public static RigidNode_Base ReadSkeleton(string path)
{
string jsonData = File.ReadAllText(path);
RigidNode_Base root = null;
JsonConverter[] converters = { new JointConverter(), new DriverMetaConverter() };
JsonSkeleton skeleton = JsonConvert.DeserializeObject <JsonSkeleton>(jsonData, new JsonSerializerSettings()
{
Converters = converters
});
List <JsonSkeletonNode> nodes = skeleton.Nodes;
if (nodes.Count < 1)
{
Console.Error.WriteLine("0 Nodes Loaded! Failed import");
return(null);
}
foreach (JsonSkeletonNode node in nodes)
{
RigidNode_Base newNode = RigidNode_Base.NODE_FACTORY(new Guid(node.GUID));
newNode.ModelFileName = node.ModelFileName;
newNode.ModelFullID = node.ModelID;
if (node.ParentID == "-1")
{
root = newNode;
root.driveTrainType = skeleton.DriveTrainType;
}
else
{
root.AddChild(node.joint, newNode);
}
}
return(root);
}
/// <summary>
/// Reads a RigidNode_Base with the given reader, list of nodes, and root node reference.
/// </summary>
/// <param name="reader"></param>
/// <param name="nodes"></param>
/// <param name="root"></param>
private static void ReadNode_3_0(XmlReader reader, List <RigidNode_Base> nodes, ref RigidNode_Base root)
{
int parentID = -1;
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "Node":
// Adds a new node to the list of RigidNode_Bases.
nodes.Add(RigidNode_Base.NODE_FACTORY(new Guid(reader["GUID"])));
break;
case "ParentID":
// Stores this ID for later use.
parentID = reader.ReadElementContentAsInt();
if (parentID == -1) // If this is the root...
{
root = nodes[nodes.Count - 1];
}
break;
case "ModelFileName":
// Assigns the ModelFileName property to the ModelFileName element value.
nodes[nodes.Count - 1].ModelFileName = reader.ReadElementContentAsString();
break;
case "ModelID":
// Assigns the ModelFullID property to the ModelID element value.
nodes[nodes.Count - 1].ModelFullID = reader.ReadElementContentAsString();
break;
case "BallJoint":
// Reads the current element as a BallJoint.
nodes[parentID].AddChild(ReadBallJoint_3_0(reader.ReadSubtree()), nodes[nodes.Count - 1]);
break;
case "CylindricalJoint":
// Reads the current element as a CylindricalJoint.
nodes[parentID].AddChild(ReadCylindricalJoint_3_0(reader.ReadSubtree()), nodes[nodes.Count - 1]);
break;
case "LinearJoint":
// Reads the current element as a LinearJoint.
nodes[parentID].AddChild(ReadLinearJoint_3_0(reader.ReadSubtree()), nodes[nodes.Count - 1]);
break;
case "PlanarJoint":
// Reads the current element as a PlanarJoint.
nodes[parentID].AddChild(ReadPlanarJoint_3_0(reader.ReadSubtree()), nodes[nodes.Count - 1]);
break;
case "RotationalJoint":
// Reads the current elemenet as a RotationalJoint.
nodes[parentID].AddChild(ReadRotationalJoint_3_0(reader.ReadSubtree()), nodes[nodes.Count - 1]);
break;
case "JointDriver":
// Add a joint driver to the skeletal joint of the current node.
nodes[nodes.Count - 1].GetSkeletalJoint().cDriver = ReadJointDriver_3_0(reader.ReadSubtree());
break;
case "RobotSensor":
nodes[nodes.Count - 1].GetSkeletalJoint().attachedSensors.Add(ReadRobotSensor_3_0(reader.ReadSubtree()));
break;
}
}
}