source: code/branches/ode/ode-0.9/ode/src/export-dif.cpp @ 216

/*************************************************************************
 *                                                                       *
 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
 * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
 *                                                                       *
 * 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.TXT.                                               *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file LICENSE-BSD.TXT.                                       *
 *                                                                       *
 * 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.TXT and LICENSE-BSD.TXT for more details.                     *
 *                                                                       *
 *************************************************************************/

/*
 * Export a DIF (Dynamics Interchange Format) file.
 */


// @@@ TODO:
//      * export all spaces, and geoms in spaces, not just ones attached to bodies
//        (separate export function?)
//      * say the space each geom is in, so reader can construct space heirarchy
//      * limot --> separate out into limits and motors?
//      * make sure ODE-specific parameters divided out


#include "ode/ode.h"
#include "objects.h"
#include "joint.h"
#include "collision_kernel.h"

//***************************************************************************
// utility

struct PrintingContext {
        FILE *file;             // file to write to
        int precision;          // digits of precision to print
        int indent;             // number of levels of indent

        void printIndent();
        void printReal (dReal x);
        void print (const char *name, int x);
        void print (const char *name, dReal x);
        void print (const char *name, const dReal *x, int n=3);
        void print (const char *name, const char *x=0);
        void printNonzero (const char *name, dReal x);
        void printNonzero (const char *name, const dReal x[3]);
};


void PrintingContext::printIndent()
{
        for (int i=0; i<indent; i++) fputc ('\t',file);
}


void PrintingContext::print (const char *name, int x)
{
        printIndent();
        fprintf (file,"%s = %d,\n",name,x);
}


void PrintingContext::printReal (dReal x)
{
        if (x==dInfinity) {
                fprintf (file,"inf");
        }
        else if (x==-dInfinity) {
                fprintf (file,"-inf");
        }
        else {
                fprintf (file,"%.*g",precision,x);
        }
}


void PrintingContext::print (const char *name, dReal x)
{
        printIndent();
        fprintf (file,"%s = ",name);
        printReal (x);
        fprintf (file,",\n");
}


void PrintingContext::print (const char *name, const dReal *x, int n)
{
        printIndent();
        fprintf (file,"%s = {",name);
        for (int i=0; i<n; i++) {
                printReal (x[i]);
                if (i < n-1) fputc (',',file);
        }
        fprintf (file,"},\n");
}


void PrintingContext::print (const char *name, const char *x)
{
        printIndent();
        if (x) {
                fprintf (file,"%s = \"%s\",\n",name,x);
        }
        else {
                fprintf (file,"%s\n",name);
        }
}


void PrintingContext::printNonzero (const char *name, dReal x)
{
        if (x != 0) print (name,x);
}


void PrintingContext::printNonzero (const char *name, const dReal x[3])
{
        if (x[0] != 0 && x[1] != 0 && x[2] != 0) print (name,x);
}

//***************************************************************************
// joints


static void printLimot (PrintingContext &c, dxJointLimitMotor &limot, int num)
{
        if (num >= 0) {
                c.printIndent();
                fprintf (c.file,"limit%d = {\n",num);
        }
        else {
                c.print ("limit = {");
        }
        c.indent++;
        c.print ("low_stop",limot.lostop);
        c.print ("high_stop",limot.histop);
        c.printNonzero ("bounce",limot.bounce);
        c.print ("ODE = {");
        c.indent++;
        c.printNonzero ("stop_erp",limot.stop_erp);
        c.printNonzero ("stop_cfm",limot.stop_cfm);
        c.indent--;
        c.print ("},");
        c.indent--;
        c.print ("},");

        if (num >= 0) {
                c.printIndent();
                fprintf (c.file,"motor%d = {\n",num);
        }
        else {
                c.print ("motor = {");
        }
        c.indent++;
        c.printNonzero ("vel",limot.vel);
        c.printNonzero ("fmax",limot.fmax);
        c.print ("ODE = {");
        c.indent++;
        c.printNonzero ("fudge_factor",limot.fudge_factor);
        c.printNonzero ("normal_cfm",limot.normal_cfm);
        c.indent--;
        c.print ("},");
        c.indent--;
        c.print ("},");
}


static const char *getJointName (dxJoint *j)
{
        switch (j->vtable->typenum) {
                case dJointTypeBall: return "ball";
                case dJointTypeHinge: return "hinge";
                case dJointTypeSlider: return "slider";
                case dJointTypeContact: return "contact";
                case dJointTypeUniversal: return "universal";
                case dJointTypeHinge2: return "ODE_hinge2";
                case dJointTypeFixed: return "fixed";
                case dJointTypeNull: return "null";
                case dJointTypeAMotor: return "ODE_angular_motor";
                case dJointTypeLMotor: return "ODE_linear_motor";
                case dJointTypePR: return "PR";
        }
        return "unknown";
}


static void printBall (PrintingContext &c, dxJoint *j)
{
        dxJointBall *b = (dxJointBall*) j;
        c.print ("anchor1",b->anchor1);
        c.print ("anchor2",b->anchor2);
}


