00001
00002
00003
00004
00005
00006
00007
00008
00009
00010
00011
00012
00013
00014
00015
00016
00017
00018
00019
00020
00021
00022
00023
00024
00025
00026
00027
00028
00029
00030
00031
00032
00033
00034
00035
00036
00037
00038
00039
00040
00041
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
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()));
00117
mesh->
setMatrix(osg::Matrix::translate(0.0f,0.0f,bsphere.radius())*pose);
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