl" } ] } ] } ] } DEF Tank Segment { mass 1.0 children [ Transform { translation -0.8 1.48 0 rotation 0 0 1 -1.5708 children [ Transform { translation 0 2 0 rotation 1 0 0 1.5708 children [ Inline { url "tank.wrl" } ] } ] } ] } DEF Pipes Segment { mass 1.0 children [ Transform { translation -0.8 1.48 0 rotation 0 0 1 -1.5708 children [ Transform { translation 0 2 0 rotation 1 0 0 1.5708 children [ Inline { url "pipes.wrl" } ] } ] } ] } ] } ] joints [ USE Base, ] segments [ USE Floor1, USE Floor2, USE Wall1, USE Wall2, USE Rack1, USE Rack2, USE Rack3, USE Tank, USE Pipes, ] name "Labo1" version "1.2" } choreonoid-1.5.0/share/model/Labo1/pipes.wrl0000664000000000000000000474610312741425367017406 0ustar rootroot#VRML V2.0 utf8 #VRML V2.0 utf8 #Cosmo Worlds V2.0 Transform { children [ Transform { children [ Transform { children [ Group { children [ Group { } Transform { children [ Transform { children [ Shape { appearance Appearance { material DEF _0 Material { diffuseColor 0.449999 0.449999 0.449999 specularColor 0.500000 0.500000 0.500000 } } geometry Cylinder { height 0.100000 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scaleOrientation -0.769733 0.543533 0.334787 0.890945 translation 1.103999 0.272998 0.823580 } Transform { children [ Group { children [ Transform { children [ Group { } ] } Transform { } Transform { rotation 0 0 1 1.570798 } ] } ] rotation -3.322934e-7 0.707106 0.707107 3.141590 scaleOrientation 0.506385 0.207348 0.837007 4.521770 translation 1.103999 0.206999 0.823580 } Transform { children [ Group { children [ Transform { children [ Group { } ] } Transform { } Transform { rotation 0 0 1 1.570798 } ] } ] rotation -3.586980e-7 1 6.888200e-7 3.141590 scaleOrientation 0.506385 0.207348 0.837007 4.521770 translation 1.103999 0.378998 0.383758 } Transform { children [ Group { children [ Transform { children [ Group { } ] } Transform { } Transform { rotation 0 0 1 1.570798 } ] } ] rotation -3.563170e-7 5.804798e-7 1 3.141590 scaleOrientation -0.270304 -0.870295 0.411730 0.936537 translation 1.103999 0.112905 0.383760 } Transform { children [ Transform { } ] } Transform { children [ Group { children [ Transform { children [ Group { } ] } ] } ] rotation -4.748548e-7 0.707108 -0.707105 3.141590 translation 1.090000 0.239996 0.414999 } ] } Transform { children [ DEF _18_0 Shape { appearance Appearance { material Material { diffuseColor 1 0.561764 0.343896 shininess 7.999999e-2 specularColor 0.879998 0.300487 0.300487 } } } ] translation 0.914690 -5e-2 1.447499 } choreonoid-1.5.0/share/model/Labo1/floor1.wrl0000664000000000000000000004434412741425367017462 0ustar rootroot#VRML V2.0 utf8 #VRML V2.0 utf8 #Cosmo Worlds V2.0 Transform { children [ Transform { children [ Transform { children [ Group { children [ Group { } Transform { children [ Shape { appearance Appearance { material DEF _7 Material { diffuseColor 0.449999 0.449999 0.449999 specularColor 0.500000 0.500000 0.500000 } } geometry DEF _10 IndexedFaceSet { coord Coordinate { point [ 0 0 0 1 0.746819 0 2 0.317999 0 3 0.100000 0 4 0.317999 0 5 0.100000 0 6 0.317999 0 ] } coordIndex [ 0 0 0 -1 1 1 1 -1 2 2 2 -1 3 3 3 -1 4 4 4 -1 5 5 5 -1 6 6 6 -1 ] } } ] scale 9.999996e-7 9.999996e-7 9.999996e-7 } ] } ] rotation 0.905747 -0.299685 -0.299685 4.613550 translation 2.809560 2.117500 1.337339 } Transform { children [ Group { children [ Group { } Transform { children [ Shape { appearance Appearance { material USE _7 } geometry DEF _11 IndexedFaceSet { coord Coordinate { point [ 0 0 0 1 0.256500 0 2 0.317999 0 3 0.100000 0 4 0.317999 0 5 0.100000 0 6 0.317999 0 ] } coordIndex [ 0 0 0 -1 1 1 1 -1 2 2 2 -1 3 3 3 -1 4 4 4 -1 5 5 5 -1 6 6 6 -1 ] } } ] scale 9.999996e-7 9.999996e-7 9.999996e-7 } ] } ] rotation -5.348458e-13 1 -2.215429e-13 0.785395 translation 2.492000 1.830250 0.910000 } ] } Transform { children [ Transform { children [ DEF Wall2 Shape { appearance Appearance { material Material { diffuseColor 0.600000 0.500000 0.300000 specularColor 0.209996 0.209996 0.209996 } } } ] translation 0.915566 0.759064 -2.624998e-2 } Transform { children [ DEF Wall3 Shape { appearance Appearance { material Material { diffuseColor 0.600000 0.500000 0.300000 specularColor 0.209996 0.209996 0.209996 } } } ] translation 3.582190 1.749698 1.299998 } Transform { children [ Shape { appearance Appearance { material Material { diffuseColor 0.750000 0.750000 0.750000 specularColor 0.500000 0.500000 0.500000 } } } ] translation 3.558439 1.853700 1.175050 } Transform { children [ Shape { appearance Appearance { material DEF _100 Material { ambientIntensity 0.270269 diffuseColor 0.370000 0.370000 0.370000 shininess 0.129997 specularColor 0.889998 0.889998 0.889998 } } } ] translation 3.558439 1.861700 1.175050 } ] } Transform { children [ DEF wall1 Shape { appearance Appearance { material Material { diffuseColor 0.600000 0.500000 0.300000 specularColor 0.209996 0.209996 0.209996 } } } ] translation 0.914690 1.195000 1.447499 } ] } Transform { children [ Transform { children [ Group { children [ Transform { children [ Group { } ] } Transform { } Transform { rotation 0 0 1 1.570798 } ] } ] rotation -0.606143 0.606144 0.514956 4.092669 translation 1.555698 1.694000 0.538083 } Transform { children [ Group { children [ Transform { children [ Group { } ] } Transform { } Transform { rotation 0 0 1 1.570798 } ] } ] rotation 0 1 0 2.187050 translation 1.621899 1.947499 0.824751 } Transform { children [ Group { children [ Transform { children [ Group { } ] } ] } ] rotation 0.911889 0.290230 -0.290215 1.662909 translation 1.998939 2.106487 1.357089 } Transform { children [ Group { children [ Transform { children [ Group { } ] } ] } ] translation 1.529999 1.820749 0.694993 } Transform { children [ Group { children [ Transform { children [ Group { } ] } ] } ] rotation 0.993448 -8.080621e-2 8.080601e-2 1.577370 translation 1.604179 1.534999 0.242026 } ] } Transform { children [ Transform { children [ Group { children [ Transform { children [ Group { } ] } Transform { } Transform { rotation 0 0 1 1.570798 } ] } ] rotation 0.606992 -0.606992 -0.512953 2.193680 translation 2.518520 1.702000 0.753228 } Transform { children [ Group { children [ Transform { children [ Group { } ] } Transform { } Transform { rotation 0 0 1 1.570798 } ] } ] rotation 3.485909e-7 1 -1.059856e-7 2.209870 translation 2.586838 1.958500 1.037618 } Transform { children [ Group { children [ Transform { children [ Group { } ] } ] } ] rotation 0.905747 -0.299685 -0.299685 4.613550 translation 2.809560 2.117500 1.337339 } Transform { children [ Group { children [ Transform { children [ Group { } ] } ] } ] rotation -5.348458e-13 1 -2.215429e-13 0.785395 translation 2.492000 1.830250 0.910000 } Transform { children [ Group { children [ Transform { children [ Group { } ] } ] } ] rotation 0.993023 -8.338186e-2 8.338186e-2 1.577800 translation 2.585220 1.542999 0.358828 } ] } Transform { children [ Transform { children [ Group { children [ Transform { children [ Group { } ] } ] } ] rotation -0.357403 0.357402 0.862859 4.565410 scaleOrientation 0.977248 0.149976 -0.149977 4.689380 translation 0.125101 1.735000 0.256105 } Transform { children [ Group { children [ Transform { children [ Group { } ] } Transform { } Transform { rotation 0 0 1 1.570798 } ] } ] rotation -0.678599 0.678599 -0.281081 2.593569 scaleOrientation -0.303838 -3.283894e-2 -0.952157 0.664129 translation 9.681860e-2 1.812999 0.227822 } Transform { children [ Group { children [ Transform { children [ Group { } ] } ] } ] rotation -6.738029e-21 1 1.626719e-20 3.141597 scaleOrientation 2.338130e-20 1 3.141188e-20 1.570798 translation 4.166390e-2 1.902999 0.172664 } Transform { children [ Transform { children [ Group { children [ Transform { children [ Group { } ] } Transform { } Transform { rotation 0 0 1 1.570798 } ] } ] rotation -0.577350 0.577350 -0.577350 2.094398 scaleOrientation 0.151967 -0.379547 0.912606 3.860579 translation -0.158000 0.199597 -6.800039e-2 } ] rotation -6.738029e-21 1 1.626719e-20 3.141597 scaleOrientation 2.338130e-20 1 3.141188e-20 1.570798 translation -0.116336 1.735000 0.172670 } Transform { children [ Group { children [ Transform { children [ Group { } ] } ] } ] rotation -0.357403 0.357402 0.862859 4.565410 translation 0.217028 1.735000 0.348028 } ] } Transform { children [ Transform { children [ Transform { translation 0 2.455119e-2 0 } Transform { children [ Group { children [ Transform { children [ Group { } ] } Transform { } Transform { rotation 0 0 1 1.570798 } ] } ] rotation 0.707107 0.707105 8.359256e-8 3.141590 scaleOrientation 6.178900e-7 -1.133587e-6 -1 0.785398 translation -0.324124 0.268000 0.324375 } Transform { } ] } Transform { children [ Transform { children [ Transform { children [ Transform { children [ Transform { children [ Group { children [ Transform { children [ Group { } ] } Transform { rotation 0 0 1 1.570798 } Transform { rotation 0 0 1 1.570798 } ] } ] translation -0.826246 -3.203749e-7 0.810000 } ] translation -7.064720e-2 2.072988 -7.638449e-2 } Transform { children [ Group { children [ Transform { children [ Group { } ] } Transform { } Transform { rotation 0 0 1 1.570798 } ] } ] rotation 0 0 1 1.570798 scaleOrientation 0 0 -1 0.785398 translation -1.114400 2.054490 0.733614 } ] rotation 0 -1 0 0.785395 translation 0.150150 5.124690e-2 1.104730 } Transform { children [ Transform { children [ Group { children [ Transform { children [ Group { } ] } Transform { rotation 0 0 1 1.570798 } Transform { rotation 0 0 1 1.570798 } ] } ] translation -0.896893 1.815989 0.733614 } ] rotation 0 -1 0 0.785395 translation 0.150150 5.124690e-2 1.104730 } Transform { children [ Transform { children [ Group { children [ Transform { children [ Group { } ] } Transform { rotation 0 0 1 1.570798 } Transform { rotation 0 0 1 1.570798 } ] } ] translation -0.896893 1.345988 0.733614 } ] rotation 0 -1 0 0.785395 translation 0.150150 5.124690e-2 1.104730 } Transform { children [ Transform { children [ Group { children [ Transform { children [ Group { } ] } Transform { rotation 0 0 1 1.570798 } Transform { rotation 0 0 1 1.570798 } ] } ] translation -0.896893 0.865989 0.733614 } ] rotation 0 -1 0 0.785395 translation 0.150150 5.124690e-2 1.104730 } Transform { children [ Transform { children [ Group { children [ Transform { children [ Group { } ] } Transform { rotation 0 0 1 1.570798 } Transform { rotation 0 0 1 1.570798 } ] } ] translation -0.896893 0.614988 0.733614 } ] rotation 0 -1 0 0.785395 translation 0.150150 5.124690e-2 1.104730 } ] } Transform { } Transform { rotation -1.776360e-15 1 5.960459e-8 4.712388 translation -0.524845 -1.187367e-7 1.992079 } Transform { } Transform { rotation 1.776360e-15 1 5.960459e-8 1.570798 translation -1.992079 3.128320e-8 -0.524842 } Transform { rotation 0 1 5.960459e-8 3.141597 translation -2.516920 -8.745418e-8 1.467239 } Transform { children [ Group { children [ Transform { children [ Group { } ] } ] } ] rotation 0 -1 0 0.785395 translation -1.258460 0.621999 0.733614 } ] } ] } Transform { children [ Transform { children [ Transform { children [ Transform { children [ Group { children [ Transform { children [ Group { } ] } ] } ] rotation 0.864005 0.342910 -0.368656 1.728729 translation 0.446805 0.629620 0.566805 } Transform { children [ Group { children [ Transform { children [ Group { } ] } ] } ] rotation 0.862856 0.357405 -0.357406 1.717769 scale 1 0.999997 1 scaleOrientation -8.046286e-3 0.998225 -5.900604e-2 0.355004 translation 0.524644 1.754500 0.642645 } Transform { children [ Group { children [ Transform { children [ Group { } ] } ] } ] rotation 0.862855 -0.357408 -0.357408 4.565410 scaleOrientation -0.900057 0.435083 -2.447992e-2 1.570070 translation 0.228707 1.475000 0.359710 } Transform { rotation 0 1 0 0.785394 translation 0.360000 0 0.477999 } ] } ] } Transform { children [ Transform { children [ Transform { rotation 0 1 0 0.785395 translation 0.252254 0 2.569000 } Transform { rotation 0 -1 0 0.785399 translation 1.638190 0 -1.994930 } Transform { rotation 0 1 0 3.926990 translation 6.202116 0 -0.609000 } Transform { rotation 0 1 0 2.356189 translation 4.816180 0 3.954940 } ] translation -3.227190 0 -0.980000 } Transform { rotation 0 -1 0 1.134500 } Transform { } Transform { children [ Group { children [ Transform { children [ Group { } ] } ] } ] rotation 1 0 0 1.570798 translation -5.963509e-8 0.884998 0.312799 } Transform { children [ Group { children [ Transform { children [ Group { } ] } Transform { } Transform { rotation 0 0 1 1.570798 } ] } ] rotation 5.338526e-8 0.707106 0.707106 3.141590 scaleOrientation 1 -9.735359e-8 -9.735359e-8 4.712388 translation 4.599988e-2 0.884998 0.328599 } Transform { children [ Group { children [ Transform { children [ Group { } ] } ] } ] rotation 0 0 1 1.570798 translation 0.193498 0.884998 0.374599 } Transform { } ] translation 3.186388 0 1.086770 } ] } Transform { children [ Transform { children [ Group { children [ Transform { children [ Group { } ] } Transform { } Transform { rotation 0 0 1 1.570798 } ] } ] rotation -3.514134e-7 0.707106 0.707107 3.141590 scaleOrientation -0.769733 0.543533 0.334787 0.890945 translation 1.103999 0.272998 0.823580 } Transform { children [ Group { children [ Transform { children [ Group { } ] } Transform { } Transform { rotation 0 0 1 1.570798 } ] } ] rotation -3.322934e-7 0.707106 0.707107 3.141590 scaleOrientation 0.506385 0.207348 0.837007 4.521770 translation 1.103999 0.206999 0.823580 } Transform { children [ Group { children [ Transform { children [ Group { } ] } Transform { } Transform { rotation 0 0 1 1.570798 } ] } ] rotation -3.586980e-7 1 6.888200e-7 3.141590 scaleOrientation 0.506385 0.207348 0.837007 4.521770 translation 1.103999 0.378998 0.383758 } Transform { children [ Group { children [ Transform { children [ Group { } ] } Transform { } Transform { rotation 0 0 1 1.570798 } ] } ] rotation -3.563170e-7 5.804798e-7 1 3.141590 scaleOrientation -0.270304 -0.870295 0.411730 0.936537 translation 1.103999 0.112905 0.383760 } Transform { children [ Transform { } ] } Transform { children [ Group { children [ Transform { children [ Group { } ] } ] } ] rotation -4.748548e-7 0.707108 -0.707105 3.141590 translation 1.090000 0.239996 0.414999 } ] } Transform { children [ DEF _18_0 Shape { appearance Appearance { material Material { diffuseColor 1 0.561764 0.343896 shininess 7.999999e-2 specularColor 0.879998 0.300487 0.300487 } } geometry Box { size 5.340000 0.100000 3 } } ] translation 0.914690 -5e-2 1.447499 } choreonoid-1.5.0/share/model/GR001/0000775000000000000000000000000012741425367015314 5ustar rootrootchoreonoid-1.5.0/share/model/GR001/GR001.yaml0000664000000000000000000000372612741425367016741 0ustar rootroot modelFile: "GR001.wrl" standardPose: [ 0, 0, 20, -40, -20, 0, 0, 0, -20, 40, 20, 0, 0, 0, 20, 0, -20, -20, 0, 20 ] linkGroup: - name: UPPER-BODY links: - name: NECK links: [ NECK_Y ] - name: ARMS links: - name: R-ARM links: [ R_SHOULDER_P, R_SHOULDER_R, R_ELBOW_P ] - name: L-ARM links: [ L_SHOULDER_P, L_SHOULDER_R, L_ELBOW_P ] - name: CHEST links: [ CHEST_P ] - WAIST - name: LOWER-BODY links: - name: LEGS links: - name: R-LEG links: [ R_HIP_Y, R_HIP_R, R_HIP_P, R_KNEE_P, R_ANKLE_P, R_ANKLE_R ] - name: L-LEG links: [ L_HIP_Y, L_HIP_R, L_HIP_P, L_KNEE_P, L_ANKLE_P, L_ANKLE_R ] possibleIkInterpolationLinks: [ WAIST, R_ANKLE_R, L_ANKLE_R ] defaultIkInterpolationLinks: [ WAIST, R_ANKLE_R, L_ANKLE_R ] possileSupportLinks: [ R_ANKLE_R, L_ANKLE_R ] defaultIKsetup: WAIST: [ R_ANKLE_R, L_ANKLE_R ] R_ANKLE_R: [ WAIST ] L_ANKLE_R: [ WAIST ] footLinks: - link: R_ANKLE_R soleCenter: [ -0.005, -0.01, -0.022 ] - link: L_ANKLE_R soleCenter: [ -0.005, 0.01, -0.022 ] symmetricJoints: - [ NECK_Y ] - [ L_SHOULDER_P, R_SHOULDER_P, -1 ] - [ L_SHOULDER_R, R_SHOULDER_R, -1 ] - [ L_ELBOW_P, R_ELBOW_P, -1 ] - [ L_HIP_Y, R_HIP_Y, -1 ] - [ L_HIP_R, R_HIP_R, -1 ] - [ L_HIP_P, R_HIP_P, -1 ] - [ L_KNEE_P, R_KNEE_P, -1 ] - [ L_ANKLE_P, R_ANKLE_P, -1 ] - [ L_ANKLE_R, R_ANKLE_R, -1 ] symmetricIkLinks: - [ WAIST ] - [ L_ANKLE_R, R_ANKLE_R ] divisionNumberOfPrimitiveGeometries: 10 collisionDetection: excludeTreeDepth: 3 excludeLinks: [ ] poseConversionInfo: - targetBodies: [ HRP4C ] jointMap: [ 0, 1, 2, 3, 4, 5, 7, 8, 9, 10, 11, 12, 12, -1, -1, 13, -1, -1, # faces 14, 15, -1, 16, -1, -1, -1, -1, -1, 17, 18, -1, 19, -1, -1, -1, -1, -1 ] linkMap: { R_FOOT: R_ANKLE_R, L_FOOT: L_ANKLE_R } choreonoid-1.5.0/share/model/GR001/GR001.wrl0000664000000000000000000005324012741425367016577 0ustar rootroot#VRML V2.0 utf8 PROTO Joint [ exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField MFFloat lvlimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat uvlimit [] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 exposedField SFFloat gearRatio 1 exposedField SFFloat rotorInertia 0 exposedField SFFloat rotorResistor 0 exposedField SFFloat torqueConst 1 exposedField SFFloat encoderPulse 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Surface [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 field MFNode visual [ ] field MFNode collision [ ] eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS visual removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS viewpoints } Group { children IS humanoidBody } ] } } PROTO VisionSensor [ exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField MFNode children [ ] exposedField SFFloat fieldOfView 0.785398 exposedField