diff --git a/src/edit/include/edit/editor.hpp b/src/edit/include/edit/editor.hpp
index 1c4fd673ff3146945da5c199816f703a382841e9..72faa8f717d9decc82c26c7aba7d4c89a545b0b3 100644
--- a/src/edit/include/edit/editor.hpp
+++ b/src/edit/include/edit/editor.hpp
@@ -566,6 +566,8 @@ private:
/* ROFIWORLD EXPORT */
void pickSpaceJoints(rofiworld_ptr rofiworld, bool automatic);
+ connector_ptr pickSpaceJointUniversal(const module_ptr module);
+ connector_ptr pickSpaceJointGeneric(const module_ptr module);
};
}
diff --git a/src/edit/src/editor.cpp b/src/edit/src/editor.cpp
index af0332c53d437fadf35588ede27ba134d033bade..8ac6c7bc7a0578c7c27722173d423aff85b95f44 100644
--- a/src/edit/src/editor.cpp
+++ b/src/edit/src/editor.cpp
@@ -2866,26 +2866,17 @@ void Editor::pickSpaceJoints(rofiworld_ptr rofiworld, bool automatic)
continue;
std::set<module_ptr> reachable_modules;
- auto module_vg = module->getParts();
- if (module_vg->getConnections().empty())
- {
- const auto voxel = module_vg->getVoxels().front();
- reachable_modules = rofiworld->reachableModules(voxel);
- selected_space_joints.emplace_back(voxel);
- }
+
+ connector_ptr connector = nullptr;
+
+ if (module->getType() == "universal")
+ connector = pickSpaceJointUniversal(module);
else
- {
- connector_ptr connector = nullptr;
- for (const auto &con : module_vg->getConnections())
- {
- if (con->getType(false) != rofi::connector_type::shared_rotation)
- connector = con;
- }
- ASSUMPTION(connector);
-
- reachable_modules = rofiworld->reachableModules(connector);
- selected_space_joints.emplace_back(connector);
- }
+ connector = pickSpaceJointGeneric(module);
+
+ reachable_modules = rofiworld->reachableModules(connector);
+ selected_space_joints.emplace_back(connector);
+
found_modules.insert(reachable_modules.begin(), reachable_modules.end());
}
@@ -2893,4 +2884,42 @@ void Editor::pickSpaceJoints(rofiworld_ptr rofiworld, bool automatic)
}
+connector_ptr Editor::pickSpaceJointUniversal(const module_ptr module)
+{
+ connector_ptr connector = nullptr;
+
+ for (const auto &[component, id] : module->getComponentIDs())
+ {
+ if (id == 0)
+ {
+ connector = std::dynamic_pointer_cast<rofi::Connector>(component);
+ break;
+ }
+ }
+
+ ASSUMPTION(connector);
+ return connector;
+}
+
+connector_ptr Editor::pickSpaceJointGeneric(const module_ptr module)
+{
+ auto module_vg = module->getParts();
+ ASSUMPTION(!module_vg->getConnections().empty());
+
+ connector_ptr connector = nullptr;
+
+ for (const auto &[component, id] : module->getComponentIDs())
+ {
+ if (id == 0)
+ {
+ connector = std::dynamic_pointer_cast<rofi::Connector>(component);
+ break;
+ }
+ }
+
+ ASSUMPTION(connector);
+ return connector;
+}
+
+
}
diff --git a/src/filein/include/filein/rofiworld_loader.hpp b/src/filein/include/filein/rofiworld_loader.hpp
index 456257e1fbbc884fd4853c12899c0973b38c1825..e3c342c4cf5bd81f5ccc59c80d3e7b59e168afd9 100644
--- a/src/filein/include/filein/rofiworld_loader.hpp
+++ b/src/filein/include/filein/rofiworld_loader.hpp
@@ -28,7 +28,7 @@ void export_module_unknown(boost::json::array &modules_array, const module_ptr m
/* EXPORT SPACEJOINTS */
void export_spaceJoints(boost::json::array &spaceJoints_array, const rofiworld_ptr rofiworld, const std::vector<objectbase_ptr> &selected_space_joints);
-void export_spaceJoint(boost::json::array &spaceJoints_array, const rofiworld_ptr rofiworld, const node_ptr node, const uint64_t component_id);
+void export_spaceJoint(boost::json::array &spaceJoints_array, const rofiworld_ptr rofiworld, const node_ptr node, const uint64_t component_id, const std::string &module_type);
void export_spaceJoint_point(boost::json::object &spaceJoint_object, const node_ptr node);
void export_spaceJoint_joint(boost::json::object &spaceJoint_object, const node_ptr node);
void export_spaceJoint_joint_matrix(boost::json::object &joint_object, const node_ptr node);
@@ -43,7 +43,7 @@ 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_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);
diff --git a/src/filein/src/rofiworld_loader.cpp b/src/filein/src/rofiworld_loader.cpp
