C++ SimpleXMLTransfer::getChildCount方法代码示例

void T_Calibration::putBackIntoCfg(SimpleXMLTransfer* cfgfile)
{
#if DEBUG_TX_INTERFACE > 0
  printf("T_Calibration::putBackIntoCfg(cfg)\n");
  printf(" --> %s\n", child_in_cfg.c_str());
#endif
  int size;
  SimpleXMLTransfer* item;
  SimpleXMLTransfer* group;
  SimpleXMLTransfer* item2;

  item = cfgfile->getChild(child_in_cfg);
  group = item->getChild("calibration");
  group->setAttributeOverwrite("version", "2");

  // clean list
  size = group->getChildCount();
  for (int n = 0; n < size; n++)
  {
    item2 = group->getChildAt(0);
    group->removeChildAt(0);
    delete item2;
  }
  // create new list
  for (int n = 0; n < TX_MAXAXIS; n++)
  {
    item2 = new SimpleXMLTransfer();
    item2->setName("axis");
    item2->addAttribute("val_min", doubleToString(val_min[n]));
    item2->addAttribute("val_mid", doubleToString(val_mid[n]));
    item2->addAttribute("val_max", doubleToString(val_max[n]));
    group->addChild(item2);
  }
}

void T_Calibration::init(SimpleXMLTransfer* cfgfile,
                         std::string childname)
{
#if DEBUG_TX_INTERFACE > 0
  printf("T_Calibration::init(cfg, child)\n");
  printf(" <-- %s\n", childname.c_str());
#endif
  int size;
  SimpleXMLTransfer* item;
  SimpleXMLTransfer* group;
  SimpleXMLTransfer* item2;
  
  child_in_cfg = childname;

  // try to load config
  printf("Loading calibration settings from %s:\n", childname.c_str());
  try
  {
    item = cfgfile->getChild(childname, true);
    group = item->getChild("calibration", true);
    int nVer = group->getInt("version", 1);
  
    size  = group->getChildCount();
    if (size > TX_MAXAXIS)
      size = TX_MAXAXIS;
    for (int n = 0; n < size; n++)
    {
      item2 = group->getChildAt(n);
      switch (nVer)
      {
        case 1:
          {
            float scale = item2->getDouble("scale", 1.0);
            float off = item2->getDouble("offset", 0.0);
            // old:   out = scale * in + offset
            val_min[n] = (-0.5 - off) / scale;
            val_max[n] = ( 0.5 - off) / scale;
            val_mid[n] = 0.5 * (val_min[n] + val_max[n]);
            printf("  (1)");
          }
          break;
          
        case 2:      
          val_min[n] = item2->getDouble("val_min", -1.0);
          val_mid[n] = item2->getDouble("val_mid",  0.0);
          val_max[n] = item2->getDouble("val_max",  1.0);
          printf("  (2)");
          break;
      }
      printf(" axis=%i val_min=%f val_mid=%f val_max=%f\n", n, val_min[n], val_mid[n], val_max[n]);
    }
  }
  catch (XMLException e)
  {
    fprintf(stderr, "*** T_Calibration::init(): %s\n", e.what());
  }
}

/** \brief Add animations to a model
 *
 *  This method reads animation description tags from a model file
 *  and tries to add the corresponding animations to the 3D model.
 *
 *  \todo Right now there's only one type of animation: movable control
 *  surfaces. Therefore this method receives a pointer to the control
 *  input class. If animations are added that need a different kind of
 *  input for their update() method, we need to decide how to pass all
 *  this stuff to initAnimations().
 *
 *  \param  model_file    XML model description file
 *  \param  model         scenegraph of the 3D model
 */
void initAnimations(SimpleXMLTransfer *model_file, ssgEntity* model)
{
  SimpleXMLTransfer *animations = model_file->getChild("animations", true);
  int num_anims = animations->getChildCount();
  std::cout << "initAnimations: found " << num_anims << " children" << std::endl;
  
  for (int i = 0; i < num_anims; i++)
  {
    SimpleXMLTransfer *animation = animations->getChildAt(i);
    createAnimation(animation, model);
  }
}

void CRRCAirplaneLaRCSim::initSound(SimpleXMLTransfer* xml)
{
  SimpleXMLTransfer* cfg = XMLModelFile::getConfig(xml);
  SimpleXMLTransfer* sndcfg = cfg->getChild("sound", true);
  int children = sndcfg->getChildCount();
  int units = sndcfg->getInt("units", 0);
  
  for (int i = 0; i < children; i++)
  {
    SimpleXMLTransfer *child = sndcfg->getChildAt(i);
    std::string name = child->getName();
    
    if (name.compare("sample") == 0)
    {
      T_AirplaneSound *sample;

