Robot Simulator of the Robotics Group for Self-Organization of Control: meshobstacle.h Source File

# meshobstacle.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005-2011 LpzRobots development team                    *
    00003  *    Georg Martius  <georg dot martius at web dot de>                     *
    00004  *    Frank Guettler <guettler at informatik dot uni-leipzig dot de        *
    00005  *    Frank Hesse    <frank at nld dot ds dot mpg dot de>                  *
    00006  *    Ralf Der       <ralfder at mis dot mpg dot de>                       *
    00007  *                                                                         *
    00008  *   This program is free software; you can redistribute it and/or modify  *
    00009  *   it under the terms of the GNU General Public License as published by  *
    00010  *   the Free Software Foundation; either version 2 of the License, or     *
    00011  *   (at your option) any later version.                                   *
    00012  *                                                                         *
    00013  *   This program is distributed in the hope that it will be useful,       *
    00014  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00015  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00016  *   GNU General Public License for more details.                          *
    00017  *                                                                         *
    00018  *   You should have received a copy of the GNU General Public License     *
    00019  *   along with this program; if not, write to the                         *
    00020  *   Free Software Foundation, Inc.,                                       *
    00021  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00022  *                                                                         *
    00023  ***************************************************************************/
    00024 #ifndef __MESHOBSTACLE_H
    00025 #define __MESHOBSTACLE_H
    00026
    00027 #include <stdio.h>
    00028 #include <cmath>
    00029 #include <osg/BoundingSphere>
    00030
    00031 #include "primitive.h"
    00032 #include "abstractobstacle.h"
    00033 #include "boundingshape.h"
    00034
    00035 namespace lpzrobots {
    00036
    00037 class MeshObstacle : public AbstractObstacle {
    00038 protected:
    00039
    00040
    00041   std::string filename;
    00042   float scale;
    00043   OSGMesh* mesh;
    00044   Sphere* bound;
    00045   BoundingShape* boundshape;
    00046
    00047 public:
    00048
    00049   MeshObstacle(const OdeHandle& odeHandle, const OsgHandle& osgHandle ,
    00050                std::string filename, double scale = 1):
    00051     AbstractObstacle::AbstractObstacle(odeHandle, osgHandle),
    00052     filename(filename), scale(scale)
    00053   {
    00054     mesh = 0;
    00055     bound = 0;
    00056     boundshape = 0;
    00057     obstacle_exists=false;
    00058   };
    00059
    00060   /**
    00061    * updates the position of the geoms  ( not nessary for static objects)
    00062    */
    00063   virtual void update(){
    00064
    00065   };
    00066
    00067
    00068
    00069
    00070   virtual void setPose(const osg::Matrix& pose){
    00071     this->pose = pose;
    00072     if (obstacle_exists){
    00073       destroy();
    00074     }
    00075     create();
    00076   };
    00077
    00078
    00079
    00080  protected:
    00081   virtual void create(){
    00082
    00083     mesh = new OSGMesh(filename, scale);
    00084     mesh->init(osgHandle);
    00085     mesh->setMatrix(pose);
    00086     const osg::BoundingSphere& bsphere = mesh->getGroup()->getBound();
    00087
    00088     boundshape = new BoundingShape(filename  + ".bbox" );
    00089     if(!boundshape->init(odeHandle, osgHandle.changeColor(Color(0,1,0,0.2)),
    00090                          pose, scale, Primitive::Geom | Primitive::Draw)){
    00091       printf("use default bounding box, because bbox file not found\n");
    00092       bound = new Sphere(bsphere.radius());
    00093       bound->init(odeHandle, 0, osgHandle.changeColor(Color(1,0,0,0.2)), Primitive::Geom | Primitive::Draw);
    00094       bound->setPose(osg::Matrix::translate(bsphere.center())*
    00095                      osg::Matrix::translate(0.0f,0.0f,bsphere.radius()));       // set sphere higher
    00096       mesh->setMatrix(osg::Matrix::translate(0.0f,0.0f,bsphere.radius())*pose); // set obstacle higher
    00097     }
    00098     obstacle_exists=true;
    00099   };
    00100
    00101
    00102   virtual void destroy(){
    00103     if(mesh) delete(mesh);
    00104     if(bound) delete(bound);
    00105     if(boundshape) delete(boundshape);
    00106     mesh=0;
    00107     bound=0;
    00108     boundshape=0;
    00109     obstacle_exists=false;
    00110   };
    00111
    00112 };
    00113
    00114 }
    00115
    00116 #endif