diff --git a/src/algo/include/algo/misc.hpp b/src/algo/include/algo/misc.hpp
index dd1bed06df408d57d325d66231b9838521fc91ee..3d1c9e49c4f3218cb378a3c7ec4db6bd6bc7318f 100644
--- a/src/algo/include/algo/misc.hpp
+++ b/src/algo/include/algo/misc.hpp
@@ -30,8 +30,9 @@ glm::vec3 convert_to_rofi_coordinates(const glm::vec3 &position);
glm::mat4 convert_to_rofi_coordinates(const glm::mat4 &matrix);
glm::vec3 convert_to_rofi_export_coordinates(const glm::vec3 &position, const glm::vec3 &to_voxel_center);
-glm::mat4 convert_to_rofi_export_coordinates(const glm::mat4 &matrix);
+glm::mat4 convert_to_rofi_export_coordinates(const glm::mat4 &editor_matrix);
glm::vec3 convert_to_editor_coordinates(const glm::vec3 &rofi_position);
+glm::mat4 convert_to_editor_import_coordinates(const glm::mat4 &rofi_matrix);
#endif
\ No newline at end of file
diff --git a/src/algo/src/misc.cpp b/src/algo/src/misc.cpp
index a8acdd27d548288ee726fa834f5c14a846133593..96fed7a1dc2c2ca009df8f09eaca758014a7926c 100644
--- a/src/algo/src/misc.cpp
+++ b/src/algo/src/misc.cpp
@@ -134,7 +134,7 @@ glm::vec3 convert_to_rofi_export_coordinates(const glm::vec3 &position, const gl
return glm::vec3(voxel_position.z, voxel_position.x, voxel_position.y);
}
-glm::mat4 convert_to_rofi_export_coordinates(const glm::mat4 &matrix)
+glm::mat4 convert_to_rofi_export_coordinates(const glm::mat4 &editor_matrix)
{
// E -> E'
@@ -149,7 +149,7 @@ glm::mat4 convert_to_rofi_export_coordinates(const glm::mat4 &matrix)
0, 0, 0, 1 // col W
);
- const auto corrected_component_matrix = matrix * A_neg_X_local_correction_matrix;
+ const auto corrected_component_matrix = editor_matrix * A_neg_X_local_correction_matrix;
auto m = get_magic_matrix() * corrected_component_matrix;
@@ -161,3 +161,19 @@ glm::vec3 convert_to_editor_coordinates(const glm::vec3 &rofi_position)
{
return glm::vec3(rofi_position.y, rofi_position.z, rofi_position.x);
}
+
+glm::mat4 convert_to_editor_import_coordinates(const glm::mat4 &rofi_matrix)
+{
+ const auto A_neg_X_local_correction_matrix = glm::mat4(0, 0, 1, 0, // col X
+ 0, -1, 0, 0, // col Y
+ 1, 0, 0, 0, // col Z
+ 0, 0, 0, 1 // col W
+ );
+
+ // const auto corrected_component_matrix = rofi_matrix * A_neg_X_local_correction_matrix;
+
+ auto m = glm::inverse(get_magic_matrix()) * rofi_matrix * glm::inverse(A_neg_X_local_correction_matrix);
+
+ m[3] = glm::vec4(0.0f, 0.0f, 0.0f, 1.0f);
+ return m;
+}
\ No newline at end of file
diff --git a/src/edit/include/edit/editor.hpp b/src/edit/include/edit/editor.hpp
index 99055875e1bf935f29d45f347fba12b8172e818c..539793f2d6f260ba2225e909a6c2914273c8b88a 100644
--- a/src/edit/include/edit/editor.hpp
+++ b/src/edit/include/edit/editor.hpp
@@ -226,7 +226,7 @@ class Editor
std::map<build_mode_I, voxel_graph_ptr> module_type_voxel_graphs;
/* Modules available to be used in RofiWorld creation */
- std::vector<module_ptr> modules = import_saved_configurations();
+ std::vector<module_ptr> modules = import_saved_configurations_module();
rofiworld_ptr rofiworld = std::make_shared<rofi::RofiWorld>();
@@ -441,9 +441,6 @@ private:
void addVoxelGraphToScene(voxel_graph_ptr vg);
void removeVoxelGraphFromScene(voxel_graph_ptr vg);
void resetModuleVoxelGraph(const build_mode_I type);
- void setModuleNodeHierarchy(voxel_graph_ptr vg, std::string type);
- void setModuleNodeHierarchyCube(voxel_graph_ptr vg);
- void setModuleNodeHierarchyUniversal(voxel_graph_ptr vg);
void addToModules(std::string name, std::string type);
void removeFromModules(voxel_graph_ptr vg);
void removeFromModules(module_ptr module);
@@ -501,7 +498,6 @@ private:
void setRoFIMesh(const voxel_graph_ptr vg, bool invalid_state = false);
void setVoxelMesh(const voxel_ptr voxel, bool invalid_state = false);
void setConnectorMesh(const connector_ptr connector, bool invalid_state = false);
- void linkImportVoxelGraphToNodes(const voxel_graph_ptr vg);
/* ROFI -- PHASE TWO */
@@ -548,8 +544,6 @@ private:
void connectModule();
void disconnectModule();
bool checkConnectModuleValid(const connector_ptr fst_connector, const connector_ptr snd_connector);
- void teleportModulesByConnectors(const connector_ptr source_connector, const connector_ptr destination_connector);
-
/* MANIPULATE MODULE */
void manipulateModule();
@@ -564,8 +558,6 @@ private:
/* ROTATE COMPONENT */
void rotateComponent();
- void rotateVoxel(voxel_ptr voxel, float angle);
- void rotateConnector(connector_ptr connector, float angle);
/* NODE TREE REBUILD */
void setRofiWorldNodeTreeToScene(const std::vector<node_ptr> &prev_node_tree, const std::vector<node_ptr> &new_node_tree);
diff --git a/src/edit/src/editor.cpp b/src/edit/src/editor.cpp
index 1c6467e14dc269848daab2f3175987e9b9ce5f89..663483d5a58bbe9ddd28e7ddd7a9c44375818b85 100644
--- a/src/edit/src/editor.cpp
+++ b/src/edit/src/editor.cpp
@@ -1213,54 +1213,6 @@ void Editor::resetModuleVoxelGraph(const build_mode_I type)
voxel_graph = module_type_voxel_graphs[type];
}
-void Editor::setModuleNodeHierarchy(voxel_graph_ptr vg, std::string type)
-{
- if (type == "cube")
- setModuleNodeHierarchyCube(vg);
- else if (type == "universal")
- setModuleNodeHierarchyUniversal(vg);
-}
-
