234 lines
9.7 KiB
C++
234 lines
9.7 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_COLLADALOADER_HH_
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#define _GAZEBO_COLLADALOADER_HH_
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#include <string>
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#include <vector>
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#include <map>
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#include <ignition/math/Matrix4.hh>
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#include <ignition/math/Vector3.hh>
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#include <ignition/math/Vector2.hh>
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#include "gazebo/common/MeshLoader.hh"
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#include "gazebo/util/system.hh"
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class TiXmlElement;
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namespace gazebo
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{
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namespace common
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{
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class Material;
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class ColladaLoaderPrivate;
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/// \addtogroup gazebo_common Common
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/// \{
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/// \class ColladaLoader ColladaLoader.hh common/common.hh
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/// \brief Class used to load Collada mesh files
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class GZ_COMMON_VISIBLE ColladaLoader : public MeshLoader
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{
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/// \brief Constructor
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public: ColladaLoader();
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/// \brief Destructor
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public: virtual ~ColladaLoader();
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/// \brief Load a mesh
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/// \param[in] _filename Collada file to load
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/// \return Pointer to a new Mesh
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public: virtual Mesh *Load(const std::string &_filename);
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/// \brief Load a controller instance
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/// \param[in] _contrXml Pointer to the control XML instance
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/// \param[in] _skelXml Pointer the skeleton xml instance
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/// \param[in] _transform A tranform to apply
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/// \param[in,out] _mesh The mesh being loaded
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private: void LoadController(TiXmlElement *_contrXml,
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TiXmlElement *_skelXml,
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const ignition::math::Matrix4d &_transform, Mesh *_mesh);
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/// \brief Load animations for a skeleton
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/// \param[in] _xml Animation XML instance
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/// \param[in,out] _skel Pointer to the skeleton
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private: void LoadAnimations(TiXmlElement *_xml, Skeleton *_skel);
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/// \brief Load a set of animations for a skeleton
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/// \param[in] _xml Pointer to the animation set XML instance
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/// \param[in,out] _skel Pointer to the skeleton
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private: void LoadAnimationSet(TiXmlElement *_xml, Skeleton *_skel);
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/// \brief Load skeleton nodes
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/// \param[in] _xml Pointer to the XML instance
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/// \param[in,out] _xml Pointer to the Skeleton node parent
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private: SkeletonNode* LoadSkeletonNodes(TiXmlElement *_xml,
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SkeletonNode *_parent);
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/// \brief Set the tranform for a skeleton node
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/// \param[in] _xml Pointer to the XML instance
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/// \param[in,out] _node The skeleton node
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private: void SetSkeletonNodeTransform(TiXmlElement *_elem,
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SkeletonNode *_node);
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/// \brief Load geometry elements
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/// \param[in] _xml Pointer to the XML instance
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/// \param[in] _tranform Transform to apply to the loaded geometry
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/// \param[in,out] _mesh Pointer to the mesh currently being loaded
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private: void LoadGeometry(TiXmlElement *_xml,
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const ignition::math::Matrix4d &_transform, Mesh *_mesh);
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/// \brief Get an XML element by ID
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/// \param[in] _parent The parent element
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/// \param[in] _name String name of the element
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/// \param[out] _id String ID of the element
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private: TiXmlElement *GetElementId(TiXmlElement *_parent,
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const std::string &_name,
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const std::string &_id);
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/// \brief Get an XML element by ID
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/// \param[in] _name String name of the element
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/// \param[out] _id String ID of the element
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private: TiXmlElement *GetElementId(const std::string &_name,
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const std::string &_id);
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/// \brief Load a node
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/// \param[in] _elem Pointer to the node XML instance
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/// \param[in,out] _mesh Pointer to the current mesh
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/// \param[out] _transform Transform to apply to the node
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private: void LoadNode(TiXmlElement *_elem, Mesh *_mesh,
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const ignition::math::Matrix4d &_transform);
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/// \brief Load a transform
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/// \param[in] _elem Pointer to the transform XML instance
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/// \return A Matrix4 transform
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private: ignition::math::Matrix4d LoadNodeTransform(TiXmlElement *_elem);
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/// \brief Load vertices
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/// \param[in] _id String id of the vertices XML node
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/// \param[in] _transform Transform to apply to all vertices
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/// \param[out] _verts Holds the resulting vertices
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/// \param[out] _norms Holds the resulting normals
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private: void LoadVertices(const std::string &_id,
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const ignition::math::Matrix4d &_transform,
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std::vector<ignition::math::Vector3d> &_verts,
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std::vector<ignition::math::Vector3d> &_norms);
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/// \brief Load vertices
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/// \param[in] _id String id of the vertices XML node
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/// \param[in] _transform Transform to apply to all vertices
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/// \param[out] _verts Holds the resulting vertices
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/// \param[out] _norms Holds the resulting normals
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/// \param[out] _vertDup Holds a map of duplicate position indices
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/// \param[out] _normDup Holds a map of duplicate normal indices
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private: void LoadVertices(const std::string &_id,
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const ignition::math::Matrix4d &_transform,
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std::vector<ignition::math::Vector3d> &_verts,
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std::vector<ignition::math::Vector3d> &_norms,
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std::map<unsigned int, unsigned int> &_vertDup,
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std::map<unsigned int, unsigned int> &_normDup);
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/// \brief Load positions
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/// \param[in] _id String id of the XML node
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/// \param[in] _transform Transform to apply to all positions
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/// \param[out] _values Holds the resulting position values
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/// \param[out] _values Holds a map of duplicate position indices
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private: void LoadPositions(const std::string &_id,
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const ignition::math::Matrix4d &_transform,
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std::vector<ignition::math::Vector3d> &_values,
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std::map<unsigned int, unsigned int> &_duplicates);
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/// \brief Load normals
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/// \param[in] _id String id of the XML node
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/// \param[in] _transform Transform to apply to all normals
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/// \param[out] _values Holds the resulting normal values
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/// \param[out] _values Holds a map of duplicate normal indices
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private: void LoadNormals(const std::string &_id,
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const ignition::math::Matrix4d &_transform,
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std::vector<ignition::math::Vector3d> &_values,
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std::map<unsigned int, unsigned int> &_duplicates);
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/// \brief Load texture coordinates
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/// \param[in] _id String id of the XML node
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/// \param[out] _values Holds the resulting uv values
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/// \param[out] _values Holds a map of duplicate uv indices
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private: void LoadTexCoords(const std::string &_id,
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std::vector<ignition::math::Vector2d> &_values,
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std::map<unsigned int, unsigned int> &_duplicates);
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/// \brief Load a material
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/// \param _name Name of the material XML element
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/// \return A pointer to the new material
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private: Material *LoadMaterial(const std::string &_name);
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/// \brief Load a color or texture
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/// \param[in] _eleme Pointer to the XML element
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/// \param[in] _type One of {diffuse, ambient, emission}
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/// \param[out] _mat Material to load the texture or color into
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private: void LoadColorOrTexture(TiXmlElement *_elem,
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const std::string &_type,
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Material *_mat);
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/// \brief Load triangles
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/// \param[in] _trianglesXml Pointer the triangles XML instance
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/// \param[in] _transform Transform to apply to all triangles
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/// \param[out] _mesh Mesh that is currently being loaded
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private: void LoadTriangles(TiXmlElement *_trianglesXml,
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const ignition::math::Matrix4d &_transform,
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Mesh *_mesh);
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/// \brief Load a polygon list
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/// \param[in] _polylistXml Pointer to the XML element
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/// \param[in] _transform Transform to apply to each polygon
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/// \param[out] _mesh Mesh that is currently being loaded
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private: void LoadPolylist(TiXmlElement *_polylistXml,
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const ignition::math::Matrix4d &_transform,
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Mesh *_mesh);
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/// \brief Load lines
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/// \param[in] _xml Pointer to the XML element
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/// \param[in] _transform Transform to apply
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/// \param[out] _mesh Mesh that is currently being loaded
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private: void LoadLines(TiXmlElement *_xml,
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const ignition::math::Matrix4d &_transform,
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Mesh *_mesh);
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/// \brief Load an entire scene
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/// \param[out] _mesh Mesh that is currently being loaded
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private: void LoadScene(Mesh *_mesh);
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/// \brief Load a float value
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/// \param[out] _elem Pointer to the XML element
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/// \return The float value
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private: float LoadFloat(TiXmlElement *_elem);
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/// \brief Load a transparent material. NOT IMPLEMENTED
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/// \param[in] _elem Pointer to the XML element
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/// \param[out] _mat Material to hold the transparent properties
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private: void LoadTransparent(TiXmlElement *_elem, Material *_mat);
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/// \internal
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/// \brief Pointer to private data.
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private: ColladaLoaderPrivate *dataPtr;
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};
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/// \}
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}
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}
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#endif
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