flightgear/utils/Modeller/yasim_import.py

#!BPY

# """
# Name: 'YASim (.xml)'
# Blender: 245
# Group: 'Import'
# Tooltip: 'Loads and visualizes a YASim FDM geometry'
# """

__author__ = "Melchior FRANZ < mfranz # aon : at >"
__url__ = ["http://www.flightgear.org/", "http://cvs.flightgear.org/viewvc/source/utils/Modeller/yasim_import.py"]
__version__ = "0.1"
__bpydoc__ = """\
yasim_import.py loads and visualizes a YASim FDM geometry
=========================================================

It is recommended to load the model superimposed over a greyed out and immutable copy of the aircraft model:

  (0) put this script into ~/.blender/scripts/
  (1) load or import aircraft model (menu -> "File" -> "Import" -> "AC3D (.ac) ...")
  (2) create new *empty* scene (menu -> arrow button left of "SCE:scene1" combobox -> "ADD NEW" -> "empty")
  (3) rename scene to yasim (not required)
  (4) link to scene1 (F10 -> "Output" tab in "Buttons Window" -> arrow button left of text entry "No Set Scene" -> "scene1")
  (5) now load the YASim config file (menu -> "File" -> "Import" -> "YASim (.xml) ...")

This is good enough for simple checks. But if you are working on the YASim configuration, then you need a
quick and convenient way to reload the file. In that case continue after (4):

  (5) switch the button area at the bottom of the blender screen to "Scripts Window" mode (green python snake icon)
  (6) load the YASim config file (menu -> "Scripts" -> "Import" -> "YASim (.xml) ...")
  (7) make the "Scripts Window" area as small as possible by dragging the area separator down
  (8) optionally split the "3D View" area and switch the right part to the "Outliner"
  (9) press the "Reload YASim" button in the script area to reload the file


If the 3D model is displaced with respect to the FDM model, then the <offsets> values from the
model animation XML file should be added as comment to the YASim config file, as a line all by
itself, with no spaces surrounding the equal signs. Spaces elsewhere are allowed. For example:

  <offsets>
      <x-m>3.45</x-m>
      <z-m>-0.4</z-m>
      <pitch-deg>5</pitch-deg>
  </offsets>

becomes:

  <!-- offsets: x=3.45 z=-0.4 p=5 -->

Possible variables are:

  x ... <x-m>
  y ... <y-m>
  z ... <z-m>
  h ... <heading-deg>
  p ... <pitch-deg>
  r ... <roll-deg>

Of course, absolute FDM coordinates can then no longer directly be read from Blender's 3D view.
The cursor coordinates display in the script area, however, shows the coordinates in YASim space.
Note that object names don't contain XML indices but element numbers. YASim_flap0#2 is the third
flap0 in the whole file, not necessarily in its parent XML group. A floating point part in the
object name (e.g. YASim_flap0#2.004) only means that the geometry has been reloaded that often.
It's an unavoidable consequence of how Blender deals with meshes.


Elements are displayed as follows:

  cockpit                             -> monkey head
  fuselage                            -> blue "tube" (with only 12 sides for less clutter); center at "a"
  vstab                               -> red with yellow control surfaces (flap0, flap1, slat, spoiler)
  wing/mstab/hstab                    -> green with yellow control surfaces (which are always 20 cm deep);
                                         symmetric surfaces are only displayed on the left side, unless
                                         the "Mirror" button is active
  thrusters (jet/propeller/thruster)  -> dashed line from center to actionpt;
                                         arrow from actionpt along thrust vector (always 1 m long);
                                         propeller circle
  rotor                               -> radius and rel_len_blade_start circle, normal and forward vector,
                                         one blade at phi0 with direction arrow near blade tip
  gear                                -> contact point and compression vector (no arrow head)
  tank                                -> cube (10 cm side length)
  weight                              -> inverted cone
  ballast                             -> cylinder
  hitch                               -> circle (10 cm diameter)
  hook                                -> dashed line for up angle, T-line for down angle
  launchbar                           -> dashed line for up angles, T-line for down angles
                                         (launchbar and holdback each)


The Mirror button complements symmetrical surfaces (wing/hstab/mstab) and control surfaces
(flap0/flap1/slat/spoiler). This is useful for asymmetrical aircraft, but has the disadvantage
that it moves the surfaces' object centers from their usual place, yasim's [x, y, z] value,
to [0, 0, 0]. Turning mirroring off restores the object center.



