C++ PrintingContext::print方法代码示例

static void printBox (PrintingContext &c, dxGeom *g)
{
    dVector3 sides;
    dGeomBoxGetLengths (g,sides);
    c.print ("type","box");
    c.print ("sides",sides);
}

static void printCapsule (PrintingContext &c, dxGeom *g)
{
    dReal radius,length;
    dGeomCapsuleGetParams (g,&radius,&length);
    c.print ("type","capsule");
    c.print ("radius",radius);
    c.print ("length",length);
}

static void printCylinder (PrintingContext &c, dxGeom *g)
{
    dReal radius,length;
    dGeomCylinderGetParams (g,&radius,&length);
    c.print ("type","cylinder");
    c.print ("radius",radius);
    c.print ("length",length);
}

static void printSlider (PrintingContext &c, dxJoint *j)
{
    dxJointSlider *s = (dxJointSlider*) j;
    c.print ("axis1",s->axis1);
    c.print ("qrel",s->qrel,4);
    c.print ("offset",s->offset);
    printLimot (c,s->limot,-1);
}

static void printPlane (PrintingContext &c, dxGeom *g)
{
    dVector4 e;
    dGeomPlaneGetParams (g,e);
    c.print ("type","plane");
    c.print ("normal",e);
    c.print ("d",e[3]);
}

static void printHinge (PrintingContext &c, dxJoint *j)
{
    dxJointHinge *h = (dxJointHinge*) j;
    c.print ("anchor1",h->anchor1);
    c.print ("anchor2",h->anchor2);
    c.print ("axis1",h->axis1);
    c.print ("axis2",h->axis2);
    c.print ("qrel",h->qrel,4);
    printLimot (c,h->limot,-1);
}

static void printPiston (PrintingContext &c, dxJoint *j)
{
    dxJointPiston *rap = (dxJointPiston*) j;
    c.print ("anchor1",rap->anchor1);
    c.print ("anchor2",rap->anchor2);
    c.print ("axis1",rap->axis1);
    c.print ("axis2",rap->axis2);
    c.print ("qrel",rap->qrel,4);
    printLimot (c,rap->limotP,1);
    printLimot (c, rap->limotR, 2);
}

static void printLMotor (PrintingContext &c, dxJoint *j)
{
    dxJointLMotor *a = (dxJointLMotor*) j;
    c.print("num", a->num);
    c.printIndent();
    fprintf (c.file,"rel = {%d,%d,%d},\n",a->rel[0],a->rel[1],a->rel[2]);
    c.print ("axis1",a->axis[0]);
    c.print ("axis2",a->axis[1]);
    c.print ("axis3",a->axis[2]);
    for (int i=0; i<3; i++) printLimot (c,a->limot[i],i+1);
}

static void printPR (PrintingContext &c, dxJoint *j)
{
    dxJointPR *pr = (dxJointPR*) j;
    c.print ("anchor2",pr->anchor2);
    c.print ("axisR1",pr->axisR1);
    c.print ("axisR2",pr->axisR2);
    c.print ("axisP1",pr->axisP1);
    c.print ("qrel",pr->qrel,4);
    c.print ("offset",pr->offset);
    printLimot (c,pr->limotP,1);
    printLimot (c,pr->limotR,2);
}

static void printUniversal (PrintingContext &c, dxJoint *j)
{
    dxJointUniversal *u = (dxJointUniversal*) j;
    c.print ("anchor1",u->anchor1);
    c.print ("anchor2",u->anchor2);
    c.print ("axis1",u->axis1);
    c.print ("axis2",u->axis2);
    c.print ("qrel1",u->qrel1,4);
    c.print ("qrel2",u->qrel2,4);
    printLimot (c,u->limot1,1);
    printLimot (c,u->limot2,2);
}

static void printPU (PrintingContext &c, dxJoint *j)
{
    dxJointPU *pu = (dxJointPU*) j;
    c.print ("anchor1",pu->anchor1);
    c.print ("anchor2",pu->anchor2);
    c.print ("axis1",pu->axis1);
    c.print ("axis2",pu->axis2);
    c.print ("axisP",pu->axisP1);
    c.print ("qrel1",pu->qrel1,4);
    c.print ("qrel2",pu->qrel2,4);
    printLimot (c,pu->limot1,1);
    printLimot (c,pu->limot2,2);
    printLimot (c,pu->limotP,3);
}

static void printHinge2 (PrintingContext &c, dxJoint *j)
{
    dxJointHinge2 *h = (dxJointHinge2*) j;
    c.print ("anchor1",h->anchor1);
    c.print ("anchor2",h->anchor2);
    c.print ("axis1",h->axis1);
    c.print ("axis2",h->axis2);
    c.print ("v1",h->v1);	//@@@ much better to write out 'qrel' here, if it's available
    c.print ("v2",h->v2);
    c.print ("susp_erp",h->susp_erp);
    c.print ("susp_cfm",h->susp_cfm);
    printLimot (c,h->limot1,1);
    printLimot (c,h->limot2,2);
}

static void printGeomTransform (PrintingContext &c, dxGeom *g)
{
	dxGeom *g2 = dGeomTransformGetGeom (g);
	const dReal *pos = dGeomGetPosition (g2);
	dQuaternion q;
	dGeomGetQuaternion (g2,q);
	c.print ("type","transform");
	c.print ("pos",pos);
	c.print ("q",q,4);
	c.print ("geometry = {");
	c.indent++;
	printGeom (c,g2);
	c.indent--;
	c.print ("}");
}

static void printGeom (PrintingContext &c, dxGeom *g)
{
    unsigned long category = dGeomGetCategoryBits (g);
    if (category != (unsigned long)(~0)) {
        c.printIndent();
        fprintf (c.file,"category_bits = %lu\n",category);
    }
    unsigned long collide = dGeomGetCollideBits (g);
    if (collide != (unsigned long)(~0)) {
        c.printIndent();
        fprintf (c.file,"collide_bits = %lu\n",collide);
    }
    if (!dGeomIsEnabled (g)) {
        c.print ("disabled",1);
    }
    switch (g->type) {
        case dSphereClass: printSphere (c,g); break;
        case dBoxClass: printBox (c,g); break;
        case dCapsuleClass: printCapsule (c,g); break;
        case dCylinderClass: printCylinder (c,g); break;
        case dPlaneClass: printPlane (c,g); break;
        case dRayClass: printRay (c,g); break;
        case dConvexClass: printConvex (c,g); break;
        case dTriMeshClass: printTriMesh (c,g); break;
        case dHeightfieldClass: printHeightfieldClass (c,g); break;
    }
}

static void printTriMesh (PrintingContext &c, dxGeom * /*g*/)
{
    c.print ("type","trimesh");
    //@@@ i don't think that the trimesh accessor functions are really
    //    sufficient to read out all the triangle data, and anyway we
    //    should have a method of not duplicating trimesh data that is
    //    shared.
}