SFString name "" exposedField SFFloat frontClipDistance 0.01 exposedField SFFloat backClipDistance 10.0 exposedField SFString type "NONE" exposedField SFInt32 sensorId -1 exposedField SFInt32 width 320 exposedField SFInt32 height 240 exposedField SFFloat frameRate 30 ] { Transform { rotation IS rotation translation IS translation children IS children } } PROTO ForceSensor [ exposedField SFVec3f maxForce -1 -1 -1 exposedField SFVec3f maxTorque -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField MFNode children [ ] exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation children IS children } } PROTO Gyro [ exposedField SFVec3f maxAngularVelocity -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField MFNode children [ ] exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation children IS children } } PROTO AccelerationSensor [ exposedField SFVec3f maxAcceleration -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField MFNode children [ ] exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation children IS children } } DEF GR001 Humanoid{ humanoidBody [ DEF WAIST Joint { jointType "free" translation 0 0 0.1605 children[ DEF WAIST_LINK Segment{ centerOfMass 0.014070775509439625 -0.0010642631392533723 0.018082091556018958 mass 0.16852 momentsOfInertia[ 7.5307790665527126e-05 -1.7122423225418951e-06 -7.9600885666462265e-06 -1.7122423225418951e-06 9.8462174358634891e-05 1.6233365559722733e-06 -7.9600885666462265e-06 1.6233365559722733e-06 0.00012629712705606254 ] children[ Inline { url "parts/WAIST.wrl" } ] } DEF R_HIP_Y Joint { jointType "rotate" jointId 0 jointAxis 0.0 0.0 1.0 translation 0 -0.0221 0 ulimit [0.524 ] llimit [-2.618 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF R_HIP_Y_LINK Segment{ centerOfMass 0.0098738158196746834 0.0019351632042820921 -0.010641978258911932 mass 0.01075 momentsOfInertia [ 1.9516618643475393e-06 -4.4794177287632572e-07 4.8697160385938456e-07 -4.4794177287632572e-07 5.0103304284609765e-06 1.1632114977313334e-08 4.8697160385938456e-07 1.1632114977313334e-08 5.440099096984392e-06 ] children[ Inline { url "parts/R_HIP_Y.wrl" } ] } DEF R_HIP_R Joint { jointType "rotate" jointId 1 jointAxis -1 0 0 translation 0 0.0025 -0.028 ulimit [1.571 ] llimit [-1.571 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF R_HIP_R_LINK Segment{ centerOfMass 0.013202756254495145 5.5007249363651409e-05 -0.0093736922025596577 mass 0.06587 momentsOfInertia [ 1.1527391880654788e-05 3.3279576102840693e-07 1.8461834995431493e-06 3.3279576102840693e-07 1.933034542735627e-05 -1.0226135519064636e-07 1.8461834995431493e-06 -1.0226135519064636e-07 1.4225997781058221e-05 ] children[ Inline { url "parts/R_HIP_R.wrl" } ] } DEF R_HIP_P Joint { jointType "rotate" jointId 2 jointAxis 0 -1 0 translation 0.029 0.0 -0.005 ulimit [2.094 ] llimit [-0.698 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF R_HIP_P_LINK Segment{ centerOfMass 0.012315059064213048 -0.0026831832924373755 -0.036400277402077907 mass 0.04249 momentsOfInertia[ 1.082813917097787e-05 -2.7126598481517409e-07 1.8370007325714608e-07 -2.7126598481517409e-07 1.1393542083797361e-05 8.7593994599052584e-07 1.8370007325714608e-07 8.7593994599052584e-07 8.3880053868115751e-06 ] children[ Inline { url "parts/R_HIP_P.wrl" } ] } DEF R_KNEE_P Joint { jointType "rotate" jointId 3 jointAxis 0 -1 0 translation 0 0 -0.048 ulimit [0.0 ] llimit [-2.269 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF R_KNEE_P_LINK Segment{ centerOfMass 0.0054334208830912611 -0.0045557250577152588 -0.022327982304852591 mass 0.01307 momentsOfInertia [ 7.8215085179879079e-06 -1.9125278185636929e-07 -8.0678174194219455e-07 -1.9125278185636929e-07 5.3468754380240647e-06 -3.1722504110141287e-07 -8.0678174194219455e-07 -3.1722504110141287e-07 3.7864977034795684e-06 ] children[ Inline { url "parts/R_KNEE_P.wrl" } ] } DEF R_ANKLE_P Joint { jointType "rotate" jointId 4 jointAxis 0 1 0 translation 0 0 -0.059 ulimit [1.047 ] llimit [-1.658 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF R_ANKLE_P_LINK Segment{ centerOfMass -0.010514983772173681 -0.00092494740382487032 0.006396772110621252 mass 0.0656 momentsOfInertia [ 1.1506271948838844e-05 3.6112601146108375e-07 -1.0960578172280234e-08 3.6112601146108375e-07 2.1019676061582625e-05 2.8207268765248394e-08 -1.0960578172280234e-08 2.8207268765248394e-08 1.5933452986563463e-05 ] children[ Inline { url "parts/R_ANKLE_P.wrl" } ] } DEF R_ANKLE_R Joint { jointType "rotate" jointId 5 jointAxis 1 0 0 translation 0 0 0.0005 ulimit [1.571 ] llimit [-0.785 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF R_ANKLE_R_LINK Segment{ centerOfMass -0.012299329345648103 -0.011256454634381104 -0.018194268448920348 mass 0.01792 momentsOfInertia[ 5.102862742548993e-06 -1.4311400561157794e-08 -1.2500454265702693e-08 -1.4311400561157794e-08 1.1932351766822529e-05 -4.1556885057173572e-07 -1.2500454265702693e-08 -4.1556885057173572e-07 1.5962207274521142e-05 ] children[ Surface { visual [ Inline { url "parts/R_ANKLE_R.wrl" } ] collision [ Transform { translation -0.0125 -0.0135 -0.0202 children [ Shape { geometry Box { size 0.086 0.057 0.002 } } ] } ] } ] } ] } ] } ] } ] } ] } ] } DEF L_HIP_Y Joint { jointType "rotate" jointId 6 jointAxis 0.0 0.0 1.0 translation 0 0.0221 0 ulimit [2.618 ] llimit [-0.524 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF L_HIP_Y_LINK Segment{ centerOfMass 0.0098738158196747094 -0.0019351632042820964 -0.008641978258911916 mass 0.01075 momentsOfInertia [ 1.9516618643475554e-06 4.4794177287632705e-07 4.8697160385938657e-07 4.4794177287632705e-07 5.0103304284609951e-06 -1.1632114977312446e-08 4.8697160385938657e-07 -1.1632114977312446e-08 5.440099096984425e-06 ] children[ Inline { url "parts/L_HIP_Y.wrl" } ] } DEF L_HIP_R Joint { jointType "rotate" jointId 7 jointAxis -1 0 0 translation 0 -0.0025 -0.028 ulimit [1.571 ] llimit [-1.571 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF L_HIP_R_LINK Segment{ centerOfMass 0.013202756254495143 -5.5007249363677958e-05 -0.0093736922025596525 mass 0.06587 momentsOfInertia [ 1.1527391880654793e-05 -3.3279576102840529e-07 1.846183499543155e-06 -3.3279576102840529e-07 1.9330345427356294e-05 1.022613551906479e-07 1.846183499543155e-06 1.022613551906479e-07 1.4225997781058231e-05 ] children[ Inline { url "parts/L_HIP_R.wrl" } ] } DEF L_HIP_P Joint { jointType "rotate" jointId 8 jointAxis 0 1 0 translation 0.029 0.0 -0.005 ulimit [ 0.698 ] llimit [-2.094 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF L_HIP_P_LINK Segment{ centerOfMass 0.012315059064213051 0.0026831832924373968 -0.036400277402077907 mass 0.04249 momentsOfInertia [ 1.0828139170977909e-05 2.7126598481517499e-07 1.8370007325714884e-07 2.7126598481517499e-07 1.139354208379742e-05 -8.7593994599052404e-07 1.8370007325714884e-07 -8.7593994599052404e-07 8.3880053868115531e-06 ] children[ Inline { url "parts/L_HIP_P.wrl" } ] } DEF L_KNEE_P Joint { jointType "rotate" jointId 9 jointAxis 0 1 0 translation 0 0 -0.048 ulimit [2.269 ] llimit [0.0] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF L_KNEE_P_LINK Segment{ centerOfMass 0.0050944529332231933 0.0052148671697826937 -0.022550612186734664 mass 0.01307 momentsOfInertia [ 7.7867091563422099e-06 2.6555643813326173e-07 -8.1173670094028792e-07 2.6555643813326173e-07 5.2539557271461073e-06 3.6707383373694058e-07 -8.1173670094028792e-07 3.6707383373694058e-07 3.8741968358549516e-06 ] children[ Inline { url "parts/L_KNEE_P.wrl" } ] } DEF L_ANKLE_P Joint { jointType "rotate" jointId 10 jointAxis 0 -1 0 translation 0 0 -0.059 ulimit [1.658 ] llimit [-1.047 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF L_ANKLE_P_LINK Segment{ centerOfMass -0.010514983772173688 0.0009249473053786659 0.0063967712285226755 mass 0.0656 momentsOfInertia [ 1.1506271948838858e-05 -3.6112602191375958e-07 -1.096023377566418e-08 -3.6112602191375958e-07 2.1019676007776897e-05 -2.8212119365793259e-08 -1.096023377566418e-08 -2.8212119365793259e-08 1.5933453040369218e-05 ] children[ Inline { url "parts/L_ANKLE_P.wrl" } ] } DEF L_ANKLE_R Joint { jointType "rotate" jointId 11 jointAxis 1 0 0 translation 0 0 0.0005 ulimit [0.785 ] llimit [-1.571 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF L_ANKLE_R_LINK Segment{ centerOfMass -0.012299329345648083 0.011256454634381099 -0.018194268448920352 mass 0.01792 momentsOfInertia [ 5.102862742548993e-06 -1.4311400561157794e-08 -1.2500454265702693e-08 -1.4311400561157794e-08 1.1932351766822529e-05 -4.1556885057173572e-07 -1.2500454265702693e-08 -4.1556885057173572e-07 1.5962207274521142e-05 ] children[ Surface { visual [ Inline { url "parts/L_ANKLE_R.wrl" } ] collision [ Transform { translation -0.0125 0.0135 -0.0202 children [ Shape { geometry Box { size 0.086 0.057 0.002 } } ] } ] } ] } ] } ] } ] } ] } ] } ] } DEF CHEST_P Joint { jointType "rotate" jointId 12 jointAxis 0 -1 0 translation 0.044 0.0 0.02 ulimit [0.0] llimit [-1.658 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF CHEST_P_LINK Segment{ centerOfMass -0.020730842888781902 0.00025411885296551366 0.042966477725380772 mass 0.12824 momentsOfInertia [ 7.4792345496270588e-05 -2.0460700160580106e-08 2.6612836351540438e-06 -2.0460700160580106e-08 5.6631637624553763e-05 1.5956077735064471e-08 2.6612836351540438e-06 1.5956077735064471e-08 0.0001061030019683906 ] children[ Inline { url "parts/CHEST_P.wrl" } ] } DEF NECK_Y Joint { jointType "rotate" jointId 13 jointAxis 0.0 0.0 -1.0 translation -0.012 0 0.056 ulimit [0.8720000000000003 ] llimit [-0.8720000000000003 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF NECK_Y_LINK Segment{ centerOfMass 2.2786043818985748E-5 5.3290705182007515E-18 0.008215358964843369 mass 0.00527 momentsOfInertia [ 4.6330586214015664e-07 -1.8031706925116486e-22 -5.8734859937494843e-10 -1.8031706925116486e-22 4.9575960481670661e-07 -2.7047560387674729e-22 -5.8734859937494843e-10 -2.7047560387674729e-22 6.7145032800772607e-07 ] children[ Inline { url "parts/NECK_Y.wrl" } ] } ] } DEF R_SHOULDER_P Joint { jointType "rotate" jointId 14 jointAxis 0 1 0 translation -0.01 -0.041 0.042 ulimit [2.618 ] llimit [-2.618 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF R_SHOULDER_P_LINK Segment{ centerOfMass -0.0013812847067215142 -0.010516066209780376 -0.0029935461211070872 mass 0.00975 momentsOfInertia [ 1.3095800287113333e-06 2.1515967001874234e-08 -3.458271618147783e-08 2.1515967001874234e-08 2.6327935898039409e-06 -1.0994626230711128e-07 -3.458271618147783e-08 -1.0994626230711128e-07 2.7200506260844207e-06 ] children[ Inline { url "parts/R_SHOULDER_P.wrl" } ] } DEF R_SHOULDER_R Joint { jointType "rotate" jointId 15 jointAxis 1 0 0 translation 0 -0.025 -0.008 ulimit [0.698 ] llimit [-2.618 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF R_SHOULDER_R_LINK Segment{ centerOfMass -0.0035468902411903828 -0.0015567363057332911 -0.014437898304582529 mass 0.03686 momentsOfInertia [ 4.9508840880307424e-06 8.134138909631631e-08 -1.307404018922331e-07 8.134138909631631e-08 9.9533099200177678e-06 -4.1565325421949963e-07 -1.307404018922331e-07 -4.1565325421949963e-07 1.0283186264356074e-05 ] children[ Inline { url "parts/R_SHOULDER_R.wrl" } ] } DEF R_ELBOW_P Joint { jointType "rotate" jointId 16 jointAxis 0 1 0 # translation 0.009 0 -0.045 translation 0.009 0 -0.047 # by Hara ulimit [0.873 ] llimit [-2.269 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF R_ELBOW_P_LINK Segment{ centerOfMass 0.0015461746197517063 0.00033795855263700454 -0.015625257449077206 mass 0.02905 momentsOfInertia [ 1.0789525167996382e-05 3.9918558722109871e-09 1.7978343794464902e-06 3.9918558722109871e-09 1.1003152443935253e-05 -4.0046039702229187e-08 1.7978343794464902e-06 -4.0046039702229187e-08 3.2591072507697875e-06 ] children[ Inline { url "parts/R_ELBOW_P.wrl" } ] } ] } ] } ] } DEF L_SHOULDER_P Joint { jointType "rotate" jointId 17 jointAxis 0 -1 .0 translation -0.01 0.041 0.042 ulimit [2.618 ] llimit [-2.618 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF L_SHOULDER_P_LINK Segment{ centerOfMass -0.0013812821724981078 0.010516052694166637 -0.0029935523353056348 mass 0.00975 momentsOfInertia [ 1.3095800142021788e-06 -2.1515553828179759e-08 -3.4582658591096929e-08 -2.1515553828179759e-08 2.6327938140190386e-06 1.0994635718211764e-07 -3.4582658591096929e-08 1.0994635718211764e-07 2.7200504163784756e-06 ] children[ Inline { url "parts/L_SHOULDER_P.wrl" } ] } DEF L_SHOULDER_R Joint { jointType "rotate" jointId 18 jointAxis 1 0 0 translation 0 0.025 -0.008 ulimit [2.618 ] llimit [-0.698 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF L_SHOULDER_R_LINK Segment{ centerOfMass -0.0035468902411903828 0.0015567363057332922 -0.014437898304582539 mass 0.03686 momentsOfInertia [ 1.0694950140451039e-05 1.9723127905453326e-07 -2.6065897076445542e-07 1.9723127905453326e-07 1.0052420713671298e-05 4.8438918432883336e-08 -2.6065897076445542e-07 4.8438918432883336e-08 4.8379288533730014e-06 ] children[ Inline { url "parts/L_SHOULDER_R.wrl" } ] } DEF L_ELBOW_P Joint { jointType "rotate" jointId 19 jointAxis 0 -1 0 translation 0.009 0 -0.047 ulimit [2.269 ] llimit [-0.873 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF L_ELBOW_P_LINK Segment{ centerOfMass 0.0015461746197516959 -0.00033796007273481838 -0.015625257207349728 mass 0.02905 momentsOfInertia [ 1.0789525167996373e-05 -3.9905699607782306e-09 1.7978343823012256e-06 -3.9905699607782306e-09 1.1003152501217637e-05 4.0040500729103886e-08 1.7978343823012256e-06 4.0040500729103886e-08 3.259107193487409e-06 ] children[ Inline { url "parts/L_ELBOW_P.wrl" } ] } ] } ] } ] } ] } ] } ] joints [ USE WAIST, USE R_HIP_Y, USE R_HIP_R, USE R_HIP_P, USE R_KNEE_P, USE R_ANKLE_P, USE R_ANKLE_R, USE L_HIP_Y, USE L_HIP_R, USE L_HIP_P, USE L_KNEE_P, USE L_ANKLE_P, USE L_ANKLE_R, USE CHEST_P, USE NECK_Y, USE R_SHOULDER_P, USE R_SHOULDER_R, USE R_ELBOW_P, USE L_SHOULDER_P, USE L_SHOULDER_R, USE L_ELBOW_P, ] segments [ USE WAIST_LINK, USE R_HIP_Y_LINK, USE R_HIP_R_LINK, USE R_HIP_P_LINK, USE R_KNEE_P_LINK, USE R_ANKLE_P_LINK, USE R_ANKLE_R_LINK, USE L_HIP_Y_LINK, USE L_HIP_R_LINK, USE L_HIP_P_LINK, USE L_KNEE_P_LINK, USE L_ANKLE_P_LINK, USE L_ANKLE_R_LINK, USE CHEST_P_LINK, USE NECK_Y_LINK, USE R_SHOULDER_P_LINK, USE R_SHOULDER_R_LINK, USE R_ELBOW_P_LINK, USE L_SHOULDER_P_LINK, USE L_SHOULDER_R_LINK, USE L_ELBOW_P_LINK, ] } choreonoid-1.5.0/share/model/GR001/parts/0000775000000000000000000000000012741425367016445 5ustar rootrootchoreonoid-1.5.0/share/model/GR001/parts/L_ELBOW_P.wrl0000664000000000000000000017360212741425367020606 0ustar rootroot#VRML V2.0 utf8 WorldInfo { title "Exported tringle mesh to VRML97" info ["Created by FreeCAD" ""] } Background { skyAngle 1.57 skyColor 0.1 0.2 0.2 } Transform { scale 0.001 0.001 0.001 rotation 0 0 1 0 scaleOrientation 0 0 1 0 bboxCenter 0 0 0 bboxSize 43.000 28.000 79.000 center 0.000 0.000 0.000 translation -0.000 0.000 0.000 #translation -10.500 0.500 29.500 children [ Shape { appearance Appearance { material Material { ambientIntensity 0.2 diffuseColor 0.80 0.80 0.80 emissiveColor 0.00 0.00 0.00 shininess 0.06 transparency 0.00 } } geometry IndexedFaceSet { solid FALSE 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] shapeFile: "parts/L_KNEE_P.wrl" - name: L_ANKLE_P parent: L_KNEE_P translation : [ 0, 0, -0.059 ] jointId: 10 jointType: revolute jointAxis: [ 0, -1, 0 ] jointRange: [ -1.047, 1.658 ] centerOfMass: [ -0.010514983772173688, 0.0009249473053786659, 0.0063967712285226755 ] mass: 0.0656 inertia: [ 1.1506271948838858e-05, -3.6112602191375958e-07, -1.096023377566418e-08, -3.6112602191375958e-07, 2.1019676007776897e-05, -2.8212119365793259e-08, -1.096023377566418e-08, -2.8212119365793259e-08, 1.5933453040369218e-05 ] shapeFile: "parts/L_ANKLE_P.wrl" - name: L_ANKLE_R parent: L_ANKLE_P translation : [ 0, 0, 0.0005 ] jointId: 11 jointType: revolute jointAxis: [ 1, 0, 0 ] jointRange: [ -1.571, 0.785 ] centerOfMass: [ -0.012299329345648083, 0.011256454634381099, -0.018194268448920352 ] mass: 0.01792 inertia: [ 5.102862742548993e-06, -1.4311400561157794e-08, -1.2500454265702693e-08, -1.4311400561157794e-08, 1.1932351766822529e-05, -4.1556885057173572e-07, -1.2500454265702693e-08, -4.1556885057173572e-07, 1.5962207274521142e-05 ] shapeFile: "parts/L_ANKLE_R.wrl" - name: CHEST_P parent: WAIST translation : [ 0.044, 0.0, 0.02 ] jointId: 12 jointType: revolute jointAxis: [ 0, -1, 0 ] jointRange: [ -1.658, 0.0 ] centerOfMass: [ -0.020730842888781902, 0.00025411885296551366, 0.042966477725380772 ] mass: 0.12824 inertia: [ 7.4792345496270588e-05, -2.0460700160580106e-08, 2.6612836351540438e-06, -2.0460700160580106e-08, 5.6631637624553763e-05, 1.5956077735064471e-08, 2.6612836351540438e-06, 1.5956077735064471e-08, 0.0001061030019683906 ] shapeFile: "parts/CHEST_P.wrl" - name: NECK_Y parent: CHEST_P translation : [ -0.012, 0, 0.056 ] jointId: 13 jointType: revolute jointAxis: [ 0, 0, -1 ] jointRange: [ -0.872, 0.872 ] centerOfMass: [ 2.2786043818985748E-5, 5.3290705182007515E-18, 0.008215358964843369 ] mass: 0.00527 inertia: [ 4.6330586214015664e-07, -1.8031706925116486e-22, -5.8734859937494843e-10, -1.8031706925116486e-22, 4.9575960481670661e-07, -2.7047560387674729e-22, -5.8734859937494843e-10, -2.7047560387674729e-22, 6.7145032800772607e-07 ] shapeFile: "parts/NECK_Y.wrl" - name: R_SHOULDER_P parent: CHEST_P translation : [ -0.01, -0.041, 0.042 ] jointId: 14 jointType: revolute jointAxis: [ 0, 1, 0 ] jointRange: [ -2.618, 2.618 ] centerOfMass: [ -0.0013812847067215142, -0.010516066209780376, -0.0029935461211070872 ] mass: 0.00975 inertia: [ 1.3095800287113333e-06, 2.1515967001874234e-08, -3.458271618147783e-08, 2.1515967001874234e-08, 2.6327935898039409e-06, -1.0994626230711128e-07, -3.458271618147783e-08, -1.0994626230711128e-07, 2.7200506260844207e-06 ] shapeFile: "parts/R_SHOULDER_P.wrl" - name: R_SHOULDER_R parent: R_SHOULDER_P translation : [ 0, -0.025, -0.008 ] jointId: 15 jointType: revolute jointAxis: [ 1, 0, 0 ] jointRange: [ -2.618, 0.698] centerOfMass: [ -0.0035468902411903828, -0.0015567363057332911, -0.014437898304582529 ] mass: 0.03686 inertia: [ 4.9508840880307424e-06, 8.134138909631631e-08, -1.307404018922331e-07, 8.134138909631631e-08, 9.9533099200177678e-06, -4.1565325421949963e-07, -1.307404018922331e-07, -4.1565325421949963e-07, 1.0283186264356074e-05 ] shapeFile: "parts/R_SHOULDER_R.wrl" - name: R_ELBOW_P parent: R_SHOULDER_R translation : [ 0.009, 0, -0.047 ] jointId: 16 jointType: revolute jointAxis: [ 0, 1, 0 ] jointRange: [ -2.269, 0.873 ] centerOfMass: [ 0.0015461746197517063, 0.00033795855263700454, -0.015625257449077206 ] mass: 0.02905 inertia: [ 1.0789525167996382e-05, 3.9918558722109871e-09, 1.7978343794464902e-06, 3.9918558722109871e-09, 1.1003152443935253e-05, -4.0046039702229187e-08, 1.7978343794464902e-06, -4.0046039702229187e-08, 3.2591072507697875e-06 ] shapeFile: "parts/R_ELBOW_P.wrl" - name: L_SHOULDER_P parent: CHEST_P translation : [ -0.01, 0.041, 0.042 ] jointId: 17 jointType: revolute jointAxis: [ 0, -1, 0 ] jointRange: [ -2.618, 2.618 ] centerOfMass: [ -0.0013812821724981078, 0.010516052694166637, -0.0029935523353056348 ] mass: 0.00975 inertia: [ 1.3095800142021788e-06, -2.1515553828179759e-08, -3.4582658591096929e-08, -2.1515553828179759e-08, 2.6327938140190386e-06, 1.0994635718211764e-07, -3.4582658591096929e-08, 1.0994635718211764e-07, 2.7200504163784756e-06 ] shapeFile: "parts/L_SHOULDER_P.wrl" - name: L_SHOULDER_R parent: L_SHOULDER_P translation : [ 0, 0.025, -0.008 ] jointId: 18 jointType: revolute jointAxis: [ 1, 0, 0 ] jointRange: [ -0.698, 2.618 ] centerOfMass: [ -0.0035468902411903828, 0.0015567363057332922, -0.014437898304582539 ] mass: 0.03686 inertia: [ 1.0694950140451039e-05, 1.9723127905453326e-07, -2.6065897076445542e-07, 1.9723127905453326e-07, 1.0052420713671298e-05, 4.8438918432883336e-08, -2.6065897076445542e-07, 4.8438918432883336e-08, 4.8379288533730014e-06 ] shapeFile: "parts/L_SHOULDER_R.wrl" - name: L_ELBOW_P parent: L_SHOULDER_R translation : [ 0.009, 0, -0.047 ] jointId: 19 jointType: revolute jointAxis: [ 0, -1, 0 ] jointRange: [ -0.873, 2.269 ] centerOfMass: [ 0.0015461746197516959, -0.00033796007273481838, -0.015625257207349728 ] mass: 0.02905 inertia: [ 1.0789525167996373e-05, -3.9905699607782306e-09, 1.7978343823012256e-06, -3.9905699607782306e-09, 1.1003152501217637e-05, 4.0040500729103886e-08, 1.7978343823012256e-06, 4.0040500729103886e-08, 3.259107193487409e-06 ] shapeFile: "parts/L_ELBOW_P.wrl" standardPose: [ 0, 0, 20, -40, -20, 0, 0, 0, -20, 40, 20, 0, 0, 0, 20, 0, -20, -20, 0, 20 ] linkGroup: - name: UPPER-BODY links: - name: NECK links: [ NECK_Y ] - name: ARMS links: - name: R-ARM links: [ R_SHOULDER_P, R_SHOULDER_R, R_ELBOW_P ] - name: L-ARM links: [ L_SHOULDER_P, L_SHOULDER_R, L_ELBOW_P ] - name: CHEST links: [ CHEST_P ] - WAIST - name: LOWER-BODY links: - name: LEGS links: - name: R-LEG links: [ R_HIP_Y, R_HIP_R, R_HIP_P, R_KNEE_P, R_ANKLE_P, R_ANKLE_R ] - name: L-LEG links: [ L_HIP_Y, L_HIP_R, L_HIP_P, L_KNEE_P, L_ANKLE_P, L_ANKLE_R ] possibleIkInterpolationLinks: [ WAIST, R_ANKLE_R, L_ANKLE_R ] defaultIkInterpolationLinks: [ WAIST, R_ANKLE_R, L_ANKLE_R ] possileSupportLinks: [ R_ANKLE_R, L_ANKLE_R ] defaultIKsetup: WAIST: [ R_ANKLE_R, L_ANKLE_R ] R_ANKLE_R: [ WAIST ] L_ANKLE_R: [ WAIST ] footLinks: - link: R_ANKLE_R soleCenter: [ -0.005, -0.01, -0.022 ] - link: L_ANKLE_R soleCenter: [ -0.005, 0.01, -0.022 ] symmetricJoints: - [ NECK_Y ] - [ L_SHOULDER_P, R_SHOULDER_P, -1 ] - [ L_SHOULDER_R, R_SHOULDER_R, -1 ] - [ L_ELBOW_P, R_ELBOW_P, -1 ] - [ L_HIP_Y, R_HIP_Y, -1 ] - [ L_HIP_R, R_HIP_R, -1 ] - [ L_HIP_P, R_HIP_P, -1 ] - [ L_KNEE_P, R_KNEE_P, -1 ] - [ L_ANKLE_P, R_ANKLE_P, -1 ] - [ L_ANKLE_R, R_ANKLE_R, -1 ] symmetricIkLinks: - [ WAIST ] - [ L_ANKLE_R, R_ANKLE_R ] divisionNumberOfPrimitiveGeometries: 10 collisionDetection: excludeTreeDepth: 3 excludeLinks: [ ] poseConversionInfo: - targetBodies: [ HRP4C ] jointMap: [ 0, 1, 2, 3, 4, 5, 7, 8, 9, 10, 11, 12, 12, -1, -1, 13, -1, -1, # faces 14, 15, -1, 16, -1, -1, -1, -1, -1, 17, 18, -1, 19, -1, -1, -1, -1, -1 ] linkMap: { R_FOOT: R_ANKLE_R, L_FOOT: L_ANKLE_R } choreonoid-1.5.0/share/model/RIC30/0000775000000000000000000000000012741425367015343 5ustar rootrootchoreonoid-1.5.0/share/model/RIC30/RIC30.wrl0000664000000000000000000004055312741425367016660 0ustar rootroot#VRML V2.0 utf8 PROTO Joint [ exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField MFFloat lvlimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat uvlimit [] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 exposedField SFFloat gearRatio 1 exposedField SFFloat rotorInertia 0 exposedField SFFloat rotorResistor 0 exposedField SFFloat torqueConst 1 exposedField SFFloat encoderPulse 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS viewpoints } Group { children IS humanoidBody } ] } } PROTO VisionSensor [ exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField MFNode children [ ] exposedField SFFloat fieldOfView 0.785398 exposedField SFString name "" exposedField SFFloat frontClipDistance 0.01 exposedField SFFloat backClipDistance 10.0 exposedField SFString type "NONE" exposedField SFInt32 sensorId -1 exposedField SFInt32 width 320 exposedField SFInt32 height 240 exposedField SFFloat frameRate 30 ] { Transform { rotation IS rotation translation IS translation children IS children } } PROTO ForceSensor [ exposedField SFVec3f maxForce -1 -1 -1 exposedField SFVec3f maxTorque -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField MFNode children [ ] exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation children IS children } } PROTO Gyro [ exposedField SFVec3f maxAngularVelocity -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField MFNode children [ ] exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation children IS children } } PROTO AccelerationSensor [ exposedField SFVec3f maxAcceleration -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField MFNode children [ ] exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation children IS children } } DEF RIC30 Humanoid{ humanoidBody [ DEF WAIST Joint { jointType "free" translation 0 0 0.1605 children[ DEF WAIST_LINK Segment{ centerOfMass -0.0087 0.0001 0.0346 mass 0.238 momentsOfInertia[ 0.0002369394 1.0608E-8 -3.322424E-6 1.0608E-8 0.0001612104 4.6692E-8 -3.322424E-6 4.6692E-8 0.0001608802 ] children[ Inline { url "parts/WAIST.wrl" } ] } DEF R_HIP_Y Joint { jointType "rotate" jointId 0 jointAxis 0.0 0.0 1.0 translation 0.0 -0.0245 -0.0023 ulimit [0.524 ] llimit [-2.618 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF R_HIP_Y_LINK Segment{ centerOfMass -0.0088 0.0061 0 mass 0.007 momentsOfInertia [ 6.01175E-7 5.7E-11 -4.4577E-8 5.7E-11 3.544498E-6 2.3E-11 -4.4577E-8 2.3E-11 3.417531E-6 ] children[ Inline { url "parts/R_HIP_Y.wrl" } ] } DEF R_HIP_R Joint { jointType "rotate" jointId 1 jointAxis -1 0 0 translation 0.0026 0.0 -0.020 ulimit [1.571 ] llimit [-1.571 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF R_HIP_R_LINK Segment{ centerOfMass -0.0111 0.0001 -0.0094 mass 0.049 momentsOfInertia [ 8.439237E-6 -3.344E-8 -2.23407E-7 -3.344E-8 1.5317246E-5 -6.663E-9 -2.23407E-7 -6.663E-9 1.0887867E-5 ] children[ Inline { url "parts/R_HIP_R.wrl" } ] } DEF R_HIP_P Joint { jointType "rotate" jointId 2 jointAxis 0 -1 0 translation 0.0 0.0 0.0 ulimit [2.094 ] llimit [-0.698 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF R_HIP_P_LINK Segment{ centerOfMass 0.0054 -0.0028 -0.0488 mass 0.039 momentsOfInertia [ 2.0443109E-5 -5.87461E-7 0.000002607 -5.87461E-7 0.000018454 2.50548E-6 0.000002607 2.50548E-6 9.004707E-6 ] children[ Inline { url "parts/R_HIP_P.wrl" } ] } DEF R_KNEE_P Joint { jointType "rotate" jointId 3 jointAxis 0 -1 0 translation -0.001 0 -0.0635 ulimit [0.0 ] llimit [-2.269 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF R_KNEE_P_LINK Segment{ centerOfMass 0.0003 -0.0068 -0.0333 mass 0.019 momentsOfInertia [ 1.0997074E-5 -2.65E-8 -1.5143E-8 -2.65E-8 6.487118E-6 -8.97665E-7 -1.5143E-8 -8.97665E-7 5.683179E-6 ] children[ Inline { url "parts/R_KNEE_P.wrl" } ] } DEF R_ANKLE_P Joint { jointType "rotate" jointId 4 jointAxis 0 1 0 translation 0 0 -0.067 ulimit [1.047 ] llimit [-1.658 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF R_ANKLE_P_LINK Segment{ centerOfMass -0.0099 0.0001 0.0094 mass 0.049 momentsOfInertia [ 8.439237E-6 -3.3438E-8 2.23405E-7 -3.3438E-8 1.5317249E-5 6.661E-9 2.23405E-7 6.661E-9 1.088787E-5 ] children[ Inline { url "parts/R_ANKLE_P.wrl" } ] } DEF R_ANKLE_R Joint { jointType "rotate" jointId 5 jointAxis 1 0 0 translation 0 0 0 ulimit [1.571 ] llimit [-0.785 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF R_ANKLE_R_LINK Segment{ centerOfMass 0.0032 -0.0105 -0.0177 mass 0.022 momentsOfInertia[ 5.172795E-6 3.806E-8 7.7086E-8 3.806E-8 1.6885864E-5 -0.000000127 7.7086E-8 -0.000000127 2.0883897E-5 ] children[ Inline { url "parts/R_ANKLE_R.wrl" } ] } ] } ] } ] } ] } ] } ] } DEF L_HIP_Y Joint { jointType "rotate" jointId 6 jointAxis 0.0 0.0 1.0 translation 0.0 0.0245 -0.0023 ulimit [2.618 ] llimit [-0.524 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF L_HIP_Y_LINK Segment{ centerOfMass -0.0088 0.0061 0 mass 0.007 momentsOfInertia [ 6.01175E-7 5.7E-11 -4.4577E-8 5.7E-11 3.544498E-6 2.3E-11 -4.4577E-8 2.3E-11 3.417531E-6 ] children[ Inline { url "parts/L_HIP_Y.wrl" } ] } DEF L_HIP_R Joint { jointType "rotate" jointId 7 jointAxis -1 0 0 translation 0.0026 0.0 -0.020 ulimit [1.571 ] llimit [-1.571 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF L_HIP_R_LINK Segment{ centerOfMass -0.0111 -0.0001 -0.0094 mass 0.049 momentsOfInertia [ 8.439237E-6 3.3438E-8 -2.23405E-7 3.3438E-8 1.5317249E-5 6.661E-9 -2.23405E-7 6.661E-9 1.088787E-5 ] children[ Inline { url "parts/L_HIP_R.wrl" } ] } DEF L_HIP_P Joint { jointType "rotate" jointId 8 jointAxis 0 1 0 translation 0.0 0.0 0.0 ulimit [ 0.698 ] llimit [-2.094 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF L_HIP_P_LINK Segment{ centerOfMass 0.0054 0.0028 -0.0488 mass 0.039 momentsOfInertia [ 2.0443105E-5 5.87577E-7 2.606668E-6 5.87577E-7 1.8453949E-5 -2.505812E-6 2.606668E-6 -2.505812E-6 9.004633E-6 ] children[ Inline { url "parts/L_HIP_P.wrl" } ] } DEF L_KNEE_P Joint { jointType "rotate" jointId 9 jointAxis 0 1 0 translation -0.001 0 -0.0635 ulimit [2.269 ] llimit [0.0] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF L_KNEE_P_LINK Segment{ centerOfMass 0.0003 0.0068 -0.0333 mass 0.019 momentsOfInertia [ 1.0994372E-5 2.65E-8 -1.5141E-8 2.65E-8 6.487415E-6 8.97518E-7 -1.5141E-8 8.97518E-7 5.683179E-6 ] children[ Inline { url "parts/L_KNEE_P.wrl" } ] } DEF L_ANKLE_P Joint { jointType "rotate" jointId 10 jointAxis 0 -1 0 translation 0 0 -0.067 ulimit [1.658 ] llimit [-1.047 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF L_ANKLE_P_LINK Segment{ centerOfMass -0.0111 -0.0001 0.0094 mass 0.049 momentsOfInertia [ 8.439237E-6 3.344E-8 2.23407E-7 3.344E-8 1.5317246E-5 -6.663E-9 2.23407E-7 -6.663E-9 1.0887867E-5 ] children[ Inline { url "parts/L_ANKLE_P.wrl" } ] } DEF L_ANKLE_R Joint { jointType "rotate" jointId 11 jointAxis 1 0 0 translation 0 0 0 ulimit [0.785 ] llimit [-1.571 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF L_ANKLE_R_LINK Segment{ centerOfMass -0.0032 -0.0105 -0.0177 mass 0.022 momentsOfInertia [ 5.171949E-6 -4.4614E-8 7.7086E-8 -4.4614E-8 1.6885864E-5 1.25902E-7 7.7086E-8 1.25902E-7 2.0883051E-5 ] children[ Inline { url "parts/L_ANKLE_R.wrl" } ] } ] } ] } ] } ] } ] } ] } DEF R_SHOULDER_P Joint { jointType "rotate" jointId 14 jointAxis 0 1 0 translation 0 -0.0453 0.0535 ulimit [2.618 ] llimit [-2.618 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF R_SHOULDER_P_LINK Segment{ centerOfMass 0.0002 -0.0074 -0.0028 mass 0.004 momentsOfInertia [ 4.40882E-7 9.359E-9 6.942E-9 9.359E-9 8.88196E-7 -1.00458E-7 6.942E-9 -1.00458E-7 9.34149E-7 ] children[ Inline { url "parts/R_SHOULDER_P.wrl" } ] } DEF R_SHOULDER_R Joint { jointType "rotate" jointId 15 jointAxis 1 0 0 translation 0 -0.018 -0.0101 ulimit [0.698 ] llimit [-2.618 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF R_SHOULDER_R_LINK Segment{ centerOfMass -0.0011 -0.0035 -0.0176 mass 0.035 momentsOfInertia [ 8.750522E-6 5.17797E-7 -6.22484E-7 5.17797E-7 1.0943558E-5 2.85317E-7 -6.22484E-7 2.85317E-7 5.785189E-6 ] children[ Inline { url "parts/R_SHOULDER_R.wrl" } ] } DEF R_ELBOW_P Joint { jointType "rotate" jointId 16 jointAxis 0 1 0 translation 0.0101 0 -0.0496 ulimit [0.873 ] llimit [-2.269 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF R_ELBOW_P_LINK Segment{ centerOfMass -0.0003 0.0001 -0.0161 mass 0.027 momentsOfInertia [ 8.566369E-6 -1.06E-9 -1.21581E-7 -1.06E-9 7.88368E-6 -3.2839E-8 -1.21581E-7 -3.2839E-8 2.479052E-6 ] children[ Inline { url "parts/R_ELBOW_P.wrl" } ] } ] } ] } ] } DEF L_SHOULDER_P Joint { jointType "rotate" jointId 17 jointAxis 0 -1 .0 translation 0 0.0453 0.0535 ulimit [2.618 ] llimit [-2.618 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF L_SHOULDER_P_LINK Segment{ centerOfMass 0.0002 0.0074 -0.0028 mass 0.004 momentsOfInertia [ 4.41064E-7 -9.454E-9 6.943E-9 -9.454E-9 8.88234E-7 1.00565E-7 6.943E-9 1.00565E-7 9.34293E-7 ] children[ Inline { url "parts/L_SHOULDER_P.wrl" } ] } DEF L_SHOULDER_R Joint { jointType "rotate" jointId 18 jointAxis 1 0 0 translation 0 0.018 -0.0101 ulimit [2.618 ] llimit [-0.698 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF L_SHOULDER_R_LINK Segment{ centerOfMass 0.0011 -0.0035 -0.0176 mass 0.035 momentsOfInertia [ 8.750672E-6 -5.17799E-7 -6.22787E-7 -5.17799E-7 1.0943706E-5 -2.85341E-7 -6.22787E-7 -2.85341E-7 5.785188E-6 ] children[ Inline { url "parts/L_SHOULDER_R.wrl" } ] } DEF L_ELBOW_P Joint { jointType "rotate" jointId 19 jointAxis 0 -1 0 translation 0.0101 0 -0.0496 ulimit [2.269 ] llimit [-0.873 ] uvlimit [ ] lvlimit [ ] rotorInertia 1.0 rotorResistor 1.0 children[ DEF L_ELBOW_P_LINK Segment{ centerOfMass -0.0003 -0.0001 -0.0161 mass 0.027 momentsOfInertia [ 8.566372E-6 1.062E-9 -1.2158E-7 1.062E-9 7.883684E-6 3.2839E-8 -1.2158E-7 3.2839E-8 2.479052E-6 ] children[ Inline { url "parts/L_ELBOW_P.wrl" } ] } ] } ] } ] } ] } ] joints [ USE WAIST, USE R_HIP_Y, USE R_HIP_R, USE R_HIP_P, USE R_KNEE_P, USE R_ANKLE_P, USE R_ANKLE_R, USE L_HIP_Y, USE L_HIP_R, USE L_HIP_P, USE L_KNEE_P, USE L_ANKLE_P, USE L_ANKLE_R, USE R_SHOULDER_P, USE R_SHOULDER_R, USE R_ELBOW_P, USE L_SHOULDER_P, USE L_SHOULDER_R, USE L_ELBOW_P, ] segments [ USE WAIST_LINK, USE R_HIP_Y_LINK, USE R_HIP_R_LINK, USE R_HIP_P_LINK, USE R_KNEE_P_LINK, USE R_ANKLE_P_LINK, USE R_ANKLE_R_LINK, USE L_HIP_Y_LINK, USE L_HIP_R_LINK, USE L_HIP_P_LINK, USE L_KNEE_P_LINK, USE L_ANKLE_P_LINK, USE L_ANKLE_R_LINK, USE R_SHOULDER_P_LINK, USE R_SHOULDER_R_LINK, USE R_ELBOW_P_LINK, USE L_SHOULDER_P_LINK, USE L_SHOULDER_R_LINK, USE L_ELBOW_P_LINK, ] } choreonoid-1.5.0/share/model/RIC30/parts/0000775000000000000000000000000012741425367016474 5ustar rootrootchoreonoid-1.5.0/share/model/RIC30/parts/L_ELBOW_P.wrl0000664000000000000000000231071312741425367020633 0ustar rootroot#VRML V2.0 utf8 WorldInfo { title "Exported tringle mesh to VRML97" info ["Created by FreeCAD" ""] } Background { skyAngle 1.57 skyColor 0.1 0.2 0.2 } Transform { scale 0.001 0.001 0.001 rotation 0 0 1 0 scaleOrientation 0 0 1 0 bboxCenter 0 0 0 bboxSize 22.582 29.500 72.577 center 0.000 0.000 0.000 translation 0.000 0.000 0.000 children [ Shape { appearance Appearance { material Material { ambientIntensity 0.2 diffuseColor 0.00 0.00 0.00 emissiveColor 0.00 0.00 0.00 specularColor 0.98 0.98 0.98 shininess 0.06 transparency 0.00 } } geometry IndexedFaceSet { solid FALSE coord Coordinate { point [ -0.354 -1.800 0.545, -0.460 -1.800 0.460, -0.543 -1.800 0.357, -0.460 -1.800 -0.460, -0.544 -1.800 -0.354, 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9822, 8428, -1, 9816, 9823, 9817, -1, 9817, 9780, 9763, -1 ] } } ] } Viewpoint { jump TRUE orientation 1.000 0.000 0.000 0.000 description "top" position -4.550 -9.877 104.750 } Viewpoint { jump TRUE orientation 1.000 0.000 0.000 3.142 description "bottom" position -4.550 -9.877 -117.796 } Viewpoint { jump TRUE orientation 1.000 0.000 0.000 1.571 description "front" position -4.550 -121.150 -6.523 } Viewpoint { jump TRUE orientation -0.000 -0.707 -0.707 3.142 description "back" position -4.550 101.395 -6.523 } Viewpoint { jump TRUE orientation 0.577 -0.577 -0.577 2.094 description "right" position -115.823 -9.877 -6.523 } Viewpoint { jump TRUE orientation 0.577 0.577 0.577 2.094 description "left" position 106.723 -9.877 -6.523 } NavigationInfo { avatarSize [0.25, 1.6, 0.75] headlight TRUE speed 1.0 type "EXAMINE" visibilityLimit 0.0 } choreonoid-1.5.0/share/model/RIC30/RIC30.yaml0000664000000000000000000000303712741425367017012 0ustar rootroot modelFile: "RIC30.wrl" standardPose: [ 0, 0, 20, -40, -20, 0, 0, 0, -20, 40, 20, 0, 0, 0, 20, -10, -40, -20, 10, 