      // assemble relative path
      std::string soundfile;
      soundfile           = child->attribute("filename");

      // other sound attributes
      int sound_type      = child->getInt("type", SOUND_TYPE_GLIDER);
      double dPitchFactor = child->getDouble("pitchfactor", 0.002);
      double dMaxVolume   = child->getDouble("maxvolume", 1.0);
  
      if (dMaxVolume < 0.0)
      {
        dMaxVolume = 0.0;
      }
      else if (dMaxVolume > 1.0)
      {
        dMaxVolume = 1.0;
      }

  //~ if (cfg->indexOfChild("power") < 0)
    //~ max_thrust = 0;
  //~ else
    //~ max_thrust = 1;
  
      if (soundfile != "")
      {
        // Get full path (considering search paths). 
        soundfile = FileSysTools::getDataPath("sounds/" + soundfile);
      }
      
      // File ok? Use default otherwise.
      if (!FileSysTools::fileExists(soundfile))
        soundfile = FileSysTools::getDataPath("sounds/fan.wav");
    
      std::cout << "soundfile: " << soundfile << "\n";
      //~ std::cout << "max_thrust: " << max_thrust << "\n";
      std::cout << "soundserver: " << Global::soundserver << "\n";
  
      // Only make noise if a sound file is available
      if (soundfile != "" && Global::soundserver != (CRRCAudioServer*)0)
      {        
        std::cout << "Using airplane sound " << soundfile << ", type " << sound_type << ", max vol " << dMaxVolume << std::endl;
        
        if (sound_type == SOUND_TYPE_GLIDER)
        {
          T_GliderSound *glidersound;
          float flMinRelV, flMaxRelV, flMaxDist;
          flMinRelV = (float)child->getDouble("v_min", 1.5);
          flMaxRelV = (float)child->getDouble("v_max", 4.0);
          flMaxDist = (float)child->getDouble("dist_max", 300);
          
          if (units == 1)
          {
            // convert from metric units to ft.
            flMaxDist *= M_TO_FT;
          }
          
          glidersound = new T_GliderSound(soundfile.c_str(), Global::soundserver->getAudioSpec());
          glidersound->setMinRelVelocity(flMinRelV);
          glidersound->setMaxRelVelocity(flMaxRelV);
          glidersound->setMaxDistanceFeet(flMaxDist);
          sample = glidersound;
        }
        else
        {
          sample = new T_EngineSound(soundfile.c_str(), Global::soundserver->getAudioSpec());
        }
                
        sample->setType(sound_type);
        sample->setPitchFactor(dPitchFactor);
        sample->setMaxVolume(dMaxVolume);
        sample->setChannel(Global::soundserver->playSample((T_SoundSample*)sample));
        sound.push_back(sample);
      }
    }
  }
}

void CRRC_AirplaneSim_MCopter01::LoadFromXML(SimpleXMLTransfer* xml, int nVerbosity)
{
  if (xml->getString("type").compare("mcopter01") != 0 ||
      xml->getInt("version") != 1)
  {
    throw XMLException("file is not for mcopter01");
  }    
    
  SimpleXMLTransfer* i;
  SimpleXMLTransfer* cfg = XMLModelFile::getConfig(xml);  
  
  {
    double to_slug;
    double to_slug_ft_ft;
    
    i = cfg->getChild("mass_inertia");
    switch (i->getInt("units"))
    {
     case 0:    
      to_slug       = 1;
      to_slug_ft_ft = 1;
      break;
     case 1:
      to_slug       = KG_TO_SLUG;
      to_slug_ft_ft = KG_M_M_TO_SLUG_FT_FT;
      break;
     default:
      {
        throw std::runtime_error("Unknown units in mass_inertia");
      }
      break;
    }
    Mass  = i->getDouble("Mass") * to_slug;
    I_xx  = i->getDouble("I_xx") * to_slug_ft_ft;
    I_yy  = i->getDouble("I_yy") * to_slug_ft_ft;
    I_zz  = i->getDouble("I_zz") * to_slug_ft_ft;
    I_xz  = i->getDouble("I_xz") * to_slug_ft_ft;
  }
    