-void Editor::setModuleNodeHierarchyCube(voxel_graph_ptr vg)
-{
- ASSUMPTION(!vg->getVoxels().empty());
- auto body_node = vg->getVoxels().front()->getNode();
-
- for (auto connector : vg->getConnections())
- {
- auto con_node = connector->getNode();
- if (!con_node->getParent().expired())
- con_node->getParent().lock()->transferChild(con_node, body_node, true);
- }
-
- const auto rot = glm::angleAxis(glm::radians(90.0f), glm::vec3(0.0f, 0.0f, -1.0f))
- * glm::angleAxis(glm::radians(90.0f), glm::vec3(0.0f, -1.0f, 0.0f));
- body_node->rotateRotationQuat(rot);
-}
-
-void Editor::setModuleNodeHierarchyUniversal(voxel_graph_ptr vg)
-{
- for (auto &voxel : vg->getVoxels())
- {
- if (!voxel->hasRotationConnector())
- continue;
-
- auto voxel_node = voxel->getNode();
-
- auto rot_con = std::dynamic_pointer_cast<rofi::RotationConnector>(voxel->getRotationConnector().lock());
- auto [fst, snd] = rot_con->getBoundConnectors();
- auto rot_con_node = rot_con->getNode();
- std::vector<node_ptr> connector_nodes = { rot_con_node, fst.lock()->getNode(), snd.lock()->getNode() };
- std::vector<node_ptr> parent_nodes = { voxel_node, rot_con_node, rot_con_node };
-
- for (int i = 0; i < 3; ++i)
- {
- if (!connector_nodes[i]->getParent().expired())
- connector_nodes[i]->getParent().lock()->transferChild(connector_nodes[i], parent_nodes[i], true);
- }
- }
-}
-
void Editor::addToModules(std::string name, std::string type)
{
scene->manageSelection(nullptr);
@@ -1269,8 +1221,8 @@ void Editor::addToModules(std::string name, std::string type)
const std::string module_file = name + std::string(".json");
const std::filesystem::path module_path = modules_directory + module_file;
module_ptr new_module = import_module(module_path);
- linkImportVoxelGraphToNodes(new_module->getParts());
- setModuleNodeHierarchy(new_module->getParts(), type);
+ rofi::VoxelGraph::linkImportVoxelGraphToNodes(new_module->getParts());
+ rofi::Module::setModuleNodeHierarchy(new_module->getParts(), type);
setRoFIMesh(new_module->getParts());
if (const auto it = std::find_if(modules.begin(), modules.end(),
@@ -2117,15 +2069,6 @@ void Editor::updateRoFIMesh(const voxel_graph_ptr vg)
}
}
-void Editor::linkImportVoxelGraphToNodes(const voxel_graph_ptr vg)
-{
- for (const auto &voxel : vg->getVoxels())
- voxel->getNode()->addObject(voxel);
-
- for (const auto &connector : vg->getConnections())
- connector->getNode()->addObject(connector);
-}
-
void Editor::toggleRoFIInvalidStateMesh(bool invalid, const std::set<module_ptr> &modules)
{
for (auto &module : modules)
@@ -2637,7 +2580,7 @@ void Editor::connectModule()
voxel_graph->joinConnectors(selected_connectors.first, selected_connectors.second);
- teleportModulesByConnectors(selected_connectors.first, selected_connectors.second);
+ rofiworld->teleportModulesByConnectors(selected_connectors.first, selected_connectors.second, selected_cardinality);
setConnectorMesh(selected_connectors.first);
setConnectorMesh(selected_connectors.second);
@@ -2687,48 +2630,6 @@ bool Editor::checkConnectModuleValid(const connector_ptr fst_connector, const co
return true;
}
-void Editor::teleportModulesByConnectors(const connector_ptr source_connector, const connector_ptr destination_connector)
-{
- const auto source_node = source_connector->getNode();
- const auto destination_node = destination_connector->getNode();
- const auto source_parent = source_node->getRootParent().lock();
-
- //Rotation
-
- // Rotate to equal plane
- const auto &source_facing = source_node->getRotationAxisZWorld();
- const auto &destination_facing = destination_node->getRotationAxisZWorld();
- source_parent->rotateRotationQuat(glm::rotation(source_facing, -destination_facing));
- // Rotate North to North
- // auto source_north = source_connector->getNode()->getRotationAxisXWorld();
- // auto destination_north = destination_connector->getNode()->getRotationAxisXWorld();
- auto source_rot_con = std::dynamic_pointer_cast<rofi::RotationConnector>(source_connector);
- bool source_is_head = source_rot_con && source_rot_con->isHead();
- auto destination_rot_con = std::dynamic_pointer_cast<rofi::RotationConnector>(destination_connector);
- bool destination_is_head = destination_rot_con && destination_rot_con->isHead();
- const auto source_north = source_is_head
- ? -source_connector->getNode()->getRotationAxisXWorld()
- : source_connector->getNode()->getRotationAxisXWorld();
- const auto destination_north = destination_is_head
- ? -destination_connector->getNode()->getRotationAxisXWorld()
- : destination_connector->getNode()->getRotationAxisXWorld();
-
- const auto oriented_angle = glm::orientedAngle(source_north, destination_north, destination_facing);
-
- source_parent->rotateRotationQuat(glm::angleAxis(oriented_angle, destination_facing));
-
- // Rotate to selected cardinality
- auto orientation = glm::radians(rofi::cardinal_to_degree(selected_cardinality));
-
- source_parent->rotateRotationQuat(glm::angleAxis(orientation, destination_facing));
-
- // Translation
-
- const auto &destination_world_pos = destination_node->getPositionWorld();
- const auto &source_world_pos = source_node->getPositionWorld();
