TAPsArticulatedBodySetup.cpp

Go to the documentation of this file.

/******************************************************************************
TAPsArticulatedBodySetup.cpp
******************************************************************************/
/******************************************************************************
SUKITTI PUNAK   (03/26/2010)
UPDATE          (05/01/2010)
******************************************************************************/
#include "TAPsArticulatedBodySetup.hpp"
// Using Inclusion Model (i.e. definitions are included in declarations)
//                       (this name.cpp is included in name.hpp)
// Each friend is defined directly inside its declaration.

BEGIN_NAMESPACE_TAPs
//=============================================================================
template <typename T> TextFile ArticulatedBodySetup<T>::g_TextFile;
template <typename T> ModelArticulatedBody<T> * ArticulatedBodySetup<T>::g_pArtBody;
//=============================================================================
//-----------------------------------------------------------------------------
template <typename T>
ModelArticulatedBody<T> * ArticulatedBodySetup<T>::FromFile ( 
    std::string setupFile   
) throw(...)
{
    // Try to read the input file
    try {
        ReadFile( setupFile );
    }
    catch ( Exception & e ) {
        throw e;
    }

    // Try to setup objects from the read file
    try {
        g_pArtBody = new ModelArticulatedBody<T>();
        for ( int i = 0; i < g_TextFile.GetNumOfLines(); ++i ) {
            //std::cout << "Line#" << i+1 << ":\t" << g_TextFile.GetLine( i ) << "\n";
            Interpret( StringManipulator::StripOutComment( g_TextFile.GetLine( i ) ), i );
            //std::cout << "[after] Line#" << i+1 << ":\t" << g_TextFile.GetLine( i ) << "\n";
        }
    }
    catch ( Exception & e ) {
        throw e;
    }
    return g_pArtBody;
}

//-----------------------------------------------------------------------------
template <typename T>
void ArticulatedBodySetup<T>::ReadFile ( std::string const & setupFile ) throw(...)
{
    // Try to read the input file
    if ( !g_TextFile.Read( setupFile ) ) {
        throw Exception( Exception::FILE_CANNOT_BE_OPENED, __FILE__, __LINE__ );
    }
}

//-----------------------------------------------------------------------------
template <typename T>
void ArticulatedBodySetup<T>::Interpret ( std::string const & line, int & lineNo ) throw(...)
{
    // Keywords
    static std::string NODE = "Node";

    // Temp data
    int n;
    std::string info;

    // Node
    n = line.find( NODE );
    if ( n != -1 ) {
        info = line.substr( n+NODE.length() );
        try {
            Node( info, lineNo );
        }
        catch ( Exception & e ) {
            throw e;
        }
    }
}

//-----------------------------------------------------------------------------
template <typename T>
void ArticulatedBodySetup<T>::Node ( std::string info, int & lineNo ) throw(...)
{
    // Keywords
    static std::string MESH_FILE = "MeshFile";
    static std::string POS = "Position";
    static std::string ROT = "Rotation";
    static std::string SCALE = "Scale";

    // Temp data
    int n;
    std::string nodedata;

    // Find the open brace bracket '{'
    n = info.find( '{' );
    while ( n == -1 ) {
        if ( lineNo >= g_TextFile.GetNumOfLines()-1 ) {
            throw Exception( Exception::BAD_FORMAT, __FILE__, __LINE__, "doesn't have '{' for Node" );
        }
        info = StringManipulator::StripOutComment( g_TextFile.GetLine( ++lineNo ) );
        n = info.find( '{' );
    }
    if ( n+1 < static_cast<int>(info.length()) ) {
        info = info.substr( n+1 );
    }
    else {
        info = "";
    }

    // Find the end brace bracket '}'
    n = info.find( '}' );
    while ( n == -1 ) {
        nodedata += " ";
        nodedata += info;
        if ( lineNo >= g_TextFile.GetNumOfLines()-1 ) {
            throw Exception( Exception::BAD_FORMAT, __FILE__, __LINE__, "doesn't have '}' for Node" );
        }
        info = StringManipulator::StripOutComment( g_TextFile.GetLine( ++lineNo ) );
        n = info.find( '}' );
    }
    info = info.substr( 0, n );
    nodedata += " ";
    nodedata += info;

    // Temp data
    std::string key;
    std::string meshFile( "" );
    Vector3<T> pos;
    Vector4<T> rot;
    Vector3<T> scale;

    // Process nodedata
    while ( nodedata.length() > 0 ) {

        StringManipulator::BreakString( nodedata, key, nodedata, ":;, \t\n" );

        //std::cout << "key: " << key << std::endl;
        //std::cout << "nodedata: " << nodedata << "\n";

        if ( key.compare( MESH_FILE ) == 0 ) {

            TAPs::RigidBodyDynamics<Real> R;
            R.SetModelFromFile( "../Data/cone1_8.obj", TAPs::Enum::MODEL_TYPE_HALFEDGE );

            // Get the filename
            int b = nodedata.find( '"' );
            int e = nodedata.find( '"', b+1 );
            key = nodedata.substr( b+1, e-b-1 );
            nodedata = nodedata.substr( e+1 );
            meshFile = key;
            //std::cout << "fileName: " << meshFile << "\n";
        }
        if ( key.compare( POS ) == 0 ) {
            StringManipulator::BreakString( nodedata, key, nodedata, ":;, \t\n" );
            StringManipulator::ConvertStrToVar( key, pos[0] );
            StringManipulator::BreakString( nodedata, key, nodedata, ":;, \t\n" );
            StringManipulator::ConvertStrToVar( key, pos[1] );
            StringManipulator::BreakString( nodedata, key, nodedata, ":;, \t\n" );
            StringManipulator::ConvertStrToVar( key, pos[2] );
            std::cout << "pos: " << pos << "\n";
        }
        //...
    }

    // Create the rigid body
    if ( meshFile != "" ) {
        g_pArtBody->m_ListRigidBodies.push_back( RigidBodyDynamics<T>() );
        if ( !g_pArtBody->m_ListRigidBodies.back().SetModelFromFile( meshFile, TAPs::Enum::MODEL_TYPE_POLYGONAL ) ) {
            delete g_pArtBody;
            g_pArtBody = NULL;
            throw Exception( Exception::CANNOT_CREATE_AN_OBJECT, __FILE__, __LINE__ );
        }
        // Set centroid
        g_pArtBody->m_ListRigidBodies.back().SetOriginPoint( pos );
        // Set rotation
        //...
        // set scale
        //...
    }
}

//=============================================================================
END_NAMESPACE_TAPs
//34567890123456789012345678901234567890123456789012345678901234567890123456789
//--+----1----+----2----+----3----+----4----+----5----+----6----+----7----+----