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# octaplayground.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: octaplayground.h,v $
    00024  *   Revision 1.9  2007/07/03 13:06:41  martius
    00025  *   groundplane thick
    00026  *
    00027  *   Revision 1.8  2007/03/16 11:01:37  martius
    00028  *   abstractobstacle gets mor functionallity
    00029  *   setSubstance
    00030  *
    00031  *   Revision 1.7  2006/09/20 12:55:30  martius
    00032  *   correct size of ground
    00033  *
    00034  *   Revision 1.6  2006/08/11 15:41:04  martius
    00035  *   playgrounds handle non-quadratic ground planes
    00036  *
    00037  *   Revision 1.5  2006/07/14 12:23:33  martius
    00038  *   selforg becomes HEAD
    00039  *
    00040  *   Revision 1.4.4.11  2006/06/29 16:39:55  robot3
    00041  *   -you can now see bounding shapes if you type ./start -drawboundings
    00042  *   -includes cleared up
    00043  *   -abstractobstacle and abstractground have now .cpp-files
    00044  *
    00045  *   Revision 1.4.4.10  2006/05/23 13:37:22  robot3
    00046  *   -fixed some creating bugs
    00047  *   -setColor,setTexture and createGround must be
    00048  *    called before setPosition now
    00049  *
    00050  *   Revision 1.4.4.9  2006/05/19 08:42:36  robot3
    00051  *   -some code moved to abstractground.h
    00052  *   -it's now possible creating a playground without a groundplane
    00053  *
    00054  *   Revision 1.4.4.8  2006/05/18 14:38:28  robot3
    00055  *   wall uses wall texture now
    00056  *
    00057  *   Revision 1.4.4.7  2006/05/18 12:54:24  robot3
    00058  *   -fixed not being able to change the color after positioning
    00059  *    the obstacle
    00060  *   -cleared the files up
    00061  *
    00062  *   Revision 1.4.4.6  2006/05/18 12:00:57  robot3
    00063  *   removed unused variables
    00064  *
    00065  *   Revision 1.4.4.5  2006/05/18 09:40:03  robot3
    00066  *   using existing texture image in cvs for the groundplane now
    00067  *
    00068  *   Revision 1.4.4.4  2006/05/18 07:42:36  robot3
    00069  *   Grounds have now a groundPlane for shadowing issues
    00070  *   osgprimitive.cpp contains a bug that repeating textures (wrapping)
    00071  *   don't work, needs to be fixed
    00072  *
    00073  *   Revision 1.4.4.3  2006/05/11 08:59:15  robot3
    00074  *   -fixed a positioning bug (e.g. for passivesphere)
    00075  *   -some methods moved to abstractobstacle.h for avoiding inconsistencies
    00076  *
    00077  *   Revision 1.4.4.2  2006/03/29 15:04:39  martius
    00078  *   have pose now
    00079  *
    00080  *   Revision 1.4.4.1  2006/01/10 20:11:12  martius
    00081  *   moved to osg
    00082  *
    00083  *   Revision 1.4  2005/11/09 13:29:21  fhesse
    00084  *   GPL added
    00085  *                                                                 *
    00086  *                                                                         *
    00087  ***************************************************************************/
    00088 #ifndef __OCTAPLAYGROUND_H
    00089 #define __OCTAPLAYGROUND_H
    00090
    00091 #include "abstractground.h"
    00092
    00093 namespace lpzrobots {
    00094
    00095   class OctaPlayground : public AbstractGround {
    00096
    00097
    00098   protected:
    00099     double radius, width, height;
    00100
    00101     int number_elements;
    00102     double angle;
    00103     double box_length;
    00104
    00105   public:
    00106
    00107
    00108     OctaPlayground(const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00109                  const Pos& geometry = Pos(7,0.2,0.5), int numberCorners=8, bool createGround=true):
    00110     AbstractGround::AbstractGround(odeHandle, osgHandle,createGround,2*geometry.x(),2*geometry.x(), geometry.y()) {
    00111     radius = geometry.x();
    00112     width  = geometry.y();
    00113     height = geometry.z();
    00114
    00115     number_elements=numberCorners;
    00116     angle= 2*M_PI/number_elements;
    00117     obst.resize(number_elements);
    00118
    00119     calcBoxLength();
    00120   };
    00121
    00122 protected:
    00123
    00124   virtual void create(){
    00125     createGround();
    00126
    00127     // radius for positioning is smaller than radius since we use secants.
    00128     //  r is the smallest distance of the secant to the center of the circle.
    00129     double r = sqrt(pow((1+cos(angle))/2, 2) + pow( sin(angle)/2 ,2)) * radius;
    00130     for (int i=0; i<number_elements; i++){
    00131       Box* box =  new Box(width , box_length , height);
    00132       box->init(odeHandle, 0, osgHandle, Primitive::Geom | Primitive::Draw);
    00133       osg::Matrix R = osg::Matrix::rotate(- i*angle, 0,0,1) *
    00134         osg::Matrix::translate( cos(M_PI - i*angle) * r,
    00135                                 sin(M_PI - i*angle) * r,
    00136                                 height/2+0.01f /*reduces graphic errors and ode collisions*/
    00137                                 )* pose;
    00138       box->setPose(R);
    00139       box->getOSGPrimitive()->setTexture(wallTextureFileName);
    00140       obst.push_back(box);
    00141     }
    00142     obstacle_exists=true;
    00143   };
    00144
    00145   virtual void calcBoxLength(){
    00146     double r = radius+width/2;
    00147     //    box_length =1.4 * sqrt( 2 * pow(radius,2) * (1 - cos(angle)) );
    00148     box_length =  sqrt(pow( 1 - cos(angle), 2) + pow(sin(angle),2)) * r;
    00149   }
    00150
    00151 };
    00152
    00153 }
    00154
    00155 #endif