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

# playground.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 __PLAYGROUND_H
    00025 #define __PLAYGROUND_H
    00026
    00027 #include "mathutils.h"
    00028 #include "abstractground.h"
    00029 #include "primitive.h"
    00030
    00031 namespace lpzrobots {
    00032
    00033   class Playground : public AbstractGround {
    00034
    00035   protected:
    00036
    00037     double length, width, height;
    00038     double factorlength2;
    00039
    00040   public:
    00041
    00042     Playground(const OdeHandle& odeHandle, const OsgHandle& osgHandle ,
    00043                const osg::Vec3& dimension = osg::Vec3(7.0, 0.2, 0.5) ,
    00044                double factorxy = 1, bool createGround=true)
    00045       : AbstractGround(odeHandle, osgHandle, createGround, dimension.x(), dimension.x()*factorxy, dimension.y()) {
    00046
    00047       length=dimension.x();
    00048       width=dimension.y();
    00049       height=dimension.z();
    00050       factorlength2=factorxy;
    00051     };
    00052
    00053     virtual void changeGeometry(double length, double width, double height, double factorxy){
    00054       AbstractGround::changeGeometry(length, width, height, factorxy);
    00055       this->length = length;
    00056       this->width  = width;
    00057       this->height  = height;
    00058       this->factorlength2  = factorxy;
    00059       if (obstacle_exists) {
    00060         destroy();
    00061         create();
    00062       }
    00063     }
    00064
    00065   protected:
    00066     virtual void create(){
    00067       createGround();
    00068
    00069       Box* box;
    00070       osg::Vec3 offset(0,
    00071                        (length/2 * factorlength2 + width/2),
    00072                        height/2+0.01f/*reduces graphic errors and ode collisions*/);
    00073       box = new Box( length + 2 * width , width, height);
    00074       box->setTextures(getTextures(0));
    00075       box->init(odeHandle, 0, osgHandle, Primitive::Geom | Primitive::Draw);
    00076       box->setPose(osg::Matrix::translate(offset) * pose);
    00077       obst.push_back(box);
    00078
    00079       box = new Box( length + 2 * width , width, height);
    00080       box->setTextures(getTextures(1));
    00081       box->init(odeHandle, 0, osgHandle, Primitive::Geom | Primitive::Draw);
    00082       box->setPose(osg::Matrix::translate(offset) * osg::Matrix::rotate(M_PI, 0,0,1) * pose);
    00083       obst.push_back(box);
    00084
    00085       osg::Vec3 offset2(0, (length/2 + width/2),
    00086                        height/2+0.01f/*reduces graphic errors and ode collisions*/);
    00087       box = new Box( length * factorlength2 , width, height);
    00088       box->setTextures(getTextures(2));
    00089       box->init(odeHandle, 0, osgHandle, Primitive::Geom | Primitive::Draw);
    00090       box->setPose(osg::Matrix::translate(offset2) * osg::Matrix::rotate(M_PI/2.0, 0,0,1) * pose);
    00091       obst.push_back(box);
    00092
    00093       box = new Box( length * factorlength2 , width, height);
    00094       box->setTextures(getTextures(3));
    00095       box->init(odeHandle, 0, osgHandle, Primitive::Geom | Primitive::Draw);
    00096       box->setPose(osg::Matrix::translate(offset2) * osg::Matrix::rotate(3.0*M_PI/2.0, 0,0,1)
    00097                    * pose);
    00098       obst.push_back(box);
    00099
    00100
    00101       obstacle_exists=true;
    00102     };
    00103
    00104   };
    00105
    00106 }
    00107
    00108 #endif