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# passivebox.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  *   $Log: passivebox.h,v $
    00023  *   Revision 1.2  2006/07/14 12:23:33  martius
    00024  *   selforg becomes HEAD
    00025  *
    00026  *   Revision 1.1.2.6  2006/06/16 22:27:26  martius
    00027  *   getMainPrimtive
    00028  *
    00029  *   Revision 1.1.2.5  2006/05/18 12:54:24  robot3
    00030  *   -fixed not being able to change the color after positioning
    00031  *    the obstacle
    00032  *   -cleared the files up
    00033  *
    00034  *   Revision 1.1.2.4  2006/05/11 12:53:04  robot3
    00035  *   fixed some errors in passivebox.h
    00036  *
    00037  *   Revision 1.1.2.3  2006/05/11 08:59:15  robot3
    00038  *   -fixed a positioning bug (e.g. for passivesphere)
    00039  *   -some methods moved to abstractobstacle.h for avoiding inconsistencies
    00040  *
    00041  *   Revision 1.1.2.2  2006/03/30 12:34:51  martius
    00042  *   documentation updated
    00043  *
    00044  *   Revision 1.1.2.1  2006/03/29 15:04:39  martius
    00045  *   have pose now
    00046  *
    00047  *                                                    *
    00048  *                                                                         *
    00049  ***************************************************************************/
    00050 #ifndef __PASSIVEBOX_H
    00051 #define __PASSIVEBOX_H
    00052
    00053 #include <stdio.h>
    00054 #include <math.h>
    00055
    00056 #include "primitive.h"
    00057 #include "abstractobstacle.h"
    00058
    00059 namespace lpzrobots {
    00060
    00061 /**
    00062  *  (Passive) box as obstacle
    00063  */
    00064 class PassiveBox : public AbstractObstacle{
    00065   osg::Vec3 dimension;
    00066   double mass;
    00067   int texture;
    00068
    00069
    00070   Box* box;
    00071
    00072
    00073  public:
    00074
    00075   /**
    00076    * Constructor
    00077    */
    00078   PassiveBox(const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00079              const osg::Vec3& dimension = osg::Vec3(1.0, 1.0, 1.0), double mass = 1.0):
    00080     AbstractObstacle::AbstractObstacle(odeHandle, osgHandle), dimension(dimension), mass(mass) {
    00081     box=0;
    00082     obstacle_exists=false;
    00083   };
    00084
    00085   ~PassiveBox(){
    00086     if(box) delete box;
    00087   }
    00088
    00089   /**
    00090    * update position of box
    00091    */
    00092   virtual void update(){
    00093     if(box) box->update();
    00094   };
    00095
    00096   virtual void setTexture(const std::string& filename){
    00097     if(box) box->getOSGPrimitive()->setTexture(filename);
    00098   }
    00099
    00100   virtual void setPose(const osg::Matrix& pose){
    00101     this->pose = osg::Matrix::translate(0,0,dimension.z()/2) * pose;
    00102     if (obstacle_exists){
    00103       destroy();
    00104     }
    00105     create();
    00106   };
    00107
    00108   virtual Primitive* getMainPrimitive() const { return box; }
    00109
    00110  protected:
    00111   virtual void create(){
    00112     box = new Box(dimension.x(), dimension.y(), dimension.z());
    00113     box->init(odeHandle, mass, osgHandle);
    00114     osg::Vec3 pos=pose.getTrans();
    00115     box->setPosition(pos);
    00116
    00117     obstacle_exists=true;
    00118   };
    00119
    00120   virtual void destroy(){
    00121     if(box) delete box;
    00122     obstacle_exists=false;
    00123   };
    00124
    00125 };
    00126
    00127 }
    00128
    00129 #endif
    00130