#include <base.h>

Inheritance diagram for Base:

Collaboration diagram for Base:

Public Member Functions
	Base (const std::string &caption="LpzRobots Simulator (Martius et al)")

virtual void	makePhysicsScene ()
	create the ground plane More...

virtual void	makeScene (OsgScene *scene, const OsgConfig &config)
	creates the base scene graph with world, sky and floor and shadow and HUD and stores it in scene More...

virtual osg::Node *	makeSky (const OsgConfig &config)

virtual osg::Node *	makeGround (const OsgConfig &config)

virtual osg::Node *	createHUD (OsgScene *scene, const OsgConfig &config)
	creates hud and is supposed to return the camera to it and adds the geode of the hud to the scene More...

virtual void	createHUDManager (osg::Geode geode, osgText::Font font)

virtual void	makeLights (osg::Group *node, const OsgConfig &config)
	adds light to the node More...

virtual osgShadow::ShadowedScene *	createShadowedScene (osg::Node sceneToShadow, osg::LightSource lightSource, int shadowType)
	Shadow types: 1 - ShadowVolume 2 - ShadowTextue 3 - ParallelSplitShadowMap 4 - SoftShadowMap 5 - ShadowMap. More...

virtual void	setGroundTexture (const char *filename)

virtual Substance	getGroundSubstance ()

virtual void	setGroundSubstance (const Substance &substance)

virtual void	setCaption (const std::string &caption)
	sets the cpation that is printed at the right of the status line More...

virtual void	setTitle (const std::string &title)
	sets the title that is printed in the center of the status line More...

virtual StatLineProperties	getStatLineProperties ()

virtual void	setStatLineProperties (const StatLineProperties &statlineprop)
	sets the properties of the status line, do it before the scene is initialized More...

virtual HUDStatisticsManager *	getHUDSM ()
	Create HUDStatisticsManager and register it for being called back every step. More...

virtual	~Base ()

Public Member Functions inherited from Configurable
	Configurable ()

	Configurable (const std::string &name, const std::string &revision)
	intialise with name and revision (use "$ID$") More...

virtual	~Configurable ()

virtual void	notifyOnChange (const paramkey &key)
	Is called when a parameter was changes via setParam(). More...

virtual void	addParameter (const paramkey &key, paramval *val, paramval minBound, paramval maxBound, const paramdescr &descr=paramdescr())
	This is the new style for adding configurable parameters. More...

virtual void	addParameter (const paramkey &key, paramval *val, const paramdescr &descr=paramdescr())
	See addParameter(const paramkey& key, paramval* val, paramval minBound, paramval maxBound, const paramdescr& descr) More...

virtual void	addParameter (const paramkey &key, parambool *val, const paramdescr &descr=paramdescr())
	See addParameter(const paramkey& key, paramval* val) but for bool values. More...

virtual void	addParameter (const paramkey &key, paramint *val, paramint minBound, paramint maxBound, const paramdescr &descr=paramdescr())
	See addParameter(const paramkey& key, paramval* val) but for int values. More...

virtual void	addParameter (const paramkey &key, paramint *val, const paramdescr &descr=paramdescr())

virtual void	addParameterDef (const paramkey &key, paramval *val, paramval def, paramval minBound, paramval maxBound, const paramdescr &descr=paramdescr())
	This function is only provided for convenience. More...

virtual void	addParameterDef (const paramkey &key, paramval *val, paramval def, const paramdescr &descr=paramdescr())

virtual void	addParameterDef (const paramkey &key, parambool *val, parambool def, const paramdescr &descr=paramdescr())
	See addParameterDef(const paramkey&, paramval*, paramval) More...

virtual void	addParameterDef (const paramkey &key, paramint *val, paramint def, paramint minBound, paramint maxBound, const paramdescr &descr=paramdescr())
	See addParameterDef(const paramkey&, paramval*, paramval) More...

virtual void	addParameterDef (const paramkey &key, paramint *val, paramint def, const paramdescr &descr=paramdescr())

virtual void	setParamDescr (const paramkey &key, const paramdescr &descr, bool traverseChildren=true)
	sets a description for the given parameter More...

int	getId () const
	return the id of the configurable objects, which is created by random on initialisation More...

virtual paramkey	getName () const
	return the name of the object More...

virtual paramkey	getRevision () const
	returns the revision of the object More...

virtual void	setName (const paramkey &name, bool callSetNameOfInspectable=true)
	Sets the name of the configurable. More...

virtual void	setRevision (const paramkey &revision)
	sets the revision Hint: { return "$ID$"; } More...

virtual paramval	getParam (const paramkey &key, bool traverseChildren=true) const
	returns the value of the requested parameter or 0 (+ error message to stderr) if unknown. More...

virtual bool	hasParam (const paramkey &key, bool traverseChildren=true) const
	Returns if the requested parameter is part of the configurable or their children. More...

virtual bool	setParam (const paramkey &key, paramval val, bool traverseChildren=true)
	sets the value of the given parameter or does nothing if unknown. More...