index 7f2f47f47dcf3b67d65f5c35983abedcf8cba968..57a93fa8eaceea8b791807d7924dc0b0b06a9aaa 100644
--- a/src/filein/src/rofiworld_loader.cpp
+++ b/src/filein/src/rofiworld_loader.cpp
@@ -112,22 +112,18 @@ void export_spaceJoints(boost::json::array &spaceJoints_array, const rofiworld_p
for (const auto &component : selected_space_joints)
{
- if (const auto voxel = std::dynamic_pointer_cast<Voxel>(component))
- {
- auto voxel_node = voxel->getNode();
- auto voxel_id = rofiworld->getModuleWithNode(voxel_node)->getComponentID(voxel);
- export_spaceJoint(spaceJoints_array, rofiworld, voxel_node, voxel_id);
- }
- else if (const auto connector = std::dynamic_pointer_cast<Connector>(component))
- {
- auto connector_node = connector->getNode();
- auto connector_id = rofiworld->getModuleWithNode(connector_node)->getComponentID(connector);
- export_spaceJoint(spaceJoints_array, rofiworld, connector_node, connector_id);
- }
+ const auto connector = std::dynamic_pointer_cast<Connector>(component);
+ ASSUMPTION(connector);
+ auto connector_node = connector->getNode();
+ const auto module = rofiworld->getModuleWithNode(connector_node);
+ auto connector_id = module->getComponentID(connector);
+ const auto module_type = module->getType();
+ export_spaceJoint(spaceJoints_array, rofiworld, connector_node, connector_id, module_type);
+
}
}
-void export_spaceJoint(boost::json::array &spaceJoints_array, const rofiworld_ptr rofiworld, const node_ptr node, const uint64_t component_id)
+void export_spaceJoint(boost::json::array &spaceJoints_array, const rofiworld_ptr rofiworld, const node_ptr node, const uint64_t component_id, const std::string &module_type)
{
boost::json::object spaceJoint_object;
@@ -166,8 +162,9 @@ void export_spaceJoint_joint(boost::json::object &spaceJoint_object, const node_
void export_spaceJoint_joint_matrix(boost::json::object &joint_object, const node_ptr node)
{
- auto world_mat = convertToRoFICoordinates(node->getModelMatWorld());
- // auto world_mat = node->getModelMatWorld();
+ auto component_coord_convert = glm::toMat4(glm::rotation(glm::vec3(0.0f, 0.0f, -1.0f), -node->getRotationAxisZWorld()));
+ // auto rotation_mat = convertToRoFICoordinates(component_coord_convert);
+ auto rotation_mat = component_coord_convert;
float epsilon = 0.00001f;
bool is_identity = true;
@@ -175,7 +172,7 @@ void export_spaceJoint_joint_matrix(boost::json::object &joint_object, const nod
{
auto id_column = glm::vec4(0.0f);
id_column[i] = 1.0f;
- if (!glm::all(glm::epsilonEqual(world_mat[i], id_column, epsilon)))
+ if (!glm::all(glm::epsilonEqual(rotation_mat[i], id_column, epsilon)))
is_identity = false;
}
if (is_identity)
@@ -189,10 +186,10 @@ void export_spaceJoint_joint_matrix(boost::json::object &joint_object, const nod
for (int i = 0; i < 4; ++i)
{
boost::json::array row_array;
- row_array.emplace_back(glm::row(world_mat, i).x);
- row_array.emplace_back(glm::row(world_mat, i).y);
- row_array.emplace_back(glm::row(world_mat, i).z);
- row_array.emplace_back(glm::row(world_mat, i).w);
+ row_array.emplace_back(glm::row(rotation_mat, i).x);
+ row_array.emplace_back(glm::row(rotation_mat, i).y);
+ row_array.emplace_back(glm::row(rotation_mat, i).z);
+ row_array.emplace_back(glm::row(rotation_mat, i).w);
sourceToDestination_array.emplace_back(row_array);
}
@@ -282,23 +279,23 @@ 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()
+// {
+// 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)
{
@@ -307,6 +304,8 @@ rofiworld_ptr import_rofiworld(const std::filesystem::path file_path)
boost::json::array moduleJoints_array;
get_rofiworld_data(modules_array, spaceJoints_array, moduleJoints_array);
+
+ return nullptr;
}
void get_rofiworld_data(const boost::json::array &modules_array, const boost::json::array &spaceJoints_array, const boost::json::array &moduleJoints_array)
diff --git a/src/rofi/include/rofi/module.hpp b/src/rofi/include/rofi/module.hpp
index 475d39d3211dd043cb415a153fb03a40c9df4fd8..1006d7bb230dea5eba86197567673de79ca0a1dc 100644
--- a/src/rofi/include/rofi/module.hpp
