allow programatic determination of base node model ancestry

Signed-off-by: CoolSpy3 <[email protected]>

resources/nodes/Accelerometer.wrl

@@ -2,6 +2,7 @@
 # simulation. The acceleration is measured along the 3 axes (X, Y and Z) and is
 # expressed in m/s^2. It is mostly used to measure the direction of the
 # gravity, but can be used for many other purposes.
+# parent: Solid
 
 Accelerometer {
   #fields that inherit from the Solid node:

resources/nodes/Altimeter.wrl

@@ -1,4 +1,5 @@
 # The Altimeter node can be used to determine the global altitude of a robot or of a robot part.
+# parent: Solid
 
 Altimeter {
   #fields that inherit from the Solid node:

resources/nodes/BallJoint.wrl

@@ -1,4 +1,5 @@
 # A BallJoint node can be used to simulate a rotating motion with 3 DOF (ball and socket).
+# parent: Hinge2Joint
 
 BallJoint {
   field SFNode jointParameters  NULL  # BallJointParameters specifying the joint anchor and spring and damper constants, minStop, maxStop related to the first axis

resources/nodes/BallJointParameters.wrl

@@ -1,4 +1,5 @@
 # The BallJointParamaters node defines the parameters of a BallJoint node.
+# parent: JointParameters
 
 BallJointParameters {
   field SFFloat position        0      # current position (rad)

resources/nodes/Billboard.wrl

@@ -1,5 +1,6 @@
 # A Billboard node contains children nodes that rotate and translate automatically to face the viewpoint.
 # It is otherwise similar to a Group node.
+# parent: Group
 
 Billboard {
   #field that inherits from the Group node:

resources/nodes/Camera.wrl

@@ -1,4 +1,5 @@
 # The Camera node is used to model an on-board camera.
+# parent: Solid
 
 Camera {
   #fields that inherit from the Solid node:

resources/nodes/Charger.wrl

@@ -1,5 +1,6 @@
 # The Charger node is used to model a special kind of battery charger for the robots.
 # When a robot gets close to a Charger, the robot's battery gets recharged.
+# parent: Solid
 
 Charger {
   #fields that inherit from the Solid node:

resources/nodes/Compass.wrl

@@ -1,5 +1,6 @@
 # A Compass node can be used to simulate 1, 2 and 3-axis digital compasses.
 # It indicates the direction of the simulated magnetic north which is specified in the WorldInfo node.
+# parent: Solid
 
 Compass {
   #fields that inherit from the Solid node:

resources/nodes/Connector.wrl

@@ -1,6 +1,7 @@
 # Connector nodes are used to simulate mechanical docking systems, or any other type of device that
 # can dynamically create a rigid link with a similar device.
 # The physical connection between two Connectors can be created and destroyed at run time by the robot controller program.
+# parent: Solid
 
 Connector {
   #fields that inherit from the Solid node:

resources/nodes/Display.wrl

@@ -4,6 +4,7 @@
 # It can model an embedded screen or it can display any graphical
 # information such as graphs, text, robot trajectory, filtered camera
 # images and so on.
+# parent: Solid
 
 Display {
   #fields that inherit from the Solid node:

resources/nodes/DistanceSensor.wrl

@@ -1,6 +1,7 @@
 # The DistanceSensor node can be used to model an ultrasound sonar, an infra-red sensor,
 # a single-ray laser or any type of device that measures the distance to objects.
 # To model a Lidar sensor, you should rather use a Lidar node.
+# parent: Solid
 
 DistanceSensor {
   #fields that inherit from the Solid node:

resources/nodes/Emitter.wrl

@@ -1,6 +1,7 @@
 # The Emitter node is used to model a radio, or infra-red emitter.
 # It can be used to send data packets to Receiver nodes (onboard other robots).
 # An Emitter cannot receive data: bidirectional communication requires two Emitter/Receiver pairs.
+# parent: Solid
 
 Emitter {
   #fields that inherit from the Solid node:

resources/nodes/Fluid.wrl

@@ -1,4 +1,5 @@
 # A Fluid node can be used to represent a collection of fluid volumes where hydrostatic and hydrodynamic forces apply.
+# parent: Pose
 
 Fluid {
   #fields that inherit from the Pose node:

resources/nodes/GPS.wrl

@@ -1,4 +1,5 @@
 # The GPS node can be used to determine the global position of a robot or of a robot part.
+# parent: Solid
 
 GPS {
   #fields that inherit from the Solid node:

resources/nodes/Gyro.wrl

@@ -1,5 +1,6 @@
 # A Gyro node measures the angular velocity about 3 orthogonal axes (X, Y and Z).
 # The output is in rad/s. The Gyro node is mostly used for balance control.
+# parent: Solid
 
 Gyro {
   #fields that inherit from the Solid node:

resources/nodes/Hinge2Joint.wrl

@@ -1,6 +1,7 @@
 # A Hinge2Joint can be used to simulate a combination of two rotating motions along axes which intersect.
 # It is equivalent to two HingeJoint nodes but it spares the creation of an intermediate solid and is therefore more stable.
 # Spring and damping behavior can be specified.
+# parent: HingeJoint
 