- source_parent->translatePosVec(destination_world_pos - source_world_pos);
-}
-
void Editor::rotateModule(module_ptr selected_module, glm::vec3 &rotation_angles)
{
if (is_resetting_module_rotation)
@@ -2790,48 +2691,21 @@ void Editor::rotateComponent()
}
if (is_voxel)
- rotateVoxel(voxel, component_rotation_angle);
+ rofiworld->rotateVoxel(voxel, component_rotation_angle);
else
- rotateConnector(getConnector(selection), component_rotation_angle);
+ rofiworld->rotateConnector(getConnector(selection), component_rotation_angle);
}
-void Editor::rotateVoxel(voxel_ptr voxel, float angle)
-{
- voxel->getNode()->rotateRotationQuat(glm::angleAxis(glm::radians(angle), glm::vec3(1.0f, 0.0f, 0.0f)));
- // voxel->getNode()->rotateRotationQuat(glm::angleAxis(glm::radians(angle), -voxel->getNode()->getRotationAxisZLocal()));
-}
-
-void Editor::rotateConnector(connector_ptr connector, float angle)
-{
- using namespace rofi;
- auto rot_con = std::dynamic_pointer_cast<RotationConnector>(connector);
- ASSUMPTION(rot_con);
-
- float current_rotation = rot_con->getCurrentRotation();
-
- angle = glm::clamp(angle,
- rot_con->getNegRotationLimit() - current_rotation,
- rot_con->getPosRotationLimit() - current_rotation);
-
- rot_con->setCurrentRotation(current_rotation + angle);
-
- auto connector_node = rot_con->getNode();
- auto rotation_mat = glm::toMat4(glm::angleAxis(glm::radians(-angle), glm::vec3(1.0f, 0.0f, 0.0f)));
- connector_node->translatePosVec(rotation_mat);
- connector_node->rotateRotationQuat(glm::toQuat(rotation_mat));
-}
-
-
void Editor::linkModulesNodes(const std::vector<module_ptr> &modules)
{
for (const auto &module : modules)
- linkImportVoxelGraphToNodes(module->getParts());
+ rofi::VoxelGraph::linkImportVoxelGraphToNodes(module->getParts());
}
void Editor::setModulesNodesHierarchy(const std::vector<module_ptr> &modules)
{
for (const auto &module : modules)
- setModuleNodeHierarchy(module->getParts(), module->getType());
+ rofi::Module::setModuleNodeHierarchy(module->getParts(), module->getType());
}
void Editor::setModulesMesh(const std::vector<module_ptr> &modules)
diff --git a/src/filein/include/filein/json_loader.hpp b/src/filein/include/filein/json_loader.hpp
index 38504122c1e7f6d5a25057bfe24f4f4180454237..41fb5a655c1a38ce2d80467d7afbd06ac054c1f9 100644
--- a/src/filein/include/filein/json_loader.hpp
+++ b/src/filein/include/filein/json_loader.hpp
@@ -2,6 +2,7 @@
#define JSON_LOADER_INCLUDED
#include <boost/json.hpp>
+#include <utils/math.hpp>
#include <filesystem>
#include <fstream>
@@ -11,6 +12,7 @@
void save_configuration(const boost::json::value &value, const std::filesystem::path directory, const char* file_name);
const boost::json::value read_file(const std::filesystem::path &filename);
+glm::mat4 get_transformation_matrix(const boost::json::value &matrix_array);
void pretty_print( std::ostream& os, boost::json::value const& jv, std::string* indent = nullptr );
#endif
\ No newline at end of file
diff --git a/src/filein/include/filein/module_loader.hpp b/src/filein/include/filein/module_loader.hpp
index c613d52c692b393d44e377eb3523fb1418365fb9..5fd6e1c0164aac7160965eded467fb6867152480 100644
--- a/src/filein/include/filein/module_loader.hpp
+++ b/src/filein/include/filein/module_loader.hpp
@@ -52,7 +52,7 @@ void export_module_type(boost::json::object &module_object, voxel_graph_ptr &vox
/* IMPORT */
-std::vector<module_ptr> import_saved_configurations();
+std::vector<module_ptr> import_saved_configurations_module();
module_ptr import_module(const std::filesystem::path file_path);
void get_module_data(const boost::json::object &json_object, boost::json::array &components_array, boost::json::value &id_value,
boost::json::array &joints_array, boost::json::string &type_string);
@@ -66,8 +66,6 @@ std::vector<std::tuple<uint64_t, uint64_t, glm::mat4>> get_rigid_joints(const bo
const std::set<uint64_t> &body_ids,
const std::set<uint64_t> &roficom_ids);
-glm::mat4 get_transformation_matrix(const boost::json::value &matrix_array);
-
std::map<uint64_t, objectbase_ptr> import_rigid_joints(voxel_graph_ptr vg,
const std::vector<std::tuple<uint64_t, uint64_t, glm::mat4>> &from_to_std,
const std::map<uint64_t, objectbase_ptr> &from_components);
diff --git a/src/filein/include/filein/rofiworld_loader.hpp b/src/filein/include/filein/rofiworld_loader.hpp
index e3c342c4cf5bd81f5ccc59c80d3e7b59e168afd9..be78aa7b841156dda8f2ad54b16e48473ff1ca07 100644
--- a/src/filein/include/filein/rofiworld_loader.hpp
+++ b/src/filein/include/filein/rofiworld_loader.hpp
@@ -43,8 +43,25 @@ void export_moduleJoint_orientation(boost::json::object &moduleJoint_object, con
/* IMPORT */
-// std::vector<rofiworld_ptr> import_saved_configurations();
+
+std::vector<rofiworld_ptr> import_saved_configurations_rofiworld();
rofiworld_ptr import_rofiworld(const std::filesystem::path file_path);
-void get_rofiworld_data(const boost::json::array &modules_array, const boost::json::array &spaceJoints_array, const boost::json::array &moduleJoints_array);
+void get_rofiworld_data(const boost::json::object &json_object,
+ boost::json::array &modules_array,
+ boost::json::array &spaceJoints_array,