  {
    speed_damp       = cfg->getDouble("aero.speed.damp");
    roll_damp1       = cfg->getDouble("aero.roll.damp1", 0);
    yaw_damp1        = cfg->getDouble("aero.yaw.damp1",  0);    
    roll_damp2       = cfg->getDouble("aero.roll.damp2", 0);    
    yaw_damp2        = cfg->getDouble("aero.yaw.damp2",  0);    
        
    yaw_dist         = cfg->getDouble("aero.yaw.dist", 0);    
    roll_dist        = cfg->getDouble("aero.roll.dist", 0);
    pitch_dist       = cfg->getDouble("aero.pitch.dist", roll_dist);
    
    // The ground effect parameters should be quite independent of the helicopter
    // parameters...shouldn't they? However, they can be adjusted.
    dGEDistMul  = xml->getDouble("GroundEffect.dist.mul",  1.5);

    {
      double tau  = xml->getDouble("Disturbance.tau_filter", 0.2);
      dist_t_init = xml->getDouble("Disturbance.time",       0.2);

      filt_rnd_yaw.SetTau(tau);
      filt_rnd_roll.SetTau(tau);
      filt_rnd_pitch.SetTau(tau);
    }
  }  
  
  wheels.init(xml, 0);
  dRotorRadius = wheels.getWingspan()*0.5;
  dRotorZ      = wheels.getZHigh();

  wheels.init(xml, 0);
  dRotorRadius = wheels.getWingspan()*0.5;
  dRotorZ      = wheels.getZHigh();

  props.clear();
  i = cfg->getChild("aero.props");
  for (int n=0; n<i->getChildCount(); n++)
    props.push_back(Propdata(i->getChildAt(n)));

  if (power.size() == 0)
  {    
    for (unsigned int n=0; n<props.size(); n++)
      power.push_back(new Power::Power(cfg, nVerbosity));
    dURef = 0.7 * cfg->getDouble("power.battery.U_0");
  }
  else
  {
    for (unsigned int n=0; n<power.size(); n++)
      power[n]->ReloadParams(cfg, nVerbosity);
  }
  
  controllers.clear();  
  Controller::LoadList(cfg->getChild("controllers"), controllers);  
}

ModelBasedScenery::ModelBasedScenery(SimpleXMLTransfer *xml, int sky_variant)
    : Scenery(xml, sky_variant), location(Scenery::MODEL_BASED)
{
  ssgEntity *model = NULL;
  SimpleXMLTransfer *scene = xml->getChild("scene", true);
  getHeight_mode = scene->attributeAsInt("getHeight_mode", DEFAULT_HEIGHT_MODE);
  //std::cout << "----getHeight_mode : " <<  getHeight_mode <<std::endl;
  SceneGraph = new ssgRoot();

  // Create an "invisible" state. This state actually makes a node
  // visible in a predefined way. This is used to visualize invisible
  // objects (e.g. collision boxes).
  invisible_state = new ssgSimpleState();
  invisible_state->disable(GL_COLOR_MATERIAL);
  invisible_state->disable(GL_TEXTURE_2D);
  invisible_state->enable(GL_LIGHTING);
  invisible_state->enable(GL_BLEND);
  //invisible_state->setShadeModel(GL_SMOOTH);
  //invisible_state->setShininess(0.0f);
  invisible_state->setMaterial(GL_EMISSION, 0.0, 0.0, 0.0, 0.0);
  invisible_state->setMaterial(GL_AMBIENT, 1.0, 0.0, 0.0, 0.5);
  invisible_state->setMaterial(GL_DIFFUSE, 1.0, 0.0, 0.0, 0.5);
  invisible_state->setMaterial(GL_SPECULAR, 1.0, 0.0, 0.0, 0.5);