 Hinge2Joint {
   field SFNode jointParameters  NULL  # HingeJointParameters specifying anchor, axis, spring and damper constants, minStop, maxStop, suspension

resources/nodes/HingeJointParameters.wrl

@@ -1,4 +1,5 @@
 # A HingeJointParameters defines the parameters of a HingeJoint node.
+# parent: JointParameters
 
 HingeJointParameters {
   field SFFloat position                  0      # current position (m or rad)

resources/nodes/InertialUnit.wrl

@@ -1,6 +1,7 @@
 # The InertialUnit node simulates an Inertial Measurement Unit (IMU).
 # The InertialUnit node computes and returns the roll, pitch and yaw angles of the
 # robot with respect to the global coordinate system defined in the WorldInfo node.
+# parent: Solid
 
 InertialUnit {
   #fields that inherit from the Solid node:

resources/nodes/LED.wrl

@@ -1,4 +1,5 @@
 # The LED node can be used to model a light emitting diode (LED) that can be controlled by the robot.
+# parent: Solid
 
 LED {
   #fields that inherit from the Solid node:

resources/nodes/Lidar.wrl

@@ -1,5 +1,6 @@
 # The Lidar node is used to model an on-board lidar.
 # A lidar is used to measure the distance to obstacles.
+# parent: Solid
 
 Lidar {
   #fields that inherit from the Solid node:

resources/nodes/LightSensor.wrl

@@ -1,6 +1,7 @@
 # A LightSensor node can be used to model a phototransistor, a photodiode or any type
 # of device that measures the irradiance of light on its surface.
 # A LightSensor node detects the light emitted by PointLight, SpotLight and DirectionalLight nodes.
+# parent: Solid
 
 LightSensor {
   # fields inherited from the Solid node:

resources/nodes/Microphone.wrl

@@ -1,3 +1,4 @@
+# parent: Solid
 Microphone {
   # fields that inherit from the Solid node:
   w3dField SFVec3f    translation         0 0 0

resources/nodes/Pen.wrl

@@ -1,5 +1,6 @@
 # A Pen node can be used to model a pen attached to a mobile robot.
 # It can draw the trajectory of the robot on a textured ground.
+# parent: Solid
 
 Pen {
   #fields that inherit from the Solid node:

resources/nodes/Pose.wrl

@@ -1,5 +1,6 @@
 # The Pose node is a grouping node that defines a coordinate system for its children that is
 # relative to the coordinate system of its parent.
+# parent: Group
 
 Pose {
   #fields specific to the AbstractPose node:

resources/nodes/PositionSensor.wrl

@@ -1,4 +1,5 @@
 # A PositionSensor allows a robot controller to read the position of a joint with respect to its main axis.
+# parent: Solid
 
 PositionSensor {
   field SFString name       "position sensor"  # used by wb_robot_get_device()

resources/nodes/Propeller.wrl

@@ -1,5 +1,6 @@
 # The Propeller node is used to model a motorized helix propeller.
 # It can be used to propel underwater robots, flying robots, floating robots or even wheeled robots.
+# parent: Solid
 
 Propeller {
   field    SFVec3f shaftAxis          1 0 0  # thrust direction (m)

resources/nodes/Radar.wrl

@@ -1,4 +1,5 @@
 # The Radar node is used to model a radar device, commonly found in automobiles.
+# parent: Solid
 
 Radar {
   #fields that inherit from the Solid node:

resources/nodes/Radio.wrl

@@ -1,4 +1,5 @@
 # Experimental Radio node.
+# parent: Solid
 
 Radio {
   #fields that inherit from the Solid node:

resources/nodes/RangeFinder.wrl

@@ -1,5 +1,6 @@
 # The RangeFinder node is used to model an on-board range finder.
 # A range finder is used to measure the distance to obstacles.
+# parent: Solid
 
 RangeFinder {
   #fields that inherit from the Solid node:

resources/nodes/Receiver.wrl

@@ -1,6 +1,7 @@
 # A Receiver node models a radio or infra-red receiver.
 # It can be used to receive data packets emitted by Emitter nodes (onboard other robots).
 # A Receiver cannot emit data: bidirectional communication requires two Emitter/Receiver pairs.
+# parent: Solid
 
 Receiver {
   #fields that inherit from the Solid node:

resources/nodes/Robot.wrl

@@ -1,4 +1,5 @@
 # The Robot node is a generic type of robot.
+# parent: Solid
 
 Robot {
   #fields that inherit from the Solid node:

resources/nodes/Solid.wrl

@@ -1,6 +1,7 @@
 # A Solid node can be used to represent objects in the simulated environment (e.g. obstacles, walls, ground, robot parts, etc.).
 # Solid nodes can be collision detected (boundingObject) and therefore can prevent objects from intersecting.
 # In addition, Solid nodes can have an optional Physics node that allow them to be simulated with the physics engine.
+# parent: Pose
 
