###################################################################### # Python Open Dynamics Engine Wrapper # Copyright (C) 2004 PyODE developers (see file AUTHORS) # All rights reserved. # # This library is free software; you can redistribute it and/or # modify it under the terms of EITHER: # (1) 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. The text of the GNU Lesser # General Public License is included with this library in the # file LICENSE. # (2) The BSD-style license that is included with this library in # the file LICENSE-BSD. # # 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 files # LICENSE and LICENSE-BSD for more details. ###################################################################### # XODE Importer for PyODE """ XODE Geom Parser @author: U{Timothy Stranex} """ import ode import errors, node, joint, body, transform class Geom(node.TreeNode): """ Represents an C{ode.Geom} object and corresponds to the tag. """ def __init__(self, name, parent): node.TreeNode.__init__(self, name, parent) self._space = self.getFirstAncestor(ode.SpaceBase).getODEObject() self._transformed = False try: self._body = self.getFirstAncestor(ode.Body) except node.AncestorNotFoundError: self._body = None def takeParser(self, parser): """ Handle further parsing. It should be called immediately after the tag has been encountered. """ self._parser = parser self._parser.push(startElement=self._startElement, endElement=self._endElement) def _startElement(self, name, attrs): nodeName = attrs.get('name', None) if (name == 'transform'): t = transform.Transform() t.takeParser(self._parser, self, attrs) self._transformed = True elif (name == 'box'): self._parseGeomBox(attrs) elif (name == 'cappedCylinder'): self._parseGeomCCylinder(attrs) elif (name == 'cone'): raise NotImplementedError() elif (name == 'cylinder'): raise NotImplementedError() elif (name == 'plane'): self._parseGeomPlane(attrs) elif (name == 'ray'): self._parseGeomRay(attrs) elif (name == 'sphere'): self._parseGeomSphere(attrs) elif (name == 'trimesh'): self._parseTriMesh(attrs) elif (name == 'geom'): g = Geom(nodeName, self) g.takeParser(self._parser) elif (name == 'body'): b = body.Body(nodeName, self, attrs) b.takeParser(self._parser) elif (name == 'joint'): j = joint.Joint(nodename, self) j.takeParser(self._parser) elif (name == 'jointgroup'): pass elif (name == 'ext'): pass else: raise errors.ChildError('geom', name) def _endElement(self, name): if (name == 'geom'): obj = self.getODEObject() if (obj is None): raise errors.InvalidError('No geom type element found.') self._parser.pop() def _setObject(self, kclass, **kwargs): """ Create the Geom object and apply transforms. Only call for placeable Geoms. """ if (self._body is None): # The Geom is independant so it can have its own transform kwargs['space'] = self._space obj = kclass(**kwargs) t = self.getTransform() obj.setPosition(t.getPosition()) obj.setRotation(t.getRotation()) self.setODEObject(obj) elif (self._transformed): # The Geom is attached to a body so to transform it, it must # by placed in a GeomTransform and its transform is relative # to the body. kwargs['space'] = None obj = kclass(**kwargs) t = self.getTransform(self._body) obj.setPosition(t.getPosition()) obj.setRotation(t.getRotation()) trans = ode.GeomTransform(self._space) trans.setGeom(obj) trans.setBody(self._body.getODEObject()) self.setODEObject(trans) else: kwargs['space'] = self._space obj = kclass(**kwargs) obj.setBody(self._body.getODEObject()) self.setODEObject(obj) def _parseGeomBox(self, attrs): def start(name, attrs): if (name == 'ext'): pass else: raise errors.ChildError('box', name) def end(name): if (name == 'box'): self._parser.pop() lx = float(attrs['sizex']) ly = float(attrs['sizey']) lz = float(attrs['sizez']) self._setObject(ode.GeomBox, lengths=(lx, ly, lz)) self._parser.push(startElement=start, endElement=end) def _parseGeomCCylinder(self, attrs): def start(name, attrs): if (name == 'ext'): pass else: raise errors.ChildError('cappedCylinder', name) def end(name): if (name == 'cappedCylinder'): self._parser.pop() radius = float(attrs['radius']) length = float(attrs['length']) self._setObject(ode.GeomCCylinder, radius=radius, length=length) self._parser.push(startElement=start, endElement=end) def _parseGeomSphere(self, attrs): def start(name, attrs): if (name == 'ext'): pass else: raise errors.ChildError('sphere', name) def end(name): if (name == 'sphere'): self._parser.pop() radius = float(attrs['radius']) self._setObject(ode.GeomSphere, radius=radius) self._parser.push(startElement=start, endElement=end) def _parseGeomPlane(self, attrs): def start(name, attrs): if (name == 'ext'): pass else: raise errors.ChildError('plane', name) def end(name): if (name == 'plane'): self._parser.pop() a = float(attrs['a']) b = float(attrs['b']) c = float(attrs['c']) d = float(attrs['d']) self.setODEObject(ode.GeomPlane(self._space, (a, b, c), d)) self._parser.push(startElement=start, endElement=end) def _parseGeomRay(self, attrs): def start(name, attrs): if (name == 'ext'): pass else: raise errors.ChildError('ray', name) def end(name): if (name == 'ray'): self._parser.pop() length = float(attrs['length']) self.setODEObject(ode.GeomRay(self._space, length)) self._parser.push(startElement=start, endElement=end) def _parseTriMesh(self, attrs): vertices = [] triangles = [] def start(name, attrs): if (name == 'vertices'): pass elif (name == 'triangles'): pass elif (name == 'v'): vertices.append(self._parser.parseVector(attrs)) elif (name == 't'): tri = int(attrs['ia'])-1, int(attrs['ib'])-1, int(attrs['ic'])-1 triangles.append(tri) else: raise errors.ChildError('trimesh', name) def end(name): if (name == 'trimesh'): data = ode.TriMeshData() data.build(vertices, triangles) self._setObject(ode.GeomTriMesh, data=data) self._parser.pop() self._parser.push(startElement=start, endElement=end)