From 37e10c333cc4ff915c6dda5dbca1d79011a9b3fc Mon Sep 17 00:00:00 2001
From: rdiankov <devnull@localhost>
Date: Fri, 17 Dec 2010 03:02:51 +0000
Subject: [PATCH] fixed bind/newparam problem in collada writer

---
 collada_urdf/src/collada_urdf.cpp | 32 +++++++++++++++----------------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/collada_urdf/src/collada_urdf.cpp b/collada_urdf/src/collada_urdf.cpp
index c9d1e6e..1fd163b 100644
--- a/collada_urdf/src/collada_urdf.cpp
+++ b/collada_urdf/src/collada_urdf.cpp
@@ -472,9 +472,9 @@ protected:
         string asmsym = str(boost::format("%s.%s")%asmid%_ikmout->ikm->getSid());
         string assym = str(boost::format("%s.%s")%_scene.kscene->getID()%_ikmout->ikm->getSid());
         FOREACH(it, _ikmout->vkinematicsbindings) {
-            domKinematics_bindRef abm = daeSafeCast<domKinematics_bind>(ias_motion->add(COLLADA_ELEMENT_BIND));
-            abm->setSymbol(asmsym.c_str());
-            daeSafeCast<domKinematics_param>(abm->add(COLLADA_ELEMENT_PARAM))->setRef(it->first.c_str());
+            domKinematics_newparamRef abm = daeSafeCast<domKinematics_newparam>(ias_motion->add(COLLADA_ELEMENT_NEWPARAM));
+            abm->setSid(asmsym.c_str());
+            daeSafeCast<domKinematics_newparam::domSIDREF>(abm->add(COLLADA_ELEMENT_SIDREF))->setValue(it->first.c_str());
             domKinematics_bindRef ab = daeSafeCast<domKinematics_bind>(ias->add(COLLADA_ELEMENT_BIND));
             ab->setSymbol(assym.c_str());
             daeSafeCast<domKinematics_param>(ab->add(COLLADA_ELEMENT_PARAM))->setRef(asmsym.c_str());
@@ -482,17 +482,17 @@ protected:
         }
         for(size_t idof = 0; idof < _ikmout->vaxissids.size(); ++idof) {
             const axis_sids& kas = _ikmout->vaxissids.at(idof);
-            domKinematics_bindRef abm = daeSafeCast<domKinematics_bind>(ias_motion->add(COLLADA_ELEMENT_BIND));
-            abm->setSymbol(str(boost::format("%s.%s")%asmid%kas.axissid).c_str());
-            daeSafeCast<domKinematics_param>(abm->add(COLLADA_ELEMENT_PARAM))->setRef(kas.axissid.c_str());
+            domKinematics_newparamRef abm = daeSafeCast<domKinematics_newparam>(ias_motion->add(COLLADA_ELEMENT_NEWPARAM));
+            abm->setSid(str(boost::format("%s.%s")%asmid%kas.axissid).c_str());
+            daeSafeCast<domKinematics_newparam::domSIDREF>(abm->add(COLLADA_ELEMENT_SIDREF))->setValue(kas.axissid.c_str());
             domKinematics_bindRef ab = daeSafeCast<domKinematics_bind>(ias->add(COLLADA_ELEMENT_BIND));
             ab->setSymbol(str(boost::format("%s.%s")%assym%kas.axissid).c_str());
             daeSafeCast<domKinematics_param>(ab->add(COLLADA_ELEMENT_PARAM))->setRef(str(boost::format("%s.%s")%asmid%kas.axissid).c_str());
             string valuesid;
             if( kas.valuesid.size() > 0 ) {
-                domKinematics_bindRef abmvalue = daeSafeCast<domKinematics_bind>(ias_motion->add(COLLADA_ELEMENT_BIND));
-                abmvalue->setSymbol(str(boost::format("%s.%s")%asmid%kas.valuesid).c_str());
-                daeSafeCast<domKinematics_param>(abmvalue->add(COLLADA_ELEMENT_PARAM))->setRef(kas.valuesid.c_str());
+                domKinematics_newparamRef abmvalue = daeSafeCast<domKinematics_newparam>(ias_motion->add(COLLADA_ELEMENT_NEWPARAM));
+                abmvalue->setSid(str(boost::format("%s.%s")%asmid%kas.valuesid).c_str());
+                daeSafeCast<domKinematics_newparam::domSIDREF>(abmvalue->add(COLLADA_ELEMENT_SIDREF))->setValue(kas.valuesid.c_str());
                 domKinematics_bindRef abvalue = daeSafeCast<domKinematics_bind>(ias->add(COLLADA_ELEMENT_BIND));
                 valuesid = str(boost::format("%s.%s")%assym%kas.valuesid);
                 abvalue->setSymbol(valuesid.c_str());
@@ -521,15 +521,15 @@ protected:
         _ikmout->ikm->setUrl(str(boost::format("#%s")%kmout->kmodel->getID()).c_str());
         _ikmout->ikm->setSid(ikmsid.c_str());
 
-        domKinematics_bindRef kbind = daeSafeCast<domKinematics_bind>(_ikmout->ikm->add(COLLADA_ELEMENT_BIND));
-        kbind->setSymbol((symscope+ikmsid).c_str());
-        daeSafeCast<domKinematics_bind::domSIDREF>(kbind->add(COLLADA_ELEMENT_SIDREF))->setValue((refscope+ikmsid).c_str());
-        _ikmout->vkinematicsbindings.push_back(make_pair(string(kbind->getSymbol()), str(boost::format("visual%d/node0")%id)));
+        domKinematics_newparamRef kbind = daeSafeCast<domKinematics_newparam>(_ikmout->ikm->add(COLLADA_ELEMENT_NEWPARAM));
+        kbind->setSid((symscope+ikmsid).c_str());
+        daeSafeCast<domKinematics_newparam::domSIDREF>(kbind->add(COLLADA_ELEMENT_SIDREF))->setValue((refscope+ikmsid).c_str());
+        _ikmout->vkinematicsbindings.push_back(make_pair(string(kbind->getSid()), str(boost::format("visual%d/node0")%id)));
 
         _ikmout->vaxissids.reserve(kmout->vaxissids.size());
         int i = 0;
         FOREACH(it,kmout->vaxissids) {
-            domKinematics_bindRef kbind = daeSafeCast<domKinematics_bind>(_ikmout->ikm->add(COLLADA_ELEMENT_BIND));
+            domKinematics_newparamRef kbind = daeSafeCast<domKinematics_newparam>(_ikmout->ikm->add(COLLADA_ELEMENT_NEWPARAM));
             string ref = it->sid;
             size_t index = ref.find("/");
             while(index != string::npos) {
@@ -537,8 +537,8 @@ protected:
                 index = ref.find("/",index+1);
             }
             string sid = symscope+ikmsid+"."+ref;
-            kbind->setSymbol(sid.c_str());
-            daeSafeCast<domKinematics_bind::domSIDREF>(kbind->add(COLLADA_ELEMENT_SIDREF))->setValue((refscope+ikmsid+"/"+it->sid).c_str());
+            kbind->setSid(sid.c_str());
+            daeSafeCast<domKinematics_newparam::domSIDREF>(kbind->add(COLLADA_ELEMENT_SIDREF))->setValue((refscope+ikmsid+"/"+it->sid).c_str());
             double value=0;
             double flower=0, fupper=0;
             if( !!it->pjoint->limits ) {