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# terrainground.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005 by Robot Group Leipzig                             *
    00003  *    martius@informatik.uni-leipzig.de                                    *
    00004  *    fhesse@informatik.uni-leipzig.de                                     *
    00005  *    der@informatik.uni-leipzig.de                                        *
    00006  *    frankguettler@gmx.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  *   $Log: terrainground.h,v $
    00024  *   Revision 1.9  2008/09/16 14:49:46  martius
    00025  *   use cmath instead of math.h
    00026  *
    00027  *   Revision 1.8  2006/07/14 12:23:33  martius
    00028  *   selforg becomes HEAD
    00029  *
    00030  *   Revision 1.7.4.4  2006/06/16 22:27:26  martius
    00031  *   getMainPrimtive
    00032  *
    00033  *   Revision 1.7.4.3  2006/05/29 18:55:46  martius
    00034  *   moved from meshground to terrainground as it was in former times
    00035  *
    00036  *   Revision 1.1.2.1  2006/05/28 22:14:56  martius
    00037  *   heightfield included
    00038  *
    00039  *
    00040  *                                                                 *
    00041  ***************************************************************************/
    00042 #ifndef __TERRAINGROUND_H
    00043 #define __TERRAINGROUND_H
    00044
    00045 #include <stdio.h>
    00046 #include <cmath>
    00047
    00048 #include "heightfieldprimitive.h"
    00049 #include "abstractobstacle.h"
    00050
    00051 namespace lpzrobots {
    00052
    00053   /** Class provides an terrain based on HeightFields.
    00054       Can be loaded from image or from HeightFieldFiles
    00055   */
    00056   class TerrainGround : public AbstractObstacle {
    00057   public:
    00058
    00059
    00060     /** Constructor
    00061         @param odeHandle
    00062         @param osgHandle
    00063         @param filename name of the file to load.
    00064         If ending is .ppm then it is considered as a bitmap height file.
    00065         The coding mode is used to decode the heights.
    00066         Otherwise it is consider to be a OSG HeightFieldFile
    00067         @param texture image filename for the texture
    00068         @param x_size size in x direction in world coordinates
    00069         @param y_size size in y direction in world coordinates
    00070         @param height height in world coordinates
    00071         @param coding Coding mode, see OSGHeightField (this an own class, not in OSG)
    00072     */
    00073     TerrainGround(const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00074                const std::string& filename, const std::string& texture,
    00075                double x_size, double y_size, double height,
    00076                OSGHeightField::CodingMode coding = OSGHeightField::Red);
    00077
    00078     virtual ~TerrainGround(){}
    00079
    00080     /**
    00081      * updates the position of the geoms  ( not nessary for static objects)
    00082      */
    00083     virtual void update(){ };
    00084
    00085     virtual void setPose(const osg::Matrix& pose);
    00086
    00087
    00088     virtual Primitive* getMainPrimitive() const { return 0; }
    00089
    00090   protected:
    00091     virtual void create();
    00092     virtual void destroy();
    00093
    00094   protected:
    00095     std::string filename;
    00096     std::string texture;
    00097     HeightField* heightfield;
    00098     double x_size;
    00099     double y_size;
    00100     double height;
    00101     OSGHeightField::CodingMode coding;
    00102   };
    00103 }
    00104
    00105 #endif