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EnvireOdeCollisionPlugins.cpp
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EnvireOdeCollisionPlugins.cpp
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/**
* \file EnvireOdeCollisionPlugins.cpp
* \author Malte Langosz
*
*/
#include "EnvireOdeCollisionPlugins.hpp"
#include <lib_manager/LibInterface.hpp>
#include <lib_manager/LibManager.hpp>
#include <mars_utils/mathUtils.h>
#include <mars_utils/misc.h>
#include <mars_interfaces/graphics/GraphicsManagerInterface.h>
#include <mars_interfaces/sim/LoadCenter.h>
#include <mars_interfaces/sim/LoadSceneInterface.h>
#include <mars_interfaces/sim/DynamicObject.hpp>
#include <mars_interfaces/Logging.hpp>
#include <mars_ode_collision/CollisionSpace.hpp>
#include <mars_ode_collision/objects/Object.hpp>
#include <mars_ode_collision/objects/Mesh.hpp>
#include <mars_ode_collision/objects/Heightfield.hpp>
namespace mars
{
namespace envire_ode_collision
{
using namespace interfaces;
EnvireOdeCollisionPlugins::EnvireOdeCollisionPlugins(lib_manager::LibManager *theManager) :
lib_manager::LibInterface{theManager}
{
GraphItemEventDispatcher<envire::core::Item<::envire::types::geometry::Heightfield>>::subscribe(ControlCenter::envireGraph.get());
GraphItemEventDispatcher<envire::core::Item<::envire::types::geometry::Plane>>::subscribe(ControlCenter::envireGraph.get());
GraphItemEventDispatcher<envire::core::Item<::envire::types::geometry::Box>>::subscribe(ControlCenter::envireGraph.get());
GraphItemEventDispatcher<envire::core::Item<::envire::types::geometry::Capsule>>::subscribe(ControlCenter::envireGraph.get());
GraphItemEventDispatcher<envire::core::Item<::envire::types::geometry::Cylinder>>::subscribe(ControlCenter::envireGraph.get());
GraphItemEventDispatcher<envire::core::Item<::envire::types::geometry::Mesh>>::subscribe(ControlCenter::envireGraph.get());
GraphItemEventDispatcher<envire::core::Item<::envire::types::geometry::Sphere>>::subscribe(ControlCenter::envireGraph.get());
}
EnvireOdeCollisionPlugins::~EnvireOdeCollisionPlugins()
{}
// TODO: this should be moved out from here
std::shared_ptr<SubControlCenter> EnvireOdeCollisionPlugins::getControlCenter(envire::core::FrameId frame)
{
// search for physics interface in graph
bool done = false;
while(!done)
{
const auto& vertex = ControlCenter::envireGraph->vertex(frame);
const auto& parentVertex = ControlCenter::graphTreeView->tree[vertex].parent;
// todo: check if this check is correct
if(parentVertex)
{
frame = ControlCenter::envireGraph->getFrameId(parentVertex);
try
{
using SubControlItem = envire::core::Item<std::shared_ptr<SubControlCenter>>;
const auto& it = ControlCenter::envireGraph->getItem<SubControlItem>(frame);
return it->getData();
}
catch (...)
{
}
}
else
{
done = true;
}
}
return nullptr;
}
void EnvireOdeCollisionPlugins::itemAdded(const envire::core::TypedItemAddedEvent<envire::core::Item<::envire::types::geometry::Heightfield>>& e)
{
if (e.item->getTag() != "collision")
{
return;
}
auto& collidable = e.item->getData();
auto config = collidable.getFullConfigMap();
createCollision(config, e.frame);
}
void EnvireOdeCollisionPlugins::itemAdded(const envire::core::TypedItemAddedEvent<envire::core::Item<::envire::types::geometry::Plane>>& e)
{
if (e.item->getTag() != "collision")
{
return;
}
auto& collidable = e.item->getData();
auto config = collidable.getFullConfigMap();
config["extend"]["x"] = config["size"]["x"];
config["extend"]["y"] = config["size"]["y"];
createCollision(config, e.frame);
}
void EnvireOdeCollisionPlugins::itemAdded(const envire::core::TypedItemAddedEvent<envire::core::Item<::envire::types::geometry::Box>>& e)
{
if (e.item->getTag() != "collision")
{
return;
}
auto& collidable = e.item->getData();
auto config = collidable.getFullConfigMap();
config["extend"]["x"] = config["size"]["x"];
config["extend"]["y"] = config["size"]["y"];
config["extend"]["z"] = config["size"]["z"];
createCollision(config, e.frame);
}
void EnvireOdeCollisionPlugins::itemAdded(const envire::core::TypedItemAddedEvent<envire::core::Item<::envire::types::geometry::Capsule>>& e)
{
if (e.item->getTag() != "collision")
{
return;
}
auto& collidable = e.item->getData();
auto config = collidable.getFullConfigMap();
createCollision(config, e.frame);
}
void EnvireOdeCollisionPlugins::itemAdded(const envire::core::TypedItemAddedEvent<envire::core::Item<::envire::types::geometry::Cylinder>>& e)
{
if (e.item->getTag() != "collision")
{
return;
}
auto& collidable = e.item->getData();
auto config = collidable.getFullConfigMap();
config["extend"]["x"] = config["radius"];
config["extend"]["y"] = config["length"];
createCollision(config, e.frame);
}
void EnvireOdeCollisionPlugins::itemAdded(const envire::core::TypedItemAddedEvent<envire::core::Item<::envire::types::geometry::Mesh>>& e)
{
if (e.item->getTag() != "collision")
{
return;
}
auto& collidable = e.item->getData();
auto config = collidable.getFullConfigMap();
createCollision(config, e.frame);
}
void EnvireOdeCollisionPlugins::itemAdded(const envire::core::TypedItemAddedEvent<envire::core::Item<::envire::types::geometry::Sphere>>& e)
{
if (e.item->getTag() != "collision")
{
return;
}
auto& collidable = e.item->getData();
auto config = collidable.getFullConfigMap();
config["extend"]["x"] = config["radius"];
createCollision(config, e.frame);
}
void EnvireOdeCollisionPlugins::createCollision(configmaps::ConfigMap &config, const envire::core::FrameId &frameId)
{
auto subControl = getControlCenter(frameId);
if (!subControl)
{
return;
}
// TODO: do we need to check the physic name here?
//if(control->physics->getLibName() == "mars_ode_physics")
//{
// TODO: we will not use prefix, when we move to base envire types
LOG_INFO("Added smurf::Collidable item: %s", frameId.c_str());
// TODO: check that we really have the frame in the map
const auto& vertex = ControlCenter::envireGraph->vertex(frameId);
const auto& parentVertex = ControlCenter::graphTreeView->tree[vertex].parent;
const auto& parentFrame = ControlCenter::envireGraph->getFrameId(parentVertex);
LOG_INFO("collision parent Frame: %s", parentFrame.c_str());
// LOG_ERROR("parent Frame: %s", parentFrame.c_str());
//std::string type = e.item->getData().getTypeString();
// TODO: why we need this? since name is set in config map, check it
// TODO: no need default bitmask
config["name"] = frameId;//e.item->getData().getName();
if (!config.hasKey("bitmask"))
{
config["bitmask"] = std::numeric_limits<uint16_t>::max(); // == 65535
}
else
{
// TODO: for some reason bitmask after loading smurf is not a number, but string
// need to be checked
config["bitmask"] = static_cast<int>(config["bitmask"]);
}
//config["parentFrame"] = parentFrame;
auto parent = subControl->physics->getFrame(parentFrame);
auto* const collision = subControl->collision->createObject(config, parent);
if(!collision)
{
LOG_ERROR("Error creating collision object!");
return;
}
// add mesh data handling; todo: move to collsion library itself
if(config["type"] == "mesh")
{
NodeData node;
if(!config.hasKey("extend"))
{
config["loadSizeFromMesh"] = true;
if(config.hasKey("scale"))
{
config["physicalScale"] = config["scale"];
}
}
//fprintf(stderr, "%s\n", config.toYamlString().c_str());
node.fromConfigMap(&config, "");
ControlCenter::loadCenter->loadMesh->getPhysicsFromMesh(&node);
((ode_collision::Mesh*)collision)->setMeshData(node.mesh);
config["extend"]["x"] = node.ext.x();
config["extend"]["y"] = node.ext.y();
config["extend"]["z"] = node.ext.z();
collision->createGeom();
}
if(config["type"] == "heightfield")
{
NodeData node;
node.fromConfigMap(&config, "");
// check physics type:
if(node.terrain)
{
if(!node.terrain->pixelData)
{
LOG_INFO("Load heightmap pixelData...");
//nodeData.terrain = new(terrainStruct);
// TODO: add proper path handling
node.terrain->srcname = config["filePrefix"].toString() + "/" + node.terrain->srcname;
LOG_INFO(node.terrain->srcname.c_str());
ControlCenter::loadCenter->loadHeightmap->readPixelData(node.terrain);
if(!node.terrain->pixelData)
{
LOG_ERROR("NodeManager::addNode: could not load image for terrain");
}
}
((ode_collision::Heightfield*)collision)->setTerrainStrcut(node.terrain);
if(!collision->createGeom())
{
LOG_ERROR("Error creating Heightfield geom!");
return;
}
}
}
// TODO: check hirarchy issues with closed loops
const auto& t = ControlCenter::envireGraph->getTransform(parentVertex, vertex);
collision->setPosition(t.transform.translation);
collision->setRotation(t.transform.orientation);
// store the collision physic object in the graph
// TODO: this is just quick implementation
// TODO: add interface for CollisionObject how it was done for DynamicObject
const auto collisionPtr = std::shared_ptr<ode_collision::Object>{collision};
const auto collisionItemPtr = envire::core::Item<std::shared_ptr<ode_collision::Object>>::Ptr{new envire::core::Item<std::shared_ptr<ode_collision::Object>>{collisionPtr}};
ControlCenter::envireGraph->addItemToFrame(frameId, collisionItemPtr);
}
} // end of namespace envire_ode_collision
} // end of namespace mars
DESTROY_LIB(mars::envire_ode_collision::EnvireOdeCollisionPlugins);
CREATE_LIB(mars::envire_ode_collision::EnvireOdeCollisionPlugins);