40 ] linkGroup: - name: UPPER-BODY links: - name: ARMS links: - name: R-ARM links: [ R_SHOULDER_P, R_SHOULDER_R, R_ELBOW_P ] - name: L-ARM links: [ L_SHOULDER_P, L_SHOULDER_R, L_ELBOW_P ] - WAIST - name: LOWER-BODY links: - name: LEGS links: - name: R-LEG links: [ R_HIP_Y, R_HIP_R, R_HIP_P, R_KNEE_P, R_ANKLE_P, R_ANKLE_R ] - name: L-LEG links: [ L_HIP_Y, L_HIP_R, L_HIP_P, L_KNEE_P, L_ANKLE_P, L_ANKLE_R ] possibleIkInterpolationLinks: [ WAIST, R_ANKLE_R, L_ANKLE_R ] defaultIkInterpolationLinks: [ WAIST, R_ANKLE_R, L_ANKLE_R ] possileSupportLinks: [ R_ANKLE_R, L_ANKLE_R ] defaultIKsetup: WAIST: [ R_ANKLE_R, L_ANKLE_R ] R_ANKLE_R: [ WAIST ] L_ANKLE_R: [ WAIST ] footLinks: - link: R_ANKLE_R soleCenter: [ -0.0098, -0.00455, -0.0212 ] - link: L_ANKLE_R soleCenter: [ -0.0098, 0.00455, -0.0212 ] symmetricJoints: - [ L_SHOULDER_P, R_SHOULDER_P, -1 ] - [ L_SHOULDER_R, R_SHOULDER_R, -1 ] - [ L_ELBOW_P, R_ELBOW_P, -1 ] - [ L_HIP_Y, R_HIP_Y, -1 ] - [ L_HIP_R, R_HIP_R, -1 ] - [ L_HIP_P, R_HIP_P, -1 ] - [ L_KNEE_P, R_KNEE_P, -1 ] - [ L_ANKLE_P, R_ANKLE_P, -1 ] - [ L_ANKLE_R, R_ANKLE_R, -1 ] symmetricIkLinks: - [ WAIST ] - [ L_ANKLE_R, R_ANKLE_R ] selfCollisionDetection: excludeTreeDepth: 3 excludeLinks: [ ] choreonoid-1.5.0/share/model/PA10/0000775000000000000000000000000012741425367015224 5ustar rootrootchoreonoid-1.5.0/share/model/PA10/PA10.wrl0000664000000000000000000002416612741425367016424 0ustar rootroot# VRML V2.0 utf8 # PA-10 of Mitsubishi Heavy Industries, Ltd. # This model file was created with the data provided by Mitsubishi Heavy Industries, Ltd. PROTO Joint [ exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField MFFloat lvlimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat uvlimit [] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 exposedField SFFloat gearRatio 1 exposedField SFFloat rotorInertia 0 exposedField SFFloat rotorResistor 0 exposedField SFFloat torqueConst 1 exposedField SFFloat encoderPulse 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS viewpoints } Group { children IS humanoidBody } ] } } PROTO VisionSensor [ exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField MFNode children [ ] exposedField SFFloat fieldOfView 0.785398 exposedField SFString name "" exposedField SFFloat frontClipDistance 0.01 exposedField SFFloat backClipDistance 10.0 exposedField SFString type "NONE" exposedField SFInt32 sensorId -1 exposedField SFInt32 width 320 exposedField SFInt32 height 240 exposedField SFFloat frameRate 30 ] { Transform { rotation IS rotation translation IS translation children IS children } } PROTO ForceSensor [ exposedField SFVec3f maxForce -1 -1 -1 exposedField SFVec3f maxTorque -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField MFNode children [ ] exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation children IS children } } PROTO Gyro [ exposedField SFVec3f maxAngularVelocity -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField MFNode children [ ] exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation children IS children } } PROTO AccelerationSensor [ exposedField SFVec3f maxAcceleration -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField MFNode children [ ] exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation children IS children } } DEF PA10 Humanoid { humanoidBody [ DEF BASE Joint { jointType "fixed" translation 0.0 0.0 0.0 rotation 0 0 1 0 children [ DEF BASE_LINK Segment { mass 3.04 centerOfMass 0 0 0.075 momentsOfInertia [1 0 0 0 1 0 0 0 1] children [ Inline { url "parts/BASE.wrl" } ] } DEF J1 Joint { jointType "rotate" jointAxis 0 0 1 jointId 0 translation 0 0 0.2 rotation 0 0 1 0 ulimit 3.08923278 llimit -3.08923278 uvlimit 3.141592653589793 lvlimit -3.141592653589793 rotorInertia 3.0E-4 children [ DEF J1_LINK Segment { mass 9.78 centerOfMass 0 0 0.14818 momentsOfInertia [1 0 0 0 1 0 0 0 1] children [ Inline { url "parts/J1.wrl" } ] } DEF J2 Joint { jointType "rotate" jointAxis 1 0 0 jointId 1 translation 0 0 0.115 rotation 0 0 1 0 ulimit 1.6406095 llimit -1.6406095 uvlimit 3.141592653589793 lvlimit -3.141592653589793 rotorInertia 3.0E-04 children [ DEF J2_LINK Segment { mass 8.41 centerOfMass 0 0 0.37675 momentsOfInertia [1 0 0 0 1 0 0 0 1] children [ Inline { url "parts/J2.wrl" } ] } DEF J3 Joint { jointType "rotate" jointAxis 0 0 1 jointId 2 translation 0 0 0.28 rotation 0 0 1 0 ulimit 3.0368729 llimit -3.0368729 uvlimit 3.141592653589793 lvlimit -3.141592653589793 rotorInertia 8.5E-5 children [ DEF J3_LINK Segment { mass 3.52 centerOfMass 0 0 0.672141 momentsOfInertia [1 0 0 0 1 0 0 0 1] children [ Inline { url "parts/J3.wrl" } ] } DEF J4 Joint { jointType "rotate" jointAxis 1 0 0 jointId 3 translation 0 0 0.17 rotation 0 0 1 0 ulimit 2.39110108 llimit -2.39110108 uvlimit 3.141592653589793 lvlimit -3.141592653589793 rotorInertia 8.5E-5 children [ DEF J4_LINK Segment { mass 4.31 centerOfMass 0 0 0.809590 momentsOfInertia [1 0 0 0 1 0 0 0 1] children [ Inline { url "parts/J4.wrl" } ] } DEF J5 Joint { jointType "rotate" jointAxis 0 0 1 jointId 4 translation 0 0 0.25 rotation 0 0 1 0 ulimit 4.45058959 llimit -4.45058959 uvlimit 3.141592653589793 lvlimit -3.141592653589793 rotorInertia 2.3E-6 children [ DEF J5_LINK Segment { mass 3.45 centerOfMass 0 0 1.09875 momentsOfInertia [1 0 0 0 1 0 0 0 1] children [ Inline { url "parts/J5.wrl" } ] } DEF J6 Joint { jointType "rotate" jointAxis 1 0 0 jointId 5 translation -0.0025 0 0.25 rotation 0 0 1 0 ulimit 2.87979327 llimit -2.87979327 uvlimit 3.141592653589793 lvlimit -3.141592653589793 rotorInertia 2.3E-6 children [ DEF J6_LINK Segment { mass 1.46 centerOfMass 0 0 1.2335 momentsOfInertia [1 0 0 0 1 0 0 0 1] children [ Inline { url "parts/J6.wrl" } ] } DEF J7 Joint { jointType "rotate" jointAxis 0 0 1 jointId 6 translation 0 0 0.08 rotation 0 0 1 0 ulimit 4.45058959 llimit -4.45058959 uvlimit 3.141592653589793 lvlimit -3.141592653589793 rotorInertia 2.3E-6 children [ DEF J7_LINK Segment { mass 0.24 centerOfMass 0 0 1.3145 momentsOfInertia [1 0 0 0 1 0 0 0 1] children [ Inline { url "parts/J7.wrl" } ] } DEF HAND_L Joint { jointType "slide" jointAxis 0 1 0 jointId 7 translation 0 0 0 rotation 1 0 0 0 ulimit 0.03 llimit -0.03 uvlimit 1.0 lvlimit -1.0 children [ DEF HAND_L_LINK Segment { mass 0.5 momentsOfInertia [0.1 0 0 0 0.1 0 0 0 0.1] children [ Inline { url "parts/HAND_L.wrl" } ] } ] } DEF HAND_R Joint { jointType "slide" jointAxis 0 1 0 jointId 8 translation 0 0 0 rotation 0 0 1 0 ulimit 0.03 llimit -0.03 uvlimit 1.0 lvlimit -1.0 children [ DEF HAND_R_LINK Segment { mass 0.5 momentsOfInertia [0.1 0 0 0 0.1 0 0 0 0.1] children [ Inline { url "parts/HAND_R.wrl" } ] } ] } # end of joint HAND_R ] } # end of joint J7 ] } # end of joint J6 ] } # end of joint J5 ] } # end of joint J4 ] } # end of joint J3 ] } # end of joint J2 ] } # end of joint J1 ] } # end of joint BASE ] joints [ USE BASE, USE J1, USE J2, USE J3, USE J4, USE J5, USE J6, USE J7, USE HAND_L, USE HAND_R ] segments [ USE BASE_LINK, USE J1_LINK, USE J2_LINK, USE J3_LINK, USE J4_LINK, USE J5_LINK, USE J6_LINK, USE J7_LINK, USE HAND_L_LINK, USE HAND_R_LINK ] } choreonoid-1.5.0/share/model/PA10/parts/0000775000000000000000000000000012741425367016355 5ustar rootrootchoreonoid-1.5.0/share/model/PA10/parts/HAND_R.wrl0000664000000000000000000000251712741425367020103 0ustar rootrootDEF FR Transform { children [ Shape { appearance Appearance { material Material { diffuseColor 0.85 0.85 0.85 } } geometry IndexedFaceSet { coord Coordinate { point [ 0.015 0.16 0.0, 0.015 0.16 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modelFile: PA10.wrl standardPose: [ 45, 30, 0, 60, 0, 45, 0, 0, 0 ] linkGroup: - BASE - name: Arm links: [ J1, J2, J3, J4, J5, J6, J7 ] - name: Gripper links: [ HAND_L, HAND_R ] possibleIkInterpolationLinks: [ J6, J7 ] defaultIkInterpolationLinks: [ J7 ] possileSupportLinks: [ ] defaultIKsetup: J6: [ BASE ] J7: [ BASE ] selfCollisionDetection: excludeTreeDepth: 2 excludeLinks: [ ] bodyMarkers: - [ BASE, [ 0.2, 0.2, 0.0 ], [ 0.2, -0.2, 0.0 ], [ -0.2, -0.2, 0.0 ], [ -0.2, 0.2, 0.0 ] ] - J4 - J7 choreonoid-1.5.0/share/model/misc/0000775000000000000000000000000012741425367015516 5ustar rootrootchoreonoid-1.5.0/share/model/misc/box4.wrl0000664000000000000000000002015612741425367017124 0ustar rootroot#VRML V2.0 utf8 PROTO Joint [ exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField MFFloat lvlimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat uvlimit [] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 exposedField SFFloat gearRatio 1 exposedField SFFloat rotorInertia 0 exposedField SFFloat rotorResistor 0 exposedField SFFloat torqueConst 1 exposedField SFFloat encoderPulse 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS viewpoints } Group { children IS humanoidBody } ] } } PROTO VisionSensor [ exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField MFNode children [ ] exposedField SFFloat fieldOfView 0.785398 exposedField SFString name "" exposedField SFFloat frontClipDistance 0.01 exposedField SFFloat backClipDistance 10.0 exposedField SFString type "NONE" exposedField SFInt32 sensorId -1 exposedField SFInt32 width 320 exposedField SFInt32 height 240 ] { Transform { rotation IS rotation translation IS translation children IS children } } PROTO ForceSensor [ exposedField SFVec3f maxForce -1 -1 -1 exposedField SFVec3f maxTorque -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO Gyro [ exposedField SFVec3f maxAngularVelocity -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO AccelerationSensor [ exposedField SFVec3f maxAcceleration -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO PressureSensor [ exposedField SFFloat maxPressure -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO PhotoInterrupter [ exposedField SFVec3f transmitter 0 0 0 exposedField SFVec3f receiver 0 0 0 exposedField SFInt32 sensorId -1 ] { Transform{ children [ Transform{ translation IS transmitter } Transform{ translation IS receiver } ] } } PROTO CylinderSensorZ [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 1 0 0 1.5708 children [ DEF SensorY CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisY Transform{ children [ Transform{ rotation 1 0 0 -1.5708 children IS children } ] } ] } ROUTE SensorY.rotation_changed TO AxisY.set_rotation } PROTO CylinderSensorY [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 0 1 0 1.5708 children [ DEF SensorX CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisX Transform{ children [ Transform{ rotation 0 1 0 -1.5708 children IS children } ] } ] } ROUTE SensorX.rotation_changed TO AxisX.set_rotation } PROTO CylinderSensorX [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 0 0 1 -1.5708 children [ DEF SensorZ CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisZ Transform{ children [ Transform{ rotation 0 0 1 1.5708 children IS children } ] } ] } ROUTE SensorZ.rotation_changed TO AxisZ.set_rotation } NavigationInfo { avatarSize 0.5 headlight TRUE type ["EXAMINE", "ANY"] } Background { skyColor 0.4 0.6 0.4 } Viewpoint { position 3 0 0.835 orientation 0.5770 0.5775 0.5775 2.0935 } DEF box4 Humanoid { humanoidBody [ DEF WAIST Joint { jointType "free" children [ DEF BODY Segment { mass 0.5 momentsOfInertia [8.33e-4 0 0 0 8.33e-4 0 0 0 8.33e-4] children Transform { translation 0 0 0 rotation 1 0 0 0 children Shape { geometry Box { size 0.1 0.1 0.1 } appearance Appearance { material Material { diffuseColor 1.0 1.0 0.0 } } } } } ] } ] joints [ USE WAIST ] name "box4" segments [ USE BODY ] } choreonoid-1.5.0/share/model/misc/tank.body0000664000000000000000000001106612741425367017336 0ustar rootrootformat: ChoreonoidBody formatVersion: 1.0 angleUnit: degree name: Tank rootLink: CHASSIS links: - name: CHASSIS translation: [ 0, 0, 0.1 ] jointType: free elements: RigidBody: centerOfMass: [ 0, 0, 0 ] mass: 8.0 inertia: [ 0.1, 0, 0, 0, 0.1, 0, 0, 0, 0.5 ] elements: Shape: appearance: &GREEN material: diffuseColor: [ 0, 0.6, 0 ] ambientIntensity: 0.3 specularColor: [ 0.7, 0.7, 0.7 ] shininess: 0.25 geometry: type: Box size: [ 0.4, 0.3, 0.1 ] - name: CRAWLER_TRACK_L parent: CHASSIS translation: [ 0, 0.15, 0 ] jointType: pseudoContinuousTrack jointAxis: [ 0, 1, 0 ] jointId: 0 elements: RigidBody: centerOfMass: [ 0, 0, 0 ] mass: 1.0 inertia: [ 0.02, 0, 0, 0, 0.02, 0, 0, 0, 0.02 ] elements: Transform: translation: [ 0, 0.05, 0 ] elements: Shape: &CRAWLER appearance: &BLACK material: diffuseColor: [ 0.1, 0.1, 0.1 ] ambientIntensity: 0.01 specularColor: [ 0.3, 0.3, 0.3 ] shininess: 0.01 geometry: type: Extrusion crossSection: [ -0.2, -0.1, 0.2, -0.1, 0.3, 0.06, -0.3, 0.06, -0.2, -0.1 ] spine: [ 0, -0.05, 0, 0, 0.05, 0 ] - name: CRAWLER_TRACK_R parent: CHASSIS translation: [ 0, -0.15, 0 ] jointType: pseudoContinuousTrack jointAxis: [ 0, 1, 0 ] jointId: 1 elements: RigidBody: centerOfMass: [ 0, 0, 0 ] mass: 1.0 inertia: [ 0.02, 0, 0, 0, 0.02, 0, 0, 0, 0.02 ] elements: Transform: translation: [ 0, -0.05, 0 ] elements: Shape: *CRAWLER - name: CANNON_Y parent: CHASSIS translation: [ -0.05, 0, 0.08 ] jointType: revolute jointAxis: [ 0, 0, 1 ] jointId: 2 elements: RigidBody: centerOfMass: [ 0, 0, 0.025 ] mass: 4.0 inertia: [ 0.1, 0, 0, 0, 0.1, 0, 0, 0, 0.1 ] elements: Shape: appearance: *GREEN geometry: type: Box size: [ 0.2, 0.2, 0.08 ] - name: CANNON_P parent: CANNON_Y translation: [ 0, 0, 0.04 ] jointType: revolute jointAxis: [ 0, 1, 0 ] jointId: 3 elements: - type: RigidBody centerOfMass: [ 0, 0, 0 ] mass: 3.0 inertia: [ 0.1, 0, 0, 0, 0.1, 0, 0, 0, 0.1 ] elements: - type: Shape appearance: *GREEN geometry: type: Cylinder height: 0.1 radius: 0.11 - type: Transform translation: [ 0, 0, 0.13 ] rotation: [ 0.540716, -0.540716, -0.6444, 114.4042 ] elements: - type: Camera name: Camera format: COLOR_DEPTH width: 320 height: 240 id: 0 frameRate: 30 - type: RangeSensor name: RangeSensor id: 0 scanAngle: 90 scanStep: 0.5 scanRate: 10 maxDistance: 10 - type: RigidBody translation: [ 0.2, 0, 0 ] centerOfMass: [ 0.2, 0, 0 ] mass: 1.0 inertia: [ 0.01, 0, 0, 0, 0.1, 0, 0, 0, 0.1 ] elements: - type: Transform rotation: [ 0, 0, 1, 90 ] elements: Shape: appearance: *GREEN geometry: type: Cylinder height: 0.2 radius: 0.02 - type: Transform translation: [ 0.2, 0, 0 ] elements: SpotLight: name: MainLight direction: [ 1, 0, 0 ] beamWidth: 36 cutOffAngle: 40 cutOffExponent: 6 attenuation: [ 1, 0, 0.01 ] choreonoid-1.5.0/share/model/misc/fog.wrl0000664000000000000000000000041212741425367017014 0ustar rootroot#VRML V2.0 utf8 Group { children [ Fog { color 1.0 1.0 1.0 visibilityRange 20.0 } Shape { geometry Sphere { radius 100.0 } appearance Appearance { material Material { diffuseColor 1.0 1.0 1.0 } } } ] } choreonoid-1.5.0/share/model/misc/ClosedLinkSample.wrl0000664000000000000000000004700512741425367021443 0ustar rootroot#VRML V2.0 utf8 PROTO Joint [ exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField MFFloat lvlimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat uvlimit [] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 exposedField SFFloat equivalentInertia 0 exposedField SFFloat gearRatio 1 exposedField SFFloat rotorInertia 0 exposedField SFFloat rotorResistor 0 exposedField SFFloat torqueConst 1 exposedField SFFloat encoderPulse 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] exposedField MFNode linkConnections [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS viewpoints } Group { children IS humanoidBody } ] } } # If the body includes closed loop links, plase define the following proto node PROTO ExtraJoint [ # Name of the first link exposedField SFString link1Name "" # Name of the second link exposedField SFString link2Name "" # Connection (joint) position in the local coordinate of the first link exposedField SFVec3f link1LocalPos 0 0 0 # Connection (joint) position in the local coordinate of the second link exposedField SFVec3f link2LocalPos 0 0 0 # Constraint axes. Two or three orthogonal axes must be specified # in the local coordinate of the first link #exposedField MFVec3f axes [ ] # Possible types are "piston" and "ball" exposedField SFString jointType "piston" exposedField SFVec3f jointAxis 1 0 0 ] { } # The ends of J1 and j3 are connected. (Constraned along x-axis and y-axis) DEF J1J3 ExtraJoint { link1Name "J1" link2Name "J3" link1LocalPos 0.2 0 0 link2LocalPos 0 0.1 0 jointType "piston" jointAxis 0 0 1 #axes [ 1 0 0, 0 1 0 ] } DEF ClosedLinkSample Humanoid { humanoidBody [ DEF WAIST Joint { translation 0.000000 0.000000 0.000000 rotation 1.000000 0.000000 0.000000 -1.5710 jointType "fixed" children [ DEF WAIST_LINK Segment { mass 27.000000 centerOfMass 0.100000 0.025000 0.050000 momentsOfInertia [0.163125 0.000000 0.000000 0.000000 0.382500 0.000000 0.000000 0.000000 0.163125 ] children [ Shape { geometry IndexedFaceSet { ccw TRUE solid FALSE colorPerVertex FALSE coord Coordinate { point [-0.100000 -0.100000 0.000000, -0.100000 0.150000 0.000000, 0.300000 0.150000 0.000000, 0.300000 -0.100000 0.000000, -0.100000 -0.100000 0.100000, -0.100000 0.150000 0.100000, 0.300000 0.150000 0.100000, 0.300000 -0.100000 0.100000,] } coordIndex [0,1,2,3,-1, 1,5,6,2,-1, 3,2,6,7,-1, 0,3,7,4,-1, 0,4,5,1,-1, 4,7,6,5,-1,] } appearance Appearance { material Material { diffuseColor 0.5 0.5 0.5 } } } ] } DEF J0 Joint { translation 0.000000 0.000000 0.120000 rotation 0.000000 0.000000 1.000000 0.000000 jointType "rotate" jointId 0 jointAxis 0 0 1 children [ DEF J0_LINK Segment { mass 0.084823 