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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  *    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  *                                                                         *
    00024  *  base.h provides osg stuff for basic environment with sky and so on.    *
    00025  *                                                                         *
    00026  *   $Log: base.h,v $
    00027  *   Revision 1.2  2006/07/14 12:23:33  martius
    00028  *   selforg becomes HEAD
    00029  *
    00030  *   Revision 1.1.2.7  2006/06/29 16:35:56  robot3
    00031  *   includes cleared up
    00032  *
    00033  *   Revision 1.1.2.6  2006/05/28 22:14:56  martius
    00034  *   heightfield included
    00035  *
    00036  *   Revision 1.1.2.5  2006/05/18 11:45:51  robot3
    00037  *   -shadowing the normal scene integrated (first version)
    00038  *   -note that there is a bug that the shadow disappears
    00039  *    after some time (e.g. 60 minutes)
    00040  *
    00041  *   Revision 1.1.2.4  2006/01/31 15:45:02  martius
    00042  *   virtual destructor
    00043  *
    00044  *   Revision 1.1.2.3  2006/01/12 14:21:00  martius
    00045  *   drawmode, material
    00046  *
    00047  *   Revision 1.1.2.2  2005/12/09 16:54:16  martius
    00048  *   camera is woring now
    00049  *
    00050  *   Revision 1.1.2.1  2005/12/06 17:40:59  martius
    00051  *   base class for simulation
    00052  *
    00053  *                                                                 *
    00054  ***************************************************************************/
    00055 #ifndef __BASE_H
    00056 #define __BASE_H
    00057
    00058 #include<ode/ode.h>
    00059 #include<osg/Transform>
    00060
    00061 #include "osghandle.h"
    00062 #include "odehandle.h"
    00063
    00064 class osg::Node;
    00065
    00066 namespace lpzrobots {
    00067
    00068   class MoveEarthySkyWithEyePointTransform : public osg::Transform {
    00069     public:
    00070       /** Get the transformation matrix which moves from local coords to world coords.*/
    00071       virtual bool computeLocalToWorldMatrix(osg::Matrix& matrix,osg::NodeVisitor* nv) const;
    00072
    00073       /** Get the transformation matrix which moves from world coords to local coords.*/
    00074       virtual bool computeWorldToLocalMatrix(osg::Matrix& matrix,osg::NodeVisitor* nv) const;
    00075   };
    00076
    00077   class Base {
    00078   public:
    00079     virtual osg::Group* makeScene(bool useShadow);
    00080     virtual osg::Node* makeSky();
    00081     virtual osg::Node* makeGround();
    00082     virtual osg::LightSource* makeLights(osg::StateSet* stateset);
    00083     virtual osg::Group* createShadowedScene(osg::Node* shadowed,osg::Vec3 posOfLight, unsigned int unit);
    00084
    00085
    00086     virtual ~Base() {}
    00087
    00088   protected:
    00089     dGeomID ground;
    00090
    00091     osg::Group* root;
    00092
    00093     OsgHandle osgHandle;
    00094     // ODE globals
    00095     OdeHandle odeHandle;
    00096   };
    00097 }
    00098
    00099 #endif