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 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 printContact (PrintingContext &c, dxJoint *j)
{
        dxJointContact *ct = (dxJointContact*) j;
        int mode = ct->contact.surface.mode;
        c.print ("pos",ct->contact.geom.pos);
        c.print ("normal",ct->contact.geom.normal);
        c.print ("depth",ct->contact.geom.depth);
        //@@@ may want to write the geoms g1 and g2 that are involved, for debugging.
        //    to do this we must have written out all geoms in all spaces, not just
        //    geoms that are attached to bodies.
        c.print ("mu",ct->contact.surface.mu);
        if (mode & dContactMu2) c.print ("mu2",ct->contact.surface.mu2);
        if (mode & dContactBounce) c.print ("bounce",ct->contact.surface.bounce);
        if (mode & dContactBounce) c.print ("bounce_vel",ct->contact.surface.bounce_vel);
        if (mode & dContactSoftERP) c.print ("soft_ERP",ct->contact.surface.soft_erp);
        if (mode & dContactSoftCFM) c.print ("soft_CFM",ct->contact.surface.soft_cfm);
        if (mode & dContactMotion1) c.print ("motion1",ct->contact.surface.motion1);
        if (mode & dContactMotion2) c.print ("motion2",ct->contact.surface.motion2);
        if (mode & dContactSlip1) c.print ("slip1",ct->contact.surface.slip1);
        if (mode & dContactSlip2) c.print ("slip2",ct->contact.surface.slip2);
        int fa = 0;             // friction approximation code
        if (mode & dContactApprox1_1) fa |= 1;
        if (mode & dContactApprox1_2) fa |= 2;
        if (fa) c.print ("friction_approximation",fa);
        if (mode & dContactFDir1) c.print ("fdir1",ct->contact.fdir1);
}


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 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 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 printFixed (PrintingContext &c, dxJoint *j)
{
        dxJointFixed *f = (dxJointFixed*) j;
        c.print ("qrel",f->qrel);
        c.print ("offset",f->offset);
}

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 printAMotor (PrintingContext &c, dxJoint *j)
{
        dxJointAMotor *a = (dxJointAMotor*) j;
        c.print ("num",a->num);
        c.print ("mode",a->mode);
        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);
        c.print ("angle1",a->angle[0]);
        c.print ("angle2",a->angle[1]);
        c.print ("angle3",a->angle[2]);
}

//***************************************************************************
// geometry

static void printGeom (PrintingContext &c, dxGeom *g);

static void printSphere (PrintingContext &c, dxGeom *g)
{
        c.print ("type","sphere");
        c.print ("radius",dGeomSphereGetRadius (g));
}


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 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 printRay (PrintingContext &c, dxGeom *g)
{
        dReal length = dGeomRayGetLength (g);
        c.print ("type","ray");
        c.print ("length",length);
}



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 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.
}


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 dPlaneClass: printPlane (c,g); break;
                case dRayClass: printRay (c,g); break;
                case dGeomTransformClass: printGeomTransform (c,g); break;
                case dTriMeshClass: printTriMesh (c,g); break;
        }
}

//***************************************************************************
// world

void dWorldExportDIF (dWorldID w, FILE *file, const char *prefix)
{
        PrintingContext c;
        c.file = file;
#if defined(dSINGLE)
        c.precision = 7;
#else
        c.precision = 15;
#endif
        c.indent = 1;

        fprintf (file,"-- Dynamics Interchange Format v0.1\n\n%sworld = dynamics.world {\n",prefix);
        c.print ("gravity",w->gravity);
        c.print ("ODE = {");
        c.indent++;
        c.print ("ERP",w->global_erp);
        c.print ("CFM",w->global_cfm);
        c.print ("auto_disable = {");
        c.indent++;
        c.print ("linear_threshold",w->adis.linear_average_threshold);
        c.print ("angular_threshold",w->adis.angular_average_threshold);
        c.print ("average_samples",(int)w->adis.average_samples);
        c.print ("idle_time",w->adis.idle_time);
        c.print ("idle_steps",w->adis.idle_steps);
        fprintf (file,"\t\t},\n\t},\n}\n");
        c.indent -= 3;

