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# meshobstacle.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: meshobstacle.h,v $
    00023  *   Revision 1.1.2.1  2006/03/29 15:05:32  martius
    00024  *   obstacle that uses a Mesh / OSGModel for graphics and a bounding shape for ODE
    00025  *
    00026  *                                                                 *
    00027  ***************************************************************************/
    00028 #ifndef __MESHOBSTACLE_H
    00029 #define __MESHOBSTACLE_H
    00030
    00031 #include <stdio.h>
    00032 #include <math.h>
    00033 #include <osg/BoundingSphere>
    00034
    00035 #include "primitive.h"
    00036 #include "abstractobstacle.h"
    00037 #include "boundingshape.h"
    00038
    00039 namespace lpzrobots {
    00040
    00041 class MeshObstacle : public AbstractObstacle {
    00042 protected:
    00043
    00044
    00045   std::string filename;
    00046   float scale;
    00047   OSGMesh* mesh;
    00048   Sphere* bound;
    00049   BoundingShape* boundshape;
    00050   bool obstacle_exists;
    00051
    00052 public:
    00053
    00054   MeshObstacle(const OdeHandle& odeHandle, const OsgHandle& osgHandle ,
    00055                std::string filename, double scale = 1):
    00056     AbstractObstacle::AbstractObstacle(odeHandle, osgHandle),
    00057     filename(filename), scale(scale)
    00058   {
    00059     mesh = 0;
    00060     bound = 0;
    00061     boundshape = 0;
    00062     obstacle_exists=false;
    00063   };
    00064
    00065   /**
    00066    * updates the position of the geoms  ( not nessary for static objects)
    00067    */
    00068   virtual void update(){
    00069   };
    00070
    00071
    00072   virtual void setPose(const osg::Matrix& pose){
    00073     this->pose = pose;
    00074     if (obstacle_exists){
    00075       destroy();
    00076     }
    00077     create();
    00078   };
    00079
    00080   virtual osg::Matrix getPose(){
    00081     return pose;
    00082   }
    00083
    00084  protected:
    00085   virtual void create(){
    00086
    00087     mesh = new OSGMesh(filename, scale);
    00088     mesh->init(osgHandle);
    00089     mesh->setMatrix(pose);
    00090     const osg::BoundingSphere& bsphere = mesh->getGroup()->getBound();
    00091
    00092     boundshape = new BoundingShape(filename  + ".bbox" );
    00093     if(!boundshape->init(odeHandle, osgHandle.changeColor(Color(0,1,0,0.2)),
    00094                          pose, scale, Primitive::Geom | Primitive::Draw)){
    00095       printf("use default bounding box, because bbox file not found\n");
    00096       bound = new Sphere(bsphere.radius());
    00097       bound->init(odeHandle, 0, osgHandle.changeColor(Color(1,0,0,0.2)), Primitive::Geom | Primitive::Draw);
    00098       bound->setPose(osg::Matrix::translate(bsphere.center()));
    00099     }
    00100
    00101     obstacle_exists=true;
    00102   };
    00103
    00104
    00105   virtual void destroy(){
    00106     if(mesh) delete(mesh);
    00107     if(bound) delete(bound);
    00108     if(boundshape) delete(boundshape);
    00109     mesh=0;
    00110     bound=0;
    00111     boundshape=0;
    00112     obstacle_exists=false;
    00113   };
    00114
    00115 };
    00116
    00117 }
    00118
    00119 #endif