Environment variable BLENDER_YASIM_IMPORT can be set to a space-separated list of options:

  $ BLENDER_YASIM_IMPORT="mirror verbose"  blender

whereby:

  verbose  ... enables verbose logs
  mirror   ... enables mirroring of symmetric surfaces
"""


#--------------------------------------------------------------------------------
# Copyright (C) 2009  Melchior FRANZ  < mfranz # aon : at >
#
# This program is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License as
# published by the Free Software Foundation; either version 2 of the
# License, or (at your option) any later version.
#
# This program is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
# General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
#--------------------------------------------------------------------------------


import Blender, BPyMessages, string, math, os
from Blender.Mathutils import *
from xml.sax import handler, make_parser


CONFIG = string.split(os.getenv("BLENDER_YASIM_IMPORT") or "")
YASIM_MATRIX = Matrix([-1, 0, 0, 0], [0, -1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1])
ORIGIN = Vector(0, 0, 0)
X = Vector(1, 0, 0)
Y = Vector(0, 1, 0)
Z = Vector(0, 0, 1)
DEG2RAD = math.pi / 180
RAD2DEG = 180 / math.pi

NO_EVENT = 0
RELOAD_BUTTON = 1
CURSOR_BUTTON = 2
MIRROR_BUTTON = 3



class Global:
	verbose = "verbose" in CONFIG
	path = ""
	matrix = None
	data = None
	cursor = ORIGIN
	last_cursor = Vector(Blender.Window.GetCursorPos())
	mirror_button = Blender.Draw.Create("mirror" in CONFIG)



class Abort(Exception):
	def __init__(self, msg, term = None):
		self.msg = msg
		self.term = term



def log(msg):
	if Global.verbose:
		print(msg)



def draw_dashed_line(mesh, start, end):
	w = 0.04
	step = w * (end - start).normalize()
	n = len(mesh.verts)
	for i in range(int(1 + 0.5 * (end - start).length / w)):
		a = start + 2 * i * step
		b = a + step
		if (b - end).length < step.length:
			b = end
		mesh.verts.extend([a, b])
		mesh.edges.extend([n + 2 * i, n + 2 * i + 1])



def draw_arrow(mesh, start, end):
	v = end - start
	m = v.toTrackQuat('x', 'z').toMatrix().resize4x4() * TranslationMatrix(start)
	v = v.length * X
	n = len(mesh.verts)
	mesh.verts.extend([ORIGIN * m , v * m, (v - 0.05 * X + 0.05 * Y) * m, (v - 0.05 * X - 0.05 * Y) * m]) # head
	mesh.verts.extend([(ORIGIN + 0.05 * Y) * m, (ORIGIN - 0.05 * Y) * m]) # base
	mesh.edges.extend([[n, n + 1], [n + 1, n + 2], [n + 1, n + 3], [n + 4, n + 5]])



def draw_circle(mesh, numpoints, radius, matrix):
	n = len(mesh.verts)
	for i in range(numpoints):
		angle = 2.0 * math.pi * i / numpoints
		v = Vector(radius * math.cos(angle), radius * math.sin(angle), 0)
		mesh.verts.extend([v * matrix])
	for i in range(numpoints):
		i1 = (i + 1) % numpoints
		mesh.edges.extend([[n + i, n + i1]])



class Item:
	scene = Blender.Scene.GetCurrent()

	def make_twosided(self, mesh):
		mesh.faceUV = True
		for f in mesh.faces:
			f.mode |= Blender.Mesh.FaceModes.TWOSIDE | Blender.Mesh.FaceModes.OBCOL

	def set_color(self, obj, color):
		mat = Blender.Material.New()
		mat.setRGBCol(color[0], color[1], color[2])
		mat.setAlpha(color[3])
		mat.mode |= Blender.Material.Modes.ZTRANSP | Blender.Material.Modes.TRANSPSHADOW
		obj.transp = True

		mesh = obj.getData(mesh = True)
		mesh.materials += [mat]

		for f in mesh.faces:
			f.smooth = True
		mesh.calcNormals()



class Cockpit(Item):
	def __init__(self, center):
		mesh = Blender.Mesh.Primitives.Monkey()
		mesh.transform(ScaleMatrix(0.13, 4) * Euler(90, 0, 90).toMatrix().resize4x4() * TranslationMatrix(Vector(-0.1, 0, -0.032)))
		obj = self.scene.objects.new(mesh, "YASim_cockpit")
		obj.setMatrix(TranslationMatrix(center) * Global.matrix)



class Tank(Item):
	def __init__(self, name, center):
		mesh = Blender.Mesh.Primitives.Cube()
		mesh.transform(ScaleMatrix(0.05, 4))
		obj = self.scene.objects.new(mesh, name)
		obj.setMatrix(TranslationMatrix(center) * Global.matrix)
		self.set_color(obj, [1, 0, 1, 0.5])