+++ b/src/rofi/include/rofi/module.hpp
@@ -30,7 +30,10 @@ class Module
void makeNodeTree();
void setConnectorDocks();
+ void setConnectorDocksUniversal();
void setComponentIDs();
+ void setComponentIDsUniversal();
+ void setComponentIDsGeneric();
Module(const Module &other);
Module(const Module &&other);
diff --git a/src/rofi/src/module.cpp b/src/rofi/src/module.cpp
index ac26ba56e039452f0be64126d731fdf730815350..3e9ae9578b4f921a7dc2360401616ce80f6cd983 100644
--- a/src/rofi/src/module.cpp
+++ b/src/rofi/src/module.cpp
@@ -13,9 +13,12 @@ void Module::makeNodeTree()
void Module::setConnectorDocks() // TO DO: change if connector placement gets changed
{
- if (type != "universal")
- return;
+ if (type == "universal")
+ setConnectorDocksUniversal();
+}
+void Module::setConnectorDocksUniversal()
+{
using enum side;
std::string dock;
auto a_pos = glm::vec3(0.0f);
@@ -46,6 +49,64 @@ void Module::setConnectorDocks() // TO DO: change if connector placement gets ch
}
void Module::setComponentIDs()
+{
+ component_ids.clear();
+
+ if (type == "universal")
+ setComponentIDsUniversal();
+ else
+ setComponentIDsGeneric();
+}
+
+void Module::setComponentIDsUniversal()
+{
+ ASSUMPTION(connector_docks.size() == 6);
+
+ // RoFICoMs
+ for (const auto &[connector, dock] : connector_docks)
+ {
+ if (dock == "A-X")
+ component_ids.emplace(connector, 0);
+ else if (dock == "A+X")
+ component_ids.emplace(connector, 1);
+ else if (dock == "A-Z")
+ component_ids.emplace(connector, 2);
+ else if (dock == "B-X")
+ component_ids.emplace(connector, 3);
+ else if (dock == "B+X")
+ component_ids.emplace(connector, 4);
+ else if (dock == "B-Z")
+ component_ids.emplace(connector, 5);
+ }
+
+ // Bodies
+ auto a_pos = glm::vec3(0.0f);
+ voxel_ptr a_voxel;
+
+ for (const auto &voxel : parts->getVoxels())
+ {
+ if (voxel->getNode()->getPositionLocal() == a_pos)
+ {
+ component_ids.emplace(voxel, 8);
+ a_voxel = voxel;
+ }
+ else
+ component_ids.emplace(voxel, 9);
+ }
+
+ // Shoes // Shoes do not get placed into the map as the key - connector is already placed as roficom
+ // for (const auto &connector : parts->getConnections())
+ // {
+ // if (auto rot_con = std::dynamic_pointer_cast<RotationConnector>(connector);
+ // rot_con && rot_con->isHead())
+ // {
+ // component_ids.emplace(connector, connector->getConnection().first.lock() == a_voxel ? 6 : 7);
+ // }
+ // }
+
+}
+
+void Module::setComponentIDsGeneric()
{
for (const auto connector : parts->getConnections())
{
@@ -71,8 +132,8 @@ Module::Module(const Module &other)
parts = VoxelGraph::copy(other.parts, node->getChildren());
name = other.name;
type = other.type;
- setComponentIDs();
setConnectorDocks();
+ setComponentIDs();
}
Module::Module(const Module &&other)
{
@@ -80,8 +141,8 @@ Module::Module(const Module &&other)
parts = std::move(other.parts);
name = std::move(other.name);
type = std::move(other.type);
- setComponentIDs();
setConnectorDocks();
+ setComponentIDs();
}
Module& Module::operator=(const Module &other)
{
@@ -91,6 +152,7 @@ Module& Module::operator=(const Module &other)
type = other.type;
component_ids = other.component_ids;
setConnectorDocks();
+ setComponentIDs();
return *this;
}
@@ -100,8 +162,8 @@ Module& Module::operator=(const Module &&other)
parts = std::move(other.parts);
name = std::move(other.name);
type = std::move(other.type);
- setComponentIDs();
setConnectorDocks();
+ setComponentIDs();
return *this;
}
@@ -112,6 +174,7 @@ Module::Module(voxel_graph_ptr _parts, std::string &_name, std::string &_type, s
ASSUMPTION(!_parts->getVoxels().empty() || !_parts->getConnections().empty());
makeNodeTree();
setConnectorDocks();
+ setComponentIDs();
}
Module::Module(voxel_graph_ptr _parts, std::string &&_name, std::string &&_type, std::map<objectbase_ptr, uint64_t> &&_component_ids)
@@ -120,6 +183,7 @@ Module::Module(voxel_graph_ptr _parts, std::string &&_name, std::string &&_type,
ASSUMPTION(!_parts->getVoxels().empty() || !_parts->getConnections().empty());
makeNodeTree();
setConnectorDocks();
+ setComponentIDs();
}
module_ptr Module::copy(const module_ptr other_module)