  // transform everything from SSG coordinates to CRRCsim coordinates
  initial_trans = new ssgTransform();
  SceneGraph->addKid(initial_trans);
//10.76
  sgMat4 it = {  {1,  0.0,  0.0,   0},
    {0.0,  0.0, -1,   0},
    {0.0,  1,  0.0,   0},
    {0.0,  0.0,  0.0, 1.0}
  };

  initial_trans->setTransform(it);

  // find all "objects" defined in the file
  int num_children = scene->getChildCount();

  for (int cur_child = 0; cur_child < num_children; cur_child++)
  {
    SimpleXMLTransfer *kid = scene->getChildAt(cur_child);
    // only use "object" tags
    if (kid->getName() == "object")
    {
      std::string filename = kid->attribute("filename", "not_specified");
      bool is_terrain = (kid->attributeAsInt("terrain", 1) != 0);
      bool is_visible = (kid->attributeAsInt("visible", 1) != 0);

      // PLIB automatically loads the texture file,
      // but it does not know which directory to use.
      // Where is the object file?
      std::string    of  = FileSysTools::getDataPath("objects/" + filename, TRUE);
      // compile and set relative texture path
      std::string    tp  = of.substr(0, of.length()-filename.length()-1-7) + "textures";
      ssgTexturePath(tp.c_str());

      // load model
      std::cout << "Loading 3D object \"" << of.c_str() << "\"";
      if (is_terrain)
      {
        std::cout << " (part of terrain)";
      }
      if (!is_visible)
      {
        std::cout << " (invisible)";
      }
      std::cout << std::endl;
      model = ssgLoad(of.c_str());
      if (model != NULL)
      {
        if (!is_visible)
        {
          setToInvisibleState(model);
        }
        
        // The model may contain internal node attributes (e.g. for
        // integrated collision boxes). Parse these attributes now.
        evaluateNodeAttributes(model);
        
        
        // now parse the instances and place the model in the SceneGraph
        for (int cur_instance = 0; cur_instance < kid->getChildCount(); cur_instance++)
        {
          SimpleXMLTransfer *instance = kid->getChildAt(cur_instance);
          if (instance->getName() == "instance")
          {
            sgCoord coord;
            
            // try north/east/height first, then fallback to x/y/z
            try
            {
              coord.xyz[SG_X] = instance->attributeAsDouble("east");
            }
            catch (XMLException &e)
            {
              coord.xyz[SG_X] = instance->attributeAsDouble("y", 0.0);
            }
            try
            {
//.........这里部分代码省略.........

/**
 * Initialize a WheelSystem from an XML file.
 *
 * \param ModelFile   pointer to file class
 * \param def_span    default span if no hardpoints are found to calculate it
 */
void WheelSystem::init(SimpleXMLTransfer *ModelFile, SCALAR  def_span)
{
  Wheel              wheel(this);
  SimpleXMLTransfer  *e, *i;
  unsigned int       uSize;
  double             x, y, z;
  double             dist;
  double             to_ft;
  double             to_lbf_per_ft;
  double             to_lbf_s_per_ft;
  double             to_lbf;
  CRRCMath::Vector3  pCG;
   
  /**
   * Tracks wingspan [m]
   */
  double span = 0;
  span_ft = 0.0;
  
  
  //
  pCG = CRRCMath::Vector3(0, 0, 0);
  if (ModelFile->indexOfChild("CG") >= 0)
  {
    i = ModelFile->getChild("CG");
    pCG.r[0] = i->attributeAsDouble("x", 0);
    pCG.r[1] = i->attributeAsDouble("y", 0);
    pCG.r[2] = i->attributeAsDouble("z", 0);
    
    if (i->attributeAsInt("units") == 1)
      pCG *= M_TO_FT;
  }
  
  // let's assume that there is nothing below/above the CG:
  dZLow    = 0;
  dZHigh   = 0;
  