class Ballast(Item):
	def __init__(self, name, center):
		mesh = Blender.Mesh.Primitives.Cylinder()
		mesh.transform(ScaleMatrix(0.05, 4))
		obj = self.scene.objects.new(mesh, name)
		obj.setMatrix(TranslationMatrix(center) * Global.matrix)
		self.set_color(obj, [1, 1, 0, 0.5])



class Weight(Item):
	def __init__(self, name, center):
		mesh = Blender.Mesh.Primitives.Cone()
		mesh.transform(ScaleMatrix(0.05, 4))
		obj = self.scene.objects.new(mesh, name)
		obj.setMatrix(TranslationMatrix(center) * Global.matrix)
		self.set_color(obj, [0, 1, 1, 0.5])



class Gear(Item):
	def __init__(self, name, center, compression):
		mesh = Blender.Mesh.New()
		mesh.verts.extend([ORIGIN, compression])
		mesh.edges.extend([0, 1])
		obj = self.scene.objects.new(mesh, name)
		obj.setMatrix(TranslationMatrix(center) * Global.matrix)



class Hook(Item):
	def __init__(self, name, center, length, up_angle, dn_angle):
		mesh = Blender.Mesh.New()
		up = ORIGIN - length * math.cos(up_angle * DEG2RAD) * X - length * math.sin(up_angle * DEG2RAD) * Z
		dn = ORIGIN - length * math.cos(dn_angle * DEG2RAD) * X - length * math.sin(dn_angle * DEG2RAD) * Z
		mesh.verts.extend([ORIGIN, dn, dn + 0.05 * Y, dn - 0.05 * Y])
		mesh.edges.extend([[0, 1], [2, 3]])
		draw_dashed_line(mesh, ORIGIN, up)
		draw_dashed_line(mesh, ORIGIN, dn)
		obj = self.scene.objects.new(mesh, name)
		obj.setMatrix(TranslationMatrix(center) * Global.matrix)



class Launchbar(Item):
	def __init__(self, name, lb, lb_length, hb, hb_length, up_angle, dn_angle):
		mesh = Blender.Mesh.New()
		hb = hb - lb
		lb_tip = ORIGIN + lb_length * math.cos(dn_angle * DEG2RAD) * X - lb_length * math.sin(dn_angle * DEG2RAD) * Z
		hb_tip = hb - hb_length * math.cos(dn_angle * DEG2RAD) * X - hb_length * math.sin(dn_angle * DEG2RAD) * Z
		mesh.verts.extend([lb_tip, ORIGIN, hb, hb_tip, lb_tip + 0.05 * Y, lb_tip - 0.05 * Y, hb_tip + 0.05 * Y, hb_tip - 0.05 * Y])
		mesh.edges.extend([[0, 1], [1, 2], [2, 3], [4, 5], [6, 7]])
		draw_dashed_line(mesh, ORIGIN, lb_length * math.cos(up_angle * DEG2RAD) * X - lb_length * math.sin(up_angle * DEG2RAD) * Z)
		draw_dashed_line(mesh, hb, hb - hb_length * math.cos(up_angle * DEG2RAD) * X - hb_length * math.sin(up_angle * DEG2RAD) * Z)
		obj = self.scene.objects.new(mesh, name)
		obj.setMatrix(TranslationMatrix(lb) * Global.matrix)



class Hitch(Item):
	def __init__(self, name, center):
		mesh = Blender.Mesh.Primitives.Circle(8, 0.1)
		obj = self.scene.objects.new(mesh, name)
		obj.setMatrix(RotationMatrix(90, 4, "x") * TranslationMatrix(center) * Global.matrix)



class Thrust:
	def set_actionpt(self, p):
		self.actionpt = p

	def set_dir(self, d):
		self.thrustvector = d



class Thruster(Thrust, Item):
	def __init__(self, name, center, thrustvector):
		(self.name, self.center, self.actionpt, self.thrustvector) = (name, center, center, thrustvector)

	def __del__(self):
		a = self.actionpt - self.center
		mesh = Blender.Mesh.New()
		draw_dashed_line(mesh, ORIGIN, a)
		draw_arrow(mesh, a, a + self.thrustvector.normalize())
		obj = self.scene.objects.new(mesh, self.name)
		obj.setMatrix(TranslationMatrix(self.center) * Global.matrix)



class Propeller(Thrust, Item):
	def __init__(self, name, center, radius):
		(self.name, self.center, self.radius, self.actionpt, self.thrustvector) = (name, center, radius, center, -X)

	def __del__(self):
		a = self.actionpt - self.center
		matrix = self.thrustvector.toTrackQuat('z', 'x').toMatrix().resize4x4() * TranslationMatrix(a)

