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

# osghandle.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 __OSGHANDLE_H
    00025 #define __OSGHANDLE_H
    00026
    00027 #include "osgforwarddecl.h"
    00028 #include "color.h"
    00029 #include "colorschema.h"
    00030
    00031 namespace osgShadow {
    00032   class ShadowedScene;
    00033 }
    00034
    00035 namespace lpzrobots {
    00036
    00037   class RobotCameraManager;
    00038
    00039
    00040   /** Data structure containing some configuration variables for OSG */
    00041   struct OsgConfig {
    00042     OsgConfig() : normalState(0), transparentState(0),
    00043                   shadowType(0), noGraphics(false) {}
    00044     osg::TessellationHints* tesselhints[3];
    00045     osg::StateSet* normalState;
    00046     osg::StateSet* transparentState;
    00047     ColorSchema* cs; // color schema
    00048     int shadowType;
    00049     bool noGraphics;
    00050   };
    00051
    00052   /** Data structure containing the scene notes (e.g. with and without shadow)*/
    00053   struct OsgScene {
    00054     OsgScene() :  root(0), world(0),world_noshadow(0),scene(0),
    00055                   shadowedScene(0), shadowedSceneRoot(0), groundScene(0),
    00056                   lightSource(0), worldtransform(0),
    00057                   robotCamManager(0) {}
    00058     osg::Group* root;  // master note (contains world,hud..)
    00059     osg::Group* world; // world note  (contains ground,sky and shadowed scene)
    00060     osg::Group* world_noshadow; // world note without shadow (contains ground,sky and scene)
    00061     osg::Group* scene; // actual scene for robots and stuff
    00062
    00063     osgShadow::ShadowedScene* shadowedScene;
    00064     osg::Group* shadowedSceneRoot; // root node of shadowed scene
    00065     osg::Node* groundScene;
    00066
    00067     osg::Geode* hud;
    00068
    00069     osg::LightSource* lightSource;  // the light source
    00070     osg::Transform* worldtransform; // unit transformation at the moment
    00071
    00072     RobotCameraManager* robotCamManager; // manages robot cameras and their display
    00073   };
    00074
    00075
    00076
    00077
    00078 /** Data structure for accessing the OpenSceneGraph */
    00079 class OsgHandle
    00080 {
    00081 public:
    00082   OsgHandle();
    00083
    00084   ~OsgHandle();
    00085
    00086   /// initialization of the structure
    00087   void init();
    00088   /// set up robotcameramanager (must be called after init but before usage of the structure)
    00089   void setup(int windowW, int windowH);
    00090   /// deletes all internal variables
    00091   void close();
    00092
    00093   /// decides whether to draw bounding boxes
    00094   bool drawBoundings;
    00095
    00096   Color color;
    00097
    00098   OsgConfig* cfg; // the config is shared
    00099   OsgScene*  scene;  // the scene is shared
    00100   osg::Group* parent; // the place where individual osgprimitives are added
    00101
    00102   /// returns a new osghandle with only the color changed
    00103   OsgHandle changeColor(const Color& color) const;
    00104   /// returns a new osghandle with only the color changed
    00105   OsgHandle changeColor(double r, double g, double b, double a=1.0) const;
    00106   /// returns a new osghandle with only the alpha channel changed
    00107   OsgHandle changeAlpha(double alpha) const;
    00108
    00109   /** returns a new osghandle with only the color changed
    00110       @param name name,id, or alias of a color in the colorschema
    00111       The current color_set is used
    00112    */
    00113   OsgHandle changeColor(const std::string& name) const;
    00114
    00115   /** like changeColor(string) but with a default color (defcolor) in case
    00116       no color with the name exists */
    00117   OsgHandle changeColorDef(const std::string& name, const Color& defcolor) const;
    00118
    00119   /** returns the color that corresponds to the name (name,id, or alias)
    00120       in the colorschema. The current color_set is used
    00121   */
    00122   Color getColor(const std::string& name) const;
    00123
    00124
    00125   /** returns a new osghandle with a changed color (alias) set */
    00126   OsgHandle changeColorSet(int color_set) const;
    00127
    00128   /// modifies the used color set. Only applies to new set colors.
    00129   void setColorSet(int color_set);
    00130
    00131   /** returns the color schema. Use this to set/load colors and aliases
    00132       Note, the color schema is shared among the osghandles
    00133    */
    00134   ColorSchema* colorSchema();
    00135   const ColorSchema* colorSchema() const;
    00136
    00137
    00138 private:
    00139   int color_set; // selects the color (alias) set that is used when setting a color
    00140
    00141 };
    00142
    00143
    00144 }
    00145
    00146 #endif
    00147