Robotsystem of the Robot Group Leipzig: ode_robots/osg/ Directory Reference

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# osg Directory Reference

The osg directory provides the osg primitves of which robots and obstacles are assembled and further helpful things dealing with the visualization in OSG. More...

## Directories
directory | old
## Files
file | base.cpp
file | base.h [code]
file | boundingshape.cpp
file | boundingshape.h [code]
file | cameramanipulator.cpp
file | cameramanipulator.h [code]
file | cameramanipulatorFollow.cpp
file | cameramanipulatorFollow.h [code]
file | cameramanipulatorRace.cpp
file | cameramanipulatorRace.h [code]
file | cameramanipulatorTV.cpp
file | cameramanipulatorTV.h [code]
file | heightfieldprimitive.cpp
file | heightfieldprimitive.h [code]
file | hudstatistics.cpp
file | hudstatistics.h [code]
file | joint.cpp
file | joint.h [code]
file | motionblurcallback.cpp
file | motionblurcallback.h [code]
file | osgforwarddecl.h [code]
file | osgheightfield.cpp
file | osgheightfield.h [code]
file | osgmainloop.h [code]
file | osgprimitive.cpp
file | osgprimitive.h [code]
file | primitive.cpp
file | primitive.h [code]
file | ode_robots/osg/README
| This file is used for the doxygen documentation.

file | rendertotexturecallback.cpp
file | rendertotexturecallback.h [code]
file | shadowcallback.cpp
file | shadowcallback.h [code]
file | substance.cpp
file | substance.h [code]

## Detailed Description

The osg directory provides the osg primitves of which robots and obstacles are assembled and further helpful things dealing with the visualization in OSG.

OSG stands for OpenSceneGraph and is an open source high peformance 3D graphics toolkit (http://www.openscenegraph.org). A documentation can be found on their webpage under documentation or by klicking the link http://www.openscenegraph.org/osgwiki/pmwiki.php/Documentation/Documentation

For now only the primitives should be explained, which are required to build new objects for the simulations:

- lpzrobots::Plane Graphical plane (represented as a large thin box, because OSG does not draw planes)
- lpzrobots::Box
- lpzrobots::Sphere
- lpzrobots::Capsule (a cylinder with round ends
- lpzrobots::Transform (embedding a primitive in another primitive)

The mentioned primitves are drivatives of lpzrobots::Primitive which is an interface class for primitives represented in the physical and graphical world. It is intended to bring OSG and ODE together and hide most implementation details.

For visualization the primitves use the osgprimitives (since this is done in the primitives you don't have to bother about this one):

- lpzrobots::OSGPlane Graphical plane (represented as a large thin box, because OSG does not draw planes)
- lpzrobots::OSGBox
- lpzrobots::OSGSphere
- lpzrobots::OSGCylinder
- lpzrobots::OSGCapsule (a cylinder with round ends
- lpzrobots::OSGMesh for graphical mesh or arbitrary OSG model

They are derived from lpzrobots::OSGPrimitive which is an interface class for graphic primitives like spheres, boxes, and meshes, which can be drawn by OSG.