		mesh = Blender.Mesh.New()
		mesh.verts.extend([ORIGIN * matrix, (ORIGIN + self.radius * X) * matrix])
		mesh.edges.extend([[0, 1]])
		draw_dashed_line(mesh, ORIGIN, a)
		draw_arrow(mesh, a, a + self.thrustvector.normalize())

		draw_circle(mesh, 128, self.radius, matrix)
		obj = self.scene.objects.new(mesh, self.name)
		obj.setMatrix(TranslationMatrix(self.center) * Global.matrix)



class Jet(Thrust, Item):
	def __init__(self, name, center, rotate):
		(self.name, self.center, self.actionpt) = (name, center, center)
		self.thrustvector = -X * RotationMatrix(rotate, 4, "y")

	def __del__(self):
		a = self.actionpt - self.center
		mesh = Blender.Mesh.New()
		draw_dashed_line(mesh, ORIGIN, a)
		draw_arrow(mesh, a, a + self.thrustvector.normalize())
		obj = self.scene.objects.new(mesh, self.name)
		obj.setMatrix(TranslationMatrix(self.center) * Global.matrix)



class Fuselage(Item):
	def __init__(self, name, a, b, width, taper, midpoint):
		numvert = 12
		angle = []
		for i in range(numvert):
			alpha = i * 2 * math.pi / float(numvert)
			angle.append([math.cos(alpha), math.sin(alpha)])

		axis = b - a
		length = axis.length
		mesh = Blender.Mesh.New()

		for i in range(numvert):
			mesh.verts.extend([[0, 0.5 * width * taper * angle[i][0], 0.5 * width * taper * angle[i][1]]])
		for i in range(numvert):
			mesh.verts.extend([[midpoint * length, 0.5 * width * angle[i][0], 0.5 * width * angle[i][1]]])
		for i in range(numvert):
			mesh.verts.extend([[length, 0.5 * width * taper * angle[i][0], 0.5 * width * taper * angle[i][1]]])
		for i in range(numvert):
			i1 = (i + 1) % numvert
			mesh.faces.extend([[i, i1, i1 + numvert, i + numvert]])
			mesh.faces.extend([[i + numvert, i1 + numvert, i1 + 2 * numvert, i + 2 * numvert]])

		mesh.verts.extend([ORIGIN, length * X])
		obj = self.scene.objects.new(mesh, name)
		obj.setMatrix(axis.toTrackQuat('x', 'y').toMatrix().resize4x4() * TranslationMatrix(a) * Global.matrix)
		self.set_color(obj, [0, 0, 0.5, 0.4])



class Rotor(Item):
	def __init__(self, name, center, up, fwd, numblades, radius, chord, twist, taper, rel_len_blade_start, phi0, ccw):
		matrix = RotationMatrix(phi0, 4, "z") * up.toTrackQuat('z', 'x').toMatrix().resize4x4()
		invert = matrix.copy().invert()
		direction = [-1, 1][ccw]
		twist *= DEG2RAD
		a = ORIGIN + rel_len_blade_start * radius * X
		b = ORIGIN + radius * X
		tw = 0.5 * chord * taper * math.cos(twist) * Y + 0.5 * direction * chord * taper * math.sin(twist) * Z

		mesh = Blender.Mesh.New()
		mesh.verts.extend([ORIGIN, a, b, a + 0.5 * chord * Y, a - 0.5 * chord * Y, b + tw, b - tw])
		mesh.edges.extend([[0, 1], [1, 2], [1, 3], [1, 4], [3, 5], [4, 6], [5, 6]])
		draw_circle(mesh, 64, rel_len_blade_start * radius, Matrix())
		draw_circle(mesh, 128, radius, Matrix())
		draw_arrow(mesh, ORIGIN, up * invert)
		draw_arrow(mesh, ORIGIN, fwd * invert)
		b += 0.1 * X + direction * chord * Y
		draw_arrow(mesh, b, b + min(0.5 * radius, 1) * direction * Y)
		obj = self.scene.objects.new(mesh, name)
		obj.setMatrix(matrix * TranslationMatrix(center) * Global.matrix)



class Wing(Item):
	def __init__(self, name, root, length, chord, incidence, twist, taper, sweep, dihedral):
		#  <1--0--2
		#   \  |  /
		#    4-3-5
		self.is_symmetric = not name.startswith("YASim_vstab#")
		mesh = Blender.Mesh.New()
		mesh.verts.extend([ORIGIN, ORIGIN + 0.5 * chord * X, ORIGIN - 0.5 * chord * X])
		tip = ORIGIN + math.cos(sweep * DEG2RAD) * length * Y - math.sin(sweep * DEG2RAD) * length * X
		tipfore = tip + 0.5 * taper * chord * math.cos(twist * DEG2RAD) * X + 0.5 * taper * chord * math.sin(twist * DEG2RAD) * Z
		tipaft = tip + tip - tipfore
		mesh.verts.extend([tip, tipfore, tipaft])
		mesh.faces.extend([[0, 1, 4, 3], [2, 0, 3, 5]])

