Robotsystem from Robot Group Leipzig: invisibleprimitive.cpp Source File

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# invisibleprimitive.cpp

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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  *   $Log: invisibleprimitive.cpp,v $
    00025  *   Revision 1.1.2.1  2006/01/12 14:22:49  martius
    00026  *   invisibles
    00027  *
    00028  *                                                                 *
    00029  *                                                                         *
    00030  ***************************************************************************/
    00031
    00032 #include <assert.h>
    00033 #include <ode/ode.h>
    00034
    00035 #include "invisibleprimitive.h"
    00036
    00037 namespace lpzrobots{
    00038
    00039   /******************************************************************************/
    00040   InvisibleBox::InvisibleBox(float lengthX, float lengthY, float lengthZ)
    00041     : lengthX(lengthX), lengthY(lengthY), lengthZ(lengthZ){
    00042   }
    00043
    00044   void InvisibleBox::init(const OdeHandle& odeHandle, double mass, const OsgHandle& osgHandle,
    00045                     char mode) {
    00046     assert(mode & Body || mode & Geom);
    00047     this->mode=mode;
    00048     if (mode & Body){
    00049       body = dBodyCreate (odeHandle.world);
    00050       dMass m;
    00051       // fake the mass of the plane with a thin box
    00052       dMassSetBox(&m, 1, lengthX, lengthY, lengthZ);
    00053       dMassAdjust (&m, mass);
    00054       dBodySetMass (body,&m); //assign the mass to the body
    00055     }
    00056     if (mode & Geom){
    00057       geom = dCreateBox ( odeHandle.space , lengthX, lengthY, lengthZ);
    00058       if (mode & Body){
    00059         dGeomSetBody (geom, body); // geom is assigned to body
    00060       }
    00061     }
    00062   }
    00063
    00064
    00065   /******************************************************************************/
    00066   InvisibleSphere::InvisibleSphere(float radius)
    00067     : radius(radius)  {
    00068   }
    00069
    00070   void InvisibleSphere::init(const OdeHandle& odeHandle, double mass, const OsgHandle& osgHandle,
    00071                     char mode) {
    00072     assert(mode & Body || mode & Geom);
    00073     this->mode=mode;
    00074     if (mode & Body){
    00075       body = dBodyCreate (odeHandle.world);
    00076       dMass m;
    00077       dMassSetSphere(&m, 1, radius);
    00078       dMassAdjust (&m, mass);
    00079       dBodySetMass (body,&m); //assign the mass to the body
    00080     }
    00081     if (mode & Geom){
    00082       geom = dCreateSphere ( odeHandle.space , radius);
    00083       if (mode & Body)
    00084         dGeomSetBody (geom, body); // geom is assigned to body
    00085     }
    00086
    00087   }
    00088
    00089   /******************************************************************************/
    00090   InvisibleCapsule::InvisibleCapsule(float radius, float height)
    00091     : radius(radius), height(height) {
    00092   }
    00093
    00094   void InvisibleCapsule::init(const OdeHandle& odeHandle, double mass, const OsgHandle& osgHandle,
    00095                     char mode) {
    00096     assert(mode & Body || mode & Geom);
    00097     this->mode=mode;
    00098     if (mode & Body){
    00099       body = dBodyCreate (odeHandle.world);
    00100       dMass m;
    00101       dMassSetCappedCylinder(&m, 1.0, 3 , radius, height);
    00102       dMassAdjust (&m, mass);
    00103       dBodySetMass (body,&m); //assign the mass to the body
    00104     }
    00105     if (mode & Geom){
    00106       geom = dCreateCCylinder ( odeHandle.space , radius, height);
    00107       if (mode & Body)
    00108         dGeomSetBody (geom, body); // geom is assigned to body
    00109     }
    00110   }
    00111
    00112 }