RX90/CreateVRML.h File Reference

Create VRML function. More...

#include <stdio.h>
#include <stdlib.h>

Go to the source code of this file.

Data Structures
struct	MatList
struct	VRMLFeatures
Defines
#define	FALSE   0
#define	TRUE   1
Enumerations
enum	InterpType { POSITION, ORIENTATION, COLOR, SCALE }
Functions
int	CreateVRML ()
void	HAnimOrientations (double *Or, double *q)
	Compute the matrix of global orientation of the model in the h-anim referential.
void	HAnimPosition (double *Pos, double *q)
	Compute the matrix of global position of the model in the h-anim referential.
void	HAnimVPos (double *VPOS, double *Lambda, double *q)
	Compute the matrix of position of the center of pressure(COP) of the contact solids and in the last column the sum of the forces vertical components in the h-anim referential.
void	HAnimVRot (double *VRot, double *Lambda, double *q)
	Compute the matrix of orientations(angle/axe) of the forces on the contact solids and of the total forces in the h-anim referential NCONTSOL is the number of contact solids and NCONT the number of contact points.
void	HAnimVScale (double *VScale, double *Lambda, double *q)
	Compute the scale along the h-anim x, y and z axes.
void	InitVRMLFeatures ()
void	ResetVRMLFeatures ()
int	SetUpVRMLCharacter (char *geomFilename, int nb, char **names, double *rot, double *pos)
int	SetUpVRMLFile (char *outputFilename, int useJava)
int	SetUpVRMLInterpolation (int nbS, double dt)
int	SetUpVRMLPhysVec (int nb, char **names, double *rot, double *pos, double *scale, double *RGB)
int	WriteVRMLInterpolator (FILE *f, enum InterpType type, int index, char *name, int nbItems, int nbSamples, double *data)
int	WriteVRMLPhysVec (FILE *f, int index, char *name, double *data)

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Detailed Description

Create VRML function.

Author:

: Laurence Boissieux Affiliation(s): INRIA, team BIPOP Email(s): Creation : 2005/04/14

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Define Documentation

#define FALSE   0

#define TRUE   1

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Enumeration Type Documentation

enum InterpType

Enumerator:

POSITION
ORIENTATION
COLOR
SCALE

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Function Documentation

int CreateVRML

(

)

Creates a VRML h-anim compliant file describing geometry and HUMANS simulated motion

Returns:

return 1 on success, exit(-1) on error

void HAnimOrientations	(	double *	Or,
		double *	q
	)

Compute the matrix of global orientation of the model in the h-anim referential.

Parameters:

[out]	Or	Matrix of global orientation dim 1x4
[in]	q	Joint State Vector dim NDOF

void HAnimPosition	(	double *	Pos,
		double *	q
	)

Compute the matrix of global position of the model in the h-anim referential.

Parameters:

[out]	Pos	Matrix of global position dim 1x3
[in]	q	Joint State Vector dim NDOF

void HAnimVPos	(	double *	VPOS,
		double *	Lambda,
		double *	q
	)

Compute the matrix of position of the center of pressure(COP) of the contact solids and in the last column the sum of the forces vertical components in the h-anim referential.

NCONTSOL is the number of contact solids and NCONT the number of contact points.

Parameters:

[out]	VPOS	Matrix of COP positions dim NCONTSOLx4
[in]	Lambda	the forces vector on the contact points dim 3*NCONT
[in]	q	Joint State Vector dim NDOF

void HAnimVRot	(	double *	VRot,
		double *	Lambda,
		double *	q
	)

Compute the matrix of orientations(angle/axe) of the forces on the contact solids and of the total forces in the h-anim referential NCONTSOL is the number of contact solids and NCONT the number of contact points.

Parameters:

[out]	VRot	Matrix of forces orientations dim NCONTSOLx4
[in]	Lambda	the forces vector on the contact points dim 3*NCONT
[in]	q	Joint State Vector dim NDOF

void HAnimVScale	(	double *	VScale,
		double *	Lambda,
		double *	q
	)

Compute the scale along the h-anim x, y and z axes.

The return is a matrix NCONTSOLx3. The rows correspond to the scales for one contact solid.

Parameters:

[out]	VScale	Matrix of forces scales dim NCONTSOLx4
[in]	Lambda	the forces vector on the contact points dim 3*NCONT
[in]	q	Joint State Vector dim NDOF

void InitVRMLFeatures

(

)

void ResetVRMLFeatures

(

)

int SetUpVRMLCharacter	(	char *	geomFilename,
		int	nb,
		char **	names,
		double *	rot,
		double *	pos
	)

int SetUpVRMLFile	(	char *	outputFilename,
		int	useJava
	)

int SetUpVRMLInterpolation	(	int	nbS,
		double	dt
	)

int SetUpVRMLPhysVec	(	int	nb,
		char **	names,
		double *	rot,
		double *	pos,
		double *	scale,
		double *	RGB
	)

int WriteVRMLInterpolator	(	FILE *	f,
		enum InterpType	type,
		int	index,
		char *	name,
		int	nbItems,
		int	nbSamples,
		double *	data
	)

Writes in VRML an interpolator bloc for a given joint or physical Vector

Parameters:

	file	(FILE *) the descriptor of the file to write into
	type	(InterpType) type of the Intepolator bloc, POSITION, ORIENTATION, COLOR or SCALAR
	index	(int) index of the joint or physical vector for which is written the interpolator
	name	(char *) name of the joint or physical vector
	nbItems	(int) number of joints or physical vectors
	nbSamples	(int) number of time samples
	data	(double *) interpolation data

int WriteVRMLPhysVec	(	FILE *	f,
		int	index,
		char *	name,
		double *	data
	)

Writes in VRML a transform bloc for a given physical Vector

Parameters:

	file	(FILE *) the descriptorof the file to write into
	index	(int) index of the physical vector for which is written the transform node
	name	(char *) name of the physical vector
	data	(double *) RGB colors

HuMAnS

humans-users@inrialpes.fr

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