+ boost::json::array &moduleJoints_array);
+
+bool import_modules(rofiworld_ptr rofiworld, const boost::json::array &modules_array);
+
+bool import_spaceJoints(rofiworld_ptr rofiworld, const boost::json::array &spaceJoints_array);
+bool import_spaceJoint(rofiworld_ptr rofiworld, const boost::json::object &spaceJoint_object);
+module_ptr import_spaceJoint_to(rofiworld_ptr rofiworld, const boost::json::object &to_object);
+void import_spaceJoint_point(const module_ptr module, const boost::json::array &point);
+void import_spaceJoint_joint(rofiworld_ptr rofiworld, const module_ptr module, const boost::json::object &joint);
+
+void import_moduleJoints(rofiworld_ptr rofiworld, const boost::json::array &moduleJoints_array);
+void import_moduleJoint(rofiworld_ptr rofiworld, const boost::json::object &moduleJoint_object);
+std::pair<module_ptr, connector_ptr> get_moduleJoint_module_connector(rofiworld_ptr rofiworld, const boost::json::object &where_object);
+rofi::cardinal get_moduleJoint_orientation(const boost::json::string &orientation_string);
#endif
\ No newline at end of file
diff --git a/src/filein/src/json_loader.cpp b/src/filein/src/json_loader.cpp
index c597c23af3fb1b8611166d4e62168bd100411025..b66bd6d9bd317199237375651adb70ac398d387f 100644
--- a/src/filein/src/json_loader.cpp
+++ b/src/filein/src/json_loader.cpp
@@ -32,6 +32,36 @@ const boost::json::value read_file(const std::filesystem::path &filename)
return boost::json::parse(buffer /*, opt */);
}
+glm::mat4 get_transformation_matrix(const boost::json::value &matrix)
+{
+ if (matrix.is_string()) // if "identity"
+ {
+ return glm::mat4(1.0f);
+ }
+
+ glm::mat4 mat;
+ const auto matrix_array = matrix.as_array();
+ int row_index = 0;
+ for (const auto &row : matrix_array)
+ {
+ const auto row_array = row.as_array();
+ int col_index = 0;
+ for (const auto &elem : row_array)
+ {
+ if (elem.is_int64())
+ mat[col_index][row_index] = static_cast<float>(elem.as_int64());
+ else
+ mat[col_index][row_index] = static_cast<float>(elem.as_double());
+
+ ++col_index;
+ }
+
+ ++row_index;
+ }
+
+ return mat;
+}
+
// Code from:
// https://www.boost.org/doc/libs/1_76_0/libs/json/doc/html/json/examples.html
void pretty_print(std::ostream& os, boost::json::value const& jv, std::string* indent)
diff --git a/src/filein/src/module_loader.cpp b/src/filein/src/module_loader.cpp
index d4be21977ac016b4bf08e081f2ed5c308c03ad7d..af1b500e46035078848997f0462dbdc8e0707ac0 100644
--- a/src/filein/src/module_loader.cpp
+++ b/src/filein/src/module_loader.cpp
@@ -617,7 +617,7 @@ void export_module_type(boost::json::object &module_object, voxel_graph_ptr &vox
/* IMPORT */
/* ------------------------------------- */
-std::vector<module_ptr> import_saved_configurations()
+std::vector<module_ptr> import_saved_configurations_module()
{
const std::filesystem::path modules_directory = "./data/rofi/modules";
std::vector<module_ptr> imported_configurations;
@@ -797,36 +797,6 @@ std::vector<std::tuple<uint64_t, uint64_t, glm::mat4>> get_rigid_joints(const bo
return from_to_std;
}
-glm::mat4 get_transformation_matrix(const boost::json::value &matrix)
-{
- if (matrix.is_string()) // if "identity"
- {
- return glm::mat4(1.0f);
- }
-
- glm::mat4 mat;
- const auto matrix_array = matrix.as_array();
- int row_index = 0;
- for (const auto &row : matrix_array)
- {
- const auto row_array = row.as_array();
- int col_index = 0;
- for (const auto &elem : row_array)
- {
- if (elem.is_int64())
- mat[col_index][row_index] = static_cast<float>(elem.as_int64());
- else
- mat[col_index][row_index] = static_cast<float>(elem.as_double());
-
- ++col_index;
- }
-
- ++row_index;
- }
-
- return mat;
-}
-
std::map<uint64_t, objectbase_ptr> import_rigid_joints(voxel_graph_ptr vg,
const std::vector<std::tuple<uint64_t, uint64_t, glm::mat4>> &from_to_std,
const std::map<uint64_t, objectbase_ptr> &from_components)
diff --git a/src/filein/src/rofiworld_loader.cpp b/src/filein/src/rofiworld_loader.cpp
index 424585d6b711b22f38a9d64daae78da51a4096c2..0cddeee3416ee3b9fb188b77479187f0f2acc50c 100644
--- a/src/filein/src/rofiworld_loader.cpp
+++ b/src/filein/src/rofiworld_loader.cpp
@@ -2,6 +2,7 @@
#include <algo/misc.hpp>
#include <filein/json_loader.hpp>
+#include <filein/module_loader.hpp>
void export_rofiworld(const rofiworld_ptr rofiworld, const std::vector<objectbase_ptr> &selected_spaceJoints, const char* file_name)
{
@@ -281,36 +282,245 @@ void export_moduleJoint_orientation(boost::json::object &moduleJoint_object, con
moduleJoint_object.emplace("orientation", orientation);
}
-// std::vector<rofiworld_ptr> import_saved_configurations()
-// {
-// const std::filesystem::path rofiworlds_directory = "./data/rofi/rofiworlds";
-// std::vector<rofiworld_ptr> imported_configurations;
+std::vector<rofiworld_ptr> import_saved_configurations_rofiworld()
+{
+ const std::filesystem::path rofiworlds_directory = "./data/rofi/rofiworlds";
+ std::vector<rofiworld_ptr> imported_configurations;
-// for (auto const& dir_entry : std::filesystem::directory_iterator{rofiworlds_directory})
-// {
-// if (dir_entry.path().filename().string() == "." || dir_entry.path().filename().string() == "..")
-// continue;
+ for (auto const& dir_entry : std::filesystem::directory_iterator{rofiworlds_directory})
+ {
+ if (dir_entry.path().filename().string() == "." || dir_entry.path().filename().string() == "..")
+ continue;
-// const auto rofiworld = import_rofiworld(dir_entry);
-// if (rofiworld)
-// imported_configurations.emplace_back(rofiworld);
-// }
+ const auto rofiworld = import_rofiworld(dir_entry);
+ if (rofiworld)
+ imported_configurations.emplace_back(rofiworld);
+ }
-// return imported_configurations;
-// }
+ return imported_configurations;
+}
rofiworld_ptr import_rofiworld(const std::filesystem::path file_path)
{
+ const auto json_object = read_file(file_path).as_object();
+
boost::json::array modules_array;
boost::json::array spaceJoints_array;
boost::json::array moduleJoints_array;
- get_rofiworld_data(modules_array, spaceJoints_array, moduleJoints_array);
+ get_rofiworld_data(json_object, modules_array, spaceJoints_array, moduleJoints_array);
+
+ rofiworld_ptr rofiworld = std::make_shared<rofi::RofiWorld>();
+
+ if (!import_modules(rofiworld, modules_array))
+ {
+ {
+ std::cerr << "Cannot import RofiWorld. Invalid module type." << file_path << std::endl;
+ return nullptr;
+ }
+ }
+
+ if (!import_spaceJoints(rofiworld, spaceJoints_array))
+ {
+ std::cerr << "Cannot import RofiWorld. Specified spaceJoint component is other than 0." << file_path << std::endl;
+ return nullptr;
+ }
- return nullptr;
+ import_moduleJoints(rofiworld, moduleJoints_array);
+
+ return rofiworld;
+}
+
+void get_rofiworld_data(const boost::json::object &json_object,
+ boost::json::array &modules_array,
+ boost::json::array &spaceJoints_array,
+ boost::json::array &moduleJoints_array)
+{
+ modules_array = json_object.at("modules").as_array();
+ spaceJoints_array = json_object.at("spaceJoints").as_array();
+ moduleJoints_array = json_object.at("moduleJoints").as_array();
}
-void get_rofiworld_data(const boost::json::array &modules_array, const boost::json::array &spaceJoints_array, const boost::json::array &moduleJoints_array)
+bool import_modules(rofiworld_ptr rofiworld, const boost::json::array &modules_array)
{
+ const std::string modules_directory = "./data/rofi/modules";
+ const auto universal = import_module(modules_directory + std::string("UM.json"));
+ const auto cube = import_module(modules_directory + std::string("cube_full.json"));
+
+ for (const auto &module_value : modules_array)
+ {
+ const auto module_object = module_value.as_object();
+ const auto module_type = module_object.at("type");
+ const auto module_type_string = module_type.if_string();
+ const auto module_id = module_object.at("id").as_uint64();
+
+ module_ptr module_copy = nullptr;
+
+ if (!module_type_string)
+ return false;
+
+ if (*module_type_string == "universal")
+ {
+ module_copy = rofi::Module::copy(universal);
+
+ const auto alpha = module_object.at("alpha").is_int64() ? module_object.at("alpha").as_int64() : module_object.at("alpha").as_double();
+ const auto shoe_a = module_copy->getConnectorByDock("A-Z");
+ rofiworld->rotateConnector(shoe_a, static_cast<float>(alpha));
+
+ const auto beta = module_object.at("beta").is_int64() ? module_object.at("beta").as_int64() : module_object.at("beta").as_double();
+ const auto shoe_b = module_copy->getConnectorByDock("B-Z");
+ rofiworld->rotateConnector(shoe_b, static_cast<float>(beta));
+
+ const auto gamma = module_object.at("gamma").is_int64() ? module_object.at("gamma").as_int64() : module_object.at("gamma").as_double();
+ const auto body_b = module_copy->getParts()->getVoxels().front()->getNode()->getPositionLocal() == glm::vec3(0.0f)
+ ? module_copy->getParts()->getVoxels().back()
+ : module_copy->getParts()->getVoxels().front();
+ rofiworld->rotateVoxel(body_b, static_cast<float>(gamma));
+
+ rofiworld->addModule(rofi::Module::copy(universal));
+ }
+ else if (*module_type_string == "cube")
+ {
+ module_copy = rofi::Module::copy(cube);
+ rofiworld->addModule(module_copy);
+ }
+ else if (*module_type_string == "pad")
+ {
+ const auto width = module_object.at("width").as_int64();
+ const auto height = module_object.at("height").as_int64();
+
+ // TO DO
+ // module_copy = std::make_shared<rofi::Module>()
+ // rofiworld->addModule()
+ }
+ else
+ return false;
+
+ rofiworld->changeModuleID(module_copy, module_id);
+
+ rofi::VoxelGraph::linkImportVoxelGraphToNodes(module_copy->getParts());
+ rofi::Module::setModuleNodeHierarchy(module_copy->getParts(), std::string(*module_type_string));
+ }
+
+ return true;
+
+}
+
+bool import_spaceJoints(rofiworld_ptr rofiworld, const boost::json::array &spaceJoints_array)
+{
+ for (const auto &spaceJoint_value : spaceJoints_array)
+ {
+ if (!import_spaceJoint(rofiworld, spaceJoint_value.as_object()))
+ return false;
+ }
+
+ return true;
+}
+
+bool import_spaceJoint(rofiworld_ptr rofiworld, const boost::json::object &spaceJoint_object)
+{
+ const auto to = spaceJoint_object.at("to").as_object();
+ const auto module = import_spaceJoint_to(rofiworld, to);
+ if (!module)
+ return false;
+
+ const auto point = spaceJoint_object.at("point").as_array();
+ import_spaceJoint_point(module, point);
+ const auto joint = spaceJoint_object.at("joint").as_object();
+ import_spaceJoint_joint(rofiworld, module, joint);
+
+ return true;
+}
+
+module_ptr import_spaceJoint_to(rofiworld_ptr rofiworld, const boost::json::object &to_object)
+{
+ if (to_object.at("component").as_uint64() != 0)
+ return nullptr;
+
+ const auto id = to_object.at("id").as_uint64();
+ ASSUMPTION(rofiworld->containsID(id));
+ return rofiworld->getModuleByID(id);
+}
+
+void import_spaceJoint_point(const module_ptr module, const boost::json::array &point)
+{
+ auto position = glm::vec3(0.0f);
+ for (int i = 0; i < 3; ++i)
+ {
+ const auto &value = point[i];
+ if (value.is_int64())
+ position[i] = static_cast<float>(value.as_int64());
+ else
+ position[i] = static_cast<float>(value.as_double());
+ }
+
+ module->getNode()->setPosVec(position);
+}
+
+void import_spaceJoint_joint(rofiworld_ptr rofiworld, const module_ptr module, const boost::json::object &joint)
+{
+ const auto rofi_rotation_mat = get_transformation_matrix(joint.at("sourceToDestination"));
+
+ const auto editor_rotation_mat = convert_to_editor_import_coordinates(rofi_rotation_mat);
+
+ // TO DO rotate somehow
+}
+
+void import_moduleJoints(rofiworld_ptr rofiworld, const boost::json::array &moduleJoints_array)
+{
+ for (const auto &moduleJoint_value : moduleJoints_array)
+ {
+ import_moduleJoint(rofiworld, moduleJoint_value.as_object());
+ }
+}
+
+void import_moduleJoint(rofiworld_ptr rofiworld, const boost::json::object &moduleJoint_object)
+{
+ const auto from_object = moduleJoint_object.at("from").as_object();
+ const auto to_object = moduleJoint_object.at("to").as_object();
+ const auto orientation_string = moduleJoint_object.at("orientation").as_string();
+
+ const auto [from_module, from_connector] = get_moduleJoint_module_connector(rofiworld, from_object);
+ const auto [to_module, to_connector] = get_moduleJoint_module_connector(rofiworld, to_object);
+ const auto mutual_orientation = get_moduleJoint_orientation(orientation_string);
+
+ rofiworld->rebuildNodeTree(from_module, from_connector->getNode());
+ rofiworld->getVoxelGraph()->joinConnectors(from_connector, to_connector);
+ rofiworld->teleportModulesByConnectors(from_connector, to_connector, mutual_orientation);
+
+ // rebuildRofiWorldNodeTree(rofiworld->getModuleWithNode(source_node), source_node, rofiworld);
+
+ // voxel_graph->joinConnectors(selected_connectors.first, selected_connectors.second);
+
+ // rofiworld->teleportModulesByConnectors(selected_connectors.first, selected_connectors.second, selected_cardinality);
}
+
+std::pair<module_ptr, connector_ptr> get_moduleJoint_module_connector(rofiworld_ptr rofiworld, const boost::json::object &where_object)
+{
+ const auto id = where_object.at("id").as_uint64();
+ const auto module = rofiworld->getModuleByID(id);
+
+ const auto dock = where_object.at("connector");
+ connector_ptr connector;
+ if (dock.is_string())
+ return {module, module->getConnectorByDock(std::string(dock.as_string()))};
+ else // number
+ return {module, std::dynamic_pointer_cast<rofi::Connector>(module->getComponentByID(dock.as_uint64()))};
+}
+
+rofi::cardinal get_moduleJoint_orientation(const boost::json::string &orientation_string)
+{
+ using enum rofi::cardinal;
+ if (orientation_string == "North")
+ return North;
+ if (orientation_string == "East")
+ return East;
+ if (orientation_string == "South")
+ return South;
+ if (orientation_string == "West")
+ return West;
+
+ ASSUMPTION(false);
+ return Invalid;
+}
diff --git a/src/rofi/include/rofi/module.hpp b/src/rofi/include/rofi/module.hpp
index 442cd25517ab48b5bf88d209c50149e839b78416..23284262f22b7a61b1e6a9dfb7c4b59c94875e0f 100644
--- a/src/rofi/include/rofi/module.hpp
+++ b/src/rofi/include/rofi/module.hpp
@@ -48,6 +48,9 @@ public:
~Module() = default;
static module_ptr copy(const module_ptr other_module);
+ static void setModuleNodeHierarchy(voxel_graph_ptr vg, std::string type);
+ static void setModuleNodeHierarchyCube(voxel_graph_ptr vg);
+ static void setModuleNodeHierarchyUniversal(voxel_graph_ptr vg);
node_ptr getNode() const { return node; }
voxel_graph_ptr getParts() const { return parts; }
@@ -56,9 +59,16 @@ public:
const std::string &getType() const { return type; }
const std::map<objectbase_ptr, uint64_t> &getComponentIDs() const { return component_ids; }
