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# playground.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: playground.h,v $
    00024  *   Revision 1.11  2006/07/14 12:23:33  martius
    00025  *   selforg becomes HEAD
    00026  *
    00027  *   Revision 1.10.4.16  2006/07/14 11:11:53  martius
    00028  *   revert to 1.10.4.12
    00029  *
    00030  *   Revision 1.10.4.12  2006/06/29 16:39:55  robot3
    00031  *   -you can now see bounding shapes if you type ./start -drawboundings
    00032  *   -includes cleared up
    00033  *   -abstractobstacle and abstractground have now .cpp-files
    00034  *
    00035  *   Revision 1.10.4.11  2006/05/23 13:37:34  robot3
    00036  *   -fixed some creating bugs
    00037  *   -setColor,setTexture and createGround must be
    00038  *    called before setPosition now
    00039  *
    00040  *   Revision 1.10.4.10  2006/05/19 08:42:54  robot3
    00041  *   -some code moved to abstractground.h
    00042  *   -it's now possible creating a playground without a groundplane
    00043  *
    00044  *   Revision 1.10.4.9  2006/05/18 14:32:12  robot3
    00045  *   walls are now textured with a wood texture
    00046  *
    00047  *   Revision 1.10.4.8  2006/05/18 12:54:24  robot3
    00048  *   -fixed not being able to change the color after positioning
    00049  *    the obstacle
    00050  *   -cleared the files up
    00051  *
    00052  *   Revision 1.10.4.7  2006/05/18 09:43:24  robot3
    00053  *   using existing texture image in cvs for the groundplane now
    00054  *
    00055  *   Revision 1.10.4.6  2006/05/18 07:42:36  robot3
    00056  *   Grounds have now a groundPlane for shadowing issues
    00057  *   osgprimitive.cpp contains a bug that repeating textures (wrapping)
    00058  *   don't work, needs to be fixed
    00059  *
    00060  *   Revision 1.10.4.5  2006/05/11 08:59:15  robot3
    00061  *   -fixed a positioning bug (e.g. for passivesphere)
    00062  *   -some methods moved to abstractobstacle.h for avoiding inconsistencies
    00063  *
    00064  *   Revision 1.10.4.4  2006/03/29 15:04:39  martius
    00065  *   have pose now
    00066  *
    00067  *   Revision 1.10.4.3  2006/01/10 20:27:15  martius
    00068  *   protected members
    00069  *
    00070  *   Revision 1.10.4.2  2006/01/10 17:17:33  martius
    00071  *   new mode for primitives
    00072  *
    00073  *   Revision 1.10.4.1  2005/12/06 10:13:23  martius
    00074  *   openscenegraph integration started
    00075  *
    00076  *   Revision 1.10  2005/09/22 12:24:36  martius
    00077  *   removed global variables
    00078  *   OdeHandle and GlobalData are used instead
    00079  *   sensor prepared
    00080  *
    00081  *   Revision 1.9  2005/09/13 13:19:57  martius
    00082  *   no texture
    00083  *
    00084  *   Revision 1.8  2005/08/02 14:09:06  fhesse
    00085  *   factor between length in x and y direction
    00086  *   added to constructor
    00087  *
    00088  *   Revision 1.7  2005/07/29 14:27:59  martius
    00089  *   color set to some red
    00090  *
    00091  *   Revision 1.6  2005/07/18 14:52:33  martius
    00092  *   world and space are not pointers anymore.
    00093  *
    00094  *   Revision 1.5  2005/07/07 10:24:23  martius
    00095  *   avoid internal collisions
    00096  *
    00097  *   Revision 1.4  2005/06/15 14:22:11  martius
    00098  *   GPL included
    00099  *                                                                 *
    00100  ***************************************************************************/
    00101 #ifndef __PLAYGROUND_H
    00102 #define __PLAYGROUND_H
    00103
    00104 #include "mathutils.h"
    00105 #include "abstractground.h"
    00106
    00107 namespace lpzrobots {
    00108
    00109 //Fixme: playground creates collisions with ground and itself
    00110 //fixed: collisions with ground
    00111 class Playground : public AbstractGround {
    00112
    00113 protected:
    00114
    00115   double length, width, height;
    00116   double factorlength2;
    00117
    00118 public:
    00119
    00120   Playground(const OdeHandle& odeHandle, const OsgHandle& osgHandle ,
    00121              const osg::Vec3& dimension = osg::Vec3(7.0, 0.2, 0.5) ,
    00122              double factorxy = 1, bool createGround=true):
    00123     AbstractGround::AbstractGround(odeHandle, osgHandle, createGround){
    00124
    00125     length=dimension.x();
    00126     width=dimension.y();
    00127     height=dimension.z();
    00128     factorlength2=factorxy;
    00129
    00130   };
    00131
    00132  protected:
    00133   virtual void create(){
    00134     Box* box;
    00135     osg::Vec3 offset(- (length/2 + width/2),
    00136                      0,
    00137                      height/2+0.01f/*reduces graphic errors and ode collisions*/);
    00138     box = new Box( width , (length * factorlength2) + 2 * width , height);
    00139     box->init(odeHandle, 0, osgHandle, Primitive::Geom | Primitive::Draw);
    00140     box->setPose(osg::Matrix::translate(offset) * pose);
    00141     box->getOSGPrimitive()->setTexture(wallTextureFileName);
    00142     obst.push_back(box);
    00143
    00144     offset.x() = length/2 + width/2;
    00145     box = new Box( width , (length * factorlength2) + 2 * width , height);
    00146     box->init(odeHandle, 0, osgHandle, Primitive::Geom | Primitive::Draw);
    00147     box->setPose(osg::Matrix::translate(offset) * pose);
    00148     box->getOSGPrimitive()->setTexture(wallTextureFileName);
    00149     obst.push_back(box);
    00150
    00151     offset.x() = 0;
    00152     offset.y() = -( (length*factorlength2)/2 +width/2);
    00153     box = new Box( length, width, height);
    00154     box->init(odeHandle, 0, osgHandle, Primitive::Geom | Primitive::Draw);
    00155     box->setPose(osg::Matrix::translate(offset) * pose);
    00156     box->getOSGPrimitive()->setTexture(wallTextureFileName);
    00157     obst.push_back(box);
    00158
    00159     offset.y() = (length*factorlength2)/2 +width/2;
    00160     box = new Box( length, width, height);
    00161     box->init(odeHandle, 0, osgHandle, Primitive::Geom | Primitive::Draw);
    00162     box->setPose(osg::Matrix::translate(offset) * pose);
    00163     box->getOSGPrimitive()->setTexture(wallTextureFileName);
    00164     obst.push_back(box);
    00165
    00166     // size of groundplane
    00167     ground_length=length;
    00168
    00169     obstacle_exists=true;
    00170   };
    00171
    00172 };
    00173
    00174 }
    00175
    00176 #endif