virtual void	setParamBounds (const paramkey &key, paramval minBound, paramval maxBound, bool traverseChildren=true)
	Sets the bounds (minBound and maxBound) of the given parameter. More...

virtual void	setParamBounds (const paramkey &key, paramint minBound, paramint maxBound, bool traverseChildren=true)

virtual void	setParamBounds (const paramkey &key, paramvalBounds bounds, bool traverseChildren=true)

virtual void	setParamBounds (const paramkey &key, paramintBounds bounds, bool traverseChildren=true)

virtual paramlist	getParamList () const
	The list of all parameters with there value as allocated lists. More...

virtual std::list< paramkey >	getAllParamNames (bool traverseChildren=true)
	returns all names that are configureable More...

virtual parammap	getParamValMap () const

virtual paramintmap	getParamIntMap () const

virtual paramboolmap	getParamBoolMap () const

virtual paramdescr	getParamDescr (const paramkey &key, bool traverseChildren=true) const
	returns the description for the given parameter More...

virtual paramvalBounds	getParamvalBounds (const paramkey &key, bool traverseChildren=true) const

virtual paramintBounds	getParamintBounds (const paramkey &key, bool traverseChildren=true) const

virtual bool	hasParamDescr (const paramkey &key, bool traverseChildren=true) const

virtual bool	hasParamvalBounds (const paramkey &key, bool traverseChildren=true) const

virtual bool	hasParamintBounds (const paramkey &key, bool traverseChildren=true) const

virtual bool	storeCfg (const char *filenamestem, const std::list< std::string > &comments=std::list< std::string >())
	stores the key values paires into the file : filenamestem.cfg including the comments given in the list More...

virtual bool	restoreCfg (const char *filenamestem)
	restores the key values paires from the file : filenamestem.cfg More...

void	print (FILE f, const char prefix, int columns=90, bool traverseChildren=true) const
	prints the keys, values and descriptions to the file. Each line is prefixed More...

bool	parse (FILE f, const char prefix=0, bool traverseChildren=true)
	parses the configuration from the given file More...

virtual void	addConfigurable (Configurable *conf)
	Adds a configurable as a child object. More...

virtual void	removeConfigurable (Configurable *conf)
	Removes a configurable as a child object. More...

virtual const configurableList &	getConfigurables () const
	Returns the list containing all configurable children. More...

virtual void	configurableChanged ()
	Indicates that the configurable itself or the configurable children attached to this configurable have changed. More...

Public Member Functions inherited from BackCaller
	BackCaller ()

virtual	~BackCaller ()

virtual void	addCallbackable (Callbackable *callbackableInstance, CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
	Adds a Callbackable instance to this caller instance. More...

virtual void	removeCallbackable (Callbackable *callbackableInstance, CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
	Removes a Callbackable instance from this caller instance. More...

virtual void	removeAllCallbackables (CallbackableType type)
	Removes all Callbackable instances from this caller instance. More...

virtual void	callBack (CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
	Calls all registered callbackable classes of the determined type. More...

virtual void	callBackQMP (CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
	Calls all registered callbackable classes of the determined type. More...

Static Public Member Functions
static int	contains (char *list, int len, const char str)
	returns the index+1 if the list contains the given string or 0 if not More...

Static Public Attributes
static const int	PHYSICS_CALLBACKABLE = 1
	called each ode/physics step More...

static const int	GRAPHICS_CALLBACKABLE = 2
	called each osg/draw step More...

Static Public Attributes inherited from Configurable
static const CallbackableType	CALLBACK_CONFIGURABLE_CHANGED = 11

Static Public Attributes inherited from BackCaller
static const CallbackableType	DEFAULT_CALLBACKABLE_TYPE = 0
	This is the default Callbackable type. More...

Protected Member Functions
virtual void	setTimeStats (double time, double realtimefactor, double truerealtimefactor, bool pause)

virtual void	changeShadowTechnique ()
	Changes the currently used shadow technique. More...

virtual void	base_close ()
	deletes the stuff that is created on makescene and the like More...

Protected Member Functions inherited from Configurable
void	copyParameters (const Configurable &, bool traverseChildren=true)
	copies the internal params of the given configurable More...

void	printdescr (FILE f, const char prefix, const paramkey &key, int columns, int indent) const

Protected Attributes
dGeomID	ground

OsgHandle	osgHandle

OdeHandle	odeHandle

std::string	caption

std::string	title

std::string	groundTexture

osg::Group *	dummy

osg::Node *	hud

osgText::Text *	timestats

osgText::Text *	captionline

osgText::Text *	titleline

StatLineProperties	statlineprop

Primitive *	plane

HUDStatisticsManager *	hUDStatisticsManager
	this manager provides methods for displaying statistics on the graphical window! More...