        // bodies
        int num = 0;
        fprintf (file,"%sbody = {}\n",prefix);
        for (dxBody *b=w->firstbody; b; b=(dxBody*)b->next) {
                b->tag = num;
                fprintf (file,"%sbody[%d] = dynamics.body {\n\tworld = %sworld,\n",prefix,num,prefix);
                c.indent++;
                c.print ("pos",b->posr.pos);
                c.print ("q",b->q,4);
                c.print ("lvel",b->lvel);
                c.print ("avel",b->avel);
                c.print ("mass",b->mass.mass);
                fprintf (file,"\tI = {{");
                for (int i=0; i<3; i++) {
                        for (int j=0; j<3; j++) {
                                c.printReal (b->mass.I[i*4+j]);
                                if (j < 2) fputc (',',file);
                        }
                        if (i < 2) fprintf (file,"},{");
                }
                fprintf (file,"}},\n");
                c.printNonzero ("com",b->mass.c);
                c.print ("ODE = {");
                c.indent++;
                if (b->flags & dxBodyFlagFiniteRotation) c.print ("finite_rotation",1);
                if (b->flags & dxBodyDisabled) c.print ("disabled",1);
                if (b->flags & dxBodyNoGravity) c.print ("no_gravity",1);
                if (b->flags & dxBodyAutoDisable) {
                        c.print ("auto_disable = {");
                        c.indent++;
                        c.print ("linear_threshold",b->adis.linear_average_threshold);
                        c.print ("angular_threshold",b->adis.angular_average_threshold);
                        c.print ("average_samples",(int)b->adis.average_samples);
                        c.print ("idle_time",b->adis.idle_time);
                        c.print ("idle_steps",b->adis.idle_steps);
                        c.print ("time_left",b->adis_timeleft);
                        c.print ("steps_left",b->adis_stepsleft);
                        c.indent--;
                        c.print ("},");
                }
                c.printNonzero ("facc",b->facc);
                c.printNonzero ("tacc",b->tacc);
                if (b->flags & dxBodyFlagFiniteRotationAxis) {
                        c.print ("finite_rotation_axis",b->finite_rot_axis);
                }
                c.indent--;
                c.print ("},");
                if (b->geom) {
                        c.print ("geometry = {");
                        c.indent++;
                        for (dxGeom *g=b->geom; g; g=g->body_next) {
                                c.print ("{");
                                c.indent++;
                                printGeom (c,g);
                                c.indent--;
                                c.print ("},");
                        }
                        c.indent--;
                        c.print ("},");
                }
                c.indent--;
                c.print ("}");
                num++;
        }

        // joints
        num = 0;
        fprintf (file,"%sjoint = {}\n",prefix);
        for (dxJoint *j=w->firstjoint; j; j=(dxJoint*)j->next) {
                c.indent++;
                const char *name = getJointName (j);
                fprintf (file,
                        "%sjoint[%d] = dynamics.%s_joint {\n"
                        "\tworld = %sworld,\n"
                        "\tbody = {"
                        ,prefix,num,name,prefix);

                if ( j->node[0].body )
                        fprintf (file,"%sbody[%d]",prefix,j->node[0].body->tag);
                if ( j->node[1].body )
                        fprintf (file,",%sbody[%d]",prefix,j->node[1].body->tag);

                switch (j->vtable->typenum) {
                        case dJointTypeBall: printBall (c,j); break;
                        case dJointTypeHinge: printHinge (c,j); break;
                        case dJointTypeSlider: printSlider (c,j); break;
                        case dJointTypeContact: printContact (c,j); break;
                        case dJointTypeUniversal: printUniversal (c,j); break;
                        case dJointTypeHinge2: printHinge2 (c,j); break;
                        case dJointTypeFixed: printFixed (c,j); break;
                        case dJointTypeAMotor: printAMotor (c,j); break;
                        case dJointTypeLMotor: printLMotor (c,j); break;
                        case dJointTypePR: printPR (c,j); break;
                }
                c.indent--;
                c.print ("}");
                num++;
        }
}