internal Visual(XmlNode node)
{
Name = node.Attributes?["name"]?.Value;
Geometry?geometry = null;
foreach (XmlNode child in node.ChildNodes)
{
switch (child.Name)
{
case "cast_shadows":
CastShadows = BoolElement.ValueOf(child);
break;
case "transparency":
Transparency = DoubleElement.ValueOf(child);
break;
case "pose":
Pose = new Pose(child);
break;
case "material":
Material = new Material(child);
break;
case "geometry":
geometry = new Geometry(child);
break;
}
}
Geometry = geometry ?? throw new MalformedSdfException(node, "Expected geometry!");
HasUri = Geometry.HasUri;
}
internal Material(XmlNode node)
{
foreach (XmlNode child in node.ChildNodes)
{
switch (child.Name)
{
case "lighting":
Lighting = BoolElement.ValueOf(child);
break;
case "ambient":
Ambient = new Color(child);
break;
case "diffuse":
Diffuse = new Color(child);
break;
case "specular":
Specular = new Color(child);
break;
case "emissive":
Emissive = new Color(child);
break;
}
}
}
internal Include(XmlNode node)
{
Uri?uri = null;
foreach (XmlNode child in node.ChildNodes)
{
switch (child.Name)
{
case "uri":
uri = new Uri(child);
break;
case "name":
Name = child.InnerText;
break;
case "static":
Static = BoolElement.ValueOf(child);
break;
case "pose":
Pose = new Pose(child);
break;
}
}
Uri = uri ?? throw new MalformedSdfException(node, "Expected uri!");
}
internal Light(XmlNode node)
{
Name = node.Attributes?["name"]?.Value;
string?type = node.Attributes?["type"]?.Value;
switch (type)
{
case "directional":
Type = LightType.Directional;
break;
case "spot":
Type = LightType.Spot;
break;
case "point":
case null:
Type = LightType.Point;
break;
}
foreach (XmlNode child in node.ChildNodes)
{
switch (child.Name)
{
case "cast_shadows":
CastShadows = BoolElement.ValueOf(child);
break;
case "diffuse":
Diffuse = new Color(child);
break;
case "specular":
Specular = new Color(child);
break;
case "attenuation":
Attenuation = new Attenuation(child);
break;
case "direction":
Direction = new Vector3d(child);
break;
case "spot":
Spot = new Spot(child);
break;
case "pose":
Pose = new Pose(child);
break;
}
}
}
internal Link(XmlNode node)
{
Name = node.Attributes?["name"]?.Value;
List <Visual> visuals = new List <Visual>();
List <Light> lights = new List <Light>();
Visuals = visuals.AsReadOnly();
Lights = lights.AsReadOnly();
foreach (XmlNode child in node.ChildNodes)
{
switch (child.Name)
{
case "gravity":
Gravity = BoolElement.ValueOf(child);
break;
case "enable_wind":
EnableWind = BoolElement.ValueOf(child);
break;
case "self_collide":
SelfCollide = BoolElement.ValueOf(child);
break;
case "kinematic":
Kinematic = BoolElement.ValueOf(child);
break;
case "must_be_base_link":
MustBeBaseLink = BoolElement.ValueOf(child);
break;
case "pose":
Pose = new Pose(child);
break;
case "visual":
visuals.Add(new Visual(child));
break;
case "light":
lights.Add(new Light(child));
break;
}
}
HasUri = Visuals.Any(visual => visual.HasUri);
}
internal Model(XmlNode node)
{
Name = node.Attributes?["name"]?.Value;
CanonicalLink = node.Attributes?["canonical_link"]?.Value;
List <Include> includes = new List <Include>();
List <Model> models = new List <Model>();
List <Frame> frames = new List <Frame>();
List <Link> links = new List <Link>();
Includes = includes.AsReadOnly();
Models = models.AsReadOnly();
Frames = frames.AsReadOnly();
Links = links.AsReadOnly();
foreach (XmlNode child in node.ChildNodes)
{
switch (child.Name)
{
case "static":
Static = BoolElement.ValueOf(child);
break;
case "self_collide":
SelfCollide = BoolElement.ValueOf(child);
break;
case "allow_auto_disable":
AllowAutoDisable = BoolElement.ValueOf(child);
break;
case "include":
includes.Add(new Include(child));
break;
case "model":
models.Add(new Model(child));
break;
case "enable_wind":
EnableWind = BoolElement.ValueOf(child);
break;
case "frame":
frames.Add(new Frame(child));
break;
case "pose":
Pose = new Pose(child);
break;
case "link":
links.Add(new Link(child));
break;
}
}
HasIncludes =
Includes.Count != 0 ||
Models.Any(model => model.HasIncludes) ||
Links.Any(link => link.HasUri);
}