octaplayground.h

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/***************************************************************************
 *   Copyright (C) 2005 by Robot Group Leipzig                             *
 *    martius@informatik.uni-leipzig.de                                    *
 *    fhesse@informatik.uni-leipzig.de                                     *
 *    der@informatik.uni-leipzig.de                                        *
 *    frankguettler@gmx.de                                                 *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 *                                                                         *
 *   $Log: octaplayground.h,v $
 *   Revision 1.7  2006/09/20 12:55:30  martius
 *   correct size of ground
 *
 *   Revision 1.6  2006/08/11 15:41:04  martius
 *   playgrounds handle non-quadratic ground planes
 *
 *   Revision 1.5  2006/07/14 12:23:33  martius
 *   selforg becomes HEAD
 *
 *   Revision 1.4.4.11  2006/06/29 16:39:55  robot3
 *   -you can now see bounding shapes if you type ./start -drawboundings
 *   -includes cleared up
 *   -abstractobstacle and abstractground have now .cpp-files
 *
 *   Revision 1.4.4.10  2006/05/23 13:37:22  robot3
 *   -fixed some creating bugs
 *   -setColor,setTexture and createGround must be
 *    called before setPosition now
 *
 *   Revision 1.4.4.9  2006/05/19 08:42:36  robot3
 *   -some code moved to abstractground.h
 *   -it's now possible creating a playground without a groundplane
 *
 *   Revision 1.4.4.8  2006/05/18 14:38:28  robot3
 *   wall uses wall texture now
 *
 *   Revision 1.4.4.7  2006/05/18 12:54:24  robot3
 *   -fixed not being able to change the color after positioning
 *    the obstacle
 *   -cleared the files up
 *
 *   Revision 1.4.4.6  2006/05/18 12:00:57  robot3
 *   removed unused variables
 *
 *   Revision 1.4.4.5  2006/05/18 09:40:03  robot3
 *   using existing texture image in cvs for the groundplane now
 *
 *   Revision 1.4.4.4  2006/05/18 07:42:36  robot3
 *   Grounds have now a groundPlane for shadowing issues
 *   osgprimitive.cpp contains a bug that repeating textures (wrapping)
 *   don't work, needs to be fixed
 *
 *   Revision 1.4.4.3  2006/05/11 08:59:15  robot3
 *   -fixed a positioning bug (e.g. for passivesphere)
 *   -some methods moved to abstractobstacle.h for avoiding inconsistencies
 *
 *   Revision 1.4.4.2  2006/03/29 15:04:39  martius
 *   have pose now
 *
 *   Revision 1.4.4.1  2006/01/10 20:11:12  martius
 *   moved to osg
 *
 *   Revision 1.4  2005/11/09 13:29:21  fhesse
 *   GPL added
 *                                                                 *
 *                                                                         *
 ***************************************************************************/
#ifndef __OCTAPLAYGROUND_H
#define __OCTAPLAYGROUND_H

#include "abstractground.h"

namespace lpzrobots {

  class OctaPlayground : public AbstractGround {
  

  protected:
    double radius, width, height;
    
    int number_elements;
    double angle;    
    double box_length;

  public:
  

    OctaPlayground(const OdeHandle& odeHandle, const OsgHandle& osgHandle, 
                 const Pos& geometry = Pos(7,0.2,0.5), int numberCorners=8, bool createGround=true):
    AbstractGround::AbstractGround(odeHandle, osgHandle,createGround,2*geometry.x(),2*geometry.x()) {    
    radius = geometry.x();
    width  = geometry.y();
    height = geometry.z();

    number_elements=numberCorners;
    angle= 2*M_PI/number_elements;    
    obst.resize(number_elements);

    calcBoxLength();
  };
  
protected:

  virtual void create(){
    // radius for positioning is smaller than radius since we use secants. 
    //  r is the smallest distance of the secant to the center of the circle.
    double r = sqrt(pow((1+cos(angle))/2, 2) + pow( sin(angle)/2 ,2)) * radius;
    for (int i=0; i<number_elements; i++){
      Box* box =  new Box(width , box_length , height);
      box->init(odeHandle, 0, osgHandle, Primitive::Geom | Primitive::Draw);
      osg::Matrix R = osg::Matrix::rotate(- i*angle, 0,0,1) * 
        osg::Matrix::translate( cos(M_PI - i*angle) * r, 
                                sin(M_PI - i*angle) * r, 
                                height/2+0.01f /*reduces graphic errors and ode collisions*/
                                )* pose;
      box->setPose(R);
      box->getOSGPrimitive()->setTexture(wallTextureFileName);
      obst.push_back(box);
    }
    obstacle_exists=true;
  };

  virtual void calcBoxLength(){
    double r = radius+width/2; 
    //    box_length =1.4 * sqrt( 2 * pow(radius,2) * (1 - cos(angle)) );
    box_length =  sqrt(pow( 1 - cos(angle), 2) + pow(sin(angle),2)) * r;  
  }

};

}

#endif

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