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# base.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  *  base.h provides osg stuff for basic environment with sky and so on.    *
    00024  *                                                                         *
    00025  *   $Log: base.h,v $
    00026  *   Revision 1.1.2.4  2006/01/31 15:45:02  martius
    00027  *   virtual destructor
    00028  *
    00029  *   Revision 1.1.2.3  2006/01/12 14:21:00  martius
    00030  *   drawmode, material
    00031  *
    00032  *   Revision 1.1.2.2  2005/12/09 16:54:16  martius
    00033  *   camera is woring now
    00034  *
    00035  *   Revision 1.1.2.1  2005/12/06 17:40:59  martius
    00036  *   base class for simulation
    00037  *
    00038  *                                                                 *
    00039  ***************************************************************************/
    00040 #ifndef __BASE_H
    00041 #define __BASE_H
    00042
    00043 #include<ode/ode.h>
    00044 #include<osg/Transform>
    00045
    00046 #include "osghandle.h"
    00047 #include "odehandle.h"
    00048
    00049 class osg::Node;
    00050 class osg::Node;
    00051
    00052
    00053 namespace lpzrobots {
    00054
    00055   class MoveEarthySkyWithEyePointTransform : public osg::Transform {
    00056     public:
    00057       /** Get the transformation matrix which moves from local coords to world coords.*/
    00058       virtual bool computeLocalToWorldMatrix(osg::Matrix& matrix,osg::NodeVisitor* nv) const;
    00059
    00060       /** Get the transformation matrix which moves from world coords to local coords.*/
    00061       virtual bool computeWorldToLocalMatrix(osg::Matrix& matrix,osg::NodeVisitor* nv) const;
    00062   };
    00063
    00064   class Base {
    00065   public:
    00066     virtual osg::Group* makeScene();
    00067     virtual osg::Node* makeSky();
    00068     virtual osg::Node* makeGround();
    00069     virtual osg::LightSource* makeLights(osg::StateSet* stateset);
    00070
    00071     virtual ~Base() {}
    00072
    00073   protected:
    00074     dGeomID ground;
    00075
    00076     osg::Group* root;
    00077
    00078     OsgHandle osgHandle;
    00079     // ODE globals
    00080     OdeHandle odeHandle;
    00081   };
    00082 }
    00083
    00084 #endif