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# playground.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  *                                                                         *
    00007  *   This program is free software; you can redistribute it and/or modify  *
    00008  *   it under the terms of the GNU General Public License as published by  *
    00009  *   the Free Software Foundation; either version 2 of the License, or     *
    00010  *   (at your option) any later version.                                   *
    00011  *                                                                         *
    00012  *   This program is distributed in the hope that it will be useful,       *
    00013  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00014  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00015  *   GNU General Public License for more details.                          *
    00016  *                                                                         *
    00017  *   You should have received a copy of the GNU General Public License     *
    00018  *   along with this program; if not, write to the                         *
    00019  *   Free Software Foundation, Inc.,                                       *
    00020  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00021  *                                                                         *
    00022  *   $Log: playground.h,v $
    00023  *   Revision 1.10.4.4  2006/03/29 15:04:39  martius
    00024  *   have pose now
    00025  *
    00026  *   Revision 1.10.4.3  2006/01/10 20:27:15  martius
    00027  *   protected members
    00028  *
    00029  *   Revision 1.10.4.2  2006/01/10 17:17:33  martius
    00030  *   new mode for primitives
    00031  *
    00032  *   Revision 1.10.4.1  2005/12/06 10:13:23  martius
    00033  *   openscenegraph integration started
    00034  *
    00035  *   Revision 1.10  2005/09/22 12:24:36  martius
    00036  *   removed global variables
    00037  *   OdeHandle and GlobalData are used instead
    00038  *   sensor prepared
    00039  *
    00040  *   Revision 1.9  2005/09/13 13:19:57  martius
    00041  *   no texture
    00042  *
    00043  *   Revision 1.8  2005/08/02 14:09:06  fhesse
    00044  *   factor between length in x and y direction
    00045  *   added to constructor
    00046  *
    00047  *   Revision 1.7  2005/07/29 14:27:59  martius
    00048  *   color set to some red
    00049  *
    00050  *   Revision 1.6  2005/07/18 14:52:33  martius
    00051  *   world and space are not pointers anymore.
    00052  *
    00053  *   Revision 1.5  2005/07/07 10:24:23  martius
    00054  *   avoid internal collisions
    00055  *
    00056  *   Revision 1.4  2005/06/15 14:22:11  martius
    00057  *   GPL included
    00058  *                                                                 *
    00059  ***************************************************************************/
    00060 #ifndef __PLAYGROUND_H
    00061 #define __PLAYGROUND_H
    00062
    00063
    00064 #include <stdio.h>
    00065 #include <math.h>
    00066
    00067 #include "mathutils.h"
    00068 #include "primitive.h"
    00069 #include "abstractobstacle.h"
    00070
    00071 namespace lpzrobots {
    00072
    00073 //Fixme: playground creates collisions with ground and itself
    00074 class Playground : public AbstractObstacle {
    00075 protected:
    00076
    00077   double length, width, height;
    00078   double factorlength2;
    00079
    00080   Box* box[4];
    00081
    00082   bool obstacle_exists;
    00083
    00084 public:
    00085
    00086   Playground(const OdeHandle& odeHandle, const OsgHandle& osgHandle ,
    00087              const osg::Vec3& dimension = osg::Vec3(7.0, 0.2, 0.5) , double factorxy = 1):
    00088     AbstractObstacle::AbstractObstacle(odeHandle, osgHandle){
    00089
    00090     length=dimension.x();
    00091     width=dimension.y();
    00092     height=dimension.z();
    00093
    00094     factorlength2=factorxy;
    00095
    00096     obstacle_exists=false;
    00097
    00098     setColor(Color(226 / 255.0, 103 / 255.0, 66 / 255.0));
    00099   };
    00100
    00101   /**
    00102    * updates the position of the geoms  ( not nessary for static objects)
    00103    */
    00104   virtual void update(){
    00105   };
    00106
    00107
    00108   virtual void setPose(const osg::Matrix& pose){
    00109     this->pose = pose;
    00110     if (obstacle_exists){
    00111       destroy();
    00112     }
    00113     create();
    00114   };
    00115
    00116   virtual osg::Matrix getPose(){
    00117     return pose;
    00118   }
    00119
    00120
    00121  protected:
    00122   virtual void create(){
    00123     osg::Vec3 offset(- (length/2 + width/2), 0, height/2);
    00124     box[0] = new Box( width , (length * factorlength2) + 2 * width , height);
    00125     box[0]->init(odeHandle, 0, osgHandle, Primitive::Geom | Primitive::Draw);
    00126     box[0]->setPose(osg::Matrix::translate(offset) * pose);
    00127
    00128     offset.x() = length/2 + width/2;
    00129     box[1] = new Box( width , (length * factorlength2) + 2 * width , height);
    00130     box[1]->init(odeHandle, 0, osgHandle, Primitive::Geom | Primitive::Draw);
    00131     box[1]->setPose(osg::Matrix::translate(offset) * pose);
    00132
    00133     offset.x() = 0;
    00134     offset.y() = -( (length*factorlength2)/2 +width/2);
    00135     box[2] = new Box( length, width, height);
    00136     box[2]->init(odeHandle, 0, osgHandle, Primitive::Geom | Primitive::Draw);
    00137     box[2]->setPose(osg::Matrix::translate(offset) * pose);
    00138
    00139     offset.y() = (length*factorlength2)/2 +width/2;
    00140     box[3] = new Box( length, width, height);
    00141     box[3]->init(odeHandle, 0, osgHandle, Primitive::Geom | Primitive::Draw);
    00142     box[3]->setPose(osg::Matrix::translate(offset) * pose);
    00143
    00144     obstacle_exists=true;
    00145   };
    00146
    00147
    00148   virtual void destroy(){
    00149     for(int i=0; i<4; i++){
    00150       if(box[i]) delete(box[i]);
    00151     }
    00152
    00153     obstacle_exists=false;
    00154   };
    00155
    00156 };
    00157
    00158 }
    00159
    00160 #endif