  // let's assume that there is nothing distant from the CG:
  dMaxSize = 0;
  
  wheels.clear();
  
  i = ModelFile->getChild("wheels");
  switch (i->getInt("units"))
  {
   case 0:    
    to_ft           = 1;
    to_lbf_per_ft   = 1;
    to_lbf_s_per_ft = 1;
    to_lbf          = 1;
    break;
   case 1:
    to_ft           = M_TO_FT;
    to_lbf_per_ft   = FT_TO_M / LBF_TO_N;
    to_lbf_s_per_ft = FT_TO_M / LBF_TO_N;
    to_lbf          = N_TO_LBF;
    break;
   default:
    {
      throw std::runtime_error("Unknown units in wheels");
    }
    break;
  }        
  uSize = i->getChildCount();
  for (unsigned int n=0; n<uSize; n++)
  {
    // we assign the child number as a unique ID for
    // debugging
    wheel.nID = n;
    
    e = i->getChildAt(n);
    
    x = e->getDouble("pos.x") * to_ft - pCG.r[0];
    y = e->getDouble("pos.y") * to_ft - pCG.r[1];
    z = e->getDouble("pos.z") * to_ft - pCG.r[2];
    wheel.v_P = CRRCMath::Vector3(x, y, z);
    
    // let's see if this wheel is coupled to an animation
    wheel.anim_name = e->getString("pos.animation", "");
    if (wheel.anim_name != "")
    {
      std::cout << "WheelSystem::init: hardpoint is coupled to anim ";
      std::cout << wheel.anim_name << std::endl;
    }
    wheel.hpt = NULL;
    if (ModelFile->indexOfChild("animations") >= 0)
    {
      SimpleXMLTransfer *a = ModelFile->getChild("animations");
      unsigned int numAnims = a->getChildCount();
      for (unsigned int animIndex = 0; animIndex < numAnims; animIndex++)
      {
        SimpleXMLTransfer *an = a->getChildAt(animIndex);
        if (an->getString("object.name", "") == wheel.anim_name)
        {
//.........这里部分代码省略.........

/** \brief Add animations to a model
 *
 *  This method reads animation description tags from a model file
 *  and tries to add the corresponding animations to the 3D model.
 *
 *  \todo Right now there's only one type of animation: movable control
 *  surfaces. Therefore this method receives a pointer to the control
 *  input class. If animations are added that need a different kind of
 *  input for their update() method, we need to decide how to pass all
 *  this stuff to initAnimations().
 *
 *  \param  model_file    XML model description file
 *  \param  model         scenegraph of the 3D model
 *  \param  fInputs       pointer to the control input class
 *  \param  anim_list     list of all created CRRCAnimation objects
 */
void initAnimations(SimpleXMLTransfer *model_file, ssgEntity* model, 
                    TSimInputs *fInput, std::vector<CRRCAnimation*>& anim_list)
{
  SimpleXMLTransfer *animations = model_file->getChild("animations", true);
  int num_anims = animations->getChildCount();
  fprintf(stdout, "initAnimations: found %d children\n", num_anims);
  
  for (int i = 0; i < num_anims; i++)
  {
    SimpleXMLTransfer *animation = animations->getChildAt(i);
    ssgEntity *node;
    
    if (animation->getName() != "animation")
    {
      fprintf(stderr, "initAnimations: invalid child <%s>\n", animation->getName().c_str());
    }
    else
    {
      std::string node_name = animation->getString("object.name", "default");
      std::string type      = animation->getString("type", "default");

      node = SSGUtil::findNamedNode(model, node_name.c_str());
      if (node != NULL)
      {
        CRRCAnimation *anim = NULL;
        printf("initAnimations: found animation node %s, type %s\n", 
                node_name.c_str(), type.c_str());
        
        if (type == "ControlSurface")
        {
          anim = new CRRCControlSurfaceAnimation(animation, fInput);
        }
        else
        {
          fprintf(stderr, "initAnimations: unknown animation type '%s'\n", type.c_str());
        }
        
        if (anim != NULL)
        {
          if (anim->getBranch() == NULL)
          {
            fprintf(stderr, "initAnimations: defunct animation class (animation branch is <NULL>)\n");
            exit(0);
          }
          else
          {
            SSGUtil::spliceBranch(anim->getBranch(), node);
            anim->init();
            anim->setName("Animation");
            anim->getBranch()->setUserData(anim);
            anim->getBranch()->setTravCallback(SSG_CALLBACK_PRETRAV, animation_callback);
            anim_list.push_back(anim);
          }
        }
        
      }
      else
      {
        fprintf(stderr, "initAnimations: node '%s' not found in 3D model\n", node_name.c_str());
      }
    }
  }
}