int	ReceivesShadowTraversalMask

int	CastsShadowTraversalMask

int	shadowTexSize

bool	useNVidia

Additional Inherited Members
Public Types inherited from Configurable
typedef std::string	paramkey

typedef std::string	paramdescr

typedef double	paramval

typedef std::list< std::pair < paramkey, paramval > >	paramlist

typedef std::map< paramkey, paramval * >	parammap

typedef bool	parambool

typedef std::list< std::pair < paramkey, parambool > >	paramboollist

typedef std::map< paramkey, parambool * >	paramboolmap

typedef int	paramint

typedef std::list< std::pair < paramkey, paramint > >	paramintlist

typedef std::map< paramkey, paramint * >	paramintmap

typedef std::map< paramkey, paramdescr >	paramdescrmap

typedef std::pair< paramval, paramval >	paramvalBounds

typedef std::map< paramkey, paramvalBounds >	paramvalBoundsMap

typedef std::pair< paramint, paramint >	paramintBounds

typedef std::map< paramkey, paramintBounds >	paramintBoundsMap

typedef std::pair< paramkey, paramval * >	paramvalpair

typedef std::pair< paramkey, parambool * >	paramboolpair

typedef std::pair< paramkey, paramint * >	paramintpair

typedef std::vector < Configurable * >	configurableList

Public Types inherited from BackCaller
typedef unsigned long	CallbackableType

Constructor & Destructor Documentation

Base ( const std::string & caption = "LpzRobots Simulator (Martius et al)" )

~Base ( )

virtual

Member Function Documentation

void base_close ( )

protectedvirtual

deletes the stuff that is created on makescene and the like

void changeShadowTechnique ( )

protectedvirtual

Changes the currently used shadow technique.

The switch is realized between: 0 - NoShadow 3 - ParallelSplitShadowMap 4 - SoftShadowMap 5 - ShadowMap (simple) Currently not supported by this function: 1 - ShadowVolume 2 - ShadowTextue

int contains	(	char **	list,
		int	len,
		const char *	str
	)

static

returns the index+1 if the list contains the given string or 0 if not

osg::Node * createHUD	(	OsgScene *	scene,
		const OsgConfig &	config
	)

virtual

creates hud and is supposed to return the camera to it and adds the geode of the hud to the scene

void createHUDManager	(	osg::Geode *	geode,
		osgText::Font *	font
	)

virtual

osgShadow::ShadowedScene * createShadowedScene	(	osg::Node *	sceneToShadow,
		osg::LightSource *	lightSource,
		int	shadowType
	)

virtual

Shadow types: 1 - ShadowVolume 2 - ShadowTextue 3 - ParallelSplitShadowMap 4 - SoftShadowMap 5 - ShadowMap.

Shadow types: 1 - LightSpacePerspectiveShadowMap 2 - ShadowTextue 3 - ParallelSplitShadowMap 4 - SoftShadowMap 5 - ShadowMap.

ShadowVolume

ShadowTexture

ParallelSplitShadowMap

SoftShadowMap

ShadowMap

Substance getGroundSubstance ( )

virtual

HUDStatisticsManager * getHUDSM ( )

virtual

Create HUDStatisticsManager and register it for being called back every step.

But do not display if the system is initialised with -nographics.

Returns: the actual HUDStatisticsManager

virtual StatLineProperties getStatLineProperties ( )

inlinevirtual

Node * makeGround ( const OsgConfig & config )

virtual

void makeLights	(	osg::Group *	node,
		const OsgConfig &	config
	)

virtual

adds light to the node

void makePhysicsScene ( )

virtual

create the ground plane

void makeScene	(	OsgScene *	scene,
		const OsgConfig &	config
	)

virtual

creates the base scene graph with world, sky and floor and shadow and HUD and stores it in scene

Node * makeSky ( const OsgConfig & config )

virtual

void setCaption ( const std::string & caption )

virtual

sets the cpation that is printed at the right of the status line

void setGroundSubstance ( const Substance & substance )

virtual

virtual void setGroundTexture ( const char * filename )

inlinevirtual

virtual void setStatLineProperties ( const StatLineProperties & statlineprop )

inlinevirtual

sets the properties of the status line, do it before the scene is initialized

void setTimeStats	(	double	time,
		double	realtimefactor,
		double	truerealtimefactor,
		bool	pause
	)

protectedvirtual

void setTitle ( const std::string & title )

virtual

sets the title that is printed in the center of the status line

Member Data Documentation

std::string caption

protected

osgText::Text* captionline

protected

int CastsShadowTraversalMask

protected

osg::Group* dummy

protected

const int GRAPHICS_CALLBACKABLE = 2

static

called each osg/draw step

dGeomID ground

protected

std::string groundTexture

protected

osg::Node* hud

protected

HUDStatisticsManager* hUDStatisticsManager

protected

this manager provides methods for displaying statistics on the graphical window!

OdeHandle odeHandle

protected

OsgHandle osgHandle

protected

const int PHYSICS_CALLBACKABLE = 1

static

called each ode/physics step

Primitive* plane

protected

int ReceivesShadowTraversalMask

protected

int shadowTexSize

protected

StatLineProperties statlineprop

protected

osgText::Text* timestats

protected

std::string title

protected

osgText::Text* titleline

protected

bool useNVidia

protected

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation