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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  *    frankguettler@gmx.de                                                 *
    00007  *                                                                         *
    00008  *   This program is free software; you can redistribute it and/or modify  *
    00009  *   it under the terms of the GNU General Public License as published by  *
    00010  *   the Free Software Foundation; either version 2 of the License, or     *
    00011  *   (at your option) any later version.                                   *
    00012  *                                                                         *
    00013  *   This program is distributed in the hope that it will be useful,       *
    00014  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00015  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00016  *   GNU General Public License for more details.                          *
    00017  *                                                                         *
    00018  *   You should have received a copy of the GNU General Public License     *
    00019  *   along with this program; if not, write to the                         *
    00020  *   Free Software Foundation, Inc.,                                       *
    00021  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00022  *                                                                         *
    00023  *   $Log: meshobstacle.h,v $
    00024  *   Revision 1.2  2006/07/14 12:23:33  martius
    00025  *   selforg becomes HEAD
    00026  *
    00027  *   Revision 1.1.2.4  2006/05/24 12:23:10  robot3
    00028  *   -passive_mesh works now (simple bound_version)
    00029  *   -Primitive Mesh now exists (simple bound_version)
    00030  *
    00031  *   Revision 1.1.2.3  2006/05/18 12:54:24  robot3
    00032  *   -fixed not being able to change the color after positioning
    00033  *    the obstacle
    00034  *   -cleared the files up
    00035  *
    00036  *   Revision 1.1.2.2  2006/05/11 08:59:15  robot3
    00037  *   -fixed a positioning bug (e.g. for passivesphere)
    00038  *   -some methods moved to abstractobstacle.h for avoiding inconsistencies
    00039  *
    00040  *   Revision 1.1.2.1  2006/03/29 15:05:32  martius
    00041  *   obstacle that uses a Mesh / OSGModel for graphics and a bounding shape for ODE
    00042  *
    00043  *                                                                 *
    00044  ***************************************************************************/
    00045 #ifndef __MESHOBSTACLE_H
    00046 #define __MESHOBSTACLE_H
    00047
    00048 #include <stdio.h>
    00049 #include <math.h>
    00050 #include <osg/BoundingSphere>
    00051
    00052 #include "primitive.h"
    00053 #include "abstractobstacle.h"
    00054 #include "boundingshape.h"
    00055
    00056 namespace lpzrobots {
    00057
    00058 class MeshObstacle : public AbstractObstacle {
    00059 protected:
    00060
    00061
    00062   std::string filename;
    00063   float scale;
    00064   OSGMesh* mesh;
    00065   Sphere* bound;
    00066   BoundingShape* boundshape;
    00067
    00068 public:
    00069
    00070   MeshObstacle(const OdeHandle& odeHandle, const OsgHandle& osgHandle ,
    00071                std::string filename, double scale = 1):
    00072     AbstractObstacle::AbstractObstacle(odeHandle, osgHandle),
    00073     filename(filename), scale(scale)
    00074   {
    00075     mesh = 0;
    00076     bound = 0;
    00077     boundshape = 0;
    00078     obstacle_exists=false;
    00079   };
    00080
    00081   /**
    00082    * updates the position of the geoms  ( not nessary for static objects)
    00083    */
    00084   virtual void update(){
    00085
    00086   };
    00087
    00088
    00089
    00090
    00091   virtual void setPose(const osg::Matrix& pose){
    00092     this->pose = pose;
    00093     if (obstacle_exists){
    00094       destroy();
    00095     }
    00096     create();
    00097   };
    00098
    00099
    00100
    00101  protected:
    00102   virtual void create(){
    00103
    00104     mesh = new OSGMesh(filename, scale);
    00105     mesh->init(osgHandle);
    00106     mesh->setMatrix(pose);
    00107     const osg::BoundingSphere& bsphere = mesh->getGroup()->getBound();
    00108
    00109     boundshape = new BoundingShape(filename  + ".bbox" );
    00110     if(!boundshape->init(odeHandle, osgHandle.changeColor(Color(0,1,0,0.2)),
    00111                          pose, scale, Primitive::Geom | Primitive::Draw)){
    00112       printf("use default bounding box, because bbox file not found\n");
    00113       bound = new Sphere(bsphere.radius());
    00114       bound->init(odeHandle, 0, osgHandle.changeColor(Color(1,0,0,0.2)), Primitive::Geom | Primitive::Draw);
    00115       bound->setPose(osg::Matrix::translate(bsphere.center())*
    00116                      osg::Matrix::translate(0.0f,0.0f,bsphere.radius()));       // set sphere higher
    00117       mesh->setMatrix(osg::Matrix::translate(0.0f,0.0f,bsphere.radius())*pose); // set obstacle higher
    00118     }
    00119     obstacle_exists=true;
    00120   };
    00121
    00122
    00123   virtual void destroy(){
    00124     if(mesh) delete(mesh);
    00125     if(bound) delete(bound);
    00126     if(boundshape) delete(boundshape);
    00127     mesh=0;
    00128     bound=0;
    00129     boundshape=0;
    00130     obstacle_exists=false;
    00131   };
    00132
    00133 };
    00134
    00135 }
    00136
    00137 #endif