- const std::map<connector_ptr, std::string> &getConnectorDocks() const { return connector_docks; }
const uint64_t &getComponentID(objectbase_ptr component) const { return component_ids.at(component); }
+ const objectbase_ptr &getComponentByID(uint64_t id) const { return std::find_if(component_ids.begin(),
+ component_ids.end(),
+ [&id] (const auto pair) { return pair.second == id; } )->first; }
+
+ const std::map<connector_ptr, std::string> &getConnectorDocks() const { return connector_docks; }
const std::string &getConnectorDock(connector_ptr connector) const { return connector_docks.at(connector); }
+ const connector_ptr getConnectorByDock(const std::string &dock) const { return std::find_if(connector_docks.begin(),
+ connector_docks.end(),
+ [&dock] (const auto pair) { return pair.second == dock; } )->first; }
};
}
diff --git a/src/rofi/include/rofi/rofiworld.hpp b/src/rofi/include/rofi/rofiworld.hpp
index 8d80e05795d90c00b509d40416aeb6e5945f91d3..0c8fb2dd9d76f13927eb1f1840ec4bc0e47dd3c3 100644
--- a/src/rofi/include/rofi/rofiworld.hpp
+++ b/src/rofi/include/rofi/rofiworld.hpp
@@ -37,6 +37,7 @@ public:
const std::map<module_ptr, uint64_t> &getModulesMap() const { return modules_map; }
const uint64_t getModuleID(const module_ptr module) const { return modules_map.at(module); }
+ const module_ptr getModuleByID(const uint64_t id) const;
bool containsID(uint64_t id) const { return ids_set.contains(id); }
void changeModuleID(module_ptr module, uint64_t new_id);
/* Returns module with given node that is either directly associated with the node or nearest parent node.
@@ -50,6 +51,10 @@ public:
void addModule(module_ptr module);
void removeModule(module_ptr module);
+ void rotateVoxel(voxel_ptr voxel, float angle);
+ void rotateConnector(connector_ptr connector, float angle);
+ void teleportModulesByConnectors(const connector_ptr source_connector, const connector_ptr destination_connector, const cardinal mutual_orientation);
+
bool reachable(module_ptr fst_module, module_ptr snd_module) const;
std::set<module_ptr> reachableModules(objectbase_ptr component) const;
diff --git a/src/rofi/include/rofi/voxel_graph.hpp b/src/rofi/include/rofi/voxel_graph.hpp
index 6eaa86ab8808502a3cb1acb0330c908cf2b8dce0..fd2e1c8f1f230d08c0e9d071cd521793a622dbbd 100644
--- a/src/rofi/include/rofi/voxel_graph.hpp
+++ b/src/rofi/include/rofi/voxel_graph.hpp
@@ -43,6 +43,7 @@ public:
static void copy_nodes(const std::vector<std::pair<voxel_ptr, voxel_ptr>> &voxel_pairs,
const std::vector<std::pair<connector_ptr, connector_ptr>> &connection_pairs,
const std::vector<node_ptr> &new_nodes);
+ static void linkImportVoxelGraphToNodes(const voxel_graph_ptr vg);
void extend(const voxel_graph_ptr other_voxel_graph);
void erase(const voxel_graph_ptr other_voxel_graph);
diff --git a/src/rofi/src/module.cpp b/src/rofi/src/module.cpp
index 5d6f4ced9e8a12a1ca9a23b32cd09e675c755863..409e9cefab6b9e986c2143d20122fa4d594d4b81 100644
--- a/src/rofi/src/module.cpp
+++ b/src/rofi/src/module.cpp
@@ -230,4 +230,52 @@ module_ptr Module::copy(const module_ptr other_module)
return module_ptr{ new Module(*other_module) };
}
+void Module::setModuleNodeHierarchy(voxel_graph_ptr vg, std::string type)
+{
+ if (type == "cube")
+ setModuleNodeHierarchyCube(vg);
+ else if (type == "universal")
+ setModuleNodeHierarchyUniversal(vg);
+}
+
+void Module::setModuleNodeHierarchyCube(voxel_graph_ptr vg)
+{
+ ASSUMPTION(!vg->getVoxels().empty());
+ auto body_node = vg->getVoxels().front()->getNode();
+
+ for (auto connector : vg->getConnections())
+ {
+ auto con_node = connector->getNode();
+ if (!con_node->getParent().expired())
+ con_node->getParent().lock()->transferChild(con_node, body_node, true);
+ }
+
+ const auto rot = glm::angleAxis(glm::radians(90.0f), glm::vec3(0.0f, 0.0f, -1.0f))
+ * glm::angleAxis(glm::radians(90.0f), glm::vec3(0.0f, -1.0f, 0.0f));
+ body_node->rotateRotationQuat(rot);
+}
+
+void Module::setModuleNodeHierarchyUniversal(voxel_graph_ptr vg)
+{
+ for (auto &voxel : vg->getVoxels())
+ {
+ if (!voxel->hasRotationConnector())
+ continue;
+
+ auto voxel_node = voxel->getNode();
+
+ auto rot_con = std::dynamic_pointer_cast<rofi::RotationConnector>(voxel->getRotationConnector().lock());
+ auto [fst, snd] = rot_con->getBoundConnectors();
+ auto rot_con_node = rot_con->getNode();
+ std::vector<node_ptr> connector_nodes = { rot_con_node, fst.lock()->getNode(), snd.lock()->getNode() };
+ std::vector<node_ptr> parent_nodes = { voxel_node, rot_con_node, rot_con_node };
+
+ for (int i = 0; i < 3; ++i)
+ {
+ if (!connector_nodes[i]->getParent().expired())
+ connector_nodes[i]->getParent().lock()->transferChild(connector_nodes[i], parent_nodes[i], true);
+ }
+ }
+}
+
}
diff --git a/src/rofi/src/rofiworld.cpp b/src/rofi/src/rofiworld.cpp