 Solid {
   #fields that inherit from the Pose node:

resources/nodes/Speaker.wrl

@@ -1,6 +1,7 @@
 # The Speaker node is used to model a loudspeaker device.
 # It can be used to playback wav sound files as well as text-to-speech.
 # The sounds are localized in the 3D space and rendered at the main viewpoint in stereo.
+# parent: Solid
 
 Speaker {
   #fields that inherit from the Solid node:

resources/nodes/TouchSensor.wrl

@@ -1,6 +1,7 @@
 # A TouchSensor can be used to measure contact force ("force", "force-3d") or simply detect collisions ("bumper").
 # It is critical that 'boundingObject' of a TouchSensor is defined and placed appropriately.
 # Refer to the Webots reference manual for more information on this.
+# parent: Solid
 
 TouchSensor { #models a bumper, button, cat whisker, force sensor etc.
   #fields that inherit from the Solid node:

resources/nodes/Track.wrl

@@ -1,4 +1,5 @@
 # The Track node can be used to simulate tracks of tank robots or conveyor belts.
+# parent: Solid
 
 Track {
   #fields that inherit from the Solid node:

resources/nodes/TrackWheel.wrl

@@ -1,4 +1,5 @@
 # A TrackWheel node can be used to simulate a wheel that it is part of a track system.
+# parent: Group
 
 TrackWheel {
 #fields specific to the TrackWheel node:

resources/nodes/Transform.wrl

@@ -1,6 +1,7 @@
 # The Transform node is a grouping node that defines a coordinate system for its children that is
 # relative to the coordinate system of its parent.
 # The 'scale' field of a Transform node can be adjusted only in a graphical context and not in a 'boundingObject' context.
+# parent: Pose
 
 Transform {
   #fields specific to the AbstractTransform node:

resources/nodes/VacuumGripper.wrl

@@ -1,5 +1,6 @@
 # VacuumGripper nodes are used to simulate vacuum suction systems.
 # The physical connection with a Solid can be created and destroyed at run time by the robot controller program.
+# parent: Solid
 
 VacuumGripper {
   #fields that inherit from the Solid node:

src/webots/vrml/WbNodeModel.cpp

@@ -34,7 +34,7 @@ void WbNodeModel::cleanup() {
     delete it.next().value();
 }
 
-WbNodeModel::WbNodeModel(WbTokenizer *tokenizer) : mInfo(tokenizer->info()), mName(tokenizer->nextWord()) {
+WbNodeModel::WbNodeModel(WbTokenizer *tokenizer) : mInfo(tokenizer->info()), mName(tokenizer->nextWord()), mParentName(tokenizer->parent()) {
   tokenizer->skipToken("{");
 
   while (tokenizer->peekWord() != "}") {
@@ -78,6 +78,13 @@ void WbNodeModel::readAllModels() {
       cModels.insert(model->name(), model);
   }
 
+  // Now that all the models are loaded, populate the ancestory tree
+  foreach (QString baseModelName, baseModelNames()) {
+    WbNodeModel *baseModel = findModel(baseModelName);
+    if (baseModel)
+      baseModel->mParentModel = findModel(baseModel->mParentName);
+  }
+
   qAddPostRoutine(WbNodeModel::cleanup);
 }
 

src/webots/vrml/WbNodeModel.hpp

@@ -51,6 +51,10 @@ class WbNodeModel {
   const QList<WbFieldModel *> &fieldModels() const { return mFieldModels; }
   QStringList fieldNames();
 
+  // parent nodes (only defined for base nodes. For proto nodes, see WbProtoModel::ancestorProtoName/ancestorProtoNameModel/baseType)
+  const QString parentName() const { return mParentName; };
+  const WbNodeModel *parentModel() const { return mParentModel; };
+
   QStringList documentationBookAndPage() const { return QStringList() << "reference" << mName.toLower(); }
 
 private:
@@ -60,6 +64,8 @@ class WbNodeModel {
   QString mInfo;
   QString mName;
   QList<WbFieldModel *> mFieldModels;
+  QString mParentName;
+  WbNodeModel *mParentModel;
 
   static WbNodeModel *readModel(const QString &fileName);
   static void readAllModels();

src/webots/vrml/WbTokenizer.cpp

@@ -529,6 +529,17 @@ const QString WbTokenizer::documentationUrl() const {
   return QString();
 }
 
+const QString WbTokenizer::parent() const {
+  const QStringList lines = mInfo.split("\n");
+  foreach (QString line, lines) {
+    if (line.startsWith("parent:")) {
+      line.remove("parent:");
+      return line.trimmed();
+    }
+  }
+  return QString();
+}
+
 void WbTokenizer::reportError(const QString &message, int line, int column) const {
   const QString prefix = mFileName.isEmpty() ? mReferralFile : mFileName;
   if (prefix.isEmpty())

src/webots/vrml/WbTokenizer.hpp

@@ -61,6 +61,9 @@ class WbTokenizer {
   // returns the documentation URL stored as (# license url: string) comments in the file header
   const QString documentationUrl() const;
 
+  // returns the parent node type stored as (# parent: string) comments in the file header
+  const QString parent() const;
+
   // returns file version found in file header
   const WbVersion &fileVersion() const { return mFileVersion; }