source/viewer/instructions/ShowJoints.cpp

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/*
 * Copyright (c) 2007, 2008, 2009, University of Karlsruhe (for members see AUTHORS file)
 * Copyright (c) 2012, Karlsruhe Institute of Technology (for members see AUTHORS file)
 *
 * ISC License
 *
 * Permission to use, copy, modify, and/or distribute this software for any
 * purpose with or without fee is hereby granted, provided that the above
 * copyright notice and this permission notice appear in all copies.
 *
 * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
 * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
 * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
 * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
 * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
 * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
 * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
 *
 * Created by Manfred Kroehnert
 */

#include "../include/IPSA/ipsaclasses.h"
#include "../include/IPSA/IpsaSimulator.h"
#include "../include/IPSA/viewer/instructions/ShowJoints.h"

#include <Inventor/actions/SoSearchAction.h>


Instruction::tExecResultType ShowJoints::vExecute(std::vector<std::string>& Instr, std::ostringstream& answer, unsigned int& numberOfReturnValues)
{
#ifdef WIN32
                Instr; //kcq under WIN32
#endif // WIN32
                numberOfReturnValues = 0;
                // Search for all SoJoint nodes
                SoSearchAction sa;
                sa.setType(SoJoint::getClassTypeId());
                sa.setInterest(SoSearchAction::ALL);
                sa.apply(ipsaSimulator->getSceneGraph());
                SoPathList& pl = sa.getPaths();

                bool showJoints = false;
                if ("1" == Instr[1])
                                showJoints = true;

                for (int i=0;i<pl.getLength(); i++)
                {
                                SoPath* path = pl[i];
                                SoJoint* joint = static_cast<SoJoint*>(path->getNodeFromTail(0));

                                joint->drawVisualisationShape.setValue(showJoints);
                }

                return eOK;
}

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