		self.make_twosided(mesh)

		obj = self.scene.objects.new(mesh, name)
		mesh.transform(Euler(dihedral, -incidence, 0).toMatrix().resize4x4())
		self.set_color(obj, [[0.5, 0.0, 0, 0.5], [0.0, 0.5, 0, 0.5]][self.is_symmetric])
		(self.obj, self.mesh) = (obj, mesh)

		if self.is_symmetric and Global.mirror_button.val:
			mod = obj.modifiers.append(Blender.Modifier.Type.MIRROR)
			mod[Blender.Modifier.Settings.AXIS_X] = False
			mod[Blender.Modifier.Settings.AXIS_Y] = True
			mod[Blender.Modifier.Settings.AXIS_Z] = False
			mesh.transform(TranslationMatrix(root)) # must move object center to x axis
			obj.setMatrix(Global.matrix)
		else:
			obj.setMatrix(TranslationMatrix(root) * Global.matrix)

	def add_flap(self, name, start, end):
		a = Vector(self.mesh.verts[2].co)
		b = Vector(self.mesh.verts[5].co)
		c = 0.2 * (Vector(self.mesh.verts[0].co - a)).normalize()
		m = self.obj.getMatrix()

		mesh = Blender.Mesh.New()
		i0 = a + start * (b - a)
		i1 = a + end * (b - a)
		mesh.verts.extend([i0, i1, i0 + c, i1 + c])
		mesh.faces.extend([[0, 1, 3, 2]])

		self.make_twosided(mesh)

		obj = self.scene.objects.new(mesh, name)
		obj.setMatrix(m)
		self.set_color(obj, [0.8, 0.8, 0, 0.9])

		if self.is_symmetric and Global.mirror_button.val:
			mod = obj.modifiers.append(Blender.Modifier.Type.MIRROR)
			mod[Blender.Modifier.Settings.AXIS_X] = False
			mod[Blender.Modifier.Settings.AXIS_Y] = True
			mod[Blender.Modifier.Settings.AXIS_Z] = False



class import_yasim(handler.ErrorHandler, handler.ContentHandler):
	ignored = ["cruise", "approach", "control-input", "control-output", "control-speed", \
			"control-setting", "stall", "airplane", "piston-engine", "turbine-engine", \
			"rotorgear", "tow", "winch", "solve-weight"]


	# err_handler
	def warning(self, exception):
		print(self.error_string("WARNING", exception))

	def error(self, exception):
		print(self.error_string("ERROR", exception))

	def fatalError(self, exception):
		raise Abort(str(exception), self.error_string("FATAL", exception))

	def error_string(self, tag, e):
		(column, line, msg) = (e.getColumnNumber(), e.getLineNumber(), e.getMessage())
		return "\n%s%s^--------%s: %s at line %d, column %d" \
				% (Global.data[line - 1], (column) * ' ', tag, msg, line, column)


	# doc_handler
	def setDocumentLocator(self, locator):
		self.locator = locator

	def startDocument(self):
		self.tags = []
		self.counter = {}
		self.items = [None]

	def endDocument(self):
		for o in Item.scene.objects:
			o.sel = True

	def startElement(self, tag, attrs):
		if len(self.tags) == 0 and tag != "airplane":
			raise Abort("this isn't a YASim config file (bad root tag at line %d)" % self.locator.getLineNumber())

		self.tags.append(tag)
		path = string.join(self.tags, '/')
		item = Item()
		parent = self.items[-1]

		if self.counter.has_key(tag):
			self.counter[tag] += 1
		else:
			self.counter[tag] = 0

		if tag == "cockpit":
			c = Vector(float(attrs["x"]), float(attrs["y"]), float(attrs["z"]))
			log("\033[31mcockpit x=%f y=%f z=%f\033[m" % (c[0], c[1], c[2]))
			item = Cockpit(c)

		elif tag == "fuselage":
			a = Vector(float(attrs["ax"]), float(attrs["ay"]), float(attrs["az"]))
			b = Vector(float(attrs["bx"]), float(attrs["by"]), float(attrs["bz"]))
			width = float(attrs["width"])
			taper = float(attrs.get("taper", 1))
			midpoint = float(attrs.get("midpoint", 0.5))
			log("\033[32mfuselage ax=%f ay=%f az=%f bx=%f by=%f bz=%f width=%f taper=%f midpoint=%f\033[m" % \
					(a[0], a[1], a[2], b[0], b[1], b[2], width, taper, midpoint))
			item = Fuselage("YASim_%s#%d" % (tag, self.counter[tag]), a, b, width, taper, midpoint)