centerOfMass 0.000000 0.050000 0.000000 momentsOfInertia [0.000073 0.000000 0.000000 0.000000 0.000004 -0.000000 0.000000 -0.000000 0.000073 ] children [ Shape { geometry IndexedFaceSet { ccw TRUE solid FALSE colorPerVertex FALSE coord Coordinate { point [0.020000 0.000000 0.020000, 0.016180 0.011756 0.020000, 0.006180 0.019021 0.020000, -0.006180 0.019021 0.020000, -0.016180 0.011756 0.020000, -0.020000 0.000000 0.020000, -0.016180 -0.011756 0.020000, -0.006180 -0.019021 0.020000, 0.006180 -0.019021 0.020000, 0.016180 -0.011756 0.020000, 0.020000 0.000000 -0.020000, 0.016180 0.011756 -0.020000, 0.006180 0.019021 -0.020000, -0.006180 0.019021 -0.020000, -0.016180 0.011756 -0.020000, -0.020000 0.000000 -0.020000, -0.016180 -0.011756 -0.020000, -0.006180 -0.019021 -0.020000, 0.006180 -0.019021 -0.020000, 0.016180 -0.011756 -0.020000, 0.000000 0.000000 0.020000, 0.000000 0.000000 -0.020000, 0.015000 0.100000 0.020000, 0.012135 0.108817 0.020000, 0.004635 0.114266 0.020000, -0.004635 0.114266 0.020000, -0.012135 0.108817 0.020000, -0.015000 0.100000 0.020000, -0.012135 0.091183 0.020000, -0.004635 0.085734 0.020000, 0.004635 0.085734 0.020000, 0.012135 0.091183 0.020000, 0.015000 0.100000 -0.020000, 0.012135 0.108817 -0.020000, 0.004635 0.114266 -0.020000, -0.004635 0.114266 -0.020000, -0.012135 0.108817 -0.020000, -0.015000 0.100000 -0.020000, -0.012135 0.091183 -0.020000, -0.004635 0.085734 -0.020000, 0.004635 0.085734 -0.020000, 0.012135 0.091183 -0.020000, 0.000000 0.100000 0.020000, 0.000000 0.100000 -0.020000, 0.010000 0.000000 0.000000, 0.008090 0.000000 0.005878, 0.003090 0.000000 0.009511, -0.003090 0.000000 0.009511, -0.008090 0.000000 0.005878, -0.010000 0.000000 0.000000, -0.008090 0.000000 -0.005878, -0.003090 0.000000 -0.009511, 0.003090 0.000000 -0.009511, 0.008090 0.000000 -0.005878, 0.010000 0.100000 -0.000000, 0.008090 0.100000 0.005878, 0.003090 0.100000 0.009511, -0.003090 0.100000 0.009511, -0.008090 0.100000 0.005878, -0.010000 0.100000 -0.000000, -0.008090 0.100000 -0.005878, -0.003090 0.100000 -0.009511, 0.003090 0.100000 -0.009511, 0.008090 0.100000 -0.005878, 0.000000 0.000000 0.000000, 0.000000 0.100000 -0.000000,] } coordIndex [0,10,11,1,-1, 1,11,12,2,-1, 2,12,13,3,-1, 3,13,14,4,-1, 4,14,15,5,-1, 5,15,16,6,-1, 6,16,17,7,-1, 7,17,18,8,-1, 8,18,19,9,-1, 9,19,10,0,-1, 0,1,20,-1, 1,2,20,-1, 2,3,20,-1, 3,4,20,-1, 4,5,20,-1, 5,6,20,-1, 6,7,20,-1, 7,8,20,-1, 8,9,20,-1, 9,0,20,-1, 11,10,21,-1, 12,11,21,-1, 13,12,21,-1, 14,13,21,-1, 15,14,21,-1, 16,15,21,-1, 17,16,21,-1, 18,17,21,-1, 19,18,21,-1, 10,19,21,-1, 22,32,33,23,-1, 23,33,34,24,-1, 24,34,35,25,-1, 25,35,36,26,-1, 26,36,37,27,-1, 27,37,38,28,-1, 28,38,39,29,-1, 29,39,40,30,-1, 30,40,41,31,-1, 31,41,32,22,-1, 22,23,42,-1, 23,24,42,-1, 24,25,42,-1, 25,26,42,-1, 26,27,42,-1, 27,28,42,-1, 28,29,42,-1, 29,30,42,-1, 30,31,42,-1, 31,22,42,-1, 33,32,43,-1, 34,33,43,-1, 35,34,43,-1, 36,35,43,-1, 37,36,43,-1, 38,37,43,-1, 39,38,43,-1, 40,39,43,-1, 41,40,43,-1, 32,41,43,-1, 44,54,55,45,-1, 45,55,56,46,-1, 46,56,57,47,-1, 47,57,58,48,-1, 48,58,59,49,-1, 49,59,60,50,-1, 50,60,61,51,-1, 51,61,62,52,-1, 52,62,63,53,-1, 53,63,54,44,-1, 44,45,64,-1, 45,46,64,-1, 46,47,64,-1, 47,48,64,-1, 48,49,64,-1, 49,50,64,-1, 50,51,64,-1, 51,52,64,-1, 52,53,64,-1, 53,44,64,-1, 55,54,65,-1, 56,55,65,-1, 57,56,65,-1, 58,57,65,-1, 59,58,65,-1, 60,59,65,-1, 61,60,65,-1, 62,61,65,-1, 63,62,65,-1, 54,63,65,-1,] } appearance Appearance { material Material { } } } ] } DEF J1 Joint { translation 0.000000 0.100000 0.040000 rotation 0.000000 0.000000 1.000000 0.000000 jointType "rotate" jointId 1 jointAxis 0 0 1 children [ DEF J1_LINK Segment { mass 0.169646 centerOfMass 0.100000 0.000000 0.000000 momentsOfInertia [0.000008 0.000000 -0.000000 0.000000 0.000570 0.000000 -0.000000 0.000000 0.000570 ] children [ Shape { geometry IndexedFaceSet { ccw TRUE solid FALSE colorPerVertex FALSE coord Coordinate { point [0.013000 0.000000 0.020000, 0.010517 0.007641 0.020000, 0.004017 0.012364 0.020000, -0.004017 0.012364 0.020000, -0.010517 0.007641 0.020000, -0.013000 0.000000 0.020000, -0.010517 -0.007641 0.020000, -0.004017 -0.012364 0.020000, 0.004017 -0.012364 0.020000, 0.010517 -0.007641 0.020000, 0.013000 0.000000 -0.020000, 0.010517 0.007641 -0.020000, 0.004017 0.012364 -0.020000, -0.004017 0.012364 -0.020000, -0.010517 0.007641 -0.020000, -0.013000 0.000000 -0.020000, -0.010517 -0.007641 -0.020000, -0.004017 -0.012364 -0.020000, 0.004017 -0.012364 -0.020000, 0.010517 -0.007641 -0.020000, 0.000000 0.000000 0.020000, 0.000000 0.000000 -0.020000, 0.213000 0.000000 0.020000, 0.210517 0.007641 0.020000, 0.204017 0.012364 0.020000, 0.195983 0.012364 0.020000, 0.189483 0.007641 0.020000, 0.187000 0.000000 0.020000, 0.189483 -0.007641 0.020000, 0.195983 -0.012364 0.020000, 0.204017 -0.012364 0.020000, 0.210517 -0.007641 0.020000, 0.213000 0.000000 -0.020000, 0.210517 0.007641 -0.020000, 0.204017 0.012364 -0.020000, 0.195983 0.012364 -0.020000, 0.189483 0.007641 -0.020000, 0.187000 0.000000 -0.020000, 0.189483 -0.007641 -0.020000, 0.195983 -0.012364 -0.020000, 0.204017 -0.012364 -0.020000, 0.210517 -0.007641 -0.020000, 0.200000 0.000000 0.020000, 0.200000 0.000000 -0.020000, 0.000000 0.000000 0.010000, 0.000000 0.005878 0.008090, 0.000000 0.009511 0.003090, 0.000000 0.009511 -0.003090, 0.000000 0.005878 -0.008090, 0.000000 0.000000 -0.010000, 0.000000 -0.005878 -0.008090, 0.000000 -0.009511 -0.003090, 0.000000 -0.009511 0.003090, 0.000000 -0.005878 0.008090, 0.200000 0.000000 0.010000, 0.200000 0.005878 0.008090, 0.200000 0.009511 0.003090, 0.200000 0.009511 -0.003090, 0.200000 0.005878 -0.008090, 0.200000 0.000000 -0.010000, 0.200000 -0.005878 -0.008090, 0.200000 -0.009511 -0.003090, 0.200000 -0.009511 0.003090, 0.200000 -0.005878 0.008090, 0.000000 0.000000 0.000000, 0.200000 0.000000 -0.000000,] } coordIndex [0,10,11,1,-1, 1,11,12,2,-1, 2,12,13,3,-1, 3,13,14,4,-1, 4,14,15,5,-1, 5,15,16,6,-1, 6,16,17,7,-1, 7,17,18,8,-1, 8,18,19,9,-1, 9,19,10,0,-1, 0,1,20,-1, 1,2,20,-1, 2,3,20,-1, 3,4,20,-1, 4,5,20,-1, 5,6,20,-1, 6,7,20,-1, 7,8,20,-1, 8,9,20,-1, 9,0,20,-1, 11,10,21,-1, 12,11,21,-1, 13,12,21,-1, 14,13,21,-1, 15,14,21,-1, 16,15,21,-1, 17,16,21,-1, 18,17,21,-1, 19,18,21,-1, 10,19,21,-1, 22,32,33,23,-1, 23,33,34,24,-1, 24,34,35,25,-1, 25,35,36,26,-1, 26,36,37,27,-1, 27,37,38,28,-1, 28,38,39,29,-1, 29,39,40,30,-1, 30,40,41,31,-1, 31,41,32,22,-1, 22,23,42,-1, 23,24,42,-1, 24,25,42,-1, 25,26,42,-1, 26,27,42,-1, 27,28,42,-1, 28,29,42,-1, 29,30,42,-1, 30,31,42,-1, 31,22,42,-1, 33,32,43,-1, 34,33,43,-1, 35,34,43,-1, 36,35,43,-1, 37,36,43,-1, 38,37,43,-1, 39,38,43,-1, 40,39,43,-1, 41,40,43,-1, 32,41,43,-1, 44,54,55,45,-1, 45,55,56,46,-1, 46,56,57,47,-1, 47,57,58,48,-1, 48,58,59,49,-1, 49,59,60,50,-1, 50,60,61,51,-1, 51,61,62,52,-1, 52,62,63,53,-1, 53,63,54,44,-1, 44,45,64,-1, 45,46,64,-1, 46,47,64,-1, 47,48,64,-1, 48,49,64,-1, 49,50,64,-1, 50,51,64,-1, 51,52,64,-1, 52,53,64,-1, 53,44,64,-1, 55,54,65,-1, 56,55,65,-1, 57,56,65,-1, 58,57,65,-1, 59,58,65,-1, 60,59,65,-1, 61,60,65,-1, 62,61,65,-1, 63,62,65,-1, 54,63,65,-1,] } appearance Appearance { material Material { diffuseColor 1.0 0.0 0.0 } } } ] } ] } ] } DEF J3 Joint { translation 0.200000 0.000000 0.120000 rotation 0.000000 0.000000 1.000000 0.000000 jointType "rotate" jointId 2 jointAxis 0 0 1 children [ DEF J3_LINK Segment { mass 0.084823 centerOfMass 0.000000 0.050000 0.000000 momentsOfInertia [0.000073 0.000000 0.000000 0.000000 0.000004 -0.000000 0.000000 -0.000000 0.000073 ] children [ Shape { geometry IndexedFaceSet { ccw TRUE solid FALSE colorPerVertex FALSE coord Coordinate { point [0.020000 0.000000 0.020000, 0.016180 0.011756 0.020000, 0.006180 0.019021 0.020000, -0.006180 0.019021 0.020000, -0.016180 0.011756 0.020000, -0.020000 0.000000 0.020000, -0.016180 -0.011756 0.020000, -0.006180 -0.019021 0.020000, 0.006180 -0.019021 0.020000, 0.016180 -0.011756 0.020000, 0.020000 0.000000 -0.020000, 0.016180 0.011756 -0.020000, 0.006180 0.019021 -0.020000, -0.006180 0.019021 -0.020000, -0.016180 0.011756 -0.020000, -0.020000 0.000000 -0.020000, -0.016180 -0.011756 -0.020000, -0.006180 -0.019021 -0.020000, 0.006180 -0.019021 -0.020000, 0.016180 -0.011756 -0.020000, 0.000000 0.000000 0.020000, 0.000000 0.000000 -0.020000, 0.015000 0.100000 0.020000, 0.012135 0.108817 0.020000, 0.004635 0.114266 0.020000, -0.004635 0.114266 0.020000, -0.012135 0.108817 0.020000, -0.015000 0.100000 0.020000, -0.012135 0.091183 0.020000, -0.004635 0.085734 0.020000, 0.004635 0.085734 0.020000, 0.012135 0.091183 0.020000, 0.015000 0.100000 -0.020000, 0.012135 0.108817 -0.020000, 0.004635 0.114266 -0.020000, -0.004635 0.114266 -0.020000, -0.012135 0.108817 -0.020000, -0.015000 0.100000 -0.020000, -0.012135 0.091183 -0.020000, -0.004635 0.085734 -0.020000, 0.004635 0.085734 -0.020000, 0.012135 0.091183 -0.020000, 0.000000 0.100000 0.020000, 0.000000 0.100000 -0.020000, 0.010000 0.000000 0.000000, 0.008090 0.000000 0.005878, 0.003090 0.000000 0.009511, -0.003090 0.000000 0.009511, -0.008090 0.000000 0.005878, -0.010000 0.000000 0.000000, -0.008090 0.000000 -0.005878, -0.003090 0.000000 -0.009511, 0.003090 0.000000 -0.009511, 0.008090 0.000000 -0.005878, 0.010000 0.100000 -0.000000, 0.008090 0.100000 0.005878, 0.003090 0.100000 0.009511, -0.003090 0.100000 0.009511, -0.008090 0.100000 0.005878, -0.010000 0.100000 -0.000000, -0.008090 0.100000 -0.005878, -0.003090 0.100000 -0.009511, 0.003090 0.100000 -0.009511, 0.008090 0.100000 -0.005878, 0.000000 0.000000 0.000000, 0.000000 0.100000 -0.000000,] } coordIndex [0,10,11,1,-1, 1,11,12,2,-1, 2,12,13,3,-1, 3,13,14,4,-1, 4,14,15,5,-1, 5,15,16,6,-1, 6,16,17,7,-1, 7,17,18,8,-1, 8,18,19,9,-1, 9,19,10,0,-1, 0,1,20,-1, 1,2,20,-1, 2,3,20,-1, 3,4,20,-1, 4,5,20,-1, 5,6,20,-1, 6,7,20,-1, 7,8,20,-1, 8,9,20,-1, 9,0,20,-1, 11,10,21,-1, 12,11,21,-1, 13,12,21,-1, 14,13,21,-1, 15,14,21,-1, 16,15,21,-1, 17,16,21,-1, 18,17,21,-1, 19,18,21,-1, 10,19,21,-1, 22,32,33,23,-1, 23,33,34,24,-1, 24,34,35,25,-1, 25,35,36,26,-1, 26,36,37,27,-1, 27,37,38,28,-1, 28,38,39,29,-1, 29,39,40,30,-1, 30,40,41,31,-1, 31,41,32,22,-1, 22,23,42,-1, 23,24,42,-1, 24,25,42,-1, 25,26,42,-1, 26,27,42,-1, 27,28,42,-1, 28,29,42,-1, 29,30,42,-1, 30,31,42,-1, 31,22,42,-1, 33,32,43,-1, 34,33,43,-1, 35,34,43,-1, 36,35,43,-1, 37,36,43,-1, 38,37,43,-1, 39,38,43,-1, 40,39,43,-1, 41,40,43,-1, 32,41,43,-1, 44,54,55,45,-1, 45,55,56,46,-1, 46,56,57,47,-1, 47,57,58,48,-1, 48,58,59,49,-1, 49,59,60,50,-1, 50,60,61,51,-1, 51,61,62,52,-1, 52,62,63,53,-1, 53,63,54,44,-1, 44,45,64,-1, 45,46,64,-1, 46,47,64,-1, 47,48,64,-1, 48,49,64,-1, 49,50,64,-1, 50,51,64,-1, 51,52,64,-1, 52,53,64,-1, 53,44,64,-1, 55,54,65,-1, 56,55,65,-1, 57,56,65,-1, 58,57,65,-1, 59,58,65,-1, 60,59,65,-1, 61,60,65,-1, 62,61,65,-1, 63,62,65,-1, 54,63,65,-1,] } appearance Appearance { material Material { } } } ] } ] } ] } ] joints [ USE WAIST, USE J0, USE J1, USE J3, ] segments [ USE WAIST_LINK, USE J0_LINK, USE J1_LINK, USE J3_LINK, ] } choreonoid-1.5.0/share/model/misc/smallfloor.wrl0000664000000000000000000000675712741425367020435 0ustar rootroot#VRML V2.0 utf8 PROTO Joint [ exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField MFFloat lvlimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat uvlimit [] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 exposedField SFFloat gearRatio 1 exposedField SFFloat rotorInertia 0 exposedField SFFloat rotorResistor 0 exposedField SFFloat torqueConst 1 exposedField SFFloat encoderPulse 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS viewpoints } Group { children IS humanoidBody } ] } } DEF Floor Humanoid { humanoidBody [ DEF BASE Joint { jointType "fixed" translation 0.0 0.0 -0.01 rotation 0 0 1 0 children [ DEF BASE_LINK Segment { mass 0.5 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ Shape { geometry Box { size 2.0 2.0 0.02 } appearance Appearance { material Material { diffuseColor 0.0 0.0 1.0 } } } ] } ] } ] joints [ USE BASE ] segments [ USE BASE_LINK ] } choreonoid-1.5.0/share/model/misc/tank.wrl0000664000000000000000000002557612741425367017220 0ustar rootroot#VRML V2.0 utf8 PROTO Joint [ exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField MFFloat lvlimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat uvlimit [] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 exposedField SFFloat gearRatio 1 exposedField SFFloat rotorInertia 0 exposedField SFFloat rotorResistor 0 exposedField SFFloat torqueConst 1 exposedField SFFloat encoderPulse 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS viewpoints } Group { children IS humanoidBody } ] } } PROTO VisionSensor [ exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField MFNode children [ ] exposedField SFFloat fieldOfView 0.785398 exposedField SFString name "" exposedField SFFloat frontClipDistance 0.01 exposedField SFFloat backClipDistance 10.0 exposedField SFString type "NONE" exposedField SFInt32 sensorId -1 exposedField SFInt32 width 320 exposedField SFInt32 height 240 exposedField SFFloat frameRate 30 ] { Transform { rotation IS rotation translation IS translation children IS children } } PROTO RangeSensor [ exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField MFNode children [ ] exposedField SFInt32 sensorId -1 exposedField SFFloat scanAngle 3.14159 #[rad] exposedField SFFloat scanStep 0.1 #[rad] exposedField SFFloat scanRate 10 #[Hz] exposedField SFFloat maxDistance 10 ] { Transform { rotation IS rotation translation IS translation children IS children } } PROTO ForceSensor [ exposedField SFVec3f maxForce -1 -1 -1 exposedField SFVec3f maxTorque -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO Gyro [ exposedField SFVec3f maxAngularVelocity -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO AccelerationSensor [ exposedField SFVec3f maxAcceleration -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO SpotLightDevice [ exposedField SFVec3f attenuation 1 0 0 # [0,) exposedField SFFloat beamWidth 1.570796 # (0,/2] exposedField SFColor color 1 1 1 # [0,1] exposedField SFFloat cutOffAngle 0.785398 # (0,/2] exposedField SFVec3f direction 0 0 -1 # (-,) exposedField SFFloat intensity 1 # [0,1] exposedField SFBool on TRUE exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 ] { Transform { translation IS translation rotation IS rotation } } DEF Tank Humanoid { name "vehicle" version "1.1" info [ ] humanoidBody [ DEF CHASSIS Joint { jointType "free" translation 0 0 0.1 children [ DEF CHASSIS_LINK Segment { centerOfMass 0 0 0 mass 8.0 momentsOfInertia [ 0.1 0 0 0 0.1 0 0 0 0.5 ] children [ Transform { translation 0 0 0 rotation 1 0 0 0 children Shape { appearance Appearance { material DEF green Material { diffuseColor 0.0 0.6 0.0 ambientIntensity 0.3 specularColor 0.7 0.7 0.7 emissiveColor 0 0 0 shininess 0.25 transparency 0 } } geometry Box { size 0.4 0.3 0.1 } } # End of Shape node } ] } # End BODY_LINK DEF CRAWLER_TRACK_L Joint { translation 0.0 0.15 0 jointType "pseudoContinuousTrack" jointAxis 0 1 0 jointId 0 children [ DEF CRAWLER_TRACK_L_LINK Segment { centerOfMass 0 0 0 mass 1 momentsOfInertia [ 0.02 0 0 0 0.02 0 0 0 0.02 ] children [ Transform { translation 0 0.05 0 children DEF CRAWLER Shape { appearance Appearance { material DEF black Material { diffuseColor 0.1 0.1 0.1 ambientIntensity 0.01 specularColor 0.3 0.3 0.3 emissiveColor 0 0 0 shininess 0.01 transparency 0 } } geometry Extrusion { crossSection [ -0.2 -0.1, 0.2 -0.1, 0.3 0.06, -0.3 0.06, -0.2 -0.1 ] spine [0 -0.05 0, 0 0.05 0] } # End of Box } # End of Shape node } ] } # End of CRAWLER_TRACK_L_LINK ] } # End of CRAWLER_TRACK_L DEF CRAWLER_TRACK_R Joint { translation 0.0 -0.15 0 jointType "pseudoContinuousTrack" jointAxis 0 1 0 jointId 1 children [ DEF CRAWLER_TRACK_R_LINK Segment { centerOfMass 0 0 0 mass 1 momentsOfInertia [ 0.02 0 0 0 0.02 0 0 0 0.02 ] children [ Transform { translation 0.0 -0.05 0 children USE CRAWLER } ] } # End of CRAWLER_TRACK_R_LINK ] } # End of CRAWLER_TRACK_R DEF CANNON_Y Joint { translation -0.05 0 0.08 jointType "rotate" jointAxis 0 0 1 jointId 2 children [ DEF CANNON_Y_LINK Segment { centerOfMass 0 0 0.025 mass 4.0 momentsOfInertia [ 0.1 0 0 0 0.1 0 0 0 0.1 ] children [ Shape { appearance Appearance{ material USE green } geometry Box{ size 0.2 0.2 0.08 } } ] } DEF CANNON_P Joint { translation 0 0 0.04 jointType "rotate" jointAxis 0 1 0 jointId 3 children [ DEF CANNON_P_LINK Segment { centerOfMass 0.1 0 0 mass 4.0 momentsOfInertia [ 0.1 0 0 0 1.0 0 0 0 1.0 ] children [ Transform { children [ Shape { appearance Appearance{ material USE green } geometry Cylinder{ height 0.1 radius 0.11 } } Transform { translation 0.20 0.0 0.0 rotation 0 0 1 1.5708 children Shape{ appearance Appearance{ material USE green } geometry Cylinder{ height 0.2 radius 0.02 } } } ] } DEF Camera VisionSensor { translation 0 0 0.13 rotation 0.540716 -0.540716 -0.6444 1.99673 type "COLOR_DEPTH" width 320 height 240 sensorId 0 frameRate 30 backClipDistance 120.0 } DEF RangeSensor RangeSensor { translation 0.2 0 0.15 rotation 0.540716 -0.540716 -0.6444 1.99673 sensorId 0 scanAngle 1.5707963267948966 # 90 [deg] scanStep 0.008726646259971648 # 0.5 [deg] scanRate 10 maxDistance 10 } DEF MainLight SpotLightDevice { direction 1 0 0 beamWidth 0.55 cutOffAngle 0.6 attenuation 1 0 0.01 translation 0 0 0.2 } ] } ] } # End of CANNON_P joint ] } # End of CANNON_Y Joint ] } ] joints [ USE CHASSIS, USE CRAWLER_TRACK_L, USE CRAWLER_TRACK_R, USE CANNON_Y USE