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

# passivemesh.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 __PASSIVEMESH_H
    00025 #define __PASSIVEMESH_H
    00026
    00027 #include <stdio.h>
    00028 #include <cmath>
    00029
    00030 #include "primitive.h"
    00031 #include "osgprimitive.h"
    00032 #include "abstractobstacle.h"
    00033
    00034 namespace lpzrobots {
    00035
    00036 /**
    00037  *  (Passive) mesh as obstacle
    00038  */
    00039 class PassiveMesh : public AbstractObstacle{
    00040   std::string filename;
    00041   float scale;
    00042   double mass;
    00043
    00044   Mesh* mesh;
    00045
    00046  public:
    00047
    00048   /**
    00049    * Constructor
    00050    */
    00051   PassiveMesh(const OdeHandle& odeHandle,
    00052               const OsgHandle& osgHandle,
    00053               const std::string& filename,
    00054               double scale = 1.0, double mass = 1.0):
    00055     AbstractObstacle::AbstractObstacle(odeHandle, osgHandle),
    00056     filename(filename), scale(scale), mass(mass){
    00057     mesh=0;
    00058     obstacle_exists=false;
    00059   };
    00060
    00061   ~PassiveMesh(){
    00062     if(mesh) delete mesh;
    00063   }
    00064
    00065   /**
    00066    * update position of mesh
    00067    */
    00068   virtual void update(){
    00069     if(mesh) mesh->update();
    00070   };
    00071
    00072 /*   virtual void setTexture(const std::string& filename){ */
    00073 /*     if(mesh) mesh->getOSGPrimitive()->setTexture(filename); */
    00074 /*   } */
    00075
    00076   virtual void setPose(const osg::Matrix& pose){
    00077     this->pose = pose;
    00078     if (obstacle_exists){
    00079       destroy();
    00080     }
    00081     create();
    00082   };
    00083
    00084
    00085   virtual Primitive* getMainPrimitive() const { return mesh; }
    00086
    00087  protected:
    00088
    00089   virtual void create(){
    00090     mesh = new Mesh(filename,scale);
    00091     mesh->init(odeHandle, mass, osgHandle);
    00092 //     osg::Vec3 pos=pose.getTrans();
    00093 //     pos[2]+=mesh->getRadius();
    00094     mesh->setPose(pose);
    00095     obstacle_exists=true;
    00096   };
    00097
    00098
    00099   virtual void destroy(){
    00100     if(mesh) delete mesh;
    00101     obstacle_exists=false;
    00102   };
    00103
    00104 };
    00105
    00106 }
    00107
    00108 #endif