		elif tag == "gear":
			c = Vector(float(attrs["x"]), float(attrs["y"]), float(attrs["z"]))
			compression = float(attrs.get("compression", 1))
			up = Z * compression
			if attrs.has_key("upx"):
				up = Vector(float(attrs["upx"]), float(attrs["upy"]), float(attrs["upz"])).normalize() * compression
			log("\033[35;1mgear x=%f y=%f z=%f compression=%f upx=%f upy=%f upz=%f\033[m" \
					% (c[0], c[1], c[2], compression, up[0], up[1], up[2]))
			item = Gear("YASim_gear#%d" % self.counter[tag], c, up)

		elif tag == "jet":
			c = Vector(float(attrs["x"]), float(attrs["y"]), float(attrs["z"]))
			rotate = float(attrs.get("rotate", 0))
			log("\033[36;1mjet x=%f y=%f z=%f rotate=%f\033[m" % (c[0], c[1], c[2], rotate))
			item = Jet("YASim_jet#%d" % self.counter[tag], c, rotate)

		elif tag == "propeller":
			c = Vector(float(attrs["x"]), float(attrs["y"]), float(attrs["z"]))
			radius = float(attrs["radius"])
			log("\033[36;1m%s x=%f y=%f z=%f radius=%f\033[m" % (tag, c[0], c[1], c[2], radius))
			item = Propeller("YASim_propeller#%d" % self.counter[tag], c, radius)

		elif tag == "thruster":
			c = Vector(float(attrs["x"]), float(attrs["y"]), float(attrs["z"]))
			v = Vector(float(attrs["vx"]), float(attrs["vy"]), float(attrs["vz"]))
			log("\033[36;1m%s x=%f y=%f z=%f vx=%f vy=%f vz=%f\033[m" % (tag, c[0], c[1], c[2], v[0], v[1], v[2]))
			item = Thruster("YASim_thruster#%d" % self.counter[tag], c, v)

		elif tag == "actionpt":
			if not isinstance(parent, Thrust):
				raise Abort("%s is not part of a thruster/propeller/jet at line %d" \
						% (path, self.locator.getLineNumber()))

			c = Vector(float(attrs["x"]), float(attrs["y"]), float(attrs["z"]))
			log("\t\033[36mactionpt x=%f y=%f z=%f\033[m" % (c[0], c[1], c[2]))
			parent.set_actionpt(c)

		elif tag == "dir":
			if not isinstance(parent, Thrust):
				raise Abort("%s is not part of a thruster/propeller/jet at line %d" \
						% (path, self.locator.getLineNumber()))

			c = Vector(float(attrs["x"]), float(attrs["y"]), float(attrs["z"]))
			log("\t\033[36mdir x=%f y=%f z=%f\033[m" % (c[0], c[1], c[2]))
			parent.set_dir(c)

		elif tag == "tank":
			c = Vector(float(attrs["x"]), float(attrs["y"]), float(attrs["z"]))
			log("\033[34;1m%s x=%f y=%f z=%f\033[m" % (tag, c[0], c[1], c[2]))
			item = Tank("YASim_tank#%d" % self.counter[tag], c)

		elif tag == "ballast":
			c = Vector(float(attrs["x"]), float(attrs["y"]), float(attrs["z"]))
			log("\033[34m%s x=%f y=%f z=%f\033[m" % (tag, c[0], c[1], c[2]))
			item = Ballast("YASim_ballast#%d" % self.counter[tag], c)

		elif tag == "weight":
			c = Vector(float(attrs["x"]), float(attrs["y"]), float(attrs["z"]))
			log("\033[34m%s x=%f y=%f z=%f\033[m" % (tag, c[0], c[1], c[2]))
			item = Weight("YASim_weight#%d" % self.counter[tag], c)

		elif tag == "hook":
			c = Vector(float(attrs["x"]), float(attrs["y"]), float(attrs["z"]))
			length = float(attrs.get("length", 1))
			up_angle = float(attrs.get("up-angle", 0))
			down_angle = float(attrs.get("down-angle", 70))
			log("\033[35m%s x=%f y=%f z=%f length=%f up-angle=%f down-angle=%f\033[m" \
					% (tag, c[0], c[1], c[2], length, up_angle, down_angle))
			item = Hook("YASim_hook#%d" % self.counter[tag], c, length, up_angle, down_angle)

		elif tag == "hitch":
			c = Vector(float(attrs["x"]), float(attrs["y"]), float(attrs["z"]))
			log("\033[35m%s x=%f y=%f z=%f\033[m" % (tag, c[0], c[1], c[2]))
			item = Hitch("YASim_hitch#%d" % self.counter[tag], c)