index 0cdf577aa6c4438d0f5715f3d5e19bac0433a06c..69617dfbde0420befff870455465eece7d953e6c 100644
--- a/src/rofi/src/rofiworld.cpp
+++ b/src/rofi/src/rofiworld.cpp
@@ -9,6 +9,15 @@
namespace rofi
{
+const module_ptr RofiWorld::getModuleByID(const uint64_t id) const
+{
+ const auto it = std::find_if(modules_map.begin(), modules_map.end(), [&id] (const auto pair) { return pair.second == id; } );
+
+ ASSUMPTION(it != modules_map.end());
+
+ return it->first;
+}
+
void RofiWorld::changeModuleID(module_ptr module, uint64_t new_id)
{
ASSUMPTION(modules_map.contains(module));
@@ -102,6 +111,74 @@ bool RofiWorld::reachable(module_ptr fst_module, module_ptr snd_module) const
return found_modules.contains(snd_module);
}
+void RofiWorld::rotateVoxel(voxel_ptr voxel, float angle)
+{
+ voxel->getNode()->rotateRotationQuat(glm::angleAxis(glm::radians(angle), glm::vec3(1.0f, 0.0f, 0.0f)));
+ // voxel->getNode()->rotateRotationQuat(glm::angleAxis(glm::radians(angle), -voxel->getNode()->getRotationAxisZLocal()));
+}
+
+void RofiWorld::rotateConnector(connector_ptr connector, float angle)
+{
+ using namespace rofi;
+ auto rot_con = std::dynamic_pointer_cast<RotationConnector>(connector);
+ ASSUMPTION(rot_con);
+
+ float current_rotation = rot_con->getCurrentRotation();
+
+ angle = glm::clamp(angle,
+ rot_con->getNegRotationLimit() - current_rotation,
+ rot_con->getPosRotationLimit() - current_rotation);
+
+ rot_con->setCurrentRotation(current_rotation + angle);
+
+ auto connector_node = rot_con->getNode();
+ auto rotation_mat = glm::toMat4(glm::angleAxis(glm::radians(-angle), glm::vec3(1.0f, 0.0f, 0.0f)));
+ connector_node->translatePosVec(rotation_mat);
+ connector_node->rotateRotationQuat(glm::toQuat(rotation_mat));
+}
+
+void RofiWorld::teleportModulesByConnectors(const connector_ptr source_connector, const connector_ptr destination_connector, const cardinal mutual_orientation)
+{
+ const auto source_node = source_connector->getNode();
+ const auto destination_node = destination_connector->getNode();
+ const auto source_parent = source_node->getRootParent().lock();
+
+ //Rotation
+
+ // Rotate to equal plane
+ const auto &source_facing = source_node->getRotationAxisZWorld();
+ const auto &destination_facing = destination_node->getRotationAxisZWorld();
+ source_parent->rotateRotationQuat(glm::rotation(source_facing, -destination_facing));
+ // Rotate North to North
+ // auto source_north = source_connector->getNode()->getRotationAxisXWorld();
+ // auto destination_north = destination_connector->getNode()->getRotationAxisXWorld();
+ auto source_rot_con = std::dynamic_pointer_cast<RotationConnector>(source_connector);
+ bool source_is_head = source_rot_con && source_rot_con->isHead();
+ auto destination_rot_con = std::dynamic_pointer_cast<RotationConnector>(destination_connector);
+ bool destination_is_head = destination_rot_con && destination_rot_con->isHead();
+ const auto source_north = source_is_head
+ ? -source_connector->getNode()->getRotationAxisXWorld()
+ : source_connector->getNode()->getRotationAxisXWorld();
+ const auto destination_north = destination_is_head
+ ? -destination_connector->getNode()->getRotationAxisXWorld()
+ : destination_connector->getNode()->getRotationAxisXWorld();
+
+ const auto oriented_angle = glm::orientedAngle(source_north, destination_north, destination_facing);
+
+ source_parent->rotateRotationQuat(glm::angleAxis(oriented_angle, destination_facing));
+
+ // Rotate to selected cardinality
+ auto orientation = glm::radians(cardinal_to_degree(mutual_orientation));
+
+ source_parent->rotateRotationQuat(glm::angleAxis(orientation, destination_facing));
+
+ // Translation
+
+ const auto &destination_world_pos = destination_node->getPositionWorld();
+ const auto &source_world_pos = source_node->getPositionWorld();
+ source_parent->translatePosVec(destination_world_pos - source_world_pos);
+}
+
std::set<module_ptr> RofiWorld::reachableModules(objectbase_ptr component) const
{
node_ptr start_node;
diff --git a/src/rofi/src/voxel_graph.cpp b/src/rofi/src/voxel_graph.cpp
index b024b278a80f9c10fb85c95d3e246eadb7ad3710..3d355b70e4441a2016e7da2adb7d38b8c1c3dd49 100644
--- a/src/rofi/src/voxel_graph.cpp
+++ b/src/rofi/src/voxel_graph.cpp
@@ -177,6 +177,15 @@ void VoxelGraph::copy_nodes(const std::vector<std::pair<voxel_ptr, voxel_ptr>> &
}
}
+void VoxelGraph::linkImportVoxelGraphToNodes(const voxel_graph_ptr vg)
+{
+ for (const auto &voxel : vg->getVoxels())
+ voxel->getNode()->addObject(voxel);
+
+ for (const auto &connector : vg->getConnections())
+ connector->getNode()->addObject(connector);
+}
+
void VoxelGraph::extend(const voxel_graph_ptr other_voxel_graph)
{
voxels.reserve(voxels.size() + other_voxel_graph->getVoxels().size());