CANNON_P ] segments [ USE CHASSIS_LINK, USE CRAWLER_TRACK_L_LINK, USE CRAWLER_TRACK_R_LINK, USE CANNON_Y_LINK USE CANNON_P_LINK ] } choreonoid-1.5.0/share/model/misc/crawler.wrl0000664000000000000000000001371712741425367017714 0ustar rootroot#VRML V2.0 utf8 PROTO Joint [ exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField MFFloat lvlimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat uvlimit [] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 exposedField SFFloat gearRatio 1 exposedField SFFloat rotorInertia 0 exposedField SFFloat rotorResistor 0 exposedField SFFloat torqueConst 1 exposedField SFFloat encoderPulse 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS viewpoints } Group { children IS humanoidBody } ] } } DEF Crawler Humanoid { name "Crawler" version "1.0" info [ ] humanoidBody [ DEF BODY Joint { jointType "free" translation 0 0 0.1 children [ DEF BODY_LINK Segment { centerOfMass 0 0 0 mass 10.0 momentsOfInertia [ 0.1 0 0 0 0.1 0 0 0 0.5 ] children [ Shape { appearance Appearance { material DEF green Material { diffuseColor 0.0 0.6 0.0 ambientIntensity 0.3 specularColor 0.7 0.7 0.7 emissiveColor 0 0 0 shininess 0.25 transparency 0 } } geometry Box { size 0.4 0.3 0.1 } } Transform { translation 0 0 0.05 children [ Shape{ appearance Appearance{ material USE green } geometry Extrusion { crossSection [ 0.2 0, 0.1 0.1, -0.2 0.1, -0.2 0, 0.2 0 ] spine [0 -0.1 0, 0 0.1 0] } } ] } ] } # End BODY_LINK DEF CRAWLER_TRACK_L Joint { translation 0.0 0.15 0 jointType "pseudoContinuousTrack" jointAxis 0 1 0 jointId 0 children [ DEF CRAWLER_TRACK_L_LINK Segment { centerOfMass 0 0 0 mass 1 momentsOfInertia [ 0.02 0 0 0 0.02 0 0 0 0.02 ] children [ Transform { translation 0 0.05 0 children DEF CRAWLER Shape { appearance Appearance { material DEF black Material { diffuseColor 0.1 0.1 0.1 ambientIntensity 0.01 specularColor 0.3 0.3 0.3 emissiveColor 0 0 0 shininess 0.01 transparency 0 } } geometry Extrusion { crossSection [ -0.18 -0.1, 0.18 -0.1, 0.3 0.06, -0.3 0.06, -0.18 -0.1 ] spine [0 -0.05 0, 0 0.05 0] } } } ] } # End of CRAWLER_TRACK_L_LINK ] } # End of CRAWLER_TRACK_L DEF CRAWLER_TRACK_R Joint { translation 0.0 -0.15 0 jointType "pseudoContinuousTrack" jointAxis 0 1 0 jointId 1 children [ DEF CRAWLER_TRACK_R_LINK Segment { centerOfMass 0 0 0 mass 1 momentsOfInertia [ 0.02 0 0 0 0.02 0 0 0 0.02 ] children [ Transform { translation 0.0 -0.05 0 children USE CRAWLER } ] } # End of CRAWLER_TRACK_R_LINK ] } # End of CRAWLER_TRACK_R ] } ] # List up all the joints' name you use joints [ USE BODY, USE CRAWLER_TRACK_L, USE CRAWLER_TRACK_R ] # List up all the segments' name you use segments [ USE BODY_LINK, USE CRAWLER_TRACK_L_LINK, USE CRAWLER_TRACK_R_LINK ] } choreonoid-1.5.0/share/model/misc/simple_vehicle.wrl0000664000000000000000000012373212741425367021244 0ustar rootroot#VRML V2.0 utf8 #-------------------------------------------------------------- # OpenHRP Sample Model # # author Ichitaro Kohara (YNL, Univ. of Tokyo) # version 1.0 (2000.11.08) # modified Hirohisa Hirukawa (ETL) # version 1.1 (2000.11.24) # modified Natsuki Miyata (MEL) # version 1.1 (2000.12.7) #-------------------------------------------------------------- PROTO Joint [ exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField MFFloat lvlimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat uvlimit [] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 exposedField SFFloat gearRatio 1 exposedField SFFloat rotorInertia 0 exposedField SFFloat rotorResistor 0 exposedField SFFloat torqueConst 1 exposedField SFFloat encoderPulse 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS viewpoints } Group { children IS humanoidBody } ] } } PROTO VisionSensor [ exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField MFNode children [ ] exposedField SFFloat fieldOfView 0.785398 exposedField SFString name "" exposedField SFFloat frontClipDistance 0.01 exposedField SFFloat backClipDistance 10.0 exposedField SFString type "NONE" exposedField SFInt32 sensorId -1 exposedField SFInt32 width 320 exposedField SFInt32 height 240 ] { Transform { rotation IS rotation translation IS translation children IS children } } PROTO ForceSensor [ exposedField SFVec3f maxForce -1 -1 -1 exposedField SFVec3f maxTorque -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO Gyro [ exposedField SFVec3f maxAngularVelocity -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO AccelerationSensor [ exposedField SFVec3f maxAcceleration -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO PressureSensor [ exposedField SFFloat maxPressure -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO PhotoInterrupter [ exposedField SFVec3f transmitter 0 0 0 exposedField SFVec3f receiver 0 0 0 exposedField SFInt32 sensorId -1 ] { Transform{ children [ Transform{ translation IS transmitter } Transform{ translation IS receiver } ] } } PROTO CylinderSensorZ [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 1 0 0 1.5708 children [ DEF SensorY CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisY Transform{ children [ Transform{ rotation 1 0 0 -1.5708 children IS children } ] } ] } ROUTE SensorY.rotation_changed TO AxisY.set_rotation } PROTO CylinderSensorY [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 0 1 0 1.5708 children [ DEF SensorX CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisX Transform{ children [ Transform{ rotation 0 1 0 -1.5708 children IS children } ] } ] } ROUTE SensorX.rotation_changed TO AxisX.set_rotation } PROTO CylinderSensorX [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 0 0 1 -1.5708 children [ DEF SensorZ CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisZ Transform{ children [ Transform{ rotation 0 0 1 1.5708 children IS children } ] } ] } ROUTE SensorZ.rotation_changed TO AxisZ.set_rotation } NavigationInfo { avatarSize 0.5 headlight TRUE type ["EXAMINE", "ANY"] } Background { skyColor 0.4 0.6 0.4 } Viewpoint { position 3 0 0.835 orientation 0.5770 0.5775 0.5775 2.0935 } DEF SimpleVehicle Humanoid { name "vehicle" version "1.1" info [ "This is a sample model of OpenHRP." "You can modify and use this model freely." "Author : Ichitaro Kohara, YNL, Univ. of Tokyo" "Date : 2000.11.08" "Modifying Author : Natsuki Miyata, MEL" "Date : 2000.12.08" "Version : 1.1" ] humanoidBody [ DEF BODY Joint { jointType "free" translation 0 0 0.1 children [ DEF BODY_LINK Segment { centerOfMass 0 0 0 mass 10.0 momentsOfInertia [ 0.1 0 0 0 0.1 0 0 0 0.5 ] children [ Transform { translation 0 0 0 rotation 1 0 0 1.5708 children Shape { appearance Appearance { material DEF green Material { diffuseColor 0.0 0.6 0.0 ambientIntensity 0.3 specularColor 0.7 0.7 0.7 emissiveColor 0 0 0 shininess 0.25 transparency 0 } } geometry IndexedFaceSet { coord Coordinate { point [ # 8 vertices -0.15 -0.05 -0.25, -0.15 -0.05 0.25, -0.15 0.05 -0.25, -0.15 0.05 0.25, 0.15 -0.05 -0.25, 0.15 -0.05 0.25, 0.15 0.05 -0.25, 0.15 0.05 0.25 ] } # 6 polygons coordIndex [ 1, 5, 7, 3, -1, 5, 4, 6, 7, -1, 0, 1, 3, 2, -1, 4, 0, 2, 6, -1, 3, 7, 6, 2, -1, 5, 1, 0, 4, -1 ] solid TRUE creaseAngle 0 texCoord TextureCoordinate { point [ # 4 texture coords 0 0, 0 1, 1 0, 1 1 ] } texCoordIndex [ 0, 2, 3, 1, -1, 0, 2, 3, 1, -1, 0, 2, 3, 1, -1, 0, 2, 3, 1, -1, 0, 2, 3, 1, -1, 0, 2, 3, 1, -1 ] } # End of IndexedFaceSet } # End of Shape node } ] } # End BODY_LINK # add muranaga 2008.02.19 # DEF VISION_SENSOR1 VisionSensor { # translation 0.15 0.05 0.15 # translation 0.0 -0.3 0.1 # change # rotation 0.4472 -0.4472 -0.7746 1.8235 # rotation 1 0 0 1 # rotation 0 1 1 3.1415 # fieldOfView 0.7 # name "Camera" # type "DEPTH" # sensorId 0 # width 400 # add # height 300 # add # children [ # DEF CAMERA_SHAPE Transform { # rotation 1 0 0 1.5708 # children [ # Shape { # geometry Cylinder { # radius 0.02 # height 0.025 # } # appearance Appearance { # material Material { # diffuseColor 1 0 0 # } # } # } # ] # } # ] # } # add end DEF STEERING Joint { translation 0 -0.2 0 jointType "rotate" jointAxis 0 0 1 jointId 0 rotorInertia 0.1 children [ DEF STEERING_LINK Segment { centerOfMass 0 0 0 mass 0.5 momentsOfInertia [ 0.01 0 0 0 0.01 0 0 0 0.01 ] } DEF FRONT_WHEEL Joint { jointType "rotate" jointAxis 1 0 0 jointId 1 children [ DEF FRONT_WHEEL_LINK Segment { centerOfMass 0 0 0 mass 0.5 momentsOfInertia [ 0.01 0 0 0 0.01 0 0 0 0.01 ] children [ Transform { translation -0.02 0 0 children Shape { appearance Appearance { material DEF black Material { diffuseColor 0.01 0.01 0.01 ambientIntensity 0.01 specularColor 0.3 0.3 0.3 emissiveColor 0 0 0 shininess 0.01 transparency 0 } } geometry IndexedFaceSet { coord Coordinate { point [ # 50 vertices 0 -0.1 0, 0 -0.0965926 0.0258819, 0 -0.0965926 -0.0258819, 0 -0.0866026 0.05, 0 -0.0866025 -0.05, 0 -0.0707107 0.0707107, 0 -0.0707107 -0.0707107, 0 -0.05 -0.0866025, 0 -0.05 0.0866025, 0 -0.0258819 -0.0965926, 0 -0.0258819 0.0965926, 0 0 0.1, 0 0 0, 0 0 -0.1, 0 0.0258819 0.0965926, 0 0.0258819 -0.0965926, 0 0.05 0.0866025, 0 0.05 -0.0866025, 0 0.0707107 0.0707107, 0 0.0707107 -0.0707107, 0 0.0866025 0.05, 0 0.0866025 -0.05, 0 0.0965926 0.0258819, 0 0.0965926 -0.0258819, 0 0.1 0, 0.04 -0.1 0, 0.04 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16, 16, 18, 18, -1, 0, 0, 0, -1, 25, 25, 25, -1, 14, 14, 16, 16, -1, 0, 0, 0, -1, 25, 25, 25, -1, 12, 12, 14, 14, -1, 0, 0, 0, -1, 25, 25, 25, -1, 11, 11, 12, 12, -1, 0, 0, 0, -1, 25, 25, 25, -1, 9, 9, 11, 11, -1, 0, 0, 0, -1, 25, 25, 25, -1, 6, 6, 9, 9, -1, 0, 0, 0, -1, 25, 25, 25, -1, 4, 4, 6, 6, -1, 0, 0, 0, -1, 25, 25, 25, -1, 2, 2, 4, 4, -1, 0, 0, 0, -1, 25, 25, 25, -1, 1, 1, 2, 2, -1, 0, 0, 0, -1, 25, 25, 25, -1 ] normalPerVertex TRUE solid TRUE } # End of IndexedFaceSet } # End of Shape node } ] } # segment FRONT_WHEEL_LINK ] } # joint FRONT_WHEEL ] } # joint STEERING DEF REAR_WHEEL_L Joint { translation 0.15 0.2 0 jointType "rotate" jointAxis 1 0 0 jointId 2 children [ DEF REAR_WHEEL_L_LINK Segment { centerOfMass 0 0 0 mass 1 momentsOfInertia [ 0.02 0 0 0 0.02 0 0 0 0.02 ] children [ Transform { translation 0 0 0 children Shape { appearance Appearance { material USE black } geometry IndexedFaceSet { coord Coordinate { point [ # 50 vertices 0 -0.1 0, 0 -0.0965926 0.0258819, 0 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0.04 0.1 0 ] } # 72 polygons coordIndex [ 2, 27, 25, 0, -1, 2, 0, 12, -1, 25, 27, 37, -1, 4, 29, 27, 2, -1, 4, 2, 12, -1, 27, 29, 37, -1, 6, 31, 29, 4, -1, 6, 4, 12, -1, 29, 31, 37, -1, 7, 32, 31, 6, -1, 7, 6, 12, -1, 31, 32, 37, -1, 9, 34, 32, 7, -1, 9, 7, 12, -1, 32, 34, 37, -1, 13, 38, 34, 9, -1, 13, 9, 12, -1, 34, 38, 37, -1, 15, 40, 38, 13, -1, 15, 13, 12, -1, 38, 40, 37, -1, 17, 42, 40, 15, -1, 17, 15, 12, -1, 40, 42, 37, -1, 19, 44, 42, 17, -1, 19, 17, 12, -1, 42, 44, 37, -1, 21, 46, 44, 19, -1, 21, 19, 12, -1, 44, 46, 37, -1, 23, 48, 46, 21, -1, 23, 21, 12, -1, 46, 48, 37, -1, 24, 49, 48, 23, -1, 24, 23, 12, -1, 48, 49, 37, -1, 22, 47, 49, 24, -1, 22, 24, 12, -1, 49, 47, 37, -1, 20, 45, 47, 22, -1, 20, 22, 12, -1, 47, 45, 37, -1, 18, 43, 45, 20, -1, 18, 20, 12, -1, 45, 43, 37, -1, 16, 41, 43, 18, -1, 16, 18, 12, -1, 43, 41, 37, -1, 14, 39, 41, 16, -1, 14, 16, 12, -1, 41, 39, 37, -1, 11, 36, 39, 14, -1, 11, 14, 12, -1, 39, 36, 37, -1, 10, 35, 36, 11, -1, 10, 11, 12, -1, 36, 35, 37, -1, 8, 33, 35, 10, -1, 8, 10, 12, -1, 35, 33, 37, -1, 5, 30, 33, 8, -1, 5, 8, 12, -1, 33, 30, 37, -1, 3, 28, 30, 5, -1, 3, 5, 12, -1, 30, 28, 37, -1, 1, 26, 28, 3, -1, 1, 3, 12, -1, 28, 26, 37, -1, 0, 25, 26, 1, -1, 0, 1, 12, -1, 26, 25, 37, -1 ] normal Normal { vector [ # 26 normals -1 0 0, 0 -1 0, 0 -0.965926 0.258819, 0 -0.965926 -0.258819, 0 -0.866026 0.5, 0 -0.866025 -0.5, 0 -0.707107 0.707107, 0 -0.707107 -0.707107, 0 -0.5 -0.866025, 0 -0.5 0.866025, 0 -0.258819 -0.965926, 0 -0.258819 0.965926, 0 0 1, 0 0 -1, 0 0.258819 0.965926, 0 0.258819 -0.965926, 0 0.5 0.866025, 0 0.5 -0.866025, 0 0.707107 0.707107, 0 0.707107 -0.707107, 0 0.866025 0.5, 0 0.866025 -0.5, 0 0.965926 0.258819, 0 0.965926 -0.258819, 0 1 0, 1 0 0 ] } normalIndex [ 3, 3, 1, 1, -1, 0, 0, 0, -1, 25, 25, 25, -1, 5, 5, 3, 3, -1, 0, 0, 0, -1, 25, 25, 25, -1, 7, 7, 5, 5, -1, 0, 0, 0, -1, 25, 25, 25, -1, 8, 8, 7, 7, -1, 0, 0, 0, -1, 25, 25, 25, -1, 10, 10, 8, 8, -1, 0, 0, 0, -1, 25, 25, 25, -1, 13, 13, 10, 10, -1, 0, 0, 0, -1, 25, 25, 25, -1, 15, 15, 13, 13, -1, 0, 0, 0, -1, 25, 25, 25, -1, 17, 17, 15, 15, -1, 0, 0, 0, -1, 25, 25, 25, -1, 19, 19, 17, 17, -1, 0, 0, 0, -1, 25, 25, 25, -1, 21, 21, 19, 19, -1, 0, 0, 0, -1, 25, 25, 25, -1, 23, 23, 21, 21, -1, 0, 0, 0, -1, 25, 25, 25, -1, 24, 24, 23, 23, -1, 0, 0, 0, -1, 25, 25, 25, -1, 22, 22, 24, 24, -1, 0, 0, 0, -1, 25, 25, 25, -1, 20, 20, 22, 22, -1, 0, 0, 0, -1, 25, 25, 25, -1, 18, 18, 20, 20, -1, 0, 0, 0, -1, 25, 25, 25, -1, 16, 16, 18, 18, -1, 0, 0, 0, -1, 25, 25, 25, -1, 14, 14, 16, 16, -1, 0, 0, 0, -1, 25, 25, 25, -1, 12, 12, 14, 14, -1, 0, 0, 0, -1, 25, 25, 25, -1, 11, 11, 12, 12, -1, 0, 0, 0, -1, 25, 25, 25, -1, 9, 9, 11, 11, -1, 0, 0, 0, -1, 25, 25, 25, -1, 6, 6, 9, 9, -1, 0, 0, 0, -1, 25, 25, 25, -1, 4, 4, 6, 6, -1, 0, 0, 0, -1, 25, 25, 25, -1, 2, 2, 4, 4, -1, 0, 0, 0, -1, 25, 25, 25, -1, 1, 1, 2, 2, -1, 0, 0, 0, -1, 25, 25, 25, -1 ] normalPerVertex TRUE solid TRUE } # End of IndexedFaceSet } # End of Shape node } ] } # End of REAR_WHEEL_L_LINK ] } # End of REAR_WHEEL_L DEF REAR_WHEEL_R Joint { translation -0.15 0.2 0 jointType "rotate" jointAxis 1 0 0 jointId 3 children [ DEF REAR_WHEEL_R_LINK Segment { centerOfMass 0 0 0 mass 1 momentsOfInertia [ 0.02 0 0 0 0.02 0 0 0 0.02 ] children [ Transform { translation -0.04 0 0 children Shape { appearance Appearance { material USE black } geometry IndexedFaceSet { coord Coordinate { point [ # 50 vertices 0 -0.1 0, 0 -0.0965926 0.0258819, 0 -0.0965926 -0.0258819, 0 -0.0866026 0.05, 0 -0.0866025 -0.05, 0 -0.0707107 0.0707107, 0 -0.0707107 -0.0707107, 0 -0.05 -0.0866025, 0 -0.05 0.0866025, 0 -0.0258819 -0.0965926, 0 -0.0258819 0.0965926, 0 0 0.1, 0 0 0, 0 0 -0.1, 0 0.0258819 0.0965926, 0 0.0258819 -0.0965926, 0 0.05 0.0866025, 0 0.05 -0.0866025, 0 0.0707107 0.0707107, 0 0.0707107 -0.0707107, 0 0.0866025 0.05, 0 0.0866025 -0.05, 0 0.0965926 0.0258819, 0 0.0965926 -0.0258819, 0 0.1 0, 0.04 -0.1 0, 0.04 -0.0965926 0.0258819, 0.04 -0.0965926 -0.0258819, 0.04 -0.0866026 0.05, 0.04 -0.0866025 -0.05, 0.04 -0.0707107 0.0707107, 0.04 -0.0707107 -0.0707107, 0.04 -0.05 -0.0866025, 0.04 -0.05 0.0866025, 0.04 -0.0258819 -0.0965926, 0.04 -0.0258819 0.0965926, 0.04 0 0.1, 0.04 0 0, 0.04 0 -0.1, 0.04 0.0258819 0.0965926, 0.04 0.0258819 -0.0965926, 0.04 0.05 0.0866025, 0.04 0.05 -0.0866025, 0.04 0.0707107 0.0707107, 0.04 0.0707107 -0.0707107, 0.04 0.0866025 0.05, 0.04 0.0866025 -0.05, 0.04 0.0965926 0.0258819, 0.04 0.0965926 -0.0258819, 0.04 0.1 0 ] } # 72 polygons coordIndex [ 2, 27, 25, 0, -1, 2, 0, 12, -1, 25, 27, 37, -1, 4, 29, 27, 2, -1, 4, 2, 12, -1, 27, 29, 37, -1, 6, 31, 29, 4, -1, 6, 4, 12, -1, 29, 31, 37, -1, 7, 32, 31, 6, -1, 7, 6, 12, -1, 31, 32, 37, -1, 9, 34, 32, 7, -1, 9, 7, 12, -1, 32, 34, 37, -1, 13, 38, 34, 9, -1, 13, 9, 12, -1, 34, 38, 37, -1, 15, 40, 38, 13, -1, 15, 13, 12, -1, 38, 40, 37, -1, 17, 42, 40, 15, -1, 17, 15, 12, -1, 40, 42, 37, -1, 19, 44, 42, 17, -1, 19, 17, 12, -1, 42, 44, 37, -1, 21, 46, 44, 19, -1, 21, 19, 12, -1, 44, 46, 37, -1, 23, 48, 46, 21, -1, 23, 21, 12, -1, 46, 48, 37, -1, 24, 49, 48, 23, -1, 24, 23, 12, -1, 48, 49, 37, -1, 22, 47, 49, 24, -1, 22, 24, 12, -1, 49, 47, 37, -1, 20, 45, 47, 22, -1, 20, 22, 12, -1, 47, 45, 37, -1, 18, 43, 45, 20, -1, 18, 20, 12, -1, 45, 43, 37, -1, 16, 41, 43, 18, -1, 16, 18, 12, -1, 43, 41, 37, -1, 14, 39, 41, 16, -1, 14, 16, 12, -1, 41, 39, 37, -1, 11, 36, 39, 14, -1, 11, 14, 12, -1, 39, 36, 37, -1, 10, 35, 36, 11, -1, 10, 11, 12, -1, 36, 35, 37, -1, 8, 33, 35, 10, -1, 8, 10, 12, -1, 35, 33, 37, -1, 5, 30, 33, 8, -1, 5, 8, 12, -1, 33, 30, 37, -1, 3, 28, 30, 5, -1, 3, 5, 12, -1, 30, 28, 37, -1, 1, 26, 28, 3, -1, 1, 3, 12, -1, 28, 26, 37, -1, 0, 25, 26, 1, -1, 0, 1, 12, -1, 26, 25, 37, -1 ] normal Normal { vector [ # 26 normals -1 0 0, 0 -1 0, 0 -0.965926 0.258819, 0 -0.965926 -0.258819, 0 -0.866026 0.5, 0 -0.866025 -0.5, 0 -0.707107 0.707107, 0 -0.707107 -0.707107, 0 -0.5 -0.866025, 0 -0.5 0.866025, 0 -0.258819 -0.965926, 0 -0.258819 0.965926, 0 0 1, 0 0 -1, 0 0.258819 0.965926, 0 0.258819 -0.965926, 0 0.5 0.866025, 0 0.5 -0.866025, 0 0.707107 0.707107, 0 0.707107 -0.707107, 0 0.866025 0.5, 0 0.866025 -0.5, 0 0.965926 0.258819, 0 0.965926 -0.258819, 0 1 0, 1 0 0 ] } normalIndex [ 3, 3, 1, 1, -1, 0, 0, 0, -1, 25, 25, 25, -1, 5, 5, 3, 3, -1, 0, 0, 0, -1, 25, 25, 25, -1, 7, 7, 5, 5, -1, 0, 0, 0, -1, 25, 25, 25, -1, 8, 8, 7, 7, -1, 0, 0, 0, -1, 25, 25, 25, -1, 10, 10, 8, 8, -1, 0, 0, 0, -1, 25, 25, 25, -1, 13, 13, 10, 10, -1, 0, 0, 0, -1, 25, 25, 25, -1, 15, 15, 13, 13, -1, 0, 0, 0, -1, 25, 25, 25, -1, 17, 17, 15, 15, -1, 0, 0, 0, -1, 25, 25, 25, -1, 19, 19, 17, 17, -1, 0, 0, 0, -1, 25, 25, 25, -1, 21, 21, 19, 19, -1, 0, 0, 0, -1, 25, 25, 25, -1, 23, 23, 21, 21, -1, 0, 0, 0, -1, 25, 25, 25, -1, 24, 24, 23, 23, -1, 0, 0, 0, -1, 25, 25, 25, -1, 22, 22, 24, 24, -1, 0, 0, 0, -1, 25, 25, 25, -1, 20, 20, 22, 22, -1, 0, 0, 0, -1, 25, 25, 25, -1, 18, 18, 20, 20, -1, 0, 0, 0, -1, 25, 25, 25, -1, 16, 16, 18, 18, -1, 0, 0, 0, -1, 25, 25, 25, -1, 14, 14, 16, 16, -1, 0, 0, 0, -1, 25, 25, 25, -1, 12, 12, 14, 14, -1, 0, 0, 0, -1, 25, 25, 25, -1, 11, 11, 12, 12, -1, 0, 0, 0, -1, 25, 25, 25, -1, 9, 9, 11, 11, -1, 0, 0, 0, -1, 25, 25, 25, -1, 6, 6, 9, 9, -1, 0, 0, 0, -1, 25, 25, 25, -1, 4, 4, 6, 6, -1, 0, 0, 0, -1, 25, 25, 25, -1, 2, 2, 4, 4, -1, 0, 0, 0, -1, 25, 25, 25, -1, 1, 1, 2, 2, -1, 0, 0, 0, -1, 25, 25, 25, -1 ] normalPerVertex TRUE solid TRUE } # End of IndexedFaceSet } # End of Shape } ] } # End of REAR_WHEEL_R_LINK ] } # End of REAR_WHEEL_R ] } ] # List up all the joints' name you use joints [ USE BODY, USE STEERING, USE FRONT_WHEEL, USE REAR_WHEEL_L, USE REAR_WHEEL_R ] # List up all the segments' name you use segments [ USE BODY_LINK, USE STEERING_LINK, USE FRONT_WHEEL_LINK, USE REAR_WHEEL_L_LINK, USE REAR_WHEEL_R_LINK ] } choreonoid-1.5.0/share/model/misc/conveyor.wrl0000664000000000000000000000771112741425367020116 0ustar rootroot#VRML V2.0 utf8 PROTO Joint [ exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField MFFloat lvlimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat uvlimit [] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 exposedField SFFloat gearRatio 1 exposedField SFFloat rotorInertia 0 exposedField SFFloat rotorResistor 0 exposedField SFFloat torqueConst 1 exposedField SFFloat encoderPulse 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS viewpoints } Group { children IS humanoidBody } ] } } DEF Conveyor Humanoid { humanoidBody [ DEF BASE Joint { jointType "fixed" translation 0.0 0.0 0.05 rotation 0 0 1 0 children [ DEF BASE_LINK Segment { mass 20.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ Shape { geometry Box { size 7.0 2.0 0.1 } appearance Appearance { material Material { diffuseColor 0.6 0.4 0.2 } } } ] } DEF BELT Joint { jointId 0 jointType "pseudoContinuousTrack" jointAxis 0 1 0 translation 0.0 0.0 0.15 rotation 0 0 1 0 children [ DEF BELT_LINK Segment { mass 10.0 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ Shape { geometry Box { size 6.0 1.0 0.2 } appearance Appearance { material Material { diffuseColor 1.0 0.4 0.2 } } } ] } ] } ] } ] joints [ USE BASE, USE BELT ] segments [ USE BASE_LINK, USE BELT_LINK ] } choreonoid-1.5.0/share/model/misc/box3.wrl0000664000000000000000000002010012741425367017110 0ustar rootroot#VRML V2.0 utf8 PROTO Joint [ exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField MFFloat lvlimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat uvlimit [] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 exposedField SFFloat gearRatio 1 exposedField SFFloat rotorInertia 0 exposedField SFFloat rotorResistor 0 exposedField SFFloat torqueConst 1 exposedField SFFloat encoderPulse 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS viewpoints } Group { children IS humanoidBody } ] } } PROTO VisionSensor [ exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField MFNode children [ ] exposedField SFFloat fieldOfView 0.785398 exposedField SFString name "" exposedField SFFloat frontClipDistance 0.01 exposedField SFFloat backClipDistance 10.0 exposedField SFString type "NONE" exposedField SFInt32 sensorId -1 exposedField SFInt32 width 320 exposedField SFInt32 height 240 ] { Transform { rotation IS rotation translation IS translation children IS children } } PROTO ForceSensor [ exposedField SFVec3f maxForce -1 -1 -1 exposedField SFVec3f maxTorque -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO Gyro [ exposedField SFVec3f maxAngularVelocity -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO AccelerationSensor [ exposedField SFVec3f maxAcceleration -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO PressureSensor [ exposedField SFFloat maxPressure -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO PhotoInterrupter [ exposedField SFVec3f transmitter 0 0 0 exposedField SFVec3f receiver 0 0 0 exposedField SFInt32 sensorId -1 ] { Transform{ children [ Transform{ translation IS transmitter } Transform{ translation IS receiver } ] } } PROTO CylinderSensorZ [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 1 0 0 1.5708 children [ DEF SensorY CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisY Transform{ children [ Transform{ rotation 1 0 0 -1.5708 children IS children } ] } ] } ROUTE SensorY.rotation_changed TO AxisY.set_rotation } PROTO CylinderSensorY [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 0 1 0 1.5708 children [ DEF SensorX CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisX Transform{ children [ Transform{ rotation 0 1 0 -1.5708 children IS children } ] } ] } ROUTE SensorX.rotation_changed TO AxisX.set_rotation } PROTO CylinderSensorX [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 0 0 1 -1.5708 children [ DEF SensorZ CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisZ Transform{ children [ Transform{ rotation 0 0 1 1.5708 children IS children } ] } ] } ROUTE SensorZ.rotation_changed TO AxisZ.set_rotation } NavigationInfo { avatarSize 0.5 headlight TRUE type ["EXAMINE", "ANY"] } Background { skyColor 0.4 0.6 0.4 } Viewpoint { position 3 0 0.835 orientation 0.5770 0.5775 0.5775 2.0935 } DEF box3 Humanoid { humanoidBody [ DEF WAIST Joint { jointType "free" translation 0 0 0 rotation 0 0 1 0 children [ DEF BODY Segment { mass 1.0 momentsOfInertia [0.01 0 0 0 0.01 0 0 0 0.01] children [ Shape { geometry Box { size 0.03 0.08 0.07 } appearance Appearance { material Material { diffuseColor 0.0 1.0 0.0 } } } ] } ] } ] joints [ USE WAIST ] name "box3" segments [ USE BODY ] } choreonoid-1.5.0/share/model/misc/box1.body0000664000000000000000000000062312741425367017247 0ustar rootrootformat: ChoreonoidBody formatVersion: 1.0 name: box1 rootLink: body links: - name: body jointType: free mass: 12.8 inertia: [ 0.72533, 0, 0, 0, 0.08533, 0, 0, 0, 0.72533 ] elements: Shape: geometry: { type: Box, size: [ 0.2, 0.8, 0.2 ] } appearance: material: diffuseColor: [ 1.0, 1.0, 0.0 ] choreonoid-1.5.0/share/model/misc/box2.wrl0000664000000000000000000002043712741425367017124 0ustar rootroot#VRML V2.0 utf8 PROTO Joint [ exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField MFFloat lvlimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat uvlimit [] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 exposedField SFFloat gearRatio 1 exposedField SFFloat rotorInertia 0 exposedField SFFloat rotorResistor 0 exposedField SFFloat torqueConst 1 exposedField SFFloat encoderPulse 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS viewpoints } Group { children IS humanoidBody } ] } } PROTO VisionSensor [ exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField MFNode children [ ] exposedField SFFloat fieldOfView 0.785398 exposedField SFString name "" exposedField SFFloat frontClipDistance 0.01 exposedField SFFloat backClipDistance 10.0 exposedField SFString type "NONE" exposedField SFInt32 sensorId -1 exposedField SFInt32 width 320 exposedField SFInt32 height 240 ] { Transform { rotation IS rotation translation IS translation children IS children } } PROTO ForceSensor [ exposedField SFVec3f maxForce -1 -1 -1 exposedField SFVec3f maxTorque -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO Gyro [ exposedField SFVec3f maxAngularVelocity -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO AccelerationSensor [ exposedField SFVec3f maxAcceleration -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO PressureSensor [ exposedField SFFloat maxPressure -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO PhotoInterrupter [ exposedField SFVec3f transmitter 0 0 0 exposedField SFVec3f receiver 0 0 0 exposedField SFInt32 sensorId -1 ] { Transform{ children [ Transform{ translation IS transmitter } Transform{ translation IS receiver } ] } } PROTO CylinderSensorZ [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 1 0 0 1.5708 children [ DEF SensorY CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisY Transform{ children [ Transform{ rotation 1 0 0 -1.5708 children IS children } ] } ] } ROUTE SensorY.rotation_changed TO AxisY.set_rotation } PROTO CylinderSensorY [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 0 1 0 1.5708 children [ DEF SensorX CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisX Transform{ children [ Transform{ rotation 0 1 0 -1.5708 children IS children } ] } ] } ROUTE SensorX.rotation_changed TO AxisX.set_rotation } PROTO CylinderSensorX [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 0 0 1 -1.5708 children [ DEF SensorZ CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisZ Transform{ children [ Transform{ rotation 0 0 1 1.5708 children IS children } ] } ] } ROUTE SensorZ.rotation_changed TO AxisZ.set_rotation } NavigationInfo { avatarSize 0.5 headlight TRUE type ["EXAMINE", "ANY"] } Background { skyColor 0.4 0.6 0.4 } Viewpoint { position 3 0 0.835 orientation 0.5770 0.5775 0.5775 2.0935 } DEF box2 Humanoid { humanoidBody [ DEF WAIST Joint { jointType "free" #translation 0.55 -0.02 0.153 #rotation 0 1 0 0.2 children [ DEF BODY Segment { #====== wood block (cedar tree) ============ mass 0.2 momentsOfInertia [0.01 0 0 0 0.001 0 0 0 0.01] #====== aluminum block ============== #mass 86.4 #momentsOfInertia [4.896 0 0 0 0.57599 0 0 0 4.896] children Transform { translation 0 0 0 rotation 1 0 0 0 children Shape { geometry Box { size 0.3 0.3 0.3 } appearance Appearance { material Material { diffuseColor 1.0 1.0 0.0 } } } } } ] } ] joints [ USE WAIST ] name "box2" segments [ USE BODY ] } choreonoid-1.5.0/share/model/misc/ellipsoid1.wrl0000664000000000000000000001001612741425367020307 0ustar rootroot#VRML V2.0 utf8 PROTO Joint [ exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField MFFloat lvlimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat uvlimit [] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 exposedField SFFloat gearRatio 1 exposedField SFFloat rotorInertia 0 exposedField SFFloat rotorResistor 0 exposedField SFFloat torqueConst 1 exposedField SFFloat encoderPulse 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS viewpoints } Group { children IS humanoidBody } ] } } DEF Ellipsoid1 Humanoid { humanoidBody [ DEF BASE Joint { jointType "free" translation 0 0 0 rotation 0 1 0 0 children [ DEF BODY Segment { mass 2.0 momentsOfInertia [0.1 0 0 0 0.004 0 0 0 0.015] children Transform { scale 1 0.4 0.15 children Shape { geometry Sphere { radius 0.5 # size 0.5 0.2 0.1 } appearance Appearance { material Material { diffuseColor 0.6 0.6 0.8 } } } } } ] } ] joints [ USE BASE ] segments [ USE BODY ] } choreonoid-1.5.0/share/model/misc/box1.wrl0000664000000000000000000002043312741425367017117 0ustar rootroot#VRML V2.0 utf8 PROTO Joint [ exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField MFFloat lvlimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat uvlimit [] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 exposedField SFFloat gearRatio 1 exposedField SFFloat rotorInertia 0 exposedField SFFloat rotorResistor 0 exposedField SFFloat torqueConst 1 exposedField SFFloat encoderPulse 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS viewpoints } Group { children IS humanoidBody } ] } } PROTO VisionSensor [ exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField MFNode children [ ] exposedField SFFloat fieldOfView 0.785398 exposedField SFString name "" exposedField SFFloat frontClipDistance 0.01 exposedField SFFloat backClipDistance 10.0 exposedField SFString type "NONE" exposedField SFInt32 sensorId -1 exposedField SFInt32 width 320 exposedField SFInt32 height 240 ] { Transform { rotation IS rotation translation IS translation children IS children } } PROTO ForceSensor [ exposedField SFVec3f maxForce -1 -1 -1 exposedField SFVec3f maxTorque -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO Gyro [ exposedField SFVec3f maxAngularVelocity -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO AccelerationSensor [ exposedField SFVec3f maxAcceleration -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO PressureSensor [ exposedField SFFloat maxPressure -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO PhotoInterrupter [ exposedField SFVec3f transmitter 0 0 0 exposedField SFVec3f receiver 0 0 0 exposedField SFInt32 sensorId -1 ] { Transform{ children [ Transform{ translation IS transmitter } Transform{ translation IS receiver } ] } } PROTO CylinderSensorZ [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 1 0 0 1.5708 children [ DEF SensorY CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisY Transform{ children [ Transform{ rotation 1 0 0 -1.5708 children IS children } ] } ] } ROUTE SensorY.rotation_changed TO AxisY.set_rotation } PROTO CylinderSensorY [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 0 1 0 1.5708 children [ DEF SensorX CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisX Transform{ children [ Transform{ rotation 0 1 0 -1.5708 children IS children } ] } ] } ROUTE SensorX.rotation_changed TO AxisX.set_rotation } PROTO CylinderSensorX [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 0 0 1 -1.5708 children [ DEF SensorZ CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisZ Transform{ children [ Transform{ rotation 0 0 1 1.5708 children IS children } ] } ] } ROUTE SensorZ.rotation_changed TO AxisZ.set_rotation } NavigationInfo { avatarSize 0.5 headlight TRUE type ["EXAMINE", "ANY"] } Background { skyColor 0.4 0.6 0.4 } Viewpoint { position 3 0 0.835 orientation 0.5770 0.5775 0.5775 2.0935 } DEF box1 Humanoid { humanoidBody [ DEF WAIST Joint { jointType "free" translation 0 0 0 rotation 0 1 0 0 children [ DEF BODY Segment { #====== wood block (cedar tree) ============ mass 12.8 momentsOfInertia [0.72533 0 0 0 0.08533 0 0 0 0.72533] #====== aluminum block ============== #mass 86.4 #momentsOfInertia [4.896 0 0 0 0.57599 0 0 0 4.896] children Transform { translation 0 0 0 rotation 1 0 0 0 children Shape { geometry Box { size 0.2 0.8 0.2 } appearance Appearance { material Material { diffuseColor 1.0 1.0 0.0 } } } } } ] } ] joints [ USE WAIST ] name "box1" segments [ USE BODY ] } choreonoid-1.5.0/share/model/misc/bumpyfloor.wrl0000664000000000000000000002154312741425367020447 0ustar rootroot#VRML V2.0 utf8 PROTO Joint [ exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField MFFloat lvlimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat uvlimit [] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 exposedField SFFloat gearRatio 1 exposedField SFFloat rotorInertia 0 exposedField SFFloat rotorResistor 0 exposedField SFFloat torqueConst 1 exposedField SFFloat encoderPulse 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS viewpoints } Group { children IS humanoidBody } ] } } PROTO VisionSensor [ exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField MFNode children [ ] exposedField SFFloat fieldOfView 0.785398 exposedField SFString name "" exposedField SFFloat frontClipDistance 0.01 exposedField SFFloat backClipDistance 10.0 exposedField SFString type "NONE" exposedField SFInt32 sensorId -1 exposedField SFInt32 width 320 exposedField SFInt32 height 240 exposedField SFFloat frameRate 30 ] { Transform { rotation IS rotation translation IS translation children IS children } } PROTO ForceSensor [ exposedField SFVec3f maxForce -1 -1 -1 exposedField SFVec3f maxTorque -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO Gyro [ exposedField SFVec3f maxAngularVelocity -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO AccelerationSensor [ exposedField SFVec3f maxAcceleration -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO PressureSensor [ exposedField SFFloat maxPressure -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO PhotoInterrupter [ exposedField SFVec3f transmitter 0 0 0 exposedField SFVec3f receiver 0 0 0 exposedField SFInt32 sensorId -1 ] { Transform{ children [ Transform{ translation IS transmitter } Transform{ translation IS receiver } ] } } PROTO CylinderSensorZ [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 1 0 0 1.5708 children [ DEF SensorY CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisY Transform{ children [ Transform{ rotation 1 0 0 -1.5708 children IS children } ] } ] } ROUTE SensorY.rotation_changed TO AxisY.set_rotation } PROTO CylinderSensorY [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 0 1 0 1.5708 children [ DEF SensorX CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisX Transform{ children [ Transform{ rotation 0 1 0 -1.5708 children IS children } ] } ] } ROUTE SensorX.rotation_changed TO AxisX.set_rotation } PROTO CylinderSensorX [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 0 0 1 -1.5708 children [ DEF SensorZ CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisZ Transform{ children [ Transform{ rotation 0 0 1 1.5708 children IS children } ] } ] } ROUTE SensorZ.rotation_changed TO AxisZ.set_rotation } NavigationInfo { avatarSize 0.5 headlight TRUE type ["EXAMINE", "ANY"] } Background { skyColor 0.4 0.6 0.4 } Viewpoint { position 3 0 0.835 orientation 0.5770 0.5775 0.5775 2.0935 } DEF floor Humanoid { humanoidBody [ DEF WAIST Joint { jointType "fixed" translation 0.0 0.0 -0.1 rotation 0 0 1 0 children [ DEF BODY Segment { mass 0.5 momentsOfInertia [1 0 0 0 1 0 0 0 1] children [ Shape { geometry Box { size 8 8 0.2 } appearance Appearance { material Material { diffuseColor 0.0 0.0 1.0 } } } Transform { translation 0 0 0 children Shape { appearance Appearance { material Material { diffuseColor 0 1 0 } } geometry Extrusion { crossSection [ -0.2 0.1, 0.2 0.1, 0.2 0.12, -0.2 0.1 ] spine [0 -2 0, 0 2 0] } } # End of Shape node } Transform { translation 1.0 0 0.105 children Shape { geometry Box{ size 0.2 4 0.01 } appearance Appearance { material Material { diffuseColor 1.0 0.0 0.0 } } } } ] } ] } ] joints [ USE WAIST ] segments [ USE BODY ] version "1.1" } choreonoid-1.5.0/share/model/misc/floor.wrl0000664000000000000000000000675712741425367017404 0ustar rootroot#VRML V2.0 utf8 PROTO Joint [ exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField MFFloat lvlimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat uvlimit [] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 exposedField SFFloat gearRatio 1 exposedField SFFloat rotorInertia 0 exposedField SFFloat rotorResistor 0 exposedField SFFloat torqueConst 1 exposedField SFFloat encoderPulse 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS viewpoints } Group { children IS humanoidBody } ] } } DEF Floor Humanoid { humanoidBody [ DEF BASE Joint { jointType "fixed" translation 0.0 0.0 -0.1 rotation 0 0 1 0 children [ DEF BASE_LINK Segment { mass 0.5 momentsOfInertia [ 1 0 0 0 1 0 0 0 1 ] children [ Shape { geometry Box { size 10.0 10.0 0.2 } appearance Appearance { material Material { diffuseColor 0.0 0.0 1.0 } } } ] } ] } ] joints [ USE BASE ] segments [ USE BASE_LINK ] } choreonoid-1.5.0/share/model/misc/unevenfloor.wrl0000664000000000000000000003042212741425367020607 0ustar rootroot#VRML V2.0 utf8 PROTO Joint [ exposedField SFVec3f center 0 0 0 exposedField MFNode children [] exposedField MFFloat llimit [] exposedField MFFloat lvlimit [] exposedField SFRotation limitOrientation 0 0 1 0 exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFFloat stiffness [ 0 0 0 ] exposedField SFVec3f translation 0 0 0 exposedField MFFloat ulimit [] exposedField MFFloat uvlimit [] exposedField SFString jointType "" exposedField SFInt32 jointId -1 exposedField SFVec3f jointAxis 0 0 1 exposedField SFFloat gearRatio 1 exposedField SFFloat rotorInertia 0 exposedField SFFloat rotorResistor 0 exposedField SFFloat torqueConst 1 exposedField SFFloat encoderPulse 1 ] { Transform { center IS center children IS children rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation } } PROTO Segment [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f centerOfMass 0 0 0 exposedField MFNode children [ ] exposedField SFNode coord NULL exposedField MFNode displacers [ ] exposedField SFFloat mass 0 exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] exposedField SFString name "" eventIn MFNode addChildren eventIn MFNode removeChildren ] { Group { addChildren IS addChildren bboxCenter IS bboxCenter bboxSize IS bboxSize children IS children removeChildren IS removeChildren } } PROTO Humanoid [ field SFVec3f bboxCenter 0 0 0 field SFVec3f bboxSize -1 -1 -1 exposedField SFVec3f center 0 0 0 exposedField MFNode humanoidBody [ ] exposedField MFString info [ ] exposedField MFNode joints [ ] exposedField SFString name "" exposedField SFRotation rotation 0 0 1 0 exposedField SFVec3f scale 1 1 1 exposedField SFRotation scaleOrientation 0 0 1 0 exposedField MFNode segments [ ] exposedField MFNode sites [ ] exposedField SFVec3f translation 0 0 0 exposedField SFString version "1.1" exposedField MFNode viewpoints [ ] ] { Transform { bboxCenter IS bboxCenter bboxSize IS bboxSize center IS center rotation IS rotation scale IS scale scaleOrientation IS scaleOrientation translation IS translation children [ Group { children IS viewpoints } Group { children IS humanoidBody } ] } } PROTO VisionSensor [ exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField MFNode children [ ] exposedField SFFloat fieldOfView 0.785398 exposedField SFString name "" exposedField SFFloat frontClipDistance 0.01 exposedField SFFloat backClipDistance 10.0 exposedField SFString type "NONE" exposedField SFInt32 sensorId -1 exposedField SFInt32 width 320 exposedField SFInt32 height 240 exposedField SFFloat frameRate 30 ] { Transform { rotation IS rotation translation IS translation children IS children } } PROTO ForceSensor [ exposedField SFVec3f maxForce -1 -1 -1 exposedField SFVec3f maxTorque -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO Gyro [ exposedField SFVec3f maxAngularVelocity -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO AccelerationSensor [ exposedField SFVec3f maxAcceleration -1 -1 -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO PressureSensor [ exposedField SFFloat maxPressure -1 exposedField SFVec3f translation 0 0 0 exposedField SFRotation rotation 0 0 1 0 exposedField SFInt32 sensorId -1 ] { Transform { translation IS translation rotation IS rotation } } PROTO PhotoInterrupter [ exposedField SFVec3f transmitter 0 0 0 exposedField SFVec3f receiver 0 0 0 exposedField SFInt32 sensorId -1 ] { Transform{ children [ Transform{ translation IS transmitter } Transform{ translation IS receiver } ] } } PROTO CylinderSensorZ [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 1 0 0 1.5708 children [ DEF SensorY CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisY Transform{ children [ Transform{ rotation 1 0 0 -1.5708 children IS children } ] } ] } ROUTE SensorY.rotation_changed TO AxisY.set_rotation } PROTO CylinderSensorY [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 0 1 0 1.5708 children [ DEF SensorX CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisX Transform{ children [ Transform{ rotation 0 1 0 -1.5708 children IS children } ] } ] } ROUTE SensorX.rotation_changed TO AxisX.set_rotation } PROTO CylinderSensorX [ exposedField SFFloat maxAngle -1 exposedField SFFloat minAngle 0 exposedField MFNode children [ ] ] { Transform{ rotation 0 0 1 -1.5708 children [ DEF SensorZ CylinderSensor{ maxAngle IS maxAngle minAngle IS minAngle } DEF AxisZ Transform{ children [ Transform{ rotation 0 0 1 1.5708 children IS children } ] } ] } ROUTE SensorZ.rotation_changed TO AxisZ.set_rotation } NavigationInfo { avatarSize 0.5 headlight TRUE type ["EXAMINE", "ANY"] } Background { skyColor 0.4 0.6 0.4 } Viewpoint { position 3 0 0.835 orientation 0.5770 0.5775 0.5775 2.0935 } DEF floor Humanoid { humanoidBody [ DEF WAIST Joint { jointType "fixed" translation 0.0 0.0 -0.1 rotation 0 0 1 0 children [ DEF BODY Segment { mass 0.5 momentsOfInertia [1 0 0 0 1 0 0 0 1] children [ Shape { geometry Box { size 20 20 0.2 } appearance DEF blue Appearance { material Material { diffuseColor 0.0 0.0 1.0 } } } DEF shape1 Transform { translation 0 0 0 children [ Transform { translation 0 -9.5 0 children DEF shape0 Shape { appearance DEF green Appearance { material Material { diffuseColor 1.0 0.0 0.0 } } geometry Extrusion { crossSection [ -0.3 0.1, 0.3 0.1, 0.3 0.3, 0.0 0.5, -0.1 0.2, -0.2 0.4, -0.3 0.1 ] spine [0 -0.5 0, 0 0.5 0] } } # End of Shape node } Transform { translation 0 -8.5 0 rotation 0 0 1 0.7 children USE shape0 } Transform { translation 0 -7.5 0 rotation 0 0 1 -0.3 children USE shape0 } Transform { translation 0 -6.5 0 rotation 0 1 0 0.7 children USE shape0 } Transform { translation 0 -5.5 0 rotation 0 0 1 0.3 children USE shape0 } Transform { translation 0 -4.5 0 rotation 0 1 0 0.3 children USE shape0 } Transform { translation 0 -3.5 0 rotation 0 0 1 0.7 children USE shape0 } Transform { translation 0 -2.5 0 rotation 1 0 1 0.2 children USE shape0 } Transform { translation 0 -1.5 0 rotation 1 0 1 -0.2 children USE shape0 } Transform { translation 0 -0.5 0 rotation 0 1 0 0.2 children USE shape0 } ] } Transform { translation -0.5 0 0 rotation 0 0 1 0.3 children USE shape1 } Transform { translation 0.7 0 0 rotation 0 1 0 0.5 children USE shape1 } Transform { translation 2 0 0 rotation 0 0 1 -0.1 children USE shape1 } Transform { translation 3 0 0 children USE shape1 } Transform { translation 3.8 0 0 rotation 0 1 0 0.5 children USE shape1 } Transform { translation 4.3 0 0 rotation 0 1 0 -0.5 children USE shape1 } Transform { translation 5 0 0 children USE shape1 } Transform { translation -0.5 10 0 children USE shape1 } Transform { translation 0.7 10 0 rotation 0 1 0 0.5 children USE shape1 } Transform { translation 2.2 10 0 rotation 0 0 1 -0.3 children USE shape1 } Transform { translation 3 10 0 children USE shape1 } Transform { translation 3.8 10 0 rotation 0 1 0 0.5 children USE shape1 } Transform { translation 4.3 10 0 rotation 0 1 10 -0.5 children USE shape1 } Transform { translation 5 10 0 children USE shape1 } ] } ] } ] joints [ USE WAIST ] segments [ USE BODY ] version "1.1" } choreonoid-1.5.0/misc/0000775000000000000000000000000012741425367013314 5ustar rootrootchoreonoid-1.5.0/misc/script/0000775000000000000000000000000012741425367014620 5ustar rootrootchoreonoid-1.5.0/misc/script/make_src_archive.sh.in0000755000000000000000000000041112741425367021043 0ustar rootroot#!/bin/sh hg archive \ -t zip \ -X path:cmake_modules \ -X path:admin \ -X path:src/junk \ -X path:.hgtags \ -X path:.hg_archival.txt \ -X path:ext/sample/GRobotPlugin2 \ -X path:misc/script/install-requisites-ubuntu-10.04.sh \ choreonoid-@CNOID_FULL_VERSION@.zip choreonoid-1.5.0/misc/script/extract-messages.sh0000755000000000000000000000035412741425367020436 0ustar rootroot#!/bin/sh echo "Extracting messages to translate from the source files." xgettext -k"_" -k"N_" -k"Q_" -o po/messages.pot *.cpp for po in po/*.po do echo "Merging new messages to $po." msgmerge --update $po po/messages.pot done choreonoid-1.5.0/misc/script/extract-messages-initial.sh0000755000000000000000000000050612741425367022064 0ustar rootroot#!/bin/sh if [ ! -d "po" ]; then mkdir po fi echo "Extracting messages to translate from the source files." xgettext -k"_" -k"N_" -k"Q_" -o po/messages.pot *.cpp if [ -n "$1" ]; then echo "Creating $1.po file." msginit --input=po/messages.pot --locale=$1 -o po/$1.po else echo "Please specify a locale." fi choreonoid-1.5.0/misc/script/CMakeLists.txt0000664000000000000000000000060212741425367017356 0ustar rootroot configure_file(make_header_public.rb.in make_header_public.rb @ONLY) configure_file(make_binary_package.sh.template ${CMAKE_CURRENT_SOURCE_DIR}/make_binary_package.sh @ONLY) configure_file(make_src_archive.sh.in ${CMAKE_CURRENT_SOURCE_DIR}/make_src_archive.sh @ONLY) if(WIN32) configure_file(install_win32_deps.rb.template ${CMAKE_CURRENT_SOURCE_DIR}/install_win32_deps.rb) endif() choreonoid-1.5.0/misc/script/make_header_public.rb.in0000755000000000000000000000173712741425367021346 0ustar rootroot#!/usr/bin/ruby require 'pathname' def make_pathname_from_include(orgPath) path = Pathname(orgPath) while true path = path.parent if path.basename.to_s == "include" return Pathname(orgPath).relative_path_from(path) end break if path.root? end return nil end n = ARGV.size - 1 if n <= 0 puts "make_header_public.rb header-files ... directory-to-link-headers" exit end output_directory = File.expand_path(ARGV[n], Dir.pwd) output_pathname = Pathname(output_directory) source_top_directory = Pathname("@PROJECT_SOURCE_DIR@") for i in n.times orgFileName = ARGV[i] linkFilePath = (Pathname(output_directory) + Pathname(orgFileName).basename(".h")).to_s orgPathName = Pathname(File.expand_path(orgFileName, Dir.pwd)) relpath = orgPathName.relative_path_from(source_top_directory) print "make public header <" + make_pathname_from_include(linkFilePath).to_s + ">\n" file = open(linkFilePath, "w") file.print "\#include \"#{relpath}\"\n" end choreonoid-1.5.0/misc/script/install-requisites-ubuntu-10.04.sh0000755000000000000000000000056112741425367023000 0ustar rootroot#!/bin/sh sudo apt-get install \ build-essential \ cmake-curses-gui \ libboost-all-dev \ libqt4-dev \ libqt4-opengl-dev \ qt4-dev-tools \ qt4-qtconfig \ qt4-doc-html \ libxfixes-dev \ libyaml-dev \ gettext \ zlib1g-dev \ libjpeg62-dev \ libpng12-dev \ libode-dev \ libomniorb4-dev \ libcos4-dev \ omniidl4 \ omniorb4-nameserver \ libgstreamer0.10-dev \ libglew1.5-dev choreonoid-1.5.0/misc/script/install-requisites-ubuntu-16.04.sh0000755000000000000000000000131412741425367023003 0ustar rootroot#!/bin/sh sudo apt-get install \ build-essential \ cmake-curses-gui \ libboost-all-dev \ libeigen3-dev \ libeigen3-doc \ libxfixes-dev \ libglew-dev \ libyaml-dev \ gettext \ zlib1g-dev \ libjpeg-dev \ libpng12-dev \ libqt4-dev \ libqt4-opengl-dev \ qt4-dev-tools \ qt4-qtconfig \ qt4-doc-html \ python2.7-dev \ python-numpy \ libode-dev \ libomniorb4-dev \ libcos4-dev \ omniidl \ omniorb-nameserver \ python-omniorb \ omniidl-python \ uuid-dev \ libpulse-dev \ libsndfile1-dev \ libgstreamer1.0-dev \ libgstreamer-plugins-base1.0-dev #libgstreamer0.10-dev #libgstreamer-plugins-base0.10-dev #gstreamer0.10-plugins-good #qt5-default #libqt5x11extras5-dev # qt5-style-plugins #libbullet-dev #libbullet-extras-dev choreonoid-1.5.0/misc/script/convert_text_to_c_string.rb0000664000000000000000000000127112741425367022264 0ustar rootroot#!/usr/bin/ruby require 'jcode' $KCODE = "UTF8" Indent = " " Width = 80 filename = ARGV[0] basename = File.basename(filename, File.extname(filename)) print < 1) ? 2 : 1 pos += 1 end print "\"" print "\n" if pos < text.size end print "\n" unless f.eof end print ";\n" end choreonoid-1.5.0/misc/script/install_win32_deps.rb.template0000664000000000000000000000316012741425367022462 0ustar rootroot#!/usr/bin/ruby require "fileutils" def copy_dlls(srcdir, destdir, exclude_patterns = []) dlls = Hash.new valid_dlls = Array.new Dir.chdir(srcdir){ Dir.glob("*.dll").each { |dll| dlls[dll] = true } dlls.each_key { |dll| if dll =~ /(.+)d\.dll$/ release_dll = $1 + ".dll" next if dlls[release_dll] end matched = false for pattern in exclude_patterns if dll =~ pattern matched = true break end end valid_dlls.push(dll) unless matched } } for dll in valid_dlls FileUtils.install(srcdir + "\\" + dll, destdir) puts "install " + dll end end def copy_subdirectories(top, subdirs, destdir) for subdir in subdirs destsub = File.dirname("#{destdir}/#{subdir}") FileUtils.mkdir_p(destsub) FileUtils.cp_r("#{top}/#{subdir}", destsub) puts "install " + subdir end end VERSION_STR = "@EXCADE_VERSION_MAJOR@_@EXCADE_VERSION_MINOR@_@EXCADE_VERSION_PATCH@" tmptop = "excade-#{VERSION_STR}" FileUtils.rm_rf(tmptop) FileUtils.cp_r("@CMAKE_INSTALL_PREFIX@", tmptop) bindir = tmptop + "\\bin" copy_dlls("@GTKMM_DIR@/bin", bindir, [/-vc80-/, /-d-/]) copy_dlls("@OMNIORB_DIR@/bin/x86_win32", bindir) copy_dlls("@OSG_DIR@/bin", bindir) # copy_dlls("@OPENHRP_DIR@/bin", bindir, [/sDIMS/]) copy_subdirectories("@GTKMM_DIR@", ["etc", "lib/gtk-2.0", "share/themes"], tmptop) archive = "excade-#{VERSION_STR}-win32.zip" FileUtils.rm_f(archive) command = "zip -r #{archive} #{tmptop}" puts command system(command) choreonoid-1.5.0/misc/script/install-requisites-macports.sh0000755000000000000000000000027412741425367022647 0ustar rootroot#!/bin/sh sudo port install \ cmake \ boost \ eigen3 \ libyaml \ jpeg \ gettext \ pkgconfig \ ode \ omniORB \ glew \ libsndfile \ # gstreamer1 \ # gstreamer1-gst-plugins-good \ # bullet choreonoid-1.5.0/misc/script/make_binary_package.sh.template0000755000000000000000000000056012741425367022724 0ustar rootroot#!/bin/sh archive_base_name=choreonoid-@CNOID_FULL_VERSION@ rm -fr ${archive_base_name} rm -fr ${archive_base_name}-$1.tar.gz cp -fr @CMAKE_INSTALL_PREFIX@ ${archive_base_name} cp ../pkglist/install-requisities-$1.sh ${archive_base_name}/bin/install-choreonoid-requisities.sh tar -czf ${archive_base_name}-$1.tar.gz ${archive_base_name} rm -fr ${archive_base_name} choreonoid-1.5.0/misc/script/.gitignore0000664000000000000000000000010112741425367016600 0ustar rootrootmake_binary_package.sh make_header_public.rb make_src_archive.sh choreonoid-1.5.0/misc/script/install-requisites-ubuntu-14.04.sh0000755000000000000000000000103312741425367022777 0ustar rootroot#!/bin/sh sudo apt-get install \ build-essential \ cmake-curses-gui \ libboost-all-dev \ libeigen3-dev \ libeigen3-doc \ libqt4-dev \ libqt4-opengl-dev \ qt4-dev-tools \ qt4-qtconfig \ qt4-doc-html \ libxfixes-dev \ libglew-dev \ libyaml-dev \ gettext \ zlib1g-dev \ libjpeg-dev \ libpng12-dev \ libode-dev \ libomniorb4-dev \ libcos4-dev \ omniidl \ omniorb-nameserver \ python-omniorb \ omniidl-python \ libgstreamer0.10-dev \ libgstreamer-plugins-base0.10-dev \ libpulse-dev \ libsndfile1-dev \ python2.7-dev \ python-numpy \ uuid-dev choreonoid-1.5.0/misc/script/install-requisites-ubuntu-12.04.sh0000755000000000000000000000101512741425367022775 0ustar rootroot#!/bin/sh sudo apt-get install \ build-essential \ cmake-curses-gui \ libboost-all-dev \ libeigen3-dev \ libeigen3-doc \ libqt4-dev \ libqt4-opengl-dev \ qt4-dev-tools \ qt4-qtconfig \ qt4-doc-html \ libxfixes-dev \ libglew1.6-dev \ libyaml-dev \ gettext \ zlib1g-dev \ libjpeg-dev \ libpng-dev \ libode-dev \ libomniorb4-dev \ libcos4-dev \ omniidl \ omniorb-nameserver \ python-omniorb \ omniidl-python \ libgstreamer0.10-dev \ libgstreamer-plugins-base0.10-dev \ libsndfile1-dev \ libpulse-dev \ python2.7-dev \ uuid-dev choreonoid-1.5.0/misc/script/convert_text_to_c_data.rb0000664000000000000000000000102412741425367021663 0ustar rootroot#!/usr/bin/ruby Indent = " " Width = 16 filename = ARGV[0] basename = File.basename(filename, File.extname(filename)) print <= 4.7.0 QtGui >= 4.7.0 QtOpenGL >= 4.7.0 eigen3 >= 3.0.0 Conflicts: Libs: -L${libdir} -L${plugindir} -lCnoidUtil -lCnoidBase Cflags: -I${includedir} -DQT_NO_KEYWORDS choreonoid-1.5.0/misc/pkgconfig/choreonoid-body-plugin.pc.in0000664000000000000000000000033012741425367022570 0ustar rootroot# pkg-config source file Name: choreonoid-body-plugin Description: Body plugin of choreonoid Version: @CNOID_FULL_VERSION@ Requires: choreonoid >= @CNOID_FULL_VERSION@ Conflicts: Libs: -lCnoidBody -lCnoidBodyPlugin