Robotsystem from Robot Group Leipzig: invisibleprimitive.h Source File

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# invisibleprimitive.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  ***************************************************************************
    00023  *                                                                         *
    00024  *   This file provides basic primitives for ODE and openscenegraph        *
    00025  *                                                                         *
    00026  *                                                                         *
    00027  *   $Log: invisibleprimitive.h,v $
    00028  *   Revision 1.1.2.2  2006/01/12 14:21:00  martius
    00029  *   drawmode, material
    00030  *
    00031  *   Revision 1.1.2.1  2006/01/10 16:06:30  martius
    00032  *   invisible primitives
    00033  *
    00034  *                                                                 *
    00035  *                                                                         *
    00036  ***************************************************************************/
    00037 #ifndef __INVISIBLEPRIMITIVE_H
    00038 #define __INVISIBLEPRIMITIVE_H
    00039
    00040 #include "primitive.h"
    00041
    00042 namespace lpzrobots {
    00043
    00044 /**************************************************************************/
    00045 class InvisibleBox : public Primitive {
    00046 public:
    00047
    00048   InvisibleBox(float lengthX, float lengthY, float lengthZ);
    00049   virtual void init(const OdeHandle& odeHandle, double mass,
    00050                     const OsgHandle& osgHandle,
    00051                     char mode = Body | Geom | Draw);
    00052   virtual void update() {}
    00053   virtual OSGPrimitive* getOSGPrimitive() { return 0; }
    00054
    00055 protected:
    00056   float lengthX;
    00057   float lengthY;
    00058   float lengthZ;
    00059 };
    00060
    00061
    00062 /**************************************************************************/
    00063 class InvisibleSphere : public Primitive {
    00064 public:
    00065   InvisibleSphere(float radius);
    00066   virtual void init(const OdeHandle& odeHandle, double mass,
    00067                     const OsgHandle& osgHandle,
    00068                     char mode = Body | Geom | Draw);
    00069
    00070   virtual void update() {}
    00071   virtual OSGPrimitive* getOSGPrimitive() { return 0; }
    00072
    00073 protected:
    00074   float radius;
    00075 };
    00076
    00077 /**************************************************************************/
    00078 class InvisibleCapsule : public Primitive {
    00079 public:
    00080   InvisibleCapsule(float radius, float height);
    00081   virtual void init(const OdeHandle& odeHandle, double mass,
    00082                     const OsgHandle& osgHandle,
    00083                     char mode = Body | Geom | Draw);
    00084
    00085   virtual void update() {}
    00086   virtual OSGPrimitive* getOSGPrimitive() { return osgcapsule; }
    00087
    00088 protected:
    00089   OSGCapsule* osgcapsule;
    00090   float radius;
    00091   float height;
    00092 };
    00093
    00094 }
    00095 #endif
    00096