		elif tag == "launchbar":
			c = Vector(float(attrs["x"]), float(attrs["y"]), float(attrs["z"]))
			length = float(attrs.get("length", 1))
			up_angle = float(attrs.get("up-angle", -45))
			down_angle = float(attrs.get("down-angle", 45))
			holdback = Vector(float(attrs.get("holdback-x", c[0])), float(attrs.get("holdback-y", c[1])), float(attrs.get("holdback-z", c[2])))
			holdback_length = float(attrs.get("holdback-length", 2))
			log("\033[35m%s x=%f y=%f z=%f length=%f down-angle=%f up-angle=%f holdback-x=%f holdback-y=%f holdback-z+%f holdback-length=%f\033[m" \
					% (tag, c[0], c[1], c[2], length, down_angle, up_angle, \
					holdback[0], holdback[1], holdback[2], holdback_length))
			item = Launchbar("YASim_launchbar#%d" % self.counter[tag], c, length, holdback, holdback_length, up_angle, down_angle)

		elif tag == "wing" or tag == "hstab" or tag == "vstab" or tag == "mstab":
			root = Vector(float(attrs["x"]), float(attrs["y"]), float(attrs["z"]))
			length = float(attrs["length"])
			chord = float(attrs["chord"])
			incidence = float(attrs.get("incidence", 0))
			twist = float(attrs.get("twist", 0))
			taper = float(attrs.get("taper", 1))
			sweep = float(attrs.get("sweep", 0))
			dihedral = float(attrs.get("dihedral", [0, 90][tag == "vstab"]))
			log("\033[33;1m%s x=%f y=%f z=%f length=%f chord=%f incidence=%f twist=%f taper=%f sweep=%f dihedral=%f\033[m" \
					% (tag, root[0], root[1], root[2], length, chord, incidence, twist, taper, sweep, dihedral))
			item = Wing("YASim_%s#%d" % (tag, self.counter[tag]), root, length, chord, incidence, twist, taper, sweep, dihedral)

		elif tag == "flap0" or tag == "flap1" or tag == "slat" or tag == "spoiler":
			if not isinstance(parent, Wing):
				raise Abort("%s is not part of a wing or stab at line %d" \
						% (path, self.locator.getLineNumber()))

			start = float(attrs["start"])
			end = float(attrs["end"])
			log("\t\033[33m%s start=%f end=%f\033[m" % (tag, start, end))
			parent.add_flap("YASim_%s#%d" % (tag, self.counter[tag]), start, end)

		elif tag == "rotor":
			c = Vector(float(attrs.get("x", 0)), float(attrs.get("y", 0)), float(attrs.get("z", 0)))
			norm = Vector(float(attrs.get("nx", 0)), float(attrs.get("ny", 0)), float(attrs.get("nz", 1)))
			fwd = Vector(float(attrs.get("fx", 1)), float(attrs.get("fy", 0)), float(attrs.get("fz", 0)))
			diameter = float(attrs.get("diameter", 10.2))
			numblades = int(attrs.get("numblades", 4))
			chord = float(attrs.get("chord", 0.3))
			twist = float(attrs.get("twist", 0))
			taper = float(attrs.get("taper", 1))
			rel_len_blade_start = float(attrs.get("rel-len-blade-start", 0))
			phi0 = float(attrs.get("phi0", 0))
			ccw = not not int(attrs.get("ccw", 0))

			log(("\033[36;1mrotor x=%f y=%f z=%f nx=%f ny=%f nz=%f fx=%f fy=%f fz=%f numblades=%d diameter=%f " \
					+ "chord=%f twist=%f taper=%f rel_len_blade_start=%f phi0=%f ccw=%d\033[m") \
					% (c[0], c[1], c[2], norm[0], norm[1], norm[2], fwd[0], fwd[1], fwd[2], numblades, \
					diameter, chord, twist, taper, rel_len_blade_start, phi0, ccw))
			item = Rotor("YASim_rotor#%d" % self.counter[tag], c, norm, fwd, numblades, 0.5 * diameter, chord, \
					twist, taper, rel_len_blade_start, phi0, ccw)

		elif tag not in self.ignored:
			log("\033[30;1m%s\033[m" % path)

		self.items.append(item)

	def endElement(self, tag):
		self.tags.pop()
		self.items.pop()



def extract_matrix(filedata, tag):
	v = { 'x': 0.0, 'y': 0.0, 'z': 0.0, 'h': 0.0, 'p': 0.0, 'r': 0.0 }
	has_offsets = False
	for line in filedata:
		line = string.strip(line)
		if not line.startswith("<!--") or not line.endswith("-->"):
			continue
		line = string.strip(line[4:-3])
		if not string.lower(line).startswith("%s:" % tag):
			continue
		line = string.strip(line[len(tag) + 1:])
		for assignment in string.split(line):
			(key, value) = string.split(assignment, '=', 2)
			v[string.strip(key)] = float(string.strip(value))
			has_offsets = True

	if not has_offsets:
		return None

	print(("using offsets: x=%f y=%f z=%f h=%f p=%f r=%f" % (v['x'], v['y'], v['z'], v['h'], v['p'], v['r'])))
	return Euler(v['r'], v['p'], v['h']).toMatrix().resize4x4() * TranslationMatrix(Vector(v['x'], v['y'], v['z']))



def load_yasim_config(path):
	if BPyMessages.Error_NoFile(path):
		return

	Blender.Window.WaitCursor(1)
	Blender.Window.EditMode(0)

	print(("loading '%s'" % path))
	try:
		for o in Item.scene.objects:
			if o.name.startswith("YASim_"):
				Item.scene.objects.unlink(o)

		f = open(path)
		Global.data = f.readlines()
		f.close

		Global.path = path
		Global.matrix = YASIM_MATRIX
		matrix = extract_matrix(Global.data, "offsets")
		if matrix:
			Global.matrix *= matrix.invert()

		Global.yasim.parse(path)
		Blender.Registry.SetKey("FGYASimImportExport", { "path": path }, False)
		Global.data = None

	except Abort, e:
		print("%s\nAborting ..." % (e.term or e.msg))
		Blender.Draw.PupMenu("Error%t|" + e.msg)

	Blender.Window.RedrawAll()
	Blender.Window.WaitCursor(0)



def gui_draw():
	from Blender import BGL, Draw
	(width, height) = Blender.Window.GetAreaSize()

	BGL.glClearColor(0.4, 0.4, 0.45, 1)
	BGL.glClear(BGL.GL_COLOR_BUFFER_BIT)

	BGL.glColor3f(1, 1, 1)
	BGL.glRasterPos2f(5, 55)
	Draw.Text("FlightGear YASim Import:   '%s'" % Global.path)

	Draw.PushButton("Reload", RELOAD_BUTTON, 5, 5, 80, 32, "reload YASim config file")
	Global.mirror_button = Draw.Toggle("Mirror", MIRROR_BUTTON, 100, 5, 50, 16, Global.mirror_button.val, \
			"show symmetric surfaces on both sides (reloads config)")
	Draw.PushButton("Update Cursor", CURSOR_BUTTON, width - 650, 5, 100, 32, "update cursor display (in YASim coordinate system)")

	BGL.glRasterPos2f(width - 530 + Blender.Draw.GetStringWidth("Vector from last") - Blender.Draw.GetStringWidth("Current"), 24)
	Draw.Text("Current cursor pos:    x = %+.3f    y = %+.3f    z = %+.3f" % tuple(Global.cursor))

	c = Global.cursor - Global.last_cursor
	BGL.glRasterPos2f(width - 530, 7)
	Draw.Text("Vector from last cursor pos:    x = %+.3f    y = %+.3f    z = %+.3f    length = %.3f m" % (c[0], c[1], c[2], c.length))



def gui_event(ev, value):
	if ev == Blender.Draw.ESCKEY:
		Blender.Draw.Exit()



def gui_button(n):
	if n == NO_EVENT:
		return

	elif n == RELOAD_BUTTON:
		load_yasim_config(Global.path)

	elif n == CURSOR_BUTTON:
		Global.last_cursor = Global.cursor
		Global.cursor = Vector(Blender.Window.GetCursorPos()) * Global.matrix.invert()
		d = Global.cursor - Global.last_cursor
		print(("cursor:   x=\"%f\" y=\"%f\" z=\"%f\"   dx=%f dy=%f dz=%f   length=%f" \
				% (Global.cursor[0], Global.cursor[1], Global.cursor[2], d[0], d[1], d[2], d.length)))

	elif n == MIRROR_BUTTON:
		load_yasim_config(Global.path)

	Blender.Draw.Redraw(1)



def main():
	log(6 * "\n")
	registry = Blender.Registry.GetKey("FGYASimImportExport", False)
	if registry and "path" in registry and Blender.sys.exists(Blender.sys.expandpath(registry["path"])):
		path = registry["path"]
	else:
		path = ""

	xml_handler = import_yasim()
	Global.yasim = make_parser()
	Global.yasim.setContentHandler(xml_handler)
	Global.yasim.setErrorHandler(xml_handler)

	if Blender.Window.GetScreenInfo(Blender.Window.Types.SCRIPT):
		Blender.Draw.Register(gui_draw, gui_event, gui_button)

	Blender.Window.FileSelector(load_yasim_config, "